Removes usage of IsaacSim `SimulationContext` inside tests #4046

pascal-roth · 2025-11-19T19:44:20Z

Description

Cleans up new util functions

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

greptile-apps · 2025-11-19T19:47:45Z

Greptile Summary

Modernized imports by switching from import typing to specific imports (Literal, Callable, Iterable) and added Literal["x", "y", "z"] type hint for axis parameter
Replaced get_carb_setting() wrapper function with direct carb_setting.get() call and removed unused import
Removed parameter names from multiple docstring Args sections (e.g., attaching_early:, stage:, usd_path:), which is inconsistent with codebase documentation standards used in other files like nucleus.py and actuator_base.py

Confidence Score: 4/5

This PR is safe to merge with minor style inconsistencies
The code changes are functionally correct (improved imports, removed wrapper function). The main issue is documentation style inconsistency where parameter names were removed from docstrings, deviating from the codebase standard. No logic errors or security issues.
The docstring changes in stage.py should be reviewed to ensure consistency with project documentation standards

Important Files Changed

Filename	Overview
source/isaaclab/isaaclab/sim/utils/stage.py	Cleaned up imports and replaced wrapper function call, but removed parameter names from docstrings inconsistently with codebase standards

Sequence Diagram

sequenceDiagram
    participant User
    participant Stage
    participant CarbSettings
    participant PhysX
    participant USDContext
    
    User->>Stage: attach_stage_to_usd_context(attaching_early)
    Stage->>Stage: Check Isaac Sim version
    Stage->>Stage: Check if stage is in memory
    Stage->>PhysX: attach_stage(stage_id)
    Stage->>CarbSettings: get("/physics/fabricUpdateTransformations")
    CarbSettings-->>Stage: is_rendering_enabled
    alt rendering enabled
        Stage->>USDContext: attach_stage_with_callback(stage_id)
        Stage->>PhysX: attach_stage(stage_id)
    end

greptile-apps

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source/isaaclab/isaaclab/sim/utils/stage.py

source/isaaclab/test/terrains/check_terrain_importer.py

source/isaaclab/test/deps/isaacsim/check_ref_count.py

Mayankm96 · 2025-12-29T11:37:42Z

@pascal-roth can you please fix the merge conflicts in here?

…saacLab into fix/stage-utils-decorators

pascal-roth · 2026-01-08T08:45:03Z

@Mayankm96 everything resolved, ready to go

Mayankm96 · 2026-01-15T23:23:08Z

For some reason many tests are timing out. Going to run the job again before merging.

pascal-roth · 2026-01-21T08:04:23Z

the tests are timing out when checking if the omni.timeline is still playing and then enter an infite rendering call

while not omni.timeline.get_timeline_interface().is_playing()

Meaning something in the scene is preventing the destruction. This check has been commented out in the new PR
#4324

So maybe lets merge that first and then these changes here should be work. What do you think @Mayankm96

Mayankm96 · 2026-01-22T10:33:24Z

@pascal-roth You can set this variable to True inside the tests for now: https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/isaaclab/sim/simulation_context.py#L257

The changes in #4324 will not land into main. They will go into the develop branch based on my understanding.

pascal-roth · 2026-01-25T16:37:52Z

@Mayankm96 should be good now with the tests (locally they pass)

source/isaaclab/test/sensors/check_contact_sensor.py

Mayankm96 · 2026-01-28T14:10:43Z

source/isaaclab/test/sensors/check_contact_sensor.py


-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.utils.viewports import set_camera_view


Suggested change

from isaacsim.core.utils.viewports import set_camera_view

Mayankm96 · 2026-01-28T14:10:57Z

source/isaaclab/test/sensors/check_ray_caster.py

-from isaacsim.core.api.simulation_context import SimulationContext
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.prims import RigidPrim
 from isaacsim.core.utils.viewports import set_camera_view


Suggested change

from isaacsim.core.utils.viewports import set_camera_view

source/isaaclab/test/sensors/check_ray_caster.py

Signed-off-by: Mayank Mittal <[email protected]>

Mayankm96 · 2026-01-28T14:27:15Z

source/isaaclab/test/deps/isaacsim/check_rep_texture_randomizer.py

 from isaacsim.core.utils.viewports import set_camera_view

 import isaaclab.sim.utils.prims as prim_utils
+from isaaclab.sim import SimulationCfg, SimulationContext


This is an isaac sim test...

Cleans up new util functions - Bug fix (non-breaking change which fixes an issue) - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) 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 --------- Signed-off-by: Mayank Mittal <[email protected]> Co-authored-by: Mayank Mittal <[email protected]>

Mayankm96 · 2026-01-28T16:12:17Z

Merged the MR and force pushed the needed changes. It was becoming a blocker.

fixes

aff03ee

github-actions bot added bug Something isn't working isaac-lab Related to Isaac Lab team labels Nov 19, 2025

greptile-apps bot reviewed Nov 19, 2025

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pascal-roth added 2 commits November 19, 2025 22:38

add fixme

13b7d9d

remove simulationcontext of IsaacSim

b777d41

pascal-roth requested review from Mayankm96 and jtigue-bdai as code owners November 23, 2025 09:55

pascal-roth changed the title ~~Cleans up new util functions~~ Removes instances of IsaacSim SimulationContext Nov 23, 2025

Mayankm96 reviewed Nov 23, 2025

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source/isaaclab/test/terrains/check_terrain_importer.py Outdated Show resolved Hide resolved

Mayankm96 reviewed Nov 23, 2025

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source/isaaclab/test/deps/isaacsim/check_ref_count.py Outdated Show resolved Hide resolved

pascal-roth and others added 2 commits November 23, 2025 18:33

changes from review

e71ad7d

Merge branch 'main' into fix/stage-utils-decorators

4cac2dc

pascal-roth requested a review from Mayankm96 November 23, 2025 17:34

Mayankm96 approved these changes Dec 29, 2025

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pascal-roth added 4 commits January 8, 2026 09:19

Merge branch 'main' into fix/stage-utils-decorators

a337513

Merge branch 'fix/stage-utils-decorators' of github.com:pascal-roth/I…

f2ccd82

…saacLab into fix/stage-utils-decorators

formatter and usd import fix

dd7e75a

Merge branch 'main' into fix/stage-utils-decorators

90e30c6

Merge branch 'main' into fix/stage-utils-decorators

194fc0b

Mayankm96 added this to Isaac Lab Jan 12, 2026

Mayankm96 moved this to In progress in Isaac Lab Jan 12, 2026

Merge branch 'main' into fix/stage-utils-decorators

016441a

Mayankm96 changed the title ~~Removes instances of IsaacSim SimulationContext~~ Removes usage of IsaacSim SimulationContext inside tests Jan 15, 2026

Merge branch 'main' into fix/stage-utils-decorators

9f961d1

Merge branch 'main' into fix/stage-utils-decorators

fce657c

Merge branch 'main' into fix/stage-utils-decorators

c9996f9

pascal-roth added 2 commits January 25, 2026 17:35

prevent timeout error

07d2a75

Merge branch 'main' into fix/stage-utils-decorators

a89d372

pascal-roth requested a review from Mayankm96 January 25, 2026 16:37

Merge branch 'main' into fix/stage-utils-decorators

dcbd1da

Mayankm96 reviewed Jan 28, 2026

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source/isaaclab/test/sensors/check_contact_sensor.py Outdated Show resolved Hide resolved

Mayankm96 reviewed Jan 28, 2026

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source/isaaclab/test/sensors/check_ray_caster.py Outdated Show resolved Hide resolved

Mayankm96 added 2 commits January 28, 2026 15:12

uses sim context set came view

e7f6df2

Signed-off-by: Mayank Mittal <[email protected]>

Merge branch 'main' into fix/stage-utils-decorators

1a05101

Mayankm96 reviewed Jan 28, 2026

View reviewed changes

Mayankm96 merged commit 5a6f7a4 into isaac-sim:main Jan 28, 2026
5 of 8 checks passed

github-project-automation bot moved this from In progress to Done in Isaac Lab Jan 28, 2026

Removes usage of IsaacSim SimulationContext inside tests #4046

Removes usage of IsaacSim SimulationContext inside tests #4046

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pascal-roth commented Nov 19, 2025

Description

Type of change

Checklist

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greptile-apps bot commented Nov 19, 2025

Greptile Summary

Confidence Score: 4/5

Important Files Changed

Sequence Diagram

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Removes usage of IsaacSim `SimulationContext` inside tests #4046

Removes usage of IsaacSim `SimulationContext` inside tests #4046

Mayankm96 commented Jan 22, 2026 •

edited

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