Refactors the doc on Schema for Lab 3.0, and adds MuJoCo gravcomp

docs/source/api/index.rst

@@ -161,6 +161,7 @@ The following modules are available in the ``isaaclab_newton`` extension:
    renderers
    scene_data_providers
    sensors
+   sim.schemas
 
 .. toctree::
    :hidden:
@@ -171,6 +172,7 @@ The following modules are available in the ``isaaclab_newton`` extension:
    lab_newton/isaaclab_newton.renderers
    lab_newton/isaaclab_newton.scene_data_providers
    lab_newton/isaaclab_newton.sensors
+   lab_newton/isaaclab_newton.sim.schemas
 
 isaaclab_ov extension
 ---------------------

docs/source/api/lab/isaaclab.sim.schemas.rst

@@ -1,18 +1,31 @@
-isaaclab.sim.schemas
+isaaclab.sim.schemas
 ====================
 
 .. automodule:: isaaclab.sim.schemas
 
-  .. rubric:: Classes
+  .. rubric:: Solver-common base classes
+
+  These base classes carry the universal-physics fields that every backend honors.
+  They live in core ``isaaclab`` and have no backend dependency. For backend-specific
+  knobs, use the matching subclass in :mod:`isaaclab_physx.sim.schemas` or
+  :mod:`isaaclab_newton.sim.schemas`. See :doc:`/source/overview/core-concepts/schema_cfgs`
+  for the full design.
 
   .. autosummary::
 
-    ArticulationRootPropertiesCfg
-    RigidBodyPropertiesCfg
-    CollisionPropertiesCfg
+    ArticulationRootBaseCfg
+    RigidBodyBaseCfg
+    CollisionBaseCfg
+    JointDriveBaseCfg
+    MeshCollisionBaseCfg
     MassPropertiesCfg
-    JointDrivePropertiesCfg
-    FixedTendonPropertiesCfg
+
+  .. rubric:: Mesh collision approximations (USD-only, no PhysX schema)
+
+  .. autosummary::
+
+    BoundingCubePropertiesCfg
+    BoundingSpherePropertiesCfg
 
   .. rubric:: Functions
 
@@ -28,39 +41,60 @@
     define_mass_properties
     modify_mass_properties
     modify_joint_drive_properties
+    define_mesh_collision_properties
+    modify_mesh_collision_properties
     modify_fixed_tendon_properties
+    modify_spatial_tendon_properties
+
+.. currentmodule:: isaaclab.sim.schemas
 
 Articulation Root
 -----------------
 
-.. autoclass:: ArticulationRootPropertiesCfg
+.. autoclass:: ArticulationRootBaseCfg
     :members:
     :exclude-members: __init__
 
 .. autofunction:: define_articulation_root_properties
 .. autofunction:: modify_articulation_root_properties
 
+For PhysX-specific articulation properties (self-collisions, TGS solver iterations,
+sleep/stabilization thresholds), see
+:class:`~isaaclab_physx.sim.schemas.PhysxArticulationRootPropertiesCfg`. For
+Newton-native self-collisions, see
+:class:`~isaaclab_newton.sim.schemas.NewtonArticulationRootPropertiesCfg`.
+
 Rigid Body
 ----------
 
-.. autoclass:: RigidBodyPropertiesCfg
+.. autoclass:: RigidBodyBaseCfg
     :members:
     :exclude-members: __init__
 
 .. autofunction:: define_rigid_body_properties
 .. autofunction:: modify_rigid_body_properties
 .. autofunction:: activate_contact_sensors
 
+For PhysX-specific rigid body properties (damping, max velocities, solver iterations,
+sleep/stabilization), see :class:`~isaaclab_physx.sim.schemas.PhysxRigidBodyPropertiesCfg`.
+For MuJoCo-specific gravity compensation, see
+:class:`~isaaclab_newton.sim.schemas.MujocoRigidBodyPropertiesCfg`.
+
 Collision
 ---------
 
-.. autoclass:: CollisionPropertiesCfg
+.. autoclass:: CollisionBaseCfg
     :members:
     :exclude-members: __init__
 
 .. autofunction:: define_collision_properties
 .. autofunction:: modify_collision_properties
 
+For PhysX torsional patch friction, see
+:class:`~isaaclab_physx.sim.schemas.PhysxCollisionPropertiesCfg`. For Newton-native
+contact margin/gap, see
+:class:`~isaaclab_newton.sim.schemas.NewtonCollisionPropertiesCfg`.
+
 Mass
 ----
 
@@ -74,20 +108,52 @@ Mass
 Joint Drive
 -----------
 
-.. autoclass:: JointDrivePropertiesCfg
+.. autoclass:: JointDriveBaseCfg
     :members:
     :exclude-members: __init__
 
 .. autofunction:: modify_joint_drive_properties
 
-Fixed Tendon
-------------
+For PhysX-specific drive properties, see
+:class:`~isaaclab_physx.sim.schemas.PhysxJointDrivePropertiesCfg`. For MuJoCo
+actuator gravity compensation, see
+:class:`~isaaclab_newton.sim.schemas.MujocoJointDrivePropertiesCfg`.
+
+Mesh Collision
+--------------
 
-.. autoclass:: FixedTendonPropertiesCfg
+.. autoclass:: MeshCollisionBaseCfg
     :members:
     :exclude-members: __init__
 
+.. autoclass:: BoundingCubePropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: BoundingSpherePropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autofunction:: define_mesh_collision_properties
+.. autofunction:: modify_mesh_collision_properties
+
+For PhysX cooking schemas (convex hull / decomposition / triangle mesh / SDF),
+see the ``Physx*PropertiesCfg`` family in :mod:`isaaclab_physx.sim.schemas`.
+For Newton hull-vertex limit, see
+:class:`~isaaclab_newton.sim.schemas.NewtonMeshCollisionPropertiesCfg`.
+
+Tendon
+------
+
 .. autofunction:: modify_fixed_tendon_properties
+.. autofunction:: modify_spatial_tendon_properties
+
+Tendon cfg classes are PhysX-only and live in
+:mod:`isaaclab_physx.sim.schemas`
+(:class:`~isaaclab_physx.sim.schemas.PhysxFixedTendonPropertiesCfg`,
+:class:`~isaaclab_physx.sim.schemas.PhysxSpatialTendonPropertiesCfg`).
 
 Deformable Body
 ---------------

docs/source/api/lab_newton/isaaclab_newton.sim.schemas.rst

@@ -0,0 +1,88 @@
+isaaclab_newton.sim.schemas
+===========================
+
+.. automodule:: isaaclab_newton.sim.schemas
+
+  Newton-targeted schema configuration classes. Each cfg below extends a
+  solver-common base in :mod:`isaaclab.sim.schemas` with Newton-namespaced
+  attributes (``newton:*``) or solver-specific attributes (``mjc:*`` for
+  Newton's MuJoCo solver). MuJoCo cfgs subclass their Newton counterpart
+  because MuJoCo is one of Newton's solver options.
+
+  See :doc:`/source/overview/core-concepts/schema_cfgs` for the design and
+  when to use each class.
+
+  .. rubric:: Newton-targeted (family roots)
+
+  .. autosummary::
+
+    NewtonRigidBodyPropertiesCfg
+    NewtonJointDrivePropertiesCfg
+    NewtonCollisionPropertiesCfg
+    NewtonMeshCollisionPropertiesCfg
+    NewtonMaterialPropertiesCfg
+    NewtonArticulationRootPropertiesCfg
+
+  .. rubric:: MuJoCo-solver-specific
+
+  .. autosummary::
+
+    MujocoRigidBodyPropertiesCfg
+    MujocoJointDrivePropertiesCfg
+
+.. currentmodule:: isaaclab_newton.sim.schemas
+
+Rigid Body
+----------
+
+.. autoclass:: NewtonRigidBodyPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: MujocoRigidBodyPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Joint Drive
+-----------
+
+.. autoclass:: NewtonJointDrivePropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: MujocoJointDrivePropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Collision
+---------
+
+.. autoclass:: NewtonCollisionPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: NewtonMeshCollisionPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Material
+--------
+
+.. autoclass:: NewtonMaterialPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Articulation Root
+-----------------
+
+.. autoclass:: NewtonArticulationRootPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__

docs/source/api/lab_physx/isaaclab_physx.sim.schemas.rst

@@ -3,7 +3,49 @@ isaaclab_physx.sim.schemas
 
 .. automodule:: isaaclab_physx.sim.schemas
 
-  .. rubric:: Classes
+  PhysX-specific schema configuration classes. Each cfg below extends a
+  solver-common base in :mod:`isaaclab.sim.schemas` with PhysX-namespaced
+  attributes (``physx*:*``) and applies the corresponding ``Physx*API``
+  applied schema. See :doc:`/source/overview/core-concepts/schema_cfgs`
+  for the design.
+
+  .. rubric:: Rigid body and joint drive
+
+  .. autosummary::
+
+    PhysxRigidBodyPropertiesCfg
+    PhysxJointDrivePropertiesCfg
+
+  .. rubric:: Collision
+
+  .. autosummary::
+
+    PhysxCollisionPropertiesCfg
+
+  .. rubric:: Articulation root
+
+  .. autosummary::
+
+    PhysxArticulationRootPropertiesCfg
+
+  .. rubric:: Mesh collision (PhysX cooking)
+
+  .. autosummary::
+
+    PhysxConvexHullPropertiesCfg
+    PhysxConvexDecompositionPropertiesCfg
+    PhysxTriangleMeshPropertiesCfg
+    PhysxTriangleMeshSimplificationPropertiesCfg
+    PhysxSDFMeshPropertiesCfg
+
+  .. rubric:: Tendon
+
+  .. autosummary::
+
+    PhysxFixedTendonPropertiesCfg
+    PhysxSpatialTendonPropertiesCfg
+
+  .. rubric:: Deformable body
 
   .. autosummary::
 
@@ -18,6 +60,79 @@ isaaclab_physx.sim.schemas
 
 .. currentmodule:: isaaclab_physx.sim.schemas
 
+Rigid Body
+----------
+
+.. autoclass:: PhysxRigidBodyPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Joint Drive
+-----------
+
+.. autoclass:: PhysxJointDrivePropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Collision
+---------
+
+.. autoclass:: PhysxCollisionPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Articulation Root
+-----------------
+
+.. autoclass:: PhysxArticulationRootPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Mesh Collision (PhysX cooking)
+-------------------------------
+
+.. autoclass:: PhysxConvexHullPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: PhysxConvexDecompositionPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: PhysxTriangleMeshPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: PhysxTriangleMeshSimplificationPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: PhysxSDFMeshPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Tendon
+------
+
+.. autoclass:: PhysxFixedTendonPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: PhysxSpatialTendonPropertiesCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
 Deformable Body
 ---------------