Creates a minimal function to change prim properties

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.53.0"
+version = "0.53.1"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,21 @@
 Changelog
 ---------
 
+0.53.1 (2026-01-08)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added function :func:`~isaaclab.sim.utils.prims.change_prim_property` to change attributes on a USD prim.
+  This replaces the previously used USD command ``ChangeProperty`` that depends on Omniverse Kit API.
+
+Changed
+^^^^^^^
+
+* Replaced occurrences of ``ChangeProperty`` USD command to :func:`~isaaclab.sim.utils.prims.change_prim_property`.
+
+
 0.53.0 (2026-01-07)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/markers/visualization_markers.py

@@ -24,7 +24,6 @@
 import torch
 from dataclasses import MISSING
 
-import omni.kit.commands
 import omni.physx.scripts.utils as physx_utils
 from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics, Vt
 
@@ -396,18 +395,12 @@ def _process_prototype_prim(self, prim: Usd.Prim):
                 child_prim.SetInstanceable(False)
             # check if prim is a mesh -> if so, make it invisible to secondary rays
             if child_prim.IsA(UsdGeom.Gprim):
-                # early attach stage to usd context if stage is in memory
-                # since stage in memory is not supported by the "ChangePropertyCommand" kit command
-                sim_utils.attach_stage_to_usd_context(attaching_early=True)
-
                 # invisible to secondary rays such as depth images
-                omni.kit.commands.execute(
-                    "ChangePropertyCommand",
-                    prop_path=Sdf.Path(f"{child_prim.GetPrimPath().pathString}.primvars:invisibleToSecondaryRays"),
+                sim_utils.change_prim_property(
+                    prop_path=f"{child_prim.GetPrimPath().pathString}.primvars:invisibleToSecondaryRays",
                     value=True,
-                    prev=None,
+                    stage=prim.GetStage(),
                     type_to_create_if_not_exist=Sdf.ValueTypeNames.Bool,
-                    usd_context_name=prim.GetStage(),
                 )
             # add children to list
             all_prims += child_prim.GetChildren()

source/isaaclab/isaaclab/sim/converters/mesh_converter.py

@@ -15,7 +15,7 @@
 from isaaclab.sim.converters.asset_converter_base import AssetConverterBase
 from isaaclab.sim.converters.mesh_converter_cfg import MeshConverterCfg
 from isaaclab.sim.schemas import schemas
-from isaaclab.sim.utils import export_prim_to_file
+from isaaclab.sim.utils import delete_prim, export_prim_to_file
 
 # import logger
 logger = logging.getLogger(__name__)
@@ -173,7 +173,7 @@ def _convert_asset(self, cfg: MeshConverterCfg):
             )
             # Delete the original prim that will now be a reference
             geom_prim_path = geom_prim.GetPath().pathString
-            omni.kit.commands.execute("DeletePrims", paths=[geom_prim_path], stage=stage)
+            delete_prim(geom_prim_path, stage=stage)
             # Update references to exported Xform and make it instanceable
             geom_undef_prim = stage.DefinePrim(geom_prim_path)
             geom_undef_prim.GetReferences().AddReference(self.usd_instanceable_meshes_path, primPath=geom_prim_path)
@@ -220,7 +220,6 @@ async def _convert_mesh_to_usd(in_file: str, out_file: str, load_materials: bool
         enable_extension("omni.kit.asset_converter")
 
         import omni.kit.asset_converter
-        import omni.usd
 
         # Create converter context
         converter_context = omni.kit.asset_converter.AssetConverterContext()

source/isaaclab/isaaclab/sim/converters/urdf_converter.py

@@ -10,7 +10,6 @@
 from packaging.version import Version
 from typing import TYPE_CHECKING
 
-import isaacsim
 import omni.kit.app
 import omni.kit.commands
 

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

@@ -17,11 +17,11 @@
     add_labels,
     bind_physics_material,
     bind_visual_material,
+    change_prim_property,
     clone,
     create_prim,
     get_current_stage,
     get_first_matching_child_prim,
-    is_current_stage_in_memory,
     select_usd_variants,
     set_prim_visibility,
 )
@@ -231,25 +231,13 @@ def spawn_ground_plane(
     # Change the color of the plane
     # Warning: This is specific to the default grid plane asset.
     if cfg.color is not None:
-        # avoiding this step if stage is in memory since the "ChangePropertyCommand" kit command
-        # is not supported in stage in memory
-        if is_current_stage_in_memory():
-            logger.warning(
-                "Ground plane color modification is not supported while the stage is in memory. Skipping operation."
-            )
-
-        else:
-            prop_path = f"{prim_path}/Looks/theGrid/Shader.inputs:diffuse_tint"
-
-            # change the color
-            omni.kit.commands.execute(
-                "ChangePropertyCommand",
-                prop_path=Sdf.Path(prop_path),
-                value=Gf.Vec3f(*cfg.color),
-                prev=None,
-                type_to_create_if_not_exist=Sdf.ValueTypeNames.Color3f,
-                usd_context_name=stage,
-            )
+        # change the color
+        change_prim_property(
+            prop_path=f"{prim_path}/Looks/theGrid/Shader.inputs:diffuse_tint",
+            value=Gf.Vec3f(*cfg.color),
+            stage=stage,
+            type_to_create_if_not_exist=Sdf.ValueTypeNames.Color3f,
+        )
     # Remove the light from the ground plane
     # It isn't bright enough and messes up with the user's lighting settings
     omni.kit.commands.execute("ToggleVisibilitySelectedPrims", selected_paths=[f"{prim_path}/SphereLight"], stage=stage)

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

@@ -8,10 +8,10 @@
 import logging
 from typing import TYPE_CHECKING
 
-import omni.kit.commands
-from pxr import Usd
+from omni.usd.commands import CreateMdlMaterialPrimCommand, CreateShaderPrimFromSdrCommand
+from pxr import Usd, UsdShade
 
-from isaaclab.sim.utils import attach_stage_to_usd_context, clone, safe_set_attribute_on_usd_prim
+from isaaclab.sim.utils import clone, safe_set_attribute_on_usd_prim
 from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR
 
@@ -30,9 +30,9 @@ def spawn_preview_surface(prim_path: str, cfg: visual_materials_cfg.PreviewSurfa
     both *specular* and *metallic* workflows. All color inputs are in linear color space (RGB).
     For more information, see the `documentation <https://openusd.org/release/spec_usdpreviewsurface.html>`__.
 
-    The function calls the USD command `CreatePreviewSurfaceMaterialPrim`_ to create the prim.
+    The function calls the USD command `CreateShaderPrimFromSdrCommand`_ to create the prim.
 
-    .. _CreatePreviewSurfaceMaterialPrim: https://docs.omniverse.nvidia.com/kit/docs/omni.usd/latest/omni.usd.commands/omni.usd.commands.CreatePreviewSurfaceMaterialPrimCommand.html
+    .. _CreateShaderPrimFromSdrCommand: https://docs.omniverse.nvidia.com/kit/docs/omni.usd/latest/omni.usd.commands/omni.usd.commands.CreateShaderPrimFromSdrCommand.html
 
     .. note::
         This function is decorated with :func:`clone` that resolves prim path into list of paths
@@ -55,18 +55,39 @@ def spawn_preview_surface(prim_path: str, cfg: visual_materials_cfg.PreviewSurfa
 
     # spawn material if it doesn't exist.
     if not stage.GetPrimAtPath(prim_path).IsValid():
-        # early attach stage to usd context if stage is in memory
-        # since stage in memory is not supported by the "CreatePreviewSurfaceMaterialPrim" kit command
-        attach_stage_to_usd_context(attaching_early=True)
-
-        omni.kit.commands.execute("CreatePreviewSurfaceMaterialPrim", mtl_path=prim_path, select_new_prim=False)
+        # note: we don't use Omniverse's CreatePreviewSurfaceMaterialPrimCommand
+        # since it does not support USD stage as an argument. The created material
+        # in that case is always the one from USD Context which makes it difficult to
+        # handle scene creation on a custom stage.
+        material_prim = UsdShade.Material.Define(stage, prim_path)
+        if material_prim:
+            shader_prim = CreateShaderPrimFromSdrCommand(
+                parent_path=prim_path,
+                identifier="UsdPreviewSurface",
+                stage_or_context=stage,
+                name="Shader",
+            ).do()
+            # bind the shader graph to the material
+            if shader_prim:
+                surface_out = shader_prim.GetOutput("surface")
+                if surface_out:
+                    material_prim.CreateSurfaceOutput().ConnectToSource(surface_out)
+
+                displacement_out = shader_prim.GetOutput("displacement")
+                if displacement_out:
+                    material_prim.CreateDisplacementOutput().ConnectToSource(displacement_out)
+        else:
+            raise ValueError(f"Failed to create preview surface shader at path: '{prim_path}'.")
     else:
         raise ValueError(f"A prim already exists at path: '{prim_path}'.")
 
     # obtain prim
     prim = stage.GetPrimAtPath(f"{prim_path}/Shader")
+    # check prim is valid
+    if not prim.IsValid():
+        raise ValueError(f"Failed to create preview surface material at path: '{prim_path}'.")
     # apply properties
-    cfg = cfg.to_dict()
+    cfg = cfg.to_dict()  # type: ignore
     del cfg["func"]
     for attr_name, attr_value in cfg.items():
         safe_set_attribute_on_usd_prim(prim, f"inputs:{attr_name}", attr_value, camel_case=True)
@@ -75,7 +96,9 @@ def spawn_preview_surface(prim_path: str, cfg: visual_materials_cfg.PreviewSurfa
 
 
 @clone
-def spawn_from_mdl_file(prim_path: str, cfg: visual_materials_cfg.MdlMaterialCfg) -> Usd.Prim:
+def spawn_from_mdl_file(
+    prim_path: str, cfg: visual_materials_cfg.MdlFileCfg | visual_materials_cfg.GlassMdlCfg
+) -> Usd.Prim:
     """Load a material from its MDL file and override the settings with the given config.
 
     NVIDIA's `Material Definition Language (MDL) <https://www.nvidia.com/en-us/design-visualization/technologies/material-definition-language/>`__
@@ -108,25 +131,24 @@ def spawn_from_mdl_file(prim_path: str, cfg: visual_materials_cfg.MdlMaterialCfg
 
     # spawn material if it doesn't exist.
     if not stage.GetPrimAtPath(prim_path).IsValid():
-        # early attach stage to usd context if stage is in memory
-        # since stage in memory is not supported by the "CreateMdlMaterialPrim" kit command
-        attach_stage_to_usd_context(attaching_early=True)
-
         # extract material name from path
         material_name = cfg.mdl_path.split("/")[-1].split(".")[0]
-        omni.kit.commands.execute(
-            "CreateMdlMaterialPrim",
+        CreateMdlMaterialPrimCommand(
             mtl_url=cfg.mdl_path.format(NVIDIA_NUCLEUS_DIR=NVIDIA_NUCLEUS_DIR),
             mtl_name=material_name,
             mtl_path=prim_path,
+            stage=stage,
             select_new_prim=False,
-        )
+        ).do()
     else:
         raise ValueError(f"A prim already exists at path: '{prim_path}'.")
     # obtain prim
     prim = stage.GetPrimAtPath(f"{prim_path}/Shader")
+    # check prim is valid
+    if not prim.IsValid():
+        raise ValueError(f"Failed to create MDL material at path: '{prim_path}'.")
     # apply properties
-    cfg = cfg.to_dict()
+    cfg = cfg.to_dict()  # type: ignore
     del cfg["func"]
     del cfg["mdl_path"]
     for attr_name, attr_value in cfg.items():

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

@@ -8,10 +8,9 @@
 import logging
 from typing import TYPE_CHECKING
 
-import omni.kit.commands
 from pxr import Sdf, Usd
 
-from isaaclab.sim.utils import attach_stage_to_usd_context, clone, create_prim, get_current_stage
+from isaaclab.sim.utils import change_prim_property, clone, create_prim, get_current_stage
 from isaaclab.utils import to_camel_case
 
 if TYPE_CHECKING:
@@ -94,17 +93,11 @@ def spawn_camera(
 
     # lock camera from viewport (this disables viewport movement for camera)
     if cfg.lock_camera:
-        # early attach stage to usd context if stage is in memory
-        # since stage in memory is not supported by the "ChangePropertyCommand" kit command
-        attach_stage_to_usd_context(attaching_early=True)
-
-        omni.kit.commands.execute(
-            "ChangePropertyCommand",
-            prop_path=Sdf.Path(f"{prim_path}.omni:kit:cameraLock"),
+        change_prim_property(
+            prop_path=f"{prim_path}.omni:kit:cameraLock",
             value=True,
-            prev=None,
+            stage=stage,
             type_to_create_if_not_exist=Sdf.ValueTypeNames.Bool,
-            usd_context_name=stage,
         )
     # decide the custom attributes to add
     if cfg.projection_type == "pinhole":