VS Code autocomplete not working for pxr (Sdf, UsdLux) and scene.add_default_ground_plane() in Isaac Sim 5.0 (pip install)

[wndudwkd003]

Hi NVIDIA team,

I’m using Isaac Sim 5.0 (pip installation) following the official guide:
https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/isaaclab_pip_installation.html

After installation, I also ran:
python -m isaaclab --generate-vscode-settings

Environment:

OS: Ubuntu 22.04 LTS

Python: 3.11 (Conda env)

Editor: VS Code with Pylance

Installation type: pip (isaaclab + isaacsim)

Problem:
In VS Code, autocomplete works correctly for these imports:

from isaacsim.core.api import World
from isaacsim.core.utils.stage import add_reference_to_stage
from isaacsim.core.prims import Articulation
from isaacsim.storage.native import get_assets_root_path

However, autocomplete does NOT work for the following:

from pxr import Sdf, UsdLux
my_world.scene.add_default_ground_plane()

Notes:

The pxr imports (Sdf, UsdLux, UsdGeom, etc.) work fine at runtime, but VS Code cannot recognize or provide IntelliSense.

scene.add_default_ground_plane() also works when running the script, but Pylance shows no type information or completion.

SimulationApp works both as:

from isaacsim import SimulationApp

and

from isaacsim.simulation_app import SimulationApp

but only limited autocomplete appears.

Code example:

from isaacsim.simulation_app import SimulationApp

simulation_app = SimulationApp({"headless": False})

from isaacsim.core.api import World
from isaacsim.core.utils.stage import add_reference_to_stage
from isaacsim.core.prims import Articulation
from isaacsim.storage.native import get_assets_root_path
import omni.usd
from pxr import Sdf, UsdLux

DISTANCE_LIGHT = "/DistantLight"
FRANKA_PATH = "/Isaac/Robots/FrankaRobotics/FrankaPanda/franka.usd"

my_world = World(stage_units_in_meters=1.0)
my_world.scene.add_default_ground_plane()

stage = omni.usd.get_context().get_stage()
distantLight = UsdLux.DistantLight.Define(stage, Sdf.Path(DISTANCE_LIGHT))
distantLight.CreateIntensityAttr(300)

Expected behavior:
Autocomplete and type hints should work for:

pxr modules (Sdf, UsdLux, UsdGeom, etc.)

World.scene methods such as add_default_ground_plane()

What I’ve tried:

Verified that /isaac-sim/kit/python is included in python.analysis.extraPaths

Ran python -m isaaclab --generate-vscode-settings

Autocomplete works for core APIs but not for pxr or scene objects

Question:
Is there an official or recommended way to enable full VS Code IntelliSense for USD (pxr) modules and World.scene APIs in the pip version of Isaac Sim 5.0?
Should I manually add stub files or extra paths (like kit/python), or are .pyi stubs planned for these modules?

Thank you.