Replaces IsaacSim XFormPrim with reduced IsaacLab version
#4070
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bot
added
enhancement
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Greptile OverviewGreptile SummaryThis PR introduces a new IsaacLab implementation of Critical Issues:
Impact:
Confidence Score: 0/5
Important Files ChangedFile Analysis
Sequence DiagramsequenceDiagram
participant User
participant XFormPrim
participant SimulationContext
participant USD/UsdGeom
participant prim_utils
User->>XFormPrim: __init__(prim_paths_expr, positions, etc.)
XFormPrim->>prim_utils: find_matching_prim_paths(expression)
prim_utils-->>XFormPrim: matching paths list
XFormPrim->>prim_utils: get_prim_at_path(path)
prim_utils-->>XFormPrim: USD prims
XFormPrim->>SimulationContext: get instance
SimulationContext-->>XFormPrim: device
XFormPrim->>XFormPrim: _set_xform_properties()
XFormPrim->>XFormPrim: set_world_poses() / set_local_poses()
User->>XFormPrim: get_world_poses(env_ids)
XFormPrim->>XFormPrim: _get_world_pose_transform_w_scale()
XFormPrim->>USD/UsdGeom: ComputeLocalToWorldTransform()
USD/UsdGeom-->>XFormPrim: transformation matrix
XFormPrim-->>User: positions, orientations
User->>XFormPrim: set_world_poses(positions, orientations)
XFormPrim->>USD/UsdGeom: get parent transform
XFormPrim->>XFormPrim: calculate local from world (MISSING _backend_utils)
XFormPrim->>XFormPrim: set_local_poses()
XFormPrim->>USD/UsdGeom: Set xformOp attributes
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![greptile-apps[bot]](https://avatars.githubusercontent.com/in/867647?s=60&v=4){kind=small}
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| if self._is_valid: | ||
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
Contributor
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logic: logic inverted - should check not self._is_valid
Suggested change
| if self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") | |
| if not self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
| env_ids = env_ids.tolist() | ||
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| visibilities = np.zeros(shape=env_ids.shape[0], dtype="bool") | ||
| for idx, curr_env_id in env_ids: |
Contributor
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logic: unpacking will fail - enumerate() returns (idx, value) tuple, not individual values
Suggested change
| for idx, curr_env_id in env_ids: | |
| for idx, curr_env_id in enumerate(env_ids): |
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| if self._is_valid: | ||
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
Contributor
There was a problem hiding this comment.
logic: logic inverted - should check not self._is_valid
Suggested change
| if self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") | |
| if not self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
| orientations = np.zeros((env_ids.shape[0], 4), dtype=np.float32) | ||
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| for idx, curr_env_id in enumerate(env_ids.tolist()): | ||
| result_transform = _get_world_pose_transform_w_scale(self._prim_paths[curr_env_id], False) |
Contributor
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logic: function called with 2 arguments but only accepts 1 parameter (removed fabric parameter on line 703)
Suggested change
| result_transform = _get_world_pose_transform_w_scale(self._prim_paths[curr_env_id], False) | |
| result_transform = _get_world_pose_transform_w_scale(self._prim_paths[curr_env_id]) |
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| if self._is_valid: | ||
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
Contributor
There was a problem hiding this comment.
logic: logic inverted - should check not self._is_valid
Suggested change
| if self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") | |
| if not self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
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| if self._is_valid: | ||
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
Contributor
There was a problem hiding this comment.
logic: logic inverted - should check not self._is_valid
Suggested change
| if self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") | |
| if not self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
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| if self._is_valid: | ||
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
Contributor
There was a problem hiding this comment.
logic: logic inverted - should check not self._is_valid
Suggested change
| if self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") | |
| if not self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
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| if self._is_valid: | ||
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
Contributor
There was a problem hiding this comment.
logic: logic inverted - should check not self._is_valid
Suggested change
| if self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") | |
| if not self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
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| if self._is_valid: | ||
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
Contributor
There was a problem hiding this comment.
logic: logic inverted - should check not self._is_valid
Suggested change
| if self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") | |
| if not self._is_valid: | |
| raise Exception(f"prim view {self._regex_prim_paths} is not a valid view") |
| parent_prim = get_prim_parent(prim_utils.get_prim_at_path(prim_path=prim_path, fabric=False)) | ||
| parent_world_transform = usdrt.Gf.Matrix4d(1.0) | ||
| if parent_prim: | ||
| parent_world_transform = _get_world_pose_transform_w_scale(prim_utils.get_prim_path(parent_prim), fabric=False) |
Contributor
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logic: function called with 2 arguments (prim_path and fabric=False) but only accepts 1 parameter
Suggested change
| parent_world_transform = _get_world_pose_transform_w_scale(prim_utils.get_prim_path(parent_prim), fabric=False) | |
| parent_world_transform = _get_world_pose_transform_w_scale(prim_utils.get_prim_path(parent_prim)) |
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Description
Replaces IsaacSim
XFormPrimwith reduced IsaacLab versionType of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there