Document schema fragment framework in API reference#6286
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Add the new single-namespace "fragment" API to the isaaclab.sim.schemas reference page: SchemaFragment and the per-family marker bases, the UsdPhysics*Cfg solver-common fragments, and the family writers (apply_namespaced and the apply_*_properties functions). These were introduced by the schema-cfg fragment refactor but were missing from the rendered API docs, which still listed only the legacy define_*/modify_* writers and *PropertiesCfg classes.
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Description
The schema-cfg "fragment" refactor introduced a new public API in
isaaclab.sim.schemas— single-namespace fragment classes and family writers — but the rendered API reference still listed only the legacydefine_*/modify_*writers and*PropertiesCfgclasses. This documents the fragment API that is already merged intodevelop.Added to
docs/source/api/lab/isaaclab.sim.schemas.rst:SchemaFragment, the per-family marker bases (RigidBodyFragment,CollisionFragment,MassFragment,MeshCollisionFragment,FixedTendonFragment,SpatialTendonFragment), and the solver-commonUsdPhysics*Cfgfragments (UsdPhysicsRigidBodyCfg,UsdPhysicsCollisionCfg,UsdPhysicsMeshCollisionCfg).apply_namespaced,apply_rigid_body_properties,apply_collision_properties,apply_mass_properties,apply_mesh_collision,apply_mesh_collision_properties,apply_fixed_tendon_properties,apply_spatial_tendon_properties— wired into their respective sections.Scope is the API reference only; the narrative concept page (
schema_cfgs.rst) rewrite is deliberately out of scope. Articulation-root and joint-drive fragment symbols are documented in their own PRs (#6272, #6273), since those symbols are not yet indevelop.Type of change
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pre-commitchecks with./isaaclab.sh --format.skip)