From 26605dddf40f9ca9e35c50b1b59059bced4d8126 Mon Sep 17 00:00:00 2001
From: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Date: Wed, 28 Jan 2026 16:57:27 +0100
Subject: [PATCH 1/2] Removes usage of IsaacSim `SimulationContext` inside
 tests (#4046)

Cleans up new util functions

- Bug fix (non-breaking change which fixes an issue)

- [ ] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
---
 scripts/tools/check_instanceable.py             |  6 ++----
 source/isaaclab/isaaclab/sim/utils/stage.py     |  2 +-
 .../isaaclab/isaaclab/ui/widgets/line_plot.py   |  3 ++-
 .../ui/widgets/manager_live_visualizer.py       |  2 +-
 .../isaacsim/check_rep_texture_randomizer.py    | 13 ++-----------
 source/isaaclab/test/devices/check_keyboard.py  |  5 ++---
 .../test/markers/test_visualization_markers.py  |  6 +++---
 .../test/sensors/check_contact_sensor.py        |  7 +++----
 .../isaaclab/test/sensors/check_imu_sensor.py   | 13 ++-----------
 .../isaaclab/test/sensors/check_ray_caster.py   | 17 +++--------------
 source/isaaclab/test/sim/test_mesh_converter.py |  4 ++--
 source/isaaclab/test/sim/test_mjcf_converter.py |  4 ++--
 source/isaaclab/test/sim/test_schemas.py        |  5 +++--
 .../test/sim/test_simulation_context.py         |  7 -------
 .../isaaclab/test/sim/test_spawn_from_files.py  |  4 ++--
 source/isaaclab/test/sim/test_spawn_lights.py   |  4 ++--
 .../isaaclab/test/sim/test_spawn_materials.py   |  4 ++--
 source/isaaclab/test/sim/test_spawn_meshes.py   |  6 +++---
 source/isaaclab/test/sim/test_spawn_sensors.py  |  4 ++--
 source/isaaclab/test/sim/test_spawn_shapes.py   |  6 +++---
 source/isaaclab/test/sim/test_spawn_wrappers.py |  5 ++---
 source/isaaclab/test/sim/test_urdf_converter.py |  5 +++--
 .../test/terrains/check_terrain_importer.py     | 16 +++-------------
 23 files changed, 50 insertions(+), 98 deletions(-)

diff --git a/scripts/tools/check_instanceable.py b/scripts/tools/check_instanceable.py
index fedb771f611..d9ce51497d1 100644
--- a/scripts/tools/check_instanceable.py
+++ b/scripts/tools/check_instanceable.py
@@ -64,10 +64,10 @@
 """Rest everything follows."""
 
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils import Timer
 from isaaclab.utils.assets import check_file_path
 
@@ -78,9 +78,7 @@ def main():
     if not check_file_path(args_cli.input):
         raise ValueError(f"Invalid file path: {args_cli.input}")
     # Load kit helper
-    sim = SimulationContext(
-        stage_units_in_meters=1.0, physics_dt=0.01, rendering_dt=0.01, backend="torch", device="cuda:0"
-    )
+    sim = SimulationContext(SimulationCfg(dt=0.01))
 
     # get stage handle
     stage = sim_utils.get_current_stage()
diff --git a/source/isaaclab/isaaclab/sim/utils/stage.py b/source/isaaclab/isaaclab/sim/utils/stage.py
index 461f07deea3..88c61744e7d 100644
--- a/source/isaaclab/isaaclab/sim/utils/stage.py
+++ b/source/isaaclab/isaaclab/sim/utils/stage.py
@@ -354,7 +354,7 @@ def is_stage_loading() -> bool:
     """Convenience function to see if any files are being loaded.
 
     Returns:
-        bool: True if loading, False otherwise
+        True if loading, False otherwise
 
     Example:
         >>> import isaaclab.sim as sim_utils
diff --git a/source/isaaclab/isaaclab/ui/widgets/line_plot.py b/source/isaaclab/isaaclab/ui/widgets/line_plot.py
index e9914b35503..1f5e315a07c 100644
--- a/source/isaaclab/isaaclab/ui/widgets/line_plot.py
+++ b/source/isaaclab/isaaclab/ui/widgets/line_plot.py
@@ -12,7 +12,8 @@
 import numpy as np
 
 import omni
-from isaacsim.core.api.simulation_context import SimulationContext
+
+from isaaclab.sim import SimulationContext
 
 with suppress(ImportError):
     # isaacsim.gui is not available when running in headless mode.
diff --git a/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py b/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py
index 763443dbbfd..0b20b10dabc 100644
--- a/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py
+++ b/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py
@@ -13,9 +13,9 @@
 import numpy
 
 import omni.kit.app
-from isaacsim.core.api.simulation_context import SimulationContext
 
 from isaaclab.managers import ManagerBase
+from isaaclab.sim import SimulationContext
 from isaaclab.utils import configclass
 
 from .image_plot import ImagePlot
diff --git a/source/isaaclab/test/deps/isaacsim/check_rep_texture_randomizer.py b/source/isaaclab/test/deps/isaacsim/check_rep_texture_randomizer.py
index e6d43b00f9f..086939e6cde 100644
--- a/source/isaaclab/test/deps/isaacsim/check_rep_texture_randomizer.py
+++ b/source/isaaclab/test/deps/isaacsim/check_rep_texture_randomizer.py
@@ -46,29 +46,20 @@
 import torch
 
 import omni.replicator.core as rep
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.objects import DynamicSphere
 from isaacsim.core.prims import RigidPrim
 from isaacsim.core.utils.viewports import set_camera_view
 
 import isaaclab.sim.utils.prims as prim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 
 
 def main():
     """Spawn a bunch of balls and randomly change their textures."""
 
     # Load kit helper
-    sim_params = {
-        "use_gpu": True,
-        "use_gpu_pipeline": True,
-        "use_flatcache": True,  # deprecated from Isaac Sim 2023.1 onwards
-        "use_fabric": True,  # used from Isaac Sim 2023.1 onwards
-        "enable_scene_query_support": True,
-    }
-    sim = SimulationContext(
-        physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, sim_params=sim_params, backend="torch", device="cuda:0"
-    )
+    sim = SimulationContext(SimulationCfg())
     # Set main camera
     set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])
 
diff --git a/source/isaaclab/test/devices/check_keyboard.py b/source/isaaclab/test/devices/check_keyboard.py
index 4b821bfb113..c1a8b07bef8 100644
--- a/source/isaaclab/test/devices/check_keyboard.py
+++ b/source/isaaclab/test/devices/check_keyboard.py
@@ -23,9 +23,8 @@
 
 import ctypes
 
-from isaacsim.core.api.simulation_context import SimulationContext
-
 from isaaclab.devices import Se3Keyboard, Se3KeyboardCfg
+from isaaclab.sim import SimulationCfg, SimulationContext
 
 
 def print_cb():
@@ -41,7 +40,7 @@ def quit_cb():
 
 def main():
     # Load kit helper
-    sim = SimulationContext(physics_dt=0.01, rendering_dt=0.01)
+    sim = SimulationContext(SimulationCfg(dt=0.01))
 
     # Create teleoperation interface
     teleop_interface = Se3Keyboard(Se3KeyboardCfg(pos_sensitivity=0.1, rot_sensitivity=0.1))
diff --git a/source/isaaclab/test/markers/test_visualization_markers.py b/source/isaaclab/test/markers/test_visualization_markers.py
index 7183eb15a03..ebc183b804b 100644
--- a/source/isaaclab/test/markers/test_visualization_markers.py
+++ b/source/isaaclab/test/markers/test_visualization_markers.py
@@ -15,11 +15,10 @@
 import pytest
 import torch
 
-from isaacsim.core.api.simulation_context import SimulationContext
-
 import isaaclab.sim as sim_utils
 from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
 from isaaclab.markers.config import FRAME_MARKER_CFG, POSITION_GOAL_MARKER_CFG
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.math import random_orientation
 from isaaclab.utils.timer import Timer
 
@@ -32,9 +31,10 @@ def sim():
     # Open a new stage
     sim_utils.create_new_stage()
     # Load kit helper
-    sim_context = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="torch", device="cuda:0")
+    sim_context = SimulationContext(SimulationCfg(dt=dt))
     yield sim_context
     # Cleanup
+    sim_context._disable_app_control_on_stop_handle = True  # prevent timeout
     sim_context.stop()
     sim_context.clear_instance()
     sim_utils.close_stage()
diff --git a/source/isaaclab/test/sensors/check_contact_sensor.py b/source/isaaclab/test/sensors/check_contact_sensor.py
index c556e732658..b4fe5f555dc 100644
--- a/source/isaaclab/test/sensors/check_contact_sensor.py
+++ b/source/isaaclab/test/sensors/check_contact_sensor.py
@@ -36,13 +36,12 @@
 
 import torch
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
-from isaacsim.core.utils.viewports import set_camera_view
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import Articulation
 from isaaclab.sensors.contact_sensor import ContactSensor, ContactSensorCfg
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.timer import Timer
 
 ##
@@ -75,9 +74,9 @@ def main():
     """Spawns the ANYmal robot and clones it using Isaac Sim Cloner API."""
 
     # Load kit helper
-    sim = SimulationContext(physics_dt=0.005, rendering_dt=0.005, backend="torch", device="cuda:0")
+    sim = SimulationContext(SimulationCfg(dt=0.005))
     # Set main camera
-    set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
+    sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
 
     # Enable hydra scene-graph instancing
     # this is needed to visualize the scene when flatcache is enabled
diff --git a/source/isaaclab/test/sensors/check_imu_sensor.py b/source/isaaclab/test/sensors/check_imu_sensor.py
index 73204f58698..8a8c048ed62 100644
--- a/source/isaaclab/test/sensors/check_imu_sensor.py
+++ b/source/isaaclab/test/sensors/check_imu_sensor.py
@@ -41,7 +41,6 @@
 import torch
 
 import omni
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.utils.viewports import set_camera_view
 from pxr import PhysxSchema
@@ -50,6 +49,7 @@
 import isaaclab.terrains as terrain_gen
 from isaaclab.assets import RigidObject, RigidObjectCfg
 from isaaclab.sensors.imu import Imu, ImuCfg
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG
 from isaaclab.terrains.terrain_importer import TerrainImporter
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
@@ -119,16 +119,7 @@ def main():
     """Main function."""
 
     # Load kit helper
-    sim_params = {
-        "use_gpu": True,
-        "use_gpu_pipeline": True,
-        "use_flatcache": True,  # deprecated from Isaac Sim 2023.1 onwards
-        "use_fabric": True,  # used from Isaac Sim 2023.1 onwards
-        "enable_scene_query_support": True,
-    }
-    sim = SimulationContext(
-        physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, sim_params=sim_params, backend="torch", device="cuda:0"
-    )
+    sim = SimulationContext(SimulationCfg())
     # Set main camera
     set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])
 
diff --git a/source/isaaclab/test/sensors/check_ray_caster.py b/source/isaaclab/test/sensors/check_ray_caster.py
index c2e12da4ea6..51ddec3e97c 100644
--- a/source/isaaclab/test/sensors/check_ray_caster.py
+++ b/source/isaaclab/test/sensors/check_ray_caster.py
@@ -41,14 +41,13 @@
 
 import torch
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.prims import RigidPrim
-from isaacsim.core.utils.viewports import set_camera_view
 
 import isaaclab.sim as sim_utils
 import isaaclab.terrains as terrain_gen
 from isaaclab.sensors.ray_caster import RayCaster, RayCasterCfg, patterns
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG
 from isaaclab.terrains.terrain_importer import TerrainImporter
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
@@ -88,19 +87,9 @@ def design_scene(sim: SimulationContext, num_envs: int = 2048):
 def main():
     """Main function."""
 
-    # Load kit helper
-    sim_params = {
-        "use_gpu": True,
-        "use_gpu_pipeline": True,
-        "use_flatcache": True,  # deprecated from Isaac Sim 2023.1 onwards
-        "use_fabric": True,  # used from Isaac Sim 2023.1 onwards
-        "enable_scene_query_support": True,
-    }
-    sim = SimulationContext(
-        physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, sim_params=sim_params, backend="torch", device="cuda:0"
-    )
+    sim = SimulationContext(SimulationCfg())
     # Set main camera
-    set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])
+    sim.set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])
 
     # Parameters
     num_envs = args_cli.num_envs
diff --git a/source/isaaclab/test/sim/test_mesh_converter.py b/source/isaaclab/test/sim/test_mesh_converter.py
index 5a986cc0328..ea4529d293c 100644
--- a/source/isaaclab/test/sim/test_mesh_converter.py
+++ b/source/isaaclab/test/sim/test_mesh_converter.py
@@ -20,10 +20,10 @@
 import pytest
 
 import omni
-from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdGeom, UsdPhysics
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.converters import MeshConverter, MeshConverterCfg
 from isaaclab.sim.schemas import MESH_APPROXIMATION_TOKENS, schemas_cfg
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
@@ -66,7 +66,7 @@ def sim():
     # Simulation time-step
     dt = 0.01
     # Load kit helper
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     yield sim
     # stop simulation
     sim.stop()
diff --git a/source/isaaclab/test/sim/test_mjcf_converter.py b/source/isaaclab/test/sim/test_mjcf_converter.py
index 9d6499d554f..8ce098b4a51 100644
--- a/source/isaaclab/test/sim/test_mjcf_converter.py
+++ b/source/isaaclab/test/sim/test_mjcf_converter.py
@@ -16,10 +16,10 @@
 
 import pytest
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.utils.extensions import enable_extension, get_extension_path_from_name
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.converters import MjcfConverter, MjcfConverterCfg
 
 
@@ -31,7 +31,7 @@ def test_setup_teardown():
 
     # Setup: Create simulation context
     dt = 0.01
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
 
     # Setup: Create MJCF config
     enable_extension("isaacsim.asset.importer.mjcf")
diff --git a/source/isaaclab/test/sim/test_schemas.py b/source/isaaclab/test/sim/test_schemas.py
index 3d2b5b61e82..05710bd9228 100644
--- a/source/isaaclab/test/sim/test_schemas.py
+++ b/source/isaaclab/test/sim/test_schemas.py
@@ -16,11 +16,11 @@
 
 import pytest
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdPhysics
 
 import isaaclab.sim as sim_utils
 import isaaclab.sim.schemas as schemas
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 from isaaclab.utils.string import to_camel_case
 
@@ -33,7 +33,7 @@ def setup_simulation():
     # Simulation time-step
     dt = 0.1
     # Load kit helper
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     # Set some default values for test
     arti_cfg = schemas.ArticulationRootPropertiesCfg(
         enabled_self_collisions=False,
@@ -74,6 +74,7 @@ def setup_simulation():
     )
     yield sim, arti_cfg, rigid_cfg, collision_cfg, mass_cfg, joint_cfg
     # Teardown
+    sim._disable_app_control_on_stop_handle = True  # prevent timeout
     sim.stop()
     sim.clear()
     sim.clear_all_callbacks()
diff --git a/source/isaaclab/test/sim/test_simulation_context.py b/source/isaaclab/test/sim/test_simulation_context.py
index 88544c2f842..4244b36ff8e 100644
--- a/source/isaaclab/test/sim/test_simulation_context.py
+++ b/source/isaaclab/test/sim/test_simulation_context.py
@@ -18,7 +18,6 @@
 import pytest
 
 import omni.physx
-from isaacsim.core.api.simulation_context import SimulationContext as IsaacSimulationContext
 
 import isaaclab.sim as sim_utils
 from isaaclab.sim import SimulationCfg, SimulationContext
@@ -61,9 +60,7 @@ def test_singleton():
     """Tests that the singleton is working."""
     sim1 = SimulationContext()
     sim2 = SimulationContext()
-    sim3 = IsaacSimulationContext()
     assert sim1 is sim2
-    assert sim1 is sim3
 
     # try to delete the singleton
     sim2.clear_instance()
@@ -71,11 +68,7 @@ def test_singleton():
     # create new instance
     sim4 = SimulationContext()
     assert sim1 is not sim4
-    assert sim3 is not sim4
     assert sim1.instance() is sim4.instance()
-    assert sim3.instance() is sim4.instance()
-    # clear instance
-    sim3.clear_instance()
 
 
 @pytest.mark.isaacsim_ci
diff --git a/source/isaaclab/test/sim/test_spawn_from_files.py b/source/isaaclab/test/sim/test_spawn_from_files.py
index 530cc4b99cd..9edf535ac91 100644
--- a/source/isaaclab/test/sim/test_spawn_from_files.py
+++ b/source/isaaclab/test/sim/test_spawn_from_files.py
@@ -16,9 +16,9 @@
 from packaging.version import Version
 
 import omni.kit.app
-from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 from isaaclab.utils.version import get_isaac_sim_version
 
@@ -31,7 +31,7 @@ def sim():
     # Simulation time-step
     dt = 0.1
     # Load kit helper
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     # Wait for spawning
     sim_utils.update_stage()
 
diff --git a/source/isaaclab/test/sim/test_spawn_lights.py b/source/isaaclab/test/sim/test_spawn_lights.py
index 325cd06866e..9dbbd98cf7a 100644
--- a/source/isaaclab/test/sim/test_spawn_lights.py
+++ b/source/isaaclab/test/sim/test_spawn_lights.py
@@ -15,10 +15,10 @@
 
 import pytest
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import Usd, UsdLux
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.string import to_camel_case
 
 
@@ -30,7 +30,7 @@ def sim():
     # Simulation time-step
     dt = 0.1
     # Load kit helper
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     # Wait for spawning
     sim_utils.update_stage()
 
diff --git a/source/isaaclab/test/sim/test_spawn_materials.py b/source/isaaclab/test/sim/test_spawn_materials.py
index ee8cb38f90a..e5c3b14f50d 100644
--- a/source/isaaclab/test/sim/test_spawn_materials.py
+++ b/source/isaaclab/test/sim/test_spawn_materials.py
@@ -15,10 +15,10 @@
 
 import pytest
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdPhysics, UsdShade
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR
 
 
@@ -27,7 +27,7 @@ def sim():
     """Create a simulation context."""
     sim_utils.create_new_stage()
     dt = 0.1
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     sim_utils.update_stage()
     yield sim
     sim.stop()
diff --git a/source/isaaclab/test/sim/test_spawn_meshes.py b/source/isaaclab/test/sim/test_spawn_meshes.py
index 66a48422c0c..43fbc7852c2 100644
--- a/source/isaaclab/test/sim/test_spawn_meshes.py
+++ b/source/isaaclab/test/sim/test_spawn_meshes.py
@@ -15,9 +15,8 @@
 
 import pytest
 
-from isaacsim.core.api.simulation_context import SimulationContext
-
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 
 
 @pytest.fixture
@@ -28,11 +27,12 @@ def sim():
     # Simulation time-step
     dt = 0.1
     # Load kit helper
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, device="cuda:0")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     # Wait for spawning
     sim_utils.update_stage()
     yield sim
     # Cleanup
+    sim._disable_app_control_on_stop_handle = True  # prevent timeout
     sim.stop()
     sim.clear()
     sim.clear_all_callbacks()
diff --git a/source/isaaclab/test/sim/test_spawn_sensors.py b/source/isaaclab/test/sim/test_spawn_sensors.py
index 320a47b3336..63f29af7830 100644
--- a/source/isaaclab/test/sim/test_spawn_sensors.py
+++ b/source/isaaclab/test/sim/test_spawn_sensors.py
@@ -15,10 +15,10 @@
 
 import pytest
 
-from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import Usd
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.spawners.sensors.sensors import CUSTOM_FISHEYE_CAMERA_ATTRIBUTES, CUSTOM_PINHOLE_CAMERA_ATTRIBUTES
 from isaaclab.utils.string import to_camel_case
 
@@ -28,7 +28,7 @@ def sim():
     """Create a simulation context."""
     sim_utils.create_new_stage()
     dt = 0.1
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     sim_utils.update_stage()
     yield sim
     sim.stop()
diff --git a/source/isaaclab/test/sim/test_spawn_shapes.py b/source/isaaclab/test/sim/test_spawn_shapes.py
index ed7ba68f89b..4c18753d52e 100644
--- a/source/isaaclab/test/sim/test_spawn_shapes.py
+++ b/source/isaaclab/test/sim/test_spawn_shapes.py
@@ -14,9 +14,8 @@
 
 import pytest
 
-from isaacsim.core.api.simulation_context import SimulationContext
-
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 
 
 @pytest.fixture
@@ -24,9 +23,10 @@ def sim():
     """Create a simulation context."""
     sim_utils.create_new_stage()
     dt = 0.1
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     sim_utils.update_stage()
     yield sim
+    sim._disable_app_control_on_stop_handle = True  # prevent timeout
     sim.stop()
     sim.clear()
     sim.clear_all_callbacks()
diff --git a/source/isaaclab/test/sim/test_spawn_wrappers.py b/source/isaaclab/test/sim/test_spawn_wrappers.py
index 3dd07a54e6f..1571bb62bdc 100644
--- a/source/isaaclab/test/sim/test_spawn_wrappers.py
+++ b/source/isaaclab/test/sim/test_spawn_wrappers.py
@@ -15,9 +15,8 @@
 
 import pytest
 
-from isaacsim.core.api.simulation_context import SimulationContext
-
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
 
@@ -26,7 +25,7 @@ def sim():
     """Create a simulation context."""
     sim_utils.create_new_stage()
     dt = 0.1
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     sim_utils.update_stage()
     yield sim
     sim.stop()
diff --git a/source/isaaclab/test/sim/test_urdf_converter.py b/source/isaaclab/test/sim/test_urdf_converter.py
index f350ace9a5b..6512b4fc633 100644
--- a/source/isaaclab/test/sim/test_urdf_converter.py
+++ b/source/isaaclab/test/sim/test_urdf_converter.py
@@ -19,10 +19,10 @@
 from packaging.version import Version
 
 import omni.kit.app
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.prims import Articulation
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.converters import UrdfConverter, UrdfConverterCfg
 from isaaclab.utils.version import get_isaac_sim_version
 
@@ -53,9 +53,10 @@ def sim_config():
     # Simulation time-step
     dt = 0.01
     # Load kit helper
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, stage_units_in_meters=1.0, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     yield sim, config
     # Teardown
+    sim._disable_app_control_on_stop_handle = True  # prevent timeout
     sim.stop()
     sim.clear()
     sim.clear_all_callbacks()
diff --git a/source/isaaclab/test/terrains/check_terrain_importer.py b/source/isaaclab/test/terrains/check_terrain_importer.py
index fdc305a07af..d88ec65c86d 100644
--- a/source/isaaclab/test/terrains/check_terrain_importer.py
+++ b/source/isaaclab/test/terrains/check_terrain_importer.py
@@ -69,14 +69,13 @@
 from isaacsim.core.api.materials import PhysicsMaterial
 from isaacsim.core.api.materials.preview_surface import PreviewSurface
 from isaacsim.core.api.objects import DynamicSphere
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.prims import RigidPrim, SingleGeometryPrim, SingleRigidPrim
 from isaacsim.core.utils.extensions import enable_extension
-from isaacsim.core.utils.viewports import set_camera_view
 
 import isaaclab.sim as sim_utils
 import isaaclab.terrains as terrain_gen
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG
 from isaaclab.terrains.terrain_importer import TerrainImporter
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
@@ -88,18 +87,9 @@ def main():
     """Generates a terrain from isaaclab."""
 
     # Load kit helper
-    sim_params = {
-        "use_gpu": True,
-        "use_gpu_pipeline": True,
-        "use_flatcache": True,
-        "use_fabric": True,
-        "enable_scene_query_support": True,
-    }
-    sim = SimulationContext(
-        physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, sim_params=sim_params, backend="torch", device="cuda:0"
-    )
+    sim = SimulationContext(SimulationCfg())
     # Set main camera
-    set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])
+    sim.set_camera_view(eye=(0.0, 30.0, 25.0), target=(0.0, 0.0, -2.5))
 
     # Parameters
     num_balls = 2048

From ebca6f2dbff607f0a65bcaf24ce3d551ec0555e7 Mon Sep 17 00:00:00 2001
From: Pascal Roth <roth.pascal@outlook.de>
Date: Thu, 29 Jan 2026 09:32:11 +0100
Subject: [PATCH 2/2] add demos

---
 .../sensors/check_multi_mesh_ray_caster.py    |   4 +-
 ...eck_multi_mesh_ray_caster_h1_locomotion.py | 239 ++++++++++++++++++
 2 files changed, 241 insertions(+), 2 deletions(-)
 create mode 100644 source/isaaclab/test/sensors/check_multi_mesh_ray_caster_h1_locomotion.py

diff --git a/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py b/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py
index 11e175408df..48576981da1 100644
--- a/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py
+++ b/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py
@@ -23,7 +23,7 @@
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Ray Caster Test Script")
 parser.add_argument("--num_envs", type=int, default=16, help="Number of environments to clone.")
-parser.add_argument("--num_objects", type=int, default=0, help="Number of additional objects to clone.")
+parser.add_argument("--num_objects", type=int, default=20, help="Number of additional objects to clone.")
 parser.add_argument(
     "--terrain_type",
     type=str,
@@ -96,7 +96,7 @@ def design_scene(sim: SimulationContext, num_envs: int = 2048):
             f"/World/envs/env_0/object_{i}",
             object,
             translation=(0.0 + random.random(), 0.0 + random.random(), 1.0),
-            orientation=quat_from_euler_xyz(torch.Tensor(0), torch.Tensor(0), torch.rand(1) * torch.pi).numpy(),
+            orientation=quat_from_euler_xyz(torch.zeros(1), torch.zeros(1), torch.rand(1) * torch.pi).numpy(),
         )
 
     # Clone the scene
diff --git a/source/isaaclab/test/sensors/check_multi_mesh_ray_caster_h1_locomotion.py b/source/isaaclab/test/sensors/check_multi_mesh_ray_caster_h1_locomotion.py
new file mode 100644
index 00000000000..73427d85cec
--- /dev/null
+++ b/source/isaaclab/test/sensors/check_multi_mesh_ray_caster_h1_locomotion.py
@@ -0,0 +1,239 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""
+The script uses a custom H1 environment configuration that includes:
+- A 5x5m grid pattern ray caster attached to the H1 robot
+- Multiple obstacle objects spawned in each environment for ray casting demonstration
+
+.. code-block:: bash
+
+    # Usage
+    ./isaaclab.sh -p source/isaaclab/test/sensors/check_multi_mesh_ray_caster_h1_locomotion.py --num_objects 10
+
+"""
+
+"""Launch Isaac Sim Simulator first."""
+
+import argparse
+import os
+import sys
+
+sys.path.append(os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../../.."))
+import scripts.reinforcement_learning.rsl_rl.cli_args as cli_args  # isort: skip
+
+
+from isaaclab.app import AppLauncher
+
+# add argparse arguments
+parser = argparse.ArgumentParser(
+    description="This script demonstrates a test with the H1 rough terrain environment with ray caster."
+)
+parser.add_argument("--num_objects", type=int, default=10, help="Number of obstacle objects to spawn per environment.")
+# append RSL-RL cli arguments
+cli_args.add_rsl_rl_args(parser)
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
+args_cli = parser.parse_args()
+
+# launch omniverse app
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+import random
+
+import cv2
+import torch
+from rsl_rl.runners import OnPolicyRunner
+
+from isaacsim.sensors.camera import Camera
+
+import isaaclab.sim as sim_utils
+from isaaclab.assets import RigidObjectCfg
+from isaaclab.envs import ManagerBasedRLEnv
+from isaaclab.managers import EventTermCfg as EventTerm
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.sensors.ray_caster import MultiMeshRayCasterCfg, patterns
+from isaaclab.utils import configclass
+
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper
+from isaaclab_rl.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
+
+import isaaclab_tasks.manager_based.locomotion.velocity.mdp as mdp
+from isaaclab_tasks.manager_based.locomotion.velocity.config.h1.rough_env_cfg import H1RoughEnvCfg_PLAY
+
+TASK = "Isaac-Velocity-Rough-H1-v0"
+RL_LIBRARY = "rsl_rl"
+
+
+@configclass
+class H1RoughEnvCfg_PLAY_WITH_RAYCASTER(H1RoughEnvCfg_PLAY):
+    """H1 rough environment configuration for interactive play with obstacles and multi-mesh ray caster."""
+
+    def __post_init__(self):
+        # post init of parent
+        super().__post_init__()
+
+        # Add obstacles individually to the scene
+        # Default number of obstacles
+        num_obstacles = 10
+
+        for i in range(num_obstacles):
+            # Add each obstacle as an individual attribute to the scene
+            setattr(
+                self.scene,
+                f"obstacle_{i}",
+                RigidObjectCfg(
+                    prim_path=f"{{ENV_REGEX_NS}}/obstacle_{i}",
+                    spawn=sim_utils.CuboidCfg(
+                        size=(0.1 + random.random() * 0.5, 0.5 + random.random() * 0.5, 0.5 + random.random() * 0.05),
+                        rigid_props=sim_utils.RigidBodyPropertiesCfg(),
+                        mass_props=sim_utils.MassPropertiesCfg(mass=0.5),
+                        collision_props=sim_utils.CollisionPropertiesCfg(),
+                        visual_material=sim_utils.PreviewSurfaceCfg(
+                            diffuse_color=(0.0, 0.0 + i / num_obstacles, 1.0 - i / num_obstacles)
+                        ),
+                    ),
+                    init_state=RigidObjectCfg.InitialStateCfg((0.0 + random.random(), 0.0 + random.random(), 1.0)),
+                ),
+            )
+
+        # Add multi-mesh ray caster with 5x5m grid pattern
+        self.scene.multi_mesh_ray_caster = MultiMeshRayCasterCfg(
+            prim_path="{ENV_REGEX_NS}/Robot/torso_link",
+            mesh_prim_paths=[
+                MultiMeshRayCasterCfg.RaycastTargetCfg(prim_expr="/World/ground", track_mesh_transforms=False),
+                MultiMeshRayCasterCfg.RaycastTargetCfg(
+                    prim_expr="/World/envs/env_.*/obstacle_.*", track_mesh_transforms=True
+                ),
+            ],
+            pattern_cfg=patterns.GridPatternCfg(
+                resolution=0.1,  # 10cm resolution
+                size=(5.0, 5.0),  # 5x5 meter grid
+            ),
+            attach_yaw_only=True,
+            debug_vis=True,
+            update_period=0.02,  # Update at 50Hz
+        )
+
+        # Add events to reset obstacles
+        for i in range(num_obstacles):
+            setattr(
+                self.events,
+                f"reset_obstacle_{i}",
+                EventTerm(
+                    func=mdp.reset_root_state_uniform,
+                    mode="reset",
+                    params={
+                        "pose_range": {
+                            "x": (-0.5, 0.5),
+                            "y": (-0.5, 0.5),
+                            "z": (0.0, 0.0),
+                            "roll": (-3.14, 3.14),
+                            "pitch": (-3.14, 3.14),
+                            "yaw": (-3.14, 3.14),
+                        },
+                        "velocity_range": {
+                            "x": (-0.0, 0.0),
+                            "y": (-0.0, 0.0),
+                            "z": (-0.0, 0.0),
+                        },
+                        "asset_cfg": SceneEntityCfg(f"obstacle_{i}"),
+                    },
+                ),
+            )
+
+        # change the visualizer to follow env 1
+        self.viewer.origin_type = "asset_root"
+        self.viewer.asset_name = "robot"
+
+        # turn off the velocity marker
+        self.commands.base_velocity.debug_vis = False
+
+
+class H1RoughDemoWithRayCaster:
+    def __init__(self):
+        agent_cfg: RslRlOnPolicyRunnerCfg = cli_args.parse_rsl_rl_cfg(TASK, args_cli)
+        # load the trained jit policy
+        checkpoint = get_published_pretrained_checkpoint(RL_LIBRARY, TASK)
+
+        # Create environment with ray caster and obstacles
+        env_cfg = H1RoughEnvCfg_PLAY_WITH_RAYCASTER()
+
+        # Configure scene for interactive demo
+        env_cfg.scene.num_envs = 10
+        env_cfg.episode_length_s = 1000000
+        env_cfg.curriculum = None
+        env_cfg.commands.base_velocity.ranges.lin_vel_x = (0.0, 1.0)
+        env_cfg.commands.base_velocity.ranges.heading = (-1.0, 1.0)
+
+        # Update ray caster debug visualization based on headless mode
+        if hasattr(env_cfg.scene, "multi_mesh_ray_caster"):
+            env_cfg.scene.multi_mesh_ray_caster.debug_vis = not args_cli.headless
+
+        # wrap around environment for rsl-rl
+        self.env = RslRlVecEnvWrapper(ManagerBasedRLEnv(cfg=env_cfg))
+        self.device = self.env.unwrapped.device
+        self.num_envs = env_cfg.scene.num_envs
+
+        # Access the ray caster from the scene
+        if "multi_mesh_ray_caster" in self.env.unwrapped.scene.sensors:
+            self.ray_caster = self.env.unwrapped.scene.sensors["multi_mesh_ray_caster"]
+            print(f"Ray caster loaded from scene with {self.ray_caster.num_rays} rays per robot")
+        else:
+            self.ray_caster = None
+            print("Warning: Ray caster not found in scene")
+
+        # load previously trained model
+        ppo_runner = OnPolicyRunner(self.env, agent_cfg.to_dict(), log_dir=None, device=self.device)
+        ppo_runner.load(checkpoint)
+        # obtain the trained policy for inference
+        self.policy = ppo_runner.get_inference_policy(device=self.device)
+
+        self.commands = torch.zeros(self.num_envs, 4, device=self.device)
+        self.commands[:, 0:3] = self.env.unwrapped.command_manager.get_command("base_velocity")
+
+
+def main():
+    """Main function."""
+    demo_h1 = H1RoughDemoWithRayCaster()
+    obs, _ = demo_h1.env.reset()
+
+    camera = Camera(prim_path="/World/floating_camera", resolution=(3600, 2430))
+    camera.set_world_pose(
+        position=demo_h1.env.unwrapped.scene["robot"].data.root_pos_w[0, :].cpu().numpy() + [-20, 0.0, 15],
+        orientation=[0.9396926, 0.0, 0.3420201, 0.0],
+    )
+    camera.initialize()
+    os.makedirs("images", exist_ok=True)
+
+    # Simulation step counter for periodic updates
+    step_count = 0
+
+    while simulation_app.is_running():
+        # check for selected robots
+
+        with torch.inference_mode():
+            action = demo_h1.policy(obs)
+            obs, _, _, _ = demo_h1.env.step(action)
+            # overwrite command based on keyboard input
+            obs[:, 9:13] = demo_h1.commands
+
+            if step_count > 10:
+                camera.get_current_frame()
+                # Convert RGB to BGR for OpenCV
+                image_bgr = cv2.cvtColor(camera.get_rgba()[:, :, :3], cv2.COLOR_RGB2BGR)
+                # Save the image as PNG
+                assert cv2.imwrite(f"images/img_{str(step_count - 10).zfill(4)}.png", image_bgr)
+
+        step_count += 1
+
+
+if __name__ == "__main__":
+    main()
+    simulation_app.close()