changes import isaaclab.sim.utils.stage as stage_utils to from isaaclab.sim.utils import stage as stage_utils.

ooctipus · ooctipus · commit e34d707f4e3a · 2025-11-10T11:48:00.000-08:00
from utils import * rebinds names on the parent package, and in your case it ends up binding isaaclab.sim.utils to the module isaaclab.sim.utils.utils instead of the utils package.
import isaaclab.sim.utils.stage as stage_utils requires isaaclab.sim.utils to be a package (with path) so it can descend to stage, which fails when it’s actually the module.
from isaaclab.sim.utils import stage as stage_utils works because it imports the package and then accesses its stage attribute directly, bypassing that package-versus-module mix-up.
diff --git a/source/isaaclab/isaaclab/markers/visualization_markers.py b/source/isaaclab/isaaclab/markers/visualization_markers.py
@@ -29,7 +29,7 @@
 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.utils import stage as stage_utils
 from isaaclab.sim.spawners import SpawnerCfg
 from isaaclab.utils.configclass import configclass
 from isaaclab.utils.math import convert_quat
diff --git a/source/isaaclab/isaaclab/sensors/camera/camera.py b/source/isaaclab/isaaclab/sensors/camera/camera.py
@@ -20,7 +20,7 @@
 from pxr import Sdf, UsdGeom
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 import isaaclab.utils.sensors as sensor_utils
 from isaaclab.utils import to_camel_case
 from isaaclab.utils.array import convert_to_torch
diff --git a/source/isaaclab/isaaclab/sensors/imu/imu.py b/source/isaaclab/isaaclab/sensors/imu/imu.py
@@ -13,7 +13,7 @@
 from pxr import UsdPhysics
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 import isaaclab.utils.math as math_utils
 from isaaclab.markers import VisualizationMarkers
 
diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py
@@ -12,7 +12,7 @@
 import omni.physics.tensors.impl.api as physx
 from isaacsim.core.prims import XFormPrim
 
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 import isaaclab.utils.math as math_utils
 from isaaclab.sensors.camera import CameraData
 from isaaclab.utils.warp import raycast_mesh
diff --git a/source/isaaclab/isaaclab/sim/simulation_context.py b/source/isaaclab/isaaclab/sim/simulation_context.py
@@ -31,7 +31,7 @@
 from isaacsim.core.version import get_version
 from pxr import Gf, PhysxSchema, Sdf, Usd, UsdPhysics
 
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 
 from .simulation_cfg import SimulationCfg
 from .spawners import DomeLightCfg, GroundPlaneCfg
diff --git a/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers.py b/source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers.py
@@ -14,7 +14,7 @@
 from pxr import Sdf, Usd
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.sim.spawners.from_files import UsdFileCfg
 
 if TYPE_CHECKING:
diff --git a/source/isaaclab/isaaclab/sim/utils/stage.py b/source/isaaclab/isaaclab/sim/utils/stage.py
@@ -145,7 +145,7 @@ def use_stage(stage: Usd.Stage) -> Generator[None, None, None]:
     .. code-block:: python
 
         >>> from pxr import Usd
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> stage_in_memory = Usd.Stage.CreateInMemory()
         >>> with stage_utils.use_stage(stage_in_memory):
@@ -187,7 +187,7 @@ def get_current_stage(fabric: bool = False) -> Usd.Stage | usdrt.Usd._Usd.Stage:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> stage_utils.get_current_stage()
         Usd.Stage.Open(rootLayer=Sdf.Find('anon:0x7fba6c04f840:World7.usd'),
@@ -214,7 +214,7 @@ def get_current_stage_id() -> int:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> stage_utils.get_current_stage_id()
         1234567890
@@ -234,7 +234,7 @@ def update_stage() -> None:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> stage_utils.update_stage()
     """
@@ -252,7 +252,7 @@ def set_stage_up_axis(axis: str = "z") -> None:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> # set stage up axis to Y-up
         >>> stage_utils.set_stage_up_axis("y")
@@ -276,7 +276,7 @@ def get_stage_up_axis() -> str:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> stage_utils.get_stage_up_axis()
         Z
@@ -296,7 +296,7 @@ def clear_stage(predicate: typing.Callable[[str], bool] | None = None) -> None:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> # clear the whole stage
         >>> stage_utils.clear_stage()
@@ -350,7 +350,7 @@ def print_stage_prim_paths(fabric: bool = False) -> None:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> 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()
@@ -394,7 +394,7 @@ def add_reference_to_stage(usd_path: str, prim_path: str, prim_type: str = "Xfor
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> 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(
@@ -450,7 +450,7 @@ def create_new_stage() -> Usd.Stage:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> stage_utils.create_new_stage()
         Usd.Stage.Open(rootLayer=Sdf.Find('anon:0x7fba6c04f840:World7.usd'),
@@ -470,7 +470,7 @@ def create_new_stage_in_memory() -> Usd.Stage:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> 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'),
@@ -504,7 +504,7 @@ def open_stage(usd_path: str) -> bool:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> stage_utils.open_stage("/home/<user>/Documents/Assets/Robots/FrankaRobotics/FrankaPanda/franka.usd")
         True
@@ -535,7 +535,7 @@ def save_stage(usd_path: str, save_and_reload_in_place=True) -> bool:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> stage_utils.save_stage("/home/<user>/Documents/Save/stage.usd")
         True
@@ -571,14 +571,14 @@ def close_stage(callback_fn: typing.Callable | None = None) -> bool:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> stage_utils.close_stage()
         True
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> def callback(*args, **kwargs):
         ...     print("callback:", args, kwargs)
@@ -606,7 +606,7 @@ def traverse_stage(fabric=False) -> typing.Iterable:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> 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
@@ -635,7 +635,7 @@ def is_stage_loading() -> bool:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> stage_utils.is_stage_loading()
         False
@@ -674,7 +674,7 @@ def set_stage_units(stage_units_in_meters: float) -> None:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> stage_utils.set_stage_units(1.0)
     """
@@ -710,7 +710,7 @@ def get_stage_units() -> float:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> from isaaclab.sim.utils import stage as stage_utils
         >>>
         >>> stage_utils.get_stage_units()
         1.0
@@ -732,7 +732,7 @@ def get_next_free_path(path: str, parent: str = None) -> str:
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> 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
@@ -760,7 +760,7 @@ def remove_deleted_references():
 
     .. code-block:: python
 
-        >>> import isaaclab.sim.utils.stage as stage_utils
+        >>> 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>
diff --git a/source/isaaclab/test/controllers/test_differential_ik.py b/source/isaaclab/test/controllers/test_differential_ik.py
@@ -19,7 +19,7 @@
 from isaacsim.core.cloner import GridCloner
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.assets import Articulation
 from isaaclab.controllers import DifferentialIKController, DifferentialIKControllerCfg
 
diff --git a/source/isaaclab/test/controllers/test_operational_space.py b/source/isaaclab/test/controllers/test_operational_space.py
@@ -19,7 +19,7 @@
 from isaacsim.core.cloner import GridCloner
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.assets import Articulation
 from isaaclab.controllers import OperationalSpaceController, OperationalSpaceControllerCfg
 from isaaclab.markers import VisualizationMarkers
diff --git a/source/isaaclab/test/deps/isaacsim/check_floating_base_made_fixed.py b/source/isaaclab/test/deps/isaacsim/check_floating_base_made_fixed.py
@@ -43,7 +43,7 @@
 from isaacsim.core.utils.viewports import set_camera_view
 from pxr import PhysxSchema, UsdPhysics
 
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 
 # check nucleus connection
 if nucleus_utils.get_assets_root_path() is None:
diff --git a/source/isaaclab/test/markers/test_visualization_markers.py b/source/isaaclab/test/markers/test_visualization_markers.py
@@ -18,7 +18,7 @@
 from isaacsim.core.api.simulation_context import SimulationContext
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
 from isaaclab.markers.config import FRAME_MARKER_CFG, POSITION_GOAL_MARKER_CFG
 from isaaclab.utils.math import random_orientation
diff --git a/source/isaaclab/test/sensors/test_camera.py b/source/isaaclab/test/sensors/test_camera.py
@@ -29,7 +29,7 @@
 from pxr import Gf, Usd, UsdGeom
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.sensors.camera import Camera, CameraCfg
 from isaaclab.utils import convert_dict_to_backend
 from isaaclab.utils.math import convert_quat
diff --git a/source/isaaclab/test/sensors/test_frame_transformer.py b/source/isaaclab/test/sensors/test_frame_transformer.py
@@ -19,7 +19,7 @@
 import pytest
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 import isaaclab.utils.math as math_utils
 from isaaclab.assets import RigidObjectCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
diff --git a/source/isaaclab/test/sensors/test_imu.py b/source/isaaclab/test/sensors/test_imu.py
@@ -20,7 +20,7 @@
 import pytest
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 import isaaclab.utils.math as math_utils
 from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets import ArticulationCfg, RigidObjectCfg
diff --git a/source/isaaclab/test/sensors/test_multi_tiled_camera.py b/source/isaaclab/test/sensors/test_multi_tiled_camera.py
@@ -28,7 +28,7 @@
 from pxr import Gf, UsdGeom
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.sensors.camera import TiledCamera, TiledCameraCfg
 
 
diff --git a/source/isaaclab/test/sensors/test_ray_caster_camera.py b/source/isaaclab/test/sensors/test_ray_caster_camera.py
@@ -26,7 +26,7 @@
 from pxr import Gf
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import 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
diff --git a/source/isaaclab/test/sensors/test_sensor_base.py b/source/isaaclab/test/sensors/test_sensor_base.py
@@ -22,7 +22,7 @@
 import pytest
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.sensors import SensorBase, SensorBaseCfg
 from isaaclab.utils import configclass
 
diff --git a/source/isaaclab/test/sensors/test_tiled_camera.py b/source/isaaclab/test/sensors/test_tiled_camera.py
@@ -26,7 +26,7 @@
 from isaacsim.core.prims import SingleGeometryPrim, SingleRigidPrim
 from pxr import Gf, UsdGeom
 
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 
 # from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated
 try:
diff --git a/source/isaaclab/test/sim/test_mesh_converter.py b/source/isaaclab/test/sim/test_mesh_converter.py
@@ -23,7 +23,7 @@
 from isaacsim.core.api.simulation_context import SimulationContext
 from pxr import UsdGeom, UsdPhysics
 
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.sim.converters import MeshConverter, MeshConverterCfg
 from isaaclab.sim.schemas import schemas_cfg
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
diff --git a/source/isaaclab/test/sim/test_mjcf_converter.py b/source/isaaclab/test/sim/test_mjcf_converter.py
@@ -19,7 +19,7 @@
 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.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.sim.converters import MjcfConverter, MjcfConverterCfg
 
 
diff --git a/source/isaaclab/test/sim/test_schemas.py b/source/isaaclab/test/sim/test_schemas.py
@@ -20,7 +20,7 @@
 from pxr import UsdPhysics
 
 import isaaclab.sim.schemas as schemas
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.sim.utils import find_global_fixed_joint_prim
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 from isaaclab.utils.string import to_camel_case
diff --git a/source/isaaclab/test/sim/test_spawn_from_files.py b/source/isaaclab/test/sim/test_spawn_from_files.py
@@ -18,7 +18,7 @@
 from isaacsim.core.utils.extensions import enable_extension, get_extension_path_from_name
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
 
diff --git a/source/isaaclab/test/sim/test_spawn_lights.py b/source/isaaclab/test/sim/test_spawn_lights.py
@@ -18,7 +18,7 @@
 from pxr import UsdLux
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.string import to_camel_case
 
 
diff --git a/source/isaaclab/test/sim/test_spawn_materials.py b/source/isaaclab/test/sim/test_spawn_materials.py
@@ -18,7 +18,7 @@
 from pxr import UsdPhysics, UsdShade
 
 import isaaclab.sim as sim_utils
-import isaaclab.sim.utils.stage as stage_utils
+from isaaclab.sim.utils import stage as stage_utils
 from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR
 
 
diff --git a/source/isaaclab/test/sim/test_spawn_meshes.py b/source/isaaclab/test/sim/test_spawn_meshes.py
diff --git a/source/isaaclab/test/sim/test_spawn_sensors.py b/source/isaaclab/test/sim/test_spawn_sensors.py
diff --git a/source/isaaclab/test/sim/test_spawn_shapes.py b/source/isaaclab/test/sim/test_spawn_shapes.py
diff --git a/source/isaaclab/test/sim/test_spawn_wrappers.py b/source/isaaclab/test/sim/test_spawn_wrappers.py
diff --git a/source/isaaclab/test/sim/test_stage_in_memory.py b/source/isaaclab/test/sim/test_stage_in_memory.py
diff --git a/source/isaaclab/test/sim/test_urdf_converter.py b/source/isaaclab/test/sim/test_urdf_converter.py
diff --git a/source/isaaclab/test/sim/test_utils.py b/source/isaaclab/test/sim/test_utils.py
diff --git a/source/isaaclab/test/visualization/check_scene_xr_visualization.py b/source/isaaclab/test/visualization/check_scene_xr_visualization.py
