[OVPHYSX] RigidObjectCollection 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())
 
@@ -271,20 +288,27 @@ def create_ovphysx_articulation(
     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 = OvPhysxArticulationData(
+        mock_bindings.bindings,
+        device,
+        num_instances=num_instances,
+        num_bodies=num_bodies,
+        num_joints=num_joints,
+        num_fixed_tendons=num_fixed_tendons,
+        num_spatial_tendons=num_spatial_tendons,
+        body_names=body_names,
+        joint_names=joint_names,
+        fixed_tendon_names=fixed_tendon_names,
+        spatial_tendon_names=spatial_tendon_names,
+    )
     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)
 
+    # Allocate the articulation-side index/mask caches and wrench buffer that
+    # _initialize_impl would normally populate.  Wrench composers created here
+    # are immediately overwritten by the mocks below.
+    articulation._create_buffers()
+
     # Wrench composers
     mock_inst_wrench = MockWrenchComposer(articulation)
     mock_perm_wrench = MockWrenchComposer(articulation)

source/isaaclab/test/assets/test_rigid_object_collection_iface.py

@@ -14,16 +14,42 @@
 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
@@ -75,6 +101,23 @@
 except ImportError:
     pass
 
+try:
+    from isaaclab_ovphysx.assets.rigid_object_collection.rigid_object_collection import (
+        RigidObjectCollection as OvPhysxRigidObjectCollection,
+    )
+    from isaaclab_ovphysx.assets.rigid_object_collection.rigid_object_collection_data import (
+        RigidObjectCollectionData as OvPhysxRigidObjectCollectionData,
+    )
+    from isaaclab_ovphysx.test.mock_interfaces.views import MockOvPhysxBindingSet
+
+    # Guard against stub implementations (not yet functional).
+    if not hasattr(OvPhysxRigidObjectCollection, "_create_buffers"):
+        raise AttributeError("OvPhysxRigidObjectCollection is a stub; skipping ovphysx backend")
+
+    BACKENDS.append("ovphysx")
+except (ImportError, AttributeError):
+    pass
+
 
 def create_physx_rigid_object_collection(
     num_instances: int = 2,
@@ -209,6 +252,61 @@ def create_newton_rigid_object_collection(
     return collection, mock_view
 
 
+def create_ovphysx_rigid_object_collection(
+    num_instances: int = 2,
+    num_bodies: int = 3,
+    device: str = "cuda:0",
+):
+    """Create a test OVPhysX RigidObjectCollection instance with mocked tensor bindings."""
+    body_names = [f"object_{i}" for i in range(num_bodies)]
+
+    collection = object.__new__(OvPhysxRigidObjectCollection)
+
+    rigid_objects = {f"object_{i}": RigidObjectCfg(prim_path=f"/World/Object_{i}") for i in range(num_bodies)}
+    collection.cfg = RigidObjectCollectionCfg(rigid_objects=rigid_objects)
+
+    # Use articulation-mode bindings with num_joints=0 to get (N, B, ...) shaped tensors.
+    mock_bindings = MockOvPhysxBindingSet(
+        num_instances=num_instances,
+        num_joints=0,
+        num_bodies=num_bodies,
+        body_names=body_names,
+        asset_kind="articulation",
+    )
+    mock_bindings.set_random_data()
+
+    object.__setattr__(collection, "_device", device)
+    object.__setattr__(collection, "_ovphysx", MagicMock())
+    object.__setattr__(collection, "_bindings", mock_bindings.bindings)
+    object.__setattr__(collection, "_num_instances", num_instances)
+    object.__setattr__(collection, "_num_bodies", num_bodies)
+    object.__setattr__(collection, "_body_names_list", body_names)
+
+    # Create RigidObjectCollectionData
+    data = OvPhysxRigidObjectCollectionData(mock_bindings.bindings, num_bodies, device)
+    data.num_instances = num_instances
+    data.num_bodies = num_bodies
+    data._is_primed = True
+    object.__setattr__(collection, "_data", data)
+
+    # Allocate the buffers that RigidObjectCollection normally allocates in _initialize_impl.
+    collection._create_buffers()
+
+    # Replace the real wrench composers with mocks for iface coverage.
+    mock_inst_wrench = MockWrenchComposer(collection)
+    mock_perm_wrench = MockWrenchComposer(collection)
+    object.__setattr__(collection, "_instantaneous_wrench_composer", mock_inst_wrench)
+    object.__setattr__(collection, "_permanent_wrench_composer", mock_perm_wrench)
+
+    # Prevent __del__ / _clear_callbacks from raising
+    object.__setattr__(collection, "_initialize_handle", None)
+    object.__setattr__(collection, "_invalidate_initialize_handle", None)
+    object.__setattr__(collection, "_prim_deletion_handle", None)
+    object.__setattr__(collection, "_debug_vis_handle", None)
+
+    return collection, mock_bindings
+
+
 def create_mock_rigid_object_collection(
     num_instances: int = 2,
     num_bodies: int = 3,
@@ -232,6 +330,8 @@ def get_rigid_object_collection(
 ):
     if backend == "physx":
         return create_physx_rigid_object_collection(num_instances, num_bodies, device)
+    elif backend == "ovphysx":
+        return create_ovphysx_rigid_object_collection(num_instances, num_bodies, device)
     elif backend == "newton":
         return create_newton_rigid_object_collection(num_instances, num_bodies, device)
     elif backend.lower() == "mock":

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":