Reinitialize holonomic robot setup when prim paths change

source/extensions/isaacsim.robot.wheeled_robots.nodes/python/nodes/OgnHolonomicRobotUsdSetup.py

@@ -95,6 +95,8 @@ def compute(db: OgnHolonomicRobotUsdSetupDatabase) -> bool:
             if (robot_prim_path != state.robot_prim_path) or (com_prim_path != state.com_prim_path):
                 state.robot_prim_path = robot_prim_path
                 state.com_prim_path = com_prim_path
+                state.robot_params = None
+                state.initialized = False
 
             if not state.initialized:
                 state.initialize()

source/extensions/isaacsim.robot.wheeled_robots.nodes/python/tests/test_holonomic_setup_retarget.py

@@ -0,0 +1,65 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Regression coverage for HolonomicRobotUsdSetup retargeting."""
+
+import importlib.util
+from pathlib import Path
+from types import SimpleNamespace
+from unittest.mock import patch
+
+import omni.kit.test
+
+MODULE_PATH = Path(__file__).resolve().parents[1] / "nodes" / "OgnHolonomicRobotUsdSetup.py"
+SPEC = importlib.util.spec_from_file_location("_holonomic_setup_retarget", MODULE_PATH)
+MODULE = importlib.util.module_from_spec(SPEC)
+SPEC.loader.exec_module(MODULE)
+
+
+class _FakeRobotParams:
+    def __init__(self, marker: float) -> None:
+        self.wheel_radius = [marker]
+        self.wheel_positions = [[marker, 0.0, 0.0]]
+        self.wheel_orientations = [[1.0, 0.0, 0.0, 0.0]]
+        self.mecanum_angles = [marker]
+        self.wheel_dof_names = [f"wheel_{int(marker)}"]
+        self.wheel_axis = [1.0, 0.0, 0.0]
+        self.up_axis = [0.0, 0.0, 1.0]
+
+
+class TestHolonomicSetupRetarget(omni.kit.test.AsyncTestCase):
+    """Verify path changes rebuild cached holonomic robot parameters."""
+
+    async def test_changed_prim_paths_reinitialize_robot_params(self) -> None:
+        calls = []
+
+        def fake_setup(*, robot_prim_path: str, com_prim_path: str):
+            calls.append((robot_prim_path, com_prim_path))
+            marker = 1.0 if robot_prim_path == "/RobotA" else 2.0
+            return _FakeRobotParams(marker)
+
+        state = MODULE.OgnHolonomicRobotUsdSetupInternalState()
+        db = SimpleNamespace(
+            per_instance_state=state,
+            inputs=SimpleNamespace(
+                usePath=True,
+                robotPrimPath="/RobotA",
+                comPrimPath="/RobotA/com",
+                robotPrim=[],
+                comPrim=[],
+            ),
+            outputs=SimpleNamespace(),
+            log_error=lambda _message: None,
+        )
+
+        with patch.object(MODULE, "HolonomicRobotUsdSetup", side_effect=fake_setup):
+            self.assertTrue(MODULE.OgnHolonomicRobotUsdSetup.compute(db))
+            self.assertEqual(db.outputs.wheelRadius, [1.0])
+
+            db.inputs.robotPrimPath = "/RobotB"
+            db.inputs.comPrimPath = "/RobotB/com"
+            self.assertTrue(MODULE.OgnHolonomicRobotUsdSetup.compute(db))
+
+        self.assertEqual(calls, [("/RobotA", "/RobotA/com"), ("/RobotB", "/RobotB/com")])
+        self.assertEqual(db.outputs.wheelRadius, [2.0])
+        self.assertEqual(db.outputs.wheelDofNames, ["wheel_2"])