fix(retargeting): DLPack copy order and optional transform tests

- Copy ndarray slots via np.from_dlpack(input).copy() before in-place transforms
- Numpy version tests / smoke; requirements numpy>=1.23
- Tests for optional absent/present toggling across calls

Author: nvddr

README.md

@@ -11,7 +11,7 @@ SPDX-License-Identifier: Apache-2.0
 
 [![Python](https://img.shields.io/badge/python-3.10%2B-blue.svg)](https://www.python.org/downloads/)
 [![Isaac Lab](https://img.shields.io/badge/Isaac%20Lab-3.0.0-orange.svg)](https://isaac-sim.github.io/IsaacLab/develop)
-[![numpy](https://img.shields.io/badge/numpy-1.22%2B-lightgrey.svg)](https://numpy.org/)
+[![numpy](https://img.shields.io/badge/numpy-1.23%2B-lightgrey.svg)](https://numpy.org/)
 [![License](https://img.shields.io/badge/license-Apache%202.0-blue.svg)](https://www.apache.org/licenses/LICENSE-2.0)
 
 

examples/oxr/python/pyproject.toml

@@ -8,5 +8,5 @@ description = "OpenXR Tracking Python Examples"
 requires-python = ">=3.10,<3.13"
 dependencies = [
     "isaacteleop",
-    "numpy>=1.22.2",
+    "numpy>=1.23.0",
 ]

examples/retargeting/python/pyproject.toml

@@ -8,5 +8,5 @@ description = "Retargeting Engine Python Examples"
 requires-python = ">=3.10,<3.13"
 dependencies = [
     "isaacteleop[ui,retargeters-lite]",
-    "numpy>=1.22.2",
+    "numpy>=1.23.0",
 ]

examples/teleop_session_manager/python/pyproject.toml

@@ -8,5 +8,5 @@ description = "TeleopUtils Python Examples"
 requires-python = ">=3.10,<3.13"
 dependencies = [
     "isaacteleop[ui]",
-    "numpy>=1.22.2",
+    "numpy>=1.23.0",
 ]

src/core/python/requirements.txt

@@ -1 +1 @@
-numpy>=1.22.2
+numpy>=1.23.0

src/core/retargeting_engine/python/utilities/controller_transform.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """
@@ -11,8 +11,6 @@
 provided by a TransformSource node.
 """
 
-import copy
-
 import numpy as np
 
 from ..interface.base_retargeter import BaseRetargeter
@@ -21,9 +19,10 @@
 from ..interface.tensor_group_type import OptionalType
 from ..tensor_types import ControllerInput, ControllerInputIndex, TransformMatrix
 from .transform_utils import (
+    _copy_tensor_group_slots_from_dlpack_input,
     decompose_transform,
-    transform_position,
     transform_orientation,
+    transform_position,
 )
 
 
@@ -120,24 +119,13 @@ def _transform_controller(
         translation: np.ndarray,
     ) -> None:
         """Apply the transform to a single controller's data."""
-        # Deep-copy all fields from input to output (avoid aliasing)
-        for i in range(len(inp)):
-            out[i] = copy.deepcopy(inp[i])
+        _copy_tensor_group_slots_from_dlpack_input(inp, out)
 
-        # Transform pose fields in-place on the output buffers
         transform_position(
-            np.from_dlpack(out[ControllerInputIndex.GRIP_POSITION]),
-            rotation,
-            translation,
-        )
-        transform_orientation(
-            np.from_dlpack(out[ControllerInputIndex.GRIP_ORIENTATION]), rotation
+            out[ControllerInputIndex.GRIP_POSITION], rotation, translation
         )
+        transform_orientation(out[ControllerInputIndex.GRIP_ORIENTATION], rotation)
         transform_position(
-            np.from_dlpack(out[ControllerInputIndex.AIM_POSITION]),
-            rotation,
-            translation,
-        )
-        transform_orientation(
-            np.from_dlpack(out[ControllerInputIndex.AIM_ORIENTATION]), rotation
+            out[ControllerInputIndex.AIM_POSITION], rotation, translation
         )
+        transform_orientation(out[ControllerInputIndex.AIM_ORIENTATION], rotation)

src/core/retargeting_engine/python/utilities/hand_transform.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """
@@ -15,8 +15,6 @@
 the wrist while leaving other joints untransformed would break the hand skeleton.
 """
 
-import copy
-
 import numpy as np
 
 from ..interface.base_retargeter import BaseRetargeter
@@ -25,9 +23,10 @@
 from ..interface.tensor_group_type import OptionalType
 from ..tensor_types import HandInput, HandInputIndex, TransformMatrix
 from .transform_utils import (
+    _copy_tensor_group_slots_from_dlpack_input,
     decompose_transform,
-    transform_positions_batch,
     transform_orientations_batch,
+    transform_positions_batch,
 )
 
 
@@ -126,14 +125,9 @@ def _transform_hand(
         translation: np.ndarray,
     ) -> None:
         """Apply the transform to a single hand's joint data."""
-        # Deep-copy all fields from input to output (avoid aliasing)
-        for i in range(len(inp)):
-            out[i] = copy.deepcopy(inp[i])
+        _copy_tensor_group_slots_from_dlpack_input(inp, out)
 
-        # Transform pose fields in-place on the output buffers
         transform_positions_batch(
-            np.from_dlpack(out[HandInputIndex.JOINT_POSITIONS]), rotation, translation
-        )
-        transform_orientations_batch(
-            np.from_dlpack(out[HandInputIndex.JOINT_ORIENTATIONS]), rotation
+            out[HandInputIndex.JOINT_POSITIONS], rotation, translation
         )
+        transform_orientations_batch(out[HandInputIndex.JOINT_ORIENTATIONS], rotation)

src/core/retargeting_engine/python/utilities/head_transform.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """
@@ -11,18 +11,17 @@
 provided by a TransformSource node.
 """
 
-import copy
-
 import numpy as np
 
 from ..interface.base_retargeter import BaseRetargeter
 from ..interface.retargeter_core_types import RetargeterIO, RetargeterIOType
 from ..interface.tensor_group_type import OptionalType
 from ..tensor_types import HeadPose, HeadPoseIndex, TransformMatrix
 from .transform_utils import (
+    _copy_tensor_group_slots_from_dlpack_input,
     decompose_transform,
-    transform_position,
     transform_orientation,
+    transform_position,
 )
 
 
@@ -103,12 +102,7 @@ def _compute_fn(self, inputs: RetargeterIO, outputs: RetargeterIO, context) -> N
         inp = inputs["head"]
         out = outputs["head"]
 
-        # Deep-copy all fields from input to output (avoid aliasing)
-        for i in range(len(inp)):
-            out[i] = copy.deepcopy(inp[i])
+        _copy_tensor_group_slots_from_dlpack_input(inp, out)
 
-        # Transform pose fields in-place on the output buffers
-        transform_position(
-            np.from_dlpack(out[HeadPoseIndex.POSITION]), rotation, translation
-        )
-        transform_orientation(np.from_dlpack(out[HeadPoseIndex.ORIENTATION]), rotation)
+        transform_position(out[HeadPoseIndex.POSITION], rotation, translation)
+        transform_orientation(out[HeadPoseIndex.ORIENTATION], rotation)

src/core/retargeting_engine/python/utilities/transform_utils.py

@@ -13,8 +13,13 @@
     hands_source.py, controllers_source.py).
 """
 
+import copy
+from typing import Tuple, Union
+
 import numpy as np
-from typing import Tuple
+
+from ..interface.tensor_group import OptionalTensorGroup, TensorGroup
+from ..tensor_types import NDArrayType
 
 
 def validate_transform_matrix(matrix: np.ndarray) -> np.ndarray:
@@ -44,6 +49,19 @@ def validate_transform_matrix(matrix: np.ndarray) -> np.ndarray:
     return matrix
 
 
+def _copy_tensor_group_slots_from_dlpack_input(
+    inp: Union[OptionalTensorGroup, TensorGroup],
+    out: Union[OptionalTensorGroup, TensorGroup],
+) -> None:
+    """Copy slots *inp* → *out*; ndarray slots via ``from_dlpack`` then ``.copy()``."""
+
+    for i, tensor_type in enumerate(inp.group_type.types):
+        if isinstance(tensor_type, NDArrayType):
+            out[i] = np.from_dlpack(inp[i]).copy()
+        else:
+            out[i] = copy.deepcopy(inp[i])
+
+
 def decompose_transform(matrix: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
     """
     Decompose a 4x4 homogeneous transform into rotation and translation.

src/core/retargeting_engine_tests/python/test_transform_numpy_versions.py

@@ -0,0 +1,67 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""
+Run pose-transform smoke under isolated NumPy versions (1.23.x and 2.x).
+
+NumPy 1.23 adds the public ``numpy.from_dlpack`` API used by the transform path.
+CTest sets ``PYTHONPATH`` to the built ``python_package`` tree; each test spawns
+``uv run --no-project`` with a pinned NumPy.
+
+Python version comes from the **same interpreter as pytest** (CI matrix /
+``ISAAC_TELEOP_PYTHON_VERSION``), not a hard-coded list. That keeps ``uv run``
+aligned with the wheel ABI under ``PYTHONPATH`` (native extensions match).
+
+The NumPy **1.23.5** pin is **skipped** on Python 3.12+ (no viable wheels / install
+for that interpreter). NumPy **2.x** runs on every matrix Python.
+"""
+
+from __future__ import annotations
+
+import os
+import shutil
+import subprocess
+import sys
+from pathlib import Path
+
+import pytest
+
+_SMOKE = Path(__file__).resolve().parent / "transform_numpy_version_smoke.py"
+
+
+@pytest.mark.parametrize(
+    ("numpy_pin", "version_key"),
+    [
+        ("numpy==1.23.5", "1.23"),
+        ("numpy>=2.0.0,<3", "2"),
+    ],
+)
+def test_head_transform_smoke_isolated_numpy(numpy_pin: str, version_key: str) -> None:
+    if shutil.which("uv") is None:
+        pytest.skip("uv not on PATH")
+    if "PYTHONPATH" not in os.environ:
+        pytest.skip(
+            "PYTHONPATH unset (run under CTest or point at build python_package/<CONFIG>)"
+        )
+    if not _SMOKE.is_file():
+        pytest.fail(f"missing smoke script: {_SMOKE}")
+
+    if version_key == "1.23" and sys.version_info >= (3, 12):
+        pytest.skip(
+            "numpy==1.23.5 is not supported on Python 3.12+ (no wheels; matrix uses 3.12/3.13)"
+        )
+
+    py = f"{sys.version_info.major}.{sys.version_info.minor}"
+    cmd = [
+        "uv",
+        "run",
+        "--no-project",
+        "--python",
+        py,
+        "--with",
+        numpy_pin,
+        "python",
+        str(_SMOKE),
+        version_key,
+    ]
+    subprocess.run(cmd, check=True, env=os.environ.copy())