[Backport release/3.0.0] Wrench frame selection and schema migrations (#7536, #7971)

AGENTS.md

@@ -10,6 +10,11 @@
 - Use modern Python type hints, including `X | None` instead of `Optional[X]`.
 - Use `snake_case` for methods, functions, and CLI arguments.
 - Keep related public symbols discoverable through consistent prefixes.
+- For external wrenches, follow the asset API's `is_global` boolean and `_b`/`_w` buffer naming. Keep
+  frame conversion decisions in `WrenchComposer` and track pending contributions with plain booleans;
+  do not introduce frame enums, content bitmasks, or a classification layer.
+- Name wrench reads `get_forces_and_torques`, matching the existing add/set methods; avoid a separate
+  "submission" API or compatibility alias for the unreleased `resolve_submission` method.
 - Use concrete types for public interfaces where practical.
 - Use Google-style docstrings for public APIs.
 - Document SI units for public physical quantities in docstrings using inline `[unit]` notation (e.g. `Particle positions [m], shape [N, 3]`); use `[m or rad, depending on joint type]` where applicable, and skip non-physical fields (indices, counts, flags).

scripts/benchmarks/benchmark_newton_raycast.py

@@ -81,8 +81,8 @@ class RaycastBenchSceneCfg(InteractiveSceneCfg):
             prim_path="{ENV_REGEX_NS}/SensorBody",
             spawn=sim_utils.CuboidCfg(
                 size=(0.1, 0.1, 0.1),
-                rigid_props=sim_utils.RigidBodyPropertiesCfg(),
-                mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+                rigid_props=sim_utils.UsdPhysicsRigidBodyCfg(),
+                mass_props=sim_utils.MassCfg(mass=1.0),
             ),
             init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 1.0)),
         )

scripts/benchmarks/benchmark_view_comparison.py

@@ -101,9 +101,9 @@ def benchmark_usd_or_fabric(view_type: str, num_iterations: int) -> dict[str, fl
     object_cfg = sim_utils.ConeCfg(
         radius=0.15,
         height=0.5,
-        rigid_props=sim_utils.RigidBodyPropertiesCfg(),
-        mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
-        collision_props=sim_utils.CollisionPropertiesCfg(),
+        rigid_props=sim_utils.UsdPhysicsRigidBodyCfg(),
+        mass_props=sim_utils.MassCfg(mass=1.0),
+        collision_props=sim_utils.UsdPhysicsCollisionCfg(),
         visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
     )
     for i in range(args_cli.num_envs):
@@ -151,9 +151,9 @@ class _SceneCfg(InteractiveSceneCfg):
             prim_path="{ENV_REGEX_NS}/Cube",
             spawn=sim_utils.CuboidCfg(
                 size=(0.2, 0.2, 0.2),
-                rigid_props=sim_utils.RigidBodyPropertiesCfg(),
-                mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
-                collision_props=sim_utils.CollisionPropertiesCfg(),
+                rigid_props=sim_utils.UsdPhysicsRigidBodyCfg(),
+                mass_props=sim_utils.MassCfg(mass=1.0),
+                collision_props=sim_utils.UsdPhysicsCollisionCfg(),
             ),
             init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 1.0)),
         )
@@ -207,9 +207,9 @@ def benchmark_physx(num_iterations: int) -> dict[str, float]:
     object_cfg = sim_utils.ConeCfg(
         radius=0.15,
         height=0.5,
-        rigid_props=sim_utils.RigidBodyPropertiesCfg(),
-        mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
-        collision_props=sim_utils.CollisionPropertiesCfg(),
+        rigid_props=sim_utils.UsdPhysicsRigidBodyCfg(),
+        mass_props=sim_utils.MassCfg(mass=1.0),
+        collision_props=sim_utils.UsdPhysicsCollisionCfg(),
         visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
     )
     for i in range(args_cli.num_envs):

scripts/benchmarks/benchmark_xform_prim_view.py

@@ -63,9 +63,9 @@ class _NewtonSceneCfg(InteractiveSceneCfg):
         prim_path="{ENV_REGEX_NS}/Object",
         spawn=sim_utils.CuboidCfg(
             size=(0.2, 0.2, 0.2),
-            rigid_props=sim_utils.RigidBodyPropertiesCfg(),
-            mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
-            collision_props=sim_utils.CollisionPropertiesCfg(),
+            rigid_props=sim_utils.UsdPhysicsRigidBodyCfg(),
+            mass_props=sim_utils.MassCfg(mass=1.0),
+            collision_props=sim_utils.UsdPhysicsCollisionCfg(),
         ),
         init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 1.0)),
     )

scripts/demos/bin_packing.py

@@ -55,6 +55,7 @@
 
 import torch
 import warp as wp
+from isaaclab_physx.sim.schemas import PhysxRigidBodyCfg
 
 import isaaclab.sim as sim_utils
 import isaaclab.utils.math as math_utils
@@ -148,10 +149,10 @@ def spawn_grocery(
 ) -> Usd.Prim:
     """Spawn a visual YCB model and author the physics schemas it does not ship with.
 
-    These models carry no physics schemas, so the ``rigid_props`` and ``collision_props`` of a
-    spawner configuration would find nothing to modify. This spawner defines each schema
-    instead: the rigid body on the asset root and a convex-hull collider on the mesh, matching
-    how the physics-ready YCB models are authored.
+    These models carry no physics schemas, so the ``collision_props`` of a spawner configuration
+    would author the collider on the asset root rather than on its meshes. This spawner defines
+    each schema instead: the rigid body on the asset root and a convex-hull collider on the mesh,
+    matching how the physics-ready YCB models are authored.
 
     Args:
         prim_path: Prim path to spawn the asset at.
@@ -167,12 +168,16 @@ def spawn_grocery(
     root_path = prim.GetPath().pathString
     for mesh in sim_utils.get_all_matching_child_prims(root_path, lambda child: child.GetTypeName() == "Mesh"):
         mesh_path = mesh.GetPath().pathString
-        schemas.define_collision_properties(mesh_path, schemas.CollisionBaseCfg(collision_enabled=True))
-        schemas.define_mesh_collision_properties(
-            mesh_path, schemas.MeshCollisionBaseCfg(mesh_approximation_name="convexHull")
+        schemas.apply_collision_properties(
+            mesh_path, [schemas.UsdPhysicsCollisionCfg(collision_enabled=True)], create_if_missing=True
         )
-    schemas.define_rigid_body_properties(root_path, sim_utils.RigidBodyPropertiesCfg(solver_position_iteration_count=4))
-    schemas.define_mass_properties(root_path, schemas.MassPropertiesCfg(mass=GROCERY_MASS))
+        schemas.apply_mesh_collision_properties(
+            mesh_path, [schemas.UsdPhysicsMeshCollisionCfg(mesh_approximation_name="convexHull")]
+        )
+    schemas.apply_rigid_body_properties(
+        root_path, [PhysxRigidBodyCfg(solver_position_iteration_count=4)], create_if_missing=True
+    )
+    schemas.apply_mass_properties(root_path, [schemas.MassCfg(mass=GROCERY_MASS)], create_if_missing=True)
     return prim
 
 
@@ -240,10 +245,11 @@ class BinPackingSceneCfg(InteractiveSceneCfg):
         spawn=sim_utils.UsdFileCfg(
             usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/KLT_Bin/small_KLT.usd",
             scale=(2.0, 2.0, 2.0),
-            rigid_props=sim_utils.RigidBodyPropertiesCfg(
-                solver_position_iteration_count=4, solver_velocity_iteration_count=0, kinematic_enabled=True
-            ),
-            mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+            rigid_props=[
+                sim_utils.UsdPhysicsRigidBodyCfg(kinematic_enabled=True),
+                PhysxRigidBodyCfg(solver_position_iteration_count=4, solver_velocity_iteration_count=0),
+            ],
+            mass_props=sim_utils.MassCfg(mass=1.0),
         ),
         init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 0.15)),
     )

scripts/demos/haply_teleoperation.py

@@ -175,9 +175,9 @@ class FrankaHaplySceneCfg(InteractiveSceneCfg):
         prim_path="{ENV_REGEX_NS}/Cube",
         spawn=sim_utils.CuboidCfg(
             size=(0.06, 0.06, 0.06),
-            rigid_props=sim_utils.RigidBodyPropertiesCfg(),
-            mass_props=sim_utils.MassPropertiesCfg(mass=0.5),
-            collision_props=sim_utils.CollisionPropertiesCfg(),
+            rigid_props=sim_utils.UsdPhysicsRigidBodyCfg(),
+            mass_props=sim_utils.MassCfg(mass=0.5),
+            collision_props=sim_utils.UsdPhysicsCollisionCfg(),
             physics_material=sim_utils.RigidBodyMaterialCfg(static_friction=0.5, dynamic_friction=0.5),
             visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.2, 0.8, 0.2), metallic=0.2),
         ),

scripts/demos/mpm/newton_mpm_granular.py

@@ -115,6 +115,7 @@ def create_sim_cfg():
 def create_scene_cfg():
     """Create an Isaac Lab scene config using declarative assets."""
     from isaaclab_newton.assets import MPMObjectCfg
+    from isaaclab_newton.sim.schemas import NewtonCollisionCfg
     from isaaclab_newton.sim.spawners.mpm import MPMGridCfg
 
     import isaaclab.sim as sim_utils
@@ -127,10 +128,10 @@ def collider_cfg(prim_path: str, center, half_extents, orientation, friction: fl
             prim_path=prim_path,
             spawn=sim_utils.CuboidCfg(
                 size=(2.0 * half_extents[0], 2.0 * half_extents[1], 2.0 * half_extents[2]),
-                collision_props=sim_utils.NewtonCollisionPropertiesCfg(
-                    collision_enabled=True,
-                    contact_margin=COLLIDER_MARGIN,
-                ),
+                collision_props=[
+                    sim_utils.UsdPhysicsCollisionCfg(collision_enabled=True),
+                    NewtonCollisionCfg(contact_margin=COLLIDER_MARGIN),
+                ],
                 physics_material=sim_utils.NewtonMaterialPropertiesCfg(
                     static_friction=friction,
                     dynamic_friction=friction,

scripts/demos/mpm/newton_mpm_twoway_coupling.py

@@ -161,6 +161,7 @@ def create_sim_cfg():
 def create_scene_cfg():
     """Create the declarative rigid-sphere and granular-bath scene."""
     from isaaclab_newton.assets.mpm_object import MPMObjectCfg
+    from isaaclab_newton.sim.schemas import NewtonCollisionCfg
     from isaaclab_newton.sim.spawners.mpm import MPMGridCfg, MPMParticleMaterialCfg
 
     from isaaclab.assets import AssetBaseCfg, RigidObjectCfg, RigidObjectCollectionCfg
@@ -183,7 +184,7 @@ def bath_collider(
                     else sim_utils.spawn_cuboid
                 ),
                 size=size,
-                collision_props=sim_utils.NewtonCollisionPropertiesCfg(contact_margin=COLLIDER_MARGIN),
+                collision_props=NewtonCollisionCfg(contact_margin=COLLIDER_MARGIN),
                 physics_material=sim_utils.NewtonMaterialPropertiesCfg(
                     static_friction=0.6,
                     dynamic_friction=0.6,
@@ -203,9 +204,9 @@ def bath_collider(
                     color=SPHERE_COLORS[index],
                 ),
                 radius=SPHERE_RADIUS,
-                rigid_props=sim_utils.RigidBodyPropertiesCfg(),
-                mass_props=sim_utils.MassPropertiesCfg(mass=SPHERE_MASS),
-                collision_props=sim_utils.NewtonCollisionPropertiesCfg(),
+                rigid_props=sim_utils.UsdPhysicsRigidBodyCfg(),
+                mass_props=sim_utils.MassCfg(mass=SPHERE_MASS),
+                collision_props=sim_utils.UsdPhysicsCollisionCfg(),
                 physics_material=sim_utils.NewtonMaterialPropertiesCfg(
                     static_friction=0.5,
                     dynamic_friction=0.5,

scripts/demos/mpm/snowball_smash.py

@@ -231,9 +231,9 @@ def crate_cfg(index: int) -> RigidObjectCfg:
             prim_path=f"{{ENV_REGEX_NS}}/Crate_{index}",
             spawn=sim_utils.CuboidCfg(
                 size=(CRATE_SIZE, CRATE_SIZE, CRATE_SIZE),
-                rigid_props=sim_utils.NewtonRigidBodyPropertiesCfg(rigid_body_enabled=True),
-                mass_props=sim_utils.MassPropertiesCfg(mass=args_cli.crate_mass),
-                collision_props=sim_utils.NewtonCollisionPropertiesCfg(collision_enabled=True),
+                rigid_props=sim_utils.UsdPhysicsRigidBodyCfg(rigid_body_enabled=True),
+                mass_props=sim_utils.MassCfg(mass=args_cli.crate_mass),
+                collision_props=sim_utils.UsdPhysicsCollisionCfg(collision_enabled=True),
                 physics_material=sim_utils.NewtonMaterialPropertiesCfg(
                     static_friction=CRATE_FRICTION,
                     dynamic_friction=CRATE_FRICTION,
@@ -289,11 +289,11 @@ class SnowballSmashSceneCfg(InteractiveSceneCfg):
             prim_path="{ENV_REGEX_NS}/MPMGround",
             spawn=sim_utils.CuboidCfg(
                 size=(12.0, 12.0, 0.10),
-                rigid_props=sim_utils.NewtonRigidBodyPropertiesCfg(
+                rigid_props=sim_utils.UsdPhysicsRigidBodyCfg(
                     rigid_body_enabled=True,
                     kinematic_enabled=True,
                 ),
-                collision_props=sim_utils.NewtonCollisionPropertiesCfg(collision_enabled=True),
+                collision_props=sim_utils.UsdPhysicsCollisionCfg(collision_enabled=True),
                 physics_material=sim_utils.NewtonMaterialPropertiesCfg(
                     static_friction=CRATE_FRICTION,
                     dynamic_friction=CRATE_FRICTION,

scripts/demos/mpm/teapot_fill.py

@@ -433,12 +433,20 @@ def spawn_demo_mesh(
     if not cfg.visible:
         UsdGeom.Imageable(stage.GetPrimAtPath(mesh_prim_path)).MakeInvisible()
 
+    def as_fragments(value) -> list:
+        # the schema slots accept a bare fragment or a list of fragments
+        return list(value) if isinstance(value, (list, tuple)) else [value]
+
     if cfg.collision_props is not None:
-        schemas.define_collision_properties(mesh_prim_path, cfg.collision_props, stage=stage)
+        schemas.apply_collision_properties(
+            mesh_prim_path, as_fragments(cfg.collision_props), create_if_missing=True, stage=stage
+        )
     if cfg.mesh_collision_props is not None:
-        schemas.define_mesh_collision_properties(mesh_prim_path, cfg.mesh_collision_props, stage=stage)
+        schemas.apply_mesh_collision_properties(mesh_prim_path, as_fragments(cfg.mesh_collision_props), stage=stage)
     if cfg.rigid_props is not None:
-        schemas.define_rigid_body_properties(prim_path, cfg.rigid_props, stage=stage)
+        schemas.apply_rigid_body_properties(
+            prim_path, as_fragments(cfg.rigid_props), create_if_missing=True, stage=stage
+        )
 
     if cfg.visual_material is not None:
         material_path = cfg.visual_material_path
@@ -585,7 +593,9 @@ def create_sim_cfg():
 def create_scene_cfg(container_usd: str, island_usd: str | None, bowl_usd: str | None):
     """Create the teapot-fill scene using declarative Isaac Lab assets."""
     from isaaclab_newton.assets import MPMObjectCfg
+    from isaaclab_newton.sim.schemas import NewtonCollisionCfg
     from isaaclab_newton.sim.spawners.mpm import MPMParticleMaterialCfg, MPMPointsCfg
+    from isaaclab_physx.sim.schemas import PhysxRigidBodyCfg
 
     import isaaclab.sim as sim_utils
     from isaaclab.assets import AssetBaseCfg, RigidObjectCfg
@@ -605,7 +615,12 @@ class DemoMeshCfg(sim_utils.MeshCfg):
         func: Callable | str = clone(spawn_demo_mesh)
         vertices: list[list[float]] = MISSING
         faces: list[list[int]] = MISSING
-        mesh_collision_props: sim_utils.NewtonMeshCollisionPropertiesCfg | None = None
+        mesh_collision_props: sim_utils.UsdPhysicsMeshCollisionCfg | None = None
+
+    # The visual assets only disable rigid bodies and colliders they already carry; the explicit
+    # target mappings keep an asset without physics from gaining a body on its spawn prim.
+    disable_asset_rigid_bodies = {"(/.*)?": [sim_utils.UsdPhysicsRigidBodyCfg(rigid_body_enabled=False)]}
+    disable_asset_colliders = {"(/.*)?": [sim_utils.UsdPhysicsCollisionCfg(collision_enabled=False)]}
 
     island_cfg = None
     if island_usd is not None:
@@ -615,8 +630,8 @@ class DemoMeshCfg(sim_utils.MeshCfg):
                 usd_path=island_usd,
                 variants={"Physics": "none"},
                 make_uninstanceable=True,
-                rigid_props=sim_utils.NewtonRigidBodyPropertiesCfg(rigid_body_enabled=False),
-                collision_props=sim_utils.NewtonCollisionPropertiesCfg(collision_enabled=False),
+                rigid_props=disable_asset_rigid_bodies,
+                collision_props=disable_asset_colliders,
             ),
             init_state=AssetBaseCfg.InitialStateCfg(rot=TABLE_ORIENTATION),
         )
@@ -630,8 +645,8 @@ class DemoMeshCfg(sim_utils.MeshCfg):
                 scale=(BOWL_SCALE,) * 3,
                 variants={"Physics": "none"},
                 make_uninstanceable=True,
-                rigid_props=sim_utils.NewtonRigidBodyPropertiesCfg(rigid_body_enabled=False),
-                collision_props=sim_utils.NewtonCollisionPropertiesCfg(collision_enabled=False),
+                rigid_props=disable_asset_rigid_bodies,
+                collision_props=disable_asset_colliders,
             ),
             init_state=AssetBaseCfg.InitialStateCfg(pos=BOWL_BASE_POS),
         )
@@ -646,10 +661,10 @@ class TeapotFillSceneCfg(InteractiveSceneCfg):
             prim_path="{ENV_REGEX_NS}/TabletopCollider",
             spawn=sim_utils.CuboidCfg(
                 size=(2.0 * TABLE_HALF_EXTENTS[0], 2.0 * TABLE_HALF_EXTENTS[1], 2.0 * TABLE_HALF_EXTENTS[2]),
-                collision_props=sim_utils.NewtonCollisionPropertiesCfg(
-                    collision_enabled=True,
-                    contact_margin=COLLIDER_MARGIN,
-                ),
+                collision_props=[
+                    sim_utils.UsdPhysicsCollisionCfg(collision_enabled=True),
+                    NewtonCollisionCfg(contact_margin=COLLIDER_MARGIN),
+                ],
                 physics_material=sim_utils.NewtonMaterialPropertiesCfg(
                     static_friction=TABLE_FRICTION,
                     dynamic_friction=TABLE_FRICTION,
@@ -674,11 +689,11 @@ class TeapotFillSceneCfg(InteractiveSceneCfg):
             spawn=DemoMeshCfg(
                 vertices=(BOWL_SCALE * bowl_vertices).tolist(),
                 faces=bowl_faces.tolist(),
-                collision_props=sim_utils.NewtonCollisionPropertiesCfg(
-                    collision_enabled=True,
-                    contact_margin=COLLIDER_MARGIN,
-                ),
-                mesh_collision_props=sim_utils.NewtonMeshCollisionPropertiesCfg(mesh_approximation_name="none"),
+                collision_props=[
+                    sim_utils.UsdPhysicsCollisionCfg(collision_enabled=True),
+                    NewtonCollisionCfg(contact_margin=COLLIDER_MARGIN),
+                ],
+                mesh_collision_props=sim_utils.UsdPhysicsMeshCollisionCfg(mesh_approximation_name="none"),
                 physics_material=sim_utils.NewtonMaterialPropertiesCfg(
                     static_friction=BOWL_FRICTION,
                     dynamic_friction=BOWL_FRICTION,
@@ -701,16 +716,15 @@ class TeapotFillSceneCfg(InteractiveSceneCfg):
             spawn=DemoMeshCfg(
                 vertices=container_vertices.tolist(),
                 faces=container_faces.tolist(),
-                rigid_props=sim_utils.NewtonRigidBodyPropertiesCfg(
-                    rigid_body_enabled=True,
-                    kinematic_enabled=True,
-                    disable_gravity=True,
-                ),
-                collision_props=sim_utils.NewtonCollisionPropertiesCfg(
-                    collision_enabled=True,
-                    contact_margin=COLLIDER_MARGIN,
-                ),
-                mesh_collision_props=sim_utils.NewtonMeshCollisionPropertiesCfg(mesh_approximation_name="none"),
+                rigid_props=[
+                    sim_utils.UsdPhysicsRigidBodyCfg(rigid_body_enabled=True, kinematic_enabled=True),
+                    PhysxRigidBodyCfg(disable_gravity=True),
+                ],
+                collision_props=[
+                    sim_utils.UsdPhysicsCollisionCfg(collision_enabled=True),
+                    NewtonCollisionCfg(contact_margin=COLLIDER_MARGIN),
+                ],
+                mesh_collision_props=sim_utils.UsdPhysicsMeshCollisionCfg(mesh_approximation_name="none"),
                 physics_material=sim_utils.NewtonMaterialPropertiesCfg(
                     static_friction=CONTAINER_FRICTION,
                     dynamic_friction=CONTAINER_FRICTION,