Fix Isaac Sim app path routing

Use the tracked apps directory for AppLauncher experience files and render preset loading after the legacy apps/isaacsim_5 tree was removed.

Update the render preset test to read the same root apps/rendering_modes files and bump the isaaclab extension changelog to 5.0.1.

Author: RLRK-dev

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "5.0.0"
+version = "5.0.1"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,17 @@
 Changelog
 ---------
 
+5.0.1 (2026-05-11)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed AppLauncher experience and render preset path resolution to use the
+  tracked ``apps`` directory after the legacy ``apps/isaacsim_5`` files were
+  removed.
+
+
 5.0.0 (2026-05-11)
 ~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/app/app_launcher.py

@@ -1007,10 +1007,6 @@ def _resolve_experience_file(self, launcher_args: dict):
         # If nothing is provided resolve the experience file based on the headless flag
         kit_app_exp_path = os.environ["EXP_PATH"]
         isaaclab_app_exp_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), *[".."] * 4, "apps")
-        # For Isaac Sim 4.5 compatibility, we use the 4.5 app files in a different folder
-        # if launcher_args.get("use_isaacsim_45", False):
-        if self.is_isaac_sim_version_5():
-            isaaclab_app_exp_path = os.path.join(isaaclab_app_exp_path, "isaacsim_5")
 
         if self._sim_experience_file == "":
             # check if the headless flag is set
@@ -1238,30 +1234,6 @@ def _interrupt_signal_handle_callback(self, signal, frame):
         # raise the error for keyboard interrupt
         raise KeyboardInterrupt
 
-    def is_isaac_sim_version_5(self) -> bool:
-        if not hasattr(self, "_is_sim_ver_5"):
-            # 1) Try to read the VERSION file (for manual / binary installs)
-            version_path = os.path.abspath(os.path.join(os.path.dirname(isaacsim.__file__), "../../VERSION"))
-            if os.path.isfile(version_path):
-                with open(version_path) as f:
-                    ver = f.readline().strip()
-                    if ver.startswith("5"):
-                        self._is_sim_ver_5 = True
-                        return True
-
-            # 2) Fall back to metadata (for pip installs)
-            from importlib.metadata import version as pkg_version
-
-            try:
-                ver = pkg_version("isaacsim")
-                if ver.startswith("5"):
-                    self._is_sim_ver_5 = True
-                else:
-                    self._is_sim_ver_5 = False
-            except Exception:
-                self._is_sim_ver_5 = False
-        return self._is_sim_ver_5
-
     def _hide_play_button(self, flag):
         """Hide/Unhide the play button in the toolbar.
 

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -232,11 +232,6 @@ def _apply_render_cfg_settings(self) -> None:
                 )
 
             isaaclab_app_exp_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), *[".."] * 4, "apps")
-            from isaaclab.utils.version import get_isaac_sim_version
-
-            if get_isaac_sim_version().major < 6:
-                isaaclab_app_exp_path = os.path.join(isaaclab_app_exp_path, "isaacsim_5")
-
             preset_filename = os.path.join(isaaclab_app_exp_path, f"rendering_modes/{rendering_mode}.kit")
             if os.path.exists(preset_filename):
                 with open(preset_filename) as file:

source/isaaclab/test/sim/test_simulation_render_config.py

@@ -23,7 +23,6 @@
 from isaaclab.app.settings_manager import get_settings_manager
 from isaaclab.sim.simulation_cfg import RenderCfg, SimulationCfg
 from isaaclab.sim.simulation_context import SimulationContext
-from isaaclab.utils.version import get_isaac_sim_version
 
 
 @pytest.mark.skip(reason="Timeline not stopped")
@@ -105,9 +104,6 @@ def test_render_cfg_presets():
 
         # grab isaac lab apps path
         isaaclab_app_exp_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), *[".."] * 4, "apps")
-        # for Isaac Sim 5 compatibility, we use the 5 rendering mode app files in a different folder
-        if get_isaac_sim_version().major < 6:
-            isaaclab_app_exp_path = os.path.join(isaaclab_app_exp_path, "isaacsim_5")
 
         # grab preset settings
         preset_filename = os.path.join(isaaclab_app_exp_path, f"rendering_modes/{rendering_mode}.kit")