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Fix Factory collision prim resolution #7093

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Merged
ooctipus merged 1 commit into from
Aug 14, 2026
+10 −5
Merged

Fix Factory collision prim resolution #7093

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4 changes: 4 additions & 0 deletions source/isaaclab_tasks/changelog.d/zhengyuz-factory-env-regex.rst
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Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
Fixed
^^^^^

* Fixed ``IsaacContrib-Factory-Franka`` startup with segment-safe environment prim-path expressions.
11 changes: 6 additions & 5 deletions source/isaaclab_tasks/isaaclab_tasks/contrib/nist/utils/collision_analyzer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
import torch
import warp as wp

from isaaclab.sim.utils import get_first_matching_child_prim
from isaaclab.sim.utils import resolve_matching_prims_from_source

from isaaclab_tasks.contrib.nist.utils import mesh_ops as _mesh_ops
from isaaclab_tasks.contrib.nist.utils.rigid_object_hasher import RigidObjectHasher
Expand Down Expand Up @@ -52,14 +52,15 @@ def __init__(self, cfg: CollisionAnalyzerCfg, env: ManagerBasedRLEnv):
self.body_ids = []
self.local_pts = []
for body_name in body_names:
prim = get_first_matching_child_prim(
self.asset.cfg.prim_path.replace(".*", "0", 1),
_, prim_path_pattern = resolve_matching_prims_from_source(
self.asset.cfg.prim_path,
predicate=lambda p: p.GetName() == body_name and p.HasAPI(UsdPhysics.RigidBodyAPI),
)
expected_num_matches=1,
)[0]
local_pts = _mesh_ops.sample_object_point_cloud(
num_envs=env.num_envs,
num_points=cfg.num_points,
prim_path_pattern=str(prim.GetPath()).replace("env_0", "env_.*", 1),
prim_path_pattern=prim_path_pattern,
device=device,
)
if local_pts is not None:
Expand Down
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