Squashed commit of the following:

commit 8087ffe
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Mon Dec 1 18:55:08 2025 -0800

    make cloning respect .* wild card

commit 3e51f84
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Tue Nov 25 02:18:32 2025 -0800

    pass precommi

commit 4961858
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Tue Nov 25 02:17:58 2025 -0800

    fix typo

commit 855bd1d
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Thu Nov 6 16:27:26 2025 -0800

    remove clone in fabric

commit c7be6f5
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Thu Nov 6 12:38:25 2025 -0800

    add cloning length check

commit f826d48
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Thu Nov 6 12:31:27 2025 -0800

    resolve flaky test

commit 5e9b012
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Thu Nov 6 00:39:01 2025 -0800

    pass precommit

commit 559ec6c
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Thu Nov 6 00:32:05 2025 -0800

    last bit of bug fixes

commit afcf258
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 5 22:59:34 2025 -0800

    fix test stage in memory

commit 2da31b9
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 5 22:44:25 2025 -0800

    add missing cloning pieces into test cases

commit b6e3b65
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 5 18:53:05 2025 -0800

    pass precommit

commit c8c31e8
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 5 18:47:27 2025 -0800

    fix the overriding issue

commit 857e33b
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 5 18:04:56 2025 -0800

    fixed copy from source bug

commit dda7112
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 5 18:00:21 2025 -0800

    bug fixes

commit 185f97c
Author: ooctipus <zhengyuz@nvidia.com>
Date:   Wed Nov 5 14:48:28 2025 -0800

    Update source/isaaclab/isaaclab/scene/interactive_scene.py

    Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
    Signed-off-by: ooctipus <zhengyuz@nvidia.com>

commit 6b1f627
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 5 14:38:13 2025 -0800

    pass precommit

commit 84aa05f
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 5 14:31:24 2025 -0800

    fix dead code path

commit eb22dd1
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 5 14:21:09 2025 -0800

    update newer cloner feature

commit 9b5c2ff
Merge: a379f3c 6813682
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Mon Dec 1 15:20:43 2025 -0800

    Merge branch 'upstream_main' into feature/replace-prim-utils

commit a379f3c
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 26 14:24:58 2025 -0800

    update extension.toml version

commit 9d9d2e3
Merge: 2213de9 18c7c58
Author: ooctipus <zhengyuz@nvidia.com>
Date:   Wed Nov 26 14:24:14 2025 -0800

    Merge branch 'main' into feature/replace-prim-utils

    Signed-off-by: ooctipus <zhengyuz@nvidia.com>

commit 2213de9
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 26 13:11:55 2025 -0800

    update version number

commit 78056a8
Merge: 4b03425 26083c7
Author: ooctipus <zhengyuz@nvidia.com>
Date:   Wed Nov 26 13:11:31 2025 -0800

    Merge branch 'main' into feature/replace-prim-utils

    Signed-off-by: ooctipus <zhengyuz@nvidia.com>

commit 4b03425
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 26 13:06:55 2025 -0800

    replaced carb log to logger log

commit 5d913cc
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Tue Nov 25 13:10:32 2025 -0800

    update extension.toml version

commit dbfa86f
Merge: 0c2e2cd 4049aa8
Author: ooctipus <zhengyuz@nvidia.com>
Date:   Tue Nov 25 13:08:50 2025 -0800

    Merge branch 'main' into feature/replace-prim-utils

    Signed-off-by: ooctipus <zhengyuz@nvidia.com>

commit 0c2e2cd
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Tue Nov 25 12:51:33 2025 -0800

    add fixes

commit f03d22f
Merge: d05860a 10cf4c1
Author: Kelly Guo <kellyg@nvidia.com>
Date:   Mon Nov 24 18:02:08 2025 -0800

    Merge branch 'main' into feature/replace-prim-utils

commit d05860a
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Mon Nov 24 12:07:43 2025 -0800

    legacy regex support with deprecated warning

commit 1bff817
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Mon Nov 24 11:57:41 2025 -0800

    patch the leftover sim prim, stage, carb utils

commit 9be7fe9
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Sat Nov 22 16:13:05 2025 -0800

    ensure valid regex

commit 49746a7
Merge: 4dc7199 2ed331a
Author: ooctipus <zhengyuz@nvidia.com>
Date:   Thu Nov 20 15:01:28 2025 -0800

    Merge branch 'main' into feature/replace-prim-utils

commit 4dc7199
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Thu Nov 20 13:45:15 2025 -0800

    fix input missmatch for prim vs prim_path

commit 8b8cb6e
Author: Pascal Roth <roth.pascal@outlook.de>
Date:   Wed Nov 19 23:09:31 2025 +0100

    fix docs usdrt

commit f12a1c6
Author: Pascal Roth <roth.pascal@outlook.de>
Date:   Wed Nov 19 20:26:07 2025 +0100

    formatter

commit d40fbdd
Author: Pascal Roth <roth.pascal@outlook.de>
Date:   Wed Nov 19 20:24:37 2025 +0100

    revert complicated input

commit c23712e
Author: Pascal Roth <roth.pascal@outlook.de>
Date:   Wed Nov 19 19:47:23 2025 +0100

    remove decorator split

commit 1dc98d7
Merge: ea2545f c627940
Author: Pascal Roth <roth.pascal@outlook.de>
Date:   Wed Nov 19 19:08:06 2025 +0100

    Merge branch 'main' into feature/replace-prim-utils

commit ea2545f
Author: Pascal Roth <roth.pascal@outlook.de>
Date:   Wed Nov 19 19:00:33 2025 +0100

    adjust docstrings

commit 27ca1d1
Author: Pascal Roth <roth.pascal@outlook.de>
Date:   Wed Nov 19 18:50:23 2025 +0100

    formatter

commit afe5f02
Author: Pascal Roth <roth.pascal@outlook.de>
Date:   Wed Nov 19 18:45:34 2025 +0100

    split utils/utils.py and move most components to prims

commit c00b251
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 19 02:12:21 2025 -0800

    pass precommit

commit 0ac9af1
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Wed Nov 19 02:11:48 2025 -0800

    change package import style to module import

commit 8f4ab00
Merge: 556060f 9cbf024
Author: Pascal Roth <roth.pascal@outlook.de>
Date:   Wed Nov 19 02:01:40 2025 +0100

    Merge branch 'main' into feature/replace-prim-utils

commit 556060f
Author: Pascal Roth <roth.pascal@outlook.de>
Date:   Thu Nov 13 15:07:23 2025 +0100

    formatter

commit 114427e
Merge: 43bf23c c32db68
Author: Pascal Roth <roth.pascal@outlook.de>
Date:   Thu Nov 13 15:03:57 2025 +0100

    Merge branch 'main' into feature/replace-prim-utils

commit 43bf23c
Author: Octi Zhang <zhengyuz@nvidia.com>
Date:   Mon Nov 10 12:58:43 2025 -0800

    lazy import

commit 3908cac
Author: Pascal Roth <roth.pascal@outlook.de>
Date:   Mon Nov 3 11:24:33 2025 +0100

    fix reference

commit 8e411a8
Author: Pascal Roth <roth.pascal@outlook.de>
Date:   Mon Nov 3 11:18:13 2025 +0100

    reimplement p[rim utils

Author: ooctipus

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/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 +45,13 @@
 
 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.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
 

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/tools/check_instanceable.py

@@ -64,12 +64,11 @@
 """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
 
@@ -96,7 +95,7 @@ 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)

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

scripts/tools/convert_mjcf.py

@@ -63,9 +63,9 @@
 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 MjcfConverter, MjcfConverterCfg
 from isaaclab.utils.assets import check_file_path
 from isaaclab.utils.dict import print_dict