Replaces IsaacSim `prim_utils` with IsaacLab `prim_utils` (#3924)

# Description

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

NOTE: this PR depends on #3923 

## Type of change

- Dependency removal

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] 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: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

docs/conf.py

@@ -157,6 +157,7 @@ autodoc_mock_imports = [
     "omni.client",
     "omni.physx",
     "omni.physics",
+    "usdrt",
     "pxr.PhysxSchema",
     "pxr.PhysicsSchemaTools",
     "omni.replicator",

scripts/benchmarks/benchmark_cameras.py

@@ -245,11 +245,10 @@ import random
 import time
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import psutil
-from isaacsim.core.utils.stage import create_new_stage
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import RigidObject, RigidObjectCfg
 from isaaclab.scene.interactive_scene import InteractiveScene
 from isaaclab.sensors import (
@@ -261,6 +260,7 @@ from isaaclab.sensors import (
     TiledCameraCfg,
     patterns,
 )
+from isaaclab.sim.utils.stage import create_new_stage
 from isaaclab.utils.math import orthogonalize_perspective_depth, unproject_depth
 
 from isaaclab_tasks.utils import load_cfg_from_registry

scripts/demos/arms.py

@@ -35,9 +35,8 @@ simulation_app = app_launcher.app
 import numpy as np
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import Articulation
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 

scripts/demos/h1_locomotion.py

@@ -45,13 +45,13 @@ import torch
 
 import carb
 import omni
-from isaacsim.core.utils.stage import get_current_stage
 from omni.kit.viewport.utility import get_viewport_from_window_name
 from omni.kit.viewport.utility.camera_state import ViewportCameraState
 from pxr import Gf, Sdf
 from rsl_rl.runners import OnPolicyRunner
 
 from isaaclab.envs import ManagerBasedRLEnv
+from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.utils.math import quat_apply
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
 

scripts/demos/hands.py

@@ -35,9 +35,8 @@ simulation_app = app_launcher.app
 import numpy as np
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import Articulation
 
 ##

scripts/demos/multi_asset.py

@@ -37,7 +37,6 @@ simulation_app = app_launcher.app
 
 import random
 
-from isaacsim.core.utils.stage import get_current_stage
 from pxr import Gf, Sdf
 
 import isaaclab.sim as sim_utils
@@ -52,6 +51,7 @@ from isaaclab.assets import (
 )
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sim import SimulationContext
+from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.utils import Timer, configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 

scripts/demos/quadrupeds.py

@@ -35,9 +35,8 @@ simulation_app = app_launcher.app
 import numpy as np
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import Articulation
 
 ##

scripts/tools/check_instanceable.py

@@ -64,12 +64,11 @@ simulation_app = app_launcher.app
 """Rest everything follows."""
 
 
-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.stage import get_current_stage
 
+import isaaclab.sim.utils.prims as prim_utils
+from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.utils import Timer
 from isaaclab.utils.assets import check_file_path
 
@@ -96,7 +95,7 @@ def main():
     sim.get_physics_context().set_gpu_total_aggregate_pairs_capacity(2**21)
     # enable hydra scene-graph instancing
     # this is needed to visualize the scene when fabric 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=args_cli.spacing, stage=stage)

scripts/tools/convert_mesh.py

@@ -93,9 +93,9 @@ import contextlib
 import os
 
 import carb
-import isaacsim.core.utils.stage as stage_utils
 import omni.kit.app
 
+import isaaclab.sim.utils.stage as stage_utils
 from isaaclab.sim.converters import MeshConverter, MeshConverterCfg
 from isaaclab.sim.schemas import schemas_cfg
 from isaaclab.utils.assets import check_file_path

scripts/tools/convert_mjcf.py

@@ -63,9 +63,9 @@ import contextlib
 import os
 
 import carb
-import isaacsim.core.utils.stage as stage_utils
 import omni.kit.app
 
+import isaaclab.sim.utils.stage as stage_utils
 from isaaclab.sim.converters import MjcfConverter, MjcfConverterCfg
 from isaaclab.utils.assets import check_file_path
 from isaaclab.utils.dict import print_dict

scripts/tools/convert_urdf.py

@@ -81,9 +81,9 @@ import contextlib
 import os
 
 import carb
-import isaacsim.core.utils.stage as stage_utils
 import omni.kit.app
 
+import isaaclab.sim.utils.stage as stage_utils
 from isaaclab.sim.converters import UrdfConverter, UrdfConverterCfg
 from isaaclab.utils.assets import check_file_path
 from isaaclab.utils.dict import print_dict

scripts/tutorials/00_sim/spawn_prims.py

@@ -31,9 +31,8 @@ simulation_app = app_launcher.app
 
 """Rest everything follows."""
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
 

scripts/tutorials/01_assets/run_articulation.py

@@ -34,9 +34,8 @@ simulation_app = app_launcher.app
 
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import Articulation
 from isaaclab.sim import SimulationContext
 

scripts/tutorials/01_assets/run_deformable_object.py

@@ -35,9 +35,8 @@ simulation_app = app_launcher.app
 
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 import isaaclab.utils.math as math_utils
 from isaaclab.assets import DeformableObject, DeformableObjectCfg
 from isaaclab.sim import SimulationContext

scripts/tutorials/01_assets/run_rigid_object.py

@@ -35,9 +35,8 @@ simulation_app = app_launcher.app
 
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 import isaaclab.utils.math as math_utils
 from isaaclab.assets import RigidObject, RigidObjectCfg
 from isaaclab.sim import SimulationContext

scripts/tutorials/01_assets/run_surface_gripper.py

@@ -35,9 +35,8 @@ simulation_app = app_launcher.app
 
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import Articulation, SurfaceGripper, SurfaceGripperCfg
 from isaaclab.sim import SimulationContext
 

scripts/tutorials/04_sensors/run_ray_caster.py

@@ -33,9 +33,8 @@ simulation_app = app_launcher.app
 
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import RigidObject, RigidObjectCfg
 from isaaclab.sensors.ray_caster import RayCaster, RayCasterCfg, patterns
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR

scripts/tutorials/04_sensors/run_ray_caster_camera.py

@@ -38,10 +38,10 @@ simulation_app = app_launcher.app
 import os
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import omni.replicator.core as rep
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.sensors.ray_caster import RayCasterCamera, RayCasterCameraCfg, patterns
 from isaaclab.utils import convert_dict_to_backend
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR

scripts/tutorials/04_sensors/run_usd_camera.py

@@ -65,10 +65,10 @@ import os
 import random
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import omni.replicator.core as rep
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import RigidObject, RigidObjectCfg
 from isaaclab.markers import VisualizationMarkers
 from isaaclab.markers.config import RAY_CASTER_MARKER_CFG

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.49.1"
+version = "0.49.2"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.49.2 (2025-11-26)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed import from ``isaacsim.core.utils.prims`` to ``isaaclab.sim.utils.prims`` across repo to reduce IsaacLab dependencies.
+
+
 0.49.1 (2025-12-08)
 ~~~~~~~~~~~~~~~~~~~
 
@@ -45,7 +54,9 @@ Added
 Changed
 ^^^^^^^
 
-* Changed import from ``isaaclab.sim.utils`` to ``isaaclab.sim.utils.stage`` to properly propagate the Isaac Sim stage context.
+* Changed import from ``isaaclab.sim.utils`` to ``isaaclab.sim.utils.stage`` in ``isaaclab.devices.openxr.xr_anchor_utils.py``
+  to properly propagate the Isaac Sim stage context.
+
 
 
 0.48.6 (2025-11-18)

source/isaaclab/isaaclab/app/app_launcher.py

@@ -14,6 +14,7 @@ fault occurs. The launched :class:`isaacsim.simulation_app.SimulationApp` instan
 
 import argparse
 import contextlib
+import logging
 import os
 import re
 import signal
@@ -25,6 +26,9 @@ with contextlib.suppress(ModuleNotFoundError):
 
 from isaacsim import SimulationApp
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class ExplicitAction(argparse.Action):
     """Custom action to track if an argument was explicitly passed by the user."""
@@ -993,10 +997,9 @@ class AppLauncher:
     def __patch_pxr_gf_matrix4d(self, launcher_args: dict):
         import traceback
 
-        import carb
         from pxr import Gf
 
-        carb.log_warn(
+        logger.warning(
             "Due to an issue with Pinocchio and pxr.Gf.Matrix4d, patching the Matrix4d constructor to convert arguments"
             " into a list of floats."
         )
@@ -1058,13 +1061,13 @@ class AppLauncher:
                 original_matrix4d(self, *args, **kwargs)
 
             except Exception as e:
-                carb.log_error(f"Matrix4d wrapper error: {e}")
+                logger.error(f"Matrix4d wrapper error: {e}")
                 traceback.print_stack()
                 # Fall back to original constructor as last resort
                 try:
                     original_matrix4d(self, *args, **kwargs)
                 except Exception as inner_e:
-                    carb.log_error(f"Original Matrix4d constructor also failed: {inner_e}")
+                    logger.error(f"Original Matrix4d constructor also failed: {inner_e}")
                     # Initialize as identity matrix if all else fails
                     original_matrix4d(self)
 

source/isaaclab/isaaclab/assets/asset_base.py

@@ -14,12 +14,12 @@ from abc import ABC, abstractmethod
 from collections.abc import Sequence
 from typing import TYPE_CHECKING, Any
 
-import isaacsim.core.utils.prims as prim_utils
 import omni.kit.app
 import omni.timeline
 from isaacsim.core.simulation_manager import IsaacEvents, SimulationManager
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.sim.utils.stage import get_current_stage
 
 if TYPE_CHECKING:

source/isaaclab/isaaclab/controllers/rmp_flow.py

@@ -6,7 +6,6 @@
 import torch
 from dataclasses import MISSING
 
-import isaacsim.core.utils.prims as prim_utils
 from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.prims import SingleArticulation
 
@@ -19,6 +18,7 @@ enable_extension("isaacsim.robot_motion.motion_generation")
 from isaacsim.robot_motion.motion_generation import ArticulationMotionPolicy
 from isaacsim.robot_motion.motion_generation.lula.motion_policies import RmpFlow, RmpFlowSmoothed
 
+import isaaclab.sim.utils as sim_utils
 from isaaclab.utils import configclass
 from isaaclab.utils.assets import retrieve_file_path
 
@@ -81,7 +81,7 @@ class RmpFlowController:
         # obtain the simulation time
         physics_dt = SimulationContext.instance().get_physics_dt()
         # find all prims
-        self._prim_paths = prim_utils.find_matching_prim_paths(prim_paths_expr)
+        self._prim_paths = sim_utils.find_matching_prim_paths(prim_paths_expr)
         self.num_robots = len(self._prim_paths)
         # resolve controller
         if self.cfg.name == "rmp_flow":

source/isaaclab/isaaclab/markers/visualization_markers.py

@@ -29,8 +29,8 @@ import omni.physx.scripts.utils as physx_utils
 from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics, Vt
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.stage as stage_utils
 from isaaclab.sim.spawners import SpawnerCfg
-from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.configclass import configclass
 from isaaclab.utils.math import convert_quat
 
@@ -68,7 +68,7 @@ class VisualizationMarkers:
     The class parses the configuration to create different the marker prototypes into the stage. Each marker
     prototype prim is created as a child of the :class:`UsdGeom.PointInstancer` prim. The prim path for the
     marker prim is resolved using the key of the marker in the :attr:`VisualizationMarkersCfg.markers`
-    dictionary. The marker prototypes are created using the :meth:`isaacsim.core.utils.create_prim`
+    dictionary. The marker prototypes are created using the :meth:`isaaclab.sim.utils.prims.create_prim`
     function, and then instanced using :class:`UsdGeom.PointInstancer` prim to allow creating multiple
     instances of the marker prims.
 

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

@@ -21,8 +21,8 @@ from isaacsim.core.version import get_version
 from pxr import Sdf, UsdGeom
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.stage as stage_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

@@ -13,9 +13,9 @@ from isaacsim.core.simulation_manager import SimulationManager
 from pxr import UsdPhysics
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.stage as stage_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

@@ -12,9 +12,9 @@ from typing import TYPE_CHECKING, ClassVar, Literal
 import omni.physics.tensors.impl.api as physx
 from isaacsim.core.prims import XFormPrim
 
+import isaaclab.sim.utils.stage as stage_utils
 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/sim/simulation_context.py

@@ -32,12 +32,15 @@ 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 stage as stage_utils
+import isaaclab.sim.utils.stage as stage_utils
 
 from .simulation_cfg import SimulationCfg
 from .spawners import DomeLightCfg, GroundPlaneCfg
 from .utils import ColoredFormatter, RateLimitFilter, bind_physics_material
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class SimulationContext(_SimulationContext):
     """A class to control simulation-related events such as physics stepping and rendering.
@@ -539,7 +542,7 @@ class SimulationContext(_SimulationContext):
         if self._anim_recording_enabled:
             is_anim_recording_finished = self._update_anim_recording()
             if is_anim_recording_finished:
-                carb.log_warn("[INFO][SimulationContext]: Animation recording finished. Closing app.")
+                logger.warning("[INFO][SimulationContext]: Animation recording finished. Closing app.")
                 self._app.shutdown()
 
         # check if the simulation timeline is paused. in that case keep stepping until it is playing
@@ -927,7 +930,7 @@ class SimulationContext(_SimulationContext):
     def _finish_anim_recording(self):
         """Finishes the animation recording and outputs the baked animation recording."""
 
-        carb.log_warn(
+        logger.warning(
             "[INFO][SimulationContext]: Finishing animation recording. Stage must be saved. Might take a few minutes."
         )
 

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

@@ -8,10 +8,11 @@ from __future__ import annotations
 import logging
 from typing import TYPE_CHECKING
 
-import isaacsim.core.utils.prims as prim_utils
 import omni.kit.commands
 from pxr import Gf, Sdf, Usd
 
+import isaaclab.sim.utils.prims as prim_utils
+
 # from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated
 try:
     import Semantics
@@ -160,7 +161,7 @@ def spawn_ground_plane(
         # Apply physics material to ground plane
         collision_prim_path = prim_utils.get_prim_path(
             prim_utils.get_first_matching_child_prim(
-                prim_path, predicate=lambda x: prim_utils.get_prim_type_name(x) == "Plane"
+                prim_path, predicate=lambda x: prim_utils.from_prim_get_type_name(x) == "Plane"
             )
         )
         bind_physics_material(collision_prim_path, f"{prim_path}/physicsMaterial")

source/isaaclab/isaaclab/sim/spawners/lights/lights.py

@@ -7,9 +7,9 @@ from __future__ import annotations
 
 from typing import TYPE_CHECKING
 
-import isaacsim.core.utils.prims as prim_utils
 from pxr import Usd, UsdLux
 
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.sim.utils import clone, safe_set_attribute_on_usd_prim
 
 if TYPE_CHECKING:

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

@@ -31,7 +31,7 @@ When parsing physics material properties on an object, the following priority is
 Usage:
     .. code-block:: python
 
-        import isaacsim.core.utils.prims as prim_utils
+        import isaaclab.sim.utils.prims as prim_utils
 
         import isaaclab.sim as sim_utils
 

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

@@ -7,9 +7,9 @@ from __future__ import annotations
 
 from typing import TYPE_CHECKING
 
-import isaacsim.core.utils.prims as prim_utils
 from pxr import PhysxSchema, Usd, UsdPhysics, UsdShade
 
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.sim.utils import clone, safe_set_attribute_on_usd_schema
 from isaaclab.sim.utils.stage import get_current_stage
 

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

@@ -8,10 +8,10 @@ from __future__ import annotations
 import logging
 from typing import TYPE_CHECKING
 
-import isaacsim.core.utils.prims as prim_utils
 import omni.kit.commands
 from pxr import Usd
 
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.sim.utils import attach_stage_to_usd_context, clone, safe_set_attribute_on_usd_prim
 from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR
 

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

@@ -10,9 +10,9 @@ import trimesh
 import trimesh.transformations
 from typing import TYPE_CHECKING
 
-import isaacsim.core.utils.prims as prim_utils
 from pxr import Usd, UsdPhysics
 
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.sim import schemas
 from isaaclab.sim.utils import bind_physics_material, bind_visual_material, clone
 

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

@@ -8,12 +8,11 @@ from __future__ import annotations
 import logging
 from typing import TYPE_CHECKING
 
-import isaacsim.core.utils.prims as prim_utils
 import omni.kit.commands
 from pxr import Sdf, Usd
 
-from isaaclab.sim.utils import clone
-from isaaclab.sim.utils.stage import attach_stage_to_usd_context
+import isaaclab.sim.utils.prims as prim_utils
+from isaaclab.sim.utils import attach_stage_to_usd_context, clone
 from isaaclab.utils import to_camel_case
 
 if TYPE_CHECKING:

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

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

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

@@ -10,12 +10,12 @@ import re
 from typing import TYPE_CHECKING
 
 import carb
-import isaacsim.core.utils.prims as prim_utils
 from pxr import Sdf, Usd
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_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

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

@@ -3,4 +3,8 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-from .utils import *  # noqa: F401, F403
+from .logger import *  # noqa: F401, F403
+from .nucleus import *  # noqa: F401, F403
+from .prims import *  # noqa: F401, F403
+from .semantics import *  # noqa: F401, F403
+from .stage import *  # noqa: F401, F403

source/isaaclab/isaaclab/sim/utils/logger.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
+
+"""Sub-module with logging utilities."""
+
+from __future__ import annotations
+
+import logging
+import time
+
+# import logger
+logger = logging.getLogger(__name__)
+
+
+# --- Colored formatter ---
+class ColoredFormatter(logging.Formatter):
+    COLORS = {
+        "WARNING": "\033[33m",  # orange/yellow
+        "ERROR": "\033[31m",  # red
+        "CRITICAL": "\033[31m",  # red
+        "INFO": "\033[0m",  # reset
+        "DEBUG": "\033[0m",
+    }
+    RESET = "\033[0m"
+
+    def format(self, record):
+        color = self.COLORS.get(record.levelname, self.RESET)
+        message = super().format(record)
+        return f"{color}{message}{self.RESET}"
+
+
+# --- Custom rate-limited warning filter ---
+class RateLimitFilter(logging.Filter):
+    def __init__(self, interval_seconds=5):
+        super().__init__()
+        self.interval = interval_seconds
+        self.last_emitted = {}
+
+    def filter(self, record):
+        """Allow WARNINGs only once every few seconds per message."""
+        if record.levelno != logging.WARNING:
+            return True
+        now = time.time()
+        msg_key = record.getMessage()
+        if msg_key not in self.last_emitted or (now - self.last_emitted[msg_key]) > self.interval:
+            self.last_emitted[msg_key] = now
+            return True
+        return False

source/isaaclab/isaaclab/terrains/utils.py

@@ -80,10 +80,10 @@ def create_prim_from_mesh(prim_path: str, mesh: trimesh.Trimesh, **kwargs):
         physics_material: The physics material to apply. Defaults to None.
     """
     # need to import these here to prevent isaacsim launching when importing this module
-    import isaacsim.core.utils.prims as prim_utils
     from pxr import UsdGeom
 
     import isaaclab.sim as sim_utils
+    import isaaclab.sim.utils.prims as prim_utils
 
     # create parent prim
     prim_utils.create_prim(prim_path, "Xform")

source/isaaclab/isaaclab/ui/widgets/image_plot.py

@@ -9,7 +9,6 @@ from contextlib import suppress
 from matplotlib import cm
 from typing import TYPE_CHECKING, Optional
 
-import carb
 import omni
 
 with suppress(ImportError):
@@ -82,7 +81,7 @@ class ImagePlot(UIWidgetWrapper):
 
         self._byte_provider = omni.ui.ByteImageProvider()
         if image is None:
-            carb.log_warn("image is NONE")
+            logger.warning("image is NONE")
             image = np.ones((480, 640, 3), dtype=np.uint8) * 255
             image[:, :, 0] = 0
             image[:, :240, 1] = 0

source/isaaclab/isaaclab/ui/xr_widgets/instruction_widget.py

@@ -10,11 +10,12 @@ from typing import Any, TypeAlias
 
 import omni.kit.commands
 import omni.ui as ui
-from isaacsim.core.utils.prims import delete_prim, get_prim_at_path
 from omni.kit.xr.scene_view.utils import UiContainer, WidgetComponent
 from omni.kit.xr.scene_view.utils.spatial_source import SpatialSource
 from pxr import Gf
 
+from isaaclab.sim.utils.prims import delete_prim, get_prim_at_path
+
 Vec3Type: TypeAlias = Gf.Vec3f | Gf.Vec3d
 
 camera_facing_widget_container = {}

source/isaaclab/isaaclab/utils/string.py

@@ -370,3 +370,46 @@ def resolve_matching_names_values(
         )
     # return
     return index_list, names_list, values_list
+
+
+def find_unique_string_name(initial_name: str, is_unique_fn: Callable[[str], bool]) -> str:
+    """Find a unique string name based on the predicate function provided.
+    The string is appended with "_N", where N is a natural number till the resultant string
+    is unique.
+    Args:
+        initial_name (str): The initial string name.
+        is_unique_fn (Callable[[str], bool]): The predicate function to validate against.
+    Returns:
+        str: A unique string based on input function.
+    """
+    if is_unique_fn(initial_name):
+        return initial_name
+    iterator = 1
+    result = initial_name + "_" + str(iterator)
+    while not is_unique_fn(result):
+        result = initial_name + "_" + str(iterator)
+        iterator += 1
+    return result
+
+
+def find_root_prim_path_from_regex(prim_path_regex: str) -> tuple[str, int]:
+    """Find the first prim above the regex pattern prim and its position.
+    Args:
+        prim_path_regex (str): full prim path including the regex pattern prim.
+    Returns:
+        Tuple[str, int]: First position is the prim path to the parent of the regex prim.
+                    Second position represents the level of the regex prim in the USD stage tree representation.
+    """
+    prim_paths_list = str(prim_path_regex).split("/")
+    root_idx = None
+    for prim_path_idx in range(len(prim_paths_list)):
+        chars = set("[]*|^")
+        if any((c in chars) for c in prim_paths_list[prim_path_idx]):
+            root_idx = prim_path_idx
+            break
+    root_prim_path = None
+    tree_level = None
+    if root_idx is not None:
+        root_prim_path = "/".join(prim_paths_list[:root_idx])
+        tree_level = root_idx
+    return root_prim_path, tree_level

source/isaaclab/test/assets/check_fixed_base_assets.py

@@ -35,9 +35,8 @@ simulation_app = app_launcher.app
 import numpy as np
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import Articulation
 
 ##

source/isaaclab/test/assets/test_articulation.py

@@ -20,11 +20,11 @@ simulation_app = AppLauncher(headless=True).app
 import ctypes
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import pytest
 from isaacsim.core.version import get_version
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 import isaaclab.utils.math as math_utils
 import isaaclab.utils.string as string_utils
 from isaaclab.actuators import ActuatorBase, IdealPDActuatorCfg, ImplicitActuatorCfg

source/isaaclab/test/assets/test_deformable_object.py

@@ -20,11 +20,11 @@ import ctypes
 import torch
 
 import carb
-import isaacsim.core.utils.prims as prim_utils
 import pytest
 from flaky import flaky
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 import isaaclab.utils.math as math_utils
 from isaaclab.assets import DeformableObject, DeformableObjectCfg
 from isaaclab.sim import build_simulation_context

source/isaaclab/test/assets/test_rigid_object.py

@@ -20,11 +20,11 @@ import ctypes
 import torch
 from typing import Literal
 
-import isaacsim.core.utils.prims as prim_utils
 import pytest
 from flaky import flaky
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import RigidObject, RigidObjectCfg
 from isaaclab.sim import build_simulation_context
 from isaaclab.sim.spawners import materials

source/isaaclab/test/assets/test_rigid_object_collection.py

@@ -19,10 +19,10 @@ simulation_app = AppLauncher(headless=True).app
 import ctypes
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import pytest
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import RigidObjectCfg, RigidObjectCollection, RigidObjectCollectionCfg
 from isaaclab.sim import build_simulation_context
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR

source/isaaclab/test/assets/test_surface_gripper.py

@@ -18,11 +18,11 @@ simulation_app = AppLauncher(headless=True).app
 
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import pytest
 from isaacsim.core.version import get_version
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets import (
     Articulation,

source/isaaclab/test/controllers/test_differential_ik.py

@@ -14,14 +14,14 @@ simulation_app = AppLauncher(headless=True).app
 
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import pytest
 from isaacsim.core.cloner import GridCloner
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_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

@@ -14,17 +14,17 @@ simulation_app = AppLauncher(headless=True).app
 
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import pytest
 from isaacsim.core.cloner import GridCloner
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_utils
 from isaaclab.assets import Articulation
 from isaaclab.controllers import OperationalSpaceController, OperationalSpaceControllerCfg
 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_camera.py

@@ -45,7 +45,6 @@ import numpy as np
 import os
 import random
 
-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
@@ -54,6 +53,7 @@ from PIL import Image, ImageChops
 from pxr import Gf, UsdGeom
 
 import isaaclab.sim.utils.nucleus as nucleus_utils
+import isaaclab.sim.utils.prims as prim_utils
 
 # check nucleus connection
 if nucleus_utils.get_assets_root_path() is None:

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

@@ -33,7 +33,6 @@ simulation_app = SimulationApp({"headless": args_cli.headless})
 import logging
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import omni.kit.commands
 import omni.physx
 from isaacsim.core.api.world import World
@@ -41,11 +40,14 @@ from isaacsim.core.prims import Articulation
 from isaacsim.core.utils.viewports import set_camera_view
 from pxr import PhysxSchema, UsdPhysics
 
-# import logger
-logger = logging.getLogger(__name__)
 import isaaclab.sim.utils.nucleus as nucleus_utils
+import isaaclab.sim.utils.prims as prim_utils
 import isaaclab.sim.utils.stage as stage_utils
 
+# import logger
+logger = logging.getLogger(__name__)
+
+
 # check nucleus connection
 if nucleus_utils.get_assets_root_path() is None:
     msg = (

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

@@ -44,15 +44,16 @@ import logging
 import os
 import torch
 
-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.viewports import set_camera_view
 
+import isaaclab.sim.utils.nucleus as nucleus_utils
+import isaaclab.sim.utils.prims as prim_utils
+
 # import logger
 logger = logging.getLogger(__name__)
-import isaaclab.sim.utils.nucleus as nucleus_utils
 
 # check nucleus connection
 if nucleus_utils.get_assets_root_path() is None:

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

@@ -38,13 +38,15 @@ import gc
 import logging
 import torch  # noqa: F401
 
-import isaacsim.core.utils.prims as prim_utils
 from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.prims import Articulation
 
+import isaaclab.sim.utils.nucleus as nucleus_utils
+import isaaclab.sim.utils.prims as prim_utils
+
 # import logger
 logger = logging.getLogger(__name__)
-import isaaclab.sim.utils.nucleus as nucleus_utils
+
 
 # check nucleus connection
 if nucleus_utils.get_assets_root_path() is None:

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

@@ -45,7 +45,6 @@ simulation_app = app_launcher.app
 import numpy as np
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import omni.replicator.core as rep
 from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
@@ -53,6 +52,8 @@ from isaacsim.core.objects import DynamicSphere
 from isaacsim.core.prims import RigidPrim
 from isaacsim.core.utils.viewports import set_camera_view
 
+import isaaclab.sim.utils.prims as prim_utils
+
 
 def main():
     """Spawn a bunch of balls and randomly change their textures."""

source/isaaclab/test/markers/test_visualization_markers.py

@@ -18,9 +18,9 @@ import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.stage as stage_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/check_contact_sensor.py

@@ -36,12 +36,12 @@ simulation_app = app_launcher.app
 
 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.viewports import set_camera_view
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import Articulation
 from isaaclab.sensors.contact_sensor import ContactSensor, ContactSensorCfg
 from isaaclab.utils.timer import Timer

source/isaaclab/test/sensors/check_imu_sensor.py

@@ -12,6 +12,7 @@ from __future__ import annotations
 """Launch Isaac Sim Simulator first."""
 
 import argparse
+import logging
 
 from isaacsim import SimulationApp
 
@@ -54,6 +55,9 @@ from isaaclab.terrains.terrain_importer import TerrainImporter
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 from isaaclab.utils.timer import Timer
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 def design_scene(sim: SimulationContext, num_envs: int = 2048) -> RigidObject:
     """Design the scene."""
@@ -188,8 +192,8 @@ if __name__ == "__main__":
         # Run the main function
         main()
     except Exception as err:
-        carb.log_error(err)
-        carb.log_error(traceback.format_exc())
+        logger.error(err)
+        logger.error(traceback.format_exc())
         raise
     finally:
         # close sim app

source/isaaclab/test/sensors/check_ray_caster.py

@@ -41,13 +41,13 @@ simulation_app = app_launcher.app
 
 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.prims import RigidPrim
 from isaacsim.core.utils.viewports import set_camera_view
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 import isaaclab.terrains as terrain_gen
 from isaaclab.sensors.ray_caster import RayCaster, RayCasterCfg, patterns
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG

source/isaaclab/test/sensors/test_camera.py

@@ -22,15 +22,15 @@ import random
 import scipy.spatial.transform as tf
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import omni.replicator.core as rep
 import pytest
 from isaacsim.core.prims import SingleGeometryPrim, SingleRigidPrim
 from pxr import Gf, Usd, UsdGeom
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_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_contact_sensor.py

@@ -28,6 +28,7 @@ from isaaclab.assets import RigidObject, RigidObjectCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sensors import ContactSensor, ContactSensorCfg
 from isaaclab.sim import SimulationContext, build_simulation_context
+from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.terrains import HfRandomUniformTerrainCfg, TerrainGeneratorCfg, TerrainImporterCfg
 from isaaclab.utils import configclass
 
@@ -418,9 +419,6 @@ def test_contact_sensor_threshold(setup_simulation, device):
         # Play the simulator
         sim.reset()
 
-        # Get the stage and check the USD threshold attribute on the rigid body prim
-        from isaacsim.core.utils.stage import get_current_stage
-
         stage = get_current_stage()
         prim_path = scene_cfg.shape.prim_path
         prim = stage.GetPrimAtPath(prim_path)

source/isaaclab/test/sensors/test_frame_transformer.py

@@ -19,11 +19,11 @@ import torch
 import pytest
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.stage as stage_utils
 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

@@ -20,13 +20,13 @@ import torch
 import pytest
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.stage as stage_utils
 import isaaclab.utils.math as math_utils
 from isaaclab.actuators import ImplicitActuatorCfg
 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

@@ -20,7 +20,6 @@ import numpy as np
 import random
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import omni.replicator.core as rep
 import pytest
 from flaky import flaky
@@ -28,8 +27,9 @@ from isaacsim.core.prims import SingleGeometryPrim, SingleRigidPrim
 from pxr import Gf, UsdGeom
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_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

@@ -20,16 +20,16 @@ import numpy as np
 import os
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import omni.replicator.core as rep
 import pytest
 from pxr import Gf
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_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

@@ -18,12 +18,12 @@ import torch
 from collections.abc import Sequence
 from dataclasses import dataclass
 
-import isaacsim.core.utils.prims as prim_utils
 import pytest
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_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

@@ -20,13 +20,13 @@ import numpy as np
 import random
 import torch
 
-import isaacsim.core.utils.prims as prim_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
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_utils
 
 # from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated
 try:

source/isaaclab/test/sim/check_meshes.py

@@ -40,9 +40,8 @@ import random
 import torch
 import tqdm
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 
 
 def define_origins(num_origins: int, spacing: float) -> list[list[float]]:

source/isaaclab/test/sim/test_build_simulation_context_headless.py

@@ -21,10 +21,10 @@ simulation_app = AppLauncher(headless=True).app
 """Rest everything follows."""
 
 import pytest
-from isaacsim.core.utils.prims import is_prim_path_valid
 
 from isaaclab.sim.simulation_cfg import SimulationCfg
 from isaaclab.sim.simulation_context import build_simulation_context
+from isaaclab.sim.utils.prims import is_prim_path_valid
 
 
 @pytest.mark.parametrize("gravity_enabled", [True, False])

source/isaaclab/test/sim/test_build_simulation_context_nonheadless.py

@@ -20,10 +20,10 @@ simulation_app = AppLauncher(headless=True).app
 """Rest everything follows."""
 
 import pytest
-from isaacsim.core.utils.prims import is_prim_path_valid
 
 from isaaclab.sim.simulation_cfg import SimulationCfg
 from isaaclab.sim.simulation_context import build_simulation_context
+from isaaclab.sim.utils.prims import is_prim_path_valid
 
 
 @pytest.mark.parametrize("gravity_enabled", [True, False])

source/isaaclab/test/sim/test_mesh_converter.py

@@ -17,15 +17,15 @@ import os
 import random
 import tempfile
 
-import isaacsim.core.utils.prims as prim_utils
 import omni
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdGeom, UsdPhysics
 
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_utils
 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

@@ -14,13 +14,13 @@ simulation_app = AppLauncher(headless=True).app
 
 import os
 
-import isaacsim.core.utils.prims as prim_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.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_utils
 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

@@ -14,14 +14,14 @@ simulation_app = AppLauncher(headless=True).app
 
 import math
 
-import isaacsim.core.utils.prims as prim_utils
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdPhysics
 
 import isaaclab.sim.schemas as schemas
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_utils
 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_simulation_context.py

@@ -14,10 +14,10 @@ simulation_app = AppLauncher(headless=True).app
 
 import numpy as np
 
-import isaacsim.core.utils.prims as prim_utils
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext as IsaacSimulationContext
 
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.sim import SimulationCfg, SimulationContext
 
 

source/isaaclab/test/sim/test_spawn_from_files.py

@@ -12,13 +12,13 @@ simulation_app = AppLauncher(headless=True).app
 
 """Rest everything follows."""
 
-import isaacsim.core.utils.prims as prim_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
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_utils
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
 

source/isaaclab/test/sim/test_spawn_lights.py

@@ -12,13 +12,14 @@ simulation_app = AppLauncher(headless=True).app
 
 """Rest everything follows."""
 
-import isaacsim.core.utils.prims as prim_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
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_utils
 from isaaclab.utils.string import to_camel_case
 
 

source/isaaclab/test/sim/test_spawn_materials.py

@@ -12,13 +12,14 @@ simulation_app = AppLauncher(headless=True).app
 
 """Rest everything follows."""
 
-import isaacsim.core.utils.prims as prim_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
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_utils
 from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR
 
 

source/isaaclab/test/sim/test_spawn_meshes.py

@@ -12,12 +12,13 @@ simulation_app = AppLauncher(headless=True).app
 
 """Rest everything follows."""
 
-import isaacsim.core.utils.prims as prim_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
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_utils
 
 
 @pytest.fixture

source/isaaclab/test/sim/test_spawn_sensors.py

@@ -12,13 +12,14 @@ simulation_app = AppLauncher(headless=True).app
 
 """Rest everything follows."""
 
-import isaacsim.core.utils.prims as prim_utils
+
 import pytest
 from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_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

@@ -12,12 +12,12 @@ simulation_app = AppLauncher(headless=True).app
 
 """Rest everything follows."""
 
-import isaacsim.core.utils.prims as prim_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
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_utils
 
 
 @pytest.fixture
@@ -259,7 +259,7 @@ def test_spawn_cone_clones(sim):
     assert prim.IsValid()
     assert prim_utils.get_prim_path(prim) == "/World/env_0/Cone"
     # find matching prims
-    prims = prim_utils.find_matching_prim_paths("/World/env_*/Cone")
+    prims = sim_utils.find_matching_prim_paths("/World/env_.*/Cone")
     assert len(prims) == num_clones
 
 
@@ -285,8 +285,8 @@ def test_spawn_cone_clone_with_all_props_global_material(sim):
     assert prim.IsValid()
     assert prim_utils.get_prim_path(prim) == "/World/env_0/Cone"
     # find matching prims
-    prims = prim_utils.find_matching_prim_paths("/World/env_*/Cone")
+    prims = sim_utils.find_matching_prim_paths("/World/env_.*/Cone")
     assert len(prims) == num_clones
     # find matching material prims
-    prims = prim_utils.find_matching_prim_paths("/Looks/visualMaterial.*")
+    prims = sim_utils.find_matching_prim_paths("/Looks/visualMaterial.*")
     assert len(prims) == 1

source/isaaclab/test/sim/test_spawn_wrappers.py

@@ -12,12 +12,13 @@ simulation_app = AppLauncher(headless=True).app
 
 """Rest everything follows."""
 
-import isaacsim.core.utils.prims as prim_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
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_utils
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
 
@@ -69,7 +70,7 @@ def test_spawn_multiple_shapes_with_global_settings(sim):
 
     assert prim.IsValid()
     assert prim_utils.get_prim_path(prim) == "/World/env_0/Cone"
-    prim_paths = prim_utils.find_matching_prim_paths("/World/env_*/Cone")
+    prim_paths = sim_utils.find_matching_prim_paths("/World/env_.*/Cone")
     assert len(prim_paths) == num_clones
 
     for prim_path in prim_paths:
@@ -115,7 +116,7 @@ def test_spawn_multiple_shapes_with_individual_settings(sim):
 
     assert prim.IsValid()
     assert prim_utils.get_prim_path(prim) == "/World/env_0/Cone"
-    prim_paths = prim_utils.find_matching_prim_paths("/World/env_*/Cone")
+    prim_paths = sim_utils.find_matching_prim_paths("/World/env_.*/Cone")
     assert len(prim_paths) == num_clones
 
     for prim_path in prim_paths:
@@ -158,5 +159,5 @@ def test_spawn_multiple_files_with_global_settings(sim):
 
     assert prim.IsValid()
     assert prim_utils.get_prim_path(prim) == "/World/env_0/Robot"
-    prim_paths = prim_utils.find_matching_prim_paths("/World/env_*/Robot")
+    prim_paths = sim_utils.find_matching_prim_paths("/World/env_.*/Robot")
     assert len(prim_paths) == num_clones

source/isaaclab/test/sim/test_stage_in_memory.py

@@ -12,7 +12,7 @@ simulation_app = AppLauncher(headless=True, enable_cameras=True).app
 
 """Rest everything follows."""
 
-import isaacsim.core.utils.prims as prim_utils
+
 import omni
 import omni.physx
 import omni.usd
@@ -22,8 +22,9 @@ from isaacsim.core.cloner import GridCloner
 from isaacsim.core.version import get_version
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_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
 
 
@@ -91,13 +92,13 @@ def test_stage_in_memory_with_shapes(sim):
         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)
+        prims = sim_utils.find_matching_prim_paths(prim_path_regex)
         assert len(prims) == num_clones
 
         # verify prims do not exist in context stage
         context_stage = omni.usd.get_context().get_stage()
         with stage_utils.use_stage(context_stage):
-            prims = prim_utils.find_matching_prim_paths(prim_path_regex)
+            prims = sim_utils.find_matching_prim_paths(prim_path_regex)
             assert len(prims) != num_clones
 
         # attach stage to context
@@ -107,7 +108,7 @@ def test_stage_in_memory_with_shapes(sim):
     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)
+    prims = sim_utils.find_matching_prim_paths(prim_path_regex)
     assert len(prims) == num_clones
 
 
@@ -157,13 +158,13 @@ def test_stage_in_memory_with_usds(sim):
         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)
+        prims = sim_utils.find_matching_prim_paths(prim_path_regex)
         assert len(prims) == num_clones
 
         # verify prims do not exist in context stage
         context_stage = omni.usd.get_context().get_stage()
         with stage_utils.use_stage(context_stage):
-            prims = prim_utils.find_matching_prim_paths(prim_path_regex)
+            prims = sim_utils.find_matching_prim_paths(prim_path_regex)
             assert len(prims) != num_clones
 
         # attach stage to context
@@ -173,7 +174,7 @@ def test_stage_in_memory_with_usds(sim):
     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)
+    prims = sim_utils.find_matching_prim_paths(prim_path_regex)
     assert len(prims) == num_clones
 
 
@@ -219,7 +220,7 @@ 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 stage_utils.use_stage(context_stage):
-            prims = prim_utils.find_matching_prim_paths(prim_path_regex)
+            prims = sim_utils.find_matching_prim_paths(prim_path_regex)
             assert len(prims) != num_clones
 
         # attach stage to context

source/isaaclab/test/sim/test_urdf_converter.py

@@ -15,14 +15,14 @@ simulation_app = AppLauncher(headless=True).app
 import numpy as np
 import os
 
-import isaacsim.core.utils.prims as prim_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
 
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_utils
 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

@@ -15,13 +15,13 @@ simulation_app = AppLauncher(headless=True).app
 import numpy as np
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import pytest
 from pxr import Sdf, Usd, UsdGeom, UsdPhysics
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
+import isaaclab.sim.utils.stage as stage_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
 
 
@@ -104,36 +104,6 @@ def test_get_first_matching_child_prim():
     assert isaaclab_result.GetPrimPath() == "/World/env_1/Franka/panda_link0/visuals/panda_link0"
 
 
-def test_find_matching_prim_paths():
-    """Test find_matching_prim_paths() function."""
-    # create scene
-    for index in range(2048):
-        random_pos = np.random.uniform(-100, 100, size=3)
-        prim_utils.create_prim(f"/World/Floor_{index}", "Cube", position=random_pos, attributes={"size": 2.0})
-        prim_utils.create_prim(f"/World/Floor_{index}/Sphere", "Sphere", attributes={"radius": 10})
-        prim_utils.create_prim(f"/World/Floor_{index}/Sphere/childSphere", "Sphere", attributes={"radius": 1})
-        prim_utils.create_prim(f"/World/Floor_{index}/Sphere/childSphere2", "Sphere", attributes={"radius": 1})
-
-    # test leaf paths
-    isaac_sim_result = prim_utils.find_matching_prim_paths("/World/Floor_.*/Sphere")
-    isaaclab_result = sim_utils.find_matching_prim_paths("/World/Floor_.*/Sphere")
-    assert isaac_sim_result == isaaclab_result
-
-    # test non-leaf paths
-    isaac_sim_result = prim_utils.find_matching_prim_paths("/World/Floor_.*")
-    isaaclab_result = sim_utils.find_matching_prim_paths("/World/Floor_.*")
-    assert isaac_sim_result == isaaclab_result
-
-    # test child-leaf paths
-    isaac_sim_result = prim_utils.find_matching_prim_paths("/World/Floor_.*/Sphere/childSphere.*")
-    isaaclab_result = sim_utils.find_matching_prim_paths("/World/Floor_.*/Sphere/childSphere.*")
-    assert isaac_sim_result == isaaclab_result
-
-    # test valid path
-    with pytest.raises(ValueError):
-        sim_utils.get_all_matching_child_prims("World/Floor_.*")
-
-
 def test_find_global_fixed_joint_prim():
     """Test find_global_fixed_joint_prim() function."""
     # create scene

source/isaaclab/test/terrains/check_terrain_importer.py

@@ -64,7 +64,6 @@ simulation_app = app_launcher.app
 
 import numpy as np
 
-import isaacsim.core.utils.prims as prim_utils
 import omni.kit
 import omni.kit.commands
 from isaacsim.core.api.materials import PhysicsMaterial
@@ -77,6 +76,7 @@ from isaacsim.core.utils.extensions import enable_extension
 from isaacsim.core.utils.viewports import set_camera_view
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 import isaaclab.terrains as terrain_gen
 from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG
 from isaaclab.terrains.terrain_importer import TerrainImporter

source/isaaclab/test/terrains/test_terrain_importer.py

@@ -17,7 +17,6 @@ import torch
 import trimesh
 from typing import Literal
 
-import isaacsim.core.utils.prims as prim_utils
 import omni.kit
 import omni.kit.commands
 import pytest
@@ -28,6 +27,7 @@ from isaacsim.core.prims import RigidPrim, SingleGeometryPrim, SingleRigidPrim
 from isaacsim.core.utils.extensions import enable_extension
 from pxr import UsdGeom
 
+import isaaclab.sim.utils.prims as prim_utils
 import isaaclab.terrains as terrain_gen
 from isaaclab.sim import PreviewSurfaceCfg, SimulationContext, build_simulation_context, get_first_matching_child_prim
 from isaaclab.terrains import TerrainImporter, TerrainImporterCfg

source/isaaclab/test/visualization/check_scene_xr_visualization.py

@@ -72,7 +72,7 @@ def get_camera_position():
     try:
         from pxr import UsdGeom
 
-        from isaaclab.sim.utils import stage as stage_utils
+        import isaaclab.sim.utils.stage as stage_utils
 
         stage = stage_utils.get_current_stage()
         if stage is not None:

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/dexsuite/mdp/utils.py

@@ -10,9 +10,9 @@ import torch
 import trimesh
 from trimesh.sample import sample_surface
 
-import isaacsim.core.utils.prims as prim_utils
 from pxr import UsdGeom
 
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.sim.utils import get_all_matching_child_prims
 
 # ---- module-scope caches ----