Upgrade OVRTX to 0.5, OVStage to 0.2, and OvPhysX to 0.6.3

docs/source/concepts/ovphysx.rst

@@ -85,8 +85,7 @@ supported.
 Installation
 ------------
 
-The public ``ovphysx`` extra remains pinned to OvPhysX 0.5.11. Install it from
-the repository root with:
+The ``ovphysx`` extra requires OvPhysX 0.6.3. Install it from the repository root with:
 
 .. code-block:: bash
 

pyproject.toml

@@ -58,7 +58,7 @@ dependencies = [
     "pillow>=12.3.0",
     "botocore",  # omni.replicator.core S3 backend
     "starlette>=1.3.1",  # livestream; minimum patched for current security advisories
-    "omniverseclient==2.72.3",
+    "omniverseclient==2.74.0",
     "filelock",
     "lazy_loader>=0.4",
     # ----- project template generator -----
@@ -175,9 +175,9 @@ rerun = [
 
 isaacsim = ["isaacsim[all,extscache]==6.1.0.0"]
 
-ov = ["ovphysx==0.5.11", "ovrtx==0.4.1.364340", "ovstage==0.1.1.355824"]
-ovphysx = ["ovphysx==0.5.11", "ovstage==0.1.1.355824"]
-ovrtx = ["ovrtx==0.4.1.364340", "ovstage==0.1.1.355824"]
+ov = ["ovphysx==0.6.3", "ovrtx==0.5.0.377615", "ovstage==0.2.0.377349"]
+ovphysx = ["ovphysx==0.6.3", "ovstage==0.2.0.377349"]
+ovrtx = ["ovrtx==0.5.0.377615", "ovstage==0.2.0.377349"]
 
 mimic = [
     "isaaclab-mimic",
@@ -224,9 +224,9 @@ usd_exchange = "2.3.0"
 torch = "2.12.0"
 torchvision = "0.27.0"
 torchaudio = "2.11.0"
-ovphysx = "0.5.11"
-ovrtx = "0.4.1.364340"
-ovstage = "0.1.1.355824"
+ovphysx = "0.6.3"
+ovrtx = "0.5.0.377615"
+ovstage = "0.2.0.377349"
 warp = "1.17.0"
 
 [tool.ruff]

source/isaaclab/changelog.d/esekkin-upgrade-ovrtx-050.skip

@@ -0,0 +1 @@
+Synchronized OV dependency metadata.

source/isaaclab/test/cli/test_uv_run_pyproject.py

@@ -130,8 +130,8 @@ def test_version_single_source_matches_literal_pins(source_checkout_root: Path):
     optional = pyproject["project"]["optional-dependencies"]
     overrides = pyproject["tool"]["uv"]["override-dependencies"]
 
-    assert versions["ovphysx"] == "0.5.11"
-    assert "omniverseclient==2.72.3" in dependencies
+    assert versions["ovphysx"] == "0.6.3"
+    assert "omniverseclient==2.74.0" in dependencies
 
     # Isaac Sim extra mirrors the table; it is the only place the wheel is pinned.
     assert optional["isaacsim"] == [f"isaacsim[all,extscache]=={versions['isaacsim']}"]

source/isaaclab_ov/changelog.d/esekkin-upgrade-ovrtx-050.minor.rst

@@ -0,0 +1,8 @@
+Changed
+^^^^^^^
+
+* **Breaking:** Updated the optional OV dependencies to ``ovrtx==0.5.0.377615``,
+  ``ovstage==0.2.0.377349``, ``ovphysx==0.6.3``, and ``omniverseclient==2.74.0``. Upgrade
+  them together with ``uv sync --inexact --extra ov``.
+* **Breaking:** OvPhysX CPU-backed property writes require CPU-resident ``values``,
+  ``indices``, and ``mask`` arrays.

source/isaaclab_ov/isaaclab_ov/ovstage_compat.py

@@ -19,8 +19,7 @@
 caller, which keeps this module free of an ``ovstage`` import and therefore importable
 wherever the version policy needs to be inspected or tested.
 
-The public extras stay pinned to ``ovstage==0.1.1.355824``; a missing or unparsable
-install keeps the OVStage 0.1 host model.
+Missing or invalid version metadata selects ``CPU_INCREMENTAL``.
 """
 
 from __future__ import annotations

source/isaaclab_ov/isaaclab_ov/physics/ovphysx_compat.py

@@ -11,10 +11,8 @@
 the entry-point names are resolved once at import and published as
 :data:`OVPHYSX_LIFECYCLE_ENTRY_POINTS`.
 
-The public extras stay pinned to ``ovphysx==0.5.11``; a missing or unparsable
-install keeps the 0.5.11 entry points and reversed-joint sign correction.
-OvPhysX 0.6 fixes the dynamics tensor signs in the runtime, so that correction
-must be disabled on the new release line.
+Missing or invalid version metadata selects the 0.5 lifecycle API and
+reversed-joint correction.
 """
 
 from __future__ import annotations

source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_compat.py

@@ -11,8 +11,7 @@
 at import and published as :data:`RENDER_VAR_FRAME_KEYS`; per-frame code indexes that
 mapping instead of re-checking the version.
 
-The public extras stay pinned to ``ovrtx==0.4.1.364340``; a missing or unparsable install
-keeps the 0.4 key form.
+Missing or invalid version metadata selects source-name render-var keys.
 """
 
 from __future__ import annotations

source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py

@@ -63,7 +63,7 @@
     raise ModuleNotFoundError(
         "The OVRTX renderer requires the optional 'ovrtx' runtime wheel, which is not installed. "
         "Run your command with: uv run --extra ovrtx <command> "
-        "(or, manually: python -m pip install 'ovrtx==0.4.1.364340')."
+        "(or, manually: python -m pip install 'ovrtx==0.5.0.377615')."
     ) from exc
 
 from isaaclab.cloner import ClonePlan

source/isaaclab_ov/pyproject.toml

@@ -19,7 +19,7 @@ requires-python = ">=3.12"
 # Only interpackage dependencies should go here.
 dependencies = [
     "isaaclab",
-    "ovstage==0.1.1.355824",
+    "ovstage==0.2.0.377349",
 ]
 
 [tool.uv.sources]

source/isaaclab_ov/test/assets/test_deformable_object.py

@@ -548,7 +548,8 @@ def test_volume_deformable_reads_writes_targets_materials_and_steps():
         material_view.set_attribute(
             TT.DEFORMABLE_MATERIAL_YOUNGS_MODULUS,
             wp.from_torch(updated_youngs),
-            indices=wp.array([1], dtype=wp.int32),
+            # OvPhysX CPU-native material bindings require host-resident indices.
+            indices=wp.array([1], dtype=wp.int32, device="cpu"),
         )
         torch.testing.assert_close(
             wp.to_torch(material_view.get_attribute(TT.DEFORMABLE_MATERIAL_YOUNGS_MODULUS)), updated_youngs.cpu()
@@ -649,7 +650,8 @@ def test_surface_deformable_reads_writes_materials_and_steps():
         material_view.set_attribute(
             TT.DEFORMABLE_MATERIAL_BENDING_DAMPING,
             wp.from_torch(updated_bending_damping),
-            indices=wp.array([0], dtype=wp.int32),
+            # OvPhysX CPU-native material bindings require host-resident indices.
+            indices=wp.array([0], dtype=wp.int32, device="cpu"),
         )
         torch.testing.assert_close(
             wp.to_torch(material_view.get_attribute(TT.DEFORMABLE_MATERIAL_BENDING_DAMPING)),

source/isaaclab_tasks/changelog.d/esekkin-upgrade-ovrtx-050.skip

@@ -0,0 +1 @@
+Updated deformable rendering references for OVRTX 0.5.