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

# 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](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) 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

---------
Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>

source/isaaclab/isaaclab/app/app_launcher.py

@@ -883,7 +883,6 @@ class AppLauncher:
     def _set_rendering_mode_settings(self, launcher_args: dict) -> None:
         """Store RTX rendering mode in carb settings."""
         import carb
-        from isaacsim.core.utils.carb import set_carb_setting
 
         rendering_mode = launcher_args.get("rendering_mode")
 
@@ -895,12 +894,11 @@ class AppLauncher:
 
         # store rendering mode in carb settings
         carb_settings = carb.settings.get_settings()
-        set_carb_setting(carb_settings, "/isaaclab/rendering/rendering_mode", rendering_mode)
+        carb_settings.set_string("/isaaclab/rendering/rendering_mode", rendering_mode)
 
     def _set_animation_recording_settings(self, launcher_args: dict) -> None:
         """Store animation recording settings in carb settings."""
         import carb
-        from isaacsim.core.utils.carb import set_carb_setting
 
         # check if recording is enabled
         recording_enabled = launcher_args.get("anim_recording_enabled", False)
@@ -920,9 +918,9 @@ class AppLauncher:
 
         # store config in carb settings
         carb_settings = carb.settings.get_settings()
-        set_carb_setting(carb_settings, "/isaaclab/anim_recording/enabled", recording_enabled)
-        set_carb_setting(carb_settings, "/isaaclab/anim_recording/start_time", start_time)
-        set_carb_setting(carb_settings, "/isaaclab/anim_recording/stop_time", stop_time)
+        carb_settings.set_bool("/isaaclab/anim_recording/enabled", recording_enabled)
+        carb_settings.set_float("/isaaclab/anim_recording/start_time", start_time)
+        carb_settings.set_float("/isaaclab/anim_recording/stop_time", stop_time)
 
     def _interrupt_signal_handle_callback(self, signal, frame):
         """Handle the interrupt signal from the keyboard."""

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -29,7 +29,6 @@ import omni.physx
 import omni.usd
 from isaacsim.core.api.simulation_context import SimulationContext as _SimulationContext
 from isaacsim.core.simulation_manager import SimulationManager
-from isaacsim.core.utils.carb import get_carb_setting, set_carb_setting
 from isaacsim.core.utils.viewports import set_camera_view
 from isaacsim.core.version import get_version
 from pxr import Gf, PhysxSchema, Sdf, Usd, UsdPhysics
@@ -455,7 +454,19 @@ class SimulationContext(_SimulationContext):
             name: The name of the setting.
             value: The value of the setting.
         """
-        self._settings.set(name, value)
+        # Route through typed setters for correctness and consistency for common scalar types.
+        if isinstance(value, bool):
+            self.carb_settings.set_bool(name, value)
+        elif isinstance(value, int):
+            self.carb_settings.set_int(name, value)
+        elif isinstance(value, float):
+            self.carb_settings.set_float(name, value)
+        elif isinstance(value, str):
+            self.carb_settings.set_string(name, value)
+        elif isinstance(value, (list, tuple)):
+            self.carb_settings.set(name, value)
+        else:
+            raise ValueError(f"Unsupported value type for setting '{name}': {type(value)}")
 
     def get_setting(self, name: str) -> Any:
         """Read the simulation setting using the Carbonite SDK.
@@ -466,7 +477,7 @@ class SimulationContext(_SimulationContext):
         Returns:
             The value of the setting.
         """
-        return self._settings.get(name)
+        return self.carb_settings.get(name)
 
     def forward(self) -> None:
         """Updates articulation kinematics and fabric for rendering."""
@@ -658,10 +669,10 @@ class SimulationContext(_SimulationContext):
         """Sets various carb physics settings."""
         # enable hydra scene-graph instancing
         # note: this allows rendering of instanceable assets on the GUI
-        set_carb_setting(self.carb_settings, "/persistent/omnihydra/useSceneGraphInstancing", True)
+        self.carb_settings.set_bool("/persistent/omnihydra/useSceneGraphInstancing", True)
         # change dispatcher to use the default dispatcher in PhysX SDK instead of carb tasking
         # note: dispatcher handles how threads are launched for multi-threaded physics
-        set_carb_setting(self.carb_settings, "/physics/physxDispatcher", True)
+        self.carb_settings.set_bool("/physics/physxDispatcher", True)
         # disable contact processing in omni.physx
         # note: we disable it by default to avoid the overhead of contact processing when it isn't needed.
         #   The physics flag gets enabled when a contact sensor is created.
@@ -673,16 +684,16 @@ class SimulationContext(_SimulationContext):
             )
         # FIXME: From investigation, it seems this flag only affects CPU physics. For GPU physics, contacts
         #  are always processed. The issue is reported to the PhysX team by @mmittal.
-        set_carb_setting(self.carb_settings, "/physics/disableContactProcessing", True)
+        self.carb_settings.set_bool("/physics/disableContactProcessing", True)
         # disable custom geometry for cylinder and cone collision shapes to allow contact reporting for them
         # reason: cylinders and cones aren't natively supported by PhysX so we need to use custom geometry flags
         # reference: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/Geometry.html?highlight=capsule#geometry
-        set_carb_setting(self.carb_settings, "/physics/collisionConeCustomGeometry", False)
-        set_carb_setting(self.carb_settings, "/physics/collisionCylinderCustomGeometry", False)
+        self.carb_settings.set_bool("/physics/collisionConeCustomGeometry", False)
+        self.carb_settings.set_bool("/physics/collisionCylinderCustomGeometry", False)
         # hide the Simulation Settings window
-        set_carb_setting(self.carb_settings, "/physics/autoPopupSimulationOutputWindow", False)
+        self.carb_settings.set_bool("/physics/autoPopupSimulationOutputWindow", False)
 
-    def _apply_render_settings_from_cfg(self):
+    def _apply_render_settings_from_cfg(self):  # noqa: C901
         """Sets rtx settings specified in the RenderCfg."""
 
         # define mapping of user-friendly RenderCfg names to native carb names
@@ -706,7 +717,7 @@ class SimulationContext(_SimulationContext):
         # 1. command line argument --rendering_mode, if provided
         # 2. rendering_mode from Render Config, if set
         # 3. lastly, default to "balanced" mode, if neither is specified
-        rendering_mode = get_carb_setting(self.carb_settings, "/isaaclab/rendering/rendering_mode")
+        rendering_mode = self.carb_settings.get("/isaaclab/rendering/rendering_mode")
         if not rendering_mode:
             rendering_mode = self.cfg.render.rendering_mode
         if not rendering_mode:
@@ -736,7 +747,7 @@ class SimulationContext(_SimulationContext):
             # set presets
             for key, value in preset_dict.items():
                 key = "/" + key.replace(".", "/")  # convert to carb setting format
-                set_carb_setting(self.carb_settings, key, value)
+                self.set_setting(key, value)
 
         # set user-friendly named settings
         for key, value in vars(self.cfg.render).items():
@@ -749,7 +760,7 @@ class SimulationContext(_SimulationContext):
                     " need to be updated."
                 )
             key = rendering_setting_name_mapping[key]
-            set_carb_setting(self.carb_settings, key, value)
+            self.set_setting(key, value)
 
         # set general carb settings
         carb_settings = self.cfg.render.carb_settings
@@ -759,9 +770,9 @@ class SimulationContext(_SimulationContext):
                     key = "/" + key.replace("_", "/")  # convert from python variable style string
                 elif "." in key:
                     key = "/" + key.replace(".", "/")  # convert from .kit file style string
-                if get_carb_setting(self.carb_settings, key) is None:
+                if self.get_setting(key) is None:
                     raise ValueError(f"'{key}' in RenderCfg.general_parameters does not map to a carb setting.")
-                set_carb_setting(self.carb_settings, key, value)
+                self.set_setting(key, value)
 
         # set denoiser mode
         if self.cfg.render.antialiasing_mode is not None:
@@ -773,8 +784,8 @@ class SimulationContext(_SimulationContext):
                 pass
 
         # WAR: Ensure /rtx/renderMode RaytracedLighting is correctly cased.
-        if get_carb_setting(self.carb_settings, "/rtx/rendermode").lower() == "raytracedlighting":
-            set_carb_setting(self.carb_settings, "/rtx/rendermode", "RaytracedLighting")
+        if self.carb_settings.get("/rtx/rendermode").lower() == "raytracedlighting":
+            self.carb_settings.set_string("/rtx/rendermode", "RaytracedLighting")
 
     def _set_additional_physx_params(self):
         """Sets additional PhysX parameters that are not directly supported by the parent class."""
@@ -886,10 +897,10 @@ class SimulationContext(_SimulationContext):
         self._physxPvdInterface = _physxPvd.acquire_physx_pvd_interface()
 
         # Set carb settings for the output path and enabling pvd recording
-        set_carb_setting(
-            self.carb_settings, "/persistent/physics/omniPvdOvdRecordingDirectory", self._anim_recording_output_dir
+        self.carb_settings.set_string(
+            "/persistent/physics/omniPvdOvdRecordingDirectory", self._anim_recording_output_dir
         )
-        set_carb_setting(self.carb_settings, "/physics/omniPvdOutputEnabled", True)
+        self.carb_settings.set_bool("/physics/omniPvdOutputEnabled", True)
 
     def _update_usda_start_time(self, file_path, start_time):
         """Updates the start time of the USDA baked anim recordingfile."""
@@ -954,7 +965,7 @@ class SimulationContext(_SimulationContext):
         )
 
         # Disable recording
-        set_carb_setting(self.carb_settings, "/physics/omniPvdOutputEnabled", False)
+        self.carb_settings.set_bool("/physics/omniPvdOutputEnabled", False)
 
         return result
 

source/isaaclab/test/deps/isaacsim/check_camera.py

@@ -54,7 +54,6 @@ import isaacsim.core.utils.prims as prim_utils
 import omni.replicator.core as rep
 from isaacsim.core.api.world import World
 from isaacsim.core.prims import Articulation, RigidPrim, SingleGeometryPrim, SingleRigidPrim
-from isaacsim.core.utils.carb import set_carb_setting
 from isaacsim.core.utils.viewports import set_camera_view
 from PIL import Image, ImageChops
 from pxr import Gf, UsdGeom
@@ -85,7 +84,7 @@ def main():
         world.get_physics_context().enable_flatcache(True)
     # Enable hydra scene-graph instancing
     # this is needed to visualize the scene when flatcache is enabled
-    set_carb_setting(world._settings, "/persistent/omnihydra/useSceneGraphInstancing", True)
+    world._settings.set_bool("/persistent/omnihydra/useSceneGraphInstancing", True)
 
     # Populate scene
     # Ground

source/isaaclab/test/deps/isaacsim/check_floating_base_made_fixed.py

@@ -40,7 +40,6 @@ import omni.kit.commands
 import omni.physx
 from isaacsim.core.api.world import World
 from isaacsim.core.prims import Articulation
-from isaacsim.core.utils.carb import set_carb_setting
 from isaacsim.core.utils.viewports import set_camera_view
 from pxr import PhysxSchema, UsdPhysics
 
@@ -78,7 +77,7 @@ def main():
 
     # Enable hydra scene-graph instancing
     # this is needed to visualize the scene when flatcache is enabled
-    set_carb_setting(world._settings, "/persistent/omnihydra/useSceneGraphInstancing", True)
+    world._settings.set_bool("/persistent/omnihydra/useSceneGraphInstancing", True)
 
     # Spawn things into stage
     # Ground-plane

source/isaaclab/test/deps/isaacsim/check_legged_robot_clone.py

@@ -53,7 +53,6 @@ import isaacsim.core.utils.prims as prim_utils
 from isaacsim.core.api.world import World
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.prims import Articulation
-from isaacsim.core.utils.carb import set_carb_setting
 from isaacsim.core.utils.viewports import set_camera_view
 
 # import logger
@@ -91,7 +90,7 @@ def main():
 
     # Enable hydra scene-graph instancing
     # this is needed to visualize the scene when flatcache is enabled
-    set_carb_setting(world._settings, "/persistent/omnihydra/useSceneGraphInstancing", True)
+    world._settings.set_bool("/persistent/omnihydra/useSceneGraphInstancing", True)
 
     # Create interface to clone the scene
     cloner = GridCloner(spacing=2.0)

source/isaaclab/test/deps/isaacsim/check_ref_count.py

@@ -46,7 +46,6 @@ except ModuleNotFoundError:
 import isaacsim.core.utils.prims as prim_utils
 from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.prims import Articulation
-from isaacsim.core.utils.carb import set_carb_setting
 
 # import logger
 logger = logging.getLogger(__name__)
@@ -112,7 +111,7 @@ def main():
 
     # Enable hydra scene-graph instancing
     # this is needed to visualize the scene when flatcache is enabled
-    set_carb_setting(sim._settings, "/persistent/omnihydra/useSceneGraphInstancing", True)
+    sim._settings.set_bool("/persistent/omnihydra/useSceneGraphInstancing", True)
 
     # Create a dummy tensor for testing
     # Uncommenting the following line will yield a reference count of 1 for the robot (as desired)

source/isaaclab/test/sensors/check_contact_sensor.py

@@ -39,7 +39,6 @@ import torch
 import isaacsim.core.utils.prims as prim_utils
 from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
-from isaacsim.core.utils.carb import set_carb_setting
 from isaacsim.core.utils.viewports import set_camera_view
 
 import isaaclab.sim as sim_utils
@@ -83,7 +82,7 @@ def main():
 
     # Enable hydra scene-graph instancing
     # this is needed to visualize the scene when flatcache is enabled
-    set_carb_setting(sim._settings, "/persistent/omnihydra/useSceneGraphInstancing", True)
+    sim._settings.set_bool("/persistent/omnihydra/useSceneGraphInstancing", True)
 
     # Create interface to clone the scene
     cloner = GridCloner(spacing=2.0)

source/isaaclab/test/sim/test_simulation_render_config.py

@@ -20,7 +20,6 @@ import toml
 import carb
 import flatdict
 import pytest
-from isaacsim.core.utils.carb import get_carb_setting
 from isaacsim.core.version import get_version
 
 from isaaclab.sim.simulation_cfg import RenderCfg, SimulationCfg
@@ -142,7 +141,7 @@ def test_render_cfg_presets():
                 # grab groundtruth from preset
                 setting_gt = val
 
-            setting_val = get_carb_setting(carb_settings_iface, setting_name)
+            setting_val = carb_settings_iface.get(setting_name)
 
             assert setting_gt == setting_val