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Removes dependency on isaacsim utils #3914

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Removes dependency on isaacsim utils #3914

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d664476
copy first utils
pascal-roth Nov 2, 2025
0b44cc3
wip
pascal-roth Nov 2, 2025
c0eaf1e
remove stage utils double definition
pascal-roth Nov 2, 2025
d6b4c93
find_matching_prim_paths removed from prim_utils
pascal-roth Nov 2, 2025
dc3bff1
remove dependency on nucleus utils
pascal-roth Nov 2, 2025
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4 changes: 2 additions & 2 deletions source/isaaclab/isaaclab/assets/asset_base.py
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Expand Up @@ -14,13 +14,13 @@
from collections.abc import Sequence
from typing import TYPE_CHECKING, Any

import isaacsim.core.utils.prims as prim_utils
import omni.kit.app
import omni.timeline
from isaacsim.core.simulation_manager import IsaacEvents, SimulationManager
from isaacsim.core.utils.stage import get_current_stage

import isaaclab.sim as sim_utils
import isaaclab.utils.prims as prim_utils
from isaaclab.utils.stage import get_current_stage

if TYPE_CHECKING:
from .asset_base_cfg import AssetBaseCfg
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3 changes: 2 additions & 1 deletion source/isaaclab/isaaclab/controllers/rmp_flow.py
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Expand Up @@ -6,13 +6,14 @@
import torch
from dataclasses import MISSING

import isaacsim.core.utils.prims as prim_utils
from isaacsim.core.api.simulation_context import SimulationContext
from isaacsim.core.prims import SingleArticulation

# enable motion generation extensions
from isaacsim.core.utils.extensions import enable_extension

import isaaclab.utils.prims as prim_utils

enable_extension("isaacsim.robot_motion.lula")
enable_extension("isaacsim.robot_motion.motion_generation")

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4 changes: 2 additions & 2 deletions source/isaaclab/isaaclab/envs/direct_marl_env.py
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Expand Up @@ -17,7 +17,6 @@
from dataclasses import MISSING
from typing import Any, ClassVar

import isaacsim.core.utils.torch as torch_utils
import omni.kit.app
import omni.log
import omni.physx
Expand All @@ -29,6 +28,7 @@
from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
from isaaclab.utils.noise import NoiseModel
from isaaclab.utils.timer import Timer
from isaaclab.utils.seed import set_seed

from .common import ActionType, AgentID, EnvStepReturn, ObsType, StateType
from .direct_marl_env_cfg import DirectMARLEnvCfg
Expand Down Expand Up @@ -462,7 +462,7 @@ def seed(seed: int = -1) -> int:
except ModuleNotFoundError:
pass
# set seed for torch and other libraries
return torch_utils.set_seed(seed)
return set_seed(seed)

def render(self, recompute: bool = False) -> np.ndarray | None:
"""Run rendering without stepping through the physics.
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4 changes: 2 additions & 2 deletions source/isaaclab/isaaclab/envs/direct_rl_env.py
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Expand Up @@ -17,7 +17,6 @@
from dataclasses import MISSING
from typing import Any, ClassVar

import isaacsim.core.utils.torch as torch_utils
import omni.kit.app
import omni.log
import omni.physx
Expand All @@ -30,6 +29,7 @@
from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
from isaaclab.utils.noise import NoiseModel
from isaaclab.utils.timer import Timer
from isaaclab.utils.seed import set_seed

from .common import VecEnvObs, VecEnvStepReturn
from .direct_rl_env_cfg import DirectRLEnvCfg
Expand Down Expand Up @@ -414,7 +414,7 @@ def seed(seed: int = -1) -> int:
except ModuleNotFoundError:
pass
# set seed for torch and other libraries
return torch_utils.set_seed(seed)
return set_seed(seed)

def render(self, recompute: bool = False) -> np.ndarray | None:
"""Run rendering without stepping through the physics.
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4 changes: 2 additions & 2 deletions source/isaaclab/isaaclab/envs/manager_based_env.py
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Expand Up @@ -8,7 +8,6 @@
from collections.abc import Sequence
from typing import Any

import isaacsim.core.utils.torch as torch_utils
import omni.log
import omni.physx
from isaacsim.core.simulation_manager import SimulationManager
Expand All @@ -20,6 +19,7 @@
from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
from isaaclab.ui.widgets import ManagerLiveVisualizer
from isaaclab.utils.timer import Timer
from isaaclab.utils.seed import set_seed

from .common import VecEnvObs
from .manager_based_env_cfg import ManagerBasedEnvCfg
Expand Down Expand Up @@ -495,7 +495,7 @@ def seed(seed: int = -1) -> int:
except ModuleNotFoundError:
pass
# set seed for torch and other libraries
return torch_utils.set_seed(seed)
return set_seed(seed)

def close(self):
"""Cleanup for the environment."""
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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/envs/mdp/events.py
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Expand Up @@ -22,7 +22,6 @@
import carb
import omni.physics.tensors.impl.api as physx
from isaacsim.core.utils.extensions import enable_extension
from isaacsim.core.utils.stage import get_current_stage
from pxr import Gf, Sdf, UsdGeom, Vt

import isaaclab.sim as sim_utils
Expand All @@ -31,6 +30,7 @@
from isaaclab.assets import Articulation, DeformableObject, RigidObject
from isaaclab.managers import EventTermCfg, ManagerTermBase, SceneEntityCfg
from isaaclab.terrains import TerrainImporter
from isaaclab.utils.stage import get_current_stage
from isaaclab.utils.version import compare_versions

if TYPE_CHECKING:
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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/envs/ui/base_env_window.py
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Expand Up @@ -15,10 +15,10 @@
import omni.kit.app
import omni.kit.commands
import omni.usd
from isaacsim.core.utils.stage import get_current_stage
from pxr import PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics

from isaaclab.ui.widgets import ManagerLiveVisualizer
from isaaclab.utils.stage import get_current_stage

if TYPE_CHECKING:
import omni.ui
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4 changes: 2 additions & 2 deletions source/isaaclab/isaaclab/markers/visualization_markers.py
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Expand Up @@ -23,18 +23,18 @@
import torch
from dataclasses import MISSING

import isaacsim.core.utils.stage as stage_utils
import omni.kit.commands
import omni.log
import omni.physx.scripts.utils as physx_utils
from isaacsim.core.utils.stage import get_current_stage
from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics, Vt

import isaaclab.sim as sim_utils
import isaaclab.utils.stage as stage_utils
from isaaclab.sim.spawners import SpawnerCfg
from isaaclab.sim.utils import attach_stage_to_usd_context
from isaaclab.utils.configclass import configclass
from isaaclab.utils.math import convert_quat
from isaaclab.utils.stage import get_current_stage


@configclass
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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/scene/interactive_scene.py
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Expand Up @@ -12,7 +12,6 @@
import omni.usd
from isaacsim.core.cloner import GridCloner
from isaacsim.core.prims import XFormPrim
from isaacsim.core.utils.stage import get_current_stage
from isaacsim.core.version import get_version
from pxr import PhysxSchema

Expand All @@ -34,6 +33,7 @@
from isaaclab.sim import SimulationContext
from isaaclab.sim.utils import get_current_stage_id
from isaaclab.terrains import TerrainImporter, TerrainImporterCfg
from isaaclab.utils.stage import get_current_stage

from .interactive_scene_cfg import InteractiveSceneCfg

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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/sensors/camera/camera.py
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Expand Up @@ -13,7 +13,6 @@
from typing import TYPE_CHECKING, Any, Literal

import carb
import isaacsim.core.utils.stage as stage_utils
import omni.kit.commands
import omni.usd
from isaacsim.core.prims import XFormPrim
Expand All @@ -22,6 +21,7 @@

import isaaclab.sim as sim_utils
import isaaclab.utils.sensors as sensor_utils
import isaaclab.utils.stage as stage_utils
from isaaclab.utils import to_camel_case
from isaaclab.utils.array import convert_to_torch
from isaaclab.utils.math import (
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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/sensors/imu/imu.py
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Expand Up @@ -9,12 +9,12 @@
from collections.abc import Sequence
from typing import TYPE_CHECKING

import isaacsim.core.utils.stage as stage_utils
from isaacsim.core.simulation_manager import SimulationManager
from pxr import UsdPhysics

import isaaclab.sim as sim_utils
import isaaclab.utils.math as math_utils
import isaaclab.utils.stage as stage_utils
from isaaclab.markers import VisualizationMarkers

from ..sensor_base import SensorBase
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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py
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Expand Up @@ -9,11 +9,11 @@
from collections.abc import Sequence
from typing import TYPE_CHECKING, ClassVar, Literal

import isaacsim.core.utils.stage as stage_utils
import omni.physics.tensors.impl.api as physx
from isaacsim.core.prims import XFormPrim

import isaaclab.utils.math as math_utils
import isaaclab.utils.stage as stage_utils
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@Mayankm96 Mayankm96 Nov 3, 2025

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Hmm we purposefully kept all the sim related utils to isaaclab.sim module. The idea was to keep all general ones in isaaclab.utils (such as math, IO, warp etc.) that shouldn't depend on Kit to run at all.

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@pascal-roth pascal-roth Nov 3, 2025

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that makes a lot of sense, I move all of these utils to the sim folder. That will include

  • stage
  • prims
  • semantics
  • carb
  • extensions

from isaaclab.sensors.camera import CameraData
from isaaclab.utils.warp import raycast_mesh

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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/sensors/sensor_base.py
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Expand Up @@ -23,9 +23,9 @@
import omni.kit.app
import omni.timeline
from isaacsim.core.simulation_manager import IsaacEvents, SimulationManager
from isaacsim.core.utils.stage import get_current_stage

import isaaclab.sim as sim_utils
from isaaclab.utils.stage import get_current_stage

if TYPE_CHECKING:
from .sensor_base_cfg import SensorBaseCfg
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3 changes: 2 additions & 1 deletion source/isaaclab/isaaclab/sim/schemas/schemas.py
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Expand Up @@ -10,10 +10,11 @@

import omni.log
import omni.physx.scripts.utils as physx_utils
from isaacsim.core.utils.stage import get_current_stage
from omni.physx.scripts import deformableUtils as deformable_utils
from pxr import PhysxSchema, Usd, UsdPhysics

from isaaclab.utils.stage import get_current_stage

from ..utils import (
apply_nested,
find_global_fixed_joint_prim,
Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/sim/simulation_context.py
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Expand Up @@ -21,7 +21,6 @@

import carb
import flatdict
import isaacsim.core.utils.stage as stage_utils
import omni.log
import omni.physx
import omni.usd
Expand All @@ -32,6 +31,7 @@
from isaacsim.core.version import get_version
from pxr import Gf, PhysxSchema, Sdf, Usd, UsdPhysics

import isaaclab.utils.stage as stage_utils
from isaaclab.sim.utils import create_new_stage_in_memory, use_stage

from .simulation_cfg import SimulationCfg
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6 changes: 3 additions & 3 deletions source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py
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Expand Up @@ -7,19 +7,18 @@

from typing import TYPE_CHECKING

import isaacsim.core.utils.prims as prim_utils
import omni.kit.commands
import omni.log
from pxr import Gf, Sdf, Usd

import isaaclab.utils.prims as prim_utils

# from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated
try:
import Semantics
except ModuleNotFoundError:
from pxr import Semantics

from isaacsim.core.utils.stage import get_current_stage

from isaaclab.sim import converters, schemas
from isaaclab.sim.utils import (
bind_physics_material,
Expand All @@ -29,6 +28,7 @@
select_usd_variants,
)
from isaaclab.utils.assets import check_usd_path_with_timeout
from isaaclab.utils.stage import get_current_stage

if TYPE_CHECKING:
from . import from_files_cfg
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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/sim/spawners/lights/lights.py
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Expand Up @@ -7,9 +7,9 @@

from typing import TYPE_CHECKING

import isaacsim.core.utils.prims as prim_utils
from pxr import Usd, UsdLux

import isaaclab.utils.prims as prim_utils
from isaaclab.sim.utils import clone, safe_set_attribute_on_usd_prim

if TYPE_CHECKING:
Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/sim/spawners/materials/__init__.py
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Expand Up @@ -31,7 +31,7 @@
Usage:
.. code-block:: python

import isaacsim.core.utils.prims as prim_utils
import isaaclab.utils.prims as prim_utils

import isaaclab.sim as sim_utils

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4 changes: 2 additions & 2 deletions source/isaaclab/isaaclab/sim/spawners/materials/physics_materials.py
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Expand Up @@ -7,11 +7,11 @@

from typing import TYPE_CHECKING

import isaacsim.core.utils.prims as prim_utils
from isaacsim.core.utils.stage import get_current_stage
from pxr import PhysxSchema, Usd, UsdPhysics, UsdShade

import isaaclab.utils.prims as prim_utils
from isaaclab.sim.utils import clone, safe_set_attribute_on_usd_schema
from isaaclab.utils.stage import get_current_stage

if TYPE_CHECKING:
from . import physics_materials_cfg
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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/sim/spawners/materials/visual_materials.py
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Expand Up @@ -7,11 +7,11 @@

from typing import TYPE_CHECKING

import isaacsim.core.utils.prims as prim_utils
import omni.kit.commands
import omni.log
from pxr import Usd

import isaaclab.utils.prims as prim_utils
from isaaclab.sim.utils import attach_stage_to_usd_context, clone, safe_set_attribute_on_usd_prim
from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR

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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/sim/spawners/meshes/meshes.py
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Expand Up @@ -10,9 +10,9 @@
import trimesh.transformations
from typing import TYPE_CHECKING

import isaacsim.core.utils.prims as prim_utils
from pxr import Usd, UsdPhysics

import isaaclab.utils.prims as prim_utils
from isaaclab.sim import schemas
from isaaclab.sim.utils import bind_physics_material, bind_visual_material, clone

Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/sim/spawners/sensors/sensors.py
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Expand Up @@ -7,11 +7,11 @@

from typing import TYPE_CHECKING

import isaacsim.core.utils.prims as prim_utils
import omni.kit.commands
import omni.log
from pxr import Sdf, Usd

import isaaclab.utils.prims as prim_utils
from isaaclab.sim.utils import attach_stage_to_usd_context, clone
from isaaclab.utils import to_camel_case

Expand Down
2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/sim/spawners/shapes/shapes.py
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Expand Up @@ -7,9 +7,9 @@

from typing import TYPE_CHECKING

import isaacsim.core.utils.prims as prim_utils
from pxr import Usd

import isaaclab.utils.prims as prim_utils
from isaaclab.sim import schemas
from isaaclab.sim.utils import bind_physics_material, bind_visual_material, clone

Expand Down
6 changes: 3 additions & 3 deletions source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers.py
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Expand Up @@ -10,13 +10,13 @@
from typing import TYPE_CHECKING

import carb
import isaacsim.core.utils.prims as prim_utils
import isaacsim.core.utils.stage as stage_utils
from isaacsim.core.utils.stage import get_current_stage
from pxr import Sdf, Usd

import isaaclab.sim as sim_utils
import isaaclab.utils.prims as prim_utils
import isaaclab.utils.stage as stage_utils
from isaaclab.sim.spawners.from_files import UsdFileCfg
from isaaclab.utils.stage import get_current_stage

if TYPE_CHECKING:
from . import wrappers_cfg
Expand Down
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