Adding RigidBody USD data classes and writers

CONTRIBUTORS.md

@@ -183,6 +183,7 @@ Guidelines for modifications:
 * Tsz Ki GAO
 * Tyler Lum
 * Victor Khaustov
+* Vidur Vij
 * Virgilio Gómez Lambo
 * Vladimir Fokow
 * Wei Yang

source/isaaclab/changelog.d/vidurv-schema-fragments.minor.rst

@@ -0,0 +1,19 @@
+Added
+^^^^^
+
+* Added the single-namespace schema-fragment API: :class:`~isaaclab.sim.schemas.SchemaFragment`,
+  the :class:`~isaaclab.sim.schemas.RigidBodyFragment` marker, and
+  :class:`~isaaclab.sim.schemas.UsdPhysicsRigidBodyCfg`. Each fragment carries
+  ``_usd_namespace`` / ``_usd_applied_schema`` metadata and a ``func`` applier so a prim can
+  carry rigid-body properties from multiple USD namespaces at once.
+* Added :func:`~isaaclab.sim.schemas.apply_namespaced` (generic fragment writer) and
+  :func:`~isaaclab.sim.schemas.apply_rigid_body_properties` (applies a list of rigid-body
+  fragments with ``UsdPhysics.RigidBodyAPI`` as the implicit anchor).
+
+Changed
+^^^^^^^
+
+* Changed the spawner ``rigid_props`` slot
+  (:attr:`~isaaclab.sim.spawners.RigidObjectSpawnerCfg.rigid_props`) to also accept a list of
+  :class:`~isaaclab.sim.schemas.RigidBodyFragment` fragments. Legacy single cfgs continue to
+  work through a transition bridge in the spawn writers.

source/isaaclab/isaaclab/sim/__init__.pyi

@@ -59,6 +59,11 @@ __all__ = [
     "PhysxJointDrivePropertiesCfg",
     "PhysxRigidBodyPropertiesCfg",
     "RigidBodyBaseCfg",
+    "RigidBodyFragment",
+    "SchemaFragment",
+    "UsdPhysicsRigidBodyCfg",
+    "apply_namespaced",
+    "apply_rigid_body_properties",
     "SDFMeshPropertiesCfg",
     "SpatialTendonPropertiesCfg",
     "TriangleMeshPropertiesCfg",
@@ -191,8 +196,6 @@ __all__ = [
     "XformPrimView",
 ]
 
-from .simulation_cfg import RenderCfg, SimulationCfg
-from .simulation_context import SimulationContext, build_simulation_context
 from .converters import (
     AssetConverterBase,
     AssetConverterBaseCfg,
@@ -207,22 +210,6 @@ from .schemas import (
     MESH_APPROXIMATION_TOKENS,
     PHYSX_MESH_COLLISION_CFGS,
     USD_MESH_COLLISION_CFGS,
-    activate_contact_sensors,
-    define_articulation_root_properties,
-    define_collision_properties,
-    define_deformable_body_properties,
-    define_mass_properties,
-    define_mesh_collision_properties,
-    define_rigid_body_properties,
-    modify_articulation_root_properties,
-    modify_collision_properties,
-    modify_deformable_body_properties,
-    modify_fixed_tendon_properties,
-    modify_joint_drive_properties,
-    modify_mass_properties,
-    modify_mesh_collision_properties,
-    modify_rigid_body_properties,
-    modify_spatial_tendon_properties,
     ArticulationRootPropertiesCfg,
     BoundingCubePropertiesCfg,
     BoundingSpherePropertiesCfg,
@@ -238,11 +225,34 @@ from .schemas import (
     PhysxJointDrivePropertiesCfg,
     PhysxRigidBodyPropertiesCfg,
     RigidBodyBaseCfg,
+    RigidBodyFragment,
+    SchemaFragment,
     SDFMeshPropertiesCfg,
     SpatialTendonPropertiesCfg,
     TriangleMeshPropertiesCfg,
     TriangleMeshSimplificationPropertiesCfg,
+    UsdPhysicsRigidBodyCfg,
+    activate_contact_sensors,
+    apply_namespaced,
+    apply_rigid_body_properties,
+    define_articulation_root_properties,
+    define_collision_properties,
+    define_deformable_body_properties,
+    define_mass_properties,
+    define_mesh_collision_properties,
+    define_rigid_body_properties,
+    modify_articulation_root_properties,
+    modify_collision_properties,
+    modify_deformable_body_properties,
+    modify_fixed_tendon_properties,
+    modify_joint_drive_properties,
+    modify_mass_properties,
+    modify_mesh_collision_properties,
+    modify_rigid_body_properties,
+    modify_spatial_tendon_properties,
 )
+from .simulation_cfg import RenderCfg, SimulationCfg
+from .simulation_context import SimulationContext, build_simulation_context
 
 # Forwarded to isaaclab_newton.sim.schemas via __getattr__ shim
 MujocoJointDrivePropertiesCfg = ...
@@ -255,129 +265,133 @@ NewtonMeshCollisionPropertiesCfg = ...
 NewtonRigidBodyPropertiesCfg = ...
 NewtonSDFCollisionPropertiesCfg = ...
 from .spawners import (
-    SpawnerCfg,
-    RigidObjectSpawnerCfg,
-    DeformableObjectSpawnerCfg,
-    spawn_from_mjcf,
-    spawn_from_urdf,
-    spawn_from_usd,
-    spawn_from_usd_with_compliant_contact_material,
-    spawn_ground_plane,
-    GroundPlaneCfg,
-    MjcfFileCfg,
-    UrdfFileCfg,
-    UsdFileCfg,
-    UsdFileWithCompliantContactCfg,
-    spawn_light,
+    CapsuleCfg,
+    ConeCfg,
+    CuboidCfg,
+    CylinderCfg,
     CylinderLightCfg,
+    DeformableBodyMaterialBaseCfg,
+    DeformableBodyMaterialCfg,
+    DeformableObjectSpawnerCfg,
     DiskLightCfg,
     DistantLightCfg,
     DomeLightCfg,
-    LightCfg,
-    SphereLightCfg,
-    spawn_rigid_body_material,
-    spawn_deformable_body_material,
-    PhysicsMaterialCfg,
-    RigidBodyMaterialCfg,
-    DeformableBodyMaterialBaseCfg,
-    DeformableBodyMaterialCfg,
-    SurfaceDeformableBodyMaterialBaseCfg,
-    SurfaceDeformableBodyMaterialCfg,
-    spawn_from_mdl_file,
-    spawn_preview_surface,
+    FisheyeCameraCfg,
     GlassMdlCfg,
+    GroundPlaneCfg,
+    LightCfg,
     MdlFileCfg,
-    PreviewSurfaceCfg,
-    VisualMaterialCfg,
-    spawn_mesh_capsule,
-    spawn_mesh_cone,
-    spawn_mesh_cuboid,
-    spawn_mesh_cylinder,
-    spawn_mesh_rectangle,
-    spawn_mesh_sphere,
     MeshCapsuleCfg,
     MeshCfg,
     MeshConeCfg,
     MeshCuboidCfg,
     MeshCylinderCfg,
     MeshRectangleCfg,
     MeshSphereCfg,
-    spawn_camera,
-    spawn_sensor_frame,
-    FisheyeCameraCfg,
+    MjcfFileCfg,
+    MultiAssetSpawnerCfg,
+    MultiUsdFileCfg,
+    PhysicsMaterialCfg,
     PinholeCameraCfg,
+    PreviewSurfaceCfg,
+    RigidBodyMaterialCfg,
+    RigidObjectSpawnerCfg,
     SensorFrameCfg,
+    ShapeCfg,
+    SpawnerCfg,
+    SphereCfg,
+    SphereLightCfg,
+    SurfaceDeformableBodyMaterialBaseCfg,
+    SurfaceDeformableBodyMaterialCfg,
+    UrdfFileCfg,
+    UsdFileCfg,
+    UsdFileWithCompliantContactCfg,
+    VisualMaterialCfg,
+    spawn_camera,
     spawn_capsule,
     spawn_cone,
     spawn_cuboid,
     spawn_cylinder,
-    spawn_sphere,
-    CapsuleCfg,
-    ConeCfg,
-    CuboidCfg,
-    CylinderCfg,
-    ShapeCfg,
-    SphereCfg,
+    spawn_deformable_body_material,
+    spawn_from_mdl_file,
+    spawn_from_mjcf,
+    spawn_from_urdf,
+    spawn_from_usd,
+    spawn_from_usd_with_compliant_contact_material,
+    spawn_ground_plane,
+    spawn_light,
+    spawn_mesh_capsule,
+    spawn_mesh_cone,
+    spawn_mesh_cuboid,
+    spawn_mesh_cylinder,
+    spawn_mesh_rectangle,
+    spawn_mesh_sphere,
     spawn_multi_asset,
     spawn_multi_usd_file,
-    MultiAssetSpawnerCfg,
-    MultiUsdFileCfg,
+    spawn_preview_surface,
+    spawn_rigid_body_material,
+    spawn_sensor_frame,
+    spawn_sphere,
 )
 from .utils import (
+    add_labels,
     add_reference_to_stage,
-    get_stage_up_axis,
-    traverse_stage,
-    get_prim_at_path,
-    get_prim_path,
-    is_prim_path_valid,
-    define_prim,
-    get_prim_type_name,
-    get_next_free_path,
+    add_usd_reference,
+    apply_nested,
+    bind_physics_material,
+    bind_visual_material,
+    change_prim_property,
+    check_missing_labels,
+    clear_stage,
+    clone,
+    close_stage,
+    convert_world_pose_to_local,
+    count_total_labels,
+    create_new_stage,
     create_prim,
+    define_prim,
     delete_prim,
-    make_uninstanceable,
-    set_prim_visibility,
-    safe_set_attribute_on_usd_schema,
-    safe_set_attribute_on_usd_prim,
-    change_prim_property,
     export_prim_to_file,
-    apply_nested,
-    clone,
-    bind_visual_material,
-    bind_physics_material,
-    add_usd_reference,
-    get_usd_references,
-    select_usd_variants,
-    get_next_free_prim_path,
-    get_first_matching_ancestor_prim,
-    get_first_matching_child_prim,
-    get_all_matching_child_prims,
     find_first_matching_prim,
-    find_matching_prims,
-    resolve_matching_prims_from_source,
-    find_matching_prim_paths,
     find_global_fixed_joint_prim,
-    add_labels,
+    find_matching_prim_paths,
+    find_matching_prims,
+    get_all_matching_child_prims,
+    get_current_stage,
+    get_current_stage_id,
+    get_first_matching_ancestor_prim,
+    get_first_matching_child_prim,
     get_labels,
-    remove_labels,
-    check_missing_labels,
-    count_total_labels,
-    resolve_paths,
-    create_new_stage,
+    get_next_free_path,
+    get_next_free_prim_path,
+    get_prim_at_path,
+    get_prim_path,
+    get_prim_type_name,
+    get_stage_up_axis,
+    get_usd_references,
     is_current_stage_in_memory,
+    is_prim_path_valid,
+    make_uninstanceable,
     open_stage,
-    use_stage,
-    update_stage,
+    remove_labels,
+    resolve_matching_prims_from_source,
+    resolve_paths,
+    resolve_prim_pose,
+    resolve_prim_scale,
+    safe_set_attribute_on_usd_prim,
+    safe_set_attribute_on_usd_schema,
     save_stage,
-    close_stage,
-    clear_stage,
-    get_current_stage,
-    get_current_stage_id,
+    select_usd_variants,
+    set_prim_visibility,
     standardize_xform_ops,
+    traverse_stage,
+    update_stage,
+    use_stage,
     validate_standard_xform_ops,
-    resolve_prim_pose,
-    resolve_prim_scale,
-    convert_world_pose_to_local,
 )
-from .views import BaseFrameView, UsdFrameView, FrameView
-from .views import XformPrimView  # deprecated alias
+from .views import (
+    BaseFrameView,
+    FrameView,
+    UsdFrameView,
+    XformPrimView,  # deprecated alias
+)

source/isaaclab/isaaclab/sim/converters/mesh_converter.py

@@ -185,9 +185,13 @@ def _convert_asset(self, cfg: MeshConverterCfg):
         # apply mass properties
         if cfg.mass_props is not None:
             schemas.define_mass_properties(prim_path=xform_prim.GetPath(), cfg=cfg.mass_props, stage=stage)
-        # apply rigid body properties
+        # apply rigid body properties (transition shim, remove later: fragment list -> apply_*; legacy cfg -> define_*)
         if cfg.rigid_props is not None:
-            schemas.define_rigid_body_properties(prim_path=xform_prim.GetPath(), cfg=cfg.rigid_props, stage=stage)
+            rigid_frags = cfg.rigid_props if isinstance(cfg.rigid_props, (list, tuple)) else [cfg.rigid_props]
+            if rigid_frags and all(isinstance(f, schemas.SchemaFragment) for f in rigid_frags):
+                schemas.apply_rigid_body_properties(str(xform_prim.GetPath()), rigid_frags, stage=stage)
+            else:
+                schemas.define_rigid_body_properties(prim_path=xform_prim.GetPath(), cfg=cfg.rigid_props, stage=stage)
 
         # Save changes to USD stage
         stage.Save()

source/isaaclab/isaaclab/sim/schemas/__init__.pyi

@@ -8,6 +8,8 @@ __all__ = [
     "PHYSX_MESH_COLLISION_CFGS",
     "USD_MESH_COLLISION_CFGS",
     "activate_contact_sensors",
+    "apply_namespaced",
+    "apply_rigid_body_properties",
     "define_actuator_properties",
     "define_articulation_root_properties",
     "define_collision_properties",
@@ -33,6 +35,9 @@ __all__ = [
     "JointDriveBaseCfg",
     "MassPropertiesCfg",
     "MeshCollisionBaseCfg",
+    "RigidBodyFragment",
+    "SchemaFragment",
+    "UsdPhysicsRigidBodyCfg",
     "MujocoJointDrivePropertiesCfg",
     "MujocoRigidBodyPropertiesCfg",
     "NewtonArticulationRootPropertiesCfg",
@@ -50,6 +55,8 @@ from .schemas import (
     PHYSX_MESH_COLLISION_CFGS,
     USD_MESH_COLLISION_CFGS,
     activate_contact_sensors,
+    apply_namespaced,
+    apply_rigid_body_properties,
     define_articulation_root_properties,
     define_collision_properties,
     define_deformable_body_properties,
@@ -80,6 +87,9 @@ from .schemas_cfg import (
     MassPropertiesCfg,
     MeshCollisionBaseCfg,
     RigidBodyBaseCfg,
+    RigidBodyFragment,
+    SchemaFragment,
+    UsdPhysicsRigidBodyCfg,
 )
 
 # Forwarded to isaaclab_newton.sim.schemas via __getattr__ shim