[OVPHYSX] Articulation rewrite (data class + asset class + kernels)

source/isaaclab/test/assets/test_articulation_iface.py

@@ -288,20 +288,27 @@ def create_ovphysx_articulation(
     object.__setattr__(articulation, "_num_spatial_tendons", num_spatial_tendons)
 
     # Create ArticulationData
-    data = OvPhysxArticulationData(mock_bindings.bindings, device)
-    data._num_instances = num_instances
-    data._num_joints = num_joints
-    data._num_bodies = num_bodies
-    data._num_fixed_tendons = num_fixed_tendons
-    data._num_spatial_tendons = num_spatial_tendons
+    data = OvPhysxArticulationData(
+        mock_bindings.bindings,
+        device,
+        num_instances=num_instances,
+        num_bodies=num_bodies,
+        num_joints=num_joints,
+        num_fixed_tendons=num_fixed_tendons,
+        num_spatial_tendons=num_spatial_tendons,
+        body_names=body_names,
+        joint_names=joint_names,
+        fixed_tendon_names=fixed_tendon_names,
+        spatial_tendon_names=spatial_tendon_names,
+    )
     data._is_fixed_base = False
-    data.body_names = body_names
-    data.joint_names = joint_names
-    data.fixed_tendon_names = fixed_tendon_names
-    data.spatial_tendon_names = spatial_tendon_names
-    data._create_buffers()
     object.__setattr__(articulation, "_data", data)
 
+    # Allocate the articulation-side index/mask caches and wrench buffer that
+    # _initialize_impl would normally populate.  Wrench composers created here
+    # are immediately overwritten by the mocks below.
+    articulation._create_buffers()
+
     # Wrench composers
     mock_inst_wrench = MockWrenchComposer(articulation)
     mock_perm_wrench = MockWrenchComposer(articulation)

source/isaaclab_ovphysx/changelog.d/antoiner-feat-ovphysx_articulation.minor.rst

@@ -0,0 +1,109 @@
+Added
+^^^^^
+
+* Added :class:`~isaaclab_ovphysx.assets.Articulation` and
+  :class:`~isaaclab_ovphysx.assets.ArticulationData` for multi-DOF articulated
+  robots against the OVPhysX backend, satisfying the
+  :class:`~isaaclab.assets.BaseArticulation` and
+  :class:`~isaaclab.assets.BaseArticulationData` contracts. Public surface
+  matches the PhysX/Newton conventions: kwarg-only ``write_*_to_sim_index`` /
+  ``write_*_to_sim_mask`` writers and ``set_*_index`` / ``set_*_mask`` setters
+  for root state, joint state, joint properties, body properties, joint
+  command targets, fixed/spatial tendon properties, and external wrenches via
+  :attr:`~isaaclab_ovphysx.assets.Articulation.instantaneous_wrench_composer`
+  / :attr:`~isaaclab_ovphysx.assets.Articulation.permanent_wrench_composer`.
+  The full IsaacLab actuator pipeline (``compute`` /
+  ``_apply_actuator_model`` / ``_process_actuators_cfg``) is implemented on
+  top of the wheel's ``DOF_ACTUATION_FORCE`` /
+  ``DOF_POSITION_TARGET`` / ``DOF_VELOCITY_TARGET`` bindings.
+* Added articulation-specific Warp kernels in
+  :mod:`isaaclab_ovphysx.assets.articulation.kernels`: soft-limit refresh,
+  default-joint-pos clamp, friction-component scatter (index + mask
+  variants).  Six articulation kernels were also folded into the shared
+  :mod:`isaaclab_ovphysx.assets.kernels` module for reuse with
+  :class:`~isaaclab_ovphysx.assets.RigidObject` and
+  :class:`~isaaclab_ovphysx.assets.RigidObjectCollection`.
+* Added init-time validation in
+  :meth:`~isaaclab_ovphysx.assets.Articulation._initialize_impl` that raises
+  ``RuntimeError`` when ``cfg.prim_path`` resolves to no
+  ``UsdPhysics.ArticulationRootAPI`` prim or to multiple roots, and
+  ``ValueError`` (via :meth:`_validate_cfg`) when any default joint
+  position is outside ``[lower, upper]`` or any default joint velocity
+  exceeds the per-joint maximum.  Mirrors the PhysX backend.
+* Added support for ``cfg.articulation_root_prim_path`` in
+  :meth:`~isaaclab_ovphysx.assets.Articulation._initialize_impl`: when the
+  user supplies an explicit subpath the binding pattern is extended
+  directly instead of running the auto-discovery walk, and a
+  ``RuntimeError`` is raised when the resulting expression resolves to no
+  prim in the USD stage.
+
+Changed
+^^^^^^^
+
+* **Breaking:** Renamed ``Articulation`` write/set methods to the dual
+  ``*_index`` / ``*_mask`` form and dropped the legacy ``full_data``
+  flag.  Index methods accept partial data shaped
+  ``(len(env_ids), len(joint_or_body_ids), ...)``; mask methods accept
+  full-shape data and a ``wp.bool`` mask.  All keyword-only arguments live
+  after ``*,``; no positional fall-through.  Migration: replace
+  ``write_X_to_sim(..., from_mask=True)`` with ``write_X_to_sim_mask(..., mask=...)``.
+* **Breaking:** Removed the ``_write_body_state`` plumbing layer.
+  Deprecated state-writer shims (``write_root_state_to_sim``,
+  ``write_root_com_state_to_sim``, ``write_root_link_state_to_sim``,
+  joint-state equivalents) now call the public ``write_*_to_sim_index``
+  methods directly.  Behaviour is preserved.
+* Changed ``Articulation.root_view`` to return the per-tensor-type bindings
+  dict (``self._bindings``).  The OVPhysX wheel does not expose a single
+  ``ArticulationView`` object; callers that previously walked
+  ``root_view.shared_metatype`` / ``root_view.max_dofs`` should read from
+  :attr:`~isaaclab_ovphysx.assets.Articulation.num_joints` /
+  :attr:`~isaaclab_ovphysx.assets.Articulation.num_bodies` /
+  :attr:`~isaaclab_ovphysx.assets.Articulation.body_names` /
+  :attr:`~isaaclab_ovphysx.assets.Articulation.joint_names` instead.
+* Changed every ``ArticulationData`` public property to return a
+  :class:`~isaaclab.utils.ProxyArray` (warp + torch dual view); raw
+  ``wp.array`` is reserved for one-shot config buffers.  Eager
+  ``TimestampedBufferWarp`` allocation in :meth:`_create_buffers` makes
+  every buffer a single source of truth — no
+  ``_invalidate_caches`` / ``_ensure_*_buffers`` machinery.
+* Changed ``Articulation`` body and DOF property writers to honor the
+  wheel's actual binding device.  Tensor-type membership in
+  :data:`isaaclab_ovphysx.tensor_types._CPU_ONLY_TYPES` now reflects what
+  the wheel exposes: ``BODY_MASS``, ``BODY_COM_POSE``, ``BODY_INERTIA``,
+  ``DOF_STIFFNESS``, ``DOF_DAMPING``, ``DOF_LIMIT``, ``DOF_MAX_VELOCITY``,
+  ``DOF_MAX_FORCE``, ``DOF_ARMATURE``, ``DOF_FRICTION_PROPERTIES`` are
+  CPU-only (write goes through pinned-host staging); fixed and spatial
+  tendon bindings write directly from sim-device buffers.
+* Changed :meth:`~isaaclab_ovphysx.assets.Articulation.write_joint_friction_coefficient_to_sim_index`
+  / ``_mask`` to accept ``joint_dynamic_friction_coeff`` and
+  ``joint_viscous_friction_coeff`` keyword arguments (each
+  ``float | torch.Tensor | wp.array | None``).  ``None`` preserves the
+  existing component on the wheel; matches the PhysX backend.
+* Changed :meth:`~isaaclab_ovphysx.assets.Articulation.write_joint_position_limit_to_sim_index`
+  / ``_mask`` to clamp ``default_joint_pos`` and refresh
+  ``soft_joint_pos_limits`` when the new hard limits invalidate the
+  defaults, matching the PhysX backend (with a
+  ``warn_limit_violation`` log).
+* Changed every fixed/spatial tendon ``set_*_index`` / ``set_*_mask`` setter
+  to accept a scalar :class:`float` for the value argument; broadcast is
+  materialized via :meth:`_broadcast_scalar_to_2d`.  Mirrors PhysX.
+* Implemented the previously stubbed
+  :meth:`~isaaclab_ovphysx.assets.Articulation.write_fixed_tendon_properties_to_sim_index`
+  / ``_mask`` and
+  :meth:`~isaaclab_ovphysx.assets.Articulation.write_spatial_tendon_properties_to_sim_index`
+  / ``_mask``: each iterates the per-tensor bindings since the OVPhysX
+  wheel has no batch ``set_*_tendon_properties`` setter.
+
+Removed
+^^^^^^^
+
+* **Breaking:** Removed the ``full_data`` keyword-argument from every
+  ``Articulation`` ``*_index`` writer/setter.  Index methods now strictly
+  accept partial data; full-data callers should use the matching
+  ``*_mask`` overload.
+* Removed the stop-gap :mod:`isaaclab_ovphysx.assets.kernels_old` module;
+  the six articulation kernels it housed
+  (``_compose_root_com_pose``, ``_compute_heading``, ``_copy_first_body``,
+  ``_projected_gravity``, ``_world_vel_to_body_ang``,
+  ``_world_vel_to_body_lin``) are now in
+  :mod:`isaaclab_ovphysx.assets.kernels`.