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

pascal-roth · 2025-11-03T10:20:53Z

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

I have read and understood the contribution guidelines
I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

greptile-apps

Greptile Overview

Greptile Summary

This PR updates a docstring reference in visualization_markers.py to align documentation with the actual implementation. The reference to isaacsim.core.utils.create_prim has been replaced with isaaclab.sim.utils.prims.create_prim.

Context:

In commit 8e411a8, the prim_utils functionality was reimplemented in IsaacLab at isaaclab/sim/utils/prims.py
The actual code implementation (in spawner modules) already uses the IsaacLab version via import isaaclab.sim.utils.prims
This PR simply updates the docstring to reflect the correct module path that's already in use

Changes:

Updated docstring reference from isaacsim.core.utils.create_prim to isaaclab.sim.utils.prims.create_prim in VisualizationMarkers class documentation

This is a documentation-only change with no functional impact.

Confidence Score: 5/5

This PR is safe to merge with no risk - it's a documentation-only change that fixes an outdated reference
Score reflects that this is purely a documentation update with zero functional changes. The docstring reference is being updated to match the actual implementation that was already changed in a previous commit (8e411a8). The new reference correctly points to the IsaacLab prim_utils module that is already being used by the codebase.
No files require special attention

Important Files Changed

File Analysis

Filename	Score	Overview
source/isaaclab/isaaclab/markers/visualization_markers.py	5/5	Documentation-only update: replaced outdated `isaacsim.core.utils.create_prim` reference with correct `isaaclab.sim.utils.prims.create_prim` reference

Sequence Diagram

sequenceDiagram
    participant Dev as Developer
    participant Doc as Documentation
    participant Code as Implementation Code
    participant IsaacLab as isaaclab.sim.utils.prims
    
    Note over Dev,IsaacLab: PR #3924: Documentation Update
    
    Dev->>Doc: Update docstring reference
    Doc->>Doc: Change isaacsim.core.utils.create_prim
    Doc->>Doc: To isaaclab.sim.utils.prims.create_prim
    
    Note over Code,IsaacLab: Implementation (already updated in commit 8e411a8)
    Code->>IsaacLab: Already imports prim_utils
    Code->>IsaacLab: Uses create_prim() from IsaacLab
    
    Note over Dev,IsaacLab: Result: Documentation now matches implementation

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ooctipus · 2025-11-05T23:40:49Z

Looks like tests are failing 👀

greptile-apps · 2025-11-11T00:24:45Z

Greptile Overview

Greptile Summary

This PR successfully replaces IsaacSim's prim_utils with a new IsaacLab implementation to remove the dependency and enable integration of new simulation engines like Newton.

Key Changes

New isaaclab.sim.utils.prims module: Implements ~1000 lines of prim utility functions previously provided by IsaacSim, including get_prim_at_path, create_prim, delete_prim, is_prim_path_valid, and many others
New isaaclab.sim.utils.semantics module: Implements semantic label management using UsdSemantics.LabelsAPI, including add_labels, get_labels, remove_labels, and upgrade utilities
Import refactoring: Updated 58 files to import from isaaclab.sim.utils.prims instead of isaacsim.core.utils.prims
Function migration: find_matching_prim_paths moved from prim_utils to sim_utils, with string utilities moved to isaaclab.utils.string
Circular import fix: Fixed circular dependency in sim/utils/utils.py by using lazy import for schemas module

Architecture Impact

The refactoring maintains backward compatibility at the API level - all existing function signatures remain unchanged. The new implementation still depends on IsaacSim for core functionality (XFormPrim, SimulationContext) but removes the dependency on IsaacSim's prim utilities layer, providing more control for future engine integrations.

Confidence Score: 3/5

This PR is relatively safe to merge but requires testing due to eval() usage and large-scale refactoring
Score reflects: (1) use of eval() with string concatenation in set_prim_attribute_value (lines 192, 194) which poses a security concern despite controlled input dictionary, (2) extensive refactoring across 58 files increasing regression risk, (3) new ~1000-line implementation of critical prim utilities that needs thorough testing, (4) circular import fix suggests complexity in module dependencies. The refactoring is well-structured and imports are consistently updated, but the eval() usage and scale of changes warrant careful testing before merge.
Pay close attention to source/isaaclab/isaaclab/sim/utils/prims.py (eval usage, new implementation) and ensure thorough integration testing across all spawner modules

Important Files Changed

File Analysis

Filename	Score	Overview
source/isaaclab/isaaclab/sim/utils/prims.py	3/5	New prim_utils implementation replacing IsaacSim dependency. Contains `eval()` usage with string concatenation (line 192, 194) for type mapping - security concern already noted.
source/isaaclab/test/sim/test_utils.py	5/5	Import replacement and removed test for `find_matching_prim_paths` (now in sim_utils)
source/isaaclab/isaaclab/sim/utils/utils.py	5/5	Fixed circular import by using lazy import for schemas module and removed top-level schemas import
source/isaaclab/isaaclab/utils/string.py	5/5	Added utility functions `find_unique_string_name` and `find_root_prim_path_from_regex` (moved from IsaacSim prim_utils)
source/isaaclab/isaaclab/sim/utils/semantics.py	5/5	New semantics utilities implementation replacing IsaacSim dependency for semantic label handling
source/isaaclab/isaaclab/sim/spawners/shapes/shapes.py	5/5	Import replacement from `isaacsim.core.utils.prims` to `isaaclab.sim.utils.prims`

Sequence Diagram

sequenceDiagram
    participant User as User Code
    participant Spawners as Spawners<br/>(shapes, meshes, etc.)
    participant PrimUtils as isaaclab.sim.utils.prims
    participant SimUtils as isaaclab.sim.utils
    participant Semantics as isaaclab.sim.utils.semantics
    participant IsaacSim as IsaacSim Core<br/>(XFormPrim, SimulationContext)
    participant USD as USD Stage

    User->>Spawners: spawn_cone(cfg)
    Spawners->>PrimUtils: create_prim(path, type, ...)
    PrimUtils->>PrimUtils: define_prim(path, type)
    PrimUtils->>USD: DefinePrim()
    USD-->>PrimUtils: Usd.Prim
    
    alt semantic_label provided
        PrimUtils->>Semantics: add_labels(prim, labels)
        Semantics->>USD: Apply UsdSemantics.LabelsAPI
    end
    
    alt transformations provided
        PrimUtils->>IsaacSim: XFormPrim(path, positions, ...)
        IsaacSim->>USD: Apply transforms
    end
    
    PrimUtils-->>Spawners: Usd.Prim
    
    alt cloning needed
        Spawners->>SimUtils: clone(func)(cfg, prim_path)
        SimUtils->>SimUtils: find_matching_prim_paths(regex)
        SimUtils->>USD: Traverse and match paths
        USD-->>SimUtils: matched paths
        SimUtils->>USD: Clone prims
    end
    
    Spawners-->>User: spawned prims

greptile-apps

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greptile-apps · 2025-11-11T00:24:45Z

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

+            eval("attr.Set(usdrt." + SDF_type_to_Gf[type_name] + "(*value))")
+        else:
+            eval("attr.Set(" + SDF_type_to_Gf[type_name] + "(*value))")


style: uses eval() with string concatenation - while SDF_type_to_Gf dict is controlled and validated, prefer safer alternatives like getattr() or direct type mapping

Suggested change

eval("attr.Set(usdrt." + SDF_type_to_Gf[type_name] + "(*value))")

else:

eval("attr.Set(" + SDF_type_to_Gf[type_name] + "(*value))")

if fabric:

import usdrt.Gf as Gf

type_class = getattr(Gf, SDF_type_to_Gf[type_name].split('.')[-1])

attr.Set(type_class(*value))

else:

from pxr import Gf

type_class = getattr(Gf, SDF_type_to_Gf[type_name].split('.')[-1])

attr.Set(type_class(*value))

greptile-apps

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pascal-roth · 2025-11-19T01:06:25Z

@ooctipus lets get that one merged too

ooctipus · 2025-11-19T10:14:58Z

the package import for prim_utils doesn't work for the same reason as stage_utils, we used too many wild card
import isaaclab.sim.utils.prims as prim_utils

need to change to from isaaclab.sim.utils import prims as prim_utils so python can correctly recognized it as module

pascal-roth · 2025-11-19T13:32:58Z

the package import for prim_utils doesn't work for the same reason as stage_utils, we used too many wild card

import isaaclab.sim.utils.prims as prim_utils

need to change to from isaaclab.sim.utils import prims as prim_utils so python can correctly recognized it as module

That's not great, let's split up the utils/utils.py now to enable those imports again

kellyguo11

we are adding a lot of new code, do we have plans to add tests for all the new utils?

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

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

Signed-off-by: ooctipus <[email protected]>

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

Signed-off-by: ooctipus <[email protected]>

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

AntoineRichard

What do we do with these?

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

Mayankm96 · 2025-12-01T10:05:42Z

@pascal-roth Thanks for putting this together. I’m not fully convinced these one-line wrappers add much value, though. Since USD already has solid documentation, I wonder if maintaining parallel Isaac Sim functions might increase overhead without clear benefit. Would it make sense to remove these helpers and reference USD directly instead?

Personally, I’d prefer removing the wrappers altogether, but I’m fine handling that either here or in a follow-up MR depending on what keeps the review simplest.

ooctipus · 2025-12-01T21:53:28Z

I agree is Mayank, my personal opinion is to remove this wrapper in follow up PR, as thorough removal require more thorough refactor, this pr is more likely what will lands in newton for the only purpose of remove kit dependency, and we make sure the main has something similar.

kellyguo11 · 2025-12-03T21:47:20Z

sounds like we are mostly ok with this PR to go in for now to be in alignment with the newton branch, but we should look into cleaning up all of the utilities in a follow-up PR. I think we should get this merged in then so that we also do not block the multi-mesh raycaster PR.

@Mayankm96 @ooctipus @AntoineRichard are you guys ok to give approval to merge this?

Signed-off-by: Kelly Guo <[email protected]>

…3924) # Description Remove dependency on IsaacSim `prim_utils` for integration of new simulation engines like `newton`. NOTE: this PR depends on isaac-sim#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 <[email protected]> Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: Octi Zhang <[email protected]> Co-authored-by: Kelly Guo <[email protected]>

reimplement p[rim utils

8e411a8

pascal-roth requested review from Mayankm96, jtigue-bdai, kellyguo11 and ooctipus as code owners November 3, 2025 10:20

github-actions bot added enhancement New feature or request isaac-lab Related to Isaac Lab team labels Nov 3, 2025

pascal-roth self-assigned this Nov 3, 2025

fix reference

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greptile-apps bot reviewed Nov 3, 2025

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pascal-roth added this to Isaac Lab Nov 3, 2025

pascal-roth moved this to In review in Isaac Lab Nov 3, 2025

lazy import

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greptile-apps bot reviewed Nov 11, 2025

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Merge branch 'main' into feature/replace-prim-utils

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formatter

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pascal-roth mentioned this pull request Nov 14, 2025

Adds pre-commit to declare isaacsim.core.utils as banned-api #3926

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7 tasks

Merge branch 'main' into feature/replace-prim-utils

8f4ab00

ooctipus added 2 commits November 19, 2025 02:11

change package import style to module import

0ac9af1

pass precommit

c00b251

pascal-roth added 3 commits November 19, 2025 18:45

split utils/utils.py and move most components to prims

afe5f02

formatter

27ca1d1

adjust docstrings

ea2545f

ooctipus added 3 commits November 20, 2025 13:45

fix input missmatch for prim vs prim_path

4dc7199

Merge branch 'main' into feature/replace-prim-utils

49746a7

ensure valid regex

9be7fe9

ooctipus force-pushed the feature/replace-prim-utils branch from 86086e0 to 9be7fe9 Compare November 23, 2025 00:13

ooctipus added 2 commits November 24, 2025 11:57

patch the leftover sim prim, stage, carb utils

1bff817

legacy regex support with deprecated warning

d05860a

kellyguo11 reviewed Nov 25, 2025

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kellyguo11 and others added 4 commits November 24, 2025 18:02

Merge branch 'main' into feature/replace-prim-utils

f03d22f

add fixes

0c2e2cd

Merge branch 'main' into feature/replace-prim-utils

dbfa86f

Signed-off-by: ooctipus <[email protected]>

update extension.toml version

5d913cc

kellyguo11 reviewed Nov 26, 2025

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source/isaaclab/isaaclab/sim/utils/semantics.py Outdated Show resolved Hide resolved

replaced carb log to logger log

4b03425

ooctipus requested a review from hhansen-bdai as a code owner November 26, 2025 21:07

ooctipus added 4 commits November 26, 2025 13:11

Merge branch 'main' into feature/replace-prim-utils

78056a8

Signed-off-by: ooctipus <[email protected]>

update version number

2213de9

Merge branch 'main' into feature/replace-prim-utils

9d9d2e3

Signed-off-by: ooctipus <[email protected]>

update extension.toml version

a379f3c

AntoineRichard reviewed Dec 1, 2025

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AntoineRichard requested changes Dec 1, 2025

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Merge branch 'upstream_main' into feature/replace-prim-utils

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ooctipus requested a review from AntoineRichard December 1, 2025 23:21

Merge branch 'main' into feature/replace-prim-utils

9940fab

Signed-off-by: Kelly Guo <[email protected]>

kellyguo11 merged commit aec36d9 into isaac-sim:main Dec 10, 2025
9 of 10 checks passed

github-project-automation bot moved this from In review to Done in Isaac Lab Dec 10, 2025

-            eval("attr.Set(usdrt." + SDF_type_to_Gf[type_name] + "(*value))")
-        else:
-            eval("attr.Set(" + SDF_type_to_Gf[type_name] + "(*value))")
+        if fabric:
+            import usdrt.Gf as Gf
+            type_class = getattr(Gf, SDF_type_to_Gf[type_name].split('.')[-1])
+            attr.Set(type_class(*value))
+        else:
+            from pxr import Gf
+            type_class = getattr(Gf, SDF_type_to_Gf[type_name].split('.')[-1])
+            attr.Set(type_class(*value))

Replaces IsaacSim prim_utils with IsaacLab prim_utils #3924

Replaces IsaacSim prim_utils with IsaacLab prim_utils #3924

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Greptile Overview

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Confidence Score: 5/5

Important Files Changed

Sequence Diagram

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Key Changes

Architecture Impact

Confidence Score: 3/5

Important Files Changed

Sequence Diagram

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

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

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