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Fix resetXformStack handling in the USD world-pose fallback - #835

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MishDivy wants to merge 1 commit into
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MishDivy:fix/usd-world-pose-reset-stack
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MishDivy wants to merge 1 commit into
isaac-sim:developfrom
MishDivy:fix/usd-world-pose-reset-stack

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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: The USD fallback in computeWorldXformNoCache ignored resetXformStack and kept including parent transforms. In the issue's example, the experimental prim reader returned (15, 0, 0) instead of OpenUSD's (5, 0, 0).

Solution: The helper now uses the reset flag returned by GetLocalTransformation and stops accumulating parent transforms when it is set.

Testing

Added a C++ regression test covering normal transform inheritance and resets on the queried prim or an ancestor. The test fails without the fix and passes with it.

Fixes #834

Signed-off-by: Divyansh Mishra <devmishrapro@gmail.com>
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copy-pr-bot Bot commented Sep 15, 2026

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

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@ben-johnston-nv

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/ok to test f66534c

@ben-johnston-nv

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/ok to internal test f66534c

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[Bug] USD fallback ignores resetXformStack when reading world poses

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