Use ovphysx kinematic FK on articulation PR#11
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The dual-Carbonite destructor race that crashed test_rigid_object.py between tests is not test-specific: any production caller that closes a SimulationContext and constructs a new one in the same process hits the same path. The previous PR worked around it with session-scoped class-level monkey patches in the test file (_PHYSX_BY_DEVICE cache, _patched_release_physx, _patched_warmup_and_load); production code remained latently buggy. Move the workaround into the manager itself: * _release_physx is now a soft reset -- physx.reset() + wait_op while keeping the cached ovphysx.PhysX reference alive on cls._physx, so the C++ destructor never fires mid-process. * _warmup_and_load reuses the cached instance on subsequent calls. First call constructs + locks the device + registers atexit; later calls re-export the USD, run physx.reset() to clear the prior stage, add_usd, replay clones, and (on GPU) re-run warmup_gpu so the new stage's bodies are resident. * New _locked_device class attribute mirrors the wheel's process-global device-mode lock; the manager raises RuntimeError with a clear message instead of letting the wheel's PhysXDeviceError fire. * _construct_physx splits out the first-time bootstrap so the orchestration in _warmup_and_load stays linear. * HACK comments on _release_physx are keyed to the same wheel-fix milestone (namespace-isolated Carbonite) tracked by gap G5. The dict keyed by device (_PHYSX_BY_DEVICE) is gone -- since the wheel locks the process to one device, the dict could never hold more than one entry and was misleading. In test_rigid_object.py, drop the entire patch block (~150 lines): _PHYSX_BY_DEVICE, _patched_release_physx, _patched_warmup_and_load, _orig_*, _ovphysx_session_patches. Keep _LOCKED_DEVICE plus _ovphysx_skip_other_device autouse fixture -- the only remaining test-side concern is pre-empting the device-lock RuntimeError with a clean pytest.skip on parametrized device mismatch, so two-pass CI finishes cleanly when only one device is exercised. Update test_warmup_attach_stage_not_called_for_cpu to spy on a real PhysX after construction (the old approach silently relied on the patch overwriting cls._physx). Tests: 42 CPU + 41 GPU passing (two pytest invocations per Marco's two-pass requirement). Bumps isaaclab_ovphysx 0.2.16 -> 0.2.17.
Add Articulation and ArticulationData for the OVPhysX backend, mirroring the PhysX/Newton public API. Resolves PR isaac-sim#5459. Articulation ^^^^^^^^^^^^ * index/mask split for every state writer, simulation-parameter writer, setter, and tendon setter; OVPhysX exposes both _index and _mask as first-class paths and intentionally drops the PhysX-specific ``full_data`` kwarg. * Dedicated dynamic + viscous friction setters (write_joint_{dynamic,viscous}_friction_coefficient_to_sim_{index,mask}) that touch only their slot of the combined (N, J, 3) DOF_FRICTION_PROPERTIES buffer. The combined write_joint_friction_coefficient_to_sim_index/_mask still accepts all three components as kwargs (Coulomb static + dynamic + optional viscous) for source-compatible PhysX call sites. * Deprecated non-indexed shorthand shims for friction (x3) and root / joint state (x4), forwarding to the index variants with a DeprecationWarning, matching PhysX's deprecated section. * Wrench-composer return types tightened to non-None (instantaneous_wrench_composer / permanent_wrench_composer); composers are always set in _create_buffers, mirroring PhysX/Newton. * Section organisation matches PhysX exactly: Properties -> Operations -> Operations - Finders -> Operations - State Writers -> Operations - Simulation Parameters Writers -> Operations - Setters -> Operations - Tendons -> Internal helper -> Internal simulation callbacks -> Internal helpers -- Actuators -> Internal helpers -- Debugging -> Deprecated methods. Section delimiters use bare """Section.""" docstring blocks (Newton/PhysX convention). ArticulationData ^^^^^^^^^^^^^^^^ * Pull-on-demand timestamped buffers; CPU-only bindings route through pinned-host staging (PR isaac-sim#5329 pattern). * Property names match PhysX exactly: joint_friction_coeff, joint_dynamic_friction_coeff, joint_viscous_friction_coeff (no *_static / *_dynamic / *_viscous renames). * SI units annotated on every public property docstring ([m or rad, depending on joint type], [m/s or rad/s, ...], [N*m], [kg], etc.) per AGENTS.md. * binding_getter parameter on __init__ typed as Callable[[int], Any] | None. * Section organisation matches PhysX (Defaults -> Joint commands -> Joint properties -> Fixed tendon -> Spatial tendon -> Root state -> Body state -> Joint state -> Derived -> Sliced -> Internal helpers -> Deprecated properties). Kernels ^^^^^^^ * Articulation-specific kernels in isaaclab_ovphysx/assets/articulation/kernels.py (soft-limit clamp, friction-data writer, finite-difference joint-acc helper, body-CoM pose composer); shared kernels promoted to isaaclab_ovphysx/assets/kernels.py. * Per-kernel docstrings document purpose, shape/dtype/SI units, and divergence notes where the OVPhysX implementation differs (e.g. _fd_joint_acc takes inv_dt rather than dt to avoid per-element division). Tests ^^^^^ * Real-backend test_articulation.py mirrors isaaclab_physx 1-to-1 under run_ovphysx.sh; 99 tests pass on each of CPU + CUDA. * test_articulation_helpers.py covers the kitless-only helpers (tendon scoping, mock binding shapes). * Cross-backend test_articulation_iface.py runs the OVPhysX path: 544 tests pass, 16 skipped, 0 failed on each of CPU + CUDA. Brings the iface helper up to the actual ArticulationData constructor signature and broadcasts scalar inputs across joint / fixed-tendon / spatial-tendon mask setters that previously rejected them. OVPhysX-only surface dropped ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ * Articulation: set_external_force_and_torque_{index,mask} (use instantaneous_wrench_composer.add_forces_and_torques_*), set_spatial_tendon_limit_{index,mask}, and set_spatial_tendon_rest_length_{index,mask} (NotImplementedError stubs PhysX never had). * ArticulationData: body_pose_w / body_lin_vel_w / body_ang_vel_w / body_acc_w / body_link_acc_w (base class provides matching defaults), body_inv_mass / body_inv_inertia, fixed_tendon_limit (PhysX exposes only fixed_tendon_pos_limits), spatial_tendon_limit / spatial_tendon_rest_length (no PhysX equivalent).
Require ovphysx>=0.4.2, refresh FK before same-frame link-pose reads, and drop the stale FK-on-demand xfail.
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# Conflicts: # source/isaaclab_ovphysx/config/extension.toml # source/isaaclab_ovphysx/docs/CHANGELOG.rst # source/isaaclab_ovphysx/isaaclab_ovphysx/assets/articulation/articulation_data.py # source/isaaclab_ovphysx/isaaclab_ovphysx/physics/ovphysx_manager.py # source/isaaclab_ovphysx/setup.py # source/isaaclab_ovphysx/test/assets/test_articulation.py # source/isaaclab_ovphysx/test/assets/test_rigid_object.py
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Require ovphysx>=0.4.2, refresh FK before same-frame link-pose reads, and drop the stale FK-on-demand xfail.
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pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there