Replaces IsaacSim stage_utils with IsaacLab stage_utils (#3923)

# Description

Remove dependency on IsaacSim `stage_utils` for integration of new
simulation engines like `newton`.

## Type of change

- Dependency removal

## Checklist

- [ ] 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: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Signed-off-by: ooctipus <zhengyuz@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

Author: 4 people

docs/source/refs/troubleshooting.rst

@@ -75,8 +75,8 @@ For instance, to run a standalone script with verbose logging, you can use the f
     # Run the standalone script with info logging
     ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --headless --info
 
-For more fine-grained control, you can modify the logging channels through the ``omni.log`` module.
-For more information, please refer to its `documentation <https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/omni.log/Logging.html>`__.
+For more fine-grained control, you can modify the logging channels through the ``logger`` module.
+For more information, please refer to its `documentation <https://docs.python.org/3/library/logging.html>`__.
 
 
 Observing long load times at the start of the simulation

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.48.4"
+version = "0.48.5"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.48.5 (2025-11-14)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed import from ``isaacsim.core.utils.stage`` to ``isaaclab.sim.utils.stage`` to reduce IsaacLab dependencies.
+
+
 0.48.4 (2025-11-14)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/assets/asset_base.py

@@ -18,9 +18,9 @@
 import omni.kit.app
 import omni.timeline
 from isaacsim.core.simulation_manager import IsaacEvents, SimulationManager
-from isaacsim.core.utils.stage import get_current_stage
 
 import isaaclab.sim as sim_utils
+from isaaclab.sim.utils.stage import get_current_stage
 
 if TYPE_CHECKING:
     from .asset_base_cfg import AssetBaseCfg

source/isaaclab/isaaclab/assets/rigid_object/rigid_object_data.py

@@ -9,7 +9,7 @@
 import omni.physics.tensors.impl.api as physx
 
 import isaaclab.utils.math as math_utils
-from isaaclab.sim.utils import get_current_stage_id
+from isaaclab.sim.utils.stage import get_current_stage_id
 from isaaclab.utils.buffers import TimestampedBuffer
 
 

source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection_data.py

@@ -9,7 +9,7 @@
 import omni.physics.tensors.impl.api as physx
 
 import isaaclab.utils.math as math_utils
-from isaaclab.sim.utils import get_current_stage_id
+from isaaclab.sim.utils.stage import get_current_stage_id
 from isaaclab.utils.buffers import TimestampedBuffer
 
 

source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py

@@ -227,7 +227,6 @@ def compute(
             joint_angle_changes = velocity * dt
         except (AssertionError, Exception) as e:
             # Print warning and return the current joint positions as the target
-            # Not using omni.log since its not available in CI during docs build
             if self.cfg.show_ik_warnings:
                 print(
                     "Warning: IK quadratic solver could not find a solution! Did not update the target joint"

source/isaaclab/isaaclab/envs/direct_marl_env.py

@@ -25,7 +25,7 @@
 from isaaclab.managers import EventManager
 from isaaclab.scene import InteractiveScene
 from isaaclab.sim import SimulationContext
-from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
+from isaaclab.sim.utils.stage import attach_stage_to_usd_context, use_stage
 from isaaclab.utils.noise import NoiseModel
 from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -27,7 +27,7 @@
 from isaaclab.managers import EventManager
 from isaaclab.scene import InteractiveScene
 from isaaclab.sim import SimulationContext
-from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
+from isaaclab.sim.utils.stage import attach_stage_to_usd_context, use_stage
 from isaaclab.utils.noise import NoiseModel
 from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -17,7 +17,7 @@
 from isaaclab.managers import ActionManager, EventManager, ObservationManager, RecorderManager
 from isaaclab.scene import InteractiveScene
 from isaaclab.sim import SimulationContext
-from isaaclab.sim.utils import attach_stage_to_usd_context, use_stage
+from isaaclab.sim.utils.stage import attach_stage_to_usd_context, use_stage
 from isaaclab.ui.widgets import ManagerLiveVisualizer
 from isaaclab.utils.seed import configure_seed
 from isaaclab.utils.timer import Timer