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/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