fix(deps): bump usd-core to >=26.5 for multithreaded collider crash fix

.github/actions/run-package-tests/action.yml

@@ -41,6 +41,12 @@ inputs:
       skipped. Combines with filter-pattern (include + exclude).
     default: ''
     required: false
+  test-k-expr:
+    description: >-
+      Global pytest -k expression applied inside every per-file pytest run
+      spawned by tools/conftest.py (combined with device-split selectors).
+    default: ''
+    required: false
   shard-index:
     description: 'Zero-based shard index'
     default: ''
@@ -286,6 +292,7 @@ runs:
         pytest-options: ${{ inputs.pytest-options }}
         filter-pattern: ${{ inputs.filter-pattern }}
         exclude-pattern: ${{ inputs.exclude-pattern }}
+        test-k-expr: ${{ inputs.test-k-expr }}
         shard-index: ${{ inputs.shard-index }}
         shard-count: ${{ inputs.shard-count }}
         curobo-only: ${{ inputs.curobo-only }}

.github/actions/run-tests/action.yml

@@ -41,6 +41,14 @@ inputs:
       excluded. Combines with filter-pattern (include + exclude).
     default: ''
     required: false
+  test-k-expr:
+    description: >-
+      Global pytest -k expression applied inside every per-file pytest run
+      spawned by tools/conftest.py (combined with device-split selectors).
+      Unlike pytest-options, this reaches the individual test processes, so it
+      can deselect parametrized cases (e.g. "not ovphysx").
+    default: ''
+    required: false
   curobo-only:
     description: 'Run only cuRobo and SkillGen tests (requires the cuRobo Docker image)'
     default: 'false'
@@ -94,6 +102,12 @@ runs:
   steps:
     - name: Run Tests in Docker Container
       shell: bash
+      env:
+        # Passed via env instead of inline ${{ }} interpolation: pytest options may
+        # contain spaces and quotes (e.g. -k "not ovphysx"), which would word-split
+        # the run_tests positional arguments if substituted textually.
+        PYTEST_OPTIONS: ${{ inputs.pytest-options }}
+        TEST_K_EXPR_INPUT: ${{ inputs.test-k-expr }}
       run: |
         # Function to run tests in Docker container
         run_tests() {
@@ -116,6 +130,7 @@ runs:
           local test_node_ids_key="${17}"
           local wheelhouse_host_dir="${18}"
           local wheelhouse_packages="${19}"
+          local test_k_expr="${20}"
           local logs_pid=""
           local wait_pid=""
           local docker_wait_file="/tmp/.docker_exit_${container_name}"
@@ -258,6 +273,12 @@ runs:
             docker_env_vars="$docker_env_vars -e TEST_EXTRA_PIP_PACKAGES"
           fi
 
+          if [ -n "$test_k_expr" ]; then
+            export TEST_K_EXPR="$test_k_expr"
+            docker_env_vars="$docker_env_vars -e TEST_K_EXPR"
+            echo "Setting per-file pytest -k expression: $test_k_expr"
+          fi
+
           # Volume mount for deps-cache-hit mode: bind-mount the checked-out
           # source code over /workspace/isaaclab instead of baking it into the image.
           docker_volume_args=""
@@ -491,7 +512,7 @@ runs:
         }
 
         # Call the function with provided parameters
-        run_tests "${{ inputs.test-path }}" "${{ inputs.result-file }}" "${{ inputs.container-name }}" "${{ inputs.image-tag }}" "${{ inputs.reports-dir }}" "${{ inputs.pytest-options }}" "${{ inputs.filter-pattern }}" "${{ inputs.exclude-pattern }}" "${{ inputs.curobo-only }}" "${{ inputs.include-files }}" "${{ inputs.quarantined-only }}" "${{ inputs.shard-index }}" "${{ inputs.shard-count }}" "${{ inputs.volume-mount-source }}" "${{ inputs.extra-pip-packages }}" "${{ inputs.test-node-ids-file }}" "${{ inputs.test-node-ids-key }}" "${{ inputs.wheelhouse-host-dir }}" "${{ inputs.wheelhouse-packages }}"
+        run_tests "${{ inputs.test-path }}" "${{ inputs.result-file }}" "${{ inputs.container-name }}" "${{ inputs.image-tag }}" "${{ inputs.reports-dir }}" "$PYTEST_OPTIONS" "${{ inputs.filter-pattern }}" "${{ inputs.exclude-pattern }}" "${{ inputs.curobo-only }}" "${{ inputs.include-files }}" "${{ inputs.quarantined-only }}" "${{ inputs.shard-index }}" "${{ inputs.shard-count }}" "${{ inputs.volume-mount-source }}" "${{ inputs.extra-pip-packages }}" "${{ inputs.test-node-ids-file }}" "${{ inputs.test-node-ids-key }}" "${{ inputs.wheelhouse-host-dir }}" "${{ inputs.wheelhouse-packages }}" "$TEST_K_EXPR_INPUT"
 
     - name: Kill container on cancellation
       if: cancelled()

.github/workflows/build.yaml

@@ -596,10 +596,7 @@ jobs:
     needs: [build, config]
     if: >-
       github.event_name != 'push' &&
-      needs.build.result == 'success' &&
-      (needs.config.outputs.ovphysx_wheelhouse_resource == '' ||
-       (github.event_name == 'pull_request' && github.base_ref == 'develop' && github.event.pull_request.head.repo.full_name == github.repository) ||
-       (github.event_name != 'pull_request' && github.ref_name == 'develop'))
+      needs.build.result == 'success'
     env:
       USE_OVPHYSX_WHEELHOUSE: ${{ needs.config.outputs.ovphysx_wheelhouse_resource != '' && ((github.event_name == 'pull_request' && github.base_ref == 'develop' && github.event.pull_request.head.repo.full_name == github.repository) || (github.event_name != 'pull_request' && github.ref_name == 'develop')) }}
     steps:
@@ -613,6 +610,10 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_ov"
+        # isaaclab_ovphysx requires ovphysx >= 0.5.1, which is only available from the
+        # NGC wheelhouse; untrusted runs (fork PRs) fall back to the public pip index
+        # and keep only the ovrtx-based isaaclab_ov coverage.
+        exclude-pattern: ${{ env.USE_OVPHYSX_WHEELHOUSE == 'true' && '' || 'isaaclab_ovphysx' }}
         extra-pip-packages: ${{ env.USE_OVPHYSX_WHEELHOUSE == 'true' && 'ovrtx' || 'ovrtx ovphysx' }}
         wheelhouse-resource: ${{ env.USE_OVPHYSX_WHEELHOUSE == 'true' && needs.config.outputs.ovphysx_wheelhouse_resource || '' }}
         wheelhouse-packages: ${{ env.USE_OVPHYSX_WHEELHOUSE == 'true' && 'ovphysx' || '' }}
@@ -777,11 +778,7 @@ jobs:
     timeout-minutes: 120
     continue-on-error: ${{ github.event_name == 'pull_request' || github.event_name == 'workflow_dispatch' }}
     needs: [build, config]
-    if: >-
-      needs.build.result == 'success' &&
-      (needs.config.outputs.ovphysx_wheelhouse_resource == '' ||
-       (github.event_name == 'pull_request' && github.base_ref == 'develop' && github.event.pull_request.head.repo.full_name == github.repository) ||
-       (github.event_name != 'pull_request' && github.ref_name == 'develop'))
+    if: needs.build.result == 'success'
     env:
       USE_OVPHYSX_WHEELHOUSE: ${{ needs.config.outputs.ovphysx_wheelhouse_resource != '' && ((github.event_name == 'pull_request' && github.base_ref == 'develop' && github.event.pull_request.head.repo.full_name == github.repository) || (github.event_name != 'pull_request' && github.ref_name == 'develop')) }}
     steps:
@@ -795,6 +792,10 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
+        # ovphysx-backed test params require ovphysx >= 0.5.1, which is only available
+        # from the NGC wheelhouse; untrusted runs (fork PRs) fall back to the public pip
+        # index and keep the newton/ovrtx kitless rendering coverage.
+        test-k-expr: ${{ env.USE_OVPHYSX_WHEELHOUSE == 'true' && '' || 'not ovphysx' }}
         extra-pip-packages: ${{ env.USE_OVPHYSX_WHEELHOUSE == 'true' && 'ovrtx' || 'ovrtx ovphysx' }}
         wheelhouse-resource: ${{ env.USE_OVPHYSX_WHEELHOUSE == 'true' && needs.config.outputs.ovphysx_wheelhouse_resource || '' }}
         wheelhouse-packages: ${{ env.USE_OVPHYSX_WHEELHOUSE == 'true' && 'ovphysx' || '' }}

.github/workflows/daily-compatibility.yml

@@ -111,7 +111,7 @@ jobs:
         image-tag: ${{ env.DOCKER_IMAGE_TAG }}
         pytest-options: ""
         filter-pattern: "isaaclab_tasks"
-        extra-pip-packages: "ovrtx ovphysx==0.4.13"
+        extra-pip-packages: "ovrtx ovphysx==0.5.2+head.f62c22207c"
 
     - name: Copy All Test Results from IsaacLab Tasks Container
       run: |

.github/workflows/license-check.yaml

@@ -15,14 +15,145 @@ concurrency:
 
 jobs:
   license-check:
+    # Fork PRs cannot access NGC_API_KEY, so they cannot resolve the immutable
+    # OVPhysX wheel required by the development extras.
+    if: github.event.pull_request.head.repo.full_name == github.repository
     runs-on: ubuntu-24.04
+    env:
+      NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
 
     steps:
     - name: Checkout code
       uses: actions/checkout@v6
       with:
         filter: tree:0
 
+    - name: Load OVPhysX wheelhouse configuration
+      id: config
+      shell: bash
+      run: |
+        set -euo pipefail
+        resource=$(yq -r .ovphysx_wheelhouse_resource .github/workflows/config.yaml)
+        echo "wheelhouse_resource=${resource}" >> "$GITHUB_OUTPUT"
+
+    - name: Restore NGC CLI cache
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.temp }}/ngc-cli-cache/ngccli_linux.zip
+        key: ngc-cli-${{ runner.os }}-${{ runner.arch }}-4.20.0-5cf084c88998c58ad8abf7849d2d1b41d578423886eb03018df10194e341d35b
+
+    - name: Extract OVPhysX wheelhouse
+      id: extract-wheelhouse
+      shell: bash
+      env:
+        WHEELHOUSE_RESOURCE: ${{ steps.config.outputs.wheelhouse_resource }}
+      run: |
+        set -euo pipefail
+
+        if [ -z "${NGC_API_KEY:-}" ]; then
+          echo "::error::NGC_API_KEY is unavailable; cannot download the configured OVPhysX wheelhouse"
+          exit 1
+        fi
+
+        NGC_CLI_VERSION="4.20.0"
+        NGC_CLI_SHA256="5cf084c88998c58ad8abf7849d2d1b41d578423886eb03018df10194e341d35b"
+        NGC_CLI_URL="https://api.ngc.nvidia.com/v2/resources/nvidia/ngc-apps/ngc_cli/versions/${NGC_CLI_VERSION}/files/ngccli_linux.zip"
+
+        wheelhouse_root="$(mktemp -d "${RUNNER_TEMP:-/tmp}/ovphysx-wheelhouse.XXXXXX")"
+        download_root="$(mktemp -d "${RUNNER_TEMP:-/tmp}/ovphysx-wheelhouse-download.XXXXXX")"
+        ngc_home="$(mktemp -d "${RUNNER_TEMP:-/tmp}/ovphysx-ngc-home.XXXXXX")"
+        ngc_unpack_dir=""
+        preserve_wheelhouse_root=false
+        cleanup() {
+          if [ "$preserve_wheelhouse_root" != "true" ]; then
+            rm -rf "$wheelhouse_root"
+          fi
+          rm -rf "$download_root" "$ngc_home"
+          if [ -n "$ngc_unpack_dir" ]; then
+            rm -rf "$ngc_unpack_dir"
+          fi
+        }
+        trap cleanup EXIT
+
+        cache_dir="${RUNNER_TEMP:-/tmp}/ngc-cli-cache"
+        ngc_zip="${cache_dir}/ngccli_linux.zip"
+        mkdir -p "$cache_dir"
+        if [ ! -f "$ngc_zip" ]; then
+          echo "Downloading NGC CLI ${NGC_CLI_VERSION}"
+          curl -fsSL -o "$ngc_zip" "$NGC_CLI_URL"
+        fi
+        echo "${NGC_CLI_SHA256}  ${ngc_zip}" | sha256sum -c -
+        ngc_unpack_dir="$(mktemp -d "${RUNNER_TEMP:-/tmp}/ngc-cli.XXXXXX")"
+        unzip -q "$ngc_zip" -d "$ngc_unpack_dir"
+        export PATH="${ngc_unpack_dir}/ngc-cli:${PATH}"
+
+        export NGC_CLI_API_KEY="$NGC_API_KEY"
+        export NGC_CLI_ORG=nvidian
+        export NGC_CLI_TEAM=no-team
+        export NGC_CLI_HOME="$ngc_home"
+
+        ngc --version
+        echo "Downloading wheelhouse resource: $WHEELHOUSE_RESOURCE"
+        ngc registry resource download-version "$WHEELHOUSE_RESOURCE" --dest "$download_root"
+
+        mapfile -t manifests < <(find "$download_root" -type f -name manifest.json)
+        if [ "${#manifests[@]}" -ne 1 ]; then
+          echo "::error::expected exactly one manifest.json in downloaded wheelhouse resource, found ${#manifests[@]}"
+          printf '%s\n' "${manifests[@]}"
+          exit 1
+        fi
+
+        payload_dir="$(dirname "${manifests[0]}")"
+        if [ ! -d "${payload_dir}/wheelhouse" ]; then
+          echo "::error::downloaded wheelhouse resource is missing wheelhouse/ next to manifest.json"
+          exit 1
+        fi
+
+        mkdir -p "$wheelhouse_root/wheelhouse"
+        cp "${payload_dir}/manifest.json" "$wheelhouse_root/manifest.json"
+        cp "${payload_dir}/wheelhouse/"*.whl "$wheelhouse_root/wheelhouse/"
+
+        python3 - <<'PY' "$wheelhouse_root/manifest.json" "$wheelhouse_root/wheelhouse"
+        import hashlib
+        import json
+        import pathlib
+        import sys
+
+        manifest_path = pathlib.Path(sys.argv[1])
+        wheelhouse_dir = pathlib.Path(sys.argv[2])
+        manifest = json.loads(manifest_path.read_text(encoding="utf-8"))
+
+        expected = {
+            "artifact": "ovphysx-wheelhouse",
+            "platform": "manylinux_2_35_x86_64",
+        }
+        for key, value in expected.items():
+            actual = manifest.get(key)
+            if actual != value:
+                raise SystemExit(f"manifest {key!r} mismatch: expected {value!r}, got {actual!r}")
+
+        wheels = manifest.get("wheels")
+        if not isinstance(wheels, list) or not wheels:
+            raise SystemExit("manifest has no wheels list")
+
+        for wheel in wheels:
+            filename = wheel.get("file")
+            expected_sha = wheel.get("sha256")
+            if not filename or not expected_sha:
+                raise SystemExit(f"invalid wheel manifest entry: {wheel!r}")
+            wheel_path = wheelhouse_dir / filename
+            if not wheel_path.is_file():
+                raise SystemExit(f"manifest wheel is missing from wheelhouse: {filename}")
+            actual_sha = hashlib.sha256(wheel_path.read_bytes()).hexdigest()
+            if actual_sha != expected_sha:
+                raise SystemExit(f"sha256 mismatch for {filename}: expected {expected_sha}, got {actual_sha}")
+
+        print(f"Validated {len(wheels)} wheelhouse wheels from {manifest_path}")
+        PY
+
+        echo "wheelhouse_root=$wheelhouse_root" >> "$GITHUB_OUTPUT"
+        echo "wheelhouse_dir=$wheelhouse_root/wheelhouse" >> "$GITHUB_OUTPUT"
+
     # - name: Install jq
     #   run: sudo apt-get update && sudo apt-get install -y jq
 
@@ -60,6 +191,7 @@ jobs:
         OMNI_KIT_ACCEPT_EULA: yes
         ACCEPT_EULA: Y
         ISAACSIM_ACCEPT_EULA: YES
+        UV_FIND_LINKS: ${{ steps.extract-wheelhouse.outputs.wheelhouse_dir }}
       run: |
         uv sync --extra all
         # Isaac Sim isn't in the dev pyproject; sync first so it isn't pruned.
@@ -153,3 +285,9 @@ jobs:
         else
           echo "All packages were checked."
         fi
+
+    - name: Clean up OVPhysX wheelhouse
+      if: always()
+      shell: bash
+      run: |
+        rm -rf "${{ steps.extract-wheelhouse.outputs.wheelhouse_root }}"

CONTRIBUTORS.md

@@ -44,6 +44,7 @@ Guidelines for modifications:
 
 ## Contributors
 
+* Agon Serifi
 * Alessandro Assirelli
 * Alex Omar
 * Alexander Millane
@@ -127,6 +128,7 @@ Guidelines for modifications:
 * Marco Alesiani
 * Masoud Moghani
 * Mateo Guaman Castro
+* Matthew Taylor
 * Maurice Rahme
 * Michael Gussert
 * Michael Lin

docs/source/api/lab/isaaclab.sim.spawners.rst

@@ -267,6 +267,9 @@ Materials
     MdlFileCfg
     GlassMdlCfg
     PhysicsMaterialCfg
+    RigidBodyMaterialBaseCfg
+    RigidBodyMaterialFragment
+    UsdPhysicsRigidBodyMaterialCfg
     RigidBodyMaterialCfg
     DeformableBodyMaterialBaseCfg
     SurfaceDeformableBodyMaterialBaseCfg
@@ -303,8 +306,27 @@ Physical Materials
     :members:
     :exclude-members: __init__, func
 
+.. autofunction:: spawn_physics_material
+
 .. autofunction:: spawn_rigid_body_material
 
+.. autoclass:: RigidBodyMaterialBaseCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_rigid_body_material_from_fragments
+
+.. autoclass:: RigidBodyMaterialFragment
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autoclass:: UsdPhysicsRigidBodyMaterialCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
 .. autoclass:: RigidBodyMaterialCfg
     :members:
     :exclude-members: __init__, func

docs/source/api/lab_newton/isaaclab_newton.sim.spawners.rst

@@ -7,10 +7,19 @@ isaaclab_newton.sim.spawners
 
   .. autosummary::
 
+    NewtonMaterialCfg
     NewtonDeformableBodyMaterialCfg
     NewtonDeformableMaterialCfg
     NewtonSurfaceDeformableBodyMaterialCfg
 
+Rigid Materials
+---------------
+
+.. autoclass:: NewtonMaterialCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
 Deformable Materials
 --------------------