feat(schemas): mass schema-fragment API (additive) - #6
Closed
vidurv-nvidia wants to merge 8 commits into
Closed
Conversation
…`` (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 mass schema-fragment framework mirroring the rigid-body pilot. Mass is a pure-UsdPhysics family with no backend split. - Add MassFragment marker and MassCfg fragment (physics:mass / physics:density) in core schemas_cfg. - Add apply_mass_properties writer applying UsdPhysics.MassAPI as the implicit anchor, then dispatching each fragment via its func. - Widen the RigidObjectSpawnerCfg mass_props slot to accept a MassFragment or list, with transition bridges at the shapes, meshes, from_files, and mesh_converter spawn sites. - Export the new public names and add a test plus changelog fragment. The legacy MassPropertiesCfg and define_/modify_mass_properties remain the canonical names and are left untouched.
No behavior change; collapse over-explained inline comments to terse intent.
vidurv-nvidia
force-pushed
the
vidurv/schema-frag-mass
branch
from
June 25, 2026 05:41
8eaf18a to
6a1f55f
Compare
Owner
Author
|
Superseded by the upstream cross-fork PR on isaac-sim/IsaacLab (mass framework, base develop, like isaac-sim#5976/isaac-sim#6254). Closing this fork-internal PR. |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
Additive mass fragment family (pure UsdPhysics, no backend split)
MassFragment,MassCfg(physics:mass/density),apply_mass_properties(anchorMassAPI)MassPropertiesCfgkept as canonical (not deprecated);MassCfgadded alongside.mass_propsaccepts a fragment list + bridge.Status: authored, ruff + pre-commit clean. Not yet Isaac-Sim verified (CI pending). Stacked on the rigid-body framework branch.
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