Replaces Isaac Sim's XformPrim class with a simpler implementation #4313
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Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Mayankm96
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…4313) This MR replaces Isaac Sim's XformPrim class with a simpler `XformPrimView` class. It mainly allows users to set/get local/world poses. Requires merging: #4307, #4323 - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update Benchmarking results: ```bash ./isaaclab.sh -p scripts/benchmarks/benchmark_xform_prim_view.py --num_envs 1024 --headless ``` ``` ==================================================================================================== BENCHMARK RESULTS: 1024 prims, 50 iterations ==================================================================================================== Operation Isaaclab (ms) Isaacsim (ms) Isaacsim Exp (ms) ---------------------------------------------------------------------------------------------------- Initialization 5.3219 191.9776 6.9343 Get World Poses 8.0032 181.0207 18.7587 Set World Poses 20.0200 170.2027 38.1337 Get Local Poses 4.8549 37.8693 15.6433 Set Local Poses 7.9702 24.2080 12.8826 Get Both (World+Local) 13.0351 226.3333 35.2003 ==================================================================================================== Total Time 59.2053 831.6116 127.5530 ==================================================================================================== SPEEDUP vs Isaac Lab ==================================================================================================== Operation Isaacsim Speedup Isaacsim Exp Speedup ---------------------------------------------------------------------------------------------------- Initialization 36.07x 1.30x Get World Poses 22.62x 2.34x Set World Poses 8.50x 1.90x Get Local Poses 7.80x 3.22x Set Local Poses 3.04x 1.62x Get Both (World+Local) 17.36x 2.70x ==================================================================================================== Overall Speedup 14.05x 2.15x ==================================================================================================== Notes: - Times are averaged over all iterations - Speedup = (Other API time) / (Isaac Lab time) - Speedup > 1.0 means Isaac Lab is faster - Speedup < 1.0 means the other API is faster ``` - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
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Thank you Mayank this is amazing! |
Edify0991
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Jan 14, 2026
…saac-sim#4313) This MR replaces Isaac Sim's XformPrim class with a simpler `XformPrimView` class. It mainly allows users to set/get local/world poses. Requires merging: isaac-sim#4307, isaac-sim#4323 - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update Benchmarking results: ```bash ./isaaclab.sh -p scripts/benchmarks/benchmark_xform_prim_view.py --num_envs 1024 --headless ``` ``` ==================================================================================================== BENCHMARK RESULTS: 1024 prims, 50 iterations ==================================================================================================== Operation Isaaclab (ms) Isaacsim (ms) Isaacsim Exp (ms) ---------------------------------------------------------------------------------------------------- Initialization 5.3219 191.9776 6.9343 Get World Poses 8.0032 181.0207 18.7587 Set World Poses 20.0200 170.2027 38.1337 Get Local Poses 4.8549 37.8693 15.6433 Set Local Poses 7.9702 24.2080 12.8826 Get Both (World+Local) 13.0351 226.3333 35.2003 ==================================================================================================== Total Time 59.2053 831.6116 127.5530 ==================================================================================================== SPEEDUP vs Isaac Lab ==================================================================================================== Operation Isaacsim Speedup Isaacsim Exp Speedup ---------------------------------------------------------------------------------------------------- Initialization 36.07x 1.30x Get World Poses 22.62x 2.34x Set World Poses 8.50x 1.90x Get Local Poses 7.80x 3.22x Set Local Poses 3.04x 1.62x Get Both (World+Local) 17.36x 2.70x ==================================================================================================== Overall Speedup 14.05x 2.15x ==================================================================================================== Notes: - Times are averaged over all iterations - Speedup = (Other API time) / (Isaac Lab time) - Speedup > 1.0 means Isaac Lab is faster - Speedup < 1.0 means the other API is faster ``` - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) 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 - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
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Description
This MR replaces Isaac Sim's XformPrim class with a simpler
XformPrimViewclass. It mainly allows users to set/get local/world poses.Requires merging: #4307, #4323
Type of change
Screenshots
Benchmarking results:
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there