[Backport] PR #8473 to release/3.0.0

source/isaaclab_physx/changelog.d/skip-empty-rigid-body-view.fixed.rst

@@ -0,0 +1 @@
+* Fixed PhysX startup error logs in static-only scenes by avoiding empty scene-data rigid-body view requests.

source/isaaclab_physx/isaaclab_physx/physics/physx_manager.py

@@ -32,7 +32,7 @@
 import omni.timeline
 import omni.usd
 import usdrt
-from pxr import Sdf, UsdGeom, UsdPhysics, UsdUtils
+from pxr import Sdf, Usd, UsdGeom, UsdPhysics, UsdUtils
 
 import isaaclab.sim as sim_utils
 from isaaclab.physics import CallbackHandle, PhysicsEvent, PhysicsManager
@@ -1025,22 +1025,25 @@ def _warmup_and_create_views(cls) -> None:
         # Register the complete tensor view only after PhysX has loaded the stage.
         cls.backend = sim.get_or_create_backend(PhysxBackendCfg(stage_id=stage_id))
         cls._scene_data_backend.backend = cls.backend
-        view = cls.backend.simulation_view.create_rigid_body_view("/**")
-        # PhysX returns a wrapper with no native handle for an empty selection.
-        cls._scene_data_backend._rigid_body_view = view if view._backend is not None else None
-        if view._backend is not None:
-            # Wildcard bindings expose articulation aliases; publish the actual root-link paths.
-            native = cls.backend.simulation_view
-            paths = view.prim_paths
-            articulation_type = omni.physics.tensors.ObjectType.Articulation
-            roots = [path for path in paths if native.get_object_type(path) == articulation_type]
-            if roots:
-                articulations = native.create_articulation_view(roots)
-                links = (body_paths[0] for body_paths in articulations.link_paths)
-                aliases = dict(zip(articulations.prim_paths, links, strict=True))
-                cls._scene_data_backend._rigid_body_view = native.create_rigid_body_view(
-                    [aliases.get(path, path) for path in paths]
-                )
+        # omni.physics.tensors logs errors for an empty selection, so static scenes skip the request.
+        prims = Usd.PrimRange.Stage(sim.stage, Usd.TraverseInstanceProxies())
+        if any(prim.HasAPI(UsdPhysics.RigidBodyAPI) for prim in prims):
+            view = cls.backend.simulation_view.create_rigid_body_view("/**")
+            # PhysX returns a wrapper with no native handle for an empty selection.
+            cls._scene_data_backend._rigid_body_view = view if view._backend is not None else None
+            if view._backend is not None:
+                # Wildcard bindings expose articulation aliases; publish the actual root-link paths.
+                native = cls.backend.simulation_view
+                paths = view.prim_paths
+                articulation_type = omni.physics.tensors.ObjectType.Articulation
+                roots = [path for path in paths if native.get_object_type(path) == articulation_type]
+                if roots:
+                    articulations = native.create_articulation_view(roots)
+                    links = (body_paths[0] for body_paths in articulations.link_paths)
+                    aliases = dict(zip(articulations.prim_paths, links, strict=True))
+                    cls._scene_data_backend._rigid_body_view = native.create_rigid_body_view(
+                        [aliases.get(path, path) for path in paths]
+                    )
 
         # Final update after view creation
         physx.update_simulation(cls.get_physics_dt(), 0.0)

source/isaaclab_physx/test/sim/test_simulation_context_kit.py

@@ -34,6 +34,34 @@ def test_setup_teardown():
     SimulationContext.clear_instance()
 
 
+@pytest.mark.isaacsim_ci
+def test_reset_without_rigid_bodies_skips_rigid_body_view(monkeypatch):
+    """Resetting a static scene must not request an empty native rigid-body view."""
+    create_simulation_view = omni.physics.tensors.create_simulation_view
+    requested_patterns = []
+
+    class _SimulationViewGuard:
+        def __init__(self, *args, **kwargs):
+            self._view = create_simulation_view(*args, **kwargs)
+
+        def __getattr__(self, name):
+            return getattr(self._view, name)
+
+        def create_rigid_body_view(self, pattern):
+            requested_patterns.append(pattern)
+            return self._view.create_rigid_body_view(pattern)
+
+    monkeypatch.setattr(omni.physics.tensors, "create_simulation_view", _SimulationViewGuard)
+    sim = SimulationContext()
+    cube_cfg = sim_utils.CuboidCfg(size=(0.1, 0.1, 0.1), collision_props=sim_utils.UsdPhysicsCollisionCfg())
+    cube_cfg.func("/World/Cube", cube_cfg)
+
+    sim.reset()
+
+    assert requested_patterns == []
+    assert sim.physics_manager.get_scene_data_backend().get_rigid_body_view() is None
+
+
 @pytest.mark.isaacsim_ci
 def test_timeline_play_stop(monkeypatch):
     """Playing shares one native view; stopping releases it before the next play."""