Install ovphysx wheel by default in --install

.github/workflows/build.yaml

@@ -543,6 +543,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_ov"
+        extra-pip-packages: "ovrtx ovphysx"
         container-name: isaac-lab-ov-test
 
     # Folded from the former standalone verify-base-non-root job: reuses the

pyproject.toml

@@ -196,6 +196,7 @@ ignore-words-list = "haa,slq,collapsable,buss,reacher,thirdparty"
 
 markers = [
     "isaacsim_ci: mark test to run in isaacsim ci",
+    "device_split: re-invoke this file once per device (CPU and GPU) in CI due to process-global device locks (e.g., ovphysx<=0.3.7 gap G5)",
 ]
 
 # Add pypi.nvidia.com so that `uv pip install isaaclab[isaacsim]` works without --extra-index-url.

source/isaaclab_ovphysx/changelog.d/antoiner-ovphysx-device-split-ci.rst

@@ -0,0 +1,12 @@
+Fixed
+^^^^^
+
+* Re-enabled both CPU and GPU coverage in CI for OVPhysX tests by tagging
+  :file:`test/assets/test_articulation.py`,
+  :file:`test/assets/test_rigid_object.py`,
+  :file:`test/assets/test_rigid_object_collection.py`,
+  :file:`test/sensors/test_contact_sensor.py`, and
+  :file:`test/sim/test_views_xform_prim_ovphysx.py` with the new
+  ``device_split`` pytest marker, which causes the CI driver to invoke each
+  file once per device in separate subprocesses. Works around the
+  ``ovphysx<=0.3.7`` process-global device lock (gap G5).

source/isaaclab_ovphysx/test/assets/test_articulation.py

@@ -56,9 +56,8 @@
 import torch
 import warp as wp
 
-# The CI isaaclab_ov* pattern unintentionally collects isaaclab_ovphysx tests,
-# but the ovphysx wheel is not installed in that environment. Skip gracefully
-# so the isaaclab_ov CI pipeline is not blocked by an unrelated dependency.
+# The OVPhysX runtime wheel is optional. Skip gracefully when it is not installed;
+# CI jobs that need OVPhysX coverage install it explicitly.
 pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
 
 from isaaclab_ovphysx import tensor_types as TT  # noqa: E402
@@ -83,6 +82,8 @@
 
 wp.init()
 
+pytestmark = pytest.mark.device_split
+
 
 _OMNI_PHYSX_SCHEMAS_GAP_REASON = (
     "Schema-level fixed-joint creation in :mod:`isaaclab.sim.schemas` imports "

source/isaaclab_ovphysx/test/assets/test_articulation_helpers.py

@@ -19,9 +19,8 @@
 
 from pxr import Sdf, Usd, UsdPhysics
 
-# The CI isaaclab_ov* pattern unintentionally collects isaaclab_ovphysx tests,
-# but the ovphysx wheel is not installed in that environment. Skip gracefully
-# so the isaaclab_ov CI pipeline is not blocked by an unrelated dependency.
+# The OVPhysX runtime wheel is optional. Skip gracefully when it is not installed;
+# CI jobs that need OVPhysX coverage install it explicitly.
 pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
 
 from isaaclab_ovphysx.assets.articulation.articulation import Articulation  # noqa: E402

source/isaaclab_ovphysx/test/assets/test_rigid_object.py

@@ -32,9 +32,8 @@
 import warp as wp
 from flaky import flaky
 
-# The CI isaaclab_ov* pattern unintentionally collects isaaclab_ovphysx tests,
-# but the ovphysx wheel is not installed in that environment. Skip gracefully
-# so the isaaclab_ov CI pipeline is not blocked by an unrelated dependency.
+# The OVPhysX runtime wheel is optional. Skip gracefully when it is not installed;
+# CI jobs that need OVPhysX coverage install it explicitly.
 pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
 
 from isaaclab_ovphysx.assets import RigidObject  # noqa: E402
@@ -56,6 +55,8 @@
 
 wp.init()
 
+pytestmark = pytest.mark.device_split
+
 _logger = logging.getLogger(__name__)
 
 

source/isaaclab_ovphysx/test/assets/test_rigid_object_collection.py

@@ -28,9 +28,8 @@
 import torch
 import warp as wp
 
-# The CI isaaclab_ov* pattern unintentionally collects isaaclab_ovphysx tests,
-# but the ovphysx wheel is not installed in that environment. Skip gracefully
-# so the isaaclab_ov CI pipeline is not blocked by an unrelated dependency.
+# The OVPhysX runtime wheel is optional. Skip gracefully when it is not installed;
+# CI jobs that need OVPhysX coverage install it explicitly.
 pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
 
 from isaaclab_ovphysx.assets import RigidObjectCollection  # noqa: E402
@@ -53,6 +52,8 @@
 
 wp.init()
 
+pytestmark = pytest.mark.device_split
+
 
 _LOCKED_DEVICE: list[str | None] = [None]
 """Device the session pins to on the first parametrized test that runs."""

source/isaaclab_ovphysx/test/assets/test_rigid_object_helpers.py

@@ -15,9 +15,8 @@
 import pytest
 import warp as wp
 
-# The CI isaaclab_ov* pattern unintentionally collects isaaclab_ovphysx tests,
-# but the ovphysx wheel is not installed in that environment. Skip gracefully
-# so the isaaclab_ov CI pipeline is not blocked by an unrelated dependency.
+# The OVPhysX runtime wheel is optional. Skip gracefully when it is not installed;
+# CI jobs that need OVPhysX coverage install it explicitly.
 pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
 
 from isaaclab_ovphysx import tensor_types as TT  # noqa: E402

source/isaaclab_ovphysx/test/physics/test_ovphysx_scene_data_backend.py

@@ -11,9 +11,8 @@
 
 import pytest
 
-# The CI isaaclab_ov* pattern unintentionally collects isaaclab_ovphysx tests,
-# but the ovphysx wheel is not installed in that environment. Skip gracefully
-# so the isaaclab_ov CI pipeline is not blocked by an unrelated dependency.
+# The OVPhysX runtime wheel is optional. Skip gracefully when it is not installed;
+# CI jobs that need OVPhysX coverage install it explicitly.
 pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
 
 

source/isaaclab_ovphysx/test/sensors/test_contact_sensor.py

@@ -45,9 +45,8 @@
 import warp as wp
 from flaky import flaky
 
-# The CI isaaclab_ov* pattern unintentionally collects isaaclab_ovphysx tests,
-# but the ovphysx wheel is not installed in that environment. Skip gracefully
-# so the isaaclab_ov CI pipeline is not blocked by an unrelated dependency.
+# The OVPhysX runtime wheel is optional. Skip gracefully when it is not installed;
+# CI jobs that need OVPhysX coverage install it explicitly.
 pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
 
 from isaaclab_ovphysx.assets import RigidObject  # noqa: E402
@@ -64,6 +63,8 @@
 
 wp.init()
 
+pytestmark = pytest.mark.device_split
+
 # ---------------------------------------------------------------------------
 # Device-lock autouse fixture
 # ---------------------------------------------------------------------------

source/isaaclab_ovphysx/test/sim/test_views_xform_prim_ovphysx.py

@@ -12,9 +12,8 @@
 
 import pytest
 
-# The CI isaaclab_ov* pattern unintentionally collects isaaclab_ovphysx tests,
-# but the ovphysx wheel is not installed in that environment. Skip gracefully
-# so the isaaclab_ov CI pipeline is not blocked by an unrelated dependency.
+# The OVPhysX runtime wheel is optional. Skip gracefully when it is not installed;
+# CI jobs that need OVPhysX coverage install it explicitly.
 pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
 
 from isaaclab_ovphysx.physics import OvPhysxCfg  # noqa: E402
@@ -25,6 +24,8 @@
 
 OVPHYSX_SIM_CFG = SimulationCfg(physics=OvPhysxCfg())
 
+pytestmark = pytest.mark.device_split
+
 
 @pytest.mark.parametrize("device", ["cpu", "cuda:0"])
 def test_factory_dispatches_to_ovphysx_frame_view(device):

tools/_device_split.py

@@ -0,0 +1,65 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Helpers for detecting and driving the ``device_split`` pytest marker.
+
+Test files that declare ``pytestmark = pytest.mark.device_split`` at module
+scope must be re-invoked once per device (CPU and GPU) in separate processes
+to work around process-global device locks such as ``ovphysx<=0.3.7`` gap G5.
+The :func:`is_device_split_file` predicate lets the per-file CI runner in
+``tools/conftest.py`` detect this without importing the test module.
+"""
+
+from __future__ import annotations
+
+import re
+from pathlib import Path
+
+_DEVICE_SPLIT_MARK_RE = re.compile(r"^\s*pytestmark\b.*\bdevice_split\b", re.MULTILINE)
+"""Match a module-level ``pytestmark`` assignment that mentions ``device_split``.
+
+Recognises both single-mark and single-line list forms:
+
+* ``pytestmark = pytest.mark.device_split``
+* ``pytestmark = [pytest.mark.device_split, pytest.mark.foo]``
+
+Multi-line list forms are not supported (currently no test file uses one); if
+a future test needs that, expand the parsing rule.
+"""
+
+# Per-pass pytest ``-k`` selectors used by ``tools/conftest.py`` when a file
+# declares the ``device_split`` marker. Each entry is ``(suffix, k_expr)``:
+#   - ``suffix`` is appended to the JUnit report filename to keep both passes' XML.
+#   - ``k_expr`` is the ``-k`` keyword expression. ``"cpu or not cuda"`` keeps
+#     non-parametrized tests in the CPU pass; ``"cuda"`` catches GPU-parametrized
+#     tests only.
+DEVICE_SPLIT_PASSES: list[tuple[str, str]] = [
+    ("-cpu", "cpu or not cuda"),
+    ("-cuda", "cuda"),
+]
+
+
+def is_device_split_file(path: Path | str, source: str | None = None) -> bool:
+    """Return whether the test file at ``path`` declares the ``device_split`` marker.
+
+    Matches :data:`_DEVICE_SPLIT_MARK_RE` against ``source`` when supplied.
+    Otherwise, reads the file source from ``path``. A missing or unreadable
+    file returns ``False`` so the caller falls back to the default single-pass
+    invocation.
+
+    Args:
+        path: Filesystem path to a candidate test file.
+        source: Optional preloaded source text to inspect.
+
+    Returns:
+        ``True`` when the file's module-level ``pytestmark`` mentions
+        ``device_split``; ``False`` otherwise.
+    """
+    if source is None:
+        try:
+            source = Path(path).read_text(encoding="utf-8", errors="replace")
+        except OSError:
+            return False
+    return bool(_DEVICE_SPLIT_MARK_RE.search(source))