ovphysx backend integration

scripts/run_ovphysx.sh

@@ -0,0 +1,71 @@
+#!/bin/bash
+# Run ovphysx in Kit's Python with its bundled libcarb.so preloaded.
+# Use when ovphysx is installed into Kit's Python.
+#
+# Usage: ./scripts/run_ovphysx.sh [your_script.py or -m pytest ...]
+set -e
+
+ISAACLAB_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+ISAAC_DIR="${ISAACLAB_PATH}/_isaac_sim"
+
+# Match python.sh so Kit extensions/resources resolve during training too.
+export CARB_APP_PATH="${CARB_APP_PATH:-${ISAAC_DIR}/kit}"
+export ISAAC_PATH="${ISAAC_PATH:-${ISAAC_DIR}}"
+export EXP_PATH="${EXP_PATH:-${ISAAC_DIR}/apps}"
+
+# Source the Python environment setup (sets PYTHONPATH, LD_LIBRARY_PATH)
+# but do NOT use python.sh which sets LD_PRELOAD
+source "${ISAAC_DIR}/setup_python_env.sh"
+
+# Preload ovphysx's own libcarb.so so its Carbonite framework wins the
+# SONAME race against any other libcarb.so present in the process.
+_ovphysx_libcarb=""
+for _sp in "${ISAAC_DIR}"/kit/python/lib/python3.*/site-packages/ovphysx/plugins/libcarb.so; do
+    if [ -f "${_sp}" ]; then
+        _ovphysx_libcarb="${_sp}"
+        break
+    fi
+done
+if [ -n "${_ovphysx_libcarb}" ]; then
+    export LD_PRELOAD="${_ovphysx_libcarb}"
+else
+    export LD_PRELOAD=""
+fi
+unset _ovphysx_libcarb
+
+# Ensure pxr (OpenUSD Python bindings) is on PYTHONPATH.
+# setup_python_env.sh may not include the packman USD path after rebuilds.
+# Search order: IsaacSim's bundled site-packages first, then the Python
+# environment's own site-packages (covers pip-installed OpenUSD).
+_pxr_found=false
+for usd_dir in "${ISAAC_DIR}"/kit/python/lib/python3.*/site-packages/usd_core.libs/../.. \
+               "${ISAAC_DIR}"/kit/python/lib/python3.*/site-packages; do
+    if [ -d "${usd_dir}/pxr" ]; then
+        export PYTHONPATH="${usd_dir}:${PYTHONPATH}"
+        _pxr_found=true
+        break
+    fi
+done
+if [ "${_pxr_found}" = false ]; then
+    # Last resort: ask Python itself where pxr lives
+    _pxr_path=$("${ISAAC_DIR}/kit/python/bin/python3" -c "import pxr, os; print(os.path.dirname(os.path.dirname(pxr.__file__)))" 2>/dev/null)
+    if [ -n "${_pxr_path}" ] && [ -d "${_pxr_path}/pxr" ]; then
+        export PYTHONPATH="${_pxr_path}:${PYTHONPATH}"
+    fi
+fi
+unset _pxr_found _pxr_path
+
+# Add all isaaclab source packages to PYTHONPATH so editable installs work
+for pkg in isaaclab isaaclab_ovphysx isaaclab_tasks isaaclab_rl isaaclab_physx isaaclab_newton isaaclab_assets isaaclab_contrib; do
+    if [ -d "${ISAACLAB_PATH}/source/${pkg}" ]; then
+        export PYTHONPATH="${ISAACLAB_PATH}/source/${pkg}:${PYTHONPATH}"
+    fi
+done
+
+# Match python.sh default for Kit app resource discovery.
+export RESOURCE_NAME="${RESOURCE_NAME:-IsaacSim}"
+
+# Use the Python binary directly
+PYTHON_EXE="${ISAAC_DIR}/kit/python/bin/python3"
+
+exec "${PYTHON_EXE}" "$@"

source/isaaclab/isaaclab/assets/asset_base.py

@@ -359,10 +359,10 @@ def _invoke(callback_name, event):
             PhysicsEvent.STOP,
             order=10,
         )
-        # Optional: prim deletion (only supported by PhysX backend)
+        # Optional: prim deletion (only supported by Kit PhysX backend, not ovphysx)
         self._prim_deletion_handle = None
         physics_backend = physics_mgr_cls.__name__.lower()
-        if "physx" in physics_backend:
+        if physics_backend.startswith("physx"):
             from isaaclab_physx.physics import IsaacEvents
 
             self._prim_deletion_handle = physics_mgr_cls.register_callback(

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -142,11 +142,15 @@ def __init__(self, cfg: InteractiveSceneCfg):
         self.physics_backend = self.sim.physics_manager.__name__.lower()
         visualizer_clone_fn = None
         requested_viz_types = set(self.sim.resolve_visualizer_types())
-        if "physx" in self.physics_backend:
+        if self.physics_backend.startswith("ovphysx"):
+            from isaaclab_ovphysx.cloner import ovphysx_replicate
+
+            physics_clone_fn = ovphysx_replicate
+        elif self.physics_backend.startswith("physx"):
             from isaaclab_physx.cloner import physx_replicate
 
             physics_clone_fn = physx_replicate
-        elif "newton" in self.physics_backend:
+        elif self.physics_backend.startswith("newton"):
             from isaaclab_newton.cloner import newton_physics_replicate
 
             physics_clone_fn = newton_physics_replicate
@@ -163,6 +167,10 @@ def __init__(self, cfg: InteractiveSceneCfg):
             device=self.device,
             physics_clone_fn=physics_clone_fn,
             visualizer_clone_fn=None,
+            # For ovphysx: env_1..N are created by physx.clone() in the physics
+            # runtime after add_usd().  USD replication of the asset hierarchy
+            # to env_1..N is skipped — only env_0 needs physics prims in the USD.
+            clone_usd=not self.physics_backend.startswith("ovphysx"),
         )
 
         # create source prim
@@ -206,6 +214,7 @@ def __init__(self, cfg: InteractiveSceneCfg):
         if has_scene_cfg_entities:
             self.clone_environments(copy_from_source=(not self.cfg.replicate_physics))
             # Collision filtering is PhysX-specific (PhysxSchema.PhysxSceneAPI)
+            # Intentionally matches both physx and ovphysx (both are PhysX-based)
             if self.cfg.filter_collisions and "physx" in self.physics_backend:
                 self.filter_collisions(self._global_prim_paths)
 
@@ -218,6 +227,7 @@ def clone_environments(self, copy_from_source: bool = False):
             may increase). Defaults to False.
         """
         # PhysX-only: set env id bit count for replicated physics. Newton handles env separation in its own API.
+        # Intentionally matches both physx and ovphysx (both are PhysX-based)
         if self.cfg.replicate_physics and "physx" in self.physics_backend:
             prim = self.stage.GetPrimAtPath("/physicsScene")
             prim.CreateAttribute("physxScene:envIdInBoundsBitCount", Sdf.ValueTypeNames.Int).Set(4)
@@ -235,12 +245,12 @@ def clone_environments(self, copy_from_source: bool = False):
                 self._default_env_origins,
             )
 
-            if not copy_from_source:
-                # skip physx cloning, this means physx will walk and parse the stage one by one faithfully
+            if not copy_from_source and self.cloner_cfg.physics_clone_fn is not None:
                 self.cloner_cfg.physics_clone_fn(self.stage, *replicate_args, device=self.cloner_cfg.device)
             if self.cloner_cfg.visualizer_clone_fn is not None:
                 self.cloner_cfg.visualizer_clone_fn(self.stage, *replicate_args, device=self.cloner_cfg.device)
-            cloner.usd_replicate(self.stage, *replicate_args)
+            if self.cloner_cfg.clone_usd:
+                cloner.usd_replicate(self.stage, *replicate_args)
 
     def _sensor_renderer_types(self) -> list[str]:
         """Return renderer type names used by scene sensors."""

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -289,10 +289,13 @@ def _init_usd_physics_scene(self) -> None:
             UsdGeom.SetStageMetersPerUnit(self.stage, 1.0)
             UsdPhysics.SetStageKilogramsPerUnit(self.stage, 1.0)
 
-            # Find and delete any existing physics scene
-            for prim in self.stage.Traverse():
-                if prim.GetTypeName() == "PhysicsScene":
-                    sim_utils.delete_prim(prim.GetPath().pathString, stage=self.stage)
+            # Find and delete any existing physics scene.
+            # Collect paths first to avoid iterator invalidation during deletion.
+            physics_scene_paths = [
+                prim.GetPath().pathString for prim in self.stage.Traverse() if prim.GetTypeName() == "PhysicsScene"
+            ]
+            for path in physics_scene_paths:
+                sim_utils.delete_prim(path, stage=self.stage)
 
             # Create a new physics scene
             if self.stage.GetPrimAtPath(cfg.physics_prim_path).IsValid():

source/isaaclab/isaaclab/utils/backend_utils.py

@@ -44,9 +44,11 @@ def _get_backend(cls, *args, **kwargs) -> str:
         from isaaclab.sim.simulation_context import SimulationContext
 
         manager_name = SimulationContext.instance().physics_manager.__name__.lower()
-        if "newton" in manager_name:
+        if manager_name.startswith("newton"):
             return "newton"
-        if "physx" in manager_name:
+        if manager_name.startswith("ovphysx"):
+            return "ovphysx"
+        if manager_name.startswith("physx"):
             return "physx"
         else:
             raise ValueError(f"Unknown physics manager: {manager_name}")

source/isaaclab/test/assets/test_articulation_iface.py

@@ -13,16 +13,25 @@
 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
+import os
+import sys
+from unittest.mock import MagicMock
 
-HEADLESS = True
+# 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
 
-# launch omniverse app
-simulation_app = AppLauncher(headless=True).app
+if not _kitless:
+    from isaaclab.app import AppLauncher
 
-from unittest.mock import MagicMock
+    simulation_app = AppLauncher(headless=True).app
+else:
+    simulation_app = None
+    for _mod in ("isaacsim.core", "isaacsim.core.simulation_manager"):
+        sys.modules.setdefault(_mod, MagicMock())
 
 import numpy as np
 import pytest
@@ -32,9 +41,10 @@
 from isaaclab.assets.articulation.articulation_cfg import ArticulationCfg
 from isaaclab.test.mock_interfaces.utils import MockWrenchComposer
 
-# Mock SimulationManager.get_physics_sim_view() to return a mock object with gravity
-# This is needed because the Data classes call SimulationManager.get_physics_sim_view().get_gravity()
-# but there's no actual physics scene when running unit tests
+# Mock SimulationManager.get_physics_sim_view() to return a mock object with gravity.
+# This is needed because the PhysX Data classes call
+# SimulationManager.get_physics_sim_view().get_gravity() but there's no actual
+# physics scene when running unit tests.
 _mock_physics_sim_view = MagicMock()
 _mock_physics_sim_view.get_gravity.return_value = (0.0, 0.0, -9.81)
 
@@ -66,6 +76,15 @@
 except ImportError:
     pass
 
+try:
+    from isaaclab_ovphysx.assets.articulation.articulation import Articulation as OvPhysxArticulation
+    from isaaclab_ovphysx.assets.articulation.articulation_data import ArticulationData as OvPhysxArticulationData
+    from isaaclab_ovphysx.test.mock_interfaces.views import MockOvPhysxBindingSet
+
+    BACKENDS.append("ovphysx")
+except ImportError:
+    pass
+
 
 def create_physx_articulation(
     num_instances: int = 2,
@@ -169,6 +188,87 @@ def create_physx_articulation(
     return articulation, mock_view
 
 
+def create_ovphysx_articulation(
+    num_instances: int = 2,
+    num_joints: int = 6,
+    num_bodies: int = 7,
+    num_fixed_tendons: int = 0,
+    num_spatial_tendons: int = 0,
+    device: str = "cuda:0",
+):
+    """Create a test OvPhysX Articulation instance with mocked tensor bindings."""
+    joint_names = [f"joint_{i}" for i in range(num_joints)]
+    body_names = [f"body_{i}" for i in range(num_bodies)]
+
+    articulation = object.__new__(OvPhysxArticulation)
+
+    articulation.cfg = ArticulationCfg(
+        prim_path="/World/Robot",
+        soft_joint_pos_limit_factor=1.0,
+        actuators={},
+    )
+
+    # Create mock binding set
+    mock_bindings = MockOvPhysxBindingSet(
+        num_instances=num_instances,
+        num_joints=num_joints,
+        num_bodies=num_bodies,
+        is_fixed_base=False,
+        joint_names=joint_names,
+        body_names=body_names,
+        num_fixed_tendons=num_fixed_tendons,
+        num_spatial_tendons=num_spatial_tendons,
+    )
+    mock_bindings.set_random_data()
+
+    fixed_tendon_names = [f"fixed_tendon_{i}" for i in range(num_fixed_tendons)]
+    spatial_tendon_names = [f"spatial_tendon_{i}" for i in range(num_spatial_tendons)]
+
+    object.__setattr__(articulation, "_device", device)
+    object.__setattr__(articulation, "_ovphysx", MagicMock())
+    object.__setattr__(articulation, "_bindings", mock_bindings.bindings)
+    object.__setattr__(articulation, "_num_instances", num_instances)
+    object.__setattr__(articulation, "_num_joints", num_joints)
+    object.__setattr__(articulation, "_num_bodies", num_bodies)
+    object.__setattr__(articulation, "_is_fixed_base", False)
+    object.__setattr__(articulation, "_joint_names", joint_names)
+    object.__setattr__(articulation, "_body_names", body_names)
+    object.__setattr__(articulation, "_fixed_tendon_names", fixed_tendon_names)
+    object.__setattr__(articulation, "_spatial_tendon_names", spatial_tendon_names)
+    object.__setattr__(articulation, "_num_fixed_tendons", num_fixed_tendons)
+    object.__setattr__(articulation, "_num_spatial_tendons", num_spatial_tendons)
+
+    # Create ArticulationData
+    data = OvPhysxArticulationData(mock_bindings.bindings, device)
+    data._num_instances = num_instances
+    data._num_joints = num_joints
+    data._num_bodies = num_bodies
+    data._num_fixed_tendons = num_fixed_tendons
+    data._num_spatial_tendons = num_spatial_tendons
+    data._is_fixed_base = False
+    data.body_names = body_names
+    data.joint_names = joint_names
+    data.fixed_tendon_names = fixed_tendon_names
+    data.spatial_tendon_names = spatial_tendon_names
+    data._create_buffers()
+    object.__setattr__(articulation, "_data", data)
+
+    # Wrench composers
+    mock_inst_wrench = MockWrenchComposer(articulation)
+    mock_perm_wrench = MockWrenchComposer(articulation)
+    object.__setattr__(articulation, "_instantaneous_wrench_composer", mock_inst_wrench)
+    object.__setattr__(articulation, "_permanent_wrench_composer", mock_perm_wrench)
+
+    # Prevent __del__ / _clear_callbacks from raising
+    object.__setattr__(articulation, "_initialize_handle", None)
+    object.__setattr__(articulation, "_invalidate_initialize_handle", None)
+    object.__setattr__(articulation, "_prim_deletion_handle", None)
+    object.__setattr__(articulation, "_debug_vis_handle", None)
+    object.__setattr__(articulation, "actuators", {})
+
+    return articulation, mock_bindings
+
+
 def create_newton_articulation(
     num_instances: int = 2,
     num_joints: int = 6,
@@ -326,6 +426,10 @@ def get_articulation(
         return create_physx_articulation(
             num_instances, num_joints, num_bodies, num_fixed_tendons, num_spatial_tendons, device
         )
+    elif backend == "ovphysx":
+        return create_ovphysx_articulation(
+            num_instances, num_joints, num_bodies, num_fixed_tendons, num_spatial_tendons, device
+        )
     elif backend == "newton":
         return create_newton_articulation(num_instances, num_joints, num_bodies, device)
     elif backend.lower() == "mock":

source/isaaclab/test/scene/test_interactive_scene.py

@@ -159,6 +159,7 @@ def _usd_replicate(stage, *args, **kwargs):
         device="cpu",
         physics_clone_fn=_physics_clone_fn,
         visualizer_clone_fn=_visualizer_clone_fn,
+        clone_usd=True,
     )
     monkeypatch.setattr("isaaclab.scene.interactive_scene.cloner.usd_replicate", _usd_replicate)
 

source/isaaclab_ovphysx/config/extension.toml

@@ -0,0 +1,21 @@
+[package]
+
+# Note: Semantic Versioning is used: https://semver.org/
+version = "0.1.0"
+
+# Description
+title = "OvPhysX simulation interfaces for IsaacLab core package"
+description = "Extension providing IsaacLab with ovphysx/TensorBindingsAPI specific abstractions."
+readme = "docs/README.md"
+repository = "https://github.com/isaac-sim/IsaacLab"
+category = "robotics"
+keywords = ["robotics", "simulation", "ovphysx", "tensorbindingsapi"]
+
+[dependencies]
+"isaaclab" = {}
+
+[core]
+reloadable = false
+
+[[python.module]]
+name = "isaaclab_ovphysx"

source/isaaclab_ovphysx/docs/CHANGELOG.rst

@@ -0,0 +1,10 @@
+Changelog
+---------
+
+0.1.0 (2026-04-20)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Initial release of the ``isaaclab_ovphysx`` extension.