[OVPHYSX] RigidObject + RigidObjectData asset

scripts/run_ovphysx.sh

@@ -3,6 +3,14 @@
 # Use when ovphysx is installed into Kit's Python.
 #
 # Usage: ./scripts/run_ovphysx.sh [your_script.py or -m pytest ...]
+#
+# CI note: the OVPhysX wheel's device mode is a process-global C++/Carbonite
+# static (gap G5 in docs/superpowers/specs/2026-04-28-ovphysx-wheel-gaps-for-marco.md).
+# To exercise both CPU and GPU coverage, invoke this script TWICE in separate
+# processes -- e.g.
+#   ./scripts/run_ovphysx.sh -m pytest <path> -k 'cpu'
+#   ./scripts/run_ovphysx.sh -m pytest <path> -k 'cuda:0'
+# A single invocation locks to whichever device is requested first.
 set -e
 
 ISAACLAB_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"

source/isaaclab/test/assets/test_articulation_iface.py

@@ -20,16 +20,33 @@
 from unittest.mock import MagicMock
 
 # When running kitless (e.g., ovphysx backend via run_ovphysx.sh), AppLauncher
-# will try to boot Kit and hang. Skip it entirely when LD_PRELOAD is cleared
-# (the signature of run_ovphysx.sh) or when EXP_PATH is not set.
-_kitless = os.environ.get("LD_PRELOAD", "") == "" and "EXP_PATH" not in os.environ
+# will try to boot Kit and hang. Skip it entirely: run_ovphysx.sh sets
+# LD_PRELOAD to the ovphysx libcarb.so, which is the signature of a kitless
+# ovphysx run. Also guard the case where neither LD_PRELOAD nor EXP_PATH is
+# set (bare Python, no Kit at all).
+_kitless = "ovphysx" in os.environ.get("LD_PRELOAD", "") or (
+    os.environ.get("LD_PRELOAD", "") == "" and "EXP_PATH" not in os.environ
+)
 
 if not _kitless:
     from isaaclab.app import AppLauncher
 
     simulation_app = AppLauncher(headless=True).app
 else:
     simulation_app = None
+    # Stub out the Kit/Omniverse modules that are not present under
+    # run_ovphysx.sh (pxr, carb, omni, omni.kit[.app] are real on PYTHONPATH).
+    # ``omni`` is a real namespace package, so missing submodules also need
+    # to be installed as attributes on it -- ``sys.modules`` alone is not
+    # enough because attribute access on the real ``omni`` won't fall
+    # through to ``sys.modules``.
+    import omni as _omni
+
+    for _mod in ("physics", "physics.tensors", "physx", "timeline", "usd"):
+        _stub = MagicMock()
+        sys.modules[f"omni.{_mod}"] = _stub
+        # Bind the leaf attribute so that ``omni.<leaf>`` resolves.
+        setattr(_omni, _mod.split(".", 1)[0], _stub)
     for _mod in ("isaacsim.core", "isaacsim.core.simulation_manager"):
         sys.modules.setdefault(_mod, MagicMock())
 

source/isaaclab/test/assets/test_rigid_object_iface.py

@@ -13,16 +13,42 @@
 The setup is a bit convoluted so that we can run these tests without requiring Isaac Sim or GPU simulation.
 """
 
-"""Launch Isaac Sim Simulator first."""
+"""Launch Isaac Sim Simulator first (when available)."""
 
-from isaaclab.app import AppLauncher
-
-HEADLESS = True
+import os
+import sys
+from unittest.mock import MagicMock
 
-# launch omniverse app
-simulation_app = AppLauncher(headless=True).app
+# When running kitless (e.g., ovphysx backend via run_ovphysx.sh), AppLauncher
+# will try to boot Kit and hang. Skip it entirely: run_ovphysx.sh sets
+# LD_PRELOAD to the ovphysx libcarb.so, which is the signature of a kitless
+# ovphysx run. Also guard the case where neither LD_PRELOAD nor EXP_PATH is
+# set (bare Python, no Kit at all).
+_kitless = "ovphysx" in os.environ.get("LD_PRELOAD", "") or (
+    os.environ.get("LD_PRELOAD", "") == "" and "EXP_PATH" not in os.environ
+)
 
-from unittest.mock import MagicMock
+if not _kitless:
+    from isaaclab.app import AppLauncher
+
+    simulation_app = AppLauncher(headless=True).app
+else:
+    simulation_app = None
+    # Stub out the Kit/Omniverse modules that are not present under
+    # run_ovphysx.sh (pxr, carb, omni, omni.kit[.app] are real on PYTHONPATH).
+    # ``omni`` is a real namespace package, so missing submodules also need
+    # to be installed as attributes on it -- ``sys.modules`` alone is not
+    # enough because attribute access on the real ``omni`` won't fall
+    # through to ``sys.modules``.
+    import omni as _omni
+
+    for _mod in ("physics", "physics.tensors", "physx", "timeline", "usd"):
+        _stub = MagicMock()
+        sys.modules[f"omni.{_mod}"] = _stub
+        # Bind the leaf attribute so that ``omni.<leaf>`` resolves.
+        setattr(_omni, _mod.split(".", 1)[0], _stub)
+    for _mod in ("isaacsim.core", "isaacsim.core.simulation_manager"):
+        sys.modules.setdefault(_mod, MagicMock())
 
 import numpy as np
 import pytest
@@ -66,6 +92,15 @@
 except ImportError:
     pass
 
+try:
+    from isaaclab_ovphysx.assets.rigid_object.rigid_object import RigidObject as OvPhysxRigidObject
+    from isaaclab_ovphysx.assets.rigid_object.rigid_object_data import RigidObjectData as OvPhysxRigidObjectData
+    from isaaclab_ovphysx.test.mock_interfaces.views import MockOvPhysxBindingSet
+
+    BACKENDS.append("ovphysx")
+except (ImportError, AttributeError):
+    pass
+
 
 def create_physx_rigid_object(
     num_instances: int = 2,
@@ -206,6 +241,62 @@ def create_newton_rigid_object(
     return rigid_object, mock_view
 
 
+def create_ovphysx_rigid_object(
+    num_instances: int = 2,
+    device: str = "cuda:0",
+):
+    """Create a test OvPhysX RigidObject instance with mocked tensor bindings."""
+    body_names = ["base_link"]
+
+    obj = object.__new__(OvPhysxRigidObject)
+
+    obj.cfg = RigidObjectCfg(prim_path="/World/object")
+
+    # Create mock binding set
+    mock_bindings = MockOvPhysxBindingSet(
+        num_instances=num_instances,
+        num_joints=0,
+        num_bodies=1,
+        body_names=body_names,
+        asset_kind="rigid_object",
+    )
+    mock_bindings.set_random_data()
+
+    object.__setattr__(obj, "_device", device)
+    object.__setattr__(obj, "_ovphysx", MagicMock())
+    object.__setattr__(obj, "_bindings", mock_bindings.bindings)
+    object.__setattr__(obj, "_num_instances", num_instances)
+    object.__setattr__(obj, "_num_bodies", 1)
+    object.__setattr__(obj, "_body_names", body_names)
+
+    # Create RigidObjectData
+    data = OvPhysxRigidObjectData(mock_bindings.bindings, device)
+    data.num_instances = num_instances
+    data.num_bodies = 1
+    data._is_primed = True
+    object.__setattr__(obj, "_data", data)
+
+    # Build the buffers RigidObject normally allocates in _initialize_impl
+    # (_ALL_INDICES, _ALL_*_MASK, pinned CPU staging buffers, wrench buf).
+    # _create_buffers also instantiates real WrenchComposers; those get
+    # replaced with mocks just below.
+    obj._create_buffers()
+
+    # Replace the real wrench composers with mocks for iface coverage.
+    mock_inst_wrench = MockWrenchComposer(obj)
+    mock_perm_wrench = MockWrenchComposer(obj)
+    object.__setattr__(obj, "_instantaneous_wrench_composer", mock_inst_wrench)
+    object.__setattr__(obj, "_permanent_wrench_composer", mock_perm_wrench)
+
+    # Prevent __del__ / _clear_callbacks from raising
+    object.__setattr__(obj, "_initialize_handle", None)
+    object.__setattr__(obj, "_invalidate_initialize_handle", None)
+    object.__setattr__(obj, "_prim_deletion_handle", None)
+    object.__setattr__(obj, "_debug_vis_handle", None)
+
+    return obj, mock_bindings
+
+
 def create_mock_rigid_object(
     num_instances: int = 2,
     device: str = "cuda:0",
@@ -226,6 +317,8 @@ def get_rigid_object(
 ):
     if backend == "physx":
         return create_physx_rigid_object(num_instances, device)
+    elif backend == "ovphysx":
+        return create_ovphysx_rigid_object(num_instances, device)
     elif backend == "newton":
         return create_newton_rigid_object(num_instances, device)
     elif backend.lower() == "mock":

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

@@ -0,0 +1,50 @@
+Added
+^^^^^
+
+* Added :class:`~isaaclab_ovphysx.assets.RigidObject` and
+  :class:`~isaaclab_ovphysx.assets.RigidObjectData` for single-actor rigid-body
+  simulation against the OVPhysX backend, satisfying the
+  :class:`~isaaclab.assets.BaseRigidObject` and
+  :class:`~isaaclab.assets.BaseRigidObjectData` contracts. Public surface
+  matches the PhysX/Newton conventions: ``write_root_*_to_sim_index`` /
+  ``write_root_*_to_sim_mask`` writers (link- and com-frame variants),
+  ``set_masses_*``, ``set_coms_*``, ``set_inertias_*`` setters, and the
+  external-wrench composers exposed via
+  :meth:`~isaaclab_ovphysx.assets.RigidObject.set_external_force_and_torque`.
+* Added the ``RIGID_BODY_*`` :class:`TensorType` aliases in
+  :mod:`isaaclab_ovphysx.tensor_types` (``POSE``, ``VELOCITY``, ``WRENCH``,
+  ``MASS``, ``COM_POSE``, ``INERTIA``; plus ``ACCELERATION``, ``INV_MASS``,
+  ``INV_INERTIA`` declared for forward compatibility once the wheel ships
+  them).
+* Added :class:`~isaaclab_ovphysx.assets.kernels` as a shared Warp-kernel
+  module (frame conversions, state concatenation, finite-difference
+  acceleration, index- and mask-style scatter writers) consumed by both the
+  rigid-object and articulation assets.
+* Added USD prim-scan validation in
+  :meth:`~isaaclab_ovphysx.assets.RigidObject._initialize_impl`: a clear
+  ``RuntimeError`` is raised when ``cfg.prim_path`` resolves to no
+  ``UsdPhysics.RigidBodyAPI`` prim, multiple rigid-body prims, or a prim with
+  an enabled ``UsdPhysics.ArticulationRootAPI``.
+
+Changed
+^^^^^^^
+
+* Changed :meth:`~isaaclab_ovphysx.physics.OvPhysxManager._release_physx` to
+  perform a soft reset (``physx.reset()``) and keep the cached
+  :class:`ovphysx.PhysX` reference alive across
+  :class:`~isaaclab.sim.SimulationContext` lifetimes, instead of dropping the
+  reference and triggering the wheel's dual-Carbonite static-destructor race.
+  :meth:`~isaaclab_ovphysx.physics.OvPhysxManager._warmup_and_load` now reuses
+  the cached instance on subsequent calls.
+* Changed :meth:`~isaaclab_ovphysx.physics.OvPhysxManager._warmup_and_load` to
+  raise a clear ``RuntimeError`` when a later
+  :class:`~isaaclab.sim.SimulationContext` requests a different device than
+  the one the process is locked to, surfacing the wheel's process-global
+  device-mode lock as a Python error before
+  :exc:`ovphysx.types.PhysXDeviceError` would fire.
+* Changed :meth:`~isaaclab_ovphysx.physics.OvPhysxManager._configure_physx_scene_prim`
+  to apply the ``UsdPhysics.PhysxSceneAPI`` schema and
+  ``enableSceneQuerySupport`` on both CPU and GPU; GPU-only attributes
+  (``enableGPUDynamics``, ``broadphaseType``, the ``gpu*`` capacity attributes
+  from :class:`~isaaclab_ovphysx.physics.OvPhysxCfg`) remain gated on
+  ``device == "gpu"``.

source/isaaclab_ovphysx/isaaclab_ovphysx/assets/__init__.pyi

@@ -6,6 +6,9 @@
 __all__ = [
     "Articulation",
     "ArticulationData",
+    "RigidObject",
+    "RigidObjectData",
 ]
 
 from .articulation import Articulation, ArticulationData
+from .rigid_object import RigidObject, RigidObjectData

source/isaaclab_ovphysx/isaaclab_ovphysx/assets/articulation/articulation.py

@@ -22,10 +22,11 @@
 from isaaclab.utils.wrench_composer import WrenchComposer
 
 from isaaclab_ovphysx import tensor_types as TT
+from isaaclab_ovphysx.assets.kernels import _body_wrench_to_world, _scatter_rows_partial
 from isaaclab_ovphysx.physics import OvPhysxManager
 
 from .articulation_data import ArticulationData
-from .kernels import _body_wrench_to_world, _scatter_rows_partial, update_soft_joint_pos_limits
+from .kernels import update_soft_joint_pos_limits
 
 if TYPE_CHECKING:
     from isaaclab.actuators import ActuatorBase

source/isaaclab_ovphysx/isaaclab_ovphysx/assets/articulation/articulation_data.py

@@ -18,18 +18,17 @@
 from isaaclab.utils.warp import ProxyArray
 
 from isaaclab_ovphysx import tensor_types as TT
-
-from .kernels import (
-    _compose_body_com_poses,
+from isaaclab_ovphysx.assets.kernels import (
     _compose_root_com_pose,
     _compute_heading,
     _copy_first_body,
-    _fd_joint_acc,
     _projected_gravity,
     _world_vel_to_body_ang,
     _world_vel_to_body_lin,
 )
 
+from .kernels import _compose_body_com_poses, _fd_joint_acc
+
 
 class ArticulationData(BaseArticulationData):
     """Data container for an articulation backed by ovphysx tensor bindings.