refactor(schemas): migrate rigid_props to fragments; deprecate RigidBodyPropertiesCfg (2/2)#4
Draft
vidurv-nvidia wants to merge 1 commit into
Draft
Conversation
…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.
This was referenced Jun 4, 2026
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
1 participant
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Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be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
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