b178aafe40
- Add core/compat.py: compatibility module with try/except imports supporting both IS 4.x (omni.isaac.*) and IS 5.x+ (isaacsim.*) - Migrate 152 imports across 47 files from direct omni.isaac.* to core.compat - Handle class renames: RigidPrim→SingleRigidPrim, GeometryPrim→SingleGeometryPrim, XFormPrim→SingleXFormPrim, Articulation→SingleArticulation (aliased for compatibility) - Add migerate/migrate_imports.py: automated migration script for future use - Leave debug_draw and env_loader try/except imports as-is This eliminates ~100 deprecation warnings from our code on IS 5.0, and future-proofs for IS 6.x when old APIs may be removed. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
33 lines
1.1 KiB
Python
33 lines
1.1 KiB
Python
from core.compat import get_prim_at_path
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from pxr import UsdPhysics
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def get_all_joints(robot_prim, joint_dict):
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for child in robot_prim.GetChildren():
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if child.IsA(UsdPhysics.Joint):
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joint_dict[child.GetName()] = UsdPhysics.Joint(child)
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else:
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get_all_joints(child, joint_dict)
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return joint_dict
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def get_link(robot_prim):
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joint_dict = {}
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joint_dict = get_all_joints(robot_prim, joint_dict)
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# print(self.joint_dict)
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link_dict = {}
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for value in joint_dict.values():
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body0_rel = value.GetBody0Rel()
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body0_path = body0_rel.GetTargets()
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if len(body0_path) > 0:
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body0_prim = get_prim_at_path(str(body0_path[0]))
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if body0_prim.IsValid():
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link_dict[str(body0_prim.GetPath())] = body0_prim
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body1_rel = value.GetBody1Rel()
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body1_path = body1_rel.GetTargets()
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if len(body1_path) > 0:
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body1_prim = get_prim_at_path(str(body1_path[0]))
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if body1_prim.IsValid():
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link_dict[str(body1_prim.GetPath())] = body1_prim
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return link_dict
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