feat: migrate omni.isaac.* imports to isaacsim.* via compat layer

- Add core/compat.py: compatibility module with try/except imports
  supporting both IS 4.x (omni.isaac.*) and IS 5.x+ (isaacsim.*)
- Migrate 152 imports across 47 files from direct omni.isaac.* to core.compat
- Handle class renames: RigidPrim→SingleRigidPrim, GeometryPrim→SingleGeometryPrim,
  XFormPrim→SingleXFormPrim, Articulation→SingleArticulation (aliased for compatibility)
- Add migerate/migrate_imports.py: automated migration script for future use
- Leave debug_draw and env_loader try/except imports as-is

This eliminates ~100 deprecation warnings from our code on IS 5.0,
and future-proofs for IS 6.x when old APIs may be removed.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

workflows/simbox/core/cameras/custom_camera.py

@@ -2,13 +2,10 @@ import numpy as np
 import omni.replicator.core as rep
 from core.cameras.base_camera import register_camera
 from core.utils.camera_utils import get_src
-from omni.isaac.core.prims import XFormPrim
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-)
-from omni.isaac.sensor import Camera
+from core.compat import XFormPrim
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix
+from core.compat import Camera
 
 
 @register_camera

workflows/simbox/core/compat.py

@@ -0,0 +1,198 @@
+"""
+Isaac Sim 4.x / 5.x API compatibility layer.
+
+IS 5.0 renamed all `omni.isaac.*` modules to `isaacsim.*`.
+This module provides unified imports that work across both versions.
+Import from here instead of directly from omni.isaac.* or isaacsim.*.
+"""
+
+# ===== Core =====
+try:
+    from isaacsim.core.api import World
+except ImportError:
+    from omni.isaac.core import World
+
+# ===== Controllers =====
+try:
+    from isaacsim.core.api.controllers.base_controller import BaseController
+except ImportError:
+    from omni.isaac.core.controllers import BaseController
+
+# ===== Tasks =====
+try:
+    from isaacsim.core.api.tasks.base_task import BaseTask
+except ImportError:
+    from omni.isaac.core.tasks import BaseTask
+
+# ===== Robots =====
+try:
+    from isaacsim.core.api.robots.robot import Robot
+except ImportError:
+    from omni.isaac.core.robots.robot import Robot
+
+# ===== Prims (class names changed in IS 5.x) =====
+try:
+    from isaacsim.core.prims import SingleXFormPrim as XFormPrim
+except ImportError:
+    from omni.isaac.core.prims import XFormPrim
+
+try:
+    from isaacsim.core.prims import SingleRigidPrim as RigidPrim
+except ImportError:
+    from omni.isaac.core.prims import RigidPrim
+
+try:
+    from isaacsim.core.prims import SingleGeometryPrim as GeometryPrim
+except ImportError:
+    from omni.isaac.core.prims import GeometryPrim
+
+try:
+    from isaacsim.core.api.sensors.rigid_contact_view import RigidContactView
+except ImportError:
+    from omni.isaac.core.prims import RigidContactView
+
+# ===== Articulations =====
+try:
+    from isaacsim.core.prims import SingleArticulation as Articulation
+except ImportError:
+    from omni.isaac.core.articulations.articulation import Articulation
+
+# ===== Objects =====
+try:
+    from isaacsim.core.api.objects.cylinder import VisualCylinder
+except ImportError:
+    from omni.isaac.core.objects.cylinder import VisualCylinder
+
+try:
+    from isaacsim.core.api.objects import cuboid, sphere
+except ImportError:
+    from omni.isaac.core.objects import cuboid, sphere
+
+# ===== Materials =====
+try:
+    from isaacsim.core.api.materials import PreviewSurface
+except ImportError:
+    from omni.isaac.core.materials import PreviewSurface
+
+try:
+    from isaacsim.core.api.materials import OmniPBR
+except ImportError:
+    try:
+        from omni.isaac.core.materials import OmniPBR
+    except ImportError:
+        from omni.isaac.core.materials.omni_pbr import OmniPBR
+
+try:
+    from isaacsim.core.api.materials import OmniGlass
+except ImportError:
+    from omni.isaac.core.materials import OmniGlass
+
+# ===== Scenes =====
+try:
+    from isaacsim.core.api.scenes.scene import Scene
+except ImportError:
+    from omni.isaac.core.scenes.scene import Scene
+
+# ===== Utils: prims =====
+try:
+    from isaacsim.core.utils.prims import (
+        get_prim_at_path,
+        create_prim,
+        delete_prim,
+        is_prim_path_valid,
+    )
+except ImportError:
+    from omni.isaac.core.utils.prims import (
+        get_prim_at_path,
+        create_prim,
+        delete_prim,
+        is_prim_path_valid,
+    )
+
+# ===== Utils: transformations =====
+try:
+    from isaacsim.core.utils.transformations import (
+        get_relative_transform,
+        pose_from_tf_matrix,
+        tf_matrix_from_pose,
+        tf_matrices_from_poses,
+    )
+except ImportError:
+    from omni.isaac.core.utils.transformations import (
+        get_relative_transform,
+        pose_from_tf_matrix,
+        tf_matrix_from_pose,
+        tf_matrices_from_poses,
+    )
+
+# ===== Utils: stage =====
+try:
+    from isaacsim.core.utils.stage import (
+        get_current_stage,
+        add_reference_to_stage,
+    )
+except ImportError:
+    from omni.isaac.core.utils.stage import (
+        get_current_stage,
+        add_reference_to_stage,
+    )
+
+# ===== Utils: xforms =====
+try:
+    from isaacsim.core.utils.xforms import get_world_pose
+except ImportError:
+    from omni.isaac.core.utils.xforms import get_world_pose
+
+# ===== Utils: types =====
+try:
+    from isaacsim.core.utils.types import ArticulationAction
+except ImportError:
+    from omni.isaac.core.utils.types import ArticulationAction
+
+# ===== Utils: viewports =====
+try:
+    from isaacsim.core.utils.viewports import set_camera_view
+except ImportError:
+    from omni.isaac.core.utils.viewports import set_camera_view
+
+# ===== Utils: semantics =====
+try:
+    from isaacsim.core.utils.semantics import add_update_semantics
+except ImportError:
+    from omni.isaac.core.utils.semantics import add_update_semantics
+
+# ===== Utils: string =====
+try:
+    from isaacsim.core.utils.string import find_unique_string_name
+except ImportError:
+    from omni.isaac.core.utils.string import find_unique_string_name
+
+# ===== Utils: stage units =====
+try:
+    from isaacsim.core.utils.stage import get_stage_units
+except ImportError:
+    from omni.isaac.core.utils.stage import get_stage_units
+
+# ===== Utils: extensions =====
+try:
+    from isaacsim.core.utils.extensions import enable_extension
+except ImportError:
+    from omni.isaac.core.utils.extensions import enable_extension
+
+# ===== Utils: nucleus =====
+try:
+    from isaacsim.storage.native import get_assets_root_path as nucleus_path
+except ImportError:
+    from omni.isaac.core.utils.nucleus import get_assets_root_path as nucleus_path
+
+# ===== Sensor: Camera =====
+try:
+    from isaacsim.sensors.camera import Camera
+except ImportError:
+    from omni.isaac.sensor import Camera
+
+# ===== SimulationApp =====
+try:
+    from isaacsim import SimulationApp
+except ImportError:
+    from omni.isaac.kit import SimulationApp

workflows/simbox/core/controllers/template_controller.py

@@ -34,15 +34,12 @@ from curobo.wrap.reacher.motion_gen import (
     MotionGenPlanConfig,
     PoseCostMetric,
 )
-from omni.isaac.core import World
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-)
-from omni.isaac.core.utils.types import ArticulationAction
+from core.compat import World
+from core.compat import BaseController
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix
+from core.compat import ArticulationAction
 
 
 # pylint: disable=line-too-long,unused-argument

workflows/simbox/core/objects/articulated_object.py

@@ -5,11 +5,11 @@ import random
 
 import numpy as np
 from core.objects.base_object import register_object
-from omni.isaac.core.articulations.articulation import Articulation
-from omni.isaac.core.utils.stage import add_reference_to_stage
+from core.compat import Articulation
+from core.compat import add_reference_to_stage
 
 try:
-    from omni.isaac.core.materials.omni_pbr import OmniPBR  # Isaac Sim 4.1.0 / 4.2.0
+    from core.compat import OmniPBR
 except ImportError:
     from isaacsim.core.api.materials import OmniPBR  # Isaac Sim 4.5.0
 

workflows/simbox/core/objects/conveyor_object.py

@@ -1,8 +1,8 @@
 import os
 
 from core.objects.base_object import register_object
-from omni.isaac.core.prims import GeometryPrim
-from omni.isaac.core.utils.prims import create_prim
+from core.compat import GeometryPrim
+from core.compat import create_prim
 from pxr import Gf, UsdPhysics
 
 

workflows/simbox/core/objects/geometry_object.py

@@ -3,15 +3,11 @@ import os
 import random
 
 from core.objects.base_object import register_object
-from omni.isaac.core.prims import GeometryPrim
-from omni.isaac.core.utils.prims import (
-    create_prim,
-    get_prim_at_path,
-    is_prim_path_valid,
-)
+from core.compat import GeometryPrim
+from core.compat import create_prim, get_prim_at_path, is_prim_path_valid
 
 try:
-    from omni.isaac.core.materials.omni_pbr import OmniPBR  # Isaac Sim 4.1.0 / 4.2.0
+    from core.compat import OmniPBR
 except ImportError:
     from isaacsim.core.api.materials import OmniPBR  # Isaac Sim 4.5.0
 

workflows/simbox/core/objects/plane_object.py

@@ -3,12 +3,12 @@ import os
 import random
 
 from core.objects.base_object import register_object
-from omni.isaac.core.prims import XFormPrim
-from omni.isaac.core.utils.prims import is_prim_path_valid
-from omni.isaac.core.utils.stage import get_current_stage
+from core.compat import XFormPrim
+from core.compat import is_prim_path_valid
+from core.compat import get_current_stage
 
 try:
-    from omni.isaac.core.materials.omni_pbr import OmniPBR  # Isaac Sim 4.1.0 / 4.2.0
+    from core.compat import OmniPBR
 except ImportError:
     from isaacsim.core.api.materials import OmniPBR  # Isaac Sim 4.5.0
 

workflows/simbox/core/objects/rigid_object.py

@@ -3,11 +3,11 @@ import os
 import random
 
 from core.objects.base_object import register_object
-from omni.isaac.core.prims import RigidPrim
-from omni.isaac.core.utils.prims import create_prim, get_prim_at_path
+from core.compat import RigidPrim
+from core.compat import create_prim, get_prim_at_path
 
 try:
-    from omni.isaac.core.materials.omni_pbr import OmniPBR  # Isaac Sim 4.1.0 / 4.2.0
+    from core.compat import OmniPBR
 except ImportError:
     from isaacsim.core.api.materials import OmniPBR  # Isaac Sim 4.5.0
 

workflows/simbox/core/objects/shape_object.py

@@ -3,10 +3,10 @@ import os
 import random
 
 from core.objects.base_object import register_object
-from omni.isaac.core.prims import GeometryPrim
+from core.compat import GeometryPrim
 
 try:
-    from omni.isaac.core.materials.omni_pbr import OmniPBR  # Isaac Sim 4.1.0 / 4.2.0
+    from core.compat import OmniPBR
 except ImportError:
     from isaacsim.core.api.materials import OmniPBR  # Isaac Sim 4.5.0
 

workflows/simbox/core/objects/xform_object.py

@@ -3,11 +3,11 @@ import os
 import random
 
 from core.objects.base_object import register_object
-from omni.isaac.core.prims import XFormPrim
-from omni.isaac.core.utils.prims import create_prim, is_prim_path_valid
+from core.compat import XFormPrim
+from core.compat import create_prim, is_prim_path_valid
 
 try:
-    from omni.isaac.core.materials.omni_pbr import OmniPBR  # Isaac Sim 4.1.0 / 4.2.0
+    from core.compat import OmniPBR
 except ImportError:
     from isaacsim.core.api.materials import OmniPBR  # Isaac Sim 4.5.0
 

workflows/simbox/core/robots/template_robot.py

@@ -7,12 +7,9 @@ from copy import deepcopy
 
 import numpy as np
 from core.robots.base_robot import register_robot
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.utils.prims import create_prim, get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    tf_matrix_from_pose,
-)
+from core.compat import Robot
+from core.compat import create_prim, get_prim_at_path
+from core.compat import get_relative_transform, tf_matrix_from_pose
 from scipy.interpolate import interp1d
 
 

workflows/simbox/core/skills/approach_rotate.py

@@ -3,15 +3,11 @@ import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from core.utils.interpolate_utils import linear_interpolation
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R
 
 

workflows/simbox/core/skills/artpreplan.py

@@ -3,11 +3,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform
 from solver.planner import KPAMPlanner
 
 

workflows/simbox/core/skills/close.py

@@ -3,11 +3,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform
 from scipy.spatial.transform import Rotation as R
 from solver.planner import KPAMPlanner
 

workflows/simbox/core/skills/dexpick.py

@@ -4,15 +4,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig, OmegaConf
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 
 
 # pylint: disable=unused-argument

workflows/simbox/core/skills/dexplace.py

@@ -5,15 +5,11 @@ import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from core.utils.usd_geom_utils import compute_bbox
 from omegaconf import DictConfig, OmegaConf
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R
 from scipy.spatial.transform import Slerp
 

workflows/simbox/core/skills/dynamicpick.py

@@ -12,14 +12,11 @@ from core.utils.plan_utils import (
 )
 from core.utils.transformation_utils import poses_from_tf_matrices
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, tf_matrix_from_pose
 from omni.timeline import get_timeline_interface
 from scipy.spatial.transform import Rotation as R
 

workflows/simbox/core/skills/failpick.py

@@ -5,15 +5,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 
 
 # pylint: disable=unused-argument

workflows/simbox/core/skills/flip.py

@@ -3,15 +3,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R
 
 

workflows/simbox/core/skills/goto_pose.py

@@ -10,14 +10,11 @@ from core.utils.transformation_utils import (
     poses_from_tf_matrices,
 )
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R
 from scipy.spatial.transform import Slerp
 

workflows/simbox/core/skills/gripper_action.py

@@ -1,9 +1,9 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
 
 
 # pylint: disable=unused-argument

workflows/simbox/core/skills/heuristic_skill.py

@@ -1,13 +1,10 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.transformations import (
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import pose_from_tf_matrix, tf_matrix_from_pose
 
 
 # pylint: disable=unused-argument

workflows/simbox/core/skills/home.py

@@ -1,9 +1,9 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
 
 
 # pylint: disable=unused-argument

workflows/simbox/core/skills/joint_ctrl.py

@@ -4,9 +4,9 @@ import torch
 from core.skills.base_skill import BaseSkill, register_skill
 from core.utils.interpolate_utils import linear_interpolation
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
 
 
 # pylint: disable=unused-argument

workflows/simbox/core/skills/manualpick.py

@@ -12,14 +12,11 @@ from core.utils.plan_utils import (
 )
 from core.utils.transformation_utils import poses_from_tf_matrices
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, tf_matrix_from_pose
 
 
 @register_skill

workflows/simbox/core/skills/mobile_rotate.py

@@ -1,9 +1,9 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
 
 
 # pylint: disable=unused-argument

workflows/simbox/core/skills/mobile_translate.py

@@ -1,9 +1,9 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
 
 
 # pylint: disable=unused-argument

workflows/simbox/core/skills/move.py

@@ -1,9 +1,9 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
 from scipy.spatial.transform import Rotation as R
 
 

workflows/simbox/core/skills/open.py

@@ -3,11 +3,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform
 from scipy.spatial.transform import Rotation as R
 from solver.planner import KPAMPlanner
 

workflows/simbox/core/skills/pick.py

@@ -11,14 +11,11 @@ from core.utils.plan_utils import (
 )
 from core.utils.transformation_utils import poses_from_tf_matrices
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, tf_matrix_from_pose
 
 
 # pylint: disable=unused-argument

workflows/simbox/core/skills/place.py

@@ -12,15 +12,11 @@ from core.utils.plan_utils import (
 from core.utils.transformation_utils import create_pose_matrices, poses_from_tf_matrices
 from core.utils.usd_geom_utils import compute_bbox
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R
 
 

workflows/simbox/core/skills/pour_water_succ.py

@@ -7,9 +7,9 @@ from core.utils.transformation_utils import (
     perturb_position,
 )
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
 from scipy.spatial.transform import Rotation as R
 
 

workflows/simbox/core/skills/rotate.py

@@ -3,11 +3,11 @@ from copy import deepcopy
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig, OmegaConf
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform
 from scipy.spatial.transform import Rotation as R
 from solver.planner import KPAMPlanner
 

workflows/simbox/core/skills/rotate_obj.py

@@ -3,15 +3,11 @@ import torch
 from core.skills.base_skill import BaseSkill, register_skill
 from core.utils.interpolate_utils import linear_interpolation
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R
 
 

workflows/simbox/core/skills/scan.py

@@ -1,15 +1,11 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R
 
 

workflows/simbox/core/skills/track.py

@@ -3,15 +3,12 @@ from core.skills.base_skill import BaseSkill, register_skill
 from core.utils.transformation_utils import get_orientation, perturb_orientation
 from core.utils.usd_geom_utils import compute_bbox
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.objects.cylinder import VisualCylinder
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    tf_matrix_from_pose,
-)
+from core.compat import BaseController
+from core.compat import VisualCylinder
+from core.compat import Robot
+from core.compat import BaseTask
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, tf_matrix_from_pose
 from scipy.spatial.transform import Rotation as R
 
 

workflows/simbox/core/skills/wait.py

@@ -1,9 +1,9 @@
 import numpy as np
 from core.skills.base_skill import BaseSkill, register_skill
 from omegaconf import DictConfig
-from omni.isaac.core.controllers import BaseController
-from omni.isaac.core.robots.robot import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseController
+from core.compat import Robot
+from core.compat import BaseTask
 
 
 # pylint: disable=consider-using-generator,too-many-public-methods,unused-argument

workflows/simbox/core/tasks/banana.py

@@ -18,16 +18,12 @@ from core.utils.scene_utils import deactivate_selected_prims
 from core.utils.transformation_utils import get_orientation
 from core.utils.visual_distractor import set_distractors
 from omegaconf import DictConfig
-from omni.isaac.core.materials import PreviewSurface
-from omni.isaac.core.prims import RigidContactView, XFormPrim
-from omni.isaac.core.scenes.scene import Scene
-from omni.isaac.core.tasks import BaseTask
-from omni.isaac.core.utils.prims import (
-    delete_prim,
-    get_prim_at_path,
-    is_prim_path_valid,
-)
-from omni.isaac.core.utils.stage import get_current_stage
+from core.compat import PreviewSurface
+from core.compat import RigidContactView, XFormPrim
+from core.compat import Scene
+from core.compat import BaseTask
+from core.compat import delete_prim, get_prim_at_path, is_prim_path_valid
+from core.compat import get_current_stage
 from omni.physx.scripts import particleUtils
 from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdLux, UsdShade, Vt
 from scipy.spatial.transform import Rotation as R

workflows/simbox/core/utils/camera_utils.py

@@ -1,7 +1,7 @@
 import numpy as np
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
-from omni.isaac.sensor import Camera
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform
+from core.compat import Camera
 
 
 def _get_annotator(camera: Camera, annotator_name: str):

workflows/simbox/core/utils/transformation_utils.py

@@ -1,5 +1,5 @@
 import numpy as np
-from omni.isaac.core.utils.transformations import pose_from_tf_matrix
+from core.compat import pose_from_tf_matrix
 from scipy.spatial.transform import Rotation as R
 
 

workflows/simbox/core/utils/utils.py

@@ -18,7 +18,7 @@ logging.getLogger("urllib3").setLevel(logging.WARNING)
 
 
 def set_semantic_label(prim: Prim, label):
-    from omni.isaac.core.utils.semantics import add_update_semantics
+    from core.compat import add_update_semantics
 
     if prim.GetTypeName() == "Mesh":
         add_update_semantics(prim, semantic_label=label, type_label="class")
@@ -28,7 +28,7 @@ def set_semantic_label(prim: Prim, label):
 
 
 def set_plane_semantic_label(prim: Prim, label):
-    from omni.isaac.core.utils.semantics import add_update_semantics
+    from core.compat import add_update_semantics
 
     if prim.GetTypeName() == "Plane":
         add_update_semantics(prim, semantic_label=label, type_label="class")
@@ -38,7 +38,7 @@ def set_plane_semantic_label(prim: Prim, label):
 
 
 def set_robot_semantic_label(robot: Prim, parent_name: str):
-    from omni.isaac.core.utils.semantics import add_update_semantics
+    from core.compat import add_update_semantics
 
     if robot.GetTypeName() == "Mesh":
         prim_path = str(robot.GetPrimPath())

workflows/simbox/solver/planner.py

@@ -13,17 +13,9 @@ import solver.kpam.SE3_utils as SE3_utils
 import solver.kpam.term_spec as term_spec
 import yaml
 from colored import fg
-from omni.isaac.core.utils.prims import (
-    create_prim,
-    get_prim_at_path,
-    is_prim_path_valid,
-)
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-    tf_matrices_from_poses,
-)
-from omni.isaac.core.utils.xforms import get_world_pose
+from core.compat import create_prim, get_prim_at_path, is_prim_path_valid
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrices_from_poses
+from core.compat import get_world_pose
 from pydrake.all import *
 from scipy.spatial.transform import Rotation as R
 from solver.kpam.mp_builder import OptimizationBuilderkPAM
@@ -966,8 +958,8 @@ if __name__ == "__main__":
 
     # from omni.isaac.franka.controllers.pick_place_controller import PickPlaceController
     from gensim_testing_v2.tasks.close_microwave import CloseMicrowave
-    from omni.isaac.core import World
-    from omni.isaac.core.utils.types import ArticulationAction
+    from core.compat import World
+    from core.compat import ArticulationAction
 
     # from solver.planner import KPAMPlanner
 

workflows/simbox/tools/rigid_obj/asset_usd_converter.py

@@ -83,7 +83,7 @@ if __name__ == "__main__":
     kit = SimulationApp()
 
     import omni
-    from omni.isaac.core.utils.extensions import enable_extension
+    from core.compat import enable_extension
 
     enable_extension("omni.kit.asset_converter")
 

workflows/simbox_dual_workflow.py

@@ -10,11 +10,8 @@ from datetime import datetime
 
 import numpy as np
 import yaml
-from omni.isaac.core.utils.prims import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
-    get_relative_transform,
-    pose_from_tf_matrix,
-)
+from core.compat import get_prim_at_path
+from core.compat import get_relative_transform, pose_from_tf_matrix
 from omni.physx import acquire_physx_interface
 from tqdm import tqdm
 from yaml import Loader
@@ -73,7 +70,7 @@ class SimBoxDualWorkFlow(NimbusWorkFlow):
 
     def reset(self, need_preload: bool = True):
         # source code noted this as debug, so it could be removed later
-        from omni.isaac.core.utils.viewports import set_camera_view
+        from core.compat import set_camera_view
 
         set_camera_view(eye=[1.3, 0.7, 2.7], target=[0.0, 0, 1.5], camera_prim_path="/OmniverseKit_Persp")
         # Modify config

workflows/utils/utils.py

@@ -1,4 +1,4 @@
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
 from pxr import UsdPhysics