Remove obsolete OVPhysX bootstrap hacks

source/isaaclab/changelog.d/remove-ovphysx-bootstrap-hacks.skip

@@ -0,0 +1 @@
+Test-only kitless interface cleanup for ovphysx bootstrap changes.

source/isaaclab/test/assets/test_articulation_iface.py

@@ -19,23 +19,17 @@
 import sys
 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: 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
-)
+# When running kitless, AppLauncher will try to boot Kit and hang. Skip it
+# entirely when no Kit experience path is available.
+_kitless = "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).
+    # Stub out the Omniverse modules that are not present under kitless test runs.
     # ``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
@@ -65,10 +59,6 @@
 _mock_physics_sim_view = MagicMock()
 _mock_physics_sim_view.get_gravity.return_value = (0.0, 0.0, -9.81)
 
-from isaaclab_physx.physics import PhysxManager as SimulationManager
-
-SimulationManager.get_physics_sim_view = MagicMock(return_value=_mock_physics_sim_view)
-
 """
 Check which backends are available.
 """
@@ -78,8 +68,10 @@
 try:
     from isaaclab_physx.assets.articulation.articulation import Articulation as PhysXArticulation
     from isaaclab_physx.assets.articulation.articulation_data import ArticulationData as PhysXArticulationData
+    from isaaclab_physx.physics import PhysxManager as PhysXSimulationManager
     from isaaclab_physx.test.mock_interfaces.views import MockArticulationViewWarp as PhysXMockArticulationViewWarp
 
+    PhysXSimulationManager.get_physics_sim_view = MagicMock(return_value=_mock_physics_sim_view)
     BACKENDS.append("physx")
 except ImportError:
     pass
@@ -152,7 +144,7 @@ def create_physx_articulation(
     # We can't call the initialize method here, because we don't have a good mock for the actuators yet.
     # We need to set the _data attribute manually.
 
-    # Create ArticulationData instance (SimulationManager already mocked at module level)
+    # Create ArticulationData instance (PhysX manager patched when the backend import succeeds).
     data = PhysXArticulationData(mock_view, device)
     object.__setattr__(articulation, "_data", data)
 

source/isaaclab/test/assets/test_rigid_object_collection_iface.py

@@ -20,23 +20,17 @@
 import sys
 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: 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
-)
+# When running kitless, AppLauncher will try to boot Kit and hang. Skip it
+# entirely when no Kit experience path is available.
+_kitless = "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).
+    # Stub out the Omniverse modules that are not present under kitless test runs.
     # ``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
@@ -64,10 +58,6 @@
 _mock_physics_sim_view = MagicMock()
 _mock_physics_sim_view.get_gravity.return_value = (0.0, 0.0, -9.81)
 
-from isaaclab_physx.physics import PhysxManager as SimulationManager
-
-SimulationManager.get_physics_sim_view = MagicMock(return_value=_mock_physics_sim_view)
-
 """
 Check which backends are available.
 """
@@ -81,8 +71,10 @@
     from isaaclab_physx.assets.rigid_object_collection.rigid_object_collection_data import (
         RigidObjectCollectionData as PhysXRigidObjectCollectionData,
     )
+    from isaaclab_physx.physics import PhysxManager as PhysXSimulationManager
     from isaaclab_physx.test.mock_interfaces.views import MockRigidBodyViewWarp as PhysXMockRigidBodyViewWarp
 
+    PhysXSimulationManager.get_physics_sim_view = MagicMock(return_value=_mock_physics_sim_view)
     BACKENDS.append("physx")
 except ImportError:
     pass

source/isaaclab/test/assets/test_rigid_object_iface.py

@@ -19,23 +19,17 @@
 import sys
 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: 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
-)
+# When running kitless, AppLauncher will try to boot Kit and hang. Skip it
+# entirely when no Kit experience path is available.
+_kitless = "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).
+    # Stub out the Omniverse modules that are not present under kitless test runs.
     # ``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
@@ -64,10 +58,6 @@
 _mock_physics_sim_view = MagicMock()
 _mock_physics_sim_view.get_gravity.return_value = (0.0, 0.0, -9.81)
 
-from isaaclab_physx.physics import PhysxManager as SimulationManager
-
-SimulationManager.get_physics_sim_view = MagicMock(return_value=_mock_physics_sim_view)
-
 """
 Check which backends are available.
 """
@@ -77,8 +67,10 @@
 try:
     from isaaclab_physx.assets.rigid_object.rigid_object import RigidObject as PhysXRigidObject
     from isaaclab_physx.assets.rigid_object.rigid_object_data import RigidObjectData as PhysXRigidObjectData
+    from isaaclab_physx.physics import PhysxManager as PhysXSimulationManager
     from isaaclab_physx.test.mock_interfaces.views import MockRigidBodyViewWarp as PhysXMockRigidBodyViewWarp
 
+    PhysXSimulationManager.get_physics_sim_view = MagicMock(return_value=_mock_physics_sim_view)
     BACKENDS.append("physx")
 except ImportError:
     pass
@@ -124,7 +116,7 @@ def create_physx_rigid_object(
     object.__setattr__(rigid_object, "_root_view", mock_view)
     object.__setattr__(rigid_object, "_device", device)
 
-    # Create RigidObjectData instance (SimulationManager already mocked at module level)
+    # Create RigidObjectData instance (PhysX manager patched when the backend import succeeds).
     data = PhysXRigidObjectData(mock_view, device)
     object.__setattr__(rigid_object, "_data", data)
 

source/isaaclab_ovphysx/changelog.d/remove-ovphysx-bootstrap-hacks.minor.rst

@@ -0,0 +1,13 @@
+Changed
+^^^^^^^
+
+* Changed :mod:`isaaclab_ovphysx` to require the ovphysx 0.5 runtime line and
+  use its namespaced USD and static-Carbonite lifecycle directly. Users should
+  install ``ovphysx>=0.5,<0.6`` instead of ``ovphysx==0.4.13``.
+
+Removed
+^^^^^^^
+
+* Removed the OVPhysX manager's temporary host ``pxr`` hiding, forced
+  process-exit shutdown hook, and wrapper-specific kitless test assumptions.
+  Run OVPhysX tests through ``./isaaclab.sh -p -m pytest``.