[Newton]Replaces nucleus_utils with reimplementation as part of IsaacLab

[ooctipus]

Description

Replaces import of

try:
import isaacsim.storage.native as nucleus_utils
except ModuleNotFoundError:
import isaacsim.core.utils.nucleus as nucleus_utils
with own utils implemented inside the sim utils folder.

import isaaclab.sim.utils.nucleus as nucleus_utils

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks 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

[ooctipus]

Requires python logging PR merge first

[greptile-apps]

Greptile Overview

Greptile Summary

Replaces external IsaacSim nucleus utilities dependency with internal implementation in isaaclab/utils/nucleus.py, removing try-except import blocks from test files.

Critical Issues:

• All three test files use incorrect import path isaaclab.sim.utils.nucleus but the file is created at isaaclab/utils/nucleus.py - this will cause ModuleNotFoundError at runtime
• The timeout parameter in check_server() is defined but never used in the function body

Additional Changes:

• newton_manager.py now sets num_envs attribute on the model after finalization
• One test file (check_floating_base_made_fixed.py) still uses the old IsaacSim import and wasn't updated

Confidence Score: 0/5

• This PR cannot be merged - it will break all three updated test files with import errors
• Score reflects critical import path errors in all three test files that will cause immediate runtime failures. The import path isaaclab.sim.utils.nucleus does not match the file location isaaclab/utils/nucleus.py
• All test files (check_camera.py, check_legged_robot_clone.py, check_ref_count.py) need import paths corrected before merge. Also check check_floating_base_made_fixed.py which wasn't updated.

Important Files Changed

File Analysis

Filename	Score	Overview
source/isaaclab/isaaclab/utils/nucleus.py	3/5	New implementation of nucleus utilities to replace IsaacSim dependency; has unused timeout parameter in check_server
source/isaaclab/test/deps/isaacsim/check_camera.py	0/5	Updated import to new nucleus utils; critical issue - import path is incorrect and will cause ModuleNotFoundError
source/isaaclab/test/deps/isaacsim/check_legged_robot_clone.py	0/5	Updated import to new nucleus utils; critical issue - import path is incorrect and will cause ModuleNotFoundError
source/isaaclab/test/deps/isaacsim/check_ref_count.py	0/5	Updated import to new nucleus utils; critical issue - import path is incorrect and will cause ModuleNotFoundError

Sequence Diagram

sequenceDiagram
    participant Test as Test File
    participant NucleusUtils as isaaclab.utils.nucleus
    participant CarbSettings as carb.settings
    participant OmniClient as omni.client
    
    Test->>NucleusUtils: get_assets_root_path()
    NucleusUtils->>CarbSettings: get(DEFAULT_ASSET_ROOT_TIMEOUT_SETTING)
    CarbSettings-->>NucleusUtils: timeout value or None
    NucleusUtils->>CarbSettings: get(DEFAULT_ASSET_ROOT_PATH_SETTING)
    CarbSettings-->>NucleusUtils: default_asset_root
    
    alt skip_check is False
        NucleusUtils->>NucleusUtils: check_server(default_asset_root, "/Isaac", timeout)
        NucleusUtils->>OmniClient: set_hang_detection_time_ms(20000)
        NucleusUtils->>OmniClient: stat(server + path)
        OmniClient-->>NucleusUtils: result, _
        
        alt result == Result.OK
            NucleusUtils->>NucleusUtils: check_server(default_asset_root, "/NVIDIA", timeout)
            NucleusUtils->>OmniClient: stat(server + path)
            OmniClient-->>NucleusUtils: result, _
            
            alt result == Result.OK
                NucleusUtils-->>Test: default_asset_root
            else result != Result.OK
                NucleusUtils-->>Test: raise RuntimeError
            end
        else result != Result.OK
            NucleusUtils-->>Test: raise RuntimeError
        end
    else skip_check is True
        NucleusUtils-->>Test: default_asset_root
    end

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[greptile-apps]

_{5 files reviewed, 4 comments}

_{Edit Code Review Agent Settings | Greptile}

[greptile-apps]

syntax: incorrect import path - file is at isaaclab/utils/nucleus.py not isaaclab/sim/utils/nucleus.py

Suggested change

	import isaaclab.sim.utils.nucleus as nucleus_utils
	import isaaclab.utils.nucleus as nucleus_utils

[kellyguo11]

looks like the import should indeed by isaaclab.utils.nucleus

[greptile-apps]

syntax: incorrect import path - file is at isaaclab/utils/nucleus.py not isaaclab/sim/utils/nucleus.py

Suggested change

	import isaaclab.sim.utils.nucleus as nucleus_utils
	import isaaclab.utils.nucleus as nucleus_utils

[greptile-apps]

syntax: incorrect import path - file is at isaaclab/utils/nucleus.py not isaaclab/sim/utils/nucleus.py

Suggested change

	import isaaclab.sim.utils.nucleus as nucleus_utils
	import isaaclab.utils.nucleus as nucleus_utils

[greptile-apps]

logic: timeout parameter is defined but never used in the function

Suggested change

	def check_server(server: str, path: str, timeout: float = 10.0) -> bool:
	def check_server(server: str, path: str) -> bool:

[kellyguo11]

these omni.client imports could also be a problem

[kellyguo11]

looks like the import should indeed by isaaclab.utils.nucleus