feat(schemas): mass schema-fragment API (additive)#6
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Add the additive mass schema-fragment framework mirroring the rigid-body pilot. Mass is a pure-UsdPhysics family with no backend split. - Add MassFragment marker and MassCfg fragment (physics:mass / physics:density) in core schemas_cfg. - Add apply_mass_properties writer applying UsdPhysics.MassAPI as the implicit anchor, then dispatching each fragment via its func. - Widen the RigidObjectSpawnerCfg mass_props slot to accept a MassFragment or list, with transition bridges at the shapes, meshes, from_files, and mesh_converter spawn sites. - Export the new public names and add a test plus changelog fragment. The legacy MassPropertiesCfg and define_/modify_mass_properties remain the canonical names and are left untouched.
No behavior change; collapse over-explained inline comments to terse intent.
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Description
Additive mass fragment family (pure UsdPhysics, no backend split)
MassFragment,MassCfg(physics:mass/density),apply_mass_properties(anchorMassAPI)MassPropertiesCfgkept as canonical (not deprecated);MassCfgadded alongside.mass_propsaccepts a fragment list + bridge.Status: authored, ruff + pre-commit clean. Not yet Isaac-Sim verified (CI pending). Stacked on the rigid-body framework branch.
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