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Passes stage argument to avoid unnecessary stage retrieval calls #4323

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Merged
Mayankm96 merged 21 commits into from
Jan 3, 2026
Merged

Passes stage argument to avoid unnecessary stage retrieval calls #4323

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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
c7f6b23
use stage attributes
Mayankm96 Jan 2, 2026
66c47f1
Merge branch 'main' into feature/use-stage-attr
Mayankm96 Jan 3, 2026
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1 change: 1 addition & 0 deletions source/isaaclab/isaaclab/markers/visualization_markers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -407,6 +407,7 @@ def _process_prototype_prim(self, prim: Usd.Prim):
value=True,
prev=None,
type_to_create_if_not_exist=Sdf.ValueTypeNames.Bool,
usd_context_name=prim.GetStage(),
)
# add children to list
all_prims += child_prim.GetChildren()
Expand Down
5 changes: 3 additions & 2 deletions source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py
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Original file line number Diff line number Diff line change
Expand Up @@ -215,7 +215,7 @@ def spawn_ground_plane(
raise ValueError(f"No collision prim found at path: '{prim_path}'.")
# bind physics material to the collision prim
collision_prim_path = str(collision_prim.GetPath())
bind_physics_material(collision_prim_path, f"{prim_path}/physicsMaterial")
bind_physics_material(collision_prim_path, f"{prim_path}/physicsMaterial", stage=stage)

# Obtain environment prim
environment_prim = stage.GetPrimAtPath(f"{prim_path}/Environment")
Expand Down Expand Up @@ -247,6 +247,7 @@ def spawn_ground_plane(
value=Gf.Vec3f(*cfg.color),
prev=None,
type_to_create_if_not_exist=Sdf.ValueTypeNames.Color3f,
usd_context_name=stage,
)
# Remove the light from the ground plane
# It isn't bright enough and messes up with the user's lighting settings
Expand Down Expand Up @@ -373,7 +374,7 @@ def _spawn_from_usd_file(
# create material
cfg.visual_material.func(material_path, cfg.visual_material)
# apply material
bind_visual_material(prim_path, material_path)
bind_visual_material(prim_path, material_path, stage=stage)

# return the prim
return stage.GetPrimAtPath(prim_path)
15 changes: 8 additions & 7 deletions source/isaaclab/isaaclab/sim/spawners/meshes/meshes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -338,16 +338,17 @@ def _spawn_mesh_geom_from_mesh(
"faceVertexCounts": np.asarray([3] * len(mesh.faces)),
"subdivisionScheme": "bilinear",
},
stage=stage,
)

# note: in case of deformable objects, we need to apply the deformable properties to the mesh prim.
# this is different from rigid objects where we apply the properties to the parent prim.
if cfg.deformable_props is not None:
# apply mass properties
if cfg.mass_props is not None:
schemas.define_mass_properties(mesh_prim_path, cfg.mass_props)
schemas.define_mass_properties(mesh_prim_path, cfg.mass_props, stage=stage)
# apply deformable body properties
schemas.define_deformable_body_properties(mesh_prim_path, cfg.deformable_props)
schemas.define_deformable_body_properties(mesh_prim_path, cfg.deformable_props, stage=stage)
elif cfg.collision_props is not None:
# decide on type of collision approximation based on the mesh
if cfg.__class__.__name__ == "MeshSphereCfg":
Expand All @@ -362,7 +363,7 @@ def _spawn_mesh_geom_from_mesh(
mesh_collision_api = UsdPhysics.MeshCollisionAPI.Apply(mesh_prim)
mesh_collision_api.GetApproximationAttr().Set(collision_approximation)
# apply collision properties
schemas.define_collision_properties(mesh_prim_path, cfg.collision_props)
schemas.define_collision_properties(mesh_prim_path, cfg.collision_props, stage=stage)

# apply visual material
if cfg.visual_material is not None:
Expand All @@ -373,7 +374,7 @@ def _spawn_mesh_geom_from_mesh(
# create material
cfg.visual_material.func(material_path, cfg.visual_material)
# apply material
bind_visual_material(mesh_prim_path, material_path)
bind_visual_material(mesh_prim_path, material_path, stage=stage)

# apply physics material
if cfg.physics_material is not None:
Expand All @@ -384,12 +385,12 @@ def _spawn_mesh_geom_from_mesh(
# create material
cfg.physics_material.func(material_path, cfg.physics_material)
# apply material
bind_physics_material(mesh_prim_path, material_path)
bind_physics_material(mesh_prim_path, material_path, stage=stage)

# note: we apply the rigid properties to the parent prim in case of rigid objects.
if cfg.rigid_props is not None:
# apply mass properties
if cfg.mass_props is not None:
schemas.define_mass_properties(prim_path, cfg.mass_props)
schemas.define_mass_properties(prim_path, cfg.mass_props, stage=stage)
# apply rigid properties
schemas.define_rigid_body_properties(prim_path, cfg.rigid_props)
schemas.define_rigid_body_properties(prim_path, cfg.rigid_props, stage=stage)
1 change: 1 addition & 0 deletions source/isaaclab/isaaclab/sim/spawners/sensors/sensors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,7 @@ def spawn_camera(
value=True,
prev=None,
type_to_create_if_not_exist=Sdf.ValueTypeNames.Bool,
usd_context_name=stage,
)
# decide the custom attributes to add
if cfg.projection_type == "pinhole":
Expand Down
10 changes: 5 additions & 5 deletions source/isaaclab/isaaclab/sim/spawners/shapes/shapes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -294,7 +294,7 @@ def _spawn_geom_from_prim_type(
create_prim(mesh_prim_path, prim_type, scale=scale, attributes=attributes, stage=stage)
# apply collision properties
if cfg.collision_props is not None:
schemas.define_collision_properties(mesh_prim_path, cfg.collision_props)
schemas.define_collision_properties(mesh_prim_path, cfg.collision_props, stage=stage)
# apply visual material
if cfg.visual_material is not None:
if not cfg.visual_material_path.startswith("/"):
Expand All @@ -304,7 +304,7 @@ def _spawn_geom_from_prim_type(
# create material
cfg.visual_material.func(material_path, cfg.visual_material)
# apply material
bind_visual_material(mesh_prim_path, material_path)
bind_visual_material(mesh_prim_path, material_path, stage=stage)
# apply physics material
if cfg.physics_material is not None:
if not cfg.physics_material_path.startswith("/"):
Expand All @@ -314,12 +314,12 @@ def _spawn_geom_from_prim_type(
# create material
cfg.physics_material.func(material_path, cfg.physics_material)
# apply material
bind_physics_material(mesh_prim_path, material_path)
bind_physics_material(mesh_prim_path, material_path, stage=stage)

# note: we apply rigid properties in the end to later make the instanceable prim
# apply mass properties
if cfg.mass_props is not None:
schemas.define_mass_properties(prim_path, cfg.mass_props)
schemas.define_mass_properties(prim_path, cfg.mass_props, stage=stage)
# apply rigid body properties
if cfg.rigid_props is not None:
schemas.define_rigid_body_properties(prim_path, cfg.rigid_props)
schemas.define_rigid_body_properties(prim_path, cfg.rigid_props, stage=stage)