refactor(schemas): migrate rigid_props to fragments; deprecate RigidBodyPropertiesCfg (2/2) - #4
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…odyPropertiesCfg Build on the additive rigid-body fragment API: flip the legacy name and move every call site to the new fragment-list form. - isaaclab_physx: RigidBodyPropertiesCfg becomes a deprecation factory returning [UsdPhysicsRigidBodyCfg(...), PhysxRigidBodyCfg(...)] (removal in 5.0). - Migrate all RigidBodyPropertiesCfg usages across isaaclab_assets, isaaclab_tasks, isaaclab_mimic and the test suites to fragment lists. - Update consumer sites that treated rigid_props as a single object: disable_gravity mutations, .replace(), and attribute reads. BREAKING: RigidBodyPropertiesCfg no longer returns a single cfg object. Pass a fragment list to rigid_props; code mutating attributes on it must set the field on the PhysxRigidBodyCfg fragment in the list.
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# 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: vidurv-nvidia#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>
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Description
Summary (PR 2 of 2 — stacked on the framework PR)
Builds on the additive fragment API (isaac-sim#5976). Flips the legacy name and moves every call site to fragment lists.
RigidBodyPropertiesCfg→ deprecation factory returning[UsdPhysicsRigidBodyCfg(...), PhysxRigidBodyCfg(...)](removal in 5.0).RigidBodyPropertiesCfgusages acrossisaaclab_assets,isaaclab_tasks,isaaclab_mimic, and the test suites to fragment lists.rigid_propsas a single object:disable_gravitymutations,.replace(), attribute reads.Breaking:
RigidBodyPropertiesCfgno longer returns a single cfg object.Test Plan
test_schema_fragments.py8 ·test_schemas39 ·test_schemas_shim145 ·test_spawn_shapes12 ·test_spawn_meshes10test_spawn_from_files(Nucleus assets) + full task regression in CIFixes # (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