Replaces PhysX schema interactions via pxr.PhysxSchema API helpers with direct prim schema apply/get calls#4672
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ooctipus wants to merge 1 commit intoisaac-sim:developfrom
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Greptile SummaryRemoves IsaacSim dependency by replacing Major Changes:
Issues Found:
Confidence Score: 3/5
Important Files Changed
Flowchart%%{init: {'theme': 'neutral'}}%%
flowchart TD
A[User Code] --> B[Schema Config APIs]
B --> C{API Type}
C -->|Before| D[pxr.PhysxSchema API]
C -->|After| E[Direct Prim Operations]
D --> D1[PhysxSchema.Apply]
D --> D2[PhysxSchema.Get]
D --> D3[API.CreateAttr]
E --> E1[prim.AddAppliedSchema]
E --> E2[prim.GetAppliedSchemas]
E --> E3[safe_set_attribute_on_usd_prim]
D1 -.replaced by.-> E1
D2 -.replaced by.-> E2
D3 -.replaced by.-> E3
E1 --> F[String-based Schema Names]
E3 --> G[Attribute Name Strings]
F --> H[No IsaacSim Dependency]
G --> H
style D fill:#ffcccc
style E fill:#ccffcc
style H fill:#ffffcc
Last reviewed commit: a5a5f2a |
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| mesh_collision_cfg = getattr(cfg, "mesh_collision_property", None) | ||
| if mesh_collision_cfg is not None: | ||
| modify_mesh_collision_properties(prim_path, mesh_collision_cfg, stage) |
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mesh_collision_property field doesn't exist in CollisionPropertiesCfg. getattr will return None (won't crash), but this suggests missing field definition in schemas_cfg.py
kellyguo11
approved these changes
Feb 21, 2026
a5a5f2a to
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Description
PhysxSchema is not a native package in pxr, and will not be importable without launched isaacsim
Newton reads the physxscheme directly from string, this pr makes sure we can alter change schema in similar string way without isaacsim dependency
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there