Addresses docs related issues from MultiMeshRayCaster by Mayankm96 · Pull Request #4222 · isaac-sim/IsaacLab

Mayankm96 · 2025-12-16T12:05:24Z

Description

This MR adds the remaining comments in #3298

Type of change

Bug fix (non-breaking change which fixes an issue)

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

Add the efficient multi-mesh raycasting function implemented in Orbit. Moreover, this PR fixes the test of it. The new raycaster allows to raycast against multiple objects, which can be located at different positions in each environment. The positions can be tracked over time if enabled in the config. - New feature (non-breaking change which adds functionality) - [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 - [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 --------- Co-authored-by: zrene <zrene@ethz.ch>

…ssion (#48) Fixes number of meshes in the `RayCaster` when raycasting dynamically against a regex expression of multiple objects in the scene. - Bug fix (non-breaking change which fixes an issue) - [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 - [ ] I have added tests that prove my fix is effective or that my feature works - [x] 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

Change Mulit-mesh raycaster and raycaster camera to own files, restore the ones of main to simplify the merge. NOTE: test of the camera is currently failing, similar as on public main at that time, should be fixed after update to latest main - Breaking change (fix or feature that would cause existing functionality to not work as expected) - [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

…d fixes tests (#65) ClassVar not correctly destroyed, thus removing it (follow changes of original RayCaster). Fixing tests to comply with changes of our internal code with 1.4.1. - Bug fix (non-breaking change which fixes an issue) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] 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 --------- Co-authored-by: zrene <zrene@ethz.ch>

…or now

…nstances to benchmark. Fix callback issues for mulit mesh

greptile-apps · 2025-12-16T12:09:33Z

Greptile Overview

Greptile Summary

This PR addresses documentation-related issues from the MultiMeshRayCaster feature merge (#3298). The changes include adding API documentation, improving docstrings, fixing import paths, and adding demo showcase entries.

Key Changes:

Added mesh utility module (utils/mesh.py) with functions to convert USD primitives to trimesh objects
Added prim_utils.py helper for obtaining world poses from different view types
Updated API documentation to include MultiMeshRayCaster classes in isaaclab.sensors and mesh module in isaaclab.utils
Improved docstring formatting in multi_mesh_ray_caster.py and ray_caster.py
Fixed deprecated import paths from omni.isaac.lab to isaaclab in symmetry files
Added multi-mesh raycaster demo to showroom documentation

Issues Found:

Wrong image reference in showroom.rst (uses quadrupeds.jpg instead of multi-mesh-raycast.jpg)
Invalid asset_type argument in showroom demo commands (uses multi which doesn't exist; should be objects, allegro_hand, or anymal_d)

Confidence Score: 3/5

This PR contains documentation fixes but has issues with the showroom demo that will cause runtime errors
Score reduced due to documentation errors that will break the demo commands - incorrect image reference and invalid command-line argument values will confuse users trying the examples
Pay close attention to docs/source/overview/showroom.rst - the demo commands and image reference need correction before users can successfully run the examples

Important Files Changed

File Analysis

Filename	Score	Overview
docs/source/overview/showroom.rst	2/5	Incorrect image reference - uses `quadrupeds.jpg` instead of `multi-mesh-raycast.jpg` for the multi-mesh raycaster demo
source/isaaclab/isaaclab/utils/mesh.py	5/5	Added comprehensive mesh utility functions with proper documentation for converting USD primitives to trimesh
docs/source/api/lab/isaaclab.sensors.rst	5/5	Added API documentation for MultiMeshRayCaster and MultiMeshRayCasterCamera classes
source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py	5/5	Improved documentation formatting and fixed typos in code examples
source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py	5/5	Enhanced documentation with ClassVar explanations and cleaned up function docs
scripts/demos/sensors/multi_mesh_raycaster.py	4/5	Demo script with proper documentation; command-line argument in docs uses incorrect value `multi` instead of `objects`

Sequence Diagram

sequenceDiagram
    participant User
    participant Demo Script
    participant MultiMeshRayCaster
    participant RayCaster Base
    participant Warp Kernels
    participant USD Prims

    User->>Demo Script: Run multi_mesh_raycaster.py with args
    Demo Script->>MultiMeshRayCaster: Initialize with MultiMeshRayCasterCfg
    MultiMeshRayCaster->>RayCaster Base: Call super().__init__(cfg)
    RayCaster Base->>RayCaster Base: Initialize base sensor
    
    MultiMeshRayCaster->>MultiMeshRayCaster: _initialize_impl()
    MultiMeshRayCaster->>USD Prims: Resolve mesh prim paths (regex expressions)
    USD Prims-->>MultiMeshRayCaster: Return matched prims
    
    MultiMeshRayCaster->>MultiMeshRayCaster: Create trimesh from USD geometry
    Note over MultiMeshRayCaster: Uses mesh.py utilities:<br/>create_trimesh_from_geom_mesh()<br/>create_trimesh_from_geom_shape()
    
    MultiMeshRayCaster->>Warp Kernels: Convert trimesh to warp meshes
    Note over Warp Kernels: convert_to_warp_mesh()
    Warp Kernels-->>MultiMeshRayCaster: Return warp mesh objects
    
    MultiMeshRayCaster->>MultiMeshRayCaster: Cache meshes in ClassVar dict
    MultiMeshRayCaster->>MultiMeshRayCaster: Create physics views for dynamic tracking
    Note over MultiMeshRayCaster: Uses prim_utils.py:<br/>obtain_world_pose_from_view()
    
    loop Simulation Step
        Demo Script->>MultiMeshRayCaster: update(dt)
        MultiMeshRayCaster->>MultiMeshRayCaster: Get world poses from views
        MultiMeshRayCaster->>Warp Kernels: raycast_dynamic_meshes()
        Warp Kernels-->>MultiMeshRayCaster: Return hit distances, normals, mesh IDs
        MultiMeshRayCaster->>MultiMeshRayCaster: Store in MultiMeshRayCasterData
        MultiMeshRayCaster-->>Demo Script: Ray hit data available
    end

greptile-apps

_{26 files reviewed, 3 comments}

_{Edit Code Review Agent Settings | Greptile}

Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

github-actions · 2025-12-16T14:43:42Z

Test Results Summary

2 750 tests 2 288 ✅ 2h 14m 57s ⏱️
105 suites 461 💤
1 files 0 ❌ 1 🔥

For more details on these errors, see this check.

Results for commit 361be5b.

# Description This MR adds the remaining comments in isaac-sim#3298 ## 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` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] 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: renezurbruegg <zrene@ethz.ch> Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: zrene <zrene@ethz.ch> Co-authored-by: Pascal Roth <roth.pascal@outlook.de> Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: zrene <rene.zurbruegg@gmail.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>

pascal-roth and others added 30 commits August 9, 2025 08:27

forgotten merge

d13331c

revert classvar changes and apply formatter

3f5d008

revert device change in ray caster

5decd09

update tests from unittest to pytest

f585a31

add initial benchmark scripts and formatter

7242ea2

Fix check script

2c6c607

Manually merging pascal-roth changes from static vars branch

86418d3

remove wrongfully pushed wheels

fa6b498

Merge changes from #90 - dropping support for cache_combined_meshes f…

8beb0d2

…or now

add memory benchmark

5ca6e6e

fix garbage collection issue

eefcb3a

Add initial offset if mesh transform track is set to false

6eda9c8

avoid visualization when ray hits is not instantiated yet

0712ee5

Add resolve world pose

004184e

Change benchmark to sphere. Add different amount of faces and multi i…

9287efe

…nstances to benchmark. Fix callback issues for mulit mesh

fix local offsets

f80e384

add example allegro hand

bcd747a

Fix local offsets

4f6c772

Added regex lookups

f98150e

Add num assets flag.

5940b98

Add anymal demo

500931c

Add scale randomizations. Drop support for instancer meshes

586858c

add shapes

4d167ec

update benchmark scripts for different use cases - WIP

5b8563d

cleanup tests

17b5819

Add is shared functionality back

b3747c4

Mayankm96 added 4 commits December 16, 2025 12:38

cleans up function docs

760cecd

adds api docs for multi mesh

b35767b

fixes docs related changes

a3a6fc3

adds multi-mesh to demos

0285db5

Mayankm96 requested review from jtigue-bdai, kellyguo11, ooctipus and pascal-roth as code owners December 16, 2025 12:05

github-actions Bot added bug Something isn't working documentation Improvements or additions to documentation isaac-lab Related to Isaac Lab team labels Dec 16, 2025

greptile-apps Bot reviewed Dec 16, 2025

View reviewed changes

Comment thread docs/source/overview/showroom.rst Outdated

Comment thread docs/source/overview/showroom.rst Outdated

Comment thread docs/source/overview/showroom.rst Outdated

Mayankm96 and others added 6 commits December 16, 2025 13:10

Merge branch 'main' into fix/multi-mesh-docs

b619f53

fixes changelog

5389132

Apply suggestions from code review

86bdd52

Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com> Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

fixes renaming

2f40d35

fixes warning in demo

f1cecaa

fixes docs warnings

5c85fed

Mayankm96 changed the title ~~Addresses docs related issues from MultiMeshRayCast MR~~ Addresses docs related issues from MultiMeshRayCast Dec 16, 2025

Mayankm96 changed the title ~~Addresses docs related issues from MultiMeshRayCast~~ Addresses docs related issues from MultiMeshRayCaster Dec 16, 2025

Mayankm96 added 2 commits December 16, 2025 13:46

aligns tab

361be5b

removes unused docs

c3df969

clarifies module

ffea22b

Mayankm96 merged commit 9cd577f into main Dec 16, 2025
7 of 8 checks passed

Mayankm96 deleted the fix/multi-mesh-docs branch December 16, 2025 15:55

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Addresses docs related issues from MultiMeshRayCaster#4222

Addresses docs related issues from MultiMeshRayCaster#4222
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Mayankm96 commented Dec 16, 2025 •

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greptile-apps Bot commented Dec 16, 2025

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Confidence Score: 3/5

Important Files Changed

Sequence Diagram

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Mayankm96 commented Dec 16, 2025 •

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