Adding Articulation Root USD data classes and writers - #6272

Merged

ooctipus merged 30 commits into

isaac-sim:developfrom

vidurv-nvidia:vidurv/schema-frag-articulation

Jul 11, 2026

Commits on Jun 26, 2026

feat(schemas): add articulation-root schema-fragment API
vidurv-nvidia
committed
1e04efb
docs(schemas): mark transition shim if/else for removal post-migration
vidurv-nvidia
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064ba8e
fix(schemas): resolve articulation root before applying fragments
vidurv-nvidia
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af0c392
refactor(schemas): reuse get_first_matching_child_prim for root lookup
vidurv-nvidia
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e80c7aa
style(schemas): trim verbose comments in articulation root writer
vidurv-nvidia
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3fa37b8
test(schemas): cover the fix_root_link create-new-joint path
vidurv-nvidia
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6892d5d
Merge remote-tracking branch 'origin/develop' into vidurv/schema-frag-articulation
vidurv-nvidia
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5dbbc2b
Move PhysX fixed-root-joint creation out of core into the PhysX backend
vidurv-nvidia
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12852bc
Add core-level tests for the fixed-root-joint creator registry
vidurv-nvidia
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f1892ef
Document RuntimeError in apply_articulation_root_properties
vidurv-nvidia
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45165ab
Make fixed-root-joint creation backend-aware so Newton runs on its own
vidurv-nvidia
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6a0775e

Commits on Jun 27, 2026

Commits on Jun 28, 2026

Merge remote-tracking branch 'origin/develop' into vidurv/schema-frag-articulation
vidurv-nvidia
committed
62f98e0

Commits on Jun 29, 2026

Merge develop to pick up docker install fixes (#6262)
vidurv-nvidia
committed
c15dde1

Commits on Jul 2, 2026

Resolve articulation-root fixing via physics manager
vidurv-nvidia
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b0dcdd8
Move create_fixed_root_joint to sim.utils
vidurv-nvidia
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4dc87bb
Migrate pre-authored root schemas on PhysX relocation
vidurv-nvidia
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3b9cf1c

Commits on Jul 4, 2026

Merge remote-tracking branch 'upstream/develop' into ooctipus/pr-6272-direct-fixes
ooctipus
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30f06c4
Fix articulation-root fragment integration boundaries
ooctipus
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d55e0ed
Simplify articulation root handling
ooctipus
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9b2cb9e
Test Newton inherited fixed-root handling
ooctipus
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0d4b413
Avoid local imports in articulation root handling
ooctipus
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7774ba3
Keep cyclic fixed-joint query import local
ooctipus
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280c20a

Commits on Jul 6, 2026

Commits on Jul 10, 2026

Merge remote-tracking branch 'origin/develop' into vidurv/schema-frag-articulation
vidurv-nvidia
committed
10ecaf9