Address PR isaac-sim#5426 review feedback

* Untrack docs/superpowers/specs/2026-04-27-ovphysx-rigid-body-tensortypes-gap.md
  (file is gitignored under docs/superpowers/; keep locally only).
* Revert the ovphysx variant additions to allegro_hand_env_cfg.py
  (ObjectCfg.ovphysx, PhysicsCfg.ovphysx, OvPhysxCfg import) and the
  matching isaaclab_tasks 1.5.30 CHANGELOG entry / version bump.
* Trim test_rigid_object.py module docstring: drop the PhysX-mirror prose
  and the PhysX adaptation walk-through (both inferable from the file
  contents); drop the gap-G5 / superpowers spec reference.
* Tighten the _ovphysx_skip_other_device fixture docstring; the module
  docstring now carries the device-lock rationale.
* Move test_mock_binding_set_rigid_object_shapes from
  test_articulation_helpers.py to a parallel test_rigid_object_helpers.py
  so the rigid-object mock-binding contract test sits next to the rest of
  the rigid-object scaffolding.
* Convert the new "Rigid-body TensorTypes" section header in tensor_types.py
  to the triple-quoted-string style used elsewhere in the file.

Author: AntoineRichard

docs/superpowers/specs/2026-04-27-ovphysx-rigid-body-tensortypes-gap.md

@@ -191,11 +191,12 @@
 Shape is ``[N, L, 9]``, dtype ``float32``.
 """
 
-# ---------------------------------------------------------------------------
-# Rigid-body TensorTypes
-# ---------------------------------------------------------------------------
-# Shapes assume N = number of rigid actor instances matched by the binding
-# pattern. Components and units are stated per alias below.
+"""
+Rigid-body TensorTypes
+
+Shapes assume N = number of rigid actor instances matched by the binding
+pattern. Components and units are stated per alias below.
+"""
 
 RIGID_BODY_POSE = _TT.RIGID_BODY_POSE
 """Rigid actor root transform — read/write, GPU. Shape ``(N, 7)``,

source/isaaclab_ovphysx/isaaclab_ovphysx/tensor_types.py

@@ -5,9 +5,9 @@
 
 """OVPhysX-only unit tests for articulation helpers.
 
-These tests cover OVPhysX-specific scaffolding (USD tendon-scope resolution,
-mock binding-set shape contracts) that has no PhysX equivalent and therefore
-does not appear in the PhysX-mirrored ``test_articulation.py``.
+These tests cover OVPhysX-specific scaffolding (USD tendon-scope resolution)
+that has no PhysX equivalent and therefore does not appear in the
+PhysX-mirrored ``test_articulation.py``.
 """
 
 from __future__ import annotations
@@ -119,24 +119,3 @@ def test_process_tendons_scopes_to_articulation_root(tmp_path):
     assert articulation.spatial_tendon_names == ["spatial_joint"]
     assert articulation._data.fixed_tendon_names == ["fixed_joint"]
     assert articulation._data.spatial_tendon_names == ["spatial_joint"]
-
-
-def test_mock_binding_set_rigid_object_shapes():
-    pytest.importorskip("isaaclab_ovphysx.tensor_types").RIGID_BODY_POSE  # gates on wheel
-    from isaaclab_ovphysx import tensor_types as TT
-    from isaaclab_ovphysx.test.mock_interfaces.views import MockOvPhysxBindingSet
-
-    bindings = MockOvPhysxBindingSet(
-        num_instances=4,
-        num_joints=0,
-        num_bodies=1,
-        asset_kind="rigid_object",
-    )
-    assert bindings.bindings[TT.RIGID_BODY_POSE].shape == (4, 7)
-    assert bindings.bindings[TT.RIGID_BODY_VELOCITY].shape == (4, 6)
-    assert bindings.bindings[TT.RIGID_BODY_WRENCH].shape == (4, 9)
-    assert bindings.bindings[TT.RIGID_BODY_MASS].shape == (4,)
-    assert bindings.bindings[TT.RIGID_BODY_INERTIA].shape == (4, 9)
-    # Articulation-only bindings must be absent
-    assert TT.DOF_POSITION not in bindings.bindings
-    assert TT.LINK_WRENCH not in bindings.bindings

source/isaaclab_ovphysx/test/assets/test_articulation_helpers.py

@@ -9,42 +9,15 @@
 
 """Real-backend tests for the OVPhysX RigidObject.
 
-Mirrors :mod:`isaaclab_physx.test.assets.test_rigid_object` 1-to-1: same set
-of test functions, names, parametrizations, and assertions.
-
-OVPhysX runs kitless under ``./scripts/run_ovphysx.sh`` so there is no
-``AppLauncher`` boot — :class:`~isaaclab.sim.SimulationContext` is driven
-directly via ``build_simulation_context(sim_cfg=SimulationCfg(physics=OvPhysxCfg(), ...))``
-which works because :func:`isaaclab.app.has_kit` returns False in this
-environment.
-
-PhysX-specific ``cube_object.root_view.set_X(...)`` / ``get_X(...)`` calls are
-adapted to OVPhysX by going through the backend's per-tensor-type binding
-dictionary (``cube_object._bindings`` / :meth:`~isaaclab_ovphysx.assets.RigidObject._get_binding`)
-and the public setters (:meth:`set_masses_index`, :meth:`set_coms_index`,
-:meth:`set_inertias_index`).  Reads use the data-class properties
-(``cube_object.data.body_mass``, ``body_inertia``, ``body_com_pose_b``).
-
-Process-global device lock
---------------------------
+Run via ``./scripts/run_ovphysx.sh -m pytest`` (kitless, no ``AppLauncher``).
 
 ``ovphysx<=0.3.7`` binds device mode (CPU vs GPU) at the C++ layer on the
-first ``ovphysx.PhysX(device=...)`` call and cannot release/swap it without a
-process restart.  :class:`~isaaclab_ovphysx.physics.OvPhysxManager` tracks
-this on ``_locked_device`` and raises :exc:`RuntimeError` if a later
-:class:`SimulationContext` requests a different device.  The
-``_ovphysx_skip_other_device`` autouse fixture below preempts that error in
-parametrized tests by ``pytest.skip``-ing on the unlocked device, so the
-session finishes cleanly when only one device is exercised.
-
-CI note
--------
-Because the lock is process-global, full coverage requires **two separate
-``./scripts/run_ovphysx.sh -m pytest`` invocations** -- once with ``-k 'cpu'``
-and once with ``-k 'cuda:0'``.  Tracked as gap G5 in
-``docs/superpowers/specs/2026-04-28-ovphysx-wheel-gaps-for-marco.md``; until
-the wheel exposes a way to reset Carbonite device state, this is the supported
-pattern.
+first ``ovphysx.PhysX(device=...)`` construction and cannot swap it without a
+process restart.  Full coverage therefore requires two separate pytest
+invocations -- once with ``-k 'cpu'`` and once with ``-k 'cuda:0'``.  The
+``_ovphysx_skip_other_device`` autouse fixture below preempts the manager's
+:exc:`RuntimeError` by ``pytest.skip``-ing on the unlocked device so
+single-device runs finish cleanly.
 """
 
 from __future__ import annotations
@@ -80,23 +53,15 @@
 _logger = logging.getLogger(__name__)
 
 
-# Session-locked device.  Set on the first parametrized test that runs and
-# never reassigned -- ovphysx's process-global device lock means subsequent
-# tests on the other device must skip.
 _LOCKED_DEVICE: list[str | None] = [None]
+"""Device the session pins to on the first parametrized test that runs."""
 
 
 @pytest.fixture(autouse=True)
 def _ovphysx_skip_other_device(request):
-    """Skip tests whose ``device`` parameter mismatches the session-locked device.
-
-    ``ovphysx<=0.3.7`` binds the process-global device mode on the first
-    ``ovphysx.PhysX(device=...)`` call.
-    :class:`~isaaclab_ovphysx.physics.OvPhysxManager._warmup_and_load` raises
-    :exc:`RuntimeError` if a later context requests a different device.  We
-    detect the locked device on the first encounter and skip subsequent tests
-    on the other device with a clear message, so the run finishes cleanly
-    rather than failing on the second-device test.
+    """Skip parametrized tests on the device the session is not pinned to.
+
+    See the module docstring for the wheel's process-global device-mode lock.
     """
     callspec = getattr(request.node, "callspec", None)
     device = callspec.params.get("device") if callspec is not None else None

source/isaaclab_ovphysx/test/assets/test_rigid_object.py

@@ -0,0 +1,45 @@
+# 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
+
+"""OVPhysX-only unit tests for rigid-object helpers.
+
+These tests cover OVPhysX-specific scaffolding (mock binding-set shape
+contracts for ``asset_kind="rigid_object"``) that has no PhysX equivalent
+and therefore does not appear in the PhysX-mirrored ``test_rigid_object.py``.
+"""
+
+from __future__ import annotations
+
+import pytest
+import warp as wp
+
+# The CI isaaclab_ov* pattern unintentionally collects isaaclab_ovphysx tests,
+# but the ovphysx wheel is not installed in that environment. Skip gracefully
+# so the isaaclab_ov CI pipeline is not blocked by an unrelated dependency.
+pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
+
+from isaaclab_ovphysx import tensor_types as TT  # noqa: E402
+from isaaclab_ovphysx.test.mock_interfaces.views import MockOvPhysxBindingSet  # noqa: E402
+
+wp.init()
+
+
+def test_mock_binding_set_rigid_object_shapes():
+    pytest.importorskip("isaaclab_ovphysx.tensor_types").RIGID_BODY_POSE  # gates on wheel
+
+    bindings = MockOvPhysxBindingSet(
+        num_instances=4,
+        num_joints=0,
+        num_bodies=1,
+        asset_kind="rigid_object",
+    )
+    assert bindings.bindings[TT.RIGID_BODY_POSE].shape == (4, 7)
+    assert bindings.bindings[TT.RIGID_BODY_VELOCITY].shape == (4, 6)
+    assert bindings.bindings[TT.RIGID_BODY_WRENCH].shape == (4, 9)
+    assert bindings.bindings[TT.RIGID_BODY_MASS].shape == (4,)
+    assert bindings.bindings[TT.RIGID_BODY_INERTIA].shape == (4, 9)
+    # Articulation-only bindings must be absent
+    assert TT.DOF_POSITION not in bindings.bindings
+    assert TT.LINK_WRENCH not in bindings.bindings

source/isaaclab_ovphysx/test/assets/test_rigid_object_helpers.py

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "1.5.30"
+version = "1.5.29"
 
 # Description
 title = "Isaac Lab Environments"

source/isaaclab_tasks/config/extension.toml

@@ -1,20 +1,6 @@
 Changelog
 ---------
 
-1.5.30 (2026-04-27)
-~~~~~~~~~~~~~~~~~~~
-
-Changed
-^^^^^^^
-
-* Added an ``ovphysx`` preset variant to the in-hand object and physics
-  configs in
-  ``isaaclab_tasks.direct.allegro_hand.allegro_hand_env_cfg``, mirroring
-  the existing Cartpole/Ant pattern. Enables running
-  ``Isaac-Repose-Cube-Allegro-Direct-v0`` against the OVPhysX backend via
-  ``./scripts/run_ovphysx.sh``.
-
-
 1.5.29 (2026-04-27)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab_tasks/docs/CHANGELOG.rst

@@ -5,7 +5,6 @@
 
 
 from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
-from isaaclab_ovphysx.physics import OvPhysxCfg
 from isaaclab_physx.physics import PhysxCfg
 
 import isaaclab.sim as sim_utils
@@ -44,25 +43,6 @@ class ObjectCfg(PresetCfg):
         ),
         init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, -0.17, 0.56), rot=(0.0, 0.0, 0.0, 1.0)),
     )
-    ovphysx = RigidObjectCfg(
-        prim_path="/World/envs/env_.*/object",
-        spawn=sim_utils.UsdFileCfg(
-            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
-            rigid_props=sim_utils.RigidBodyPropertiesCfg(
-                kinematic_enabled=False,
-                disable_gravity=False,
-                enable_gyroscopic_forces=True,
-                solver_position_iteration_count=8,
-                solver_velocity_iteration_count=0,
-                sleep_threshold=0.005,
-                stabilization_threshold=0.0025,
-                max_depenetration_velocity=1000.0,
-            ),
-            mass_props=sim_utils.MassPropertiesCfg(density=400.0),
-            scale=(1.2, 1.2, 1.2),
-        ),
-        init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, -0.17, 0.56), rot=(0.0, 0.0, 0.0, 1.0)),
-    )
     newton = ArticulationCfg(
         prim_path="/World/envs/env_.*/object",
         spawn=sim_utils.UsdFileCfg(
@@ -84,7 +64,6 @@ class PhysicsCfg(PresetCfg):
     physx = PhysxCfg(
         bounce_threshold_velocity=0.2,
     )
-    ovphysx: OvPhysxCfg = OvPhysxCfg()
     newton = NewtonCfg(
         solver_cfg=MJWarpSolverCfg(
             solver="newton",