Migrates off deprecated Isaac Sim core extension paths by kellyguo11 · Pull Request #5280 · isaac-sim/IsaacLab

kellyguo11 · 2026-04-15T04:44:23Z

Description

Switch Kit experience files, Python imports, and test helpers from deprecated isaacsim.core.* / isaacsim.sensors.* / isaacsim.robot.* module paths to their isaacsim.core.experimental.* equivalents:

Remove deprecated extsDeprecated extension search paths from all Kit experience files (.kit)
Migrate Python imports across isaaclab, isaaclab_physx, isaaclab_tasks, isaaclab_teleop, isaaclab_mimic, and isaaclab_visualizers to isaacsim.core.experimental.utils.app, isaacsim.core.experimental.prims, isaacsim.core.experimental.utils.stage, etc.
Expose SimulationManager as a public alias of PhysxManager in isaaclab_physx.physics so callers avoid the deprecated isaacsim.core.simulation_manager import
Retire standalone reproducers in test/deps/isaacsim that depended on deprecated Isaac Sim core extensions
Update benchmark scripts and docs to reflect the new API paths

Fixes # (issue)

Type of change

Bug fix (non-breaking change which fixes an issue)

Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks with ./isaaclab.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

Switch Kit experience files, Python imports, and test helpers from deprecated isaacsim.core.* / isaacsim.sensors.* / isaacsim.robot.* module paths to their isaacsim.core.experimental.* equivalents: - Remove deprecated extsDeprecated extension search paths from all Kit experience files (.kit) - Migrate Python imports across isaaclab, isaaclab_physx, isaaclab_tasks, isaaclab_teleop, isaaclab_mimic, and isaaclab_visualizers to isaacsim.core.experimental.utils.app, isaacsim.core.experimental.prims, isaacsim.core.experimental.utils.stage, etc. - Expose SimulationManager as a public alias of PhysxManager in isaaclab_physx.physics so callers avoid the deprecated isaacsim.core.simulation_manager import - Retire standalone reproducers in test/deps/isaacsim that depended on deprecated Isaac Sim core extensions - Update benchmark scripts and docs to reflect the new API paths

Remove deprecated extsDeprecated extension search paths from all Isaac Lab Kit experience files; these belong with the API migration work.

greptile-apps · 2026-04-15T04:49:26Z

Greptile Summary

This PR migrates Isaac Lab away from deprecated isaacsim.core.*, isaacsim.sensors.*, and isaacsim.robot.* import paths to their isaacsim.core.experimental.* equivalents across six packages, and exposes SimulationManager as a public alias for PhysxManager in isaaclab_physx.physics so callers no longer need to import the deprecated isaacsim.core.simulation_manager. Five test reproducer scripts that depended on removed extensions are retired in place with RuntimeError stubs.

Confidence Score: 5/5

Safe to merge; all remaining findings are P2 style/hardening suggestions with no runtime impact.

The migration is systematic and internally consistent: every deprecated import has a clear replacement, the SimulationManager alias is correctly wired through all, the stub files, and the .pyi type stub. Changelogs and extension.toml versions are bumped in all affected packages. The two P2 comments (a missing AttributeError in one except clause, and a redundant alias in one import) do not affect correctness at runtime.

source/isaaclab/isaaclab/sim/utils/stage.py — the _context singleton patching block should also catch AttributeError.

Important Files Changed

Filename	Overview
source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py	Adds `SimulationManager = PhysxManager` public alias at line 756 and adds it to `__all__`; clean and consistent.
source/isaaclab_physx/isaaclab_physx/physics/init.pyi	Exports `SimulationManager` in the stub alongside `PhysxManager`, `IsaacEvents`, and `PhysxCfg`; consistent with the runtime module.
source/isaaclab/isaaclab/sim/utils/stage.py	Adds `_context` singleton patching for `isaacsim.core.experimental.utils.stage`; the `except ImportError` guard does not cover `AttributeError` if the attribute name changes in a future isaacsim version.
source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor.py	Migrates `SimulationManager` import to `isaaclab_physx.physics`; imports `PhysxManager as SimulationManager` instead of the new public alias `SimulationManager` directly — minor style issue.
source/isaaclab/test/deps/isaacsim/check_camera.py	Retired in-place with a `RuntimeError` stub and clear migration message; `check_floating_base_made_fixed.py`, `check_legged_robot_clone.py`, and `check_rep_texture_randomizer.py` follow the same pattern.
source/isaaclab/test/assets/test_articulation_iface.py	Migrated `SimulationManager` import to `isaaclab_physx.physics`; mocking pattern unchanged and correct.
source/isaaclab/isaaclab/controllers/rmp_flow.py	Migrated `enable_extension` / `get_extension_path` to `isaacsim.core.experimental.utils.app`; logic unchanged.
source/isaaclab/isaaclab/controllers/utils.py	Migrated `enable_extension` import to `isaacsim.core.experimental.utils.app`; no logic changes.
source/isaaclab_teleop/isaaclab_teleop/xr_anchor_manager.py	Migrated `XformPrim` import to `isaacsim.core.experimental.prims`; suppressed with `contextlib.suppress(ModuleNotFoundError)` for environments without XR.
source/isaaclab_mimic/isaaclab_mimic/locomanipulation_sdg/path_utils.py	Migrated mobility path import to `isaacsim.replicator.experimental.mobility_gen`; logic unchanged.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["Deprecated Paths\n(isaacsim.core.*)"] -->|"Removed"| B["isaaclab_physx.physics.SimulationManager\n= PhysxManager alias"]
    A -->|"Replaced"| C["isaacsim.core.experimental.utils.app\nenable_extension / get_extension_path"]
    A -->|"Replaced"| D["isaacsim.core.experimental.prims\nXformPrim, Articulation"]
    A -->|"Replaced"| E["isaacsim.core.experimental.utils.stage\nget_current_stage"]
    A -->|"Replaced"| F["isaacsim.core.rendering_manager\nViewportManager"]
    G["isaaclab_physx.physics.__init__"] --> B
    B -->|"Used by"| H["contact_sensor.py\nbenchmark scripts\ntest_*_iface.py"]
    I["Deprecated Test Scripts"] -->|"Retired in-place with RuntimeError"| J["check_camera.py\ncheck_floating_base_made_fixed.py\ncheck_legged_robot_clone.py\ncheck_rep_texture_randomizer.py"]
    K["check_ref_count.py"] -->|"Updated, not retired"| L["isaacsim.core.experimental.prims.Articulation"]

Comments Outside Diff (2)

source/isaaclab/isaaclab/sim/utils/stage.py, line 122-130 (link)

Silent failure if _context attribute is absent

The except ImportError guard only catches the case where isaacsim.core.experimental.utils itself cannot be imported. If the module imports successfully but does not expose a _context attribute, the assignment sim_stage._context = _context raises an unhandled AttributeError at import time, crashing any file that imports isaaclab.sim.utils.stage. Adding AttributeError to the except clause makes the guard defensive against future API changes in the isaacsim module.
source/isaaclab_physx/isaaclab_physx/sensors/contact_sensor/contact_sensor.py, line 24 (link)

Use the public SimulationManager alias directly

SimulationManager is now a first-class public export from isaaclab_physx.physics (the whole point of this PR). Importing PhysxManager under the alias SimulationManager leaks the concrete name and partially undoes that abstraction.

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

_{Reviews (1): Last reviewed commit: "Migrate off deprecated Isaac Sim core ex..." | Re-trigger Greptile}

…broken links Combined fixes from PR isaac-sim#5279 on top of deprecation migration from PR isaac-sim#5280: 1. install.py: Add prebundle probe functions that check pip_prebundle paths instead of extsDeprecated, and uninstall pip torch when prebundle shadows it 2. isaaclab/__init__.py: Deprioritize ml_archive/pip_prebundle on sys.path so pip-installed torch/numpy/etc take priority over prebundled copies 3. setup.py: Pin mujoco==3.5.0 4. Kit files: Remove omni.warp.core to prevent conflict with pip warp-lang 5. check-links.yml: Add ubuntu.com to link checker exclusions (returns 403) 6. New tests: test_install_commands.py, test_install_prebundle.py

AntoineRichard · 2026-04-16T17:46:15Z

Closing that one too for now

…broken links Combined fixes from PR isaac-sim#5279 on top of deprecation migration from PR isaac-sim#5280: 1. install.py: Add prebundle probe functions that check pip_prebundle paths instead of extsDeprecated, and uninstall pip torch when prebundle shadows it 2. isaaclab/__init__.py: Deprioritize ml_archive/pip_prebundle on sys.path so pip-installed torch/numpy/etc take priority over prebundled copies 3. setup.py: Pin mujoco==3.5.0 4. Kit files: Remove omni.warp.core to prevent conflict with pip warp-lang 5. check-links.yml: Add ubuntu.com to link checker exclusions (returns 403) 6. New tests: test_install_commands.py, test_install_prebundle.py

kellyguo11 requested review from Mayankm96, jtigue-bdai, ooctipus and xyao-nv as code owners April 15, 2026 04:44

kellyguo11 marked this pull request as draft April 15, 2026 04:44

github-actions Bot added bug Something isn't working documentation Improvements or additions to documentation isaac-mimic Related to Isaac Mimic team labels Apr 15, 2026

Move Kit experience extsDeprecated path removal to deprecation PR

14988eb

Remove deprecated extsDeprecated extension search paths from all Isaac Lab Kit experience files; these belong with the API migration work.

github-actions Bot added the isaac-sim Related to Isaac Sim team label Apr 15, 2026

AntoineRichard closed this Apr 16, 2026

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Migrates off deprecated Isaac Sim core extension paths#5280

Migrates off deprecated Isaac Sim core extension paths#5280
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kellyguo11:fix-isaacsim-deprecation-api

kellyguo11 commented Apr 15, 2026

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greptile-apps Bot commented Apr 15, 2026 •

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kellyguo11 commented Apr 15, 2026

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Greptile Summary

Confidence Score: 5/5

Important Files Changed

Flowchart

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AntoineRichard commented Apr 16, 2026

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