Fix Newton self-collisions being uncontrolled via the deprecated PhysX cfg (#7164)

## Summary
-
`ArticulationRootPropertiesCfg`/`PhysxArticulationRootPropertiesCfg.enabled_self_collisions`
only authored `physxArticulation:enabledSelfCollisions`. Newton's schema
resolver checks `newton:selfCollisionEnabled` first and only falls back
to the PhysX attribute when it's unauthored, so the deprecated cfg's
setting silently never reached Newton simulations.
- `modify_articulation_root_properties` now mirrors
`enabled_self_collisions` onto `newton:selfCollisionEnabled` (applying
`NewtonArticulationRootAPI`) whenever it's set, so the deprecated cfg
controls self-collisions on both backends.
- Migrated `ALLEGRO_HAND_CFG`, `SHADOW_HAND_CFG`,
`SHADOW_HAND_NEWTON_CFG`, and `KUKA_ALLEGRO_CFG` off the deprecated cfg
to explicit `PhysxArticulationCfg` + `NewtonArticulationCfg` fragments.
Several of the reorientation/handover tasks built on these hands
(`Isaac-Reorient-Cube-Allegro*`, `Isaac-Reorient-Cube-Shadow-Direct*`,
`Isaac-Shadow-Handover-Direct`) default to the `newton_mjwarp` preset,
so this was a real training-time gap, not just a hypothetical one.
- Adds `isaaclab_physx`/`isaaclab_newton` as declared dependencies of
`isaaclab_assets` (needed for the fragment imports above).

## Test plan
- [x] `test_physx_articulation_root_writes_self_collisions` extended to
assert `newton:selfCollisionEnabled` / `NewtonArticulationRootAPI` are
authored; confirmed it fails without the fix and passes with it.
- [x] `source/isaaclab/test/sim/test_schemas.py` (43 tests) and
`test_articulation_fragments.py` (26 tests) pass.
- [x] `source/isaaclab_assets` test suite passes (`test_asset_configs`
loads all three migrated robot configs).
- [x] `test_initialization_hand_with_tendons` (Shadow Hand, PhysX
backend) passes with the fragment-based `articulation_props`.
- [x] `uv run isaaclab -f` passes (formatting, changelog fragments).

---------

Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Author: AntoineRichard

source/isaaclab/changelog.d/fix-deprecated-self-collisions-newton.rst

@@ -0,0 +1,18 @@
+Fixed
+^^^^^
+
+* Fixed the deprecated :class:`~isaaclab_physx.sim.schemas.ArticulationRootPropertiesCfg` /
+  :class:`~isaaclab_physx.sim.schemas.PhysxArticulationRootPropertiesCfg` ``enabled_self_collisions``
+  field silently no-oping under Newton. The legacy writer only authored
+  ``physxArticulation:enabledSelfCollisions`` (via ``PhysxArticulationAPI``); Newton's schema
+  resolver checks the native ``newton:selfCollisionEnabled`` attribute first and only falls back to
+  the PhysX one when it is unauthored, so the value never reached Newton simulations.
+  :meth:`~isaaclab.sim.schemas.modify_articulation_root_properties` now also mirrors
+  ``enabled_self_collisions`` onto ``newton:selfCollisionEnabled`` (applying
+  ``NewtonArticulationRootAPI``), so the deprecated cfg controls self-collisions on both backends.
+  The mirror is authored after root-link relocation so ``fix_root_link=True`` leaves a single
+  articulation root.
+* Fixed ``./isaaclab.sh -i`` and the CI Docker install failing with ``No matching distribution
+  found for isaaclab_physx`` because ``CORE_ISAACLAB_SUBMODULES`` installed ``isaaclab_assets``
+  before ``isaaclab_newton``/``isaaclab_physx``, which it now depends on. Reordered the submodule
+  list so the backend packages install first.

source/isaaclab/isaaclab/cli/commands/install.py

@@ -662,17 +662,18 @@ def _install_isaacsim() -> None:
 # Source directories installed on every ./isaaclab.sh -i invocation (even "core").
 # Order must respect inter-package dependencies (topological sort):
 #   isaaclab first, then ppisp (no inter-package deps, precedes renderer backends),
-#   then contrib (needed by assets), then assets, then tasks (needed by rl),
-#   then rl. Packages with only an isaaclab dep can go anywhere after isaaclab.
+#   then contrib and the backend packages newton/physx (needed by assets), then
+#   assets, then tasks (needed by rl), then rl. Packages with only an isaaclab
+#   dep can go anywhere after isaaclab.
 CORE_ISAACLAB_SUBMODULES: list[str] = [
     "isaaclab",
     "isaaclab_ppisp",
     "isaaclab_contrib",
+    "isaaclab_newton",
+    "isaaclab_physx",
     "isaaclab_assets",
     "isaaclab_experimental",
-    "isaaclab_newton",
     "isaaclab_ov",
-    "isaaclab_physx",
     "isaaclab_tasks",
     "isaaclab_tasks_experimental",
     "isaaclab_rl",

source/isaaclab/isaaclab/sim/schemas/schemas.py

@@ -582,10 +582,41 @@ def modify_articulation_root_properties(
                     if not parent_attr:
                         parent_attr = parent_prim.CreateAttribute(aname, attr.GetTypeName())
                     parent_attr.Set(attr.Get())
+            # -- Newton root schema and its authored properties
+            newton_root_schema = "NewtonArticulationRootAPI"
+            if newton_root_schema in articulation_prim.GetAppliedSchemas():
+                if not parent_prim.AddAppliedSchema(newton_root_schema):
+                    raise RuntimeError(f"Failed to apply '{newton_root_schema}' to '{parent_prim.GetPath()}'.")
+                schema_definition = Usd.SchemaRegistry().FindAppliedAPIPrimDefinition(newton_root_schema)
+                newton_properties = []
+                if schema_definition is not None:
+                    for property_name in schema_definition.GetPropertyNames():
+                        prop = articulation_prim.GetProperty(property_name)
+                        if prop and prop.IsAuthored():
+                            newton_properties.append(prop)
+                for prop in newton_properties:
+                    if not prop.FlattenTo(parent_prim):
+                        raise RuntimeError(f"Failed to move '{prop.GetPath()}' to '{parent_prim.GetPath()}'.")
+                for prop in newton_properties:
+                    if not articulation_prim.RemoveProperty(prop.GetName()):
+                        raise RuntimeError(f"Failed to remove '{prop.GetPath()}' from the former articulation root.")
+                if not articulation_prim.RemoveAppliedSchema(newton_root_schema):
+                    raise RuntimeError(f"Failed to remove '{newton_root_schema}' from '{articulation_prim.GetPath()}'.")
 
             # remove api from root
             articulation_prim.RemoveAppliedSchema("PhysxArticulationAPI")
             articulation_prim.RemoveAPI(UsdPhysics.ArticulationRootAPI)
+            articulation_prim = parent_prim
+
+    # Mirror after any root relocation so the Newton API does not recreate an articulation root
+    # on the former root link.
+    enabled_self_collisions = cfg_dict.get("enabled_self_collisions")
+    if enabled_self_collisions is not None:
+        if "NewtonArticulationRootAPI" not in articulation_prim.GetAppliedSchemas():
+            articulation_prim.AddAppliedSchema("NewtonArticulationRootAPI")
+        safe_set_attribute_on_usd_prim(
+            articulation_prim, "newton:selfCollisionEnabled", enabled_self_collisions, camel_case=False
+        )
 
     # success
     return True

source/isaaclab/test/sim/test_schemas.py

@@ -506,8 +506,8 @@ def test_articulation_root_base_no_physx_schema_when_only_fix_root_link_set(setu
 
 @pytest.mark.isaacsim_ci
 def test_physx_articulation_root_writes_self_collisions(setup_simulation):
-    """Setting ``enabled_self_collisions`` on ``PhysxArticulationRootPropertiesCfg`` must
-    author ``physxArticulation:enabledSelfCollisions`` AND apply ``PhysxArticulationAPI``."""
+    """Setting ``enabled_self_collisions`` on ``PhysxArticulationRootPropertiesCfg`` must author
+    ``physxArticulation:enabledSelfCollisions`` and mirror onto ``newton:selfCollisionEnabled``."""
     sim, _, _, _, _, _ = setup_simulation
     stage = sim_utils.get_current_stage()
 
@@ -517,8 +517,35 @@ def test_physx_articulation_root_writes_self_collisions(setup_simulation):
 
     prim = stage.GetPrimAtPath("/World/arti_sc")
     assert prim.GetAttribute("physxArticulation:enabledSelfCollisions").Get() is True
+    assert prim.GetAttribute("newton:selfCollisionEnabled").Get() is True
     applied = prim.GetAppliedSchemas()
     assert "PhysxArticulationAPI" in applied
+    assert "NewtonArticulationRootAPI" in applied
+
+
+@pytest.mark.isaacsim_ci
+def test_physx_articulation_root_self_collisions_follow_fixed_root(setup_simulation):
+    """Mirrored Newton self-collision properties must follow a relocated articulation root."""
+    sim, _, _, _, _, _ = setup_simulation
+    stage = sim_utils.get_current_stage()
+
+    parent = sim_utils.create_prim("/World/arti_fixed", prim_type="Xform")
+    child = sim_utils.create_prim("/World/arti_fixed/base", prim_type="Cube")
+    UsdPhysics.RigidBodyAPI.Apply(child)
+    UsdPhysics.ArticulationRootAPI.Apply(child)
+    child.AddAppliedSchema("NewtonArticulationRootAPI")
+    child.GetAttribute("newton:selfCollisionEnabled").Set(False)
+
+    cfg = PhysxArticulationRootPropertiesCfg(enabled_self_collisions=True, fix_root_link=True)
+    schemas.modify_articulation_root_properties(child.GetPath(), cfg)
+
+    roots = [prim for prim in stage.Traverse() if prim.HasAPI(UsdPhysics.ArticulationRootAPI)]
+    assert roots == [parent]
+    assert parent.GetAttribute("physxArticulation:enabledSelfCollisions").Get() is True
+    assert parent.GetAttribute("newton:selfCollisionEnabled").Get() is True
+    assert "NewtonArticulationRootAPI" in parent.GetAppliedSchemas()
+    assert "NewtonArticulationRootAPI" not in child.GetAppliedSchemas()
+    assert not child.GetAttribute("newton:selfCollisionEnabled").HasAuthoredValue()
 
 
 @pytest.mark.isaacsim_ci

source/isaaclab_assets/changelog.d/fix-hand-self-collisions-newton.rst

@@ -0,0 +1,12 @@
+Fixed
+^^^^^
+
+* Fixed self-collisions being uncontrolled under Newton for
+  :data:`~isaaclab_assets.robots.allegro.ALLEGRO_HAND_CFG`,
+  :data:`~isaaclab_assets.robots.shadow_hand.SHADOW_HAND_CFG`,
+  :data:`~isaaclab_assets.robots.shadow_hand.SHADOW_HAND_NEWTON_CFG`, and
+  :data:`~isaaclab_assets.robots.kuka_allegro.KUKA_ALLEGRO_CFG`. Their ``articulation_props`` used
+  the deprecated PhysX-only ``ArticulationRootPropertiesCfg``, which never authored the
+  ``newton:selfCollisionEnabled`` attribute Newton's schema resolver checks. They now pass a
+  ``PhysxArticulationCfg`` + ``NewtonArticulationCfg`` fragment pair so ``enabled_self_collisions``
+  is authored on both backends explicitly.

source/isaaclab_assets/isaaclab_assets/robots/allegro.py

@@ -17,6 +17,9 @@
 
 import math
 
+from isaaclab_newton.sim.schemas import NewtonArticulationCfg
+from isaaclab_physx.sim.schemas import PhysxArticulationCfg
+
 import isaaclab.sim as sim_utils
 from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets.articulation import ArticulationCfg
@@ -40,13 +43,16 @@
             max_depenetration_velocity=1000.0,
             max_contact_impulse=1e32,
         ),
-        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
-            enabled_self_collisions=True,
-            solver_position_iteration_count=8,
-            solver_velocity_iteration_count=0,
-            sleep_threshold=0.005,
-            stabilization_threshold=0.0005,
-        ),
+        articulation_props=[
+            PhysxArticulationCfg(
+                enabled_self_collisions=True,
+                solver_position_iteration_count=8,
+                solver_velocity_iteration_count=0,
+                sleep_threshold=0.005,
+                stabilization_threshold=0.0005,
+            ),
+            NewtonArticulationCfg(self_collision_enabled=True),
+        ],
         # collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0),
     ),
     init_state=ArticulationCfg.InitialStateCfg(

source/isaaclab_assets/isaaclab_assets/robots/kuka_allegro.py

@@ -16,6 +16,9 @@
 
 """
 
+from isaaclab_newton.sim.schemas import NewtonArticulationCfg
+from isaaclab_physx.sim.schemas import PhysxArticulationCfg
+
 import isaaclab.sim as sim_utils
 from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets.articulation import ArticulationCfg
@@ -37,13 +40,16 @@
             max_angular_velocity=1000.0,
             max_depenetration_velocity=1000.0,
         ),
-        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
-            enabled_self_collisions=True,
-            solver_position_iteration_count=32,
-            solver_velocity_iteration_count=1,
-            sleep_threshold=0.005,
-            stabilization_threshold=0.0005,
-        ),
+        articulation_props=[
+            PhysxArticulationCfg(
+                enabled_self_collisions=True,
+                solver_position_iteration_count=32,
+                solver_velocity_iteration_count=1,
+                sleep_threshold=0.005,
+                stabilization_threshold=0.0005,
+            ),
+            NewtonArticulationCfg(self_collision_enabled=True),
+        ],
         joint_drive_props=sim_utils.JointDrivePropertiesCfg(drive_type="force"),
     ),
     init_state=ArticulationCfg.InitialStateCfg(

source/isaaclab_assets/isaaclab_assets/robots/shadow_hand.py

@@ -16,6 +16,9 @@
 
 """
 
+from isaaclab_newton.sim.schemas import NewtonArticulationCfg
+from isaaclab_physx.sim.schemas import PhysxArticulationCfg
+
 import isaaclab.sim as sim_utils
 from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets.articulation import ArticulationCfg
@@ -34,13 +37,16 @@
             retain_accelerations=True,
             max_depenetration_velocity=1000.0,
         ),
-        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
-            enabled_self_collisions=True,
-            solver_position_iteration_count=8,
-            solver_velocity_iteration_count=0,
-            sleep_threshold=0.005,
-            stabilization_threshold=0.0005,
-        ),
+        articulation_props=[
+            PhysxArticulationCfg(
+                enabled_self_collisions=True,
+                solver_position_iteration_count=8,
+                solver_velocity_iteration_count=0,
+                sleep_threshold=0.005,
+                stabilization_threshold=0.0005,
+            ),
+            NewtonArticulationCfg(self_collision_enabled=True),
+        ],
         # collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0),
         joint_drive_props=sim_utils.JointDrivePropertiesCfg(drive_type="force"),
         fixed_tendons_props=sim_utils.FixedTendonPropertiesCfg(limit_stiffness=30.0, damping=0.1),
@@ -96,7 +102,10 @@
             retain_accelerations=True,
             max_depenetration_velocity=1000.0,
         ),
-        articulation_props=sim_utils.ArticulationRootPropertiesCfg(enabled_self_collisions=True),
+        articulation_props=[
+            PhysxArticulationCfg(enabled_self_collisions=True),
+            NewtonArticulationCfg(self_collision_enabled=True),
+        ],
         joint_drive_props=sim_utils.JointDrivePropertiesCfg(drive_type="force", ensure_drives_exist=True),
         fixed_tendons_props=sim_utils.FixedTendonPropertiesCfg(damping=0.1),
     ),

source/isaaclab_assets/pyproject.toml

@@ -20,11 +20,15 @@ requires-python = ">=3.12"
 dependencies = [
     "isaaclab",
     "isaaclab_contrib",
+    "isaaclab_physx",
+    "isaaclab_newton",
 ]
 
 [tool.uv.sources]
 isaaclab = { path = "../isaaclab", editable = true }
 isaaclab_contrib = { path = "../isaaclab_contrib", editable = true }
+isaaclab_physx = { path = "../isaaclab_physx", editable = true }
+isaaclab_newton = { path = "../isaaclab_newton", editable = true }
 
 [project.urls]
 Homepage = "https://github.com/isaac-sim/IsaacLab"