Fix PhysX D6 translational limit lookup

[adenzler-nvidia]

Description

Fixes SchemaResolverPhysx resolving all three D6 translational axes through the generic PhysxLimitAPI:linear instance. Each transX, transY, and transZ stiffness and damping value now comes from its matching multi-apply API instance.

Checklist

• New or existing tests cover these changes
• The documentation is up to date with these changes
• CHANGELOG.md has been updated (if user-facing change)

Test plan

python -m unittest newton.tests.test_schema_resolver
uvx pre-commit run --files CHANGELOG.md newton/_src/usd/schemas.py newton/tests/test_schema_resolver.py

Bug fix

Steps to reproduce:

1. Author distinct stiffness or damping values on PhysxLimitAPI:transX, PhysxLimitAPI:transY, and PhysxLimitAPI:transZ.
2. Resolve limit_transX_ke, limit_transY_ke, or limit_transZ_ke with SchemaResolverPhysx.
3. Observe every key returning the value from PhysxLimitAPI:linear instead of its corresponding axis.

Minimal reproduction:

from pxr import Sdf, Usd

from newton.usd import PrimType, SchemaResolverPhysx

stage = Usd.Stage.CreateInMemory()
joint = stage.DefinePrim("/joint", "PhysicsJoint")
joint.CreateAttribute("physxLimit:linear:stiffness", Sdf.ValueTypeNames.Float).Set(99.0)
joint.CreateAttribute("physxLimit:transX:stiffness", Sdf.ValueTypeNames.Float).Set(1.0)

value = SchemaResolverPhysx().get_value(joint, PrimType.JOINT, "limit_transX_ke")
assert value == 1.0

Summary by CodeRabbit

• Bug Fixes
  • Fixed PhysX D6 joint settings so translational stiffness and damping values are correctly read for the X, Y, and Z axes.
• Tests
  • Added coverage to verify per-axis translational limit values are resolved correctly.

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ℹ️ Recent review info

⚙️ Run configuration

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Plan: Pro

Run ID: 21690ee8-17e9-4e9e-a8ee-42d4b5da250b

📥 Commits

Reviewing files that changed from the base of the PR and between e6ea232 and e4238bc.

📒 Files selected for processing (3)

• CHANGELOG.md
• newton/_src/usd/schemas.py
• newton/tests/test_schema_resolver.py

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📝 Walkthrough

Walkthrough

SchemaResolverPhysx now resolves D6 translational stiffness and damping from the matching transX, transY, and transZ USD instances. A unit test covers all six mappings, and the changelog records the fix.

Changes

PhysX D6 limit resolution

Layer / File(s)	Summary
Per-axis mapping and validation newton/_src/usd/schemas.py, newton/tests/test_schema_resolver.py, CHANGELOG.md	Joint mappings use axis-specific PhysX stiffness and damping attributes, tests verify all translational axes and gains, and the fix is documented.

Estimated code review effort: 2 (Simple) | ~10 minutes

Possibly related PRs

• newton-physics/newton#3568: Updates related SchemaResolverPhysx translational limit-gain resolution and coverage.

Suggested reviewers: nvtw

🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly matches the core fix: PhysX D6 translational limit values are now resolved from the correct per-axis instances.
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

✨ Finishing Touches

🧪 Generate unit tests (beta)

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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ All tests successful. No failed tests found.

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