Adapt remaining root_view.X calls to OVPhysX direct API

Substitutes the verbatim PhysX-mirror's ``articulation.root_view.get_X()``
/ ``set_X()`` calls with OVPhysX-direct equivalents, mirroring the
RigidObject test precedent (test_rigid_object.py:21-25).

- ``get_dof_max_velocities()`` / ``get_dof_max_forces()`` /
  ``get_dof_friction_properties()``: replaced by
  ``_read_binding_to_torch(...)``, a small test-side helper that reads
  the wheel binding into a torch tensor on the requested device for the
  cross-check against ``data.<X>``.
- ``get_coms()`` / ``set_coms()``: replaced by
  ``_read_binding_to_torch(..., TT.BODY_COM_POSE, device)`` and
  ``set_coms_index(coms=..., env_ids=...)`` (wp.transformf contract).
- ``test_set_material_properties``: xfailed with ``_MATERIAL_GAP_REASON``
  pointing at the wheel-gaps spec — same gap as the rigid-object
  ``set_material_properties`` xfail in isaac-sim#5426.  The wheel does not expose
  ``RIGID_BODY_MATERIAL`` / ``max_shapes``, so neither ``set`` nor
  ``get`` material properties via ``root_view`` is available.

Author: AntoineRichard

source/isaaclab_ovphysx/test/assets/test_articulation.py

@@ -74,6 +74,7 @@
 import sys
 import tempfile
 
+import numpy as np
 import pytest
 import torch
 import warp as wp
@@ -110,6 +111,29 @@
     "docs/superpowers/specs/2026-04-28-ovphysx-wheel-gaps-for-marco.md."
 )
 
+_MATERIAL_GAP_REASON = (
+    "Requires a ``RIGID_BODY_MATERIAL`` TensorType (or a view-helper) on the "
+    "ovphysx wheel side.  ``Articulation.root_view`` is a per-tensor-type "
+    "bindings dict on OVPhysX, so ``root_view.get_material_properties()`` / "
+    "``set_material_properties()`` / ``max_shapes`` are not available.  See "
+    "docs/superpowers/specs/2026-04-28-ovphysx-wheel-gaps-for-marco.md."
+)
+
+
+def _read_binding_to_torch(articulation: Articulation, tensor_type: int, device: str | torch.device) -> torch.Tensor:
+    """Read an OVPhysX TensorBinding into a torch tensor on *device*.
+
+    Test-side adapter for the verbatim PhysX mirror.  PhysX cross-checks the
+    data class against the simulation via ``articulation.root_view.get_X()``
+    accessors; on OVPhysX, ``root_view`` is a per-tensor-type bindings dict
+    (no view-level getters), so we read the binding directly into a CPU
+    numpy buffer (CPU-only types) and move the result to *device*.
+    """
+    binding = articulation.root_view[tensor_type]
+    np_buf = np.zeros(binding.shape, dtype=np.float32)
+    binding.read(np_buf)
+    return torch.from_numpy(np_buf).to(device)
+
 
 # ---------------------------------------------------------------------------
 # Session-level OvPhysxManager patches
@@ -1617,7 +1641,7 @@ def test_setting_velocity_limit_implicit(sim, num_articulations, device, vel_lim
     sim.reset()
 
     # read the values set into the simulation
-    physx_vel_limit = wp.to_torch(articulation.root_view.get_dof_max_velocities()).to(device)
+    physx_vel_limit = _read_binding_to_torch(articulation, TT.DOF_MAX_VELOCITY, device)
     # check data buffer
     torch.testing.assert_close(articulation.data.joint_velocity_limits.torch, physx_vel_limit)
     # check actuator has simulation velocity limit
@@ -1666,7 +1690,7 @@ def test_setting_velocity_limit_explicit(sim, num_articulations, device, vel_lim
     sim.reset()
 
     # collect limit init values
-    physx_vel_limit = wp.to_torch(articulation.root_view.get_dof_max_velocities()).to(device)
+    physx_vel_limit = _read_binding_to_torch(articulation, TT.DOF_MAX_VELOCITY, device)
     actuator_vel_limit = articulation.actuators["joint"].velocity_limit
     actuator_vel_limit_sim = articulation.actuators["joint"].velocity_limit_sim
 
@@ -1730,7 +1754,7 @@ def test_setting_effort_limit_implicit(sim, num_articulations, device, effort_li
     sim.reset()
 
     # obtain the physx effort limits
-    physx_effort_limit = wp.to_torch(articulation.root_view.get_dof_max_forces()).to(device=device)
+    physx_effort_limit = _read_binding_to_torch(articulation, TT.DOF_MAX_FORCE, device)
 
     # check that the two are equivalent
     torch.testing.assert_close(
@@ -1784,7 +1808,7 @@ def test_setting_effort_limit_explicit(sim, num_articulations, device, effort_li
     usd_default_effort_limit = 80.0
 
     # collect limit init values
-    physx_effort_limit = wp.to_torch(articulation.root_view.get_dof_max_forces()).to(device)
+    physx_effort_limit = _read_binding_to_torch(articulation, TT.DOF_MAX_FORCE, device)
     actuator_effort_limit = articulation.actuators["joint"].effort_limit
     actuator_effort_limit_sim = articulation.actuators["joint"].effort_limit_sim
 
@@ -1941,16 +1965,19 @@ def test_body_root_state(sim, num_articulations, device, with_offset):
 
     # create com offsets — apply offset to the Arm body
     num_bodies = articulation.num_bodies
-    com = wp.to_torch(articulation.root_view.get_coms())
+    com = _read_binding_to_torch(articulation, TT.BODY_COM_POSE, device)
     link_offset = [1.0, 0.0, 0.0]  # the offset from CenterPivot to Arm frames
     new_com = torch.tensor(offset, device=device).repeat(num_articulations, 1, 1)
     com[:, arm_idx, :3] = new_com.squeeze(-2)
-    articulation.root_view.set_coms(
-        wp.from_torch(com.cpu(), dtype=wp.float32), wp.from_torch(env_idx.cpu(), dtype=wp.int32)
+    # PhysX uses ``root_view.set_coms``; OVPhysX wraps the wheel
+    # ``BODY_COM_POSE`` write in :meth:`set_coms_index` (wp.transformf contract).
+    articulation.set_coms_index(
+        coms=wp.from_torch(com.contiguous(), dtype=wp.transformf),
+        env_ids=wp.from_torch(env_idx, dtype=wp.int32),
     )
 
     # check they are set
-    torch.testing.assert_close(wp.to_torch(articulation.root_view.get_coms()), com.cpu())
+    torch.testing.assert_close(_read_binding_to_torch(articulation, TT.BODY_COM_POSE, device), com)
 
     for i in range(50):
         # perform step
@@ -2059,15 +2086,17 @@ def test_write_root_state(sim, num_articulations, device, with_offset, state_loc
         offset = torch.tensor([0.0, 0.0, 0.0]).repeat(num_articulations, 1, 1)
 
     # create com offsets
-    com = wp.to_torch(articulation.root_view.get_coms())
-    new_com = offset
+    com = _read_binding_to_torch(articulation, TT.BODY_COM_POSE, device)
+    new_com = offset.to(device)
     com[:, 0, :3] = new_com.squeeze(-2)
-    articulation.root_view.set_coms(
-        wp.from_torch(com.cpu(), dtype=wp.float32), wp.from_torch(env_idx.cpu(), dtype=wp.int32)
+    # See test_body_root_state for the PhysX → OVPhysX setter substitution.
+    articulation.set_coms_index(
+        coms=wp.from_torch(com.contiguous(), dtype=wp.transformf),
+        env_ids=wp.from_torch(env_idx, dtype=wp.int32),
     )
 
     # check they are set
-    torch.testing.assert_close(wp.to_torch(articulation.root_view.get_coms()), com)
+    torch.testing.assert_close(_read_binding_to_torch(articulation, TT.BODY_COM_POSE, device), com)
 
     rand_state = torch.zeros(num_articulations, 13, device=device)
     rand_state[..., :7] = articulation.data.default_root_pose.torch
@@ -2443,7 +2472,7 @@ def test_write_joint_frictions_to_sim(sim, num_articulations, device, add_ground
         # update buffers
         articulation.update(sim.cfg.dt)
 
-    friction_props_from_sim = wp.to_torch(articulation.root_view.get_dof_friction_properties())
+    friction_props_from_sim = _read_binding_to_torch(articulation, TT.DOF_FRICTION_PROPERTIES, "cpu")
     joint_friction_coeff_sim = friction_props_from_sim[:, :, 0]
     joint_dynamic_friction_coeff_sim = friction_props_from_sim[:, :, 1]
     joint_viscous_friction_coeff_sim = friction_props_from_sim[:, :, 2]
@@ -2483,7 +2512,7 @@ def test_write_joint_frictions_to_sim(sim, num_articulations, device, add_ground
             sim.step()
             articulation.update(sim.cfg.dt)
 
-        friction_props_from_sim_2 = wp.to_torch(articulation.root_view.get_dof_friction_properties())
+        friction_props_from_sim_2 = _read_binding_to_torch(articulation, TT.DOF_FRICTION_PROPERTIES, "cpu")
         joint_friction_coeff_sim_2 = friction_props_from_sim_2[:, :, 0]
         friction_dynamic_coef_sim_2 = friction_props_from_sim_2[:, :, 1]
         friction_viscous_coeff_sim_2 = friction_props_from_sim_2[:, :, 2]
@@ -2499,6 +2528,7 @@ def test_write_joint_frictions_to_sim(sim, num_articulations, device, add_ground
 @pytest.mark.parametrize("device", ["cuda:0", "cpu"])
 @pytest.mark.parametrize("articulation_type", ["panda"])
 @pytest.mark.isaacsim_ci
+@pytest.mark.xfail(reason=_MATERIAL_GAP_REASON, strict=False)
 def test_set_material_properties(sim, num_articulations, device, add_ground_plane, articulation_type):
     """Test getting and setting material properties (friction/restitution) of articulation shapes."""
     articulation_cfg = generate_articulation_cfg(articulation_type=articulation_type)