feat(schemas): tendons schema-fragment API (additive) - #10
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…`` (isaac-sim#6242) # Description Fixed the `newton[sim]` dependency pin to use Newton commit `79e95bf5571d70a0a46c8eaedc80644531d27368`, including the `RenderContext` triangle-mesh construction fix from [newton-physics/newton#3199](newton-physics/newton#3199). ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
Bumped packages: - isaaclab: 7.0.5 → 7.1.0 - isaaclab_newton: 1.0.4 → 1.1.0 - isaaclab_ov: 0.4.6 → 0.5.0 - isaaclab_physx: 2.0.2 → 2.1.0 - isaaclab_tasks: 8.0.4 → 8.0.5 - isaaclab_visualizers: 1.0.1 → 1.0.2
…cartpole, dexsuite_kuka, and shadow_hand with test coverage (isaac-sim#6101) # Description Add distance_to_camera and distance_to_image_plane camera presets to cartpole, dexsuite_kuka, and shadow_hand with test coverage. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
…isaac-sim#6238) # Description Add ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION environment variable to opt in to authoring primvars:omni:scenePartition and omni:scenePartition on the USD stage. Previously this was always on; now it is off by default. This is to address an OOM in one of our IsaacSim RTX benchmark suites related to primvar inheritance of the scene partition attributes while the root cause/fix is under investigation. ## Testing We have a separate issue which only visualizes env_0 in kit when scene partitioning is enabled... so I tested with: ```bash ./isaaclab.sh train --rl_library rsl_rl \ --task Isaac-Lift-KukaAllegro-Camera \ presets=newton_mjwarp,isaacsim_rtx_renderer,rgb64,single_camera \ --seed 42 \ --num_envs 4 \ --max_iterations 1000 \ --visualizer kit ``` ... and it shows all the envs - checked all the env Xforms and camera and they don't have the scenePartition attribute/primvars: <img width="3813" height="2072" alt="image" src="https://github.com/user-attachments/assets/ea22b566-db95-498b-aa5d-445c1c2b0c8b" /> Conversely, tested with the environment variable enabled: ```bash ISAAC_LAB_ENABLE_ISAAC_RTX_PER_ENV_SCENE_PARTITION=1 ./isaaclab.sh train --rl_library rsl_rl \ --task Isaac-Lift-KukaAllegro-Camera \ presets=newton_mjwarp,isaacsim_rtx_renderer,rgb64,single_camera \ --seed 42 \ --num_envs 4 \ --max_iterations 1000 \ --visualizer kit ``` And we get the old behavior of only env_0 showing. @fatimaanes keen to hear if this helps mitigate the benchmark OOM you are seeing. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description ## Summary (PR 1 of 2 — additive, no behavior change) Introduces single-namespace schema **fragments** so a prim can carry rigid-body properties from multiple USD namespaces at once (`physics:`, `physxRigidBody:`, `mjc:`), with core naming no backend. **Purely additive** — existing cfgs and the deprecated `RigidBodyPropertiesCfg` class are untouched. - **core:** `SchemaFragment`, `RigidBodyFragment`, `UsdPhysicsRigidBodyCfg`; `apply_namespaced` (generic per-fragment writer) and `apply_rigid_body_properties` (applies a fragment list with `UsdPhysics.RigidBodyAPI` as the implicit anchor). - **spawner:** `rigid_props` accepts a fragment list; legacy single cfgs keep working via a transition bridge (shapes/meshes/from_files/mesh_converter). - **backends:** `PhysxRigidBodyCfg` (physx), `MujocoRigidBodyCfg` (newton). - new `test_schema_fragments.py` + exports. **PR 2** (stacked) flips `RigidBodyPropertiesCfg` to a deprecation factory and migrates all call sites: #4 (review after this lands). ## Test Plan - [x] `test_schema_fragments.py` — 7 passed - [x] pre-commit clean · `./isaaclab.sh -d` docs build clean - [ ] CI First slice of the staged physics schema-cfg refactor (collision / mass / joint-drive / … follow later). Draft for review of the fragment API shape. ## Type of change - New feature (non-breaking change which adds functionality) ## Screenshots N/A — no user-facing visual changes. ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the pre-commit checks (`ruff` + `ruff-format`) on the changed files - [ ] I have made corresponding changes to the documentation (the public API reference is auto-generated via `./isaaclab.sh -d`; not separately authored) - [x] My changes generate no new warnings - [x] I have added tests that prove my feature works - [x] I have added a changelog fragment under `source/<pkg>/changelog.d/` for every touched package - [ ] I have added my name to `CONTRIBUTORS.md` --------- Co-authored-by: ooctipus <zhengyuz@nvidia.com>
Add the additive schema-fragment framework for the tendons family, mirroring the merged rigid-body pilot. Core gains the FixedTendonFragment / SpatialTendonFragment markers and the apply_fixed_tendon_properties / apply_spatial_tendon_properties family writers. Tendons are a tune-not-apply family, so the writers dispatch each fragment's func without applying a new anchor schema. PhysX gains PhysxFixedTendonCfg / PhysxSpatialTendonCfg data-carrier fragments that override func with thin apply_fixed_tendon / apply_spatial_tendon wrappers delegating to the existing multi-instance modify_fixed_/spatial_tendon_properties writers. The from_files spawn slots are widened to accept fragment lists with a transition bridge; legacy cfgs and writers stay intact. The legacy writer's mjc:* branch is kept inline with a future-split-candidate note.
No behavior change; collapse over-explained inline comments to terse intent.
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Superseded by the upstream cross-fork PR on isaac-sim/IsaacLab (tendons framework, base develop, like isaac-sim#5976/isaac-sim#6254). Closing this fork-internal PR. |
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Description
Additive tendons fragment family (override func, tune-not-apply)
FixedTendonFragment/SpatialTendonFragmentmarkers +apply_fixed_tendon_properties/apply_spatial_tendon_propertiesPhysxFixedTendonCfg/PhysxSpatialTendonCfgoverridefuncto delegate to the existing multi-instance tendon writers (tune existingPhysxTendonAxisRootAPI:<inst>).fixed_tendons_props/spatial_tendons_propsaccept fragment lists + bridge.Decision: the legacy
mjc:*tendon branch is kept inline (future split candidate, commented). Status: authored, ruff clean, sim verification pending.Fixes # (N/A — part of the staged physics schema-fragment refactor; no tracked public issue)
Type of change
Screenshots
N/A — no user-facing visual changes.
Checklist
ruff+ruff-format) on the changed files./isaaclab.sh -d; not separately authored)source/<pkg>/changelog.d/for every touched packageCONTRIBUTORS.md