Expose the CPU-resident tensor types as public aliases

The eight types added to the CPU-only classification were referenced through
the raw ``_TT`` enum, leaving the candidate tuple as a mix of module aliases
and raw enum members and giving a future reader no reason why these eight were
different.

This module is the alias layer over the ovphysx enum, so a type worth
classifying is worth naming. Each alias carries the shape, dtype and units
taken from the wheel's own type table, which the raw references did not.

Naming follows the established convention: the ``ARTICULATION_`` prefix is
dropped for articulation types, as with DOF_STIFFNESS and BODY_MASS, and
retained for rigid-body ones, as with RIGID_BODY_MASS.

Author: AntoineRichard

source/isaaclab_ov/changelog.d/ovphysx-cpu-only-tensor-types.minor.rst

@@ -1,3 +1,16 @@
+Added
+^^^^^
+
+* Added :attr:`~isaaclab_ov.tensor_types.DOF_DRIVE_TYPE`,
+  :attr:`~isaaclab_ov.tensor_types.DOF_DRIVE_MODEL`,
+  :attr:`~isaaclab_ov.tensor_types.BODY_DISABLE_GRAVITY`,
+  :attr:`~isaaclab_ov.tensor_types.CONTACT_OFFSET`,
+  :attr:`~isaaclab_ov.tensor_types.REST_OFFSET`,
+  :attr:`~isaaclab_ov.tensor_types.RIGID_BODY_DISABLE_GRAVITY`,
+  :attr:`~isaaclab_ov.tensor_types.RIGID_BODY_CONTACT_OFFSET`, and
+  :attr:`~isaaclab_ov.tensor_types.RIGID_BODY_REST_OFFSET` tensor type aliases,
+  documenting the shape, dtype and units of each.
+
 Fixed
 ^^^^^
 

source/isaaclab_ov/isaaclab_ov/tensor_types.py

@@ -149,6 +149,19 @@
 Shape is ``[N, D, 3]``, dtype ``float32``.
 """
 
+DOF_DRIVE_TYPE = _TT.ARTICULATION_DOF_DRIVE_TYPE
+"""DOF drive type (0 = none, 1 = force, 2 = acceleration).
+
+Shape is ``[N, D]``, dtype ``uint8``. Read-only.
+"""
+
+DOF_DRIVE_MODEL = _TT.ARTICULATION_DOF_DRIVE_MODEL
+"""DOF performance-envelope drive model (speed-effort gradient, maximum actuator
+velocity, velocity-dependent resistance).
+
+Shape is ``[N, D, 3]``, dtype ``float32``.
+"""
+
 """
 External wrench (GPU, write-only)
 """
@@ -193,6 +206,24 @@
 Shape is ``[N, L, 9]``, dtype ``float32``.
 """
 
+BODY_DISABLE_GRAVITY = _TT.ARTICULATION_BODY_DISABLE_GRAVITY
+"""Per-link gravity disable flag (nonzero disables gravity for that link).
+
+Shape is ``[N, L]``, dtype ``uint8``.
+"""
+
+CONTACT_OFFSET = _TT.ARTICULATION_CONTACT_OFFSET
+"""Contact offset of each collision shape.
+
+Shape is ``[N, S]``, dtype ``float32`` [m].
+"""
+
+REST_OFFSET = _TT.ARTICULATION_REST_OFFSET
+"""Rest offset of each collision shape.
+
+Shape is ``[N, S]``, dtype ``float32`` [m].
+"""
+
 """
 Rigid-body TensorTypes
 
@@ -225,6 +256,16 @@
 ``(N, 9)``, row-major flatten of the 3×3 inertia matrix
 ``(Ixx, Ixy, Ixz, Iyx, Iyy, Iyz, Izx, Izy, Izz)`` [kg·m²]."""
 
+RIGID_BODY_DISABLE_GRAVITY = _TT.RIGID_BODY_DISABLE_GRAVITY
+"""Gravity disable flag — read/write, CPU. Shape ``(N,)``, dtype ``uint8``;
+nonzero disables gravity for that actor."""
+
+RIGID_BODY_CONTACT_OFFSET = _TT.RIGID_BODY_CONTACT_OFFSET
+"""Contact offset of each collision shape — read/write, CPU. Shape ``(N, S)`` [m]."""
+
+RIGID_BODY_REST_OFFSET = _TT.RIGID_BODY_REST_OFFSET
+"""Rest offset of each collision shape — read/write, CPU. Shape ``(N, S)`` [m]."""
+
 # These three aliases are pending an upcoming ovphysx wheel update.
 # When the wheel ships them, the corresponding ``hasattr`` checks below
 # in IsaacLab consumers will start returning True and the bindings will
@@ -433,26 +474,23 @@
     DOF_MAX_FORCE,
     DOF_ARMATURE,
     DOF_FRICTION_PROPERTIES,
+    DOF_DRIVE_TYPE,
+    DOF_DRIVE_MODEL,
     BODY_MASS,
     BODY_COM_POSE,
     BODY_INERTIA,
     BODY_INV_MASS,
     BODY_INV_INERTIA,
+    BODY_DISABLE_GRAVITY,
+    CONTACT_OFFSET,
+    REST_OFFSET,
     # Rigid-body CPU-only entries (always available)
     RIGID_BODY_MASS,
     RIGID_BODY_COM_POSE,
     RIGID_BODY_INERTIA,
-    # Collision-shape offsets, gravity-disable flags and DOF drive metadata. Measured
-    # CPU-resident on a GPU sim; referenced through ``_TT`` since this module exposes
-    # no public alias for them.
-    _TT.ARTICULATION_DOF_DRIVE_TYPE,
-    _TT.ARTICULATION_DOF_DRIVE_MODEL,
-    _TT.ARTICULATION_BODY_DISABLE_GRAVITY,
-    _TT.ARTICULATION_CONTACT_OFFSET,
-    _TT.ARTICULATION_REST_OFFSET,
-    _TT.RIGID_BODY_DISABLE_GRAVITY,
-    _TT.RIGID_BODY_CONTACT_OFFSET,
-    _TT.RIGID_BODY_REST_OFFSET,
+    RIGID_BODY_DISABLE_GRAVITY,
+    RIGID_BODY_CONTACT_OFFSET,
+    RIGID_BODY_REST_OFFSET,
     DEFORMABLE_MATERIAL_DYNAMIC_FRICTION,
     DEFORMABLE_MATERIAL_YOUNGS_MODULUS,
     DEFORMABLE_MATERIAL_POISSONS_RATIO,