isaac-sim · AntoineRichard · May 26, 2026 · May 27, 2026 · May 27, 2026 · May 27, 2026
diff --git a/pyproject.toml b/pyproject.toml
@@ -194,6 +194,7 @@ 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.

diff --git a/source/isaaclab/changelog.d/antoiner-ovphysx-default-install.rst b/source/isaaclab/changelog.d/antoiner-ovphysx-default-install.rst
@@ -0,0 +1,8 @@
+Changed
+^^^^^^^
+
+* Changed ``./isaaclab.sh --install`` (and ``--install all``) to automatically
+  install the publicly available :mod:`ovphysx` wheel alongside the Newton
+  extras, so the OVPhysX backend is usable out of the box. The OVRTX renderer
+  wheel remains opt-in via ``--install 'ov[ovrtx]'`` or ``--install 'ov[all]'``.
+  Use ``--install none`` to opt out of all extras.
diff --git a/source/isaaclab/isaaclab/cli/__init__.py b/source/isaaclab/isaaclab/cli/__init__.py
@@ -98,8 +98,9 @@ def cli() -> None:
             "\n"
             "* Special values:\n"
             "  all   - Core + optional submodules (mimic, teleop) + auto extra\n"
-            "          features (newton, rl, visualizer). Does not install contrib/ov\n"
-            "          dependency extras (default).\n"
+            "          features (newton, ov, rl, visualizer). 'ov' defaults to\n"
+            "          ovphysx only; use ov[ovrtx] or ov[all] for OVRTX. Does not\n"
+            "          install contrib dependency extras (default).\n"
             "  none  - Core submodules only; no optional submodules, no extra features.\n"
             "  <empty> (-i with no value) - Same as 'all'.\n"
             "\n"

diff --git a/source/isaaclab/isaaclab/cli/commands/install.py b/source/isaaclab/isaaclab/cli/commands/install.py
@@ -471,7 +471,7 @@ def _install_isaacsim() -> None:
 }
 
 # Extra features excluded from the automatic ``-i all`` / ``-i`` install.
-MANUAL_EXTRA_FEATURES: set[str] = {"contrib", "ov"}
+MANUAL_EXTRA_FEATURES: set[str] = {"contrib"}
 
 
 def _split_install_items(install_type: str) -> list[str]:
@@ -565,31 +565,32 @@ def _install_contrib_extra_dependencies(selector: str) -> None:
 def _install_ov_extra_dependencies(selector: str) -> None:
     """Install optional OV runtime dependencies.
 
+    The default ``ov`` invocation (empty selector) installs the publicly
+    available :mod:`ovphysx` wheel so the OVPhysX backend is usable out of
+    the box; the OVRTX renderer wheel remains opt-in via ``ov[ovrtx]`` or
+    ``ov[all]``.
+
     Args:
         selector: One or more OV selectors from ``ov[ovrtx]``,
-            ``ov[ovphysx]``, or ``ov[all]``.
+            ``ov[ovphysx]``, or ``ov[all]``. Empty defaults to ``ovphysx``.
     """
-    if not selector:
-        print_info(
-            "OV source packages are installed with the core submodules. "
-            "Use 'ov[ovrtx]', 'ov[ovphysx]', or 'ov[all]' to install OV runtime dependencies."
-        )
-        return
-
     python_exe = extract_python_exe()
     pip_cmd = get_pip_command(python_exe)
     source_dir = ISAACLAB_ROOT / "source"
 
-    selectors = {item.strip().lower() for item in selector.split(",") if item.strip()}
-    valid_selectors = {"all", "ovrtx", "ovphysx"}
-    unknown_selectors = selectors - valid_selectors
-    if unknown_selectors:
-        print_warning(
-            f"Unknown ov selector(s): {', '.join(sorted(unknown_selectors))}. "
-            f"Valid selectors: {', '.join(sorted(valid_selectors))}."
-        )
-    if "all" in selectors:
-        selectors.update({"ovrtx", "ovphysx"})
+    if not selector:
+        selectors = {"ovphysx"}
+    else:
+        selectors = {item.strip().lower() for item in selector.split(",") if item.strip()}
+        valid_selectors = {"all", "ovrtx", "ovphysx"}
+        unknown_selectors = selectors - valid_selectors
+        if unknown_selectors:
+            print_warning(
+                f"Unknown ov selector(s): {', '.join(sorted(unknown_selectors))}. "
+                f"Valid selectors: {', '.join(sorted(valid_selectors))}."
+            )
+        if "all" in selectors:
+            selectors.update({"ovrtx", "ovphysx"})
     if "ovrtx" in selectors:
         print_info("Installing OVRTX optional dependency...")
         run_command(pip_cmd + ["install", "--editable", f"{source_dir}/isaaclab_ov[ovrtx]"])

diff --git a/source/isaaclab/test/install_ci/test_install_command_parsing.py b/source/isaaclab/test/install_ci/test_install_command_parsing.py
@@ -139,7 +139,7 @@ def test_manual_extra_features_subset_of_valid(self):
         assert MANUAL_EXTRA_FEATURES <= VALID_EXTRA_FEATURES
 
     def test_manual_extra_features(self):
-        assert {"contrib", "ov"} == MANUAL_EXTRA_FEATURES
+        assert {"contrib"} == MANUAL_EXTRA_FEATURES
 
     def test_no_overlap_between_optional_submodules_and_extra_features(self):
         assert not (set(OPTIONAL_ISAACLAB_SUBMODULES.keys()) & VALID_EXTRA_FEATURES)
@@ -237,7 +237,16 @@ def test_all_does_not_install_manual_extra_dependencies(self):
         mocks = self._run("all")
         called_features = {c.args[0] for c in mocks["_install_extra_feature"].call_args_list}
         assert "contrib" not in called_features
-        assert "ov" not in called_features
+
+    def test_all_installs_ov_with_default_ovphysx_selector(self):
+        # `ov` is in the auto-installed set so the publicly available
+        # OVPhysX wheel is pulled in by default; OVRTX remains opt-in via
+        # `ov[ovrtx]` / `ov[all]`.
+        mocks = self._run("all")
+        calls = mocks["_install_extra_feature"].call_args_list
+        ov_calls = [c for c in calls if c.args[0] == "ov"]
+        assert ov_calls, "`ov` should be auto-installed by `-i all`"
+        assert ov_calls[0].args[1] == "", f"Expected empty selector, got {ov_calls[0].args[1]!r}"
 
     def test_all_does_not_call_install_isaacsim(self):
         mocks = self._run("all")
@@ -303,12 +312,12 @@ def test_mimic_adds_mimic_to_submodules(self):
         mocks["_install_extra_feature"].assert_not_called()
         mocks["_install_optional_submodule_extra_dependencies"].assert_not_called()
 
-    def test_ov_without_selector_dispatches_manual_extra_feature(self):
+    def test_ov_without_selector_dispatches_extra_feature(self):
         mocks = self._run("ov")
         mocks["_install_extra_feature"].assert_called_once_with("ov", "")
         mocks["_install_optional_submodule_extra_dependencies"].assert_not_called()
 
-    def test_ov_with_selector_dispatches_manual_extra_feature(self):
+    def test_ov_with_selector_dispatches_extra_feature(self):
         mocks = self._run("ov[ovrtx]")
         mocks["_install_extra_feature"].assert_called_once_with("ov", "ovrtx")
         mocks["_install_optional_submodule_extra_dependencies"].assert_not_called()

diff --git a/source/isaaclab_ovphysx/changelog.d/antoiner-ovphysx-default-install.rst b/source/isaaclab_ovphysx/changelog.d/antoiner-ovphysx-default-install.rst
@@ -0,0 +1,7 @@
+Changed
+^^^^^^^
+
+* Removed ``pytest.importorskip("ovphysx.types")`` guards from the
+  ``isaaclab_ovphysx`` test suite now that the ``ovphysx`` wheel is publicly
+  available on PyPI and installed by default via ``./isaaclab.sh --install``.
+  Tests now fail loudly if the wheel is missing instead of silently skipping.
diff --git a/source/isaaclab_ovphysx/changelog.d/antoiner-ovphysx-device-split-ci.rst b/source/isaaclab_ovphysx/changelog.d/antoiner-ovphysx-device-split-ci.rst
@@ -0,0 +1,9 @@
+Fixed
+^^^^^
+
+* Re-enabled both CPU and GPU coverage in CI for
+  :file:`test/sim/test_views_xform_prim_ovphysx.py` and
+  :file:`test/sensors/test_contact_sensor.py` by tagging them 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).
diff --git a/source/isaaclab_ovphysx/test/assets/test_articulation.py b/source/isaaclab_ovphysx/test/assets/test_articulation.py
@@ -55,26 +55,20 @@
 import pytest
 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.
-pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
-
-from isaaclab_ovphysx import tensor_types as TT  # noqa: E402
-from isaaclab_ovphysx.assets import Articulation  # noqa: E402
-from isaaclab_ovphysx.physics import OvPhysxCfg  # noqa: E402
-
-import isaaclab.sim as sim_utils  # noqa: E402
-import isaaclab.utils.math as math_utils  # noqa: E402
-import isaaclab.utils.string as string_utils  # noqa: E402
-from isaaclab.actuators import ActuatorBase, IdealPDActuatorCfg, ImplicitActuatorCfg  # noqa: E402
-from isaaclab.assets import ArticulationCfg  # noqa: E402
-from isaaclab.envs.mdp.terminations import joint_effort_out_of_limit  # noqa: E402
-from isaaclab.managers import SceneEntityCfg  # noqa: E402
-from isaaclab.sim import SimulationCfg, build_simulation_context  # noqa: E402
-from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR  # noqa: E402
-from isaaclab.utils.version import get_isaac_sim_version, has_kit  # noqa: E402
+from isaaclab_ovphysx import tensor_types as TT
+from isaaclab_ovphysx.assets import Articulation
+from isaaclab_ovphysx.physics import OvPhysxCfg
+
+import isaaclab.sim as sim_utils
+import isaaclab.utils.math as math_utils
+import isaaclab.utils.string as string_utils
+from isaaclab.actuators import ActuatorBase, IdealPDActuatorCfg, ImplicitActuatorCfg
+from isaaclab.assets import ArticulationCfg
+from isaaclab.envs.mdp.terminations import joint_effort_out_of_limit
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.sim import SimulationCfg, build_simulation_context
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
+from isaaclab.utils.version import get_isaac_sim_version, has_kit
 
 ##
 # Pre-defined configs

diff --git a/source/isaaclab_ovphysx/test/assets/test_articulation_helpers.py b/source/isaaclab_ovphysx/test/assets/test_articulation_helpers.py
@@ -14,20 +14,13 @@
 
 from types import SimpleNamespace
 
-import pytest
 import warp as wp
+from isaaclab_ovphysx.assets.articulation.articulation import Articulation
+from isaaclab_ovphysx.physics import OvPhysxManager
+from isaaclab_ovphysx.test.mock_interfaces.views import MockOvPhysxBindingSet
 
 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.
-pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
-
-from isaaclab_ovphysx.assets.articulation.articulation import Articulation  # noqa: E402
-from isaaclab_ovphysx.physics import OvPhysxManager  # noqa: E402
-from isaaclab_ovphysx.test.mock_interfaces.views import MockOvPhysxBindingSet  # noqa: E402
-
 wp.init()
 
 
@@ -120,7 +113,6 @@ def test_process_tendons_scopes_to_articulation_root(tmp_path):
 
 
 def test_mock_binding_set_rigid_object_shapes():
-    pytest.importorskip("isaaclab_ovphysx.tensor_types").RIGID_BODY_POSE  # gates on wheel
     from isaaclab_ovphysx import tensor_types as TT
     from isaaclab_ovphysx.test.mock_interfaces.views import MockOvPhysxBindingSet
 

diff --git a/source/isaaclab_ovphysx/test/assets/test_rigid_object.py b/source/isaaclab_ovphysx/test/assets/test_rigid_object.py
@@ -31,20 +31,14 @@
 import torch
 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.
-pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
-
-from isaaclab_ovphysx.assets import RigidObject  # noqa: E402
-from isaaclab_ovphysx.physics import OvPhysxCfg, OvPhysxManager  # noqa: E402
-
-import isaaclab.sim as sim_utils  # noqa: E402
-from isaaclab.assets import RigidObjectCfg  # noqa: E402
-from isaaclab.sim import SimulationCfg, build_simulation_context  # noqa: E402
-from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR  # noqa: E402
-from isaaclab.utils.math import (  # noqa: E402
+from isaaclab_ovphysx.assets import RigidObject
+from isaaclab_ovphysx.physics import OvPhysxCfg, OvPhysxManager
+
+import isaaclab.sim as sim_utils
+from isaaclab.assets import RigidObjectCfg
+from isaaclab.sim import SimulationCfg, build_simulation_context
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
+from isaaclab.utils.math import (
     combine_frame_transforms,
     default_orientation,
     quat_apply_inverse,

diff --git a/source/isaaclab_ovphysx/test/assets/test_rigid_object_collection.py b/source/isaaclab_ovphysx/test/assets/test_rigid_object_collection.py
@@ -27,20 +27,14 @@
 import pytest
 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.
-pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
-
-from isaaclab_ovphysx.assets import RigidObjectCollection  # noqa: E402
-from isaaclab_ovphysx.physics import OvPhysxCfg  # noqa: E402
-
-import isaaclab.sim as sim_utils  # noqa: E402
-from isaaclab.assets import RigidObjectCfg, RigidObjectCollectionCfg  # noqa: E402
-from isaaclab.sim import SimulationCfg, build_simulation_context  # noqa: E402
-from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR  # noqa: E402
-from isaaclab.utils.math import (  # noqa: E402
+from isaaclab_ovphysx.assets import RigidObjectCollection
+from isaaclab_ovphysx.physics import OvPhysxCfg
+
+import isaaclab.sim as sim_utils
+from isaaclab.assets import RigidObjectCfg, RigidObjectCollectionCfg
+from isaaclab.sim import SimulationCfg, build_simulation_context
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
+from isaaclab.utils.math import (
     combine_frame_transforms,
     default_orientation,
     quat_apply_inverse,

diff --git a/source/isaaclab_ovphysx/test/assets/test_rigid_object_helpers.py b/source/isaaclab_ovphysx/test/assets/test_rigid_object_helpers.py
@@ -12,23 +12,14 @@
 
 from __future__ import annotations
 
-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.
-pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
-
-from isaaclab_ovphysx import tensor_types as TT  # noqa: E402
-from isaaclab_ovphysx.test.mock_interfaces.views import MockOvPhysxBindingSet  # noqa: E402
+from isaaclab_ovphysx import tensor_types as TT
+from isaaclab_ovphysx.test.mock_interfaces.views import MockOvPhysxBindingSet
 
 wp.init()
 
 
 def test_mock_binding_set_rigid_object_shapes():
-    pytest.importorskip("isaaclab_ovphysx.tensor_types").RIGID_BODY_POSE  # gates on wheel
-
     bindings = MockOvPhysxBindingSet(
         num_instances=4,
         num_joints=0,

diff --git a/source/isaaclab_ovphysx/test/physics/test_ovphysx_scene_data_backend.py b/source/isaaclab_ovphysx/test/physics/test_ovphysx_scene_data_backend.py
@@ -9,13 +9,6 @@
 
 from types import SimpleNamespace
 
-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.
-pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
-
 
 def _make_stub_binding(prim_paths: list[str]) -> SimpleNamespace:
     """Stub an ovphysx ``TensorBinding`` exposing ``shape``, ``count``, ``prim_paths``, and ``read(dst)``."""

diff --git a/source/isaaclab_ovphysx/test/sensors/test_contact_sensor.py b/source/isaaclab_ovphysx/test/sensors/test_contact_sensor.py
@@ -44,26 +44,22 @@
 import torch
 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.
-pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
-
-from isaaclab_ovphysx.assets import RigidObject  # noqa: E402
-from isaaclab_ovphysx.physics import OvPhysxCfg  # noqa: E402
-from isaaclab_ovphysx.sensors import ContactSensor, ContactSensorCfg  # noqa: E402
-
-import isaaclab.sim as sim_utils  # noqa: E402
-from isaaclab.assets import RigidObjectCfg  # noqa: E402
-from isaaclab.scene import InteractiveScene, InteractiveSceneCfg  # noqa: E402
-from isaaclab.sim import SimulationCfg, SimulationContext, build_simulation_context  # noqa: E402
-from isaaclab.sim.utils.stage import get_current_stage  # noqa: E402
-from isaaclab.terrains import HfRandomUniformTerrainCfg, TerrainGeneratorCfg, TerrainImporterCfg  # noqa: E402
-from isaaclab.utils.configclass import configclass  # noqa: E402
+from isaaclab_ovphysx.assets import RigidObject
+from isaaclab_ovphysx.physics import OvPhysxCfg
+from isaaclab_ovphysx.sensors import ContactSensor, ContactSensorCfg
+
+import isaaclab.sim as sim_utils
+from isaaclab.assets import RigidObjectCfg
+from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
+from isaaclab.sim import SimulationCfg, SimulationContext, build_simulation_context
+from isaaclab.sim.utils.stage import get_current_stage
+from isaaclab.terrains import HfRandomUniformTerrainCfg, TerrainGeneratorCfg, TerrainImporterCfg
+from isaaclab.utils.configclass import configclass
 
 wp.init()
 
+pytestmark = pytest.mark.device_split
+
 # ---------------------------------------------------------------------------
 # Device-lock autouse fixture
 # ---------------------------------------------------------------------------

diff --git a/source/isaaclab_ovphysx/test/sim/test_views_xform_prim_ovphysx.py b/source/isaaclab_ovphysx/test/sim/test_views_xform_prim_ovphysx.py
@@ -11,20 +11,16 @@
 from __future__ import annotations
 
 import pytest
+from isaaclab_ovphysx.physics import OvPhysxCfg
 
-# 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.
-pytest.importorskip("ovphysx.types", reason="ovphysx wheel not installed")
-
-from isaaclab_ovphysx.physics import OvPhysxCfg  # noqa: E402
-
-import isaaclab.sim as sim_utils  # noqa: E402
-from isaaclab.sim import SimulationCfg, build_simulation_context  # noqa: E402
-from isaaclab.sim.views import FrameView  # noqa: E402
+import isaaclab.sim as sim_utils
+from isaaclab.sim import SimulationCfg, build_simulation_context
+from isaaclab.sim.views import FrameView
 
 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):