"""
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