From aff03ee6862373340c5229f99aa29235f9afafc4 Mon Sep 17 00:00:00 2001
From: Pascal Roth <roth.pascal@outlook.de>
Date: Wed, 19 Nov 2025 19:42:39 +0100
Subject: [PATCH 1/4] fixes

---
 source/isaaclab/isaaclab/sim/utils/stage.py | 41 ++++++++++-----------
 1 file changed, 20 insertions(+), 21 deletions(-)

diff --git a/source/isaaclab/isaaclab/sim/utils/stage.py b/source/isaaclab/isaaclab/sim/utils/stage.py
index 171926ab8bf..4d4ee7e4fc8 100644
--- a/source/isaaclab/isaaclab/sim/utils/stage.py
+++ b/source/isaaclab/isaaclab/sim/utils/stage.py
@@ -7,14 +7,13 @@
 import contextlib
 import logging
 import threading
-import typing
+from typing import Literal, Callable, Iterable
 from collections.abc import Generator
 
 import carb
 import omni
 import omni.kit.app
 from isaacsim.core.utils import stage as sim_stage
-from isaacsim.core.utils.carb import get_carb_setting
 from isaacsim.core.version import get_version
 from omni.metrics.assembler.core import get_metrics_assembler_interface
 from omni.usd.commands import DeletePrimsCommand
@@ -58,7 +57,7 @@ def attach_stage_to_usd_context(attaching_early: bool = False):
         If the stage is not in memory or rendering is not enabled, this function will return without attaching.
 
     Args:
-        attaching_early: Whether to attach the stage to the usd context before stage is created. Defaults to False.
+        Whether to attach the stage to the usd context before stage is created. Defaults to False.
     """
 
     from isaacsim.core.simulation_manager import SimulationManager
@@ -81,7 +80,7 @@ def attach_stage_to_usd_context(attaching_early: bool = False):
 
     # this carb flag is equivalent to if rendering is enabled
     carb_setting = carb.settings.get_settings()
-    is_rendering_enabled = get_carb_setting(carb_setting, "/physics/fabricUpdateTransformations")
+    is_rendering_enabled = carb_setting.get("/physics/fabricUpdateTransformations")
 
     # if rendering is not enabled, we don't need to attach it
     if not is_rendering_enabled:
@@ -142,7 +141,7 @@ def use_stage(stage: Usd.Stage) -> Generator[None, None, None]:
     In Isaac Sim < 5.0, this is a no-op to maintain compatibility.
 
     Args:
-        stage: The stage to set temporarily.
+        The stage to set temporarily.
 
     Raises:
         AssertionError: If the stage is not a USD stage instance.
@@ -243,7 +242,7 @@ def update_stage() -> None:
 
 
 # TODO: make a generic util for setting all layer properties
-def set_stage_up_axis(axis: str = "z") -> None:
+def set_stage_up_axis(axis: Literal["x", "y", "z"] = "z") -> None:
     """Change the up axis of the current stage
 
     Args:
@@ -271,7 +270,7 @@ def get_stage_up_axis() -> str:
     """Get the current up-axis of USD stage.
 
     Returns:
-        str: The up-axis of the stage.
+        The up-axis of the stage.
 
     Example:
 
@@ -286,11 +285,11 @@ def get_stage_up_axis() -> str:
     return UsdGeom.GetStageUpAxis(stage)
 
 
-def clear_stage(predicate: typing.Callable[[str], bool] | None = None) -> None:
+def clear_stage(predicate: Callable[[str], bool] | None = None) -> None:
     """Deletes all prims in the stage without populating the undo command buffer
 
     Args:
-        predicate: user defined function that takes a prim_path (str) as input and returns True/False if the prim
+        predicate: user defined function that takes a prim_path as input and returns True/False if the prim
             should/shouldn't be deleted. If predicate is None, a default is used that deletes all prims
 
     Example:
@@ -445,7 +444,7 @@ def create_new_stage() -> Usd.Stage:
     """Create a new stage attached to the USD context.
 
     Returns:
-        Usd.Stage: The created USD stage.
+        The created USD stage.
 
     Example:
 
@@ -493,13 +492,13 @@ def open_stage(usd_path: str) -> bool:
     """Open the given usd file and replace currently opened stage.
 
     Args:
-        usd_path (str): Path to the USD file to open.
+        usd_path: Path to the USD file to open.
 
     Raises:
         ValueError: When input path is not a supported file type by USD.
 
     Returns:
-        bool: True if operation is successful, otherwise false.
+        True if operation is successful, otherwise false.
 
     Example:
 
@@ -523,14 +522,14 @@ def save_stage(usd_path: str, save_and_reload_in_place=True) -> bool:
     """Save usd file to path, it will be overwritten with the current stage
 
     Args:
-        usd_path (str): File path to save the current stage to
+        usd_path: File path to save the current stage to
         save_and_reload_in_place (bool, optional): use ``save_as_stage`` to save and reload the root layer in place. Defaults to True.
 
     Raises:
         ValueError: When input path is not a supported file type by USD.
 
     Returns:
-        bool: True if operation is successful, otherwise false.
+        True if operation is successful, otherwise false.
 
     Example:
 
@@ -555,7 +554,7 @@ def save_stage(usd_path: str, save_and_reload_in_place=True) -> bool:
     return result
 
 
-def close_stage(callback_fn: typing.Callable | None = None) -> bool:
+def close_stage(callback_fn: Callable | None = None) -> bool:
     """Closes the current opened USD stage.
 
     .. note::
@@ -566,7 +565,7 @@ def close_stage(callback_fn: typing.Callable | None = None) -> bool:
         callback_fn: Callback function to call while closing. Defaults to None.
 
     Returns:
-        bool: True if operation is successful, otherwise false.
+        True if operation is successful, otherwise false.
 
     Example:
 
@@ -597,7 +596,7 @@ def close_stage(callback_fn: typing.Callable | None = None) -> bool:
     return result
 
 
-def traverse_stage(fabric=False) -> typing.Iterable:
+def traverse_stage(fabric=False) -> Iterable:
     """Traverse through prims (hidden or not) in the opened Usd stage.
 
     Returns:
@@ -630,7 +629,7 @@ 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:
 
@@ -723,11 +722,11 @@ def get_next_free_path(path: str, parent: str = None) -> str:
     """Returns the next free usd path for the current stage
 
     Args:
-        path (str): path we want to check
-        parent (str, optional): Parent prim for the given path. Defaults to None.
+        path: path we want to check
+        parent: Parent prim for the given path. Defaults to None.
 
     Returns:
-        str: a new path that is guaranteed to not exist on the current stage
+        A new path that is guaranteed to not exist on the current stage
 
     Example:
 

From 13b7d9d0f328b940bed99d8d5e911e86c4da1eff Mon Sep 17 00:00:00 2001
From: Pascal Roth <roth.pascal@outlook.de>
Date: Wed, 19 Nov 2025 22:38:37 +0100
Subject: [PATCH 2/4] add fixme

---
 source/isaaclab/isaaclab/sim/utils/stage.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/source/isaaclab/isaaclab/sim/utils/stage.py b/source/isaaclab/isaaclab/sim/utils/stage.py
index 4d4ee7e4fc8..9dabb071adb 100644
--- a/source/isaaclab/isaaclab/sim/utils/stage.py
+++ b/source/isaaclab/isaaclab/sim/utils/stage.py
@@ -26,6 +26,7 @@
 # _context is a singleton design in isaacsim and for that reason
 #  until we fully replace all modules that references the singleton(such as XformPrim, Prim ....), we have to point
 #  that singleton to this _context
+# FIXME: remove once split from isaac-sim is completed
 sim_stage._context = _context
 
 AXES_TOKEN = {

From b777d410ed2fb72aaeea32082c57eeb1f65dae78 Mon Sep 17 00:00:00 2001
From: Pascal Roth <roth.pascal@outlook.de>
Date: Sun, 23 Nov 2025 10:54:15 +0100
Subject: [PATCH 3/4] remove simulationcontext of IsaacSim

---
 scripts/tools/check_instanceable.py                |  6 ++----
 source/isaaclab/isaaclab/sim/utils/stage.py        |  4 ++--
 source/isaaclab/isaaclab/ui/widgets/line_plot.py   |  3 ++-
 .../isaaclab/ui/widgets/manager_live_visualizer.py |  2 +-
 .../isaaclab/test/deps/isaacsim/check_ref_count.py |  5 +++--
 .../deps/isaacsim/check_rep_texture_randomizer.py  | 14 +++-----------
 source/isaaclab/test/devices/check_keyboard.py     |  5 ++---
 .../test/markers/test_visualization_markers.py     |  4 ++--
 .../isaaclab/test/sensors/check_contact_sensor.py  |  4 ++--
 source/isaaclab/test/sensors/check_imu_sensor.py   | 13 ++-----------
 source/isaaclab/test/sensors/check_ray_caster.py   | 14 ++------------
 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           |  4 ++--
 .../isaaclab/test/sim/test_simulation_context.py   |  7 -------
 source/isaaclab/test/sim/test_spawn_from_files.py  |  4 ++--
 source/isaaclab/test/sim/test_spawn_lights.py      |  4 ++--
 source/isaaclab/test/sim/test_spawn_materials.py   |  4 ++--
 source/isaaclab/test/sim/test_spawn_meshes.py      |  4 ++--
 source/isaaclab/test/sim/test_spawn_sensors.py     |  4 ++--
 source/isaaclab/test/sim/test_spawn_shapes.py      |  4 ++--
 source/isaaclab/test/sim/test_spawn_wrappers.py    |  4 ++--
 source/isaaclab/test/sim/test_urdf_converter.py    |  4 ++--
 .../test/terrains/check_terrain_importer.py        | 13 ++-----------
 24 files changed, 47 insertions(+), 91 deletions(-)

diff --git a/scripts/tools/check_instanceable.py b/scripts/tools/check_instanceable.py
index a18c2207404..8abfd6f753f 100644
--- a/scripts/tools/check_instanceable.py
+++ b/scripts/tools/check_instanceable.py
@@ -65,11 +65,11 @@
 
 
 import isaacsim.core.utils.prims as prim_utils
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.utils.carb import set_carb_setting
 from isaacsim.core.utils.stage import get_current_stage
 
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.utils import Timer
 from isaaclab.utils.assets import check_file_path
 
@@ -80,9 +80,7 @@ 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 = get_current_stage()
diff --git a/source/isaaclab/isaaclab/sim/utils/stage.py b/source/isaaclab/isaaclab/sim/utils/stage.py
index 9dabb071adb..e76ad7703c4 100644
--- a/source/isaaclab/isaaclab/sim/utils/stage.py
+++ b/source/isaaclab/isaaclab/sim/utils/stage.py
@@ -7,8 +7,8 @@
 import contextlib
 import logging
 import threading
-from typing import Literal, Callable, Iterable
-from collections.abc import Generator
+from collections.abc import Callable, Generator, Iterable
+from typing import Literal
 
 import carb
 import omni
diff --git a/source/isaaclab/isaaclab/ui/widgets/line_plot.py b/source/isaaclab/isaaclab/ui/widgets/line_plot.py
index e31410e6b6b..0544a3feea9 100644
--- a/source/isaaclab/isaaclab/ui/widgets/line_plot.py
+++ b/source/isaaclab/isaaclab/ui/widgets/line_plot.py
@@ -11,7 +11,8 @@
 from typing import TYPE_CHECKING
 
 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 bf4d43a4d2e..6d0fecee724 100644
--- a/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py
+++ b/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py
@@ -12,9 +12,9 @@
 from typing import TYPE_CHECKING
 
 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_ref_count.py b/source/isaaclab/test/deps/isaacsim/check_ref_count.py
index 0cd579b559b..88ae248dd6a 100644
--- a/source/isaaclab/test/deps/isaacsim/check_ref_count.py
+++ b/source/isaaclab/test/deps/isaacsim/check_ref_count.py
@@ -39,9 +39,10 @@
 import torch  # noqa: F401
 
 import isaacsim.core.utils.prims as prim_utils
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.prims import Articulation
 
+from isaaclab.sim import SimulationCfg, SimulationContext
+
 # import logger
 logger = logging.getLogger(__name__)
 import isaaclab.sim.utils.nucleus as nucleus_utils
@@ -103,7 +104,7 @@ 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))
 
     # Enable hydra scene-graph instancing
     # this is needed to visualize the scene when flatcache is enabled
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 5700b5c9044..51e5096eace 100644
--- a/source/isaaclab/test/deps/isaacsim/check_rep_texture_randomizer.py
+++ b/source/isaaclab/test/deps/isaacsim/check_rep_texture_randomizer.py
@@ -47,27 +47,19 @@
 
 import isaacsim.core.utils.prims as prim_utils
 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
 
+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 711423d3e5e..8ed0f5e9e24 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 f6a41a6dcb8..8be4ddd8179 100644
--- a/source/isaaclab/test/markers/test_visualization_markers.py
+++ b/source/isaaclab/test/markers/test_visualization_markers.py
@@ -15,11 +15,11 @@
 import torch
 
 import pytest
-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.sim.utils import stage as stage_utils
 from isaaclab.utils.math import random_orientation
 from isaaclab.utils.timer import Timer
@@ -33,7 +33,7 @@ def sim():
     # Open a new stage
     stage_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.stop()
diff --git a/source/isaaclab/test/sensors/check_contact_sensor.py b/source/isaaclab/test/sensors/check_contact_sensor.py
index 190e94ebe78..00dd5b1b01b 100644
--- a/source/isaaclab/test/sensors/check_contact_sensor.py
+++ b/source/isaaclab/test/sensors/check_contact_sensor.py
@@ -37,13 +37,13 @@
 import torch
 
 import isaacsim.core.utils.prims as prim_utils
-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
 
 ##
@@ -76,7 +76,7 @@ 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])
 
diff --git a/source/isaaclab/test/sensors/check_imu_sensor.py b/source/isaaclab/test/sensors/check_imu_sensor.py
index 652e2d95073..1a6f7ed3705 100644
--- a/source/isaaclab/test/sensors/check_imu_sensor.py
+++ b/source/isaaclab/test/sensors/check_imu_sensor.py
@@ -40,7 +40,6 @@
 
 import carb
 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
@@ -49,6 +48,7 @@
 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
@@ -115,16 +115,7 @@ 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 e1d3473ecc4..d4aa6c1c13a 100644
--- a/source/isaaclab/test/sensors/check_ray_caster.py
+++ b/source/isaaclab/test/sensors/check_ray_caster.py
@@ -42,7 +42,6 @@
 import torch
 
 import isaacsim.core.utils.prims as prim_utils
-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
@@ -50,6 +49,7 @@
 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
@@ -89,17 +89,7 @@ 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])
 
diff --git a/source/isaaclab/test/sim/test_mesh_converter.py b/source/isaaclab/test/sim/test_mesh_converter.py
index 761d5bfa0a6..658f7b36079 100644
--- a/source/isaaclab/test/sim/test_mesh_converter.py
+++ b/source/isaaclab/test/sim/test_mesh_converter.py
@@ -20,9 +20,9 @@
 import isaacsim.core.utils.prims as prim_utils
 import omni
 import pytest
-from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdGeom, UsdPhysics
 
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.converters import MeshConverter, MeshConverterCfg
 from isaaclab.sim.schemas import schemas_cfg
 from isaaclab.sim.utils import stage as stage_utils
@@ -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 8160d12d4ce..f7beb6fdc6e 100644
--- a/source/isaaclab/test/sim/test_mjcf_converter.py
+++ b/source/isaaclab/test/sim/test_mjcf_converter.py
@@ -16,9 +16,9 @@
 
 import isaacsim.core.utils.prims as prim_utils
 import pytest
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.utils.extensions import enable_extension, get_extension_path_from_name
 
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.converters import MjcfConverter, MjcfConverterCfg
 from isaaclab.sim.utils import stage as stage_utils
 
@@ -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 aef0703c820..125ba036508 100644
--- a/source/isaaclab/test/sim/test_schemas.py
+++ b/source/isaaclab/test/sim/test_schemas.py
@@ -16,10 +16,10 @@
 
 import isaacsim.core.utils.prims as prim_utils
 import pytest
-from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdPhysics
 
 import isaaclab.sim.schemas as schemas
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.utils import find_global_fixed_joint_prim
 from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
@@ -34,7 +34,7 @@ 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,
diff --git a/source/isaaclab/test/sim/test_simulation_context.py b/source/isaaclab/test/sim/test_simulation_context.py
index f0f783463d2..6aae65c3573 100644
--- a/source/isaaclab/test/sim/test_simulation_context.py
+++ b/source/isaaclab/test/sim/test_simulation_context.py
@@ -16,7 +16,6 @@
 
 import isaacsim.core.utils.prims as prim_utils
 import pytest
-from isaacsim.core.api.simulation_context import SimulationContext as IsaacSimulationContext
 
 from isaaclab.sim import SimulationCfg, SimulationContext
 
@@ -39,9 +38,7 @@ 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()
@@ -49,11 +46,7 @@ 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 5da16d81f5e..52f232fa64a 100644
--- a/source/isaaclab/test/sim/test_spawn_from_files.py
+++ b/source/isaaclab/test/sim/test_spawn_from_files.py
@@ -14,10 +14,10 @@
 
 import isaacsim.core.utils.prims as prim_utils
 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.utils import stage as stage_utils
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
@@ -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
     stage_utils.update_stage()
 
diff --git a/source/isaaclab/test/sim/test_spawn_lights.py b/source/isaaclab/test/sim/test_spawn_lights.py
index ee8446188cd..344d5d3c354 100644
--- a/source/isaaclab/test/sim/test_spawn_lights.py
+++ b/source/isaaclab/test/sim/test_spawn_lights.py
@@ -14,10 +14,10 @@
 
 import isaacsim.core.utils.prims as prim_utils
 import pytest
-from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdLux
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.string import to_camel_case
 
@@ -30,7 +30,7 @@ def test_setup_teardown():
     # 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
     stage_utils.update_stage()
 
diff --git a/source/isaaclab/test/sim/test_spawn_materials.py b/source/isaaclab/test/sim/test_spawn_materials.py
index df2a5778831..cd3d4b394ac 100644
--- a/source/isaaclab/test/sim/test_spawn_materials.py
+++ b/source/isaaclab/test/sim/test_spawn_materials.py
@@ -14,10 +14,10 @@
 
 import isaacsim.core.utils.prims as prim_utils
 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.sim.utils import stage as stage_utils
 from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR
 
@@ -27,7 +27,7 @@ def sim():
     """Create a simulation context."""
     stage_utils.create_new_stage()
     dt = 0.1
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     stage_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 bc65bb4923b..71b7e459641 100644
--- a/source/isaaclab/test/sim/test_spawn_meshes.py
+++ b/source/isaaclab/test/sim/test_spawn_meshes.py
@@ -14,9 +14,9 @@
 
 import isaacsim.core.utils.prims as prim_utils
 import pytest
-from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.utils import stage as stage_utils
 
 
@@ -28,7 +28,7 @@ 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
     stage_utils.update_stage()
     yield sim
diff --git a/source/isaaclab/test/sim/test_spawn_sensors.py b/source/isaaclab/test/sim/test_spawn_sensors.py
index 8896d669b31..6cc40cd38ae 100644
--- a/source/isaaclab/test/sim/test_spawn_sensors.py
+++ b/source/isaaclab/test/sim/test_spawn_sensors.py
@@ -14,9 +14,9 @@
 
 import isaacsim.core.utils.prims as prim_utils
 import pytest
-from isaacsim.core.api.simulation_context import SimulationContext
 
 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.sim.utils import stage as stage_utils
 from isaaclab.utils.string import to_camel_case
@@ -27,7 +27,7 @@ def sim():
     """Create a simulation context."""
     stage_utils.create_new_stage()
     dt = 0.1
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     stage_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 970be4a47f9..6843055c568 100644
--- a/source/isaaclab/test/sim/test_spawn_shapes.py
+++ b/source/isaaclab/test/sim/test_spawn_shapes.py
@@ -14,9 +14,9 @@
 
 import isaacsim.core.utils.prims as prim_utils
 import pytest
-from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.utils import stage as stage_utils
 
 
@@ -25,7 +25,7 @@ def sim():
     """Create a simulation context."""
     stage_utils.create_new_stage()
     dt = 0.1
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     stage_utils.update_stage()
     yield sim
     sim.stop()
diff --git a/source/isaaclab/test/sim/test_spawn_wrappers.py b/source/isaaclab/test/sim/test_spawn_wrappers.py
index 2449cd5ad85..7e207d99323 100644
--- a/source/isaaclab/test/sim/test_spawn_wrappers.py
+++ b/source/isaaclab/test/sim/test_spawn_wrappers.py
@@ -14,9 +14,9 @@
 
 import isaacsim.core.utils.prims as prim_utils
 import pytest
-from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
@@ -26,7 +26,7 @@ def sim():
     """Create a simulation context."""
     stage_utils.create_new_stage()
     dt = 0.1
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
+    sim = SimulationContext(SimulationCfg(dt=dt))
     stage_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 15ba6d66b3c..d8437df26fe 100644
--- a/source/isaaclab/test/sim/test_urdf_converter.py
+++ b/source/isaaclab/test/sim/test_urdf_converter.py
@@ -17,10 +17,10 @@
 
 import isaacsim.core.utils.prims as prim_utils
 import pytest
-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.prims import Articulation
 from isaacsim.core.utils.extensions import enable_extension, get_extension_path_from_name
 
+from isaaclab.sim import SimulationCfg, SimulationContext
 from isaaclab.sim.converters import UrdfConverter, UrdfConverterCfg
 from isaaclab.sim.utils import stage as stage_utils
 
@@ -44,7 +44,7 @@ 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.stop()
diff --git a/source/isaaclab/test/terrains/check_terrain_importer.py b/source/isaaclab/test/terrains/check_terrain_importer.py
index 2de8b457e32..ae972c4eaad 100644
--- a/source/isaaclab/test/terrains/check_terrain_importer.py
+++ b/source/isaaclab/test/terrains/check_terrain_importer.py
@@ -70,7 +70,6 @@
 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
@@ -78,6 +77,7 @@
 
 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
@@ -89,16 +89,7 @@ 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])
 

From e71ad7d6308f58443853a9b2a804d27557f59b5b Mon Sep 17 00:00:00 2001
From: Pascal Roth <roth.pascal@outlook.de>
Date: Sun, 23 Nov 2025 18:33:01 +0100
Subject: [PATCH 4/4] changes from review

---
 source/isaaclab/test/deps/isaacsim/check_ref_count.py   | 5 ++---
 source/isaaclab/test/terrains/check_terrain_importer.py | 3 +--
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/source/isaaclab/test/deps/isaacsim/check_ref_count.py b/source/isaaclab/test/deps/isaacsim/check_ref_count.py
index 88ae248dd6a..0cd579b559b 100644
--- a/source/isaaclab/test/deps/isaacsim/check_ref_count.py
+++ b/source/isaaclab/test/deps/isaacsim/check_ref_count.py
@@ -39,10 +39,9 @@
 import torch  # noqa: F401
 
 import isaacsim.core.utils.prims as prim_utils
+from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.prims import Articulation
 
-from isaaclab.sim import SimulationCfg, SimulationContext
-
 # import logger
 logger = logging.getLogger(__name__)
 import isaaclab.sim.utils.nucleus as nucleus_utils
@@ -104,7 +103,7 @@ def main():
     """Spawns the ANYmal robot and clones it using Isaac Sim Cloner API."""
 
     # Load kit helper
-    sim = SimulationContext(SimulationCfg(dt=0.005))
+    sim = SimulationContext(physics_dt=0.005, rendering_dt=0.005, backend="torch", device="cuda:0")
 
     # Enable hydra scene-graph instancing
     # this is needed to visualize the scene when flatcache is enabled
diff --git a/source/isaaclab/test/terrains/check_terrain_importer.py b/source/isaaclab/test/terrains/check_terrain_importer.py
index ae972c4eaad..394cf1575ee 100644
--- a/source/isaaclab/test/terrains/check_terrain_importer.py
+++ b/source/isaaclab/test/terrains/check_terrain_importer.py
@@ -73,7 +73,6 @@
 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
@@ -91,7 +90,7 @@ def main():
     # Load kit helper
     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