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Replaces IsaacSim prim_utils with IsaacLab prim_utils #3924

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Replaces IsaacSim prim_utils with IsaacLab prim_utils #3924

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8e411a8
reimplement p[rim utils
pascal-roth Nov 3, 2025
3908cac
fix reference
pascal-roth Nov 3, 2025
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2 changes: 1 addition & 1 deletion 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.sim.utils.prims as prim_utils

if TYPE_CHECKING:
from .asset_base_cfg import AssetBaseCfg
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4 changes: 2 additions & 2 deletions source/isaaclab/isaaclab/controllers/rmp_flow.py
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Expand Up @@ -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

Expand All @@ -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

Expand Down Expand Up @@ -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":
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3 changes: 2 additions & 1 deletion source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py
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Expand Up @@ -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
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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.sim.utils.prims as prim_utils
from isaaclab.sim.utils import clone, safe_set_attribute_on_usd_prim

if TYPE_CHECKING:
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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.sim.utils.prims as prim_utils

import isaaclab.sim as sim_utils

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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/sim/spawners/materials/physics_materials.py
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Expand Up @@ -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:
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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.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

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

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

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

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2 changes: 1 addition & 1 deletion source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers.py
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Expand Up @@ -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:
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6 changes: 6 additions & 0 deletions source/isaaclab/isaaclab/sim/utils/__init__.py
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@@ -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
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