[OVPHYSX] Articulation rewrite (data class + asset class + kernels)#5459

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AntoineRichard wants to merge 58 commits intoisaac-sim:developfrom

AntoineRichard:antoiner/feat/ovphysx_articulation

Commits on Apr 28, 2026

Commits on Apr 29, 2026

Address W1 audit fixes: is_primed, naming, body_names, set_coms reshape
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Revert RigidObject.reset auto-write to match PhysX/Newton
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Port test_external_force_at_position to PhysX/Newton pattern
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Derive root_link_vel_w from root_com_vel_w via lever-arm kernel
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Implement deprecated state-concat properties on RigidObjectData
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Address remaining audit investigates: docstring, demotions, removal
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Reorganize RigidObjectData to match PhysX/Newton structure
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Polish RigidObject docstrings + rename _write_root_state
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Add docstrings to every kernel in isaaclab_ovphysx.assets.kernels
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Polish test_rigid_object.py: drop gates, GPU coverage, docstring cleanup
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Unify _configure_physx_scene_prim across CPU and GPU
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Align test_rigid_object.py 1-to-1 with isaaclab_physx
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Use session-scoped sim fixture for rigid-object tests
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Mirror PhysX/Newton patterns in OVPhysX RigidObject
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Update RigidObject tests for new contract; document two-pass CI
AntoineRichard
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Commits on May 5, 2026