Add RigidObjectCollection asset for OVPhysX backend

Implements RigidObjectCollection and RigidObjectCollectionData for the
OVPhysX backend, completing the rigid-body asset surface alongside
RigidObject and Articulation. The collection manages N distinct rigid
bodies per environment with (env, body) dual indexing.

The asset creates one native fused TensorBinding per tensor type via the
ovphysx 0.4.3 create_tensor_binding(prim_paths=...) API, mirroring how
PhysX's RigidBodyView aggregates multiple body prims into a single flat
view. Each binding spans num_instances * num_bodies prims and returns
body-major flat data. Strided-view reshape helpers convert between body-
major view layout and the instance-major (N, B, D) layout exposed to
users -- no Warp kernels added beyond the resolve_view_ids helper, no
per-body Python fan-out at runtime.

Also updates the kitless guard in test_rigid_object_collection_iface so
the shared interface test can run under run_ovphysx.sh.

Fixes isaac-sim#5317

Author: AntoineRichard

source/isaaclab/test/assets/test_rigid_object_collection_iface.py

@@ -14,16 +14,42 @@
 The setup is a bit convoluted so that we can run these tests without requiring Isaac Sim or GPU simulation.
 """
 
-"""Launch Isaac Sim Simulator first."""
+"""Launch Isaac Sim Simulator first (when available)."""
 
-from isaaclab.app import AppLauncher
-
-HEADLESS = True
+import os
+import sys
+from unittest.mock import MagicMock
 
-# launch omniverse app
-simulation_app = AppLauncher(headless=True).app
+# When running kitless (e.g., ovphysx backend via run_ovphysx.sh), AppLauncher
+# will try to boot Kit and hang. Skip it entirely: run_ovphysx.sh sets
+# LD_PRELOAD to the ovphysx libcarb.so, which is the signature of a kitless
+# ovphysx run. Also guard the case where neither LD_PRELOAD nor EXP_PATH is
+# set (bare Python, no Kit at all).
+_kitless = "ovphysx" in os.environ.get("LD_PRELOAD", "") or (
+    os.environ.get("LD_PRELOAD", "") == "" and "EXP_PATH" not in os.environ
+)
 
-from unittest.mock import MagicMock
+if not _kitless:
+    from isaaclab.app import AppLauncher
+
+    simulation_app = AppLauncher(headless=True).app
+else:
+    simulation_app = None
+    # Stub out the Kit/Omniverse modules that are not present under
+    # run_ovphysx.sh (pxr, carb, omni, omni.kit[.app] are real on PYTHONPATH).
+    # ``omni`` is a real namespace package, so missing submodules also need
+    # to be installed as attributes on it -- ``sys.modules`` alone is not
+    # enough because attribute access on the real ``omni`` won't fall
+    # through to ``sys.modules``.
+    import omni as _omni
+
+    for _mod in ("physics", "physics.tensors", "physx", "timeline", "usd"):
+        _stub = MagicMock()
+        sys.modules[f"omni.{_mod}"] = _stub
+        # Bind the leaf attribute so that ``omni.<leaf>`` resolves.
+        setattr(_omni, _mod.split(".", 1)[0], _stub)
+    for _mod in ("isaacsim.core", "isaacsim.core.simulation_manager"):
+        sys.modules.setdefault(_mod, MagicMock())
 
 import numpy as np
 import pytest
@@ -75,6 +101,23 @@
 except ImportError:
     pass
 
+try:
+    from isaaclab_ovphysx.assets.rigid_object_collection.rigid_object_collection import (
+        RigidObjectCollection as OvPhysxRigidObjectCollection,
+    )
+    from isaaclab_ovphysx.assets.rigid_object_collection.rigid_object_collection_data import (
+        RigidObjectCollectionData as OvPhysxRigidObjectCollectionData,
+    )
+    from isaaclab_ovphysx.test.mock_interfaces.views import MockOvPhysxBindingSet
+
+    # Guard against stub implementations (not yet functional).
+    if not hasattr(OvPhysxRigidObjectCollection, "_create_buffers"):
+        raise AttributeError("OvPhysxRigidObjectCollection is a stub; skipping ovphysx backend")
+
+    BACKENDS.append("ovphysx")
+except (ImportError, AttributeError):
+    pass
+
 
 def create_physx_rigid_object_collection(
     num_instances: int = 2,
@@ -209,6 +252,61 @@ def create_newton_rigid_object_collection(
     return collection, mock_view
 
 
+def create_ovphysx_rigid_object_collection(
+    num_instances: int = 2,
+    num_bodies: int = 3,
+    device: str = "cuda:0",
+):
+    """Create a test OVPhysX RigidObjectCollection instance with mocked tensor bindings."""
+    body_names = [f"object_{i}" for i in range(num_bodies)]
+
+    collection = object.__new__(OvPhysxRigidObjectCollection)
+
+    rigid_objects = {f"object_{i}": RigidObjectCfg(prim_path=f"/World/Object_{i}") for i in range(num_bodies)}
+    collection.cfg = RigidObjectCollectionCfg(rigid_objects=rigid_objects)
+
+    # Use articulation-mode bindings with num_joints=0 to get (N, B, ...) shaped tensors.
+    mock_bindings = MockOvPhysxBindingSet(
+        num_instances=num_instances,
+        num_joints=0,
+        num_bodies=num_bodies,
+        body_names=body_names,
+        asset_kind="articulation",
+    )
+    mock_bindings.set_random_data()
+
+    object.__setattr__(collection, "_device", device)
+    object.__setattr__(collection, "_ovphysx", MagicMock())
+    object.__setattr__(collection, "_bindings", mock_bindings.bindings)
+    object.__setattr__(collection, "_num_instances", num_instances)
+    object.__setattr__(collection, "_num_bodies", num_bodies)
+    object.__setattr__(collection, "_body_names_list", body_names)
+
+    # Create RigidObjectCollectionData
+    data = OvPhysxRigidObjectCollectionData(mock_bindings.bindings, num_bodies, device)
+    data.num_instances = num_instances
+    data.num_bodies = num_bodies
+    data._is_primed = True
+    object.__setattr__(collection, "_data", data)
+
+    # Allocate the buffers that RigidObjectCollection normally allocates in _initialize_impl.
+    collection._create_buffers()
+
+    # Replace the real wrench composers with mocks for iface coverage.
+    mock_inst_wrench = MockWrenchComposer(collection)
+    mock_perm_wrench = MockWrenchComposer(collection)
+    object.__setattr__(collection, "_instantaneous_wrench_composer", mock_inst_wrench)
+    object.__setattr__(collection, "_permanent_wrench_composer", mock_perm_wrench)
+
+    # Prevent __del__ / _clear_callbacks from raising
+    object.__setattr__(collection, "_initialize_handle", None)
+    object.__setattr__(collection, "_invalidate_initialize_handle", None)
+    object.__setattr__(collection, "_prim_deletion_handle", None)
+    object.__setattr__(collection, "_debug_vis_handle", None)
+
+    return collection, mock_bindings
+
+
 def create_mock_rigid_object_collection(
     num_instances: int = 2,
     num_bodies: int = 3,
@@ -232,6 +330,8 @@ def get_rigid_object_collection(
 ):
     if backend == "physx":
         return create_physx_rigid_object_collection(num_instances, num_bodies, device)
+    elif backend == "ovphysx":
+        return create_ovphysx_rigid_object_collection(num_instances, num_bodies, device)
     elif backend == "newton":
         return create_newton_rigid_object_collection(num_instances, num_bodies, device)
     elif backend.lower() == "mock":

source/isaaclab_ovphysx/changelog.d/antoiner-feat-ovphysx_rigidobjectcollection.major.rst

@@ -0,0 +1,13 @@
+Added
+^^^^^
+
+* Added :class:`~isaaclab_ovphysx.assets.RigidObjectCollection` and
+  :class:`~isaaclab_ovphysx.assets.RigidObjectCollectionData` for the
+  OVPhysX backend, completing the rigid-body asset surface alongside
+  :class:`~isaaclab_ovphysx.assets.RigidObject` and
+  :class:`~isaaclab_ovphysx.assets.Articulation`. Supports
+  ``(env, body)`` dual indexing and per-body property setters. Uses the
+  ovphysx 0.4.3+ native fused multi-prim binding API
+  (``create_tensor_binding(prim_paths=[...])``) so one binding spans all
+  ``num_instances * num_bodies`` prims per tensor type, mirroring the
+  strided-view reshape pattern used by the PhysX collection.

source/isaaclab_ovphysx/isaaclab_ovphysx/assets/__init__.pyi

@@ -7,8 +7,11 @@ __all__ = [
     "Articulation",
     "ArticulationData",
     "RigidObject",
+    "RigidObjectCollection",
+    "RigidObjectCollectionData",
     "RigidObjectData",
 ]
 
 from .articulation import Articulation, ArticulationData
 from .rigid_object import RigidObject, RigidObjectData
+from .rigid_object_collection import RigidObjectCollection, RigidObjectCollectionData

source/isaaclab_ovphysx/isaaclab_ovphysx/assets/kernels.py

@@ -1348,6 +1348,31 @@ def write_joint_friction_to_buffer_index(
     out_data[env_ids[i], joint_ids[j], 2] = val
 
 
+@wp.kernel
+def resolve_view_ids(
+    env_ids: wp.array(dtype=wp.int32),
+    body_ids: wp.array(dtype=wp.int32),
+    num_query_envs: wp.int32,
+    num_total_envs: wp.int32,
+    view_ids: wp.array(dtype=wp.int32),
+) -> None:
+    """Resolve flat view indices from environment and body index pairs.
+
+    Computes flat view indices from (env_id, body_id) pairs using body-major ordering:
+    ``view_id = body_id * num_total_envs + env_id``. The output array is laid out in
+    column-major order over the (env, body) grid.
+
+    Args:
+        env_ids: Input environment indices. Shape is (num_query_envs,).
+        body_ids: Input body indices. Shape is (num_query_bodies,).
+        num_query_envs: Total number of queried environments.
+        num_total_envs: Total number of environments in the simulation.
+        view_ids: Output flat view indices. Shape is (num_query_bodies * num_query_envs,).
+    """
+    i, j = wp.tid()
+    view_ids[j * num_query_envs + i] = body_ids[j] * num_total_envs + env_ids[i]
+
+
 @wp.kernel
 def write_joint_friction_to_buffer_mask(
     in_data: wp.array2d(dtype=wp.float32),

source/isaaclab_ovphysx/isaaclab_ovphysx/assets/rigid_object_collection/__init__.py

@@ -0,0 +1,10 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Sub-module for ovphysx-backed rigid object collection assets."""
+
+from isaaclab.utils.module import lazy_export
+
+lazy_export()

source/isaaclab_ovphysx/isaaclab_ovphysx/assets/rigid_object_collection/__init__.pyi

@@ -0,0 +1,12 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+__all__ = [
+    "RigidObjectCollection",
+    "RigidObjectCollectionData",
+]
+
+from .rigid_object_collection import RigidObjectCollection
+from .rigid_object_collection_data import RigidObjectCollectionData