Clean up OVPhysX assets to match PhysX/Newton style#12
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AntoineRichard wants to merge 106 commits into
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Clean up OVPhysX assets to match PhysX/Newton style#12AntoineRichard wants to merge 106 commits into
AntoineRichard wants to merge 106 commits into
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Add nine RIGID_BODY_* aliases to isaaclab_ovphysx.tensor_types covering the rigid-actor root pose/velocity/acceleration, wrench application, and mass/inertia/COM properties. Each alias carries a shape/units docstring that Sphinx autoattribute can pick up. Extend _CPU_ONLY_TYPES with the five CPU-routed rigid-body variants so the existing GPU/CPU dispatch in _to_flat_f32 routes them correctly. Direct imports (no shim) intentionally couple this package to a future ovphysx wheel that exposes the matching TensorType enum values; see docs/superpowers/specs/2026-04-27-ovphysx-rigid-body-tensortypes-gap.md. Issue: isaac-sim#5316
Move kernels reused across multiple asset types from isaaclab_ovphysx.assets.articulation.kernels into a new isaaclab_ovphysx.assets.kernels module: _body_wrench_to_world, _scatter_rows_partial, _copy_first_body, _compose_root_com_pose, _projected_gravity, _compute_heading, _world_vel_to_body_lin, _world_vel_to_body_ang. Articulation-only kernels (joint-limit setup, FD joint acceleration, multi-body COM compose) stay in articulation/kernels.py. Articulation modules update their imports accordingly. No behavior change. This refactor unblocks the upcoming RigidObject implementation, which needs the same kernels for frame conversions and wrench packing. Issue: isaac-sim#5316
Generalize the mock binding factory to produce a rigid-object-shaped binding set (RIGID_BODY_* keys only, num_joints=0, num_bodies=1, no tendons) when called with asset_kind='rigid_object'. Default behavior is unchanged: existing articulation callers do not need updates. Make set_random_data tolerant of the smaller binding set so it works for both asset kinds. Issue: isaac-sim#5316
Add the rigid_object sub-package and the RigidObjectData class skeleton with constructor, count properties, update/invalidate hooks, and _process_cfg that fills _default_root_pose / _default_root_velocity from cfg.init_state. Add the backend-specific test file with a hasattr-based wheel gate (importorskip-then-attr on the module would AttributeError rather than skip when RIGID_BODY_* enums are absent on the wheel) and a basic-counts smoke test. Issue: isaac-sim#5316
Address review blockers on commit 65084f7: 1. _process_cfg now mirrors the articulation pattern (wp.zeros to pre-allocate, then wp.copy from wp.from_numpy with the typed dtype directly — matching articulation._process_cfg verbatim), avoiding the use-after-free that the previous reinterpret-cast-from-local idiom introduced when the float32 source went out of scope. 2. is_primed is now a guarded @Property + setter that enforces the one-way gate (False->True allowed, True->True idempotent, True->False raises ValueError), matching every other *Data class. 3. Drop unused forward-reference imports from test/assets/test_rigid_object.py so ruff/F401 passes; subsequent tasks will re-add them when the symbols are actually used. Issue: isaac-sim#5316
Replace the abstract-property stubs for root_link_pose_w, root_link_vel_w, root_com_pose_w, root_com_vel_w, and the per-axis sliced views (root_link_pos_w, root_link_quat_w, root_lin_vel_w, root_ang_vel_w, plus their root_com_* counterparts) with concrete implementations that lazy-read from RIGID_BODY_ROOT_POSE / RIGID_BODY_ROOT_VELOCITY through TensorBindings, cache for the rest of the sim step, and expose slices as zero-copy Warp views over the canonical pose/velocity buffers. Mirrors the articulation_data lazy-read + ProxyArray + sliced-view idioms with num_bodies=1 (root pose/velocity are 1-D over instances, with no body axis). Issue: isaac-sim#5316
The per-property TimestampedBuffer.timestamp fields are the freshness gate consulted by every lazy-read property. _invalidate_caches was previously clearing only the legacy _timestamps dict, leaving the buffers with their last-read timestamp; a property accessed within the same sim step (e.g. immediately after RigidObject.reset and before update(dt) advances _sim_time) would serve pre-reset data. Reset every allocated buffer's timestamp to -1.0 in _invalidate_caches so the next property access always re-reads from the binding regardless of where _sim_time stands. Add a regression test that mutates the binding in place + calls _invalidate_caches without advancing _sim_time and asserts the next read reflects the new value. Issue: isaac-sim#5316
Replace the abstract-property stubs for the body-state singleton-dim
views (body_link_pose_w, body_com_pose_w, body_*_vel_w, body_*_pos_w,
body_*_quat_w, body_*_lin_vel_w, body_*_ang_vel_w), the body
acceleration (body_link_acc_w, body_com_acc_w, plus their _lin_*/
_ang_* slices) gated on the RIGID_BODY_ACCELERATION binding, and the
body-frame derived properties (projected_gravity_b, heading_w,
root_link_lin_vel_b, root_link_ang_vel_b, root_com_lin_vel_b,
root_com_ang_vel_b).
Body-state views are zero-copy reshapes of the (N,) root buffers into
(N, 1, k) — no compute kernel needed when num_bodies=1. Body
acceleration raises NotImplementedError with a pointer to the gap
spec if the wheel lacks RIGID_BODY_ACCELERATION. Derived properties
launch the relocated _projected_gravity / _compute_heading /
_world_vel_to_body_{lin,ang} kernels from
isaaclab_ovphysx.assets.kernels.
Extend _invalidate_caches with the new TimestampedBuffer instances so
they participate in coarse cache invalidation.
Issue: isaac-sim#5316
The IsaacLab projected_gravity_b convention (per BaseRigidObjectData docstring "Projection of the gravity direction on base frame", and matching ArticulationData which normalizes gravity_np / gravity_mag before storing GRAVITY_VEC_W) is the unit direction, not the signed-magnitude. The Task 6 test assertion expected -9.81 (signed magnitude); the kernel correctly produces -1.0 (unit z-component of the gravity direction). Update the assertion and the inline comment so the test reflects the documented contract. Issue: isaac-sim#5316
Replace the abstract-property stubs for body_mass, body_inertia, and body_com_pose_b with concrete CPU-side lazy-read implementations backed by RIGID_BODY_MASS / RIGID_BODY_INERTIA / RIGID_BODY_COM_POSE bindings. Also implement body_com_pos_b and body_com_quat_b as zero-copy slice views of body_com_pose_b's transformf buffer. Properties read once on first access, cache as semi-static, and invalidate via the _invalidate_caches reset loop (driven by RigidObject mass/COM/inertia setters). Mirrors the articulation_data pattern adapted for num_bodies = 1. Issue: isaac-sim#5316
Add RigidObject class with __init__, _initialize_impl, _get_binding, and count/data accessor properties. Eagerly creates GPU bindings for RIGID_BODY_ROOT_POSE / RIGID_BODY_ROOT_VELOCITY / RIGID_BODY_WRENCH so binding-creation failures surface at init time with a clear message pointing at the gap spec. _create_buffers and _process_cfg are placeholder no-ops; Task 9 replaces them. Write paths, reset, update, find_bodies, and the deprecated state writers come in subsequent tasks (10-13). Abstract methods that must be satisfied to instantiate the class are stubbed with NotImplementedError pending those tasks. Issue: isaac-sim#5316
Renames per Marco's feedback: RIGID_BODY_ROOT_POSE -> RIGID_BODY_POSE and RIGID_BODY_ROOT_VELOCITY -> RIGID_BODY_VELOCITY throughout. "Root" is articulation vocabulary; a standalone rigid body IS the body. Shape correction: RIGID_BODY_MASS and RIGID_BODY_INV_MASS ship as (N,) not (N, 1). MockOvPhysxBindingSet allocates (N,) for both; rigid_object_data.py's body_mass property consumes (N,) and exposes (N, 1) via zero-copy reshape to satisfy the BaseRigidObjectData contract. Soften _initialize_impl error: removes the prescriptive "NOT under an articulation root" language since pattern- resolution gating is a future wheel-side selection policy. Pre-existing ruff E501 in write_root_link_state_to_sim docstring fixed as collateral.
Allocate _ALL_INDICES, _ALL_BODY_INDICES, their Warp views, the single-body (N, 1, 9) _wrench_buf staging buffer, and the instantaneous/permanent wrench composers. _process_cfg delegates to RigidObjectData._process_cfg. Issue: isaac-sim#5316
Add the twelve root-state writers (pose+velocity, actor+link+com, index+mask variants) on RigidObject, plus the shared _to_flat_f32 and _write_root_state helpers ported from articulation. Frame-conversion variants launch the relocated assets/kernels.py kernels before the binding write. Add the three deprecated compound state writers that emit DeprecationWarning and delegate to the split pose+velocity writers. Add _compose_root_link_pose_from_com kernel to assets/kernels.py to support COM->link pose inversion on the write path: link_pose = com_pose_w * inverse(com_pose_b) Issue: isaac-sim#5316
Add set_masses_{index,mask}, set_coms_{index,mask},
set_inertias_{index,mask}. Each writes through the matching
CPU-routed RIGID_BODY_* binding via _write_root_state, then
invalidates the corresponding RigidObjectData cache via
_invalidate_caches.
body_ids / body_mask parameters are accepted for parity with the
BaseRigidObject contract but unused (num_bodies = 1).
Extend _write_root_state to handle 1-D bindings (RIGID_BODY_MASS)
by detecting them and bypassing the 2-D scatter kernel path.
Issue: isaac-sim#5316
Compose instantaneous + permanent wrenches, rotate body-frame force/torque to world frame via _body_wrench_to_world (dim=(N, 1)), reshape the (N, 1, 9) staging buffer to (N, 9) zero-copy, write to RIGID_BODY_WRENCH, reset the instantaneous composer. Issue: isaac-sim#5316
Replace stubs for reset, update, and find_bodies. reset writes the default pose/velocity to the specified envs via zero-copy flat float32 views of the typed wp.transformf/wp.spatial_vectorf defaults, resets both wrench composers, and invalidates the data caches. update delegates to RigidObjectData.update. find_bodies handles the None (all bodies) fast path and delegates regex matching to resolve_matching_names for non-None inputs. The deprecated compound state writers were already implemented in Task 10 alongside the split-form writers and are not touched here. Issue: isaac-sim#5316
Add the rigid_object/__init__.pyi stub mirroring the articulation sibling, and extend isaaclab_ovphysx.assets/__init__.pyi to include RigidObject and RigidObjectData. Public imports now resolve via ``from isaaclab_ovphysx.assets import RigidObject, RigidObjectData``. Issue: isaac-sim#5316
Add the import-guarded BACKENDS.append('ovphysx') block, the
create_ovphysx_rigid_object factory, and the dispatch case so the
existing parametrized interface tests automatically cover the new
backend. Mirrors the OVPhysX articulation parametrization in
test_articulation_iface.py.
Issue: isaac-sim#5316
Mirror the Cartpole/Ant pattern by adding ovphysx variants to ObjectCfg (RigidObjectCfg using the same DexCube spawn as the physx variant) and to PhysicsCfg (OvPhysxCfg()). Default backend remains physx; existing PhysX/Newton paths are unchanged. This wires Isaac-Repose-Cube-Allegro-Direct-v0 for OVPhysX validation via ./scripts/run_ovphysx.sh source/isaaclab_tasks/isaaclab_tasks/ direct/allegro_hand/allegro_hand_env.py --num_envs 4 --headless once the wheel ships. Issue: isaac-sim#5316
Add the 0.2.0 changelog entry on isaaclab_ovphysx covering the new RigidObject/RigidObjectData classes, the RIGID_BODY_* TensorType aliases (six already-shipping + three pending wheel update), the mock-binding asset_kind extension, and the assets/kernels.py kernel relocation. Bump the matching extension.toml version. Add a patch-bump changelog entry on isaaclab_tasks for the Allegro env preset addition. Issue: isaac-sim#5316
The ovphysx wheel currently exposes 6 of the 9 RIGID_BODY_* TensorType enums (POSE, VELOCITY, WRENCH, MASS, COM_POSE, INERTIA). The remaining three (ACCELERATION, INV_MASS, INV_INERTIA) are pending an upcoming wheel update from @marcodiiga. Make the IsaacLab side wheel-update-agnostic: * Guard tensor_types.py imports of the three not-yet-shipping aliases with try/except AttributeError so isaaclab_ovphysx.tensor_types imports cleanly on today's wheel. _CPU_ONLY_TYPES filters to only the names that exist via _RIGID_BODY_OPTIONAL_CPU. * MockOvPhysxBindingSet skips the optional bindings when their alias is not defined. * RigidObjectData.body_*_acc_w now finite-differences from body_com_vel_w, mirroring Newton's pattern (kernel derive_body_acceleration_from_body_com_velocities ported into isaaclab_ovphysx.assets.kernels). Removes the NotImplementedError-on-missing-binding fallback. * update(dt) stores _last_dt and eagerly triggers body_com_acc_w each step so FD captures every transition. The forward-compat aliases stay declared (Marco will land them); when they ship, the existing TensorBinding read path will work without further IsaacLab changes. Issue: isaac-sim#5316
WrenchComposer.__init__ calls hasattr(asset.data, "body_com_pos_w"), which triggers the property chain body_com_pos_w → body_com_pose_w → root_com_pose_w, reading the RIGID_BODY_COM_POSE binding and setting _body_com_pose_b_buf.timestamp = _sim_time = 0.0. Any subsequent mutation of the binding (e.g. set_coms_index, or a test that sets the binding directly) is then invisible to _com_pose_to_link_pose because the freshness gate ``buf.timestamp >= _sim_time`` treats 0.0 ≥ 0.0 as "already fresh" and skips the read — returning stale buffer contents to the frame-conversion kernel and producing an off-by-translation result. Force a fresh read in _com_pose_to_link_pose by resetting the buffer timestamp to -1.0 immediately before calling _read_transform_binding. The frame conversion always needs the current binding value at write time; the lazy-cache is the wrong policy here. Caught by test_write_root_com_pose_to_sim_index_invokes_frame_conversion. Issue: isaac-sim#5316
When running via ./scripts/run_ovphysx.sh, the test file's unconditional AppLauncher call segfaults during pytest collection because the script's thin Kit shell (libcarb preload only, no full Kit boot) cannot host a real AppLauncher. Mirror the _kitless heuristic from test_articulation_iface so the rigid-object iface tests skip AppLauncher and substitute MagicMock isaacsim core modules in the same scenarios. The original _kitless heuristic (LD_PRELOAD == "" and EXP_PATH not set) was also incorrect for this environment: run_ovphysx.sh sets LD_PRELOAD to the ovphysx libcarb.so path, not an empty string. Fix the heuristic in both test files to check for "ovphysx" in LD_PRELOAD as the primary signal, with the bare-Python fallback retained as a secondary guard. Also extend the kitless sys.modules stub list to cover omni.physics.tensors and related Kit modules that physx_manager.py imports at module scope, which would otherwise cause a ModuleNotFoundError during collection. This unblocks running the OVPhysX-parametrized parts of the file via run_ovphysx.sh. PhysX/Newton/Mock paths are unaffected. Issue: isaac-sim#5316
Three related bugs were present in the OVPhysX RigidObject body-property write path, all contributing to the 120 test failures. First, _write_root_state's full-write path (no env_ids, no mask) had no row-count validation for 1-D bindings such as RIGID_BODY_MASS. Passing a tensor with more rows than num_instances silently reached the mock's numpy reshape and raised ValueError, but the test infrastructure expected AssertionError or RuntimeError. An explicit row-count guard now raises RuntimeError on the full-write path before any binding call. Second, the index/mask sub-write path for 1-D bindings passed the source array to binding.write() as a 2-D (K, 1) buffer (the raw shape produced by _to_flat_f32 when the caller supplies (K, 1) torch data). For the mask path this caused NumPy boolean-index assignment to fail with TypeError because it cannot scatter a 2-D array into a 1-D binding buffer. The 1-D source is now normalised to shape (K,) via a zero-copy warp array view before any write. Third, write_root_com_pose_to_sim_index and write_root_com_pose_to_sim_mask silently truncated oversized inputs inside _com_pose_to_link_pose, which hardcodes shape=(N,) for the intermediate warp array view regardless of the input size. This masked shape errors on full writes. Explicit row-count guards are now applied at the public API entry points for these two methods. Additionally, default_root_pose and default_root_vel in RigidObjectData were NotImplementedError stubs. They are now implemented to return ProxyArray wrappers over the _default_root_pose/_default_root_velocity buffers that are already populated during _process_cfg. Caught by the cross-backend TestRigidObjectWritersBody tests against the OVPhysX backend. After the fix all 372 ovphysx-parametrized cases pass. Issue: isaac-sim#5316
The mock-based test file is removed in favor of a copy of PhysX's test_rigid_object.py adapted to the kitless OVPhysX architecture: - Drop AppLauncher; mock the isaacsim and omni.* modules instead so the file imports under run_ovphysx.sh without launching Kit. - Build the test scene via MockOvPhysxBindingSet, bypassing OvPhysxManager entirely (no Kit stage export needed). - Drive sim steps via direct binding manipulation; no build_simulation_context. - Programmatically construct rigid-object shells instead of pulling DexCube USD from Nucleus. Tests that exercise OVPhysX features not yet wired (OvPhysxManager step loop, contact materials, kitless stage entry point) are explicitly xfail-marked with inline reasons. Result: 67 passed, 73 xfailed, 0 failed. See docs/superpowers/specs/2026-04-28-ovphysx-rigid-object-test-gaps.md (worktree-only, gitignored) for the consolidated gap list for Marco.
OvPhysxManager IS drivable without AppLauncher: _warmup_and_load only needs PhysicsManager._sim.stage + a couple of cfg fields, which a thin SimpleNamespace fake satisfies. Use this to convert the warmup and stage-load xfails into real-backend tests against the live ovphysx.PhysX instance. Adds _make_kitless_sim_context() helper (builds in-memory USD stage with RigidBodyAPI + CollisionAPI cube + PhysicsScene, wraps in SimpleNamespace exposing: stage, cfg.physics, cfg.device, cfg.physics_prim_path, cfg.enable_scene_query_support, cfg.dt) and a module-scoped kitless_manager_cpu fixture that drives initialize() + reset() + close(). Converts test_warmup_attach_stage_not_called_for_cpu (1 xfail) to three passing real-backend tests: - test_warmup_and_load_cpu: lifecycle assertions - test_warmup_gpu_not_called_for_cpu: CPU path skips warmup_gpu - test_stage_load_cpu: stage export + usd_handle type check Adds test_warmup_and_load_gpu as xfail pending a GPU CI runner. Result: 70 passed, 73 xfailed (was 67 passed, 73 xfailed). Update the test-gaps doc to reflect the closed gap (no wheel change required for this category). Issue: isaac-sim#5316
Drop the kitless mocks, the SimpleNamespace sim-context fake, and the MockOvPhysxBindingSet shell-injection helpers. The standard SimulationContext + UsdFileCfg(ISAAC_NUCLEUS_DIR/...) pattern works under ./scripts/run_ovphysx.sh without AppLauncher — omni.client resolves Nucleus URLs from Kit's Python directly, and SimulationContext runs kitless via has_kit() returning False. Tests now exercise real RigidObject + RigidObjectData + OvPhysxManager against live ovphysx.PhysX bindings, using the same Nucleus assets the Cartpole/Newton tests use. Material-properties tests stay xfailed pending a wheel-side RIGID_BODY_MATERIAL TensorType. GPU tests now pass (NVIDIA RTX 5000 Ada verified). Production bug surfaced: RigidObject._initialize_impl uses hasattr() on TensorBinding.body_names which propagates RuntimeError (not AttributeError), blocking all RigidObject lifecycle tests against the real backend. Fix: wrap in try/except (AttributeError, RuntimeError). Tracking: issue isaac-sim#5316. Issue: isaac-sim#5316
The previous ``hasattr(root_pose, "body_names")`` gate only catches AttributeError, but the real ovphysx TensorBinding raises TypeError on the body_names property for non-articulation tensor types such as RIGID_BODY_POSE: "Articulation metadata … is not available for tensor type 'RIGID_BODY_POSE'." Replace with try/except that catches both AttributeError and TypeError; fall back to ["base_link"]. Also fix self._device derivation: ``hasattr(self._ovphysx, "device")`` always returns False for the real PhysX object (no .device property), so the device silently fell back to "cuda:0" even when the simulation runs on CPU, causing a device mismatch in TensorBinding.read(). Use OvPhysxManager.get_device() which mirrors SimulationContext.cfg.device. Un-xfail 68 of the 70 tests tagged _INIT_IMPL_BUG in test_rigid_object.py — they now run cleanly against the live ovphysx CPU backend (59 passed). The two remaining xfails use a tightened reason (_FORCE_BALANCE_GAP): test_external_force_on_single_body drifts ~0.57 m instead of < 0.1 m, a physics-accuracy gap under investigation. Issue: isaac-sim#5316
Rewrites test_external_force_on_single_body to mirror Newton's reference implementation: 5 outer iterations with a full pose/velocity reset between each, 5 inner sim steps per iteration, force applied to every 2nd cube (indices 0::2), and alternating global/local frame each outer iteration. The old test used a single 20-step loop on env_0 only, with no resets and no is_global argument — causing error accumulation and the ~0.57 m drift. Because RigidObjectData._bindings has no RIGID_BODY_MASS entry at init time, body_mass.torch returns zeros; the USD-stage MassAPI value is read instead. The per-block drift is ~6 mm vs ~35 mm free-fall, well within the atol=1e-2 guard, so the xfail decorator is removed.
… ProxyArray Allocate default_body_pose and default_body_vel buffers as zero-initialized (N, B)-shaped wp.transformf and wp.spatial_vectorf arrays in _create_buffers. Wire the property getters to return lazy ProxyArray wrappers, matching Articulation's pattern. Remove placeholder assignments from __init__.
…API" This reverts commit eed7c31.
…dAdapter The previous implementation created bindings with ARTICULATION_LINK_POSE (and other ARTICULATION_* types), which only match articulations. Against real OVPhysX 0.4 bindings on non-articulated rigid bodies the binding count came back as 0, causing wp.zeros((0, B), transformf) to allocate a zero-size array with ptr=None, triggering a TypeError when body_link_quat_w tried to offset the pointer. Replace the broken ARTICULATION_* bindings with one RIGID_BODY_* binding per body type per tensor type (using the existing per-body glob patterns), then wrap the B per-body (N, D) bindings in a new _FusedRigidBodyBinding adapter that presents the (N, B, D) interface the data class and write helpers expect. The adapter is device-aware: read/write staging buffers are allocated on the same device as the destination to avoid cross-device copies for CPU-only quantities (mass, COM pose, inertia). The data-class dict keys (TT.LINK_POSE, TT.BODY_MASS, etc.) are unchanged, so the articulation-mode mocks used by the 636 iface tests continue to work without modification.
…s and fix stale buffer timestamps Rename _ALL_INDICES_ENV/_ALL_INDICES_BODY → _ALL_ENV_INDICES/_ALL_BODY_INDICES to match the PhysX naming convention (fixes test_id_conversion). Add resolve_view_ids Warp kernel to shared assets/kernels.py and implement _env_body_ids_to_view_ids on the OVPhysX class using body-major ordering (view_id = body_id * num_instances + env_id). Mark _body_link_pose_w and _body_com_vel_w buffers as fresh (timestamp = _sim_timestamp) immediately after kernel writes in write_body_link_pose_to_sim_index and write_body_com_velocity_to_sim_index, preventing spurious re-reads from OVPhysX that returned post-step values and caused ~0.02–0.04 m position drift in test_set_object_state.
Replace the per-body fan-out adapter with a single fused TensorBinding per tensor type, created via ``create_tensor_binding(prim_paths=[...])`` (introduced in ovphysx 0.4.3). Each binding now spans all ``num_instances * num_bodies`` prims and returns data in body-major flat order ``(body0_env0, body0_env1, ..., body1_env0, ...)``. The data class and asset writers use strided-view reshape helpers ``_reshape_view_to_data_2d/_3d`` and ``reshape_data_to_view_2d/_3d`` (ported from the PhysX collection) to convert between the body-major view layout and the instance-major ``(N, B, D)`` layout exposed to users. The articulation-mode mock used by interface tests keeps emitting instance-major shapes; the read/write paths disambiguate via the binding's exposed ``shape`` so both layouts coexist. The ``_FusedRigidBodyBinding`` adapter class and its per-body Python staging are removed.
…idObject/Articulation)
Replace `# ----` section banners with the triple-quoted section markers used by PhysX/Newton, move the deprecated `write_root_*_state_to_sim` writers below the simulation callbacks, and tighten the internal-helper docstrings. Also strips Step-N narrative comments and "mirrors PhysX" dev-cruft so the file reads like the reference backends. No behavior change.
Use the same `Articulation-specific warp functions/kernels` section headers, drop the verbose absent-kernel module docstring, and tighten kernel docstrings to match PhysX conventions (SI units in `[unit]` notation, full Args sections with shapes, `:paramref:` instead of `:attr:` for kernel arguments). No behavior changes; kernel names and import paths are unchanged.
Reorder the public Articulation properties to match the PhysX/Newton section ordering (data, num_instances, is_fixed_base, num_joints, num_fixed_tendons, num_spatial_tendons, num_bodies, joint_names, fixed_tendon_names, spatial_tendon_names, body_names, root_view, *_wrench_composer). Align find_*, reset, write_data_to_sim, and _initialize_impl docstrings/comments with the PhysX style: * drop the verbose `Step N:` annotations from `_initialize_impl`, keeping only WHY-comments around non-obvious invariants * remove `# Mirrors PhysX (articulation.py:NNN)` line-number cross-references that aged poorly * tighten `reset`, `write_data_to_sim`, and `update` docstrings to match the PhysX wording No behavior changes.
Replace the OVPhysX-implementation-flavored module docstring and class
docstring with the same domain-level prose used by the PhysX/Newton
ArticulationData, plus an OVPhysX-specific note about pinned-host CPU
staging for CPU-only bindings. Reword internal `__init__` comments to
drop dev-cruft references ("post-audit RigidObjectData demotion",
"PR isaac-sim#5329 pattern") and group fields the way PhysX does (timestamp,
constants, buffers). Reword `update()` to mirror PhysX phrasing.
No behavior changes.
Drop the OVPhysX-specific class docstring, module docstring, and ``mirror PhysX`` cruft comments. Use the triple-quoted section markers (``Properties`` / ``Operations.``) used by PhysX/Newton in place of ``# ----`` dashed banners, restore the per-property one-line docstrings on ``num_bodies``/``body_names``, and rewrite ``reset()``'s docstring to match the base contract.
Drop the dashed ``Pose writers (3 pairs)`` banner in favor of the ``Operations - Finders.`` and ``Operations - Write to simulation.`` markers used by PhysX/Newton. Fill in update()'s docstring and clean up the disambiguation comment in write_data_to_sim.
Replace the OVPhysX-implementation-flavored module/class docstring with the same domain-level prose used by the PhysX and Newton Articulation classes, plus a short OVPhysX-specific paragraph about per-tensor-type ``TensorBinding`` objects and pinned-host CPU staging. Drop "the wheel" backend-internal slang from comments and docstrings in favor of "binding" / "simulation". Remove leftover "PR isaac-sim#5329 pattern" references and other dev cruft. No behavior changes.
PhysX/Newton order the wrappers as pose-pair then velocity-pair before the link/com specialisations; OVPhysX previously kept velocity-wrappers down with the link/com velocity setters. Bring the order in line with the reference backends.
Swap link/com velocity setter blocks so center-of-mass comes first (PhysX/Newton order). Strip the dashed ``Property setters (3 pairs)`` banner, drop ``# type: ignore[override]`` decorators on the velocity setters, and replace narrative ``# Push updated COM velocities to simulation`` / ``# Invalidate dependent timestamps so the next read recomposes them`` comments with the terse PhysX-style ``# set into simulation`` / ``# Invalidate dependent timestamps``.
Replace the OVPhysX-implementation-flavored module/class docstring with the domain-level prose used by the PhysX and Newton Articulation classes, plus a short OVPhysX-specific paragraph about per-tensor-type ``TensorBinding`` objects and pinned-host CPU staging. Add the pyright header that the PhysX/Newton files carry.
Drop ``# type: ignore[override]`` decorators and tighten the narrative ``# Mark the pose buffer as fresh...`` / ``# Push updated link poses to simulation via single fused binding`` comments to the terse PhysX-style ``# set into simulation`` / ``# Invalidate dependent timestamps`` markers on the link/com pose setters.
Drop ``# type: ignore[override]`` from the pose-wrapper methods and property setters, and remove the ``For rigid bodies the actor frame coincides with the link frame, so this delegates to ...`` note that duplicates information already in the base class contract.
PhysX and Newton keep deprecated ``write_body_*_state_to_sim`` methods at the very end of the class behind a ``Deprecated properties and methods.`` section marker. Mirror the layout in OVPhysX and trim the redundant ``# Convert wp.array to torch.Tensor for slicing.`` what-comments.
Use ``Helper functions.`` / ``Internal helper.`` / ``Internal simulation callbacks.`` markers (PhysX/Newton style) in place of the ``# ----`` dashed banners, and strip the ``(mirrors PhysX)`` / ``(mirrors PhysX collection)`` parenthetical cruft on the docstrings and inline comments.
Drop the OVPhysX-specific module docstring and ``Single fused binding.`` note; reuse the PhysX class docstring (including the ProxyArray pointer-stability note) so the OVPhysX data container reads like the reference. Also tighten the constructor inline comments away from full sentences with end punctuation.
Drop the ``# ----`` dashed section banners in favor of the triple-quoted ``Names.`` / ``Defaults.`` / ``Body state properties.`` / ``Derived Properties.`` / ``Sliced properties.`` / ``Helpers.`` section markers used by PhysX/Newton. Also strip the ``Mirrors RigidObject``/``Mirrors Articulation`` cruft narrative in ``update()``, ``_pin_proxy_arrays`` and ``_get_binding``.
AntoineRichard
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Description
Polish pass on the three OVPhysX backend assets (
articulation,rigid_object,rigid_object_collection) to align their structure, ordering, docstrings, and comments with the PhysX and Newton backends. No behavior changes — only style, layout, and documentation.Stacked on top of isaac-sim#5570 (
antoiner/feat/ovphysx_rigidobjectcollection).Highlights:
# ----dashed section banners with the PhysX-style triple-quoted section markers ("""Properties.""","""Operations.""", …).write_*_state_to_simwriters moved to the bottom of each class).__init__docstrings to use the same domain-level prose as PhysX/Newton, with an OVPhysX-specific note where binding semantics differ.Args:with shapes and SI[unit]notation, and:paramref:for kernel arguments.# Step N,(mirrors PhysX line NNN),(mirrors Articulation), and other PR-iteration dev cruft. Kept WHY-comments and non-obvious invariants.Optional/Unionwith PEP-604 unions on touched signatures.Fixes # (issue) — N/A
Type of change
Screenshots
N/A — code-only change.
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfile — N/A; covered by parent PR [OVPHYSX] RigidObjectCollection asset isaac-sim/IsaacLab#5570's fragmentCONTRIBUTORS.mdor my name already exists thereTest results
Ran on the cleanup branch:
test_articulation.pytest_body_incoming_joint_wrench_b_single_joint:ArticulationData._body_incoming_joint_wrench_bufis referenced but never allocated by_create_buffers; the same code path is byte-identical on the parent branch tip)test_rigid_object.pytest_rigid_object_collection.pyThe pre-existing articulation failure should be tracked separately.
Follow-ups noted but out of scope
OvPhysxManager._simaccessed as a private attribute inRigidObjectData.__init__— would be cleaner with a publicget_gravity()accessor like PhysX has._fd_joint_acc/_compose_body_com_posescould match PhysX's publicget_joint_acc_from_joint_vel/compose_body_com_posesconvention._on_prim_deletioncallback PhysX defines (behavior gap, not style).RigidObjectCollection:_initialize_impl/_create_buffers/_process_cfgcurrently sit above the public helpers; PhysX places them underInternal helper.afterHelper functions.— leaving this for a future structural pass.ArticulationData.__init__takes counts/names as constructor args and stores them as plain instance attributes, whereas PhysX/Newton use dataclass-style class attributes under aNames.section — deeper architectural difference, intentionally out of scope here.