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Adds math tests for transforms, rotations, and conversions (#103) #2801

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Merged
merged 8 commits into from
Jul 10, 2025
Merged

Adds math tests for transforms, rotations, and conversions (#103) #2801

merged 8 commits into from
Jul 10, 2025

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jtigue-bdai
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@jtigue-bdai jtigue-bdai commented Jun 27, 2025 •
edited by kellyguo11
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Description

this PR adds tests for:

  • scale_transform
  • unscale_transform
  • saturate
  • normalize
  • copysign
  • convert_quat
  • quat_conjugate
  • quat_from_euler_xyz
  • quat_from_matrix
  • euler_xyz_from_quat
  • matrix_from_euler
  • quat_from_angle_axis
  • axis_angle_from_quat
  • skew_symmetric_matrix
  • combine_transform
  • subtract_transform
  • compute_pose_error

Fixes # (issue)

Type of change

  • Bug fix (non-breaking change which fixes an issue)
  • New feature (non-breaking change which adds functionality)

Checklist

  • I have run the pre-commit checks with ./isaaclab.sh --format
  • I have made corresponding changes to the documentation
  • My changes generate no new warnings
  • I have added tests that prove my fix is effective or that my feature works
  • I have updated the changelog and the corresponding version in the extension's config/extension.toml file
  • I have added my name to the CONTRIBUTORS.md or my name already exists there

@jtigue-bdai jtigue-bdai self-assigned this Jun 30, 2025
jtigue-bdai
jtigue-bdai commented Jun 30, 2025
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@jtigue-bdai
Update test docstrings
26d9bd0 
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
@jtigue-bdai jtigue-bdai marked this pull request as ready for review June 30, 2025 13:50
ooctipus
ooctipus approved these changes Jul 7, 2025
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This is looking really good, Thanks James!

@kellyguo11 kellyguo11 changed the title Add math tests for transforms, rotations, and conversions (#103) Adds math tests for transforms, rotations, and conversions (#103) Jul 9, 2025
@kellyguo11
Merge branch 'main' into jat/feat/new_math_tests
f6f287c 
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
@kellyguo11
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looks like a couple of the tests are failing in CI, is that expected?

@jtigue-bdai
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looks like a couple of the tests are failing in CI, is that expected?

Nope not expected. Let me take a look.

@jtigue-bdai
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looks like a couple of the tests are failing in CI, is that expected?

Nope not expected. Let me take a look.

@kellyguo11 fixed the issue. it was the compute_pose_error changes. Once I reverted those and fixed the test it seemed to work on my machine.

@jtigue-bdai
Merge branch 'main' into jat/feat/new_math_tests
4a32631 
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
@jtigue-bdai
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looks like a couple of the tests are failing in CI, is that expected?

Nope not expected. Let me take a look.

@kellyguo11 fixed the issue. it was the compute_pose_error changes. Once I reverted those and fixed the test it seemed to work on my machine.

Tests pass except test_tiled_camera

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Some tests in test_tiled_camera is a bit finicky because the rendered pixel are inherently stochastic in tiled camera, we fix some of it in the upcoming commits, but I think it should be fine. @kellyguo11

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awesome, latest run looks good!

@kellyguo11 kellyguo11 merged commit 8e57a3a into isaac-sim:main Jul 10, 2025
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@ooctipus ooctipus ooctipus approved these changes

@jsmith-bdai jsmith-bdai Awaiting requested review from jsmith-bdai jsmith-bdai is a code owner

@Mayankm96 Mayankm96 Awaiting requested review from Mayankm96 Mayankm96 is a code owner

@kellyguo11 kellyguo11 Awaiting requested review from kellyguo11 kellyguo11 is a code owner

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