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>

migerate/migrate_imports.py

@@ -0,0 +1,177 @@
+"""
+Batch migrate omni.isaac.* imports to use core.compat module.
+
+Usage:
+    python migerate/migrate_imports.py --dry-run   # preview changes
+    python migerate/migrate_imports.py              # apply changes
+"""
+import argparse
+import os
+import re
+
+# Files to process (relative to project root)
+SCAN_DIRS = [
+    "workflows/simbox/core/cameras",
+    "workflows/simbox/core/controllers",
+    "workflows/simbox/core/objects",
+    "workflows/simbox/core/robots",
+    "workflows/simbox/core/skills",
+    "workflows/simbox/core/tasks",
+    "workflows/simbox/core/utils",
+    "workflows/simbox/solver",
+    "workflows/",  # simbox_dual_workflow.py
+    "nimbus_extension/components/load",
+]
+
+# Skip these files/dirs
+SKIP = ["curobo", "__pycache__", "compat.py", "tools/art"]
+
+# Mapping: old import pattern -> compat import
+# Format: (regex_pattern, replacement_imports_from_compat)
+IMPORT_MAP = {
+    # Full module imports
+    r"from omni\.isaac\.core import World": "from core.compat import World",
+    r"from omni\.isaac\.core\.controllers import BaseController": "from core.compat import BaseController",
+    r"from omni\.isaac\.core\.tasks import BaseTask": "from core.compat import BaseTask",
+    r"from omni\.isaac\.core\.robots\.robot import Robot": "from core.compat import Robot",
+    r"from omni\.isaac\.core\.robots import Robot": "from core.compat import Robot",
+    r"from omni\.isaac\.core\.prims import XFormPrim": "from core.compat import XFormPrim",
+    r"from omni\.isaac\.core\.prims import RigidPrim": "from core.compat import RigidPrim",
+    r"from omni\.isaac\.core\.prims import GeometryPrim": "from core.compat import GeometryPrim",
+    r"from omni\.isaac\.core\.prims import RigidContactView": "from core.compat import RigidContactView",
+    r"from omni\.isaac\.core\.prims import RigidContactView, XFormPrim": "from core.compat import RigidContactView, XFormPrim",
+    r"from omni\.isaac\.core\.articulations\.articulation import Articulation": "from core.compat import Articulation",
+    r"from omni\.isaac\.core\.objects\.cylinder import VisualCylinder": "from core.compat import VisualCylinder",
+    r"from omni\.isaac\.core\.objects import cuboid, sphere": "from core.compat import cuboid, sphere",
+    r"from omni\.isaac\.core\.objects import cuboid": "from core.compat import cuboid",
+    r"from omni\.isaac\.core\.objects import sphere": "from core.compat import sphere",
+    r"from omni\.isaac\.core\.materials import PreviewSurface": "from core.compat import PreviewSurface",
+    r"from omni\.isaac\.core\.materials import OmniPBR": "from core.compat import OmniPBR",
+    r"from omni\.isaac\.core\.materials\.omni_pbr import OmniPBR.*": "from core.compat import OmniPBR",
+    r"from omni\.isaac\.core\.materials import OmniGlass, OmniPBR": "from core.compat import OmniGlass, OmniPBR",
+    r"from omni\.isaac\.core\.materials import OmniGlass": "from core.compat import OmniGlass",
+    r"from omni\.isaac\.core\.scenes\.scene import Scene": "from core.compat import Scene",
+    r"from omni\.isaac\.sensor import Camera": "from core.compat import Camera",
+
+    # Utils
+    r"from omni\.isaac\.core\.utils\.prims import get_prim_at_path\b(?!,)": "from core.compat import get_prim_at_path",
+    r"from omni\.isaac\.core\.utils\.prims import create_prim, get_prim_at_path": "from core.compat import create_prim, get_prim_at_path",
+    r"from omni\.isaac\.core\.utils\.prims import create_prim, is_prim_path_valid": "from core.compat import create_prim, is_prim_path_valid",
+    r"from omni\.isaac\.core\.utils\.prims import is_prim_path_valid": "from core.compat import is_prim_path_valid",
+    r"from omni\.isaac\.core\.utils\.prims import create_prim\b": "from core.compat import create_prim",
+    r"from omni\.isaac\.core\.utils\.transformations import get_relative_transform\b(?!,)": "from core.compat import get_relative_transform",
+    r"from omni\.isaac\.core\.utils\.transformations import pose_from_tf_matrix": "from core.compat import pose_from_tf_matrix",
+    r"from omni\.isaac\.core\.utils\.stage import get_current_stage": "from core.compat import get_current_stage",
+    r"from omni\.isaac\.core\.utils\.stage import add_reference_to_stage": "from core.compat import add_reference_to_stage",
+    r"from omni\.isaac\.core\.utils\.stage import get_stage_units": "from core.compat import get_stage_units",
+    r"from omni\.isaac\.core\.utils\.xforms import get_world_pose": "from core.compat import get_world_pose",
+    r"from omni\.isaac\.core\.utils\.types import ArticulationAction": "from core.compat import ArticulationAction",
+    r"from omni\.isaac\.core\.utils\.viewports import set_camera_view": "from core.compat import set_camera_view",
+    r"from omni\.isaac\.core\.utils\.semantics import add_update_semantics": "from core.compat import add_update_semantics",
+    r"from omni\.isaac\.core\.utils\.string import find_unique_string_name": "from core.compat import find_unique_string_name",
+    r"from omni\.isaac\.core\.utils\.extensions import enable_extension": "from core.compat import enable_extension",
+    r"from omni\.isaac\.core\.utils\.nucleus import get_assets_root_path as nucleus_path": "from core.compat import nucleus_path",
+}
+
+# Multi-line import blocks that need special handling
+MULTILINE_PATTERNS = [
+    # get_relative_transform, pose_from_tf_matrix block
+    (
+        r"from omni\.isaac\.core\.utils\.transformations import \(\s*\n\s*get_relative_transform,\s*\n\s*pose_from_tf_matrix,?\s*\n\s*\)",
+        "from core.compat import get_relative_transform, pose_from_tf_matrix",
+    ),
+    # prims multi-import blocks
+    (
+        r"from omni\.isaac\.core\.utils\.prims import \(\s*\n\s*get_prim_at_path,\s*\n\s*create_prim,\s*\n\s*is_prim_path_valid,?\s*\n\s*\)",
+        "from core.compat import get_prim_at_path, create_prim, is_prim_path_valid",
+    ),
+    (
+        r"from omni\.isaac\.core\.utils\.prims import \(\s*\n[^)]+\)",
+        None,  # skip complex blocks, handle manually
+    ),
+]
+
+
+def should_skip(filepath):
+    for s in SKIP:
+        if s in filepath:
+            return True
+    return False
+
+
+def migrate_file(filepath, dry_run=False):
+    with open(filepath, "r") as f:
+        content = f.read()
+
+    original = content
+    changes = []
+
+    # Handle multi-line imports first
+    for pattern, replacement in MULTILINE_PATTERNS:
+        if replacement is None:
+            continue
+        matches = list(re.finditer(pattern, content))
+        for m in matches:
+            changes.append(f"  MULTI: {m.group()[:60]}... -> {replacement}")
+        content = re.sub(pattern, replacement, content)
+
+    # Handle single-line imports
+    for pattern, replacement in IMPORT_MAP.items():
+        matches = list(re.finditer(pattern, content))
+        for m in matches:
+            changes.append(f"  {m.group().strip()} -> {replacement}")
+        content = re.sub(pattern, replacement, content)
+
+    if content != original:
+        if not dry_run:
+            with open(filepath, "w") as f:
+                f.write(content)
+        return changes
+    return []
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Migrate omni.isaac imports to core.compat")
+    parser.add_argument("--dry-run", action="store_true", help="Preview changes without modifying files")
+    parser.add_argument("--root", default=".", help="Project root directory")
+    args = parser.parse_args()
+
+    total_files = 0
+    total_changes = 0
+
+    for scan_dir in SCAN_DIRS:
+        full_dir = os.path.join(args.root, scan_dir)
+        if not os.path.exists(full_dir):
+            continue
+
+        if os.path.isfile(full_dir):
+            files = [full_dir]
+        else:
+            files = []
+            for root, dirs, filenames in os.walk(full_dir):
+                for fn in filenames:
+                    if fn.endswith(".py"):
+                        files.append(os.path.join(root, fn))
+
+        for filepath in sorted(files):
+            if should_skip(filepath):
+                continue
+
+            rel = os.path.relpath(filepath, args.root)
+            changes = migrate_file(filepath, args.dry_run)
+            if changes:
+                total_files += 1
+                total_changes += len(changes)
+                print(f"\n{rel}:")
+                for c in changes:
+                    print(c)
+
+    action = "would change" if args.dry_run else "changed"
+    print(f"\n{'='*60}")
+    print(f"Done: {total_changes} imports {action} in {total_files} files.")
+    if args.dry_run:
+        print("Run without --dry-run to apply changes.")
+
+
+if __name__ == "__main__":
+    main()

nimbus_extension/components/load/env_loader.py

@@ -75,7 +75,7 @@ class EnvLoader(SceneLoader):
         )
 
         self.logger.info(f"simulator params: physics dt={physics_dt}, rendering dt={rendering_dt}")
-        from omni.isaac.core import World
+        from core.compat import World
 
         world = World(
             physics_dt=physics_dt,

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 core.compat import XFormPrim
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, pose_from_tf_matrix
-    get_relative_transform,
+from core.compat import Camera
-    pose_from_tf_matrix,
-)
-from omni.isaac.sensor 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 core.compat import World
-from omni.isaac.core.controllers import BaseController
+from core.compat import BaseController
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, pose_from_tf_matrix
-    get_relative_transform,
+from core.compat import ArticulationAction
-    pose_from_tf_matrix,
-)
-from omni.isaac.core.utils.types 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 core.compat import Articulation
-from omni.isaac.core.utils.stage import add_reference_to_stage
+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 core.compat import GeometryPrim
-from omni.isaac.core.utils.prims import create_prim
+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 core.compat import GeometryPrim
-from omni.isaac.core.utils.prims import (
+from core.compat import create_prim, get_prim_at_path, is_prim_path_valid
-    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 core.compat import XFormPrim
-from omni.isaac.core.utils.prims import is_prim_path_valid
+from core.compat import is_prim_path_valid
-from omni.isaac.core.utils.stage import get_current_stage
+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 core.compat import RigidPrim
-from omni.isaac.core.utils.prims import create_prim, get_prim_at_path
+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 core.compat import XFormPrim
-from omni.isaac.core.utils.prims import create_prim, is_prim_path_valid
+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 core.compat import Robot
-from omni.isaac.core.utils.prims import create_prim, get_prim_at_path
+from core.compat import create_prim, get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
+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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
+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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.transformations import (
+from core.compat import pose_from_tf_matrix, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
+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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
+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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.objects.cylinder import VisualCylinder
+from core.compat import VisualCylinder
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import get_prim_at_path
+from core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, tf_matrix_from_pose
-    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 core.compat import BaseController
-from omni.isaac.core.robots.robot import Robot
+from core.compat import Robot
-from omni.isaac.core.tasks import BaseTask
+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 core.compat import PreviewSurface
-from omni.isaac.core.prims import RigidContactView, XFormPrim
+from core.compat import RigidContactView, XFormPrim
-from omni.isaac.core.scenes.scene import Scene
+from core.compat import Scene
-from omni.isaac.core.tasks import BaseTask
+from core.compat import BaseTask
-from omni.isaac.core.utils.prims import (
+from core.compat import delete_prim, get_prim_at_path, is_prim_path_valid
-    delete_prim,
+from core.compat import get_current_stage
-    get_prim_at_path,
-    is_prim_path_valid,
-)
-from omni.isaac.core.utils.stage 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 core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import get_relative_transform
+from core.compat import get_relative_transform
-from omni.isaac.sensor import Camera
+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 (
+from core.compat import create_prim, get_prim_at_path, is_prim_path_valid
-    create_prim,
+from core.compat import get_relative_transform, pose_from_tf_matrix, tf_matrices_from_poses
-    get_prim_at_path,
+from core.compat import get_world_pose
-    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 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 core.compat import World
-    from omni.isaac.core.utils.types import ArticulationAction
+    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 core.compat import get_prim_at_path
-from omni.isaac.core.utils.transformations import (
+from core.compat import get_relative_transform, pose_from_tf_matrix
-    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