Replaces IsaacSim `stage_utils` with IsaacLab `stage_utils` (#3923)

# Description

Remove dependency on IsaacSim `stage_utils` for integration of new
simulation engines like `newton`.

## 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

---------
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

docs/source/refs/troubleshooting.rst

@@ -75,8 +75,8 @@ For instance, to run a standalone script with verbose logging, you can use the f
     # Run the standalone script with info logging
     ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --headless --info
 
-For more fine-grained control, you can modify the logging channels through the ``omni.log`` module.
-For more information, please refer to its `documentation <https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/omni.log/Logging.html>`__.
+For more fine-grained control, you can modify the logging channels through the ``logger`` module.
+For more information, please refer to its `documentation <https://docs.python.org/3/library/logging.html>`__.
 
 
 Observing long load times at the start of the simulation

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.48.4"
+version = "0.48.5"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.48.5 (2025-11-14)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed import from ``isaacsim.core.utils.stage`` to ``isaaclab.sim.utils.stage`` to reduce IsaacLab dependencies.
+
+
 0.48.4 (2025-11-14)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/assets/asset_base.py

@@ -18,9 +18,9 @@ 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
+from isaaclab.sim.utils.stage import get_current_stage
 
 if TYPE_CHECKING:
     from .asset_base_cfg import AssetBaseCfg

source/isaaclab/isaaclab/assets/rigid_object/rigid_object_data.py

@@ -9,7 +9,7 @@ import weakref
 import omni.physics.tensors.impl.api as physx
 
 import isaaclab.utils.math as math_utils
-from isaaclab.sim.utils import get_current_stage_id
+from isaaclab.sim.utils.stage import get_current_stage_id
 from isaaclab.utils.buffers import TimestampedBuffer
 
 

source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_data.py

@@ -9,7 +9,7 @@ import weakref
 import omni.physics.tensors.impl.api as physx
 
 import isaaclab.utils.math as math_utils
-from isaaclab.sim.utils import get_current_stage_id
+from isaaclab.sim.utils.stage import get_current_stage_id
 from isaaclab.utils.buffers import TimestampedBuffer
 
 

source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py

@@ -227,7 +227,6 @@ class PinkIKController:
             joint_angle_changes = velocity * dt
         except (AssertionError, Exception) as e:
             # Print warning and return the current joint positions as the target
-            # Not using omni.log since its not available in CI during docs build
             if self.cfg.show_ik_warnings:
                 print(
                     "Warning: IK quadratic solver could not find a solution! Did not update the target joint"

source/isaaclab/isaaclab/envs/direct_marl_env.py

@@ -25,7 +25,7 @@ from isaacsim.core.version import get_version
 from isaaclab.managers import EventManager
 from isaaclab.scene import InteractiveScene
 from isaaclab.sim import SimulationContext
-from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
+from isaaclab.sim.utils.stage import attach_stage_to_usd_context, use_stage
 from isaaclab.utils.noise import NoiseModel
 from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -27,7 +27,7 @@ from isaacsim.core.version import get_version
 from isaaclab.managers import EventManager
 from isaaclab.scene import InteractiveScene
 from isaaclab.sim import SimulationContext
-from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
+from isaaclab.sim.utils.stage import attach_stage_to_usd_context, use_stage
 from isaaclab.utils.noise import NoiseModel
 from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -17,7 +17,7 @@ from isaacsim.core.version import get_version
 from isaaclab.managers import ActionManager, EventManager, ObservationManager, RecorderManager
 from isaaclab.scene import InteractiveScene
 from isaaclab.sim import SimulationContext
-from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
+from isaaclab.sim.utils.stage import attach_stage_to_usd_context, use_stage
 from isaaclab.ui.widgets import ManagerLiveVisualizer
 from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer

source/isaaclab/isaaclab/envs/mdp/events.py

@@ -22,7 +22,6 @@ from typing import TYPE_CHECKING, Literal
 import carb
 import omni.physics.tensors.impl.api as physx
 from isaacsim.core.utils.extensions import enable_extension
-from isaacsim.core.utils.stage import get_current_stage
 from pxr import Gf, Sdf, UsdGeom, Vt
 
 import isaaclab.sim as sim_utils
@@ -30,6 +29,7 @@ import isaaclab.utils.math as math_utils
 from isaaclab.actuators import ImplicitActuator
 from isaaclab.assets import Articulation, DeformableObject, RigidObject
 from isaaclab.managers import EventTermCfg, ManagerTermBase, SceneEntityCfg
+from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.terrains import TerrainImporter
 from isaaclab.utils.version import compare_versions
 

source/isaaclab/isaaclab/envs/ui/base_env_window.py

@@ -15,9 +15,9 @@ import isaacsim
 import omni.kit.app
 import omni.kit.commands
 import omni.usd
-from isaacsim.core.utils.stage import get_current_stage
 from pxr import PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics
 
+from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.ui.widgets import ManagerLiveVisualizer
 
 if TYPE_CHECKING:

source/isaaclab/isaaclab/markers/visualization_markers.py

@@ -24,15 +24,13 @@ import numpy as np
 import torch
 from dataclasses import MISSING
 
-import isaacsim.core.utils.stage as stage_utils
 import omni.kit.commands
 import omni.physx.scripts.utils as physx_utils
-from isaacsim.core.utils.stage import get_current_stage
 from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics, Vt
 
 import isaaclab.sim as sim_utils
 from isaaclab.sim.spawners import SpawnerCfg
-from isaaclab.sim.utils import attach_stage_to_usd_context
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.configclass import configclass
 from isaaclab.utils.math import convert_quat
 
@@ -151,7 +149,7 @@ class VisualizationMarkers:
         # get next free path for the prim
         prim_path = stage_utils.get_next_free_path(cfg.prim_path)
         # create a new prim
-        self.stage = get_current_stage()
+        self.stage = stage_utils.get_current_stage()
         self._instancer_manager = UsdGeom.PointInstancer.Define(self.stage, prim_path)
         # store inputs
         self.prim_path = prim_path
@@ -401,7 +399,7 @@ class VisualizationMarkers:
             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
-                attach_stage_to_usd_context(attaching_early=True)
+                stage_utils.attach_stage_to_usd_context(attaching_early=True)
 
                 # invisible to secondary rays such as depth images
                 omni.kit.commands.execute(

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -11,7 +11,6 @@ from typing import Any
 import carb
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.prims import XFormPrim
-from isaacsim.core.utils.stage import get_current_stage
 from isaacsim.core.version import get_version
 from pxr import PhysxSchema
 
@@ -31,7 +30,7 @@ from isaaclab.assets import (
 )
 from isaaclab.sensors import ContactSensorCfg, FrameTransformerCfg, SensorBase, SensorBaseCfg
 from isaaclab.sim import SimulationContext
-from isaaclab.sim.utils import get_current_stage_id
+from isaaclab.sim.utils.stage import get_current_stage, get_current_stage_id
 from isaaclab.terrains import TerrainImporter, TerrainImporterCfg
 
 from .interactive_scene_cfg import InteractiveSceneCfg

source/isaaclab/isaaclab/sensors/camera/camera.py

@@ -14,7 +14,6 @@ from collections.abc import Sequence
 from typing import TYPE_CHECKING, Any, Literal
 
 import carb
-import isaacsim.core.utils.stage as stage_utils
 import omni.kit.commands
 import omni.usd
 from isaacsim.core.prims import XFormPrim
@@ -23,6 +22,7 @@ from pxr import Sdf, UsdGeom
 
 import isaaclab.sim as sim_utils
 import isaaclab.utils.sensors as sensor_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils import to_camel_case
 from isaaclab.utils.array import convert_to_torch
 from isaaclab.utils.math import (

source/isaaclab/isaaclab/sensors/imu/imu.py

@@ -9,13 +9,13 @@ import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import isaacsim.core.utils.stage as stage_utils
 from isaacsim.core.simulation_manager import SimulationManager
 from pxr import UsdPhysics
 
 import isaaclab.sim as sim_utils
 import isaaclab.utils.math as math_utils
 from isaaclab.markers import VisualizationMarkers
+from isaaclab.sim.utils import stage as stage_utils
 
 from ..sensor_base import SensorBase
 from .imu_data import ImuData

source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py

@@ -9,12 +9,12 @@ import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING, ClassVar, Literal
 
-import isaacsim.core.utils.stage as stage_utils
 import omni.physics.tensors.impl.api as physx
 from isaacsim.core.prims import XFormPrim
 
 import isaaclab.utils.math as math_utils
 from isaaclab.sensors.camera import CameraData
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.warp import raycast_mesh
 
 from .ray_caster import RayCaster

source/isaaclab/isaaclab/sensors/sensor_base.py

@@ -23,9 +23,9 @@ from typing import TYPE_CHECKING, Any
 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
+from isaaclab.sim.utils.stage import get_current_stage
 
 if TYPE_CHECKING:
     from .sensor_base_cfg import SensorBaseCfg

source/isaaclab/isaaclab/sim/schemas/schemas.py

@@ -10,10 +10,11 @@ import logging
 import math
 
 import omni.physx.scripts.utils as physx_utils
-from isaacsim.core.utils.stage import get_current_stage
 from omni.physx.scripts import deformableUtils as deformable_utils
 from pxr import PhysxSchema, Usd, UsdPhysics
 
+from isaaclab.sim.utils.stage import get_current_stage
+
 from ..utils import (
     apply_nested,
     find_global_fixed_joint_prim,

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -24,7 +24,6 @@ from typing import Any
 
 import carb
 import flatdict
-import isaacsim.core.utils.stage as stage_utils
 import omni.physx
 import omni.usd
 from isaacsim.core.api.simulation_context import SimulationContext as _SimulationContext
@@ -33,7 +32,7 @@ from isaacsim.core.utils.viewports import set_camera_view
 from isaacsim.core.version import get_version
 from pxr import Gf, PhysxSchema, Sdf, Usd, UsdPhysics
 
-from isaaclab.sim.utils import create_new_stage_in_memory, use_stage
+from isaaclab.sim.utils import stage as stage_utils
 
 from .simulation_cfg import SimulationCfg
 from .spawners import DomeLightCfg, GroundPlaneCfg
@@ -138,7 +137,7 @@ class SimulationContext(_SimulationContext):
 
         # create stage in memory if requested
         if self.cfg.create_stage_in_memory:
-            self._initial_stage = create_new_stage_in_memory()
+            self._initial_stage = stage_utils.create_new_stage_in_memory()
         else:
             self._initial_stage = omni.usd.get_context().get_stage()
 
@@ -629,7 +628,7 @@ class SimulationContext(_SimulationContext):
 
     def _init_stage(self, *args, **kwargs) -> Usd.Stage:
         _ = super()._init_stage(*args, **kwargs)
-        with use_stage(self.get_initial_stage()):
+        with stage_utils.use_stage(self.get_initial_stage()):
             # a stage update here is needed for the case when physics_dt != rendering_dt, otherwise the app crashes
             # when in headless mode
             self.set_setting("/app/player/playSimulations", False)

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

@@ -18,16 +18,9 @@ try:
 except ModuleNotFoundError:
     from pxr import Semantics
 
-from isaacsim.core.utils.stage import get_current_stage
-
 from isaaclab.sim import converters, schemas
-from isaaclab.sim.utils import (
-    bind_physics_material,
-    bind_visual_material,
-    clone,
-    is_current_stage_in_memory,
-    select_usd_variants,
-)
+from isaaclab.sim.utils import bind_physics_material, bind_visual_material, clone, select_usd_variants
+from isaaclab.sim.utils.stage import get_current_stage, is_current_stage_in_memory
 from isaaclab.utils.assets import check_usd_path_with_timeout
 
 if TYPE_CHECKING:

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

@@ -8,10 +8,10 @@ from __future__ import annotations
 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
 
 from isaaclab.sim.utils import clone, safe_set_attribute_on_usd_schema
+from isaaclab.sim.utils.stage import get_current_stage
 
 if TYPE_CHECKING:
     from . import physics_materials_cfg

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

@@ -12,7 +12,8 @@ import isaacsim.core.utils.prims as prim_utils
 import omni.kit.commands
 from pxr import Sdf, Usd
 
-from isaaclab.sim.utils import attach_stage_to_usd_context, clone
+from isaaclab.sim.utils import clone
+from isaaclab.sim.utils.stage import attach_stage_to_usd_context
 from isaaclab.utils import to_camel_case
 
 if TYPE_CHECKING:

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

@@ -11,12 +11,11 @@ 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
 from isaaclab.sim.spawners.from_files import UsdFileCfg
+from isaaclab.sim.utils import stage as stage_utils
 
 if TYPE_CHECKING:
     from . import wrappers_cfg
@@ -48,7 +47,7 @@ def spawn_multi_asset(
         The created prim at the first prim path.
     """
     # get stage handle
-    stage = get_current_stage()
+    stage = stage_utils.get_current_stage()
 
     # resolve: {SPAWN_NS}/AssetName
     # note: this assumes that the spawn namespace already exists in the stage

source/isaaclab/isaaclab/sim/utils/stage.py

+# 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
+
+import builtins
+import contextlib
+import logging
+import threading
+import typing
+from collections.abc import Generator
+
+import carb
+import omni
+import omni.kit.app
+from isaacsim.core.utils import stage as sim_stage
+from isaacsim.core.utils.carb import get_carb_setting
+from isaacsim.core.version import get_version
+from omni.metrics.assembler.core import get_metrics_assembler_interface
+from omni.usd.commands import DeletePrimsCommand
+from pxr import Sdf, Usd, UsdGeom, UsdUtils
+
+# import logger
+logger = logging.getLogger(__name__)
+_context = threading.local()  # thread-local storage to handle nested contexts and concurrent access
+
+# _context is a singleton design in isaacsim and for that reason
+#  until we fully replace all modules that references the singleton(such as XformPrim, Prim ....), we have to point
+#  that singleton to this _context
+sim_stage._context = _context
+
+AXES_TOKEN = {
+    "X": UsdGeom.Tokens.x,
+    "x": UsdGeom.Tokens.x,
+    "Y": UsdGeom.Tokens.y,
+    "y": UsdGeom.Tokens.y,
+    "Z": UsdGeom.Tokens.z,
+    "z": UsdGeom.Tokens.z,
+}
+"""Mapping from axis name to axis USD token
+
+    >>> import isaacsim.core.utils.constants as constants_utils
+    >>>
+    >>> # get the x-axis USD token
+    >>> constants_utils.AXES_TOKEN['x']
+    X
+    >>> constants_utils.AXES_TOKEN['X']
+    X
+"""
+
+
+def attach_stage_to_usd_context(attaching_early: bool = False):
+    """Attaches the current USD stage in memory to the USD context.
+
+    This function should be called during or after scene is created and before stage is simulated or rendered.
+
+    Note:
+        If the stage is not in memory or rendering is not enabled, this function will return without attaching.
+
+    Args:
+        attaching_early: Whether to attach the stage to the usd context before stage is created. Defaults to False.
+    """
+
+    from isaacsim.core.simulation_manager import SimulationManager
+
+    from isaaclab.sim.simulation_context import SimulationContext
+
+    # if Isaac Sim version is less than 5.0, stage in memory is not supported
+    isaac_sim_version = float(".".join(get_version()[2]))
+    if isaac_sim_version < 5:
+        return
+
+    # if stage is not in memory, we can return early
+    if not is_current_stage_in_memory():
+        return
+
+    # attach stage to physx
+    stage_id = get_current_stage_id()
+    physx_sim_interface = omni.physx.get_physx_simulation_interface()
+    physx_sim_interface.attach_stage(stage_id)
+
+    # this carb flag is equivalent to if rendering is enabled
+    carb_setting = carb.settings.get_settings()
+    is_rendering_enabled = get_carb_setting(carb_setting, "/physics/fabricUpdateTransformations")
+
+    # if rendering is not enabled, we don't need to attach it
+    if not is_rendering_enabled:
+        return
+
+    # early attach warning msg
+    if attaching_early:
+        logger.warning(
+            "Attaching stage in memory to USD context early to support an operation which doesn't support stage in"
+            " memory."
+        )
+
+    # skip this callback to avoid wiping the stage after attachment
+    SimulationContext.instance().skip_next_stage_open_callback()
+
+    # disable stage open callback to avoid clearing callbacks
+    SimulationManager.enable_stage_open_callback(False)
+
+    # enable physics fabric
+    SimulationContext.instance()._physics_context.enable_fabric(True)
+
+    # attach stage to usd context
+    omni.usd.get_context().attach_stage_with_callback(stage_id)
+
+    # attach stage to physx
+    physx_sim_interface = omni.physx.get_physx_simulation_interface()
+    physx_sim_interface.attach_stage(stage_id)
+
+    # re-enable stage open callback
+    SimulationManager.enable_stage_open_callback(True)
+
+
+def is_current_stage_in_memory() -> bool:
+    """Checks if the current stage is in memory.
+
+    This function compares the stage id of the current USD stage with the stage id of the USD context stage.
+
+    Returns:
+        Whether the current stage is in memory.
+    """
+
+    # grab current stage id
+    stage_id = get_current_stage_id()
+
+    # grab context stage id
+    context_stage = omni.usd.get_context().get_stage()
+    with use_stage(context_stage):
+        context_stage_id = get_current_stage_id()
+
+    # check if stage ids are the same
+    return stage_id != context_stage_id
+
+
+@contextlib.contextmanager
+def use_stage(stage: Usd.Stage) -> Generator[None, None, None]:
+    """Context manager that sets a thread-local stage, if supported.
+
+    In Isaac Sim < 5.0, this is a no-op to maintain compatibility.
+
+    Args:
+        stage: The stage to set temporarily.
+
+    Raises:
+        AssertionError: If the stage is not a USD stage instance.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from pxr import Usd
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> stage_in_memory = Usd.Stage.CreateInMemory()
+        >>> with stage_utils.use_stage(stage_in_memory):
+        ...    # operate on the specified stage
+        ...    pass
+        >>> # operate on the default stage attached to the USD context
+    """
+    isaac_sim_version = float(".".join(get_version()[2]))
+    if isaac_sim_version < 5:
+        logger.warning("[Compat] Isaac Sim < 5.0 does not support thread-local stage contexts. Skipping use_stage().")
+        yield  # no-op
+    else:
+        # check stage
+        assert isinstance(stage, Usd.Stage), f"Expected a USD stage instance, got: {type(stage)}"
+        # store previous context value if it exists
+        previous_stage = getattr(_context, "stage", None)
+        # set new context value
+        try:
+            _context.stage = stage
+            yield
+        # remove context value or restore previous one if it exists
+        finally:
+            if previous_stage is None:
+                delattr(_context, "stage")
+            else:
+                _context.stage = previous_stage
+
+
+def get_current_stage(fabric: bool = False) -> Usd.Stage:
+    """Get the current open USD or Fabric stage
+
+    Args:
+        fabric: True to get the fabric stage. False to get the USD stage. Defaults to False.
+
+    Returns:
+        The USD or Fabric stage as specified by the input arg fabric.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> stage_utils.get_current_stage()
+        Usd.Stage.Open(rootLayer=Sdf.Find('anon:0x7fba6c04f840:World7.usd'),
+                        sessionLayer=Sdf.Find('anon:0x7fba6c01c5c0:World7-session.usda'),
+                        pathResolverContext=<invalid repr>)
+    """
+    stage = getattr(_context, "stage", omni.usd.get_context().get_stage())
+    return stage
+
+
+def get_current_stage_id() -> int:
+    """Get the current open stage id
+
+    Returns:
+        The current open stage id.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> stage_utils.get_current_stage_id()
+        1234567890
+    """
+    stage = get_current_stage()
+    stage_cache = UsdUtils.StageCache.Get()
+    stage_id = stage_cache.GetId(stage).ToLongInt()
+    if stage_id < 0:
+        stage_id = stage_cache.Insert(stage).ToLongInt()
+    return stage_id
+
+
+def update_stage() -> None:
+    """Update the current USD stage.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> stage_utils.update_stage()
+    """
+    omni.kit.app.get_app_interface().update()
+
+
+# TODO: make a generic util for setting all layer properties
+def set_stage_up_axis(axis: str = "z") -> None:
+    """Change the up axis of the current stage
+
+    Args:
+        axis (UsdGeom.Tokens, optional): valid values are ``"x"``, ``"y"`` and ``"z"``
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> # set stage up axis to Y-up
+        >>> stage_utils.set_stage_up_axis("y")
+    """
+    stage = get_current_stage()
+    if stage is None:
+        raise Exception("There is no stage currently opened")
+    rootLayer = stage.GetRootLayer()
+    rootLayer.SetPermissionToEdit(True)
+    with Usd.EditContext(stage, rootLayer):
+        UsdGeom.SetStageUpAxis(stage, AXES_TOKEN[axis])
+
+
+def get_stage_up_axis() -> str:
+    """Get the current up-axis of USD stage.
+
+    Returns:
+        str: The up-axis of the stage.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> stage_utils.get_stage_up_axis()
+        Z
+    """
+    stage = get_current_stage()
+    return UsdGeom.GetStageUpAxis(stage)
+
+
+def clear_stage(predicate: typing.Callable[[str], bool] | None = None) -> None:
+    """Deletes all prims in the stage without populating the undo command buffer
+
+    Args:
+        predicate: user defined function that takes a prim_path (str) as input and returns True/False if the prim
+            should/shouldn't be deleted. If predicate is None, a default is used that deletes all prims
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> # clear the whole stage
+        >>> stage_utils.clear_stage()
+        >>>
+        >>> # given the stage: /World/Cube, /World/Cube_01, /World/Cube_02.
+        >>> # Delete only the prims of type Cube
+        >>> predicate = lambda path: prims_utils.get_prim_type_name(path) == "Cube"
+        >>> stage_utils.clear_stage(predicate)  # after the execution the stage will be /World
+    """
+    # Note: Need to import this here to prevent circular dependencies.
+    # TODO(Octi): uncomment and remove sim import below after prim_utils replacement merged
+    from isaacsim.core.utils.prims import (  # isaaclab.utils.prims import (
+        get_all_matching_child_prims,
+        get_prim_path,
+        is_prim_ancestral,
+        is_prim_hidden_in_stage,
+        is_prim_no_delete,
+    )
+
+    def default_predicate(prim_path: str):
+        # prim = get_prim_at_path(prim_path)
+        # skip prims that we cannot delete
+        if is_prim_no_delete(prim_path):
+            return False
+        if is_prim_hidden_in_stage(prim_path):
+            return False
+        if is_prim_ancestral(prim_path):
+            return False
+        if prim_path == "/":
+            return False
+        if prim_path.startswith("/Render"):
+            return False
+        return True
+
+    if predicate is None:
+        prims = get_all_matching_child_prims("/", default_predicate)
+        prim_paths_to_delete = [get_prim_path(prim) for prim in prims]
+        DeletePrimsCommand(prim_paths_to_delete).do()
+    else:
+        prims = get_all_matching_child_prims("/", predicate)
+        prim_paths_to_delete = [get_prim_path(prim) for prim in prims]
+        DeletePrimsCommand(prim_paths_to_delete).do()
+
+    if builtins.ISAAC_LAUNCHED_FROM_TERMINAL is False:
+        omni.kit.app.get_app_interface().update()
+
+
+def print_stage_prim_paths(fabric: bool = False) -> None:
+    """Traverses the stage and prints all prim (hidden or not) paths.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> # given the stage: /World/Cube, /World/Cube_01, /World/Cube_02.
+        >>> stage_utils.print_stage_prim_paths()
+        /Render
+        /World
+        /World/Cube
+        /World/Cube_01
+        /World/Cube_02
+        /OmniverseKit_Persp
+        /OmniverseKit_Front
+        /OmniverseKit_Top
+        /OmniverseKit_Right
+    """
+    # Note: Need to import this here to prevent circular dependencies.
+    # TODO(Octi): uncomment and remove sim import below after prim_utils replacement merged
+    # from isaaclab.utils.prims import get_prim_path
+    from isaacsim.core.utils.prims import get_prim_path
+
+    for prim in traverse_stage(fabric=fabric):
+        prim_path = get_prim_path(prim)
+        print(prim_path)
+
+
+def add_reference_to_stage(usd_path: str, prim_path: str, prim_type: str = "Xform") -> Usd.Prim:
+    """Add USD reference to the opened stage at specified prim path.
+
+    Adds a reference to an external USD file at the specified prim path on the current stage.
+    If the prim does not exist, it will be created with the specified type.
+    This function also handles stage units verification to ensure compatibility.
+
+    Args:
+        usd_path: The path to USD file to reference.
+        prim_path: The prim path where the reference will be attached.
+        prim_type: The type of prim to create if it doesn't exist. Defaults to "Xform".
+
+    Returns:
+        The USD prim at the specified prim path.
+
+    Raises:
+        FileNotFoundError: When the input USD file is not found at the specified path.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> # load an USD file (franka.usd) to the stage under the path /World/panda
+        >>> prim = stage_utils.add_reference_to_stage(
+        ...     usd_path="/home/<user>/Documents/Assets/Robots/FrankaRobotics/FrankaPanda/franka.usd",
+        ...     prim_path="/World/panda"
+        ... )
+        >>> prim
+        Usd.Prim(</World/panda>)
+    """
+    stage = get_current_stage()
+    prim = stage.GetPrimAtPath(prim_path)
+    if not prim.IsValid():
+        prim = stage.DefinePrim(prim_path, prim_type)
+    # logger.info("Loading Asset from path {} ".format(usd_path))
+    # Handle units
+    sdf_layer = Sdf.Layer.FindOrOpen(usd_path)
+    if not sdf_layer:
+        pass
+        # logger.info(f"Could not get Sdf layer for {usd_path}")
+    else:
+        stage_id = UsdUtils.StageCache.Get().GetId(stage).ToLongInt()
+        ret_val = get_metrics_assembler_interface().check_layers(
+            stage.GetRootLayer().identifier, sdf_layer.identifier, stage_id
+        )
+        if ret_val["ret_val"]:
+            try:
+                import omni.metrics.assembler.ui
+
+                payref = Sdf.Reference(usd_path)
+                omni.kit.commands.execute("AddReference", stage=stage, prim_path=prim.GetPath(), reference=payref)
+            except Exception:
+                success_bool = prim.GetReferences().AddReference(usd_path)
+                if not success_bool:
+                    raise FileNotFoundError(f"The usd file at path {usd_path} provided wasn't found")
+        else:
+            success_bool = prim.GetReferences().AddReference(usd_path)
+            if not success_bool:
+                raise FileNotFoundError(f"The usd file at path {usd_path} provided wasn't found")
+
+    return prim
+
+
+def create_new_stage() -> Usd.Stage:
+    """Create a new stage attached to the USD context.
+
+    Returns:
+        Usd.Stage: The created USD stage.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> stage_utils.create_new_stage()
+        Usd.Stage.Open(rootLayer=Sdf.Find('anon:0x7fba6c04f840:World7.usd'),
+                        sessionLayer=Sdf.Find('anon:0x7fba6c01c5c0:World7-session.usda'),
+                        pathResolverContext=<invalid repr>)
+    """
+    return omni.usd.get_context().new_stage()
+
+
+def create_new_stage_in_memory() -> Usd.Stage:
+    """Creates a new stage in memory, if supported.
+
+    Returns:
+        The new stage in memory.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> stage_utils.create_new_stage_in_memory()
+        Usd.Stage.Open(rootLayer=Sdf.Find('anon:0xf7b00e0:tmp.usda'),
+                        sessionLayer=Sdf.Find('anon:0xf7cd2e0:tmp-session.usda'),
+                        pathResolverContext=<invalid repr>)
+    """
+    isaac_sim_version = float(".".join(get_version()[2]))
+    if isaac_sim_version < 5:
+        logger.warning(
+            "[Compat] Isaac Sim < 5.0 does not support creating a new stage in memory. Falling back to creating a new"
+            " stage attached to USD context."
+        )
+        return create_new_stage()
+    else:
+        return Usd.Stage.CreateInMemory()
+
+
+def open_stage(usd_path: str) -> bool:
+    """Open the given usd file and replace currently opened stage.
+
+    Args:
+        usd_path (str): Path to the USD file to open.
+
+    Raises:
+        ValueError: When input path is not a supported file type by USD.
+
+    Returns:
+        bool: True if operation is successful, otherwise false.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> stage_utils.open_stage("/home/<user>/Documents/Assets/Robots/FrankaRobotics/FrankaPanda/franka.usd")
+        True
+    """
+    if not Usd.Stage.IsSupportedFile(usd_path):
+        raise ValueError("Only USD files can be loaded with this method")
+    usd_context = omni.usd.get_context()
+    usd_context.disable_save_to_recent_files()
+    result = omni.usd.get_context().open_stage(usd_path)
+    usd_context.enable_save_to_recent_files()
+    return result
+
+
+def save_stage(usd_path: str, save_and_reload_in_place=True) -> bool:
+    """Save usd file to path, it will be overwritten with the current stage
+
+    Args:
+        usd_path (str): File path to save the current stage to
+        save_and_reload_in_place (bool, optional): use ``save_as_stage`` to save and reload the root layer in place. Defaults to True.
+
+    Raises:
+        ValueError: When input path is not a supported file type by USD.
+
+    Returns:
+        bool: True if operation is successful, otherwise false.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> stage_utils.save_stage("/home/<user>/Documents/Save/stage.usd")
+        True
+    """
+    if not Usd.Stage.IsSupportedFile(usd_path):
+        raise ValueError("Only USD files can be saved with this method")
+
+    layer = Sdf.Layer.CreateNew(usd_path)
+    root_layer = get_current_stage().GetRootLayer()
+    layer.TransferContent(root_layer)
+    omni.usd.resolve_paths(root_layer.identifier, layer.identifier)
+    result = layer.Save()
+    if save_and_reload_in_place:
+        open_stage(usd_path)
+
+    return result
+
+
+def close_stage(callback_fn: typing.Callable | None = None) -> bool:
+    """Closes the current opened USD stage.
+
+    .. note::
+
+        Once the stage is closed, it is necessary to open a new stage or create a new one in order to work on it.
+
+    Args:
+        callback_fn: Callback function to call while closing. Defaults to None.
+
+    Returns:
+        bool: True if operation is successful, otherwise false.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> stage_utils.close_stage()
+        True
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> def callback(*args, **kwargs):
+        ...     print("callback:", args, kwargs)
+        ...
+        >>> stage_utils.close_stage(callback)
+        True
+        >>> stage_utils.close_stage(callback)
+        callback: (False, 'Stage opening or closing already in progress!!') {}
+        False
+    """
+    if callback_fn is None:
+        result = omni.usd.get_context().close_stage()
+    else:
+        result = omni.usd.get_context().close_stage_with_callback(callback_fn)
+    return result
+
+
+def traverse_stage(fabric=False) -> typing.Iterable:
+    """Traverse through prims (hidden or not) in the opened Usd stage.
+
+    Returns:
+        Generator which yields prims from the stage in depth-first-traversal order.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> # given the stage: /World/Cube, /World/Cube_01, /World/Cube_02.
+        >>> # Traverse through prims in the stage
+        >>> for prim in stage_utils.traverse_stage():
+        >>>     print(prim)
+        Usd.Prim(</World>)
+        Usd.Prim(</World/Cube>)
+        Usd.Prim(</World/Cube_01>)
+        Usd.Prim(</World/Cube_02>)
+        Usd.Prim(</OmniverseKit_Persp>)
+        Usd.Prim(</OmniverseKit_Front>)
+        Usd.Prim(</OmniverseKit_Top>)
+        Usd.Prim(</OmniverseKit_Right>)
+        Usd.Prim(</Render>)
+    """
+    return get_current_stage(fabric=fabric).Traverse()
+
+
+def is_stage_loading() -> bool:
+    """Convenience function to see if any files are being loaded.
+
+    Returns:
+        bool: True if loading, False otherwise
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> stage_utils.is_stage_loading()
+        False
+    """
+    context = omni.usd.get_context()
+    if context is None:
+        return False
+    else:
+        _, _, loading = context.get_stage_loading_status()
+        return loading > 0
+
+
+def set_stage_units(stage_units_in_meters: float) -> None:
+    """Set the stage meters per unit
+
+    The most common units and their values are listed in the following table:
+
+    +------------------+--------+
+    | Unit             | Value  |
+    +==================+========+
+    | kilometer (km)   | 1000.0 |
+    +------------------+--------+
+    | meters (m)       | 1.0    |
+    +------------------+--------+
+    | inch (in)        | 0.0254 |
+    +------------------+--------+
+    | centimeters (cm) | 0.01   |
+    +------------------+--------+
+    | millimeter (mm)  | 0.001  |
+    +------------------+--------+
+
+    Args:
+        stage_units_in_meters (float): units for stage
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> stage_utils.set_stage_units(1.0)
+    """
+    if get_current_stage() is None:
+        raise Exception("There is no stage currently opened, init_stage needed before calling this func")
+    with Usd.EditContext(get_current_stage(), get_current_stage().GetRootLayer()):
+        UsdGeom.SetStageMetersPerUnit(get_current_stage(), stage_units_in_meters)
+
+
+def get_stage_units() -> float:
+    """Get the stage meters per unit currently set
+
+    The most common units and their values are listed in the following table:
+
+    +------------------+--------+
+    | Unit             | Value  |
+    +==================+========+
+    | kilometer (km)   | 1000.0 |
+    +------------------+--------+
+    | meters (m)       | 1.0    |
+    +------------------+--------+
+    | inch (in)        | 0.0254 |
+    +------------------+--------+
+    | centimeters (cm) | 0.01   |
+    +------------------+--------+
+    | millimeter (mm)  | 0.001  |
+    +------------------+--------+
+
+    Returns:
+        float: current stage meters per unit
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> stage_utils.get_stage_units()
+        1.0
+    """
+    return UsdGeom.GetStageMetersPerUnit(get_current_stage())
+
+
+def get_next_free_path(path: str, parent: str = None) -> str:
+    """Returns the next free usd path for the current stage
+
+    Args:
+        path (str): path we want to check
+        parent (str, optional): Parent prim for the given path. Defaults to None.
+
+    Returns:
+        str: a new path that is guaranteed to not exist on the current stage
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>>
+        >>> # given the stage: /World/Cube, /World/Cube_01.
+        >>> # Get the next available path for /World/Cube
+        >>> stage_utils.get_next_free_path("/World/Cube")
+        /World/Cube_02
+    """
+    if parent is not None:
+        # remove trailing slash from parent and leading slash from path
+        path = omni.usd.get_stage_next_free_path(
+            get_current_stage(), parent.rstrip("/") + "/" + path.lstrip("/"), False
+        )
+    else:
+        path = omni.usd.get_stage_next_free_path(get_current_stage(), path, True)
+    return path
+
+
+def remove_deleted_references():
+    """Clean up deleted references in the current USD stage.
+
+    Removes any deleted items from both payload and references lists
+    for all prims in the stage's root layer. Prints information about
+    any deleted items that were cleaned up.
+
+    Example:
+
+    .. code-block:: python
+
+        >>> from isaaclab.sim.utils import stage as stage_utils
+        >>> stage_utils.remove_deleted_references()
+        Removed 2 deleted payload items from </World/Robot>
+        Removed 1 deleted reference items from </World/Scene>
+    """
+    stage = get_current_stage()
+    deleted_count = 0
+
+    for prim in stage.Traverse():
+        prim_spec = stage.GetRootLayer().GetPrimAtPath(prim.GetPath())
+        if not prim_spec:
+            continue
+
+        # Clean payload references
+        payload_list = prim_spec.GetInfo("payload")
+        if payload_list.deletedItems:
+            deleted_payload_count = len(payload_list.deletedItems)
+            print(f"Removed {deleted_payload_count} deleted payload items from {prim.GetPath()}")
+            payload_list.deletedItems = []
+            prim_spec.SetInfo("payload", payload_list)
+            deleted_count += deleted_payload_count
+
+        # Clean prim references
+        references_list = prim_spec.GetInfo("references")
+        if references_list.deletedItems:
+            deleted_ref_count = len(references_list.deletedItems)
+            print(f"Removed {deleted_ref_count} deleted reference items from {prim.GetPath()}")
+            references_list.deletedItems = []
+            prim_spec.SetInfo("references", references_list)
+            deleted_count += deleted_ref_count
+
+    if deleted_count == 0:
+        print("No deleted references or payloads found in the stage.")

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

@@ -7,24 +7,19 @@
 
 from __future__ import annotations
 
-import contextlib
 import functools
 import inspect
 import logging
 import re
 import time
-from collections.abc import Callable, Generator
+from collections.abc import Callable
 from typing import TYPE_CHECKING, Any
 
-import carb
-import isaacsim.core.utils.stage as stage_utils
 import omni
 import omni.kit.commands
 from isaacsim.core.cloner import Cloner
-from isaacsim.core.utils.carb import get_carb_setting
-from isaacsim.core.utils.stage import get_current_stage
 from isaacsim.core.version import get_version
-from pxr import PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics, UsdShade, UsdUtils
+from pxr import PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics, UsdShade
 
 # from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated
 try:
@@ -35,8 +30,10 @@ except ModuleNotFoundError:
 from isaaclab.sim import schemas
 from isaaclab.utils.string import to_camel_case
 
+from .stage import attach_stage_to_usd_context, get_current_stage
+
 if TYPE_CHECKING:
-    from .spawners.spawner_cfg import SpawnerCfg
+    from isaaclab.sim.spawners.spawner_cfg import SpawnerCfg
 
 # import logger
 logger = logging.getLogger(__name__)
@@ -1038,157 +1035,6 @@ def select_usd_variants(prim_path: str, variants: object | dict[str, str], stage
             )
 
 
-"""
-Stage management.
-"""
-
-
-def attach_stage_to_usd_context(attaching_early: bool = False):
-    """Attaches the current USD stage in memory to the USD context.
-
-    This function should be called during or after scene is created and before stage is simulated or rendered.
-
-    Note:
-        If the stage is not in memory or rendering is not enabled, this function will return without attaching.
-
-    Args:
-        attaching_early: Whether to attach the stage to the usd context before stage is created. Defaults to False.
-    """
-
-    from isaacsim.core.simulation_manager import SimulationManager
-
-    from isaaclab.sim.simulation_context import SimulationContext
-
-    # if Isaac Sim version is less than 5.0, stage in memory is not supported
-    isaac_sim_version = float(".".join(get_version()[2]))
-    if isaac_sim_version < 5:
-        return
-
-    # if stage is not in memory, we can return early
-    if not is_current_stage_in_memory():
-        return
-
-    # attach stage to physx
-    stage_id = get_current_stage_id()
-    physx_sim_interface = omni.physx.get_physx_simulation_interface()
-    physx_sim_interface.attach_stage(stage_id)
-
-    # this carb flag is equivalent to if rendering is enabled
-    carb_setting = carb.settings.get_settings()
-    is_rendering_enabled = get_carb_setting(carb_setting, "/physics/fabricUpdateTransformations")
-
-    # if rendering is not enabled, we don't need to attach it
-    if not is_rendering_enabled:
-        return
-
-    # early attach warning msg
-    if attaching_early:
-        logger.warning(
-            "Attaching stage in memory to USD context early to support an operation which doesn't support stage in"
-            " memory."
-        )
-
-    # skip this callback to avoid wiping the stage after attachment
-    SimulationContext.instance().skip_next_stage_open_callback()
-
-    # disable stage open callback to avoid clearing callbacks
-    SimulationManager.enable_stage_open_callback(False)
-
-    # enable physics fabric
-    SimulationContext.instance()._physics_context.enable_fabric(True)
-
-    # attach stage to usd context
-    omni.usd.get_context().attach_stage_with_callback(stage_id)
-
-    # attach stage to physx
-    physx_sim_interface = omni.physx.get_physx_simulation_interface()
-    physx_sim_interface.attach_stage(stage_id)
-
-    # re-enable stage open callback
-    SimulationManager.enable_stage_open_callback(True)
-
-
-def is_current_stage_in_memory() -> bool:
-    """Checks if the current stage is in memory.
-
-    This function compares the stage id of the current USD stage with the stage id of the USD context stage.
-
-    Returns:
-        Whether the current stage is in memory.
-    """
-
-    # grab current stage id
-    stage_id = get_current_stage_id()
-
-    # grab context stage id
-    context_stage = omni.usd.get_context().get_stage()
-    with use_stage(context_stage):
-        context_stage_id = get_current_stage_id()
-
-    # check if stage ids are the same
-    return stage_id != context_stage_id
-
-
-@contextlib.contextmanager
-def use_stage(stage: Usd.Stage) -> Generator[None, None, None]:
-    """Context manager that sets a thread-local stage, if supported.
-
-    In Isaac Sim < 5.0, this is a no-op to maintain compatibility.
-
-    Args:
-        stage: The stage to set temporarily.
-
-    Yields:
-        None
-    """
-    isaac_sim_version = float(".".join(get_version()[2]))
-    if isaac_sim_version < 5:
-        logger.warning("[Compat] Isaac Sim < 5.0 does not support thread-local stage contexts. Skipping use_stage().")
-        yield  # no-op
-    else:
-        with stage_utils.use_stage(stage):
-            yield
-
-
-def create_new_stage_in_memory() -> Usd.Stage:
-    """Creates a new stage in memory, if supported.
-
-    Returns:
-        The new stage in memory.
-    """
-    isaac_sim_version = float(".".join(get_version()[2]))
-    if isaac_sim_version < 5:
-        logger.warning(
-            "[Compat] Isaac Sim < 5.0 does not support creating a new stage in memory. Falling back to creating a new"
-            " stage attached to USD context."
-        )
-        return stage_utils.create_new_stage()
-    else:
-        return stage_utils.create_new_stage_in_memory()
-
-
-def get_current_stage_id() -> int:
-    """Gets the current open stage id.
-
-    This function is a reimplementation of :meth:`isaacsim.core.utils.stage.get_current_stage_id` for
-    backwards compatibility to Isaac Sim < 5.0.
-
-    Returns:
-        The current open stage id.
-    """
-    stage = get_current_stage()
-    stage_cache = UsdUtils.StageCache.Get()
-    stage_id = stage_cache.GetId(stage).ToLongInt()
-    if stage_id < 0:
-        stage_id = stage_cache.Insert(stage).ToLongInt()
-    return stage_id
-
-
-"""
-Logger.
-"""
-
-
 # --- Colored formatter ---
 class ColoredFormatter(logging.Formatter):
     COLORS = {

source/isaaclab/test/controllers/test_differential_ik.py

@@ -15,13 +15,13 @@ simulation_app = AppLauncher(headless=True).app
 import torch
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from isaacsim.core.cloner import GridCloner
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets import Articulation
 from isaaclab.controllers import DifferentialIKController, DifferentialIKControllerCfg
+from isaaclab.sim.utils import stage as stage_utils
 
 from isaaclab.utils.math import (  # isort:skip
     compute_pose_error,

source/isaaclab/test/controllers/test_operational_space.py

@@ -15,7 +15,6 @@ simulation_app = AppLauncher(headless=True).app
 import torch
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from isaacsim.core.cloner import GridCloner
 
@@ -25,6 +24,7 @@ from isaaclab.controllers import OperationalSpaceController, OperationalSpaceCon
 from isaaclab.markers import VisualizationMarkers
 from isaaclab.markers.config import FRAME_MARKER_CFG
 from isaaclab.sensors import ContactSensor, ContactSensorCfg
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.math import (
     apply_delta_pose,
     combine_frame_transforms,

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

@@ -34,7 +34,6 @@ import logging
 import torch
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import omni.kit.commands
 import omni.physx
 from isaacsim.core.api.world import World
@@ -45,6 +44,7 @@ from pxr import PhysxSchema, UsdPhysics
 # import logger
 logger = logging.getLogger(__name__)
 import isaaclab.sim.utils.nucleus as nucleus_utils
+import isaaclab.sim.utils.stage as stage_utils
 
 # check nucleus connection
 if nucleus_utils.get_assets_root_path() is None:

source/isaaclab/test/markers/test_visualization_markers.py

@@ -14,13 +14,13 @@ simulation_app = AppLauncher(headless=True).app
 
 import torch
 
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
 from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
 from isaaclab.markers.config import FRAME_MARKER_CFG, POSITION_GOAL_MARKER_CFG
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.math import random_orientation
 from isaaclab.utils.timer import Timer
 

source/isaaclab/test/sensors/test_camera.py

@@ -23,7 +23,6 @@ import scipy.spatial.transform as tf
 import torch
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import omni.replicator.core as rep
 import pytest
 from isaacsim.core.prims import SingleGeometryPrim, SingleRigidPrim
@@ -31,6 +30,7 @@ from pxr import Gf, Usd, UsdGeom
 
 import isaaclab.sim as sim_utils
 from isaaclab.sensors.camera import Camera, CameraCfg
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils import convert_dict_to_backend
 from isaaclab.utils.math import convert_quat
 from isaaclab.utils.timer import Timer

source/isaaclab/test/sensors/test_frame_transformer.py

@@ -16,7 +16,6 @@ import math
 import scipy.spatial.transform as tf
 import torch
 
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 
 import isaaclab.sim as sim_utils
@@ -24,6 +23,7 @@ import isaaclab.utils.math as math_utils
 from isaaclab.assets import RigidObjectCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import FrameTransformerCfg, OffsetCfg
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils import configclass
 

source/isaaclab/test/sensors/test_imu.py

@@ -17,7 +17,6 @@ simulation_app = app_launcher.app
 import pathlib
 import torch
 
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 
 import isaaclab.sim as sim_utils
@@ -27,6 +26,7 @@ from isaaclab.assets import ArticulationCfg, RigidObjectCfg
 from isaaclab.markers.config import GREEN_ARROW_X_MARKER_CFG, RED_ARROW_X_MARKER_CFG
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors.imu import ImuCfg
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils import configclass
 

source/isaaclab/test/sensors/test_multi_tiled_camera.py

@@ -21,7 +21,6 @@ import random
 import torch
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import omni.replicator.core as rep
 import pytest
 from flaky import flaky
@@ -30,6 +29,7 @@ from pxr import Gf, UsdGeom
 
 import isaaclab.sim as sim_utils
 from isaaclab.sensors.camera import TiledCamera, TiledCameraCfg
+from isaaclab.sim.utils import stage as stage_utils
 
 
 @pytest.fixture()

source/isaaclab/test/sensors/test_ray_caster_camera.py

@@ -21,7 +21,6 @@ import os
 import torch
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import omni.replicator.core as rep
 import pytest
 from pxr import Gf
@@ -30,6 +29,7 @@ import isaaclab.sim as sim_utils
 from isaaclab.sensors.camera import Camera, CameraCfg
 from isaaclab.sensors.ray_caster import RayCasterCamera, RayCasterCameraCfg, patterns
 from isaaclab.sim import PinholeCameraCfg
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.terrains.trimesh.utils import make_plane
 from isaaclab.terrains.utils import create_prim_from_mesh
 from isaaclab.utils import convert_dict_to_backend

source/isaaclab/test/sensors/test_sensor_base.py

@@ -19,11 +19,11 @@ from collections.abc import Sequence
 from dataclasses import dataclass
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 
 import isaaclab.sim as sim_utils
 from isaaclab.sensors import SensorBase, SensorBaseCfg
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils import configclass
 
 

source/isaaclab/test/sensors/test_tiled_camera.py

@@ -21,12 +21,13 @@ import random
 import torch
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import omni.replicator.core as rep
 import pytest
 from isaacsim.core.prims import SingleGeometryPrim, SingleRigidPrim
 from pxr import Gf, UsdGeom
 
+from isaaclab.sim.utils import stage as stage_utils
+
 # from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated
 try:
     import Semantics

source/isaaclab/test/sim/test_mesh_converter.py

@@ -18,7 +18,6 @@ import random
 import tempfile
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import omni
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
@@ -26,6 +25,7 @@ from pxr import UsdGeom, UsdPhysics
 
 from isaaclab.sim.converters import MeshConverter, MeshConverterCfg
 from isaaclab.sim.schemas import schemas_cfg
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
 
 

source/isaaclab/test/sim/test_mjcf_converter.py

@@ -15,12 +15,12 @@ simulation_app = AppLauncher(headless=True).app
 import os
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.utils.extensions import enable_extension, get_extension_path_from_name
 
 from isaaclab.sim.converters import MjcfConverter, MjcfConverterCfg
+from isaaclab.sim.utils import stage as stage_utils
 
 
 @pytest.fixture(autouse=True)

source/isaaclab/test/sim/test_schemas.py

@@ -15,13 +15,13 @@ simulation_app = AppLauncher(headless=True).app
 import math
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdPhysics
 
 import isaaclab.sim.schemas as schemas
 from isaaclab.sim.utils import find_global_fixed_joint_prim
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 from isaaclab.utils.string import to_camel_case
 

source/isaaclab/test/sim/test_spawn_from_files.py

@@ -13,12 +13,12 @@ simulation_app = AppLauncher(headless=True).app
 """Rest everything follows."""
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.utils.extensions import enable_extension, get_extension_path_from_name
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
 

source/isaaclab/test/sim/test_spawn_lights.py

@@ -13,12 +13,12 @@ simulation_app = AppLauncher(headless=True).app
 """Rest everything follows."""
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdLux
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.string import to_camel_case
 
 

source/isaaclab/test/sim/test_spawn_materials.py

@@ -13,12 +13,12 @@ simulation_app = AppLauncher(headless=True).app
 """Rest everything follows."""
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdPhysics, UsdShade
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR
 
 

source/isaaclab/test/sim/test_spawn_meshes.py

@@ -13,11 +13,11 @@ simulation_app = AppLauncher(headless=True).app
 """Rest everything follows."""
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim.utils import stage as stage_utils
 
 
 @pytest.fixture

source/isaaclab/test/sim/test_spawn_sensors.py

@@ -13,12 +13,12 @@ simulation_app = AppLauncher(headless=True).app
 """Rest everything follows."""
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
 from isaaclab.sim.spawners.sensors.sensors import CUSTOM_FISHEYE_CAMERA_ATTRIBUTES, CUSTOM_PINHOLE_CAMERA_ATTRIBUTES
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.string import to_camel_case
 
 

source/isaaclab/test/sim/test_spawn_shapes.py

@@ -13,11 +13,11 @@ simulation_app = AppLauncher(headless=True).app
 """Rest everything follows."""
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim.utils import stage as stage_utils
 
 
 @pytest.fixture

source/isaaclab/test/sim/test_spawn_wrappers.py

@@ -13,11 +13,11 @@ simulation_app = AppLauncher(headless=True).app
 """Rest everything follows."""
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
 

source/isaaclab/test/sim/test_stage_in_memory.py

@@ -13,7 +13,6 @@ simulation_app = AppLauncher(headless=True, enable_cameras=True).app
 """Rest everything follows."""
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import omni
 import omni.physx
 import omni.usd
@@ -24,6 +23,7 @@ from isaacsim.core.version import get_version
 
 import isaaclab.sim as sim_utils
 from isaaclab.sim.simulation_context import SimulationCfg, SimulationContext
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
 
@@ -59,7 +59,7 @@ def test_stage_in_memory_with_shapes(sim):
 
     # grab stage in memory and set as current stage via the with statement
     stage_in_memory = sim.get_initial_stage()
-    with sim_utils.use_stage(stage_in_memory):
+    with stage_utils.use_stage(stage_in_memory):
         # create cloned cone stage
         for i in range(num_clones):
             prim_utils.create_prim(f"/World/env_{i}", "Xform", translation=(i, i, 0))
@@ -88,7 +88,7 @@ def test_stage_in_memory_with_shapes(sim):
         cfg.func(prim_path_regex, cfg)
 
         # verify stage is in memory
-        assert sim_utils.is_current_stage_in_memory()
+        assert stage_utils.is_current_stage_in_memory()
 
         # verify prims exist in stage in memory
         prims = prim_utils.find_matching_prim_paths(prim_path_regex)
@@ -96,7 +96,7 @@ def test_stage_in_memory_with_shapes(sim):
 
         # verify prims do not exist in context stage
         context_stage = omni.usd.get_context().get_stage()
-        with sim_utils.use_stage(context_stage):
+        with stage_utils.use_stage(context_stage):
             prims = prim_utils.find_matching_prim_paths(prim_path_regex)
             assert len(prims) != num_clones
 
@@ -104,7 +104,7 @@ def test_stage_in_memory_with_shapes(sim):
         sim_utils.attach_stage_to_usd_context()
 
     # verify stage is no longer in memory
-    assert not sim_utils.is_current_stage_in_memory()
+    assert not stage_utils.is_current_stage_in_memory()
 
     # verify prims now exist in context stage
     prims = prim_utils.find_matching_prim_paths(prim_path_regex)
@@ -128,7 +128,7 @@ def test_stage_in_memory_with_usds(sim):
 
     # grab stage in memory and set as current stage via the with statement
     stage_in_memory = sim.get_initial_stage()
-    with sim_utils.use_stage(stage_in_memory):
+    with stage_utils.use_stage(stage_in_memory):
         # create cloned robot stage
         for i in range(num_clones):
             prim_utils.create_prim(f"/World/env_{i}", "Xform", translation=(i, i, 0))
@@ -154,7 +154,7 @@ def test_stage_in_memory_with_usds(sim):
         cfg.func(prim_path_regex, cfg)
 
         # verify stage is in memory
-        assert sim_utils.is_current_stage_in_memory()
+        assert stage_utils.is_current_stage_in_memory()
 
         # verify prims exist in stage in memory
         prims = prim_utils.find_matching_prim_paths(prim_path_regex)
@@ -162,7 +162,7 @@ def test_stage_in_memory_with_usds(sim):
 
         # verify prims do not exist in context stage
         context_stage = omni.usd.get_context().get_stage()
-        with sim_utils.use_stage(context_stage):
+        with stage_utils.use_stage(context_stage):
             prims = prim_utils.find_matching_prim_paths(prim_path_regex)
             assert len(prims) != num_clones
 
@@ -170,7 +170,7 @@ def test_stage_in_memory_with_usds(sim):
         sim_utils.attach_stage_to_usd_context()
 
     # verify stage is no longer in memory
-    assert not sim_utils.is_current_stage_in_memory()
+    assert not stage_utils.is_current_stage_in_memory()
 
     # verify prims now exist in context stage
     prims = prim_utils.find_matching_prim_paths(prim_path_regex)
@@ -191,7 +191,7 @@ def test_stage_in_memory_with_clone_in_fabric(sim):
 
     # grab stage in memory and set as current stage via the with statement
     stage_in_memory = sim.get_initial_stage()
-    with sim_utils.use_stage(stage_in_memory):
+    with stage_utils.use_stage(stage_in_memory):
         # set up paths
         base_env_path = "/World/envs"
         source_prim_path = f"{base_env_path}/env_0"
@@ -218,7 +218,7 @@ def test_stage_in_memory_with_clone_in_fabric(sim):
 
         # verify prims do not exist in context stage
         context_stage = omni.usd.get_context().get_stage()
-        with sim_utils.use_stage(context_stage):
+        with stage_utils.use_stage(context_stage):
             prims = prim_utils.find_matching_prim_paths(prim_path_regex)
             assert len(prims) != num_clones
 
@@ -226,10 +226,10 @@ def test_stage_in_memory_with_clone_in_fabric(sim):
         sim_utils.attach_stage_to_usd_context()
 
     # verify stage is no longer in memory
-    assert not sim_utils.is_current_stage_in_memory()
+    assert not stage_utils.is_current_stage_in_memory()
 
     # verify prims now exist in fabric stage using usdrt apis
-    stage_id = sim_utils.get_current_stage_id()
+    stage_id = stage_utils.get_current_stage_id()
     usdrt_stage = usdrt.Usd.Stage.Attach(stage_id)
     for i in range(num_clones):
         prim = usdrt_stage.GetPrimAtPath(f"/World/envs/env_{i}/Robot")

source/isaaclab/test/sim/test_urdf_converter.py

@@ -16,13 +16,13 @@ import numpy as np
 import os
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.prims import Articulation
 from isaacsim.core.utils.extensions import enable_extension, get_extension_path_from_name
 
 from isaaclab.sim.converters import UrdfConverter, UrdfConverterCfg
+from isaaclab.sim.utils import stage as stage_utils
 
 
 # Create a fixture for setup and teardown

source/isaaclab/test/sim/test_utils.py

@@ -16,12 +16,12 @@ import numpy as np
 import torch
 
 import isaacsim.core.utils.prims as prim_utils
-import isaacsim.core.utils.stage as stage_utils
 import pytest
 from pxr import Sdf, Usd, UsdGeom, UsdPhysics
 
 import isaaclab.sim as sim_utils
 import isaaclab.utils.math as math_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 
 

source/isaaclab/test/visualization/check_scene_xr_visualization.py

@@ -70,9 +70,10 @@ def get_camera_position():
         tuple: (x, y, z) camera position or None if not available
     """
     try:
-        import isaacsim.core.utils.stage as stage_utils
         from pxr import UsdGeom
 
+        from isaaclab.sim.utils import stage as stage_utils
+
         stage = stage_utils.get_current_stage()
         if stage is not None:
             # Get the viewport camera prim

source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env.py

@@ -7,7 +7,6 @@ from __future__ import annotations
 
 import torch
 
-from isaacsim.core.utils.stage import get_current_stage
 from isaacsim.core.utils.torch.transformations import tf_combine, tf_inverse, tf_vector
 from pxr import UsdGeom
 
@@ -17,6 +16,7 @@ from isaaclab.assets import Articulation, ArticulationCfg
 from isaaclab.envs import DirectRLEnv, DirectRLEnvCfg
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sim import SimulationCfg
+from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.terrains import TerrainImporterCfg
 from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR

source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_vision_env.py

@@ -14,12 +14,11 @@ try:
 except ModuleNotFoundError:
     from pxr import Semantics
 
-from isaacsim.core.utils.stage import get_current_stage
-
 import isaaclab.sim as sim_utils
 from isaaclab.assets import Articulation, RigidObject
 from isaaclab.scene import InteractiveSceneCfg
 from isaaclab.sensors import TiledCamera, TiledCameraCfg
+from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.utils import configclass
 from isaaclab.utils.math import quat_apply