refactor(schemas): migrate rigid_props to fragments; deprecate RigidBodyPropertiesCfg (2/2)

source/isaaclab/isaaclab/envs/mdp/actions/pink_task_space_actions.py

@@ -329,7 +329,10 @@ def _apply_gravity_compensation(self) -> None:
         rather than silently receive zeros. To use Pink IK on Newton, keep
         ``enable_gravity_compensation=False``.
         """
-        if not self._asset.cfg.spawn.rigid_props.disable_gravity:
+        _rigid_props = self._asset.cfg.spawn.rigid_props
+        _rigid_frags = _rigid_props if isinstance(_rigid_props, (list, tuple)) else [_rigid_props]
+        _disable_gravity = any(getattr(f, "disable_gravity", None) for f in _rigid_frags if f is not None)
+        if not _disable_gravity:
             # ``gravity_compensation_forces`` shape is ``(N, num_joints + num_base_dofs)``.
             # Shift actuated-joint ids by ``num_base_dofs`` to skip the leading floating-
             # base columns (0 for fixed-base, 6 for floating-base).

source/isaaclab/isaaclab/sim/__init__.pyi

@@ -196,6 +196,8 @@ __all__ = [
     "XformPrimView",
 ]
 
+from .simulation_cfg import RenderCfg, SimulationCfg
+from .simulation_context import SimulationContext, build_simulation_context
 from .converters import (
     AssetConverterBase,
     AssetConverterBaseCfg,
@@ -210,6 +212,24 @@ from .schemas import (
     MESH_APPROXIMATION_TOKENS,
     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,
+    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,
@@ -227,32 +247,12 @@ from .schemas import (
     RigidBodyBaseCfg,
     RigidBodyFragment,
     SchemaFragment,
+    UsdPhysicsRigidBodyCfg,
     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 = ...
@@ -265,133 +265,129 @@ NewtonMeshCollisionPropertiesCfg = ...
 NewtonRigidBodyPropertiesCfg = ...
 NewtonSDFCollisionPropertiesCfg = ...
 from .spawners import (
-    CapsuleCfg,
-    ConeCfg,
-    CuboidCfg,
-    CylinderCfg,
-    CylinderLightCfg,
-    DeformableBodyMaterialBaseCfg,
-    DeformableBodyMaterialCfg,
+    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,
+    CylinderLightCfg,
     DiskLightCfg,
     DistantLightCfg,
     DomeLightCfg,
-    FisheyeCameraCfg,
-    GlassMdlCfg,
-    GroundPlaneCfg,
     LightCfg,
+    SphereLightCfg,
+    spawn_rigid_body_material,
+    spawn_deformable_body_material,
+    PhysicsMaterialCfg,
+    RigidBodyMaterialCfg,
+    DeformableBodyMaterialBaseCfg,
+    DeformableBodyMaterialCfg,
+    SurfaceDeformableBodyMaterialBaseCfg,
+    SurfaceDeformableBodyMaterialCfg,
+    spawn_from_mdl_file,
+    spawn_preview_surface,
+    GlassMdlCfg,
     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,
-    MjcfFileCfg,
-    MultiAssetSpawnerCfg,
-    MultiUsdFileCfg,
-    PhysicsMaterialCfg,
+    spawn_camera,
+    spawn_sensor_frame,
+    FisheyeCameraCfg,
     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_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_sphere,
+    CapsuleCfg,
+    ConeCfg,
+    CuboidCfg,
+    CylinderCfg,
+    ShapeCfg,
+    SphereCfg,
     spawn_multi_asset,
     spawn_multi_usd_file,
-    spawn_preview_surface,
-    spawn_rigid_body_material,
-    spawn_sensor_frame,
-    spawn_sphere,
+    MultiAssetSpawnerCfg,
+    MultiUsdFileCfg,
 )
 from .utils import (
-    add_labels,
     add_reference_to_stage,
-    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,
+    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,
+    create_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,
-    find_first_matching_prim,
-    find_global_fixed_joint_prim,
-    find_matching_prim_paths,
-    find_matching_prims,
-    get_all_matching_child_prims,
-    get_current_stage,
-    get_current_stage_id,
+    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,
     get_labels,
-    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,
     remove_labels,
-    resolve_matching_prims_from_source,
+    check_missing_labels,
+    count_total_labels,
     resolve_paths,
-    resolve_prim_pose,
-    resolve_prim_scale,
-    safe_set_attribute_on_usd_prim,
-    safe_set_attribute_on_usd_schema,
+    create_new_stage,
+    is_current_stage_in_memory,
+    open_stage,
+    use_stage,
+    update_stage,
     save_stage,
-    select_usd_variants,
-    set_prim_visibility,
+    close_stage,
+    clear_stage,
+    get_current_stage,
+    get_current_stage_id,
     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,
-    FrameView,
-    UsdFrameView,
-    XformPrimView,  # deprecated alias
-)
+from .views import BaseFrameView, UsdFrameView, FrameView
+from .views import XformPrimView  # deprecated alias

source/isaaclab/test/controllers/test_differential_ik.py

@@ -28,6 +28,8 @@
     subtract_frame_transforms,
 )
 
+from isaaclab_physx.sim.schemas import PhysxRigidBodyCfg  # isort:skip
+
 ##
 # Pre-defined configs
 ##
@@ -100,7 +102,7 @@ def test_ur10_ik_pose_abs(sim):
 
     # Create robot instance
     robot_cfg = UR10_CFG.replace(prim_path="/World/envs/env_.*/Robot")
-    robot_cfg.spawn.rigid_props.disable_gravity = True
+    next(f for f in robot_cfg.spawn.rigid_props if isinstance(f, PhysxRigidBodyCfg)).disable_gravity = True
     robot = Articulation(cfg=robot_cfg)
 
     # Create IK controller