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Replaces Isaac Sim's XformPrim class with a simpler implementation #4313

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Merged
Mayankm96 merged 80 commits into from
Jan 7, 2026
Merged

Replaces Isaac Sim's XformPrim class with a simpler implementation #4313

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6fd9082
adds initial code and implementation for xform class
Mayankm96 Dec 30, 2025
dcc4737
wraps code inside sdf block for optimization
Mayankm96 Dec 30, 2025
fcf6c1a
runs formatter
Mayankm96 Dec 30, 2025
f54ae43
updates doc strings
Mayankm96 Dec 30, 2025
2f9afad
fixes type-hinting
Mayankm96 Dec 30, 2025
c1413d4
removes isaac sim xform class from create_prim
Mayankm96 Dec 30, 2025
4652ac6
moves functions for pose to transforms module
Mayankm96 Dec 30, 2025
a10e419
adds api docs
Mayankm96 Dec 30, 2025
a1a714d
makes a function to abstract out convert world pose call
Mayankm96 Dec 30, 2025
d347aef
runs formatter
Mayankm96 Dec 30, 2025
9929597
adds test for different backend data types to create prim
Mayankm96 Dec 30, 2025
263054d
adds test for get usd references
Mayankm96 Dec 30, 2025
53a8ddb
adds error code
Mayankm96 Dec 30, 2025
590ff75
adds example for all transform calls
Mayankm96 Dec 30, 2025
8e5153f
runs formatter
Mayankm96 Dec 30, 2025
17d6936
fixes type issues and adds more tests for to_tuple
Mayankm96 Jan 2, 2026
836d0c6
Merge branch 'main' into fix/clear-xform
Mayankm96 Jan 2, 2026
62361ac
adds test for flaot precision in standardize
Mayankm96 Jan 2, 2026
113ac86
removes benchmark test
Mayankm96 Jan 2, 2026
b33eb9a
makes a habit of sending stage
Mayankm96 Jan 2, 2026
c7f6b23
use stage attributes
Mayankm96 Jan 2, 2026
b406521
optimization for root parent
Mayankm96 Jan 2, 2026
dc62696
adds test to validate xform ops order
Mayankm96 Jan 2, 2026
083a2c3
adds benchmark script
Mayankm96 Jan 2, 2026
366f338
moves xform prim view into views module
Mayankm96 Jan 2, 2026
8c5e7c1
fixes type error
Mayankm96 Jan 2, 2026
618e2f1
adds test for xform prim view
Mayankm96 Jan 2, 2026
56cf54d
adds franka test
Mayankm96 Jan 2, 2026
cbbccdf
fixes check for non-xform xformable
Mayankm96 Jan 2, 2026
33576d4
fixes usd path
Mayankm96 Jan 2, 2026
381d489
switches internals to use new xformview
Mayankm96 Jan 2, 2026
b1b5350
adds views to docs
Mayankm96 Jan 2, 2026
3a085d1
adds new implementations
Mayankm96 Jan 2, 2026
a75f85d
Merge branch 'fix/clear-xform' into feautre/xform-view
Mayankm96 Jan 2, 2026
a5a9648
removes unused initialize
Mayankm96 Jan 2, 2026
98d3388
switches to comparing with experimental api of isaacsim
Mayankm96 Jan 2, 2026
e4eee14
renames to XformPrimView
Mayankm96 Jan 2, 2026
4aab3c5
adds type ignore
Mayankm96 Jan 2, 2026
9de9fea
adds validation arg
Mayankm96 Jan 2, 2026
b5d1e38
fixes for new xform class
Mayankm96 Jan 2, 2026
3145c52
adds support for indices
Mayankm96 Jan 2, 2026
82f10f4
runs formatter
Mayankm96 Jan 2, 2026
9104778
modifies script to benchmark different xform apis
Mayankm96 Jan 2, 2026
8527b3b
uses xform cache
Mayankm96 Jan 2, 2026
6834e09
runs formatter
Mayankm96 Jan 2, 2026
9faf081
adds note for why we don't use the utils functions
Mayankm96 Jan 2, 2026
dad21af
fixes typehints
Mayankm96 Jan 2, 2026
67faf0a
use inplace operation for ortho
Mayankm96 Jan 2, 2026
2bc8c1e
ensures stage is cached for deletion
Mayankm96 Jan 2, 2026
ac1619b
updates changelog
Mayankm96 Jan 2, 2026
9bfada7
Merge branch 'fix/clear-xform' into feautre/xform-view
Mayankm96 Jan 2, 2026
6a7d78d
Merge branch 'main' into feautre/xform-view
Mayankm96 Jan 2, 2026
28f1348
removes exe from top
Mayankm96 Jan 2, 2026
582d281
fixes for extras
Mayankm96 Jan 2, 2026
1b3f82a
hopes
Mayankm96 Jan 2, 2026
e8afe79
Merge branch 'main' into feautre/xform-view
Mayankm96 Jan 2, 2026
a253344
handles different indexing schemes
Mayankm96 Jan 3, 2026
58d031b
fixes bug with indexing
Mayankm96 Jan 3, 2026
2928529
adds test for indexing
Mayankm96 Jan 3, 2026
dcf8d10
Merge branch 'feautre/xform-view' of github.com:Mayankm96/IsaacLab in…
Mayankm96 Jan 3, 2026
25a313e
moves file for naming
Mayankm96 Jan 3, 2026
bcee357
fixes doc
Mayankm96 Jan 3, 2026
17566af
Merge branch 'main' into feautre/xform-view
Mayankm96 Jan 3, 2026
65a400c
Merge branch 'main' into feautre/xform-view
Mayankm96 Jan 4, 2026
87a721d
adds visibility attribute
Mayankm96 Jan 4, 2026
dcb5a5c
fixes return
Mayankm96 Jan 4, 2026
a5bd39b
Merge branch 'feautre/xform-view' of github.com:Mayankm96/IsaacLab in…
Mayankm96 Jan 4, 2026
9599cb7
adds attribute prim paths
Mayankm96 Jan 4, 2026
d3ff563
fixes typo
Mayankm96 Jan 4, 2026
19cff99
removes unused none
Mayankm96 Jan 4, 2026
d56ddef
adds script to benchmark xform against physics views
Mayankm96 Jan 4, 2026
1c5d2b7
adds views to sim utils module
Mayankm96 Jan 4, 2026
ccf57ac
adds big warning for physics and fabric
Mayankm96 Jan 4, 2026
921f9f8
adds missing return info
Mayankm96 Jan 4, 2026
fdb7d91
fixes for formatter
Mayankm96 Jan 4, 2026
1ee1c77
Merge branch 'main' into feautre/xform-view
Mayankm96 Jan 5, 2026
337f03b
Merge branch 'main' into feautre/xform-view
Mayankm96 Jan 6, 2026
a1f6c8e
runs formamter
Mayankm96 Jan 6, 2026
f8374a3
fixes test
Mayankm96 Jan 6, 2026
17889b2
adds test for prim ordering
Mayankm96 Jan 6, 2026
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1 change: 1 addition & 0 deletions docs/source/api/index.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@ The following modules are available in the ``isaaclab`` extension:
lab/isaaclab.sim.converters
lab/isaaclab.sim.schemas
lab/isaaclab.sim.spawners
lab/isaaclab.sim.views
lab/isaaclab.sim.utils


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17 changes: 17 additions & 0 deletions docs/source/api/lab/isaaclab.sim.views.rst
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@@ -0,0 +1,17 @@
isaaclab.sim.views
==================

.. automodule:: isaaclab.sim.views

.. rubric:: Classes

.. autosummary::

XformPrimView

XForm Prim View
---------------

.. autoclass:: XformPrimView
:members:
:show-inheritance:
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