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Fixes setting of pose when spawning a mesh #692

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merged 4 commits into from
Aug 2, 2024
Merged

Fixes setting of pose when spawning a mesh #692

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b91c410
Fix meshes
masoudmoghani Jul 16, 2024
c242d14
adds name to list
Mayankm96 Aug 2, 2024
bf60877
Merge branch 'main' into fix/meshes
Mayankm96 Aug 2, 2024
f3a9028
adds version
Mayankm96 Aug 2, 2024
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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Expand Up @@ -44,6 +44,7 @@ Guidelines for modifications:
* Johnson Sun
* Kourosh Darvish
* Lorenz Wellhausen
* Masoud Moghani
* Muhong Guo
* Nuralem Abizov
* Özhan Özen
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2 changes: 1 addition & 1 deletion source/extensions/omni.isaac.lab/config/extension.toml
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@@ -1,7 +1,7 @@
[package]

# Note: Semantic Versioning is used: https://semver.org/
version = "0.20.2"
version = "0.20.3"

# Description
title = "Isaac Lab framework for Robot Learning"
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12 changes: 12 additions & 0 deletions source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
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@@ -1,6 +1,18 @@
Changelog
---------

0.20.3 (2024-08-02)
~~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed the setting of translation and orientation when spawning a mesh prim. Earlier, the translation
and orientation was being applied both on the parent Xform and the mesh prim. This was causing the
mesh prim to be offset by the translation and orientation of the parent Xform, which is not the intended
behavior.


0.20.2 (2024-08-02)
~~~~~~~~~~~~~~~~~~~

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2 changes: 0 additions & 2 deletions source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/meshes/meshes.py
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Expand Up @@ -300,8 +300,6 @@ def _spawn_mesh_geom_from_mesh(
mesh_prim = prim_utils.create_prim(
mesh_prim_path,
prim_type="Mesh",
translation=translation,
orientation=orientation,
scale=scale,
attributes={
"points": mesh.vertices,
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2 changes: 1 addition & 1 deletion source/standalone/tutorials/00_sim/spawn_prims.py
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Expand Up @@ -71,7 +71,7 @@ def design_scene():
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
)
cfg_cone_rigid.func(
"/World/Objects/ConeRigid", cfg_cone_rigid, translation=(0.0, 0.0, 2.0), orientation=(0.5, 0.0, 0.5, 0.0)
"/World/Objects/ConeRigid", cfg_cone_rigid, translation=(-0.2, 0.0, 2.0), orientation=(0.5, 0.0, 0.5, 0.0)
)

# spawn a blue cuboid with deformable body
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