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Document schema fragment framework in API reference #6286

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92 changes: 92 additions & 0 deletions docs/source/api/lab/isaaclab.sim.schemas.rst
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Expand Up @@ -23,6 +23,29 @@ isaaclab.sim.schemas
FixedTendonPropertiesCfg
DeformableBodyPropertiesBaseCfg

.. rubric:: Schema fragments

Single-namespace "fragment" classes. Each fragment authors the attributes of exactly one
USD namespace, and a spawner slot accepts a *list* of fragments, so a single prim can compose
properties from several backends at once (e.g. ``UsdPhysics`` + PhysX + Newton). :class:`SchemaFragment`
is the common base; the per-family marker bases type their spawner slots; and the ``UsdPhysics*Cfg``
fragments carry the solver-common ``physics:*`` attributes. Backend-specific fragments live in
:mod:`isaaclab_physx.sim.schemas` / :mod:`isaaclab_newton.sim.schemas`. See
:doc:`/source/overview/core-concepts/schema_cfgs` for the design.

.. autosummary::

SchemaFragment
RigidBodyFragment
CollisionFragment
MassFragment
MeshCollisionFragment
FixedTendonFragment
SpatialTendonFragment
UsdPhysicsRigidBodyCfg
UsdPhysicsCollisionCfg
UsdPhysicsMeshCollisionCfg

.. rubric:: Mesh collision approximations (USD-only, no PhysX schema)

.. autosummary::
Expand All @@ -34,6 +57,14 @@ isaaclab.sim.schemas

.. autosummary::

apply_namespaced
apply_rigid_body_properties
apply_collision_properties
apply_mass_properties
apply_mesh_collision
apply_mesh_collision_properties
apply_fixed_tendon_properties
apply_spatial_tendon_properties
define_articulation_root_properties
modify_articulation_root_properties
define_rigid_body_properties
Expand All @@ -50,6 +81,60 @@ isaaclab.sim.schemas
define_deformable_body_properties
modify_deformable_body_properties

Schema fragments
----------------

.. autoclass:: SchemaFragment
:members:
:exclude-members: __init__

.. autoclass:: RigidBodyFragment
:members:
:show-inheritance:
:exclude-members: __init__

.. autoclass:: CollisionFragment
:members:
:show-inheritance:
:exclude-members: __init__

.. autoclass:: MassFragment
:members:
:show-inheritance:
:exclude-members: __init__

.. autoclass:: MeshCollisionFragment
:members:
:show-inheritance:
:exclude-members: __init__

.. autoclass:: FixedTendonFragment
:members:
:show-inheritance:
:exclude-members: __init__

.. autoclass:: SpatialTendonFragment
:members:
:show-inheritance:
:exclude-members: __init__

.. autoclass:: UsdPhysicsRigidBodyCfg
:members:
:show-inheritance:
:exclude-members: __init__

.. autoclass:: UsdPhysicsCollisionCfg
:members:
:show-inheritance:
:exclude-members: __init__

.. autoclass:: UsdPhysicsMeshCollisionCfg
:members:
:show-inheritance:
:exclude-members: __init__

.. autofunction:: apply_namespaced

Articulation Root
-----------------

Expand All @@ -73,6 +158,7 @@ Rigid Body
:members:
:exclude-members: __init__

.. autofunction:: apply_rigid_body_properties
.. autofunction:: define_rigid_body_properties
.. autofunction:: modify_rigid_body_properties
.. autofunction:: activate_contact_sensors
Expand All @@ -89,6 +175,7 @@ Collision
:members:
:exclude-members: __init__

.. autofunction:: apply_collision_properties
.. autofunction:: define_collision_properties
.. autofunction:: modify_collision_properties

Expand All @@ -106,6 +193,7 @@ Mass
:members:
:exclude-members: __init__

.. autofunction:: apply_mass_properties
.. autofunction:: define_mass_properties
.. autofunction:: modify_mass_properties

Expand Down Expand Up @@ -140,6 +228,8 @@ Mesh Collision
:show-inheritance:
:exclude-members: __init__

.. autofunction:: apply_mesh_collision
.. autofunction:: apply_mesh_collision_properties
.. autofunction:: define_mesh_collision_properties
.. autofunction:: modify_mesh_collision_properties

Expand All @@ -151,6 +241,8 @@ For Newton hull-vertex limit, see
Tendon
------

.. autofunction:: apply_fixed_tendon_properties
.. autofunction:: apply_spatial_tendon_properties
.. autofunction:: modify_fixed_tendon_properties
.. autofunction:: modify_spatial_tendon_properties

Expand Down
4 changes: 4 additions & 0 deletions source/isaaclab/changelog.d/vidurv-schema-frag-docs.skip
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@@ -0,0 +1,4 @@
Docs: documented the schema "fragment" framework in the ``isaaclab.sim.schemas`` API
reference -- the single-namespace fragment classes (``SchemaFragment``, the per-family
marker bases, and the ``UsdPhysics*Cfg`` fragments) and the family writers
(``apply_namespaced`` and the ``apply_*_properties`` functions).
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