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pascal-rothpascal-roth
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reimplement p[rim utils
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‎source/isaaclab/isaaclab/assets/asset_base.py‎

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@@ -14,13 +14,13 @@
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from collections.abc import Sequence
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from typing import TYPE_CHECKING, Any
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import isaacsim.core.utils.prims as prim_utils
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import omni.kit.app
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import omni.timeline
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from isaacsim.core.simulation_manager import IsaacEvents, SimulationManager
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from isaacsim.core.utils.stage import get_current_stage
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import isaaclab.sim as sim_utils
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import isaaclab.sim.utils.prims as prim_utils
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if TYPE_CHECKING:
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from .asset_base_cfg import AssetBaseCfg

‎source/isaaclab/isaaclab/controllers/rmp_flow.py‎

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

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

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@@ -7,11 +7,12 @@
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from typing import TYPE_CHECKING
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import isaacsim.core.utils.prims as prim_utils
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import omni.kit.commands
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import omni.log
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from pxr import Gf, Sdf, Usd
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import isaaclab.sim.utils.prims as prim_utils
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# from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated
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try:
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import Semantics

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

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from typing import TYPE_CHECKING
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import isaacsim.core.utils.prims as prim_utils
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from pxr import Usd, UsdLux
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import isaaclab.sim.utils.prims as prim_utils
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from isaaclab.sim.utils import clone, safe_set_attribute_on_usd_prim
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if TYPE_CHECKING:

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

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@@ -31,7 +31,7 @@
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Usage:
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.. code-block:: python
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import isaacsim.core.utils.prims as prim_utils
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import isaaclab.sim.utils.prims as prim_utils
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import isaaclab.sim as sim_utils
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‎source/isaaclab/isaaclab/sim/spawners/materials/physics_materials.py‎

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@@ -7,10 +7,10 @@
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from typing import TYPE_CHECKING
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import isaacsim.core.utils.prims as prim_utils
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from isaacsim.core.utils.stage import get_current_stage
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from pxr import PhysxSchema, Usd, UsdPhysics, UsdShade
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import isaaclab.sim.utils.prims as prim_utils
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from isaaclab.sim.utils import clone, safe_set_attribute_on_usd_schema
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if TYPE_CHECKING:

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

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from typing import TYPE_CHECKING
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import isaacsim.core.utils.prims as prim_utils
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import omni.kit.commands
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import omni.log
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from pxr import Usd
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import isaaclab.sim.utils.prims as prim_utils
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from isaaclab.sim.utils import attach_stage_to_usd_context, clone, safe_set_attribute_on_usd_prim
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from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR
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‎source/isaaclab/isaaclab/sim/spawners/meshes/meshes.py‎

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import trimesh.transformations
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from typing import TYPE_CHECKING
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import isaacsim.core.utils.prims as prim_utils
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from pxr import Usd, UsdPhysics
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import isaaclab.sim.utils.prims as prim_utils
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from isaaclab.sim import schemas
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from isaaclab.sim.utils import bind_physics_material, bind_visual_material, clone
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‎source/isaaclab/isaaclab/sim/spawners/sensors/sensors.py‎

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from typing import TYPE_CHECKING
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import isaacsim.core.utils.prims as prim_utils
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import omni.kit.commands
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import omni.log
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from pxr import Sdf, Usd
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import isaaclab.sim.utils.prims as prim_utils
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from isaaclab.sim.utils import attach_stage_to_usd_context, clone
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from isaaclab.utils import to_camel_case
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‎source/isaaclab/isaaclab/sim/spawners/shapes/shapes.py‎

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from typing import TYPE_CHECKING
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import isaacsim.core.utils.prims as prim_utils
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from pxr import Usd
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import isaaclab.sim.utils.prims as prim_utils
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from isaaclab.sim import schemas
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from isaaclab.sim.utils import bind_physics_material, bind_visual_material, clone
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