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refactor(schemas): migrate rigid_props to fragments; deprecate RigidBodyPropertiesCfg (2/2) - #4

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refactor(schemas): migrate rigid_props to fragments; deprecate RigidBodyPropertiesCfg (2/2)#4
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@vidurv-nvidia vidurv-nvidia commented Jun 4, 2026 •
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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.

  • isaaclab_physx: RigidBodyPropertiesCfg → 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.
  • Fix consumer sites that treated rigid_props as a single object: disable_gravity mutations, .replace(), attribute reads.

Breaking: RigidBodyPropertiesCfg no longer returns a single cfg object.

This PR targets the fork branch vidurv/schema-frag-framework so the diff shows only the migration (116 files). Once isaac-sim#5976 merges to upstream develop, retarget this PR to isaac-sim/IsaacLab:develop.

Test Plan

  • test_schema_fragments.py 8 · test_schemas 39 · test_schemas_shim 145 · test_spawn_shapes 12 · test_spawn_meshes 10
  • pre-commit clean · docs build clean
  • test_spawn_from_files (Nucleus assets) + full task regression in CI

Fixes # (N/A — part of the staged physics schema-fragment refactor; no tracked public issue)

Type of change

  • Breaking change (existing functionality will not work without user modification)

Screenshots

N/A — no user-facing visual changes.

Checklist

  • I have read and understood the contribution guidelines
  • I have run the pre-commit checks (ruff + ruff-format) on the changed files
  • I have made corresponding changes to the documentation (the public API reference is auto-generated via ./isaaclab.sh -d; not separately authored)
  • My changes generate no new warnings
  • I have added tests that prove my feature works
  • I have added a changelog fragment under source/<pkg>/changelog.d/ for every touched package
  • I have added my name to CONTRIBUTORS.md

@vidurv-nvidia
refactor(schemas): migrate rigid_props to fragments; deprecate RigidB…
d9eda7c 
…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
Closed
Merged
vidurv-nvidia added a commit to isaac-sim/IsaacLab that referenced this pull request Jun 24, 2026
@vidurv-nvidia @ooctipus
Adding RigidBody USD data classes and writers (#5976)
08b44c7 
# Description

## Summary (PR 1 of 2 — additive, no behavior change)

Introduces single-namespace schema **fragments** so a prim can carry
rigid-body properties from multiple USD namespaces at once (`physics:`,
`physxRigidBody:`, `mjc:`), with core naming no backend. **Purely
additive** — existing cfgs and the deprecated `RigidBodyPropertiesCfg`
class are untouched.

- **core:** `SchemaFragment`, `RigidBodyFragment`,
`UsdPhysicsRigidBodyCfg`; `apply_namespaced` (generic per-fragment
writer) and `apply_rigid_body_properties` (applies a fragment list with
`UsdPhysics.RigidBodyAPI` as the implicit anchor).
- **spawner:** `rigid_props` accepts a fragment list; legacy single cfgs
keep working via a transition bridge
(shapes/meshes/from_files/mesh_converter).
- **backends:** `PhysxRigidBodyCfg` (physx), `MujocoRigidBodyCfg`
(newton).
- new `test_schema_fragments.py` + exports.

**PR 2** (stacked) flips `RigidBodyPropertiesCfg` to a deprecation
factory and migrates all call sites: vidurv-nvidia#4 (review
after this lands).

## Test Plan
- [x] `test_schema_fragments.py` — 7 passed
- [x] pre-commit clean · `./isaaclab.sh -d` docs build clean
- [ ] CI

First slice of the staged physics schema-cfg refactor (collision / mass
/ joint-drive / … follow later). Draft for review of the fragment API
shape.


## Type of change

- New feature (non-breaking change which adds functionality)

## Screenshots

N/A — no user-facing visual changes.

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the pre-commit checks (`ruff` + `ruff-format`) on the
changed files
- [ ] I have made corresponding changes to the documentation (the public
API reference is auto-generated via `./isaaclab.sh -d`; not separately
authored)
- [x] My changes generate no new warnings
- [x] I have added tests that prove my feature works
- [x] I have added a changelog fragment under
`source/<pkg>/changelog.d/` for every touched package
- [ ] I have added my name to `CONTRIBUTORS.md`

---------

Co-authored-by: ooctipus <zhengyuz@nvidia.com>
matthewtrepte pushed a commit to matthewtrepte/IsaacLab that referenced this pull request Aug 4, 2026
@vidurv-nvidia @ooctipus @matthewtrepte
Adding RigidBody USD data classes and writers (isaac-sim#5976)
1c6ea64 
# Description

## Summary (PR 1 of 2 — additive, no behavior change)

Introduces single-namespace schema **fragments** so a prim can carry
rigid-body properties from multiple USD namespaces at once (`physics:`,
`physxRigidBody:`, `mjc:`), with core naming no backend. **Purely
additive** — existing cfgs and the deprecated `RigidBodyPropertiesCfg`
class are untouched.

- **core:** `SchemaFragment`, `RigidBodyFragment`,
`UsdPhysicsRigidBodyCfg`; `apply_namespaced` (generic per-fragment
writer) and `apply_rigid_body_properties` (applies a fragment list with
`UsdPhysics.RigidBodyAPI` as the implicit anchor).
- **spawner:** `rigid_props` accepts a fragment list; legacy single cfgs
keep working via a transition bridge
(shapes/meshes/from_files/mesh_converter).
- **backends:** `PhysxRigidBodyCfg` (physx), `MujocoRigidBodyCfg`
(newton).
- new `test_schema_fragments.py` + exports.

**PR 2** (stacked) flips `RigidBodyPropertiesCfg` to a deprecation
factory and migrates all call sites: vidurv-nvidia#4 (review
after this lands).

## Test Plan
- [x] `test_schema_fragments.py` — 7 passed
- [x] pre-commit clean · `./isaaclab.sh -d` docs build clean
- [ ] CI

First slice of the staged physics schema-cfg refactor (collision / mass
/ joint-drive / … follow later). Draft for review of the fragment API
shape.


## Type of change

- New feature (non-breaking change which adds functionality)

## Screenshots

N/A — no user-facing visual changes.

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the pre-commit checks (`ruff` + `ruff-format`) on the
changed files
- [ ] I have made corresponding changes to the documentation (the public
API reference is auto-generated via `./isaaclab.sh -d`; not separately
authored)
- [x] My changes generate no new warnings
- [x] I have added tests that prove my feature works
- [x] I have added a changelog fragment under
`source/<pkg>/changelog.d/` for every touched package
- [ ] I have added my name to `CONTRIBUTORS.md`

---------

Co-authored-by: ooctipus <zhengyuz@nvidia.com>
vidurv-nvidia pushed a commit that referenced this pull request Sep 15, 2026
@myurasov-nv
Fixes CI base image pulls when the registry refuses the inherited cre…
41d47ce 
…dential (isaac-sim#7741)

# Description

A job that pulls a public `nvcr.io/nvidia/*` base image fails with
`denied: Access Denied`. The runners carry an ambient docker credential
for a private NGC organization, and nvcr.io refuses that credential a
pull token for a public repository instead of downgrading the request to
anonymous. `_lib/setup-docker-config` now takes an optional
`base-image-ref`: when the configured credentials are denied that image
and anonymous access can read it, the stored nvcr.io credential is
dropped from the job's temp config so the pull proceeds anonymously.
`_lib/compute-deps-hash` stops swallowing an unreadable base image
manifest, which silently dropped the digest from the dependency-cache
key.

| Before | After |
| ------ | ----- |
| `load metadata for nvcr.io/nvidia/isaac-sim:6.1.0` fails with `failed
to fetch oauth token: denied: Access Denied`, and an unreadable manifest
degrades the deps-cache key to a bare tag string with only a `🟠` note |
The credential is dropped for nvcr.io only when it is provably the
obstacle, the pull proceeds anonymously, and an unreadable manifest
fails with a named `::error::` |

## Reproduction

1. Point `.github/workflows/config.yaml` at a public base image:
`isaacsim_image_name: nvcr.io/nvidia/isaac-sim` and `isaacsim_image_tag:
6.1.0`.
2. Open a pull request from a fork, so no `NGC_API_KEY` is available and
the runner's ambient credential is the only one present.
3. Observe any job that builds the base image, for example `Docker
Dependency Licenses Check`:

```
#3 [auth] nvidia/isaac-sim:pull token for nvcr.io
#4 [internal] load metadata for nvcr.io/nvidia/isaac-sim:6.1.0
#4 ERROR: failed to authorize: failed to fetch oauth token: denied: Access Denied
ERROR: failed to build: failed to solve: failed to fetch oauth token: denied: Access Denied
```

4. The same step also logs `🔵 Base image ID:
nvcr.io/nvidia/isaac-sim:6.1.0` with no `sha256:` suffix, which is the
silent digest fallback in `compute-deps-hash`.

## Scope

Every workflow on this branch pins the private
`nvcr.io/0947644777160149/internal/isaac-sim` image today, where the
configured credentials succeed and the fallback stays dormant. This
change is the prerequisite that lets a public base image be configured
without the failure above; it does not change which image any workflow
uses.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Release backport

- [x] <!-- backport-active-release --> Backport this pull request to the
active release branch after it merges into `develop`

## Screenshots

Not applicable; this changes CI action behavior only.

## Validation

The fallback only narrows credentials, never widens them, so each guard
was exercised against a stubbed `docker` and a realistic three-registry
config (nvcr.io, ECR, Docker Hub):

- Public nvcr.io image, credentials denied, anonymous readable: the
nvcr.io entry is dropped and the ECR and Docker Hub entries survive, so
pushes keep working.
- `ubuntu:24.04`, which `kitless-docker.yml` passes: the ref is not an
nvcr.io image, so the config is left untouched and the Docker Hub
credential keeps its pull-rate budget.
- Private internal image readable with credentials: no probe fallback,
no change.
- Registry 503 rather than an authorization refusal: retried, then a
warning, and the credential is kept, so a transient error cannot cost a
working credential.
- A docker config this action did not create: left unchanged, so a
runner-level `DOCKER_CONFIG` is never edited.
- `NVCR.IO/...` and `nvcr.io:443/...` resolve to the same registry as
`nvcr.io/...`; `nvcr.io.evil.com/...` does not match.
- `compute-deps-hash`: a digest-pinned tag such as
`latest-develop@sha256:...` is used directly with no network call, a
malformed digest pin fails with a named error, an authorization refusal
fails immediately, a transient failure is retried 5 times over about 50
seconds, and a warning on stderr during a successful read is no longer
concatenated into the digest.
- These are committed as
`.github/actions/_lib/test_registry_credential_fallback.py` (14 tests,
the co-located pattern of
`run-package-tests/test_cleanup_docker_storage.py`) and registered in
`tools-tests.yml` so they run in CI.
- Mutation checks: removing the nvcr.io scope, the exact-digest check,
the ownership guard, or the `credHelpers` handling each makes the
corresponding test fail, so the suite exercises the intended behavior
rather than only the happy path.
- `python -m py_compile` on the new helper, `bash -n` on every `run:`
block in the five changed files, YAML parse of each, and `codespell`
clean.

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format` — not run; this change touches only `.github/`,
validated with `bash -n`, `py_compile`, a YAML parse and `codespell`,
and the repository's own `pre-commit` check on this branch
- [x] I have made corresponding changes to the documentation — the
action's `description` and the new input document the fallback
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have added a changelog fragment under
`source/<pkg>/changelog.d/` for every touched package (do **not** edit
`CHANGELOG.rst` or bump `extension.toml` — CI handles that) — not
applicable; no package is touched
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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