Adds lazy importer to delay isaacsim, omni related packages and modules import on demand

docs/conf.py

@@ -157,6 +157,7 @@
     "omni.client",
     "omni.physx",
     "omni.physics",
+    "usdrt",
     "pxr.PhysxSchema",
     "pxr.PhysicsSchemaTools",
     "omni.replicator",

scripts/benchmarks/benchmark_cameras.py

@@ -245,11 +245,10 @@
 import time
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
 import psutil
-from isaacsim.core.utils.stage import create_new_stage
 
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import RigidObject, RigidObjectCfg
 from isaaclab.scene.interactive_scene import InteractiveScene
 from isaaclab.sensors import (
@@ -261,6 +260,7 @@
     TiledCameraCfg,
     patterns,
 )
+from isaaclab.sim.utils.stage import create_new_stage
 from isaaclab.utils.math import orthogonalize_perspective_depth, unproject_depth
 
 from isaaclab_tasks.utils import load_cfg_from_registry

scripts/benchmarks/benchmark_non_rl.py

@@ -55,14 +55,9 @@
 
 """Rest everything follows."""
 
-# enable benchmarking extension
-from isaacsim.core.utils.extensions import enable_extension
-
-enable_extension("isaacsim.benchmark.services")
-from isaacsim.benchmark.services import BaseIsaacBenchmark
-
 sys.path.append(os.path.join(os.path.dirname(os.path.abspath(__file__)), "../.."))
 
+from isaaclab import lazy
 from isaaclab.utils.timer import Timer
 from scripts.benchmarks.utils import (
     log_app_start_time,
@@ -90,9 +85,10 @@
 
 imports_time_end = time.perf_counter_ns()
 
-
+# enable benchmarking extension
+lazy.isaacsim.core.utils.extensions.enable_extension("isaacsim.benchmark.services")
 # Create the benchmark
-benchmark = BaseIsaacBenchmark(
+benchmark = lazy.isaacsim.benchmark.services.BaseIsaacBenchmark(
     benchmark_name="benchmark_non_rl",
     workflow_metadata={
         "metadata": [
@@ -109,7 +105,6 @@
 @hydra_task_config(args_cli.task, None)
 def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agent_cfg: dict):
     """Benchmark without RL in the loop."""
-
     # override configurations with non-hydra CLI arguments
     env_cfg.scene.num_envs = args_cli.num_envs if args_cli.num_envs is not None else env_cfg.scene.num_envs
     env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device

scripts/benchmarks/benchmark_rlgames.py

@@ -54,12 +54,6 @@
 
 """Rest everything follows."""
 
-# enable benchmarking extension
-from isaacsim.core.utils.extensions import enable_extension
-
-enable_extension("isaacsim.benchmark.services")
-from isaacsim.benchmark.services import BaseIsaacBenchmark
-
 imports_time_begin = time.perf_counter_ns()
 
 import gymnasium as gym
@@ -73,6 +67,7 @@
 from rl_games.common.algo_observer import IsaacAlgoObserver
 from rl_games.torch_runner import Runner
 
+from isaaclab import lazy
 from isaaclab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_yaml
@@ -106,8 +101,10 @@
 torch.backends.cudnn.benchmark = False
 
 
+# enable benchmarking extension
+lazy.isaacsim.core.utils.extensions.enable_extension("isaacsim.benchmark.services")
 # Create the benchmark
-benchmark = BaseIsaacBenchmark(
+benchmark = lazy.isaacsim.benchmark.services.BaseIsaacBenchmark(
     benchmark_name="benchmark_rlgames_train",
     workflow_metadata={
         "metadata": [

scripts/benchmarks/benchmark_rsl_rl.py

@@ -85,11 +85,8 @@
 
 imports_time_end = time.perf_counter_ns()
 
-from isaacsim.core.utils.extensions import enable_extension
-
-enable_extension("isaacsim.benchmark.services")
-from isaacsim.benchmark.services import BaseIsaacBenchmark
 
+from isaaclab import lazy
 from isaaclab.utils.timer import Timer
 from scripts.benchmarks.utils import (
     log_app_start_time,
@@ -109,8 +106,10 @@
 torch.backends.cudnn.deterministic = False
 torch.backends.cudnn.benchmark = False
 
+# enable benchmarking extension
+lazy.isaacsim.core.utils.extensions.enable_extension("isaacsim.benchmark.services")
 # Create the benchmark
-benchmark = BaseIsaacBenchmark(
+benchmark = lazy.isaacsim.benchmark.services.BaseIsaacBenchmark(
     benchmark_name="benchmark_rsl_rl_train",
     workflow_metadata={
         "metadata": [

scripts/benchmarks/utils.py

@@ -6,11 +6,12 @@
 
 import glob
 import os
+from typing import Any
 
-from isaacsim.benchmark.services import BaseIsaacBenchmark
-from isaacsim.benchmark.services.metrics.measurements import DictMeasurement, ListMeasurement, SingleMeasurement
 from tensorboard.backend.event_processing import event_accumulator
 
+from isaaclab import lazy
+
 
 def parse_tf_logs(log_dir: str):
     """Search for the latest tfevents file in log_dir folder and returns
@@ -36,67 +37,76 @@ def parse_tf_logs(log_dir: str):
     return log_data
 
 
-#############################
-# logging benchmark metrics #
-#############################
-
-
-def log_min_max_mean_stats(benchmark: BaseIsaacBenchmark, values: dict):
+def log_min_max_mean_stats(benchmark: Any, values: dict):
+    metrics_mod = lazy.isaacsim.benchmark.services.metrics.measurements
     for k, v in values.items():
-        measurement = SingleMeasurement(name=f"Min {k}", value=min(v), unit="ms")
+        measurement = metrics_mod.SingleMeasurement(name=f"Min {k}", value=min(v), unit="ms")
         benchmark.store_custom_measurement("runtime", measurement)
-        measurement = SingleMeasurement(name=f"Max {k}", value=max(v), unit="ms")
+        measurement = metrics_mod.SingleMeasurement(name=f"Max {k}", value=max(v), unit="ms")
         benchmark.store_custom_measurement("runtime", measurement)
-        measurement = SingleMeasurement(name=f"Mean {k}", value=sum(v) / len(v), unit="ms")
+        measurement = metrics_mod.SingleMeasurement(name=f"Mean {k}", value=sum(v) / len(v), unit="ms")
         benchmark.store_custom_measurement("runtime", measurement)
 
 
-def log_app_start_time(benchmark: BaseIsaacBenchmark, value: float):
+def log_app_start_time(benchmark: Any, value: float):
+    SingleMeasurement = lazy.isaacsim.benchmark.services.metrics.measurements.SingleMeasurement
     measurement = SingleMeasurement(name="App Launch Time", value=value, unit="ms")
     benchmark.store_custom_measurement("startup", measurement)
 
 
-def log_python_imports_time(benchmark: BaseIsaacBenchmark, value: float):
+def log_python_imports_time(benchmark: Any, value: float):
+    SingleMeasurement = lazy.isaacsim.benchmark.services.metrics.measurements.SingleMeasurement
     measurement = SingleMeasurement(name="Python Imports Time", value=value, unit="ms")
     benchmark.store_custom_measurement("startup", measurement)
 
 
-def log_task_start_time(benchmark: BaseIsaacBenchmark, value: float):
+def log_task_start_time(benchmark: Any, value: float):
+    SingleMeasurement = lazy.isaacsim.benchmark.services.metrics.measurements.SingleMeasurement
     measurement = SingleMeasurement(name="Task Creation and Start Time", value=value, unit="ms")
     benchmark.store_custom_measurement("startup", measurement)
 
 
-def log_scene_creation_time(benchmark: BaseIsaacBenchmark, value: float):
+def log_scene_creation_time(benchmark: Any, value: float):
+    SingleMeasurement = lazy.isaacsim.benchmark.services.metrics.measurements.SingleMeasurement
     measurement = SingleMeasurement(name="Scene Creation Time", value=value, unit="ms")
     benchmark.store_custom_measurement("startup", measurement)
 
 
-def log_simulation_start_time(benchmark: BaseIsaacBenchmark, value: float):
+def log_simulation_start_time(benchmark: Any, value: float):
+    SingleMeasurement = lazy.isaacsim.benchmark.services.metrics.measurements.SingleMeasurement
     measurement = SingleMeasurement(name="Simulation Start Time", value=value, unit="ms")
     benchmark.store_custom_measurement("startup", measurement)
 
 
-def log_total_start_time(benchmark: BaseIsaacBenchmark, value: float):
+def log_total_start_time(benchmark: Any, value: float):
+    SingleMeasurement = lazy.isaacsim.benchmark.services.metrics.measurements.SingleMeasurement
     measurement = SingleMeasurement(name="Total Start Time (Launch to Train)", value=value, unit="ms")
     benchmark.store_custom_measurement("startup", measurement)
 
 
-def log_runtime_step_times(benchmark: BaseIsaacBenchmark, value: dict, compute_stats=True):
+def log_runtime_step_times(benchmark: Any, value: dict, compute_stats=True):
+    DictMeasurement = lazy.isaacsim.benchmark.services.metrics.measurements.DictMeasurement
     measurement = DictMeasurement(name="Step Frametimes", value=value)
     benchmark.store_custom_measurement("runtime", measurement)
     if compute_stats:
         log_min_max_mean_stats(benchmark, value)
 
 
-def log_rl_policy_rewards(benchmark: BaseIsaacBenchmark, value: list):
+def log_rl_policy_rewards(benchmark: Any, value: list):
+    metrics_mod = lazy.isaacsim.benchmark.services.metrics.measurements
+    ListMeasurement = metrics_mod.ListMeasurement
+    SingleMeasurement = metrics_mod.SingleMeasurement
     measurement = ListMeasurement(name="Rewards", value=value)
     benchmark.store_custom_measurement("train", measurement)
     # log max reward
     measurement = SingleMeasurement(name="Max Rewards", value=max(value), unit="float")
     benchmark.store_custom_measurement("train", measurement)
 
 
-def log_rl_policy_episode_lengths(benchmark: BaseIsaacBenchmark, value: list):
+def log_rl_policy_episode_lengths(benchmark: Any, value: list):
+    metrics_mod = lazy.isaacsim.benchmark.services.metrics.measurements
+    ListMeasurement = metrics_mod.ListMeasurement
+    SingleMeasurement = metrics_mod.SingleMeasurement
     measurement = ListMeasurement(name="Episode Lengths", value=value)
     benchmark.store_custom_measurement("train", measurement)
     # log max episode length

scripts/demos/arms.py

@@ -35,9 +35,8 @@
 import numpy as np
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import Articulation
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 

scripts/demos/h1_locomotion.py

@@ -45,13 +45,12 @@
 
 import carb
 import omni
-from isaacsim.core.utils.stage import get_current_stage
-from omni.kit.viewport.utility import get_viewport_from_window_name
-from omni.kit.viewport.utility.camera_state import ViewportCameraState
 from pxr import Gf, Sdf
 from rsl_rl.runners import OnPolicyRunner
 
+from isaaclab import lazy
 from isaaclab.envs import ManagerBasedRLEnv
+from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.utils.math import quat_apply
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
 
@@ -112,7 +111,7 @@ def __init__(self):
     def create_camera(self):
         """Creates a camera to be used for third-person view."""
         stage = get_current_stage()
-        self.viewport = get_viewport_from_window_name("Viewport")
+        self.viewport = lazy.omni_kit_viewport_utility.get_viewport_from_window_name("Viewport")
         # Create camera
         self.camera_path = "/World/Camera"
         self.perspective_path = "/OmniverseKit_Persp"
@@ -200,7 +199,7 @@ def _update_camera(self):
 
         camera_pos = quat_apply(base_quat, self._camera_local_transform) + base_pos
 
-        camera_state = ViewportCameraState(self.camera_path, self.viewport)
+        camera_state = lazy.omni_kit_viewport_utility.camera_state.ViewportCameraState(self.camera_path, self.viewport)
         eye = Gf.Vec3d(camera_pos[0].item(), camera_pos[1].item(), camera_pos[2].item())
         target = Gf.Vec3d(base_pos[0].item(), base_pos[1].item(), base_pos[2].item() + 0.6)
         camera_state.set_position_world(eye, True)

scripts/demos/hands.py

@@ -35,9 +35,8 @@
 import numpy as np
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import Articulation
 
 ##

scripts/demos/multi_asset.py

@@ -37,7 +37,6 @@
 
 import random
 
-from isaacsim.core.utils.stage import get_current_stage
 from pxr import Gf, Sdf
 
 import isaaclab.sim as sim_utils
@@ -52,6 +51,7 @@
 )
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.sim import SimulationContext
+from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.utils import Timer, configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 

scripts/demos/quadrupeds.py

@@ -35,9 +35,8 @@
 import numpy as np
 import torch
 
-import isaacsim.core.utils.prims as prim_utils
-
 import isaaclab.sim as sim_utils
+import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import Articulation
 
 ##

scripts/environments/state_machine/lift_teddy_bear.py

@@ -19,6 +19,7 @@
 
 import argparse
 
+from isaaclab import lazy
 from isaaclab.app import AppLauncher
 
 # add argparse arguments
@@ -34,9 +35,7 @@
 simulation_app = app_launcher.app
 
 # disable metrics assembler due to scene graph instancing
-from isaacsim.core.utils.extensions import disable_extension
-
-disable_extension("omni.usd.metrics.assembler.ui")
+lazy.isaacsim.core.utils.extensions.disable_extension("omni.usd.metrics.assembler.ui")
 
 """Rest everything else."""
 

scripts/tools/check_instanceable.py

@@ -44,6 +44,7 @@
 import contextlib
 import os
 
+from isaaclab import lazy
 from isaaclab.app import AppLauncher
 
 # add argparse arguments
@@ -64,12 +65,8 @@
 """Rest everything follows."""
 
 
-import isaacsim.core.utils.prims as prim_utils
-from isaacsim.core.api.simulation_context import SimulationContext
-from isaacsim.core.cloner import GridCloner
-from isaacsim.core.utils.carb import set_carb_setting
-from isaacsim.core.utils.stage import get_current_stage
-
+import isaaclab.sim.utils.prims as prim_utils
+from isaaclab.sim.utils.stage import get_current_stage
 from isaaclab.utils import Timer
 from isaaclab.utils.assets import check_file_path
 
@@ -80,7 +77,7 @@ def main():
     if not check_file_path(args_cli.input):
         raise ValueError(f"Invalid file path: {args_cli.input}")
     # Load kit helper
-    sim = SimulationContext(
+    sim = lazy.isaacsim.core.api.simulation_context.SimulationContext(
         stage_units_in_meters=1.0, physics_dt=0.01, rendering_dt=0.01, backend="torch", device="cuda:0"
     )
 
@@ -96,10 +93,10 @@ def main():
     sim.get_physics_context().set_gpu_total_aggregate_pairs_capacity(2**21)
     # enable hydra scene-graph instancing
     # this is needed to visualize the scene when fabric is enabled
-    set_carb_setting(sim._settings, "/persistent/omnihydra/useSceneGraphInstancing", True)
+    sim._settings.set_bool("/persistent/omnihydra/useSceneGraphInstancing", True)
 
     # Create interface to clone the scene
-    cloner = GridCloner(spacing=args_cli.spacing, stage=stage)
+    cloner = lazy.isaacsim.core.cloner.GridCloner(spacing=args_cli.spacing, stage=stage)
     cloner.define_base_env("/World/envs")
     prim_utils.define_prim("/World/envs/env_0")
     # Spawn things into stage

scripts/tools/convert_mesh.py

@@ -93,9 +93,9 @@
 import os
 
 import carb
-import isaacsim.core.utils.stage as stage_utils
 import omni.kit.app
 
+import isaaclab.sim.utils.stage as stage_utils
 from isaaclab.sim.converters import MeshConverter, MeshConverterCfg
 from isaaclab.sim.schemas import schemas_cfg
 from isaaclab.utils.assets import check_file_path