Fix OVPhysX device routing for CPU-resident tensor types

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

@@ -0,0 +1,17 @@
+Fixed
+^^^^^
+
+* Fixed :class:`~isaaclab_ov.sim.views.OvPhysxView` routing eight CPU-resident
+  tensor types to the simulation device. The per-collision-shape contact and rest
+  offsets, the articulation and rigid-body gravity-disable flags, and the DOF drive
+  type and drive model are CPU-resident even on a GPU simulation, but were absent
+  from the internal CPU-only classification. Reads and writes of these types
+  incurred a hidden per-call host-to-device staging copy, and a correctly placed
+  host buffer was rejected with ``OvPhysxView.DeviceMismatch``. Residency was
+  measured on a GPU simulation by counting CUDA memcpys around a binding read.
+* **Breaking:** Fixed ``articulation_dof_drive_type`` not being classified as
+  read-only. The underlying tensor type is read-only, but
+  :meth:`~isaaclab_ov.sim.views.OvPhysxView.set_attribute` previously accepted
+  writes to it and silently forwarded them. Such calls now raise
+  ``OvPhysxView.ReadOnlyAttribute``. Remove any write to this attribute; drive
+  type is authored through the USD drive schema, not the tensor path.

source/isaaclab_ov/isaaclab_ov/sim/views/ovphysx_view.py

@@ -79,6 +79,7 @@
         "articulation_body_inv_mass",
         "articulation_body_inv_inertia",
         "articulation_dof_projected_joint_force",
+        "articulation_dof_drive_type",
         "articulation_jacobian",
         "articulation_mass_center_world",
         "articulation_mass_center_local",

source/isaaclab_ov/isaaclab_ov/tensor_types.py

@@ -442,6 +442,17 @@
     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,
     DEFORMABLE_MATERIAL_DYNAMIC_FRICTION,
     DEFORMABLE_MATERIAL_YOUNGS_MODULUS,
     DEFORMABLE_MATERIAL_POISSONS_RATIO,

source/isaaclab_ov/test/sim/test_ovphysx_view.py

@@ -54,6 +54,7 @@
         "articulation_body_inv_mass",
         "articulation_body_inv_inertia",
         "articulation_dof_projected_joint_force",
+        "articulation_dof_drive_type",
         "articulation_link_incoming_joint_force",
         "articulation_mass_center_world",
         "articulation_mass_center_local",
@@ -70,6 +71,48 @@
     }
 )
 
+# CPU-resident on a GPU sim. Each name was measured, not assumed: with DirectGPU
+# (``suppressReadback=True``) the residency of every tensor type was determined by counting
+# CUDA memcpys around a binding read into a host buffer and into a device buffer.
+_EXPECTED_CPU_ONLY_NAMES = frozenset(
+    {
+        "articulation_body_com_pose",
+        "articulation_body_disable_gravity",
+        "articulation_body_inertia",
+        "articulation_body_inv_inertia",
+        "articulation_body_inv_mass",
+        "articulation_body_mass",
+        "articulation_contact_offset",
+        "articulation_dof_armature",
+        "articulation_dof_damping",
+        "articulation_dof_drive_model",
+        "articulation_dof_drive_type",
+        "articulation_dof_friction_properties",
+        "articulation_dof_limit",
+        "articulation_dof_max_force",
+        "articulation_dof_max_velocity",
+        "articulation_dof_stiffness",
+        "articulation_rest_offset",
+        "articulation_shape_friction_and_restitution",
+        "deformable_material_bending_damping",
+        "deformable_material_bending_stiffness",
+        "deformable_material_dynamic_friction",
+        "deformable_material_elasticity_damping",
+        "deformable_material_poissons_ratio",
+        "deformable_material_thickness",
+        "deformable_material_youngs_modulus",
+        "rigid_body_com_pose",
+        "rigid_body_contact_offset",
+        "rigid_body_disable_gravity",
+        "rigid_body_inertia",
+        "rigid_body_inv_inertia",
+        "rigid_body_inv_mass",
+        "rigid_body_mass",
+        "rigid_body_rest_offset",
+        "rigid_body_shape_friction_and_restitution",
+    }
+)
+
 # Per-type shapes used by the fakes (only the types touched by the tests).
 _SHAPES = {
     TensorType.RIGID_BODY_POSE: lambda n: (n, 7),
@@ -201,18 +244,25 @@ def test_read_only_names_are_valid_vocabulary():
 def test_read_only_and_cpu_only_classification():
     assert is_read_only("articulation_jacobian")
     assert is_read_only("rigid_body_acceleration")
+    assert is_read_only("articulation_dof_drive_type")
     assert not is_read_only("articulation_dof_stiffness")
     assert is_cpu_only("articulation_dof_stiffness")
     assert is_cpu_only("rigid_body_mass")
+    assert is_cpu_only("rigid_body_disable_gravity")
+    assert is_cpu_only("articulation_dof_drive_type")
     assert not is_cpu_only("rigid_body_pose")
 
 
 def test_cpu_only_names_match_canonical_set():
-    # The view derives its CPU-only set from tensor_types so the two cannot drift.
+    # Comparing the view's derived set against the canonical one cannot fail, since the
+    # former is built from the latter. The expected inventory is what gives this test
+    # teeth: it is measured residency, so it also rejects a set that is merely incomplete.
     from isaaclab_ov.sim.views import ovphysx_view as mod
     from isaaclab_ov.tensor_types import _CPU_ONLY_TYPES
 
-    assert frozenset(tt.name.lower() for tt in _CPU_ONLY_TYPES) == mod._CPU_ONLY_NAMES
+    assert frozenset(tt.name.lower() for tt in _CPU_ONLY_TYPES) == _EXPECTED_CPU_ONLY_NAMES
+    assert mod._CPU_ONLY_NAMES == _EXPECTED_CPU_ONLY_NAMES
+    assert set(attribute_vocabulary()) >= mod._CPU_ONLY_NAMES
 
 
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