Removes dependency on XformPrim class for create_prim

docs/source/api/lab/isaaclab.sim.utils.rst

@@ -10,6 +10,7 @@
     stage
     queries
     prims
+    transforms
     semantics
     legacy
 
@@ -34,6 +35,13 @@ Prims
   :members:
   :show-inheritance:
 
+Transforms
+----------
+
+.. automodule:: isaaclab.sim.utils.transforms
+  :members:
+  :show-inheritance:
+
 Semantics
 ---------
 

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.51.1"
+version = "0.52.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,23 @@
 Changelog
 ---------
 
+0.52.0 (2026-01-02)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added :mod:`~isaaclab.sim.utils.transforms` module to handle USD Xform operations.
+* Added passing of ``stage`` to the :func:`~isaaclab.sim.utils.prims.create_prim` function
+  inside spawning functions to allow for the creation of prims in a specific stage.
+
+Changed
+^^^^^^^
+
+* Changed :func:`~isaaclab.sim.utils.prims.create_prim` function to use the :mod:`~isaaclab.sim.utils.transforms`
+  module for USD Xform operations. It removes the usage of Isaac Sim's XformPrim class.
+
+
 0.51.2 (2025-12-30)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py

@@ -198,7 +198,7 @@ def spawn_ground_plane(
 
     # Spawn Ground-plane
     if not stage.GetPrimAtPath(prim_path).IsValid():
-        create_prim(prim_path, usd_path=cfg.usd_path, translation=translation, orientation=orientation)
+        create_prim(prim_path, usd_path=cfg.usd_path, translation=translation, orientation=orientation, stage=stage)
     else:
         raise ValueError(f"A prim already exists at path: '{prim_path}'.")
 
@@ -327,6 +327,7 @@ def _spawn_from_usd_file(
             translation=translation,
             orientation=orientation,
             scale=cfg.scale,
+            stage=stage,
         )
     else:
         logger.warning(f"A prim already exists at prim path: '{prim_path}'.")

source/isaaclab/isaaclab/sim/spawners/lights/lights.py

@@ -50,7 +50,9 @@ def spawn_light(
     if stage.GetPrimAtPath(prim_path).IsValid():
         raise ValueError(f"A prim already exists at path: '{prim_path}'.")
     # create the prim
-    prim = create_prim(prim_path, prim_type=cfg.prim_type, translation=translation, orientation=orientation)
+    prim = create_prim(
+        prim_path, prim_type=cfg.prim_type, translation=translation, orientation=orientation, stage=stage
+    )
 
     # convert to dict
     cfg = cfg.to_dict()

source/isaaclab/isaaclab/sim/spawners/shapes/shapes.py

@@ -282,7 +282,7 @@ def _spawn_geom_from_prim_type(
 
     # spawn geometry if it doesn't exist.
     if not stage.GetPrimAtPath(prim_path).IsValid():
-        create_prim(prim_path, prim_type="Xform", translation=translation, orientation=orientation)
+        create_prim(prim_path, prim_type="Xform", translation=translation, orientation=orientation, stage=stage)
     else:
         raise ValueError(f"A prim already exists at path: '{prim_path}'.")
 
@@ -291,7 +291,7 @@ def _spawn_geom_from_prim_type(
     mesh_prim_path = geom_prim_path + "/mesh"
 
     # create the geometry prim
-    create_prim(mesh_prim_path, prim_type, scale=scale, attributes=attributes)
+    create_prim(mesh_prim_path, prim_type, scale=scale, attributes=attributes, stage=stage)
     # apply collision properties
     if cfg.collision_props is not None:
         schemas.define_collision_properties(mesh_prim_path, cfg.collision_props)

source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers.py

@@ -67,7 +67,7 @@ def spawn_multi_asset(
 
     # find a free prim path to hold all the template prims
     template_prim_path = sim_utils.get_next_free_prim_path("/World/Template", stage=stage)
-    sim_utils.create_prim(template_prim_path, "Scope")
+    sim_utils.create_prim(template_prim_path, "Scope", stage=stage)
 
     # spawn everything first in a "Dataset" prim
     proto_prim_paths = list()
@@ -116,7 +116,7 @@ def spawn_multi_asset(
             Sdf.CopySpec(env_spec.layer, Sdf.Path(proto_path), env_spec.layer, Sdf.Path(prim_path))
 
     # delete the dataset prim after spawning
-    sim_utils.delete_prim(template_prim_path)
+    sim_utils.delete_prim(template_prim_path, stage=stage)
 
     # set carb setting to indicate Isaac Lab's environments that different prims have been spawned
     # at varying prim paths. In this case, PhysX parser shouldn't optimize the stage parsing.

source/isaaclab/isaaclab/sim/utils/__init__.py

@@ -10,3 +10,4 @@
 from .queries import *  # noqa: F401, F403
 from .semantics import *  # noqa: F401, F403
 from .stage import *  # noqa: F401, F403
+from .transforms import *  # noqa: F401, F403