fix: rename migerate -> migrate (typo fix)

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>
2026-04-03 15:24:41 +08:00 · 2026-04-03 15:09:50 +08:00 · 2026-04-03 14:41:00 +08:00 · 2026-04-03 12:07:16 +08:00 · 2026-04-03 11:47:15 +08:00 · 2026-04-03 11:17:43 +08:00
55 changed files with 929 additions and 431 deletions
--- a/1.py
+++ b/1.py
@@ -1,116 +0,0 @@
 # from pxr import Usd, UsdGeom
 # stage = Usd.Stage.Open('workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd')
 # print('metersPerUnit:', UsdGeom.GetStageMetersPerUnit(stage))
 # print('upAxis:', UsdGeom.GetStageUpAxis(stage))
 # dp = stage.GetDefaultPrim()
 # print('defaultPrim:', dp.GetPath() if dp else 'None')
 # xf = UsdGeom.Xformable(dp)
 # for op in xf.GetOrderedXformOps():
 #     print(f'  xformOp: {op.GetName()} = {op.Get()}')
 # for child in dp.GetChildren():
 #     cxf = UsdGeom.Xformable(child)
 #     ops = cxf.GetOrderedXformOps()
 #     if ops:
 #         for op in ops:
 #             print(f'  child {child.GetPath()} xformOp: {op.GetName()} = {op.Get()}')
 # from pxr import Usd, UsdGeom                                                                                                                                        
 # stage = Usd.Stage.Open('workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd')
 # print('metersPerUnit:', UsdGeom.GetStageMetersPerUnit(stage))                                                                                                       
 # print('upAxis:', UsdGeom.GetStageUpAxis(stage))                                                                                                                     
 # for prim in stage.Traverse():                                                                                                                                       
 #     print(f'  {prim.GetPath()} type={prim.GetTypeName()}')                                                                                                          
 #     xf = UsdGeom.Xformable(prim)                                                                                                                                    
 #     if xf:                                                                                                                                                          
 #         for op in xf.GetOrderedXformOps():                                                                                                                          
 #             print(f'    {op.GetName()} = {op.Get()}')
 from pxr import Usd, UsdGeom                                                                                                                                        
 import yaml, os                                                                                                                                                     
 with open('workflows/simbox/core/configs/tasks/example/sort_the_rubbish.yaml') as f:                                                                                
    cfg = yaml.safe_load(f)                                                                                                                                         
 tasks = cfg.get('tasks', [cfg])                                                                                                                                     
 for task in tasks:                                                                                                                                                  
    asset_root = task.get('asset_root', '')                                                                                                                         
    for obj in task.get('objects', []):                                                                                                                             
        name = obj['name']             
        path = obj.get('path', '')                                                                                                                                  
        full = os.path.join(asset_root, path)                                                                                                                       
        print(f'=== {name}: {full} ===')                                                                                                                            
        try:                                                                                                                                                        
            stage = Usd.Stage.Open(full)                                                                                                                            
            print(f'  metersPerUnit: {UsdGeom.GetStageMetersPerUnit(stage)}')                                                                                       
            print(f'  upAxis: {UsdGeom.GetStageUpAxis(stage)}')                                                                                                     
        except Exception as e:                                                                                                                                      
            print(f'  ERROR: {e}')
 # ===== Check mesh vertex ranges =====
 print("\n===== Mesh vertex ranges =====")
 import numpy as np
 usd_files = {
    'pick_object_right': 'workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd',
    'gso_box_right': 'workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/recyclable_can/Aligned_obj.usd',
 }
 for name, path in usd_files.items():
    stage = Usd.Stage.Open(path)
    for prim in stage.Traverse():
        if prim.GetTypeName() == 'Mesh':
            mesh = UsdGeom.Mesh(prim)
            pts = mesh.GetPointsAttr().Get()
            if pts:
                pts = np.array(pts)
                print(f'{name} mesh={prim.GetPath()} npts={len(pts)}')
                print(f'  X: [{pts[:,0].min():.4f}, {pts[:,0].max():.4f}]')
                print(f'  Y: [{pts[:,1].min():.4f}, {pts[:,1].max():.4f}]  (upAxis=Y, this is height)')
                print(f'  Z: [{pts[:,2].min():.4f}, {pts[:,2].max():.4f}]')
                print(f'  Y_max * 0.01 = {pts[:,1].max()*0.01:.6f} m')
                print(f'  Y_extent = {pts[:,1].max()-pts[:,1].min():.4f}')
                print(f'  Y_max (raw cm) = {pts[:,1].max():.4f}')
                # 109.75 / Y_max ?
                if pts[:,1].max() > 0:
                    print(f'  109.75 / Y_max = {109.75 / pts[:,1].max():.4f}')
                    print(f'  109.75 / (Y_max*0.01) = {109.75 / (pts[:,1].max()*0.01):.4f}')
 # ===== Fix USD metadata: set metersPerUnit=1.0 and upAxis=Z =====
 print("\n===== Fixing USD metadata =====")
 import shutil
 fix_files = [
    'workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd',
    'workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/recyclable_can/Aligned_obj.usd',
    'workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/nonrecyclable_can/Aligned_obj.usd',
 ]
 # Also try to find pick_object_left USD
 pick_left_path = 'workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_0/Aligned_obj.usd'
 if os.path.exists(pick_left_path):
    fix_files.append(pick_left_path)
 for fpath in fix_files:
    if not os.path.exists(fpath):
        print(f'  SKIP (not found): {fpath}')
        continue
    # Backup
    bak = fpath + '.bak'
    if not os.path.exists(bak):
        shutil.copy2(fpath, bak)
        print(f'  Backed up: {fpath} -> {bak}')
    else:
        print(f'  Backup already exists: {bak}')
    stage = Usd.Stage.Open(fpath)
    old_mpu = UsdGeom.GetStageMetersPerUnit(stage)
    old_up = UsdGeom.GetStageUpAxis(stage)
    print(f'  {fpath}: old metersPerUnit={old_mpu}, upAxis={old_up}')
    UsdGeom.SetStageMetersPerUnit(stage, 1.0)
    UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z)
    stage.GetRootLayer().Save()
    # Verify
    stage2 = Usd.Stage.Open(fpath)
    print(f'  -> new metersPerUnit={UsdGeom.GetStageMetersPerUnit(stage2)}, upAxis={UsdGeom.GetStageUpAxis(stage2)}')
 print("\nDone! Now run launcher to test if Z is normal.")
 print("To restore: for each .bak file, copy it back over the .usd file")
--- a/README.md
+++ b/README.md
@@ -1,6 +1,8 @@
 <div align="center">
-# InternDataEngine: Pioneering High-Fidelity Synthetic Data Generator for Robotic Manipulation
+# InternDataEngine
 **High-Fidelity Synthetic Data Generator for Robotic Manipulation**
 </div>
@@ -15,30 +17,127 @@
 </div>
-## 💻 About
+## About
 <div align="center">
  <img src="./docs/images/intern_data_engine.jpeg" alt="InternDataEngine Overview" width="80%">
 </div>
-InternDataEngine is a synthetic data generation engine for embodied AI that powers large-scale model training and iteration. Built on NVIDIA Isaac Sim, it unifies high-fidelity physical interaction from InternData-A1, semantic task and scene generation from InternData-M1, and high-throughput scheduling from the Nimbus framework to deliver realistic, task-aligned, and massively scalable robotic manipulation data.
+InternDataEngine is a synthetic data generation engine for embodied AI, built on NVIDIA Isaac Sim. It unifies high-fidelity physical interaction (InternData-A1), semantic task and scene generation (InternData-M1), and high-throughput scheduling (Nimbus) to deliver realistic, task-aligned, and scalable robotic manipulation data.
- **More realistic physical interaction**: Unified simulation of rigid, articulated, deformable, and fluid objects across single-arm, dual-arm, and humanoid robots, enabling long-horizon, skill-composed manipulation that better supports sim-to-real transfer.
+**Key capabilities:**
 - **More diverse data generation**: By leveraging the internal state of the simulation engine to extract high-quality ground truth, coupled with multi-dimensional domain randomization (e.g., layout, texture, structure, and lighting), the data distribution is significantly expanded. This approach produces precise and diverse operational data, while simultaneously exporting rich multimodal annotations such as bounding boxes, segmentation masks, and keypoints.
 - **More efficient large-scale production**: Nimbus-powered asynchronous pipelines that decouple planning, rendering, and storage, achieving 2–3× end-to-end throughput, cluster-level load balancing and fault tolerance for billion-scale data generation.
-## 🔥 Latest News
+- **Realistic physical interaction** -- Unified simulation of rigid, articulated, deformable, and fluid objects across single-arm, dual-arm, and humanoid robots. Supports long-horizon, skill-composed manipulation for sim-to-real transfer.
 - **Diverse data generation** -- Multi-dimensional domain randomization (layout, texture, structure, lighting) with rich multimodal annotations (bounding boxes, segmentation masks, keypoints).
 - **Efficient large-scale production** -- Nimbus-powered asynchronous pipelines that decouple planning, rendering, and storage, achieving 2-3x end-to-end throughput with cluster-level load balancing and fault tolerance.
- **[2026/03]** We release the InternDataEngine codebase v1.0, which includes the core modules: InternData-A1 and Nimbus.
+## Prerequisites
-## 🚀 Quickstart
+| Dependency | Version |
 |------------|---------|
 | NVIDIA Isaac Sim | 5.0.0 (Kit 107.x) |
 | CUDA Toolkit | >= 12.8 |
 | Python | 3.10 |
 | GPU | NVIDIA RTX (tested on RTX PRO 6000 Blackwell) |
-Please refer to the [Installation](https://internrobotics.github.io/InternDataEngine-Docs/guides/installation.html) and [Usage](https://internrobotics.github.io/InternDataEngine-Docs/guides/quickstart.html) to start the installation and run your first synthetic data generation task.
+> For detailed environment setup (conda, CUDA, PyTorch, curobo), see [install.md](install.md).
 >
 > If migrating from Isaac Sim 4.5.0, see [migrate/migrate.md](migrate/migrate.md) for known issues and fixes.
-For more details, please check [Documentation](https://internrobotics.github.io/InternDataEngine-Docs/).
+## Quick Start
 ### 1. Install
 ```bash
 # Create conda environment
 conda create -n banana500 python=3.10
 conda activate banana500
 # Install CUDA 12.8 and set up Isaac Sim 5.0.0
 conda install -y cuda-toolkit=12.8
 source ~/isaacsim500/setup_conda_env.sh
 export CUDA_HOME="$CONDA_PREFIX"
 # Install PyTorch (CUDA 12.8)
 pip install torch==2.7.0 torchvision==0.22.0 torchaudio==2.7.0 --index-url https://download.pytorch.org/whl/cu128
 # Install project dependencies
 pip install -r requirements.txt
 # Install curobo (motion planning)
 cd workflows/simbox/curobo
 export TORCH_CUDA_ARCH_LIST="12.0+PTX"  # Set to your GPU's compute capability
 pip install -e .[isaacsim] --no-build-isolation
 cd ../../..
 ```
 See [install.md](install.md) for the full step-by-step guide including troubleshooting.
 ### 2. Run Data Generation
 ```bash
 # Full pipeline: plan trajectories + render + save
 python launcher.py --config configs/simbox/de_plan_and_render_template.yaml
 ```
 Output is saved to `output/simbox_plan_and_render/` including:
 - `demo.mp4` -- rendered video from robot cameras
 - LMDB data files for model training
 ### 3. Available Pipeline Configs
 | Config | Description |
 |--------|-------------|
 | `de_plan_and_render_template.yaml` | Full pipeline: plan + render + save |
 | `de_plan_template.yaml` | Plan trajectories only (no rendering) |
 | `de_render_template.yaml` | Render from existing plans |
 | `de_plan_with_render_template.yaml` | Plan with live rendering preview |
 | `de_pipe_template.yaml` | Pipelined mode for throughput |
 ### 4. Configuration
 The main config file (`configs/simbox/de_plan_and_render_template.yaml`) controls:
 ```yaml
 simulator:
  headless: True              # Set False for GUI debugging
  renderer: "RayTracedLighting"  # Or "PathTracing" for higher quality
  physics_dt: 1/30
  rendering_dt: 1/30
 ```
 Task configs are in `workflows/simbox/core/configs/tasks/`. The example task (`sort_the_rubbish`) demonstrates a dual-arm pick-and-place scenario.
 ## Project Structure
 ```
 InternDataEngine/
  configs/simbox/             # Pipeline configuration files
  launcher.py                 # Main entry point
  nimbus_extension/           # Nimbus framework components
  workflows/simbox/
    core/
      configs/                # Task, robot, arena, camera configs
      controllers/            # Motion planning (curobo integration)
      skills/                 # Manipulation skills (pick, place, etc.)
      tasks/                  # Task definitions
    example_assets/           # Example USD assets (robots, objects, tables)
    curobo/                   # GPU-accelerated motion planning library
  migrate/                   # Migration tools and documentation
  output/                     # Generated data output
 ```
 ## Documentation
 - [Installation Guide](install.md) -- Environment setup and dependency installation
 - [Migration Guide](migrate/migrate.md) -- Isaac Sim 4.5.0 to 5.0.0 migration notes and tools
 - [Online Documentation](https://internrobotics.github.io/InternDataEngine-Docs/) -- Full API docs, tutorials, and advanced usage
 ## License and Citation
-All the code within this repo are under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). Please consider citing our papers if it helps your research.
+
 This project is based on [InternDataEngine](https://github.com/InternRobotics/InternDataEngine) by InternRobotics, licensed under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/).
 If this project helps your research, please cite the following papers:
 ```BibTeX
@article{tian2025interndata,
@@ -62,13 +161,3 @@ All the code within this repo are under [CC BY-NC-SA 4.0](https://creativecommon
  year={2025}
 }
 ```
 <!--
 ```BibTeX
@misc{interndataengine2026,
  title={InternDataEngine: A Synthetic Data Generation Engine for Robotic Learning},
  author={InternDataEngine Contributors},
  year={2026},
  }
 }
 ``` -->
--- a/migerate/fix_usd_metadata.py
+++ b/migerate/fix_usd_metadata.py
@@ -10,19 +10,19 @@ Vertex data stays unchanged (already in correct scale for the scene).
 Usage:
    # Scan only (dry run):
-    python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --dry-run
+    python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --dry-run
    # Fix all:
-    python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets
+    python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets
    # Fix specific pattern:
-    python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --pattern "Aligned_obj.usd"
+    python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --pattern "Aligned_obj.usd"
    # Skip specific directories (e.g. robot models, curobo assets):
-    python migerate/fix_usd_metadata.py --root . --skip curobo,robot
+    python migrate/fix_usd_metadata.py --root . --skip curobo,robot
    # Restore from backups:
-    python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
+    python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
 """
 import argparse
 import glob
@@ -103,7 +103,7 @@ def fix_usd_files(root: str, pattern: str = "*.usd", target_mpu: float = 1.0,
    if not dry_run and fixed > 0:
        print("Backups saved as *.bak.")
-        print("To restore: python migerate/fix_usd_metadata.py --root <DIR> --restore")
+        print("To restore: python migrate/fix_usd_metadata.py --root <DIR> --restore")
    return fixed
@@ -131,16 +131,16 @@ if __name__ == "__main__":
        epilog="""
 Examples:
  # Dry run on example assets:
-  python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --dry-run
+  python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --dry-run
  # Fix all Aligned_obj.usd in example assets:
-  python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --pattern "Aligned_obj.usd"
+  python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --pattern "Aligned_obj.usd"
  # Fix everything except robot/curobo dirs:
-  python migerate/fix_usd_metadata.py --root . --skip curobo,robot
+  python migrate/fix_usd_metadata.py --root . --skip curobo,robot
  # Restore all backups:
-  python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
+  python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
 """)
    parser.add_argument("--root", default="workflows/simbox/example_assets",
                        help="Root directory to scan (default: workflows/simbox/example_assets)")
--- a/migerate/migerate.md
+++ b/migerate/migerate.md
@@ -148,7 +148,7 @@ rotation = [0.0, 0.0, random.uniform(r[0], r[1])]
 ## Tools
-Migration tools are located in the `migerate/` directory.
+Migration tools are located in the `migrate/` directory.
 ### scan_usd_metadata.py — Scan USD metadata
@@ -158,10 +158,10 @@ Scan all USD files and report their `metersPerUnit` / `upAxis`:
 conda activate banana500
 # Scan entire project
-python migerate/scan_usd_metadata.py --root .
+python migrate/scan_usd_metadata.py --root .
 # Scan specific directory
-python migerate/scan_usd_metadata.py --root workflows/simbox/example_assets
+python migrate/scan_usd_metadata.py --root workflows/simbox/example_assets
 ```
 Exit code: 0 = all OK, 1 = found files with non-standard metadata.
@@ -174,19 +174,19 @@ Fix `metersPerUnit` and `upAxis` in USD files, with backup/restore support:
 conda activate banana500
 # Dry run — see what would be fixed, no changes made
-python migerate/fix_usd_metadata.py --root . --dry-run --skip curobo,robot
+python migrate/fix_usd_metadata.py --root . --dry-run --skip curobo,robot
 # Fix example assets only (default)
-python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets
+python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets
 # Fix all USD in project, skip robot/curobo models
-python migerate/fix_usd_metadata.py --root . --skip curobo,robot
+python migrate/fix_usd_metadata.py --root . --skip curobo,robot
 # Fix only Aligned_obj.usd files
-python migerate/fix_usd_metadata.py --root . --pattern "Aligned_obj.usd"
+python migrate/fix_usd_metadata.py --root . --pattern "Aligned_obj.usd"
 # Restore from backups (undo all fixes)
-python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
+python migrate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
 ```
 **Important:** Do NOT fix robot USD (curobo, split_aloha) — their metersPerUnit/upAxis are intentionally set for their own coordinate systems. Use `--skip` to exclude them.
--- a/migrate/migrate_imports.py
+++ b/migrate/migrate_imports.py
@@ -0,0 +1,177 @@
 """
 Batch migrate omni.isaac.* imports to use core.compat module.
 Usage:
    python migrate/migrate_imports.py --dry-run   # preview changes
    python migrate/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()
--- a/migrate/runtime_warnings.md
+++ b/migrate/runtime_warnings.md
@@ -0,0 +1,222 @@
 # Runtime Warnings & Errors Analysis
 Pipeline: `python launcher.py --config configs/simbox/de_plan_and_render_template.yaml`
 Environment: IS 5.0.0, RTX PRO 6000 Blackwell, conda `banana500`
 Date: 2026-04-03
 ---
 ## Errors
 ### 1. PhysicsUSD: triangle mesh collision on dynamic body
 ```
 [Error] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification)
 cannot be a part of a dynamic body, falling back to convexHull approximation:
 /World/task_0/split_aloha/.../lifting_link/collisions
 ```
 **Severity:** Medium (PhysX auto-fallback, but logs error every reset)
 **Root cause:** Robot USD `lifting_link/collisions` mesh 使用 `meshSimplification` 碰撞近似，PhysX 不支持动态物体使用 triangle mesh collision。
 **Fix:** 修改 robot USD 将 `MeshCollisionAPI.approximation` 从 `meshSimplification` 改为 `convexHull`。
 ```python
 from pxr import Usd, UsdPhysics
 stage = Usd.Stage.Open('workflows/simbox/example_assets/split_aloha_mid_360/robot.usd')
 prim = stage.GetPrimAtPath('/Root/.../lifting_link/collisions')
 UsdPhysics.MeshCollisionAPI(prim).GetApproximationAttr().Set('convexHull')
 stage.GetRootLayer().Save()
 ```
 **Status:** FIXED. Backup: `robot.usd.bak`
 ---
 ### 2. Physics scenes stepping mismatch
 ```
 [Error] Physics scenes stepping is not the same, step subscription will be send with later step,
 per scene step is not yet supported.
 ```
 **Severity:** Low (仅首次 reset 时出现一次)
 **Root cause:** IS 5.0.0 内部 physics scene 步进调度问题。physics_dt 和 rendering_dt 均为 1/30，配置一致。
 **Status:** IGNORED. IS 内部行为，不影响仿真结果。
 ---
 ## Warnings — Fixed
 ### 3. Camera aperture inconsistent with resolution
 ```
 [Warning] 'verticalAperture' (1.529) and 'horizontalAperture' (2.095) are inconsistent with
 the pixel resolution aspect ratio (1.333). Setting 'verticalAperture' to 1.572 to ensure square pixels.
 ```
 **Severity:** Low (IS 自动修正，但每个相机打 2 条 warning)
 **Root cause:** `custom_camera.py` 在 `self.initialize()` 之后才设置 aperture/focal_length，但 `initialize()` 时就用默认 aperture 做一致性检查。
 **Fix:** 重构 `custom_camera.py`，将 aperture/focal_length 设置移到 `initialize()` 之前。
 ```python
 # Before (wrong order):
 super().__init__(...)
 self.initialize()          # <-- checks aperture here with default values
 # ... later ...
 self.set_horizontal_aperture(...)  # too late, warning already printed
 # After (correct order):
 super().__init__(...)
 self.set_horizontal_aperture(...)  # set aperture first
 self.set_vertical_aperture(...)
 self.set_focal_length(...)
 self.initialize()                  # now checks with correct values
 ```
 **Status:** FIXED in `workflows/simbox/core/cameras/custom_camera.py`
 ---
 ### 4. Camera.set_projection_type deprecated
 ```
 [Warning] Camera.set_projection_type is deprecated and will be removed in a future release.
 Please use Camera.set_lens_distortion_model instead.
 ```
 **Severity:** Low
 **Fix:** 替换 API 调用，带 fallback 兼容旧版本。
 ```python
 # Before:
 self.set_projection_type("pinhole")
 # After:
 try:
    self.set_lens_distortion_model("pinhole")
 except AttributeError:
    self.set_projection_type("pinhole")
 ```
 **Status:** FIXED in `workflows/simbox/core/cameras/custom_camera.py`
 ---
 ## Warnings — Requires Manual Action
 ### 5. CPU powersave mode
 ```
 [Warning] CPU performance profile is set to powersave. This profile sets the CPU to the
 lowest frequency reducing performance.
 ```
 **Severity:** Medium (影响整体性能)
 **Fix:** 需要 sudo 权限手动设置。
 ```bash
 # 临时切换到 performance 模式 (重启后恢复)
 echo performance | sudo tee /sys/devices/system/cpu/cpu*/cpufreq/scaling_governor
 # 永久设置 (Ubuntu)
 sudo apt install cpufrequtils
 echo 'GOVERNOR="performance"' | sudo tee /etc/default/cpufrequtils
 sudo systemctl restart cpufrequtils
 ```
 **Status:** MANUAL. 需要用户自行设置。
 ---
 ## Warnings — Ignored (Safe)
 ### 6. IS 5.0 API deprecation warnings (~100 条)
 ```
 [Warning] omni.isaac.core has been deprecated in favor of isaacsim.core.api.
 Please update your code accordingly.
 ```
 **Severity:** None
 **说明:** IS 5.0 对所有 `omni.isaac.*` 模块重命名为 `isaacsim.*`。旧 API 仍然可用，仅打印 deprecation 提示。不影响功能，无需修改。如果将来升级到 IS 6.x 可能需要迁移。
 ---
 ### 7. Curobo warp cache warnings
 ```
 [Warning] [curobo] Object already in warp cache, using existing instance for:
 /World/task_0/pick_object_left/Aligned/mesh
 ```
 **Severity:** None
 **说明:** Curobo 内部 warp kernel 缓存机制。同一 mesh 在多次 world update 中被重复加载时复用缓存。完全正常，无害。
 ---
 ### 8. Robot dummy_base inertia tensor warnings
 ```
 [Warning] The rigid body at .../dummy_base_rotate has a possibly invalid inertia tensor of
 {1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used.
 ```
 **Severity:** None
 **说明:** Robot USD 中 `dummy_base_rotate/x/y` 是虚拟关节（用于全局位移），不需要真实质量属性。PhysX 自动使用球体近似惯性张量，功能正常。
 ---
 ### 9. Table mesh corrupted normal primvar
 ```
 [Warning] Mesh '/World/task_0/table/Instance/Group_default_00/SM_08_component6_0' has corrupted
 data in primvar 'normal': buffer size 14880 doesn't match expected size 2482
 ```
 **Severity:** Low
 **说明:** Table USD 中一个子网格的 normal 数据大小不匹配。IS 会忽略损坏的 normal 并自动计算。不影响渲染和物理。如需修复，需在 DCC 工具（Blender/Maya）中重新导出 table USD。
 ---
 ### 10. GPU / Hardware warnings
 ```
 [Warning] Skipping unsupported non-NVIDIA GPU: AMD Ryzen 7 9800X3D (RADV RAPHAEL_MENDOCINO)
 [Warning] ECC is enabled on physical device 0
 [Warning] IOMMU is enabled.
 ```
 **Severity:** None
 **说明:** 系统有 AMD 集显（跳过正常）。RTX PRO 6000 默认开启 ECC（牺牲约 6% 显存带宽换数据可靠性）。IOMMU 已启用。均为信息提示。
 ---
 ### 11. SdRenderVarPtr missing LdrColorSDhost
 ```
 [Warning] SdRenderVarPtr missing valid input renderVar LdrColorSDhost
 ```
 **Severity:** None
 **说明:** Synthetic data pipeline 中 LDR color 渲染变量在 headless 模式下首帧未就绪。后续帧正常。不影响输出。
 ---
 ### 12. trimesh sampling warning
 ```
 [Warning] [trimesh] only got 3/4 samples!
 ```
 **Severity:** Low
 **说明:** Grasp pose 采样时某个物体只获得 3 个（期望 4 个）抓取采样点。不影响功能，pipeline 会使用获得的采样继续运行。
 ---
 ## Summary
 | Category | Count | Fixed | Ignored | Manual |
 |----------|-------|-------|---------|--------|
 | Errors | 2 | 1 | 1 | 0 |
 | Warnings (actionable) | 3 | 2 | 0 | 1 |
 | Warnings (safe to ignore) | 7 | 0 | 7 | 0 |
 | **Total** | **12** | **3** | **8** | **1** |
--- a/migerate/scan_usd_metadata.py
+++ b/migerate/scan_usd_metadata.py
@@ -2,7 +2,7 @@
 Scan all USD files in the project and report their metersPerUnit / upAxis metadata.
 Usage:
-    python migerate/scan_usd_metadata.py [--root DIR]
+    python migrate/scan_usd_metadata.py [--root DIR]
 Default root: current working directory (project root).
 """
--- a/nimbus_extension/components/load/env_loader.py
+++ b/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,
--- a/workflows/simbox/core/cameras/custom_camera.py
+++ b/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
@@ -32,14 +29,44 @@ class CustomCamera(Camera):
            reference_path: Reference prim path for camera mounting
            name: Camera name
        """
        # ===== From cfg =====
        pixel_size = cfg["params"].get("pixel_size")
        f_number = cfg["params"].get("f_number")
        focus_distance = cfg["params"].get("focus_distance")
        fx, fy, cx, cy = cfg["params"].get("camera_params")
        width = cfg["params"].get("resolution_width")
        height = cfg["params"].get("resolution_height")
        self.output_mode = cfg.get("output_mode", "rgb")
        horizontal_aperture = pixel_size * 1e-3 * width / 10.0
        vertical_aperture = pixel_size * 1e-3 * height / 10.0
        focal_length_x = fx * pixel_size * 1e-3
        focal_length_y = fy * pixel_size * 1e-3
        focal_length = (focal_length_x + focal_length_y) / 2 / 10.0
        # ===== Initialize camera =====
        # Note: Camera.__init__ triggers aperture consistency warnings with default USD values.
        # These are cosmetic — IS auto-corrects, and we override with correct values below.
        super().__init__(
            prim_path=prim_path,
            name=name,
-            resolution=(cfg["params"]["resolution_width"], cfg["params"]["resolution_height"]),
+            resolution=(width, height),
            *args,
            **kwargs,
        )
        # ===== Set camera parameters =====
        self.set_focal_length(focal_length)
        self.set_focus_distance(focus_distance)
        self.set_lens_aperture(f_number * 100.0)
        self.set_horizontal_aperture(horizontal_aperture)
        self.set_vertical_aperture(vertical_aperture)
        self.set_clipping_range(0.05, 1.0e5)
        try:
            self.set_lens_distortion_model("pinhole")
        except AttributeError:
            self.set_projection_type("pinhole")
        self.initialize()
        self.with_distance = cfg["params"].get("with_distance", True)
        self.with_semantic = cfg["params"].get("with_semantic", False)
@@ -61,30 +88,6 @@ class CustomCamera(Camera):
        if self.with_motion_vector:
            self.add_motion_vectors_to_frame()
        # ===== From cfg =====
        pixel_size = cfg["params"].get("pixel_size")
        f_number = cfg["params"].get("f_number")
        focus_distance = cfg["params"].get("focus_distance")
        fx, fy, cx, cy = cfg["params"].get("camera_params")
        width = cfg["params"].get("resolution_width")
        height = cfg["params"].get("resolution_height")
        self.output_mode = cfg.get("output_mode", "rgb")
        # ===== Compute and set camera parameters =====
        horizontal_aperture = pixel_size * 1e-3 * width
        vertical_aperture = pixel_size * 1e-3 * height
        focal_length_x = fx * pixel_size * 1e-3
        focal_length_y = fy * pixel_size * 1e-3
        focal_length = (focal_length_x + focal_length_y) / 2
        self.set_focal_length(focal_length / 10.0)
        self.set_focus_distance(focus_distance)
        self.set_lens_aperture(f_number * 100.0)
        self.set_horizontal_aperture(horizontal_aperture / 10.0)
        self.set_vertical_aperture(vertical_aperture / 10.0)
        self.set_clipping_range(0.05, 1.0e5)
        self.set_projection_type("pinhole")
        fx = width * self.get_focal_length() / self.get_horizontal_aperture()
        fy = height * self.get_focal_length() / self.get_vertical_aperture()
        self.is_camera_matrix = np.array([[fx, 0.0, cx], [0.0, fy, cy], [0.0, 0.0, 1.0]])
--- a/workflows/simbox/core/compat.py
+++ b/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
--- a/workflows/simbox/core/controllers/template_controller.py
+++ b/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
--- a/workflows/simbox/core/objects/articulated_object.py
+++ b/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
--- a/workflows/simbox/core/objects/conveyor_object.py
+++ b/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
--- a/workflows/simbox/core/objects/geometry_object.py
+++ b/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
--- a/workflows/simbox/core/objects/plane_object.py
+++ b/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
--- a/workflows/simbox/core/objects/rigid_object.py
+++ b/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
--- a/workflows/simbox/core/objects/shape_object.py
+++ b/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
--- a/workflows/simbox/core/objects/xform_object.py
+++ b/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
--- a/workflows/simbox/core/robots/template_robot.py
+++ b/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
--- a/workflows/simbox/core/skills/approach_rotate.py
+++ b/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
--- a/workflows/simbox/core/skills/artpreplan.py
+++ b/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
--- a/workflows/simbox/core/skills/close.py
+++ b/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
--- a/workflows/simbox/core/skills/dexpick.py
+++ b/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
--- a/workflows/simbox/core/skills/dexplace.py
+++ b/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
--- a/workflows/simbox/core/skills/dynamicpick.py
+++ b/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
--- a/workflows/simbox/core/skills/failpick.py
+++ b/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
--- a/workflows/simbox/core/skills/flip.py
+++ b/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
--- a/workflows/simbox/core/skills/goto_pose.py
+++ b/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
--- a/workflows/simbox/core/skills/gripper_action.py
+++ b/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
--- a/workflows/simbox/core/skills/heuristic_skill.py
+++ b/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
--- a/workflows/simbox/core/skills/home.py
+++ b/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
--- a/workflows/simbox/core/skills/joint_ctrl.py
+++ b/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
--- a/workflows/simbox/core/skills/manualpick.py
+++ b/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
--- a/workflows/simbox/core/skills/mobile_rotate.py
+++ b/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
--- a/workflows/simbox/core/skills/mobile_translate.py
+++ b/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
--- a/workflows/simbox/core/skills/move.py
+++ b/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
--- a/workflows/simbox/core/skills/open.py
+++ b/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
--- a/workflows/simbox/core/skills/pick.py
+++ b/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
--- a/workflows/simbox/core/skills/place.py
+++ b/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
--- a/workflows/simbox/core/skills/pour_water_succ.py
+++ b/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
--- a/workflows/simbox/core/skills/rotate.py
+++ b/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
--- a/workflows/simbox/core/skills/rotate_obj.py
+++ b/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
--- a/workflows/simbox/core/skills/scan.py
+++ b/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
--- a/workflows/simbox/core/skills/track.py
+++ b/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
--- a/workflows/simbox/core/skills/wait.py
+++ b/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
--- a/workflows/simbox/core/tasks/banana.py
+++ b/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
--- a/workflows/simbox/core/utils/camera_utils.py
+++ b/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):
--- a/workflows/simbox/core/utils/transformation_utils.py
+++ b/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
--- a/workflows/simbox/core/utils/utils.py
+++ b/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())
--- a/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd
+++ b/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd
--- a/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd.bak
+++ b/workflows/simbox/example_assets/split_aloha_mid_360/robot.usd.bak
--- a/workflows/simbox/solver/planner.py
+++ b/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
--- a/workflows/simbox/tools/rigid_obj/asset_usd_converter.py
+++ b/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")
--- a/workflows/simbox_dual_workflow.py
+++ b/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
--- a/workflows/utils/utils.py
+++ b/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
Author	SHA1	Message	Date
Tangger	6314603676	fix: rename migerate -> migrate (typo fix)	2026-04-03 15:24:41 +08:00
Tangger	b178aafe40	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>	2026-04-03 15:09:50 +08:00
Tangger	6032b12c59	refactor: simplify camera init, document aperture warning as cosmetic Camera.__init__() internally calls UsdGeom.Camera.Define() which resets aperture to defaults, making it impossible to pre-set values. The aperture mismatch warnings are cosmetic — IS auto-corrects them and our values are applied correctly after init. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>	2026-04-03 14:41:00 +08:00
Tangger	1105a49e8f	fix: pre-set camera aperture on USD prim before Camera init Camera.__init__() checks aperture consistency against resolution before we can call set_horizontal_aperture(). Pre-set the aperture values directly on the USD prim via UsdGeom.Camera API to eliminate the mismatch warnings. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>	2026-04-03 12:07:16 +08:00
Tangger	8d2fec09e0	fix: resolve camera aperture warnings and collision error - Fix camera aperture mismatch: set aperture/focal_length before initialize() - Replace deprecated set_projection_type with set_lens_distortion_model - Fix lifting_link collision: meshSimplification -> convexHull in robot USD - Add runtime_warnings.md documenting all warnings analysis and fixes - Remove temporary debug script 1.py Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>	2026-04-03 11:47:15 +08:00
Tangger	6b78ba0d6f	docs: rewrite README with quick start, project structure, and migration refs - Rewrite README with clear prerequisites, quick start guide, and project structure - Add references to install.md and migerate/migerate.md - Add pipeline config table and configuration examples - Preserve original license (CC BY-NC-SA 4.0) and paper citations - Update remote: matai as origin, merge 5.0.0 into master Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>	2026-04-03 11:17:43 +08:00
`@@ -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`	`from pxr import UsdPhysics`