Preserve OVPhysX 0.5.11 cleanup semantics

Author: kellyguo11

source/isaaclab_ov/isaaclab_ov/physics/ovphysx_manager.py

@@ -638,7 +638,10 @@ def _release_physx(cls) -> None:
             cls._destroy_ovstage()
             return
 
-        destroyed = False
+        # Preserve the legacy 0.5.11 behavior: release both owners even when
+        # cleanup raises. Only OVPhysX 0.6 destroy failures can remain retryable.
+        destroy_entry_point = OVPHYSX_LIFECYCLE_ENTRY_POINTS["destroy"]
+        release_owners = destroy_entry_point == "release"
         try:
             try:
                 cls._close_physx_views(physx)
@@ -649,23 +652,24 @@ def _release_physx(cls) -> None:
                     try:
                         cls._destroy_physx(physx)
                     except Exception:
-                        # Current OVPhysX keeps ``handle`` valid when destroy raises
-                        # before native teardown. Preserve both owners so a later close
-                        # can retry. A RuntimeError from ``handle`` means destruction
-                        # reached its terminal state even though it reported a failure.
-                        try:
-                            physx.handle
-                        except RuntimeError:
-                            destroyed = True
-                        except Exception:
-                            # An unfamiliar handle probe must not replace the
-                            # original destroy error or release either owner.
-                            destroyed = False
+                        if destroy_entry_point == "destroy":
+                            # OVPhysX 0.6 keeps ``handle`` valid when destroy raises
+                            # before native teardown. Preserve both owners so a later
+                            # close can retry. A RuntimeError from ``handle`` means
+                            # destruction reached its terminal state.
+                            try:
+                                physx.handle
+                            except RuntimeError:
+                                release_owners = True
+                            except Exception:
+                                # An unfamiliar handle probe must not replace the
+                                # original destroy error or release either owner.
+                                release_owners = False
                         raise
                     else:
-                        destroyed = True
+                        release_owners = True
         finally:
-            if destroyed:
+            if release_owners:
                 cls._physx = None
                 cls._destroy_ovstage()
 

source/isaaclab_ov/test/physics/test_ovphysx_scene_data_backend.py

@@ -632,6 +632,47 @@ def test_manager_rejects_missing_destroy_api(monkeypatch):
         OvPhysxManager._destroy_physx(SimpleNamespace())
 
 
+def test_manager_releases_legacy_owners_after_release_error(monkeypatch):
+    """The 0.5.11 path preserves its unconditional owner cleanup on failure."""
+    from isaaclab_ov.physics import OvPhysxManager
+    from isaaclab_ov.physics import ovphysx_manager as om_mod
+
+    events = []
+    monkeypatch.setattr(om_mod, "OVPHYSX_LIFECYCLE_ENTRY_POINTS", {"warmup": "warmup_gpu", "destroy": "release"})
+
+    class FakePhysX:
+        def reset_stage(self):
+            events.append("reset")
+            return 23
+
+        def wait_op(self, operation):
+            events.append(("wait", operation))
+
+        def release(self):
+            events.append("release")
+            raise RuntimeError("legacy release failed")
+
+    class FakeStage:
+        def destroy(self):
+            events.append("destroy_stage")
+
+    previous_physx = OvPhysxManager._physx
+    previous_ovstage = OvPhysxManager._ovstage
+    OvPhysxManager._physx = FakePhysX()
+    OvPhysxManager._ovstage = FakeStage()
+    monkeypatch.setattr(OvPhysxManager, "_close_physx_views", staticmethod(lambda value: events.append("close_views")))
+    try:
+        with pytest.raises(RuntimeError, match="legacy release failed"):
+            OvPhysxManager._release_physx()
+
+        assert OvPhysxManager._physx is None
+        assert OvPhysxManager._ovstage is None
+        assert events == ["close_views", "reset", ("wait", 23), "release", "destroy_stage"]
+    finally:
+        OvPhysxManager._physx = previous_physx
+        OvPhysxManager._ovstage = previous_ovstage
+
+
 def test_manager_retries_current_destroy_before_releasing_owners(monkeypatch):
     """A pre-teardown destroy failure preserves the runtime and stage for retry."""
     from isaaclab_ov.physics import OvPhysxManager