Add MuJoCo gravity compensation schema classes

source/isaaclab/changelog.d/vidur-add-mujoco-gravcomp.minor.rst

@@ -0,0 +1,12 @@
+Changed
+^^^^^^^
+
+* Deprecated :attr:`~isaaclab_newton.sim.schemas.MujocoRigidBodyPropertiesCfg.gravity_compensation_scale`
+  in favour of :attr:`~isaaclab_newton.sim.schemas.MujocoRigidBodyPropertiesCfg.gravcomp`. Forwarded
+  via ``__post_init__``. Removal in 5.0.
+* Deprecated :attr:`~isaaclab_newton.sim.schemas.MujocoJointDrivePropertiesCfg.gravity_compensation`
+  in favour of :attr:`~isaaclab_newton.sim.schemas.MujocoJointDrivePropertiesCfg.actuatorgravcomp`.
+  Forwarded via ``__post_init__``. Removal in 5.0.
+* Relocated :class:`MujocoRigidBodyPropertiesCfg` and :class:`MujocoJointDrivePropertiesCfg`
+  to :mod:`isaaclab_newton.sim.schemas`. Forwarding shims on :mod:`isaaclab.sim.schemas` and
+  :mod:`isaaclab.sim` preserve existing imports. Shims scheduled for removal in 5.0.

source/isaaclab/changelog.d/vidur-cfg-exception-table.minor.rst

@@ -0,0 +1,27 @@
+Changed
+^^^^^^^
+
+* Cleaned up the schema-cfg base classes to no longer carry PhysX namespace metadata.
+  :class:`~isaaclab.sim.schemas.RigidBodyBaseCfg`,
+  :class:`~isaaclab.sim.schemas.CollisionBaseCfg`,
+  :class:`~isaaclab.sim.schemas.ArticulationRootBaseCfg`, and
+  :class:`~isaaclab.sim.schemas.JointDriveBaseCfg` now declare ``_usd_namespace = None`` and
+  ``_usd_applied_schema = None``. Per-field PhysX overrides for fields whose only USD path
+  today is the ``physx*:*`` namespace (``disable_gravity``, ``contact_offset``,
+  ``rest_offset``, ``articulation_enabled``, ``max_velocity``) are declared via a new
+  ``_usd_field_exceptions`` mapping ``applied_schema -> (namespace, {cfg_field: usd_attr})``.
+  When any listed field is non-None at write time, the writer applies that schema and writes
+  the attribute under the exception namespace; otherwise the schema is not stamped onto the
+  prim. PhysX subclasses (:class:`PhysxRigidBodyPropertiesCfg`,
+  :class:`PhysxCollisionPropertiesCfg`, :class:`PhysxArticulationRootPropertiesCfg`,
+  :class:`PhysxJointDrivePropertiesCfg`) now self-declare ``_usd_namespace`` and
+  ``_usd_applied_schema`` for their own fields. Observable behavior on standard inputs is
+  unchanged.
+* Consolidated the per-writer schema-application loop in
+  :mod:`isaaclab.sim.schemas` into a single shared helper ``_apply_namespaced_schemas``.
+  ``modify_articulation_root_properties``, ``modify_rigid_body_properties``,
+  ``modify_collision_properties``, ``modify_joint_drive_properties``,
+  ``modify_mesh_collision_properties``, and ``spawn_rigid_body_material`` all delegate to the
+  helper after writing their typed-API ``UsdPhysics`` fields. The canonical exception-table
+  + main-namespace gating logic now lives in one place instead of being duplicated across
+  six call sites.

source/isaaclab/changelog.d/vidur-rebalance-cfg-placement.minor.rst

@@ -0,0 +1,122 @@
+Added
+^^^^^
+
+* Added :class:`~isaaclab.sim.spawners.materials.RigidBodyMaterialBaseCfg`, the solver-common
+  base class for rigid-body physics materials. Carries the ``UsdPhysics.MaterialAPI`` standard
+  fields (``static_friction``, ``dynamic_friction``, ``restitution``). The PhysX-specific
+  compliant-contact and combine-mode fields moved to
+  :class:`~isaaclab_physx.sim.spawners.materials.PhysxRigidBodyMaterialCfg`.
+* Added :class:`~isaaclab.sim.schemas.CollisionBaseCfg`, the solver-common base class for
+  collision properties. Carries :attr:`collision_enabled` (``UsdPhysics.CollisionAPI``) plus
+  :attr:`contact_offset` and :attr:`rest_offset` whose USD attributes are PhysX-namespaced
+  but are consumed by Newton's importer via the PhysX bridge resolver
+  (``import_usd.py:2104, 2111``).
+* Added :class:`~isaaclab.sim.schemas.ArticulationRootBaseCfg`, the solver-common base class
+  for articulation root properties (``fix_root_link``, ``articulation_enabled``).
+* Added :class:`~isaaclab.sim.schemas.MeshCollisionBaseCfg`, the solver-common base class for
+  mesh collision properties carrying ``mesh_approximation_name`` (writes
+  ``physics:approximation`` via :class:`UsdPhysics.MeshCollisionAPI`). The class-level
+  ``_usd_applied_schema`` metadata replaces the deprecated ``usd_api`` / ``physx_api``
+  instance-field dispatch.
+
+Changed
+^^^^^^^
+
+* Moved the ``max_velocity`` field from :class:`~isaaclab_physx.sim.schemas.PhysxJointDrivePropertiesCfg`
+  to :class:`~isaaclab.sim.schemas.JointDriveBaseCfg`. The field is the only USD path to set
+  Newton's ``Model.joint_velocity_limit`` and is consumed by Newton's importer. The USD
+  attribute written is unchanged (``physxJoint:maxJointVelocity``); existing code using
+  ``PhysxJointDrivePropertiesCfg(max_velocity=...)`` continues to work because the field
+  is inherited.
+* Moved the ``disable_gravity`` field from :class:`~isaaclab_physx.sim.schemas.PhysxRigidBodyPropertiesCfg`
+  to :class:`~isaaclab.sim.schemas.RigidBodyBaseCfg`. PhysX honors per-body via
+  ``physxRigidBody:disableGravity``; Newton currently honors at scene level (partial),
+  documented in the field docstring. Existing code using
+  ``PhysxRigidBodyPropertiesCfg(disable_gravity=...)`` continues to work via inheritance.
+* Documented :attr:`~isaaclab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled`
+  and :attr:`~isaaclab.sim.schemas.ArticulationRootPropertiesCfg.enabled_self_collisions`
+  to lock their placement for the future :class:`ArticulationRootBaseCfg` /
+  ``PhysxArticulationRootPropertiesCfg`` split: ``articulation_enabled`` stays on the base
+  (single-namespace USD with verified Newton consumer); ``enabled_self_collisions`` moves
+  to the PhysX subclass (dual-namespace USD, with a future Newton sibling cfg owning the
+  ``newton:*`` namespace).
+* Changed the defaults of :attr:`~isaaclab_physx.sim.spawners.materials.PhysxRigidBodyMaterialCfg.compliant_contact_stiffness`,
+  :attr:`compliant_contact_damping`, :attr:`friction_combine_mode`, and
+  :attr:`restitution_combine_mode` from concrete values (``0.0``, ``0.0``, ``"average"``,
+  ``"average"``) to ``None``. PhysX engine defaults match the previous concrete values, so
+  user-observable simulation behavior is unchanged; the difference is that these attributes
+  are now authored on the prim only when the user explicitly sets them (consistent with the
+  rest of the consumption-gated cfg layer).
+* Relocated :class:`RigidBodyMaterialCfg` to :mod:`isaaclab_physx.sim.spawners.materials` and
+  split its fields between the new :class:`~isaaclab.sim.spawners.materials.RigidBodyMaterialBaseCfg`
+  (UsdPhysics-standard friction/restitution) and
+  :class:`~isaaclab_physx.sim.spawners.materials.PhysxRigidBodyMaterialCfg`
+  (PhysX-specific compliant-contact and combine-mode fields). A forwarding shim on
+  :mod:`isaaclab.sim.spawners.materials` and :mod:`isaaclab.sim` preserves existing imports.
+* Refactored :func:`~isaaclab.sim.spawners.materials.spawn_rigid_body_material` to be
+  metadata-driven: it reads ``_usd_applied_schema``, ``_usd_namespace``, and
+  ``_usd_attr_name_map`` from the cfg class and gates ``PhysxMaterialAPI`` application on
+  whether the user authored at least one PhysX-namespaced field with a non-``None`` value.
+  Previously, the writer applied ``PhysxMaterialAPI`` unconditionally on every material spawn.
+* Relocated :class:`CollisionPropertiesCfg` to :mod:`isaaclab_physx.sim.schemas` and split
+  its fields between the new :class:`~isaaclab.sim.schemas.CollisionBaseCfg` (solver-common
+  ``collision_enabled`` plus the PhysX-namespaced but Newton-consumed
+  ``contact_offset`` / ``rest_offset``) and
+  :class:`~isaaclab_physx.sim.schemas.PhysxCollisionPropertiesCfg` (PhysX-only
+  ``torsional_patch_radius`` / ``min_torsional_patch_radius``). A forwarding shim on
+  :mod:`isaaclab.sim.schemas`, :mod:`isaaclab.sim.schemas.schemas_cfg`, and
+  :mod:`isaaclab.sim` preserves existing imports.
+* Refactored :func:`~isaaclab.sim.schemas.modify_collision_properties` to be metadata-driven
+  and to gate ``PhysxCollisionAPI`` application on whether the user authored at least one
+  PhysX-namespaced field with a non-``None`` value. Previously, the writer applied
+  ``PhysxCollisionAPI`` unconditionally on every collision prim, stamping the schema onto
+  Newton-targeted prims that only set ``collision_enabled``.
+* Relocated :class:`ArticulationRootPropertiesCfg` to :mod:`isaaclab_physx.sim.schemas` and
+  split its fields between the new :class:`~isaaclab.sim.schemas.ArticulationRootBaseCfg`
+  (solver-common ``fix_root_link`` plus the PhysX-namespaced ``articulation_enabled`` which
+  is consumed by the IL Newton wrapper as a spawn-time guard) and
+  :class:`~isaaclab_physx.sim.schemas.PhysxArticulationRootPropertiesCfg`
+  (``enabled_self_collisions`` and PhysX TGS solver iter / sleep / stabilization thresholds).
+  A forwarding shim on :mod:`isaaclab.sim.schemas`,
+  :mod:`isaaclab.sim.schemas.schemas_cfg`, and :mod:`isaaclab.sim` preserves existing imports.
+* Refactored :func:`~isaaclab.sim.schemas.modify_articulation_root_properties` to be
+  metadata-driven and to gate ``PhysxArticulationAPI`` application on whether the user
+  authored at least one PhysX-namespaced field with a non-``None`` value. Previously, the
+  writer applied ``PhysxArticulationAPI`` unconditionally on every articulation root,
+  stamping the schema onto Newton-targeted prims that only set ``fix_root_link``.
+* Relocated :class:`MeshCollisionPropertiesCfg`, :class:`ConvexHullPropertiesCfg`,
+  :class:`ConvexDecompositionPropertiesCfg`, :class:`TriangleMeshPropertiesCfg`,
+  :class:`TriangleMeshSimplificationPropertiesCfg`, and :class:`SDFMeshPropertiesCfg` to
+  :mod:`isaaclab_physx.sim.schemas`. :class:`BoundingCubePropertiesCfg` and
+  :class:`BoundingSpherePropertiesCfg` stay in core because they author no PhysX schema.
+  A forwarding shim preserves existing imports.
+* Refactored :func:`~isaaclab.sim.schemas.modify_mesh_collision_properties` to be
+  metadata-driven. The writer now reads ``_usd_applied_schema`` and ``_usd_namespace`` from
+  the cfg class instead of consulting instance-level ``usd_api`` / ``physx_api`` fields.
+  The standard :class:`UsdPhysics.MeshCollisionAPI` is always applied; PhysX cooking
+  schemas (``PhysxConvexHullCollisionAPI`` etc.) are gated on at least one
+  PhysX-namespaced tuning field being set.
+* Relocated :class:`FixedTendonPropertiesCfg` and :class:`SpatialTendonPropertiesCfg` to
+  :mod:`isaaclab_physx.sim.schemas` as :class:`PhysxFixedTendonPropertiesCfg` and
+  :class:`PhysxSpatialTendonPropertiesCfg`. Tendons are a PhysX-only feature; no Newton
+  equivalent exists. A forwarding shim on :mod:`isaaclab.sim.schemas`,
+  :mod:`isaaclab.sim.schemas.schemas_cfg`, and :mod:`isaaclab.sim` preserves existing
+  imports.
+
+Deprecated
+^^^^^^^^^^
+
+* Deprecated the ``usd_api`` and ``physx_api`` instance attributes on the mesh-collision
+  cfg classes in favor of class-level ``_usd_applied_schema`` metadata. Reading these
+  attributes still works through one minor version but emits a ``DeprecationWarning``.
+  Scheduled for removal in 5.0.
+
+Fixed
+^^^^^
+
+* Fixed :meth:`~isaaclab.sim.schemas.modify_joint_drive_properties` and
+  :meth:`~isaaclab.sim.schemas.modify_rigid_body_properties` so that ``PhysxJointAPI`` and
+  ``PhysxRigidBodyAPI`` are applied only when the user authored at least one PhysX-namespaced
+  field with a non-``None`` value. Previously, schema application was gated on class-level
+  metadata being defined, which caused Newton-targeted prims to receive PhysX schemas even
+  when the user only set base ``UsdPhysics``-standard fields.

source/isaaclab/isaaclab/sim/__init__.py

@@ -28,4 +28,93 @@
 
 from isaaclab.utils.module import lazy_export
 
-lazy_export()
+_stub_getattr, _stub_dir, __all__ = lazy_export()
+
+# Names that moved out of this package into ``isaaclab_physx.sim.schemas``.
+# Resolved lazily on first access so importing ``isaaclab.sim`` does not
+# require ``isaaclab_physx`` to be installed.
+_PHYSX_FORWARDS_SCHEMAS = frozenset({
+    "RigidBodyPropertiesCfg",
+    "JointDrivePropertiesCfg",
+    "PhysxRigidBodyPropertiesCfg",
+    "PhysxJointDrivePropertiesCfg",
+    "CollisionPropertiesCfg",
+    "PhysxCollisionPropertiesCfg",
+    "PhysXCollisionPropertiesCfg",
+    "PhysxDeformableCollisionPropertiesCfg",
+    "ArticulationRootPropertiesCfg",
+    "PhysxArticulationRootPropertiesCfg",
+    "MeshCollisionPropertiesCfg",
+    "ConvexHullPropertiesCfg",
+    "ConvexDecompositionPropertiesCfg",
+    "TriangleMeshPropertiesCfg",
+    "TriangleMeshSimplificationPropertiesCfg",
+    "SDFMeshPropertiesCfg",
+    "PhysxConvexHullPropertiesCfg",
+    "PhysxConvexDecompositionPropertiesCfg",
+    "PhysxTriangleMeshPropertiesCfg",
+    "PhysxTriangleMeshSimplificationPropertiesCfg",
+    "PhysxSDFMeshPropertiesCfg",
+    "FixedTendonPropertiesCfg",
+    "SpatialTendonPropertiesCfg",
+    "PhysxFixedTendonPropertiesCfg",
+    "PhysxSpatialTendonPropertiesCfg",
+})
+
+# Names that moved out of this package into ``isaaclab_physx.sim.spawners.materials``.
+_PHYSX_FORWARDS_MATERIALS = frozenset({
+    "RigidBodyMaterialCfg",
+    "PhysxRigidBodyMaterialCfg",
+})
+
+_PHYSX_FORWARDS = _PHYSX_FORWARDS_SCHEMAS | _PHYSX_FORWARDS_MATERIALS
+
+# Names that moved out of this package into ``isaaclab_newton.sim.schemas``.
+# Resolved lazily on first access so importing ``isaaclab.sim`` does not
+# require ``isaaclab_newton`` to be installed.
+_NEWTON_FORWARDS = frozenset({
+    "MujocoRigidBodyPropertiesCfg",
+    "MujocoJointDrivePropertiesCfg",
+    "NewtonCollisionPropertiesCfg",
+    "NewtonMeshCollisionPropertiesCfg",
+    "NewtonMaterialPropertiesCfg",
+    "NewtonArticulationRootPropertiesCfg",
+})
+
+
+def __getattr__(name):
+    if name in _PHYSX_FORWARDS_SCHEMAS:
+        try:
+            from isaaclab_physx.sim.schemas import schemas_cfg as _physx_cfg
+        except ImportError as e:
+            raise ImportError(
+                f"'isaaclab.sim.{name}' has moved to 'isaaclab_physx.sim.schemas'."
+                " Install the isaaclab_physx extension or update your import. This forwarding"
+                " shim is scheduled for removal in 5.0."
+            ) from e
+        return getattr(_physx_cfg, name)
+    if name in _PHYSX_FORWARDS_MATERIALS:
+        try:
+            from isaaclab_physx.sim.spawners.materials import physics_materials_cfg as _physx_mat_cfg
+        except ImportError as e:
+            raise ImportError(
+                f"'isaaclab.sim.{name}' has moved to 'isaaclab_physx.sim.spawners.materials'."
+                " Install the isaaclab_physx extension or update your import. This forwarding"
+                " shim is scheduled for removal in 5.0."
+            ) from e
+        return getattr(_physx_mat_cfg, name)
+    if name in _NEWTON_FORWARDS:
+        try:
+            from isaaclab_newton.sim.schemas import schemas_cfg as _newton_cfg
+        except ImportError as e:
+            raise ImportError(
+                f"'isaaclab.sim.{name}' has moved to 'isaaclab_newton.sim.schemas'."
+                " Install the isaaclab_newton extension or update your import. This forwarding"
+                " shim is scheduled for removal in 5.0."
+            ) from e
+        return getattr(_newton_cfg, name)
+    return _stub_getattr(name)
+
+
+def __dir__():
+    return sorted(set(_stub_dir()) | _PHYSX_FORWARDS | _NEWTON_FORWARDS)

source/isaaclab/isaaclab/sim/__init__.pyi

@@ -36,14 +36,22 @@ __all__ = [
     "ArticulationRootPropertiesCfg",
     "BoundingCubePropertiesCfg",
     "BoundingSpherePropertiesCfg",
-    "CollisionPropertiesCfg",
+    "CollisionBaseCfg",
     "ConvexDecompositionPropertiesCfg",
     "ConvexHullPropertiesCfg",
     "FixedTendonPropertiesCfg",
-    "JointDrivePropertiesCfg",
+    "JointDriveBaseCfg",
     "MassPropertiesCfg",
     "MeshCollisionPropertiesCfg",
-    "RigidBodyPropertiesCfg",
+    "MujocoJointDrivePropertiesCfg",
+    "MujocoRigidBodyPropertiesCfg",
+    "NewtonArticulationRootPropertiesCfg",
+    "NewtonCollisionPropertiesCfg",
+    "NewtonMaterialPropertiesCfg",
+    "NewtonMeshCollisionPropertiesCfg",
+    "PhysxJointDrivePropertiesCfg",
+    "PhysxRigidBodyPropertiesCfg",
+    "RigidBodyBaseCfg",
     "SDFMeshPropertiesCfg",
     "SpatialTendonPropertiesCfg",
     "TriangleMeshPropertiesCfg",
@@ -202,19 +210,29 @@ from .schemas import (
     ArticulationRootPropertiesCfg,
     BoundingCubePropertiesCfg,
     BoundingSpherePropertiesCfg,
-    CollisionPropertiesCfg,
+    CollisionBaseCfg,
     ConvexDecompositionPropertiesCfg,
     ConvexHullPropertiesCfg,
     FixedTendonPropertiesCfg,
-    JointDrivePropertiesCfg,
+    JointDriveBaseCfg,
     MassPropertiesCfg,
     MeshCollisionPropertiesCfg,
-    RigidBodyPropertiesCfg,
+    PhysxJointDrivePropertiesCfg,
+    PhysxRigidBodyPropertiesCfg,
+    RigidBodyBaseCfg,
     SDFMeshPropertiesCfg,
     SpatialTendonPropertiesCfg,
     TriangleMeshPropertiesCfg,
     TriangleMeshSimplificationPropertiesCfg,
 )
+
+# Forwarded to isaaclab_newton.sim.schemas via __getattr__ shim
+MujocoJointDrivePropertiesCfg = ...
+MujocoRigidBodyPropertiesCfg = ...
+NewtonArticulationRootPropertiesCfg = ...
+NewtonCollisionPropertiesCfg = ...
+NewtonMaterialPropertiesCfg = ...
+NewtonMeshCollisionPropertiesCfg = ...
 from .spawners import (
     SpawnerCfg,
     RigidObjectSpawnerCfg,

source/isaaclab/isaaclab/sim/converters/mesh_converter_cfg.py

@@ -19,7 +19,7 @@ class MeshConverterCfg(AssetConverterBaseCfg):
         If None, then no mass properties will be added.
     """
 
-    rigid_props: schemas_cfg.RigidBodyPropertiesCfg = None
+    rigid_props: schemas_cfg.RigidBodyBaseCfg = None
     """Rigid body properties to apply to the USD. Defaults to None.
 
     Note:
@@ -32,7 +32,7 @@ class MeshConverterCfg(AssetConverterBaseCfg):
     Note:
         If None, then no collision properties will be added.
     """
-    mesh_collision_props: schemas_cfg.MeshCollisionPropertiesCfg = None
+    mesh_collision_props: schemas_cfg.MeshCollisionBaseCfg = None
     """Mesh approximation properties to apply to all collision meshes in the USD.
     Note:
         If None, then no mesh approximation properties will be added.