feat(schemas): collision schema-fragment API (additive)#5
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vidurv-nvidia wants to merge 2 commits into
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feat(schemas): collision schema-fragment API (additive)#5vidurv-nvidia wants to merge 2 commits into
vidurv-nvidia wants to merge 2 commits into
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Add the additive single-namespace collision fragment family mirroring the rigid-body pilot: the CollisionFragment marker and UsdPhysicsCollisionCfg in core, PhysxCollisionCfg in isaaclab_physx, and NewtonCollisionCfg in isaaclab_newton. Add the apply_collision_properties family writer that applies UsdPhysics.CollisionAPI as the implicit anchor and dispatches each fragment via its func. Widen the collision_props spawner and mesh-converter slots to accept a fragment list and add a transition bridge at every spawn site so legacy CollisionPropertiesCfg cfgs keep working. Export the new public names from the core, sim-level, physx, and newton stubs, add a fragment test file, and add changelog fragments.
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Description
Additive collision fragment family
Mirrors the rigid-body pilot. Stacked on the rigid-body framework branch (base will retarget to
developonce that lands).CollisionFragment,UsdPhysicsCollisionCfg(physics:collisionEnabled),apply_collision_properties(anchorCollisionAPI)PhysxCollisionCfg(physxCollision:*inclcontact_offset/rest_offset)NewtonCollisionCfg(newton:contactMargin/contactGap)collision_propsaccepts a fragment list + transition bridge; legacy cfgs untouched.Status: authored, ruff + pre-commit clean, exports verified. Not yet Isaac-Sim verified (CI / per-family sim run pending). Decision:
contact_offset/rest_offsetlive on the PhysX fragment (Newton reads via bridge).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