Replaces `set_carb_setting` and `get_carb_setting` with direct carb calls #3922

pascal-roth · 2025-11-03T09:27:44Z

Description

Removes dependency on

from isaacsim.core.utils.carb import get_carb_setting, set_carb_setting

Replaces set_carb_setting(carb_settings, <setting-name>, <setting-value> with direct carb call carb_settings.set_string(<setting-name>, <setting-value>), ...set_int..., ...set_bool..., ...set_float.... And replaces get_carb_setting with carb_settings.get()

Type of change

Dependency removal

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

greptile-apps

Greptile Overview

Greptile Summary

Replaces wrapper functions set_carb_setting and get_carb_setting from isaacsim.core.utils.carb with direct carb API calls to remove the dependency. The changes systematically replace the generic wrapper with type-specific methods (set_bool, set_int, set_float, set_string) and direct get() calls.

Key Changes:

Removed imports of set_carb_setting and get_carb_setting from 8 files
Added explicit type checking using isinstance() to determine which type-specific setter to use
Replaced get_carb_setting(settings, key) with settings.get(key)
Type checking order is correct (bool before int, since bool is a subclass of int in Python)

Issue Found:

Two additional files still use the deprecated imports but were not updated in this PR:
- source/isaaclab/isaaclab/sim/utils.py (uses get_carb_setting)
- scripts/tools/check_instanceable.py (uses set_carb_setting)

Confidence Score: 3/5

Safe to merge but incomplete - two files still use the deprecated imports
The refactoring is technically sound with proper type checking and correct implementation. However, the migration is incomplete as two files still import and use the deprecated carb utility functions that this PR aims to remove. This creates an inconsistent state where some code uses the new approach while other code still depends on the old utilities.
Pay attention to source/isaaclab/isaaclab/sim/utils.py and scripts/tools/check_instanceable.py which still use deprecated imports

Important Files Changed

File Analysis

Filename	Score	Overview
source/isaaclab/isaaclab/sim/simulation_context.py	4/5	Replaced carb utils with direct API calls and added type-specific setter methods with proper type checking order
source/isaaclab/isaaclab/app/app_launcher.py	5/5	Simple replacement of set_carb_setting with type-specific carb API calls for rendering and animation recording

Sequence Diagram

sequenceDiagram
    participant App as AppLauncher
    participant Sim as SimulationContext
    participant Carb as carb.settings
    
    Note over App,Carb: Before: Using wrapper functions
    App->>Carb: set_carb_setting(settings, key, value)
    Note over Carb: Type inference in wrapper
    Carb-->>App: Setting applied
    
    Note over App,Carb: After: Direct API calls
    App->>App: Check isinstance(value, bool/int/float/str)
    App->>Carb: settings.set_bool/set_int/set_float/set_string(key, value)
    Carb-->>App: Setting applied
    
    Sim->>Sim: _apply_render_settings_from_cfg()
    Sim->>Sim: Type check preset values
    Sim->>Carb: settings.set_bool/set_int/set_float/set_string(key, value)
    Carb-->>Sim: Setting applied
    
    Note over Sim: Uses settings.get() instead of get_carb_setting()
    Sim->>Carb: settings.get(key)
    Carb-->>Sim: Return value

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greptile-apps · 2025-11-03T09:34:22Z

source/isaaclab/isaaclab/sim/simulation_context.py

 import isaacsim.core.utils.stage as stage_utils
 import omni.log
 import omni.physx
 import omni.usd


logic: Two files still import and use the deprecated carb utils but weren't updated:

source/isaaclab/isaaclab/sim/utils.py:23 imports and uses get_carb_setting on line 1075

scripts/tools/check_instanceable.py:70 imports and uses set_carb_setting on line 99

These should be updated to use direct carb API calls for consistency.

Mayankm96 · 2025-11-03T09:49:29Z

source/isaaclab/isaaclab/sim/simulation_context.py

                )
            key = rendering_setting_name_mapping[key]
-            set_carb_setting(self.carb_settings, key, value)
+            if isinstance(value, bool):


In simcontext, we have a function called set_setting you can just put this logic there and later only call self.set_setting.

That sounds like a good idea!

greptile-apps

Greptile Overview

Greptile Summary

Replaced deprecated set_carb_setting and get_carb_setting utility functions with direct carb API calls throughout the codebase.

Removed dependency on isaacsim.core.utils.carb
Updated all call sites to use type-specific carb methods (set_bool, set_int, set_float, set_string, get)
Added type detection logic in simulation_context.py to correctly route dynamic values to appropriate setter methods
Type checking correctly handles bool before int (since bool is subclass of int in Python)

Confidence Score: 4/5

Safe to merge after addressing two remaining files that still use deprecated imports
The changes are straightforward and correctly implemented, but the PR is incomplete as two files (source/isaaclab/isaaclab/sim/utils.py and scripts/tools/check_instanceable.py) still import and use the deprecated carb utility functions. These must be updated for consistency.
source/isaaclab/isaaclab/sim/utils.py and scripts/tools/check_instanceable.py still use deprecated functions and must be updated

Important Files Changed

File Analysis

Filename	Score	Overview
source/isaaclab/isaaclab/app/app_launcher.py	5/5	Removed deprecated carb utility imports and replaced with direct carb API calls using appropriate type-specific methods (`set_string`, `set_bool`, `set_float`).
source/isaaclab/isaaclab/sim/simulation_context.py	5/5	Replaced deprecated carb utility functions with direct carb API calls. Added type checking logic to route values to appropriate `set_bool`/`set_int`/`set_float`/`set_string` methods. Boolean check correctly precedes int check.

Sequence Diagram

sequenceDiagram
    participant App as AppLauncher/SimulationContext
    participant Old as isaacsim.core.utils.carb
    participant Carb as carb.settings
    
    Note over App,Carb: Before (Deprecated Pattern)
    App->>Old: set_carb_setting(settings, key, value)
    Old->>Carb: Auto-detect type & call appropriate setter
    
    Note over App,Carb: After (Direct API Pattern)
    App->>App: Type check (bool/int/float/str)
    App->>Carb: set_bool(key, value)
    App->>Carb: set_int(key, value)
    App->>Carb: set_float(key, value)
    App->>Carb: set_string(key, value)
    
    Note over App,Carb: Getter Pattern
    App->>Carb: get(key)
    Carb-->>App: value

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pascal-roth added 2 commits November 3, 2025 09:44

remove carb utils

32b8453

formatter

2dec8c3

pascal-roth requested review from hhansen-bdai, kellyguo11, matthewtrepte and ossamaAhmed as code owners November 3, 2025 09:27

pascal-roth self-assigned this Nov 3, 2025

github-actions bot added enhancement New feature or request isaac-lab Related to Isaac Lab team labels Nov 3, 2025

greptile-apps bot reviewed Nov 3, 2025

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Mayankm96 reviewed Nov 3, 2025

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pascal-roth moved this to In review in Isaac Lab Nov 3, 2025

pascal-roth added this to Isaac Lab Nov 3, 2025

Merge branch 'main' into feature/remove-carb-utils

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greptile-apps bot reviewed Nov 5, 2025

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Replaces `set_carb_setting` and `get_carb_setting` with direct carb calls #3922

Replaces `set_carb_setting` and `get_carb_setting` with direct carb calls #3922

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Replaces set_carb_setting and get_carb_setting with direct carb calls #3922

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Replaces set_carb_setting and get_carb_setting with direct carb calls #3922

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pascal-roth commented Nov 3, 2025

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Confidence Score: 3/5

Important Files Changed

Sequence Diagram

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Confidence Score: 4/5

Important Files Changed

Sequence Diagram

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Replaces `set_carb_setting` and `get_carb_setting` with direct carb calls #3922

Replaces `set_carb_setting` and `get_carb_setting` with direct carb calls #3922