[kellyguo11]

Description

Skip the PhysX scene-data rigid-body tensor view when the stage has no rigid bodies.

Since #8021, PhysxManager requests a global create_rigid_body_view("/**") at warmup to back the scene-data
transforms. omni.physics.tensors logs an error whenever a pattern matches no rigid bodies, so every static scene,
for example scripts/tutorials/00_sim/launch_app.py, starts with:

[Error] [omni.physx.tensors.plugin] Pattern '/**' did not match any rigid bodies
[Error] [omni.physx.tensors.plugin] Provided pattern list did not match any rigid bodies

The manager now checks the loaded USD stage, including instance proxies, for UsdPhysics.RigidBodyAPI before
requesting the view. Rigid-body scenes keep the existing tensor-view and articulation-alias behavior.

• No false skips. With Kit, every PhysX body comes from a USD prim: environments are always authored through
  UsdReplicateContext, and PhysX replication copies from USD sources.
• Cost. any() stops at the first rigid body, so only static scenes walk the whole stage.
• Why not ask PhysX. omni.physics.tensors.SimulationView cannot list bodies or silence the no-match error from
  Python. The tensors C++ layer has a per-view setNoMatchLoggingQuiet, which the OVPhysX tensor binding uses for
  wildcard bindings. Once it is exposed in Python, this stage walk can be replaced.

test_reset_without_rigid_bodies_skips_rigid_body_view resets a scene whose only physics prim is a static collider
and checks that no rigid-body view is requested or published. It fails on the pre-fix code with the /** request.
test_timeline_play_stop covers the rigid-body branch; no existing test had a static scene.

No additional dependencies or public API changes are required.

Type of change

• Bug fix (non-breaking change which fixes an issue)

Release backport

• Backport this pull request to the active release branch after it merges into develop

release/3.0.0 has the same /** request.

Screenshots

Not applicable; this removes startup log errors.

Validation

• PYTEST_DISABLE_PLUGIN_AUTOLOAD=1 PYTHONEXE=.venv/bin/python <isaac-sim-source>/python.sh --no-ros-env -m pytest -q source/isaaclab_physx/test/sim/test_simulation_context_kit.py — TODO: rerun after the test change (was 5 passed with source-built Isaac Sim 6.2).
• The reported launch_app.py --visualizer kit,viser,rerun,newton_gl command reached [INFO]: Setup complete...; neither PhysX tensor error appeared before the bounded smoke run was stopped.
• ISAACLAB_CHANGELOG_BASE_REF=upstream/develop uv run --no-sync isaaclab -f — passed.
• uv run --no-sync python tools/changelog/cli.py check upstream/develop --include-worktree — passed.
• performance-smoke-benchmarks fails on the g1-newton leg (Warp LTO build directory Permission denied). This
  is unrelated; the same workflow fails on develop.

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with uv run isaaclab --format
• No public documentation change is required; the user-visible fix is recorded in the package changelog
• My changes generate no new warnings
• I have validated the changed behavior with focused coverage and applied the test-audit criteria to the test change
• I have added a changelog fragment under source/isaaclab_physx/changelog.d/
• My name already exists in CONTRIBUTORS.md

[kellyguo11]

run-ci

[greptile-apps]

Confidence Score: 5/5

[Medium impact] This PR appears safe to merge.

Summary

This PR skips the global PhysX rigid-body view request when the USD stage contains no rigid bodies.

• Static scenes skip empty PhysX rigid-body view requests.

_{Reviews (1) · Last reviewed commit: "Skip empty PhysX rigid-body view creatio..." · Reviewed by Greptile}

[isaaclab-review-bot]

Isaac Lab Review Bot

Needs attention: Style consistency (1). Other reviewed categories look good.

• PR description: The title and body accurately describe the static-scene guard, preserved rigid-body behavior, focused validation, changelog, and unchanged public API; no correction is needed.
• Design and architecture: Architecture looks good.
• Scope and over-engineering: No over-engineering issues.
• API: API changes look good.
• Compatibility and deprecation: No breaking changes identified.
• Implementation: Implementation looks good.
• Style consistency: The rigid_body_prims variable contains every traversed prim, obscuring the predicate; inline the range into any(...) and retain only has_rigid_bodies.
• Test quality: Test quality looks good.

Minor fixes needed. Posted 1 inline finding.

Automated review; human maintainers own approval decisions.

[isaaclab-review-bot]

🟡 Warning · Style Consistency — Misleading name for full prim range

rigid_body_prims holds every prim on the stage, not rigid bodies, so the guard misreads at a glance. Inline the Usd.PrimRange.Stage(...) call into the any(...) generator and keep only has_rigid_bodies.

[AntoineRichard]

run-ci