Replaces IsaacSim stage_utils with IsaacLab stage_utils

source/isaaclab/isaaclab/assets/asset_base.py

@@ -18,9 +18,9 @@
 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 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 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/envs/direct_marl_env.py

@@ -26,7 +26,7 @@
 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.timer import Timer
 

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -28,7 +28,7 @@
 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.timer import Timer
 

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -18,7 +18,7 @@
 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.timer import Timer
 

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

@@ -22,14 +22,14 @@
 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
 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 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 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 @@ def __init__(self, cfg: VisualizationMarkersCfg):
         # 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 @@ def _process_prototype_prim(self, prim: Usd.Prim):
             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 @@
 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.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 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 @@
 
 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 @@
 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 @@
 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 @@
 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 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 @@
 
 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
@@ -34,7 +33,7 @@
 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
@@ -139,7 +138,7 @@ def __init__(self, cfg: SimulationCfg | None = None):
 
         # 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()
 
@@ -618,7 +617,7 @@ async def reset_async(self, soft: bool = False):
 
     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 @@
 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 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 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 @@
 
 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/__init__.py

@@ -0,0 +1,6 @@
+# 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
+
+from .utils import *  # noqa: F401, F403