Replaces IsaacSim prim_utils with IsaacLab prim_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.sim.utils.prims as prim_utils
 
 if TYPE_CHECKING:
     from .asset_base_cfg import AssetBaseCfg

source/isaaclab/isaaclab/controllers/rmp_flow.py

@@ -6,7 +6,6 @@
 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
 
@@ -19,6 +18,7 @@
 from isaacsim.robot_motion.motion_generation import ArticulationMotionPolicy
 from isaacsim.robot_motion.motion_generation.lula.motion_policies import RmpFlow, RmpFlowSmoothed
 
+import isaaclab.sim.utils as sim_utils
 from isaaclab.utils import configclass
 from isaaclab.utils.assets import retrieve_file_path
 
@@ -81,7 +81,7 @@ 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/markers/visualization_markers.py

@@ -67,7 +67,7 @@ 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.sim.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/sim/spawners/from_files/from_files.py

@@ -7,11 +7,12 @@
 
 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.sim.utils.prims as prim_utils
+
 # from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated
 try:
     import Semantics

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.sim.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.sim.utils.prims as prim_utils
 
         import isaaclab.sim as sim_utils
 

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

@@ -7,10 +7,10 @@
 
 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.sim.utils.prims as prim_utils
 from isaaclab.sim.utils import clone, safe_set_attribute_on_usd_schema
 
 if TYPE_CHECKING:

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

@@ -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.sim.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
 

source/isaaclab/isaaclab/sim/spawners/meshes/meshes.py

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

source/isaaclab/isaaclab/sim/spawners/sensors/sensors.py

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

source/isaaclab/isaaclab/sim/spawners/shapes/shapes.py

@@ -7,9 +7,9 @@
 
 from typing import TYPE_CHECKING
 
-import isaacsim.core.utils.prims as prim_utils
 from pxr import Usd
 
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.sim import schemas
 from isaaclab.sim.utils import bind_physics_material, bind_visual_material, clone
 

source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers.py

@@ -10,12 +10,12 @@
 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.sim.utils.prims as prim_utils
 from isaaclab.sim.spawners.from_files import UsdFileCfg
 
 if TYPE_CHECKING:

source/isaaclab/isaaclab/sim/utils/__init__.py

@@ -0,0 +1,6 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from .utils import *  # noqa: F401, F403