Creates a minimal function to change prim properties by Mayankm96 · Pull Request #4337 · isaac-sim/IsaacLab

Mayankm96 · 2026-01-05T18:56:47Z

Description

This MR introduces a simplified version of the ChangePrimProperty command.

The original command is designed to handle complex USD layer compositions, but most of our applications do not require this level of functionality. In practice, we either do not support multiple composition layers at all, or only support limited mechanisms such as references or variants.

Using the Kit-provided command also introduces unnecessary side effects, such as early stage attachment, due to its reliance on layer-resolving APIs. To avoid this extra coupling and complexity, this MR replaces the command with a lightweight implementation tailored to our actual use cases.

Type of change

Breaking change (existing functionality will not work without user modification)

Checklist

I have read and understood the contribution guidelines
I have run the pre-commit checks 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
I have added my name to the CONTRIBUTORS.md or my name already exists there

greptile-apps · 2026-01-05T19:00:08Z

Greptile Summary

Replaces Kit's ChangePropertyCommand with a lightweight custom implementation change_prim_property() that works directly with USD APIs. The new function eliminates unnecessary complexity from layer composition handling, removes the need for early stage attachment, and supports the project's actual use cases (single edit target operations). All call sites across visualization markers, spawners, and sensors have been updated to use the new function. The change is well-tested with 9 new test cases covering various scenarios including property creation, type handling, error cases, and timecode support.

Confidence Score: 5/5

This PR is safe to merge with minimal risk
The implementation is clean, well-documented, and thoroughly tested. The new function simplifies the codebase by removing unnecessary dependencies and side effects. All existing call sites have been properly migrated, and comprehensive tests validate the functionality
No files require special attention

Important Files Changed

Filename	Overview
source/isaaclab/isaaclab/sim/utils/prims.py	Added new `change_prim_property()` function to replace Kit command, updated `safe_set_attribute_on_usd_prim()` to use it, and simplified `add_usd_reference()` to always use internal helper
source/isaaclab/test/sim/test_utils_prims.py	Added 9 comprehensive test cases covering basic property changes, creating new properties, clearing values, different data types, error handling, and timecode support

Sequence Diagram

sequenceDiagram
    participant Client as Client Code
    participant NewFunc as change_prim_property()
    participant USD as USD Stage/Prim
    
    Note over Client,USD: Property Change Flow
    
    Client->>NewFunc: change_prim_property(prop_path, value, stage, ...)
    NewFunc->>NewFunc: Get stage handle (if not provided)
    NewFunc->>NewFunc: Convert prop_path to Sdf.Path
    NewFunc->>NewFunc: Extract prim_path from prop_path
    NewFunc->>USD: GetPrimAtPath(prim_path)
    USD-->>NewFunc: Return prim (or invalid)
    
    alt Prim invalid
        NewFunc-->>Client: Raise ValueError
    end
    
    NewFunc->>USD: GetPropertyAtPath(prop_path)
    USD-->>NewFunc: Return property (or None)
    
    alt Property doesn't exist
        alt type_to_create_if_not_exist provided
            NewFunc->>USD: CreateAttribute(name, type, is_custom)
            USD-->>NewFunc: Return new property
        else No type provided
            NewFunc-->>Client: Return False (log error)
        end
    end
    
    alt value is None
        NewFunc->>USD: property.Clear()
    else value provided
        NewFunc->>USD: property.Set(value, timecode)
    end
    
    NewFunc-->>Client: Return True (success)

matthewtrepte

looks good to me

# Description Previously the stage in memory test did not check if material binding worked correctly. During my debugging, I saw that the `bind_visual_material` command was failing. This MR adds a fix for it and makes the test check for mateiral binding as well. Requires merging: #4337 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [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 - [x] My changes generate no new warnings - [x] 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

# Description This MR introduces a simplified version of the `ChangePrimProperty` command. The original command is designed to handle complex USD layer compositions, but most of our applications do not require this level of functionality. In practice, we either do not support multiple composition layers at all, or only support limited mechanisms such as references or variants. Using the Kit-provided command also introduces unnecessary side effects, such as early stage attachment, due to its reliance on layer-resolving APIs. To avoid this extra coupling and complexity, this MR replaces the command with a lightweight implementation tailored to our actual use cases. ## Type of change - Breaking change (existing functionality will not work without user modification) ## Checklist - [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 - [x] My changes generate no new warnings - [x] 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

# Description Previously the stage in memory test did not check if material binding worked correctly. During my debugging, I saw that the `bind_visual_material` command was failing. This MR adds a fix for it and makes the test check for mateiral binding as well. Requires merging: isaac-sim#4337 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [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 - [x] My changes generate no new warnings - [x] 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

# Description Previously the stage in memory test did not check if material binding worked correctly. During my debugging, I saw that the `bind_visual_material` command was failing. This MR adds a fix for it and makes the test check for mateiral binding as well. Requires merging: isaac-sim/IsaacLab#4337 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [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 - [x] My changes generate no new warnings - [x] 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

# Description This MR introduces a simplified version of the `ChangePrimProperty` command. The original command is designed to handle complex USD layer compositions, but most of our applications do not require this level of functionality. In practice, we either do not support multiple composition layers at all, or only support limited mechanisms such as references or variants. Using the Kit-provided command also introduces unnecessary side effects, such as early stage attachment, due to its reliance on layer-resolving APIs. To avoid this extra coupling and complexity, this MR replaces the command with a lightweight implementation tailored to our actual use cases. ## Type of change - Breaking change (existing functionality will not work without user modification) ## Checklist - [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 - [x] My changes generate no new warnings - [x] 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 - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

# Description Previously the stage in memory test did not check if material binding worked correctly. During my debugging, I saw that the `bind_visual_material` command was failing. This MR adds a fix for it and makes the test check for mateiral binding as well. Requires merging: isaac-sim#4337 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [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 - [x] My changes generate no new warnings - [x] 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

Mayankm96 added 2 commits January 5, 2026 19:52

adds custom implementation of changing prim property

f4e50a3

adapts our own create prim property

1483c08

Mayankm96 requested review from jtigue-bdai and ooctipus as code owners January 5, 2026 18:56

Mayankm96 requested a review from matthewtrepte January 5, 2026 18:56

github-actions bot added enhancement New feature or request isaac-lab Related to Isaac Lab team labels Jan 5, 2026

Mayankm96 added 5 commits January 5, 2026 20:02

makes tests parametrized

6118aa4

removes is_custom where applicable

abc7a52

removes default timecode arg

6df8f00

fixes test

eed4b5f

passes stage over for creating mdl material

40901bd

matthewtrepte reviewed Jan 5, 2026

View reviewed changes

Mayankm96 and others added 4 commits January 6, 2026 10:47

Merge branch 'main' into feature/remove-change-prim-command

0b22165

fixes type-hinting

6558e8c

remove unused imports

6a72e1e

removes unused imports

b921d47

Mayankm96 requested review from kellyguo11 and pascal-roth as code owners January 6, 2026 15:14

Mayankm96 added 10 commits January 6, 2026 16:23

Merge branch 'main' into feature/remove-change-prim-command

1edfe21

fixes warning

9ce2474

fixes bug

c357910

Merge branch 'main' into feature/remove-change-prim-command

9208712

fixes some docs

737f369

makes code more robust

38fd045

switches back to kit commands

db4424d

fixes naming

c469b95

reverts

914de9d

Merge branch 'main' into feature/remove-change-prim-command

18a440d

Mayankm96 added 4 commits January 8, 2026 22:14

Merge branch 'main' into feature/remove-change-prim-command

8bdbc20

fixes error log level

b9fe765

updates changelog

a4c9eb6

fix doc

40a6543

Mayankm96 mentioned this pull request Jan 8, 2026

Tests material binding inside stage in memory test #4347

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Mayankm96 merged commit 025443e into isaac-sim:main Jan 12, 2026
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Creates a minimal function to change prim properties#4337

Creates a minimal function to change prim properties#4337
Mayankm96 merged 25 commits intoisaac-sim:mainfrom
Mayankm96:feature/remove-change-prim-command

Mayankm96 commented Jan 5, 2026 •

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Mayankm96 commented Jan 5, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Description

Type of change

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greptile-apps bot commented Jan 5, 2026

Greptile Summary

Confidence Score: 5/5

Important Files Changed

Sequence Diagram

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Mayankm96 commented Jan 5, 2026 •

edited

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