Accelerate and strengthen asset tests

source/isaaclab/test/actuators/test_physx_actuator_runtime.py

@@ -0,0 +1,146 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Focused unit tests for the shared host-side PhysX actuator runtime."""
+
+from types import SimpleNamespace
+from unittest.mock import Mock, call
+
+import pytest
+import warp as wp
+
+from isaaclab.actuators.newton.physx_runtime import PhysxActuatorRuntime
+
+
+def _runtime() -> PhysxActuatorRuntime:
+    return PhysxActuatorRuntime(SimpleNamespace(device="cuda:0"), logger=Mock())
+
+
+def test_graph_capture_builds_two_graphs_and_restores_adapter_state(monkeypatch: pytest.MonkeyPatch) -> None:
+    """Capture both alternating state graphs without leaking the capture-time state swap."""
+    graphs = [object(), object()]
+
+    class _Capture:
+        def __init__(self, *args, **kwargs):
+            self.graph = graphs.pop(0)
+
+        def __enter__(self):
+            return self
+
+        def __exit__(self, exc_type, exc_value, traceback):
+            return False
+
+    state_a, state_b = object(), object()
+    runtime = _runtime()
+    runtime.adapter = SimpleNamespace(_states_a=state_a, _states_b=state_b)
+    monkeypatch.setattr(wp, "ScopedCapture", _Capture)
+    monkeypatch.setattr(runtime, "_run_native_actuator_kernels", Mock())
+
+    runtime._capture_native_actuator_graphs(SimpleNamespace(), 0.01)
+
+    assert len(runtime.native_actuator_graphs) == 2
+    assert runtime.adapter._states_a is state_a
+    assert runtime.adapter._states_b is state_b
+    assert runtime._native_actuator_graph_index == 0
+
+
+def test_graph_capture_failure_falls_back_to_eager(monkeypatch: pytest.MonkeyPatch) -> None:
+    """A partial capture failure must restore adapter state before eager execution."""
+
+    class _FailingCapture:
+        capture_count = 0
+
+        def __init__(self, *args, **kwargs):
+            self.capture_index = self.capture_count
+            type(self).capture_count += 1
+            self.graph = object()
+
+        def __enter__(self):
+            if self.capture_index == 1:
+                raise RuntimeError("second capture unavailable")
+            return self
+
+        def __exit__(self, exc_type, exc_value, traceback):
+            return False
+
+    state_a, state_b = object(), object()
+    runtime = _runtime()
+    runtime.adapter = SimpleNamespace(_states_a=state_a, _states_b=state_b)
+
+    def _swap_adapter_state(*args, **kwargs) -> None:
+        runtime.adapter._states_a, runtime.adapter._states_b = runtime.adapter._states_b, runtime.adapter._states_a
+
+    monkeypatch.setattr(wp, "ScopedCapture", _FailingCapture)
+    monkeypatch.setattr(runtime, "_run_native_actuator_kernels", _swap_adapter_state)
+
+    runtime._capture_native_actuator_graphs(SimpleNamespace(), 0.01)
+
+    assert runtime.native_actuator_graphs == ()
+    assert runtime.adapter._states_a is state_a
+    assert runtime.adapter._states_b is state_b
+    runtime._logger.warning.assert_called_once()
+
+
+def test_compute_falls_back_to_eager_after_graph_capture_failure(monkeypatch: pytest.MonkeyPatch) -> None:
+    """A failed host capture during compute must execute the current command eagerly."""
+
+    class _FailingCapture:
+        def __init__(self, *args, **kwargs):
+            pass
+
+        def __enter__(self):
+            raise RuntimeError("capture unavailable")
+
+        def __exit__(self, exc_type, exc_value, traceback):
+            return False
+
+    runtime = _runtime()
+    runtime.adapter = SimpleNamespace(
+        is_stateful=False,
+        is_all_graphable=True,
+        _states_a=object(),
+        _states_b=object(),
+    )
+    eager_compute = Mock()
+    monkeypatch.setattr(wp, "get_device", lambda device: SimpleNamespace(is_cuda=True, is_capturing=False))
+    monkeypatch.setattr(wp, "ScopedCapture", _FailingCapture)
+    monkeypatch.setattr(runtime, "_run_native_actuator_kernels", eager_compute)
+    collection = SimpleNamespace()
+
+    runtime.compute(collection, 0.01)
+
+    eager_compute.assert_called_once_with(collection, 0.01)
+
+
+def test_compute_launches_alternating_graphs_and_swaps_state(monkeypatch: pytest.MonkeyPatch) -> None:
+    """Successive graphable computes must ping-pong graphs and adapter state exactly once."""
+    graph_a, graph_b = object(), object()
+    swap_state = Mock()
+    runtime = _runtime()
+    runtime.adapter = SimpleNamespace(is_stateful=True, is_all_graphable=True, _swap_state_buffers=swap_state)
+    runtime.native_actuator_graphs = (graph_a, graph_b)
+    eager_compute = Mock()
+    launch_graph = Mock()
+    monkeypatch.setattr(wp, "get_device", lambda device: SimpleNamespace(is_cuda=True, is_capturing=False))
+    monkeypatch.setattr(wp, "capture_launch", launch_graph)
+    monkeypatch.setattr(runtime, "_run_native_actuator_kernels", eager_compute)
+
+    runtime.compute(SimpleNamespace(), 0.01)
+    runtime.compute(SimpleNamespace(), 0.01)
+
+    assert launch_graph.call_args_list == [call(graph_a), call(graph_b)]
+    assert swap_state.call_count == 2
+    assert runtime._native_actuator_graph_index == 0
+    eager_compute.assert_not_called()
+
+
+def test_stateful_actuator_rejects_outer_cuda_capture(monkeypatch: pytest.MonkeyPatch) -> None:
+    """Stateful adapters cannot safely mutate their buffers inside an outer CUDA capture."""
+    runtime = _runtime()
+    runtime.adapter = SimpleNamespace(is_stateful=True)
+    monkeypatch.setattr(wp, "get_device", lambda device: SimpleNamespace(is_cuda=True, is_capturing=True))
+
+    with pytest.raises(RuntimeError, match="stateful Newton actuators cannot run inside an outer CUDA graph capture"):
+        runtime.compute(SimpleNamespace(), 0.01)

source/isaaclab/test/assets/contract/__init__.py

@@ -0,0 +1,6 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Shared asset contract test infrastructure."""