Updates to Isaac Sim 6.0

[kellyguo11]

Description

Updates Isaac Sim to 6.0:

• Added albedo annotator for faster diffuse albedo rendering
• Updated the required Python version to 3.12 for Isaac Lab installation.
• Updated the required PyTorch version to 2.9.0+cu128 and torchvision to 0.24.0 for Isaac Lab installation.
• Updated numpy to 2.3.1 following version in Kit 109.0.
• Updated dex-retargeting to 0.5.0 with numpy 2.0+ dependency.
• Removed explicit URDF importer extension version dependency
• Dropped support for Isaac Sim 4.5 (will also drop support for 5.X)

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks 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

[github-actions]

Test Results Summary

3 525 tests   3 002 ✅  2h 46m 5s ⏱️
  118 suites    514 💤
    1 files        6 ❌  3 🔥

For more details on these failures and errors, see this check.

Results for commit 75c14ef.

♻️ This comment has been updated with latest results.

[greptile-apps]

Greptile Overview

Greptile Summary

This PR updates Isaac Lab to support Isaac Sim 6.0, introducing significant breaking changes and new features.

Major Changes:

• Updated to Isaac Sim 6.0 with Python 3.12, PyTorch 2.9.0+cu128, and NumPy 2.3.1
• Added albedo annotator for faster diffuse-albedo rendering with performance optimizations
• Dropped support for Isaac Sim 4.5 and Python 3.10
• Updated dependencies: dex-retargeting to 0.5.0, pillow to 12.0.0, matplotlib to 3.10.3+
• Removed explicit URDF importer extension version dependency for Isaac Sim 6.0
• Added extensive RT2 path tracing configuration options to RenderCfg

Key Implementation Details:

• Albedo annotator uses DiffuseAlbedoSD AOV with fast path optimization when used with depth-only rendering
• Version detection updated throughout codebase to distinguish Isaac Sim 5.X vs 6.0+
• NumPy 2.0+ compatibility fix for scalar-to-float conversion in camera parameters
• Installation scripts updated to unified PyTorch 2.9.0 across ARM and x86 architectures

Breaking Changes:

• Requires Python 3.12 (was 3.10/3.11)
• Requires NumPy 2.x (was <2)
• Drops Isaac Sim 4.5 and will drop 5.X support
• API change in visual materials: name parameter changed to prim_name

The changes are comprehensive and well-tested with new test cases for albedo rendering functionality.

Confidence Score: 4/5

• This PR introduces significant breaking changes but appears well-structured for Isaac Sim 6.0 migration
• The PR is comprehensive with proper version checks, updated tests, and documentation. Score is 4/5 (not 5) due to the significant breaking changes and migration complexity that requires careful testing in production environments
• Pay attention to source/isaaclab/isaaclab/sensors/camera/camera.py for the version detection logic and albedo implementation

Important Files Changed

Filename	Overview
source/isaaclab/setup.py	Updated dependencies: numpy>=2, torch>=2.9, pillow==12.0.0, dex-retargeting==0.5.0, matplotlib>=3.10.3, dropped Python 3.10 and Isaac Sim 4.5 support
source/isaaclab/isaaclab/sensors/camera/camera.py	Added albedo annotator support with Isaac Sim 6.0 version check, fast path optimization, and NumPy 2.0+ scalar compatibility fix
source/isaaclab/isaaclab/sim/simulation_cfg.py	Added extensive RT2 path tracing settings: max_bounces, split_glass, split_clearcoat, split_rough_reflection, ambient settings, and tile limits
source/isaaclab/isaaclab/app/app_launcher.py	Renamed version check from is_isaac_sim_version_4_5 to is_isaac_sim_version_5, updated to use isaacsim_5 app files, removed 4.5 animation recording restriction
source/isaaclab/isaaclab/sim/converters/urdf_converter.py	Updated URDF importer extension loading logic to handle Isaac Sim 5.1 vs other versions correctly
isaaclab.sh	Updated version detection to check for 5.X, unified torch to 2.9.0 across architectures, added pip upgrade step, changed pip install to use --prefer-binary
README.md	Updated badges for Isaac Sim 6.0 and Python 3.12, added branch notice about active development and potential issues

Sequence Diagram

sequenceDiagram
    participant User
    participant AppLauncher
    participant SimulationContext
    participant Camera
    participant Replicator
    participant USD

    User->>AppLauncher: Launch with Isaac Sim 6.0
    AppLauncher->>AppLauncher: is_isaac_sim_version_5() check
    alt Isaac Sim 5.X
        AppLauncher->>AppLauncher: Use isaacsim_5 app files
    else Isaac Sim 6.0+
        AppLauncher->>AppLauncher: Use default app files
    end
    
    User->>Camera: Create Camera with albedo data type
    Camera->>SimulationContext: get_version()
    SimulationContext-->>Camera: version [6, 0, 0]
    
    alt Version >= 6.0
        Camera->>Camera: Check if only depth/albedo requested
        alt Fast path eligible
            Camera->>USD: set_bool("/rtx/sdg/force/disableColorRender", True)
        end
        alt GUI enabled
            Camera->>USD: set_bool("/rtx/sdg/force/disableColorRender", False)
        end
    else Version < 6.0
        Camera->>Camera: Log warning about albedo not supported
    end
    
    Camera->>Replicator: register_annotator_from_aov("DiffuseAlbedoSD")
    Camera->>Replicator: get_annotator("DiffuseAlbedoSD")
    Replicator-->>Camera: Annotator instance
    
    User->>Camera: update()
    Camera->>Replicator: get_data()
    alt NumPy scalar parameter
        Camera->>Camera: Convert np.floating to Python float
    end
    Replicator-->>Camera: Albedo image data (uint8, 4 channels)
    Camera-->>User: Return camera.data.output["albedo"]

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