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Fixes backward compatibility to IsaacSim 4.5 for new stage utils #4230

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Fixes backward compatibility to IsaacSim 4.5 for new stage utils #4230

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07f781b
fix backward compatibility
pascal-roth Dec 17, 2025
69caa9a
formatter
pascal-roth Dec 17, 2025
3eafcff
fix
pascal-roth Dec 18, 2025
83b7b68
Merge branch 'main' into fix/stage-utils-backward-compatability
pascal-roth Dec 18, 2025
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13 changes: 12 additions & 1 deletion source/isaaclab/isaaclab/sim/utils/stage.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@
import omni.kit.app
from isaacsim.core.utils import stage as sim_stage
from isaacsim.core.version import get_version
from omni.metrics.assembler.core import get_metrics_assembler_interface
from omni.usd.commands import DeletePrimsCommand
from pxr import Sdf, Usd, UsdGeom, UsdUtils

Expand Down Expand Up @@ -404,13 +403,25 @@ def add_reference_to_stage(usd_path: str, prim_path: str, prim_type: str = "Xfor
prim = stage.GetPrimAtPath(prim_path)
if not prim.IsValid():
prim = stage.DefinePrim(prim_path, prim_type)

# get isaac sim version
isaac_sim_version = float(".".join(get_version()[2]))
# Compatibility with Isaac Sim 4.5 where omni.metrics is not available
if isaac_sim_version < 5:
success_bool = prim.GetReferences().AddReference(usd_path)
if not success_bool:
raise FileNotFoundError(f"The usd file at path {usd_path} provided wasn't found")
return prim

# logger.info("Loading Asset from path {} ".format(usd_path))
# Handle units
sdf_layer = Sdf.Layer.FindOrOpen(usd_path)
if not sdf_layer:
pass
# logger.info(f"Could not get Sdf layer for {usd_path}")
else:
from omni.metrics.assembler.core import get_metrics_assembler_interface
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@Mayankm96 Mayankm96 Dec 18, 2025

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But this still doesn't work for isaac sim version less than 4.5, right?

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@pascal-roth pascal-roth Dec 19, 2025

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'omni.metrics' is not available in IsaacSim 4.5, that's why we check before to see if our Isaac version is smaller than 5.0, then we never run the code that wants to import it. We don't maintain compatibility with smaller 4.5 but why should it not work for these versions?


stage_id = UsdUtils.StageCache.Get().GetId(stage).ToLongInt()
ret_val = get_metrics_assembler_interface().check_layers(
stage.GetRootLayer().identifier, sdf_layer.identifier, stage_id
Expand Down
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