Removes dependency on isaacsim utils

source/isaaclab/isaaclab/assets/asset_base.py

@@ -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

source/isaaclab/isaaclab/assets/rigid_object/rigid_object_data.py

@@ -9,8 +9,8 @@
 import omni.physics.tensors.impl.api as physx
 
 import isaaclab.utils.math as math_utils
-from isaaclab.sim.utils import get_current_stage_id
 from isaaclab.utils.buffers import TimestampedBuffer
+from isaaclab.utils.stage import get_current_stage_id
 
 
 class RigidObjectData:

source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_data.py

@@ -9,8 +9,8 @@
 import omni.physics.tensors.impl.api as physx
 
 import isaaclab.utils.math as math_utils
-from isaaclab.sim.utils import get_current_stage_id
 from isaaclab.utils.buffers import TimestampedBuffer
+from isaaclab.utils.stage import get_current_stage_id
 
 
 class RigidObjectCollectionData:

source/isaaclab/isaaclab/controllers/rmp_flow.py

@@ -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.sim as sim_utils
+
 enable_extension("isaacsim.robot_motion.lula")
 enable_extension("isaacsim.robot_motion.motion_generation")
 
@@ -81,7 +82,7 @@ def initialize(self, prim_paths_expr: str):
         # obtain the simulation time
         physics_dt = SimulationContext.instance().get_physics_dt()
         # find all prims
-        self._prim_paths = prim_utils.find_matching_prim_paths(prim_paths_expr)
+        self._prim_paths = sim_utils.find_matching_prim_paths(prim_paths_expr)
         self.num_robots = len(self._prim_paths)
         # resolve controller
         if self.cfg.name == "rmp_flow":

source/isaaclab/isaaclab/envs/direct_marl_env.py

@@ -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
@@ -26,8 +25,9 @@
 from isaaclab.managers import EventManager
 from isaaclab.scene import InteractiveScene
 from isaaclab.sim import SimulationContext
-from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
 from isaaclab.utils.noise import NoiseModel
+from isaaclab.utils.seed import set_seed
+from isaaclab.utils.stage import attach_stage_to_usd_context, use_stage
 from isaaclab.utils.timer import Timer
 
 from .common import ActionType, AgentID, EnvStepReturn, ObsType, StateType
@@ -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.

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -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
@@ -27,8 +26,9 @@
 from isaaclab.managers import EventManager
 from isaaclab.scene import InteractiveScene
 from isaaclab.sim import SimulationContext
-from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
 from isaaclab.utils.noise import NoiseModel
+from isaaclab.utils.seed import set_seed
+from isaaclab.utils.stage import attach_stage_to_usd_context, use_stage
 from isaaclab.utils.timer import Timer
 
 from .common import VecEnvObs, VecEnvStepReturn
@@ -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.

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -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
@@ -17,8 +16,9 @@
 from isaaclab.managers import ActionManager, EventManager, ObservationManager, RecorderManager
 from isaaclab.scene import InteractiveScene
 from isaaclab.sim import SimulationContext
-from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
 from isaaclab.ui.widgets import ManagerLiveVisualizer
+from isaaclab.utils.seed import set_seed
+from isaaclab.utils.stage import attach_stage_to_usd_context, use_stage
 from isaaclab.utils.timer import Timer
 
 from .common import VecEnvObs
@@ -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."""

source/isaaclab/isaaclab/envs/mdp/events.py

@@ -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
@@ -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:

source/isaaclab/isaaclab/envs/ui/base_env_window.py

@@ -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

source/isaaclab/isaaclab/markers/visualization_markers.py

@@ -23,18 +23,17 @@
 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 attach_stage_to_usd_context, get_current_stage
 
 
 @configclass
@@ -67,7 +66,7 @@ class VisualizationMarkers:
     The class parses the configuration to create different the marker prototypes into the stage. Each marker
     prototype prim is created as a child of the :class:`UsdGeom.PointInstancer` prim. The prim path for the
     marker prim is resolved using the key of the marker in the :attr:`VisualizationMarkersCfg.markers`
-    dictionary. The marker prototypes are created using the :meth:`isaacsim.core.utils.create_prim`
+    dictionary. The marker prototypes are created using the :meth:`isaaclab.utils.prims.create_prim`
     function, and then instanced using :class:`UsdGeom.PointInstancer` prim to allow creating multiple
     instances of the marker prims.
 

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -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
 
@@ -32,8 +31,8 @@
 )
 from isaaclab.sensors import ContactSensorCfg, FrameTransformerCfg, SensorBase, SensorBaseCfg
 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, get_current_stage_id
 
 from .interactive_scene_cfg import InteractiveSceneCfg
 

source/isaaclab/isaaclab/sensors/camera/camera.py

@@ -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
@@ -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 (

source/isaaclab/isaaclab/sensors/imu/imu.py

@@ -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

source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py

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

source/isaaclab/isaaclab/sensors/sensor_base.py

@@ -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

source/isaaclab/isaaclab/sim/schemas/schemas.py

@@ -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,

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -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
@@ -32,7 +31,7 @@
 from isaacsim.core.version import get_version
 from pxr import Gf, PhysxSchema, Sdf, Usd, UsdPhysics
 
-from isaaclab.sim.utils import create_new_stage_in_memory, use_stage
+import isaaclab.utils.stage as stage_utils
 
 from .simulation_cfg import SimulationCfg
 from .spawners import DomeLightCfg, GroundPlaneCfg
@@ -134,7 +133,7 @@ def __init__(self, cfg: SimulationCfg | None = None):
 
         # create stage in memory if requested
         if self.cfg.create_stage_in_memory:
-            self._initial_stage = create_new_stage_in_memory()
+            self._initial_stage = stage_utils.create_new_stage_in_memory()
         else:
             self._initial_stage = omni.usd.get_context().get_stage()
 
@@ -613,7 +612,7 @@ async def reset_async(self, soft: bool = False):
 
     def _init_stage(self, *args, **kwargs) -> Usd.Stage:
         _ = super()._init_stage(*args, **kwargs)
-        with use_stage(self.get_initial_stage()):
+        with stage_utils.use_stage(self.get_initial_stage()):
             # a stage update here is needed for the case when physics_dt != rendering_dt, otherwise the app crashes
             # when in headless mode
             self.set_setting("/app/player/playSimulations", False)

source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py

@@ -7,28 +7,22 @@
 
 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,
-    bind_visual_material,
-    clone,
-    is_current_stage_in_memory,
-    select_usd_variants,
-)
+from isaaclab.sim.utils import bind_physics_material, bind_visual_material, clone, select_usd_variants
 from isaaclab.utils.assets import check_usd_path_with_timeout
+from isaaclab.utils.stage import get_current_stage, is_current_stage_in_memory
 
 if TYPE_CHECKING:
     from . import from_files_cfg

source/isaaclab/isaaclab/sim/spawners/lights/lights.py

@@ -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:

source/isaaclab/isaaclab/sim/spawners/materials/__init__.py

@@ -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
 

source/isaaclab/isaaclab/sim/spawners/materials/physics_materials.py

@@ -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