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Fix multiple-apply API handling in experimental prim helpers - #831

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MishDivy wants to merge 1 commit into
isaac-sim:developfrom
MishDivy:fix/ensure-api-instances
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MishDivy wants to merge 1 commit into
isaac-sim:developfrom
MishDivy:fix/ensure-api-instances

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@MishDivy

@MishDivy MishDivy commented Sep 14, 2026 •

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Local validation

Platforms

  • Linux
  • Windows

Checks

  • Isaac Sim build
  • Affected Isaac Sim / Kit extension tests
  • Repository formatter
  • Contribution path filter
  • Git whitespace checks

Environment

  • OS / architecture: Ubuntu 24.04.4 LTS / x86_64
  • GPU: NVIDIA GeForce RTX 5090
  • NVIDIA driver: 595.84

Summary

Problem: ensure_api skipped a requested instance of a multiple-apply schema when another instance was already applied. For example, asking for PhysicsDriveAPI:transY after PhysicsDriveAPI:transX returned an invalid wrapper and left transY out of the prim's apiSchemas.

Solution: The helpers now check the requested API instance (using defined bool operator), and Prim.ensure_api shares the scalar helper's logic.

Testing

Added Regression tests that cover adding a second drive, mixed batches, and single-apply schemas. They also check that reusing an existing instance preserves its authored values without adding opinions to a stronger layer.

Signed-off-by: Divyansh Mishra <devmishrapro@gmail.com>
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copy-pr-bot Bot commented Sep 14, 2026

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This pull request requires additional validation before any workflows can run on NVIDIA's runners.

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@hmazhar-nv

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/ok to test 595d4c3

@ben-johnston-nv

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/ok to internal test 595d4c3

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3 participants