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Updates Mocks#4720

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AntoineRichard merged 8 commits into
isaac-sim:developfrom
AntoineRichard:antoiner/assets_uts
Feb 27, 2026
Merged

Updates Mocks#4720
AntoineRichard merged 8 commits into
isaac-sim:developfrom
AntoineRichard:antoiner/assets_uts

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@AntoineRichard

@AntoineRichard AntoineRichard commented Feb 25, 2026 •
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Description

Updates the mocks to match the API signature after the latest changes. Builds on top of #4719

Type of change

  • Bug fix (non-breaking change which fixes an issue)
  • New feature (non-breaking change which adds functionality)

Checklist

  • I have read and understood the contribution guidelines
  • I have run the pre-commit checks with ./isaaclab.sh --format
  • I have made corresponding changes to the documentation
  • My changes generate no new warnings
  • I have added tests that prove my fix is effective or that my feature works
  • I have updated the changelog and the corresponding version in the extension's config/extension.toml file
  • I have added my name to the CONTRIBUTORS.md or my name already exists there

@github-actions github-actions Bot added the isaac-lab Related to Isaac Lab team label Feb 25, 2026
@greptile-apps

greptile-apps Bot commented Feb 25, 2026

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Greptile Summary

Updates mock interfaces to match the latest API signatures after recent changes to shape handling and type annotations.

Key changes:

  • Shape corrections: Fixed body_mass from (N, 1, 1) to (N, 1), and body_inertia to consistent (N, num_bodies, 9) format across all mock implementations
  • Type signature updates: Added wp.array and torch.Tensor type hints to all write methods in mocks, matching the real implementations
  • Validation infrastructure: Added assert_shape_and_dtype methods to AssetBase for debug-mode validation of inputs (zero overhead in optimized builds)
  • API consistency: Updated find_joints, find_fixed_tendons, and find_spatial_tendons to accept list[str] instead of list[int] for subset parameters
  • Float support: Updated tendon setter signatures to accept float values in addition to tensors
  • Removed duplicates: Removed duplicate com_pos_b and com_quat_b properties from mocks (now inherited from base classes)
  • Tests updated: All test assertions updated to match the corrected shapes

All changes are consistent and maintain backward compatibility while improving type safety and validation.

Confidence Score: 5/5

  • Safe to merge - well-structured mock updates with comprehensive test coverage
  • All mock interfaces correctly updated to match API signatures, shape fixes are consistent across codebase, tests updated and passing, changelog properly documented, and validation added with zero runtime overhead in production
  • No files require special attention

Important Files Changed

Filename Overview
source/isaaclab/isaaclab/assets/asset_base.py Added shape and dtype validation methods for debug-mode checking
source/isaaclab/isaaclab/test/mock_interfaces/assets/mock_articulation.py Updated mock to match API: body_inertia shape, find methods, type hints, removed duplicate properties
source/isaaclab/isaaclab/test/mock_interfaces/assets/mock_rigid_object.py Updated mock to match API: body_mass shape, type hints, removed duplicate properties, added keyword-only args
source/isaaclab_physx/isaaclab_physx/assets/articulation/articulation.py Added shape/dtype assertions to all write methods for validation
source/isaaclab_physx/isaaclab_physx/assets/rigid_object/rigid_object_data.py Fixed body_mass shape documentation and added reshape for body_inertia to (N, 1, 9)
source/isaaclab_physx/isaaclab_physx/assets/rigid_object_collection/rigid_object_collection_data.py Fixed body_mass reshape to (N, num_bodies) instead of (N, num_bodies, 1)

Last reviewed commit: 314dc3b

greptile-apps[bot]
greptile-apps Bot reviewed Feb 25, 2026
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@AntoineRichard AntoineRichard mentioned this pull request Feb 25, 2026
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@kellyguo11

kellyguo11 commented Feb 27, 2026

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can you help rebase this one?

@AntoineRichard AntoineRichard merged commit 3b9fcd2 into isaac-sim:develop Feb 27, 2026
5 of 9 checks passed
AntoineRichard added a commit that referenced this pull request Feb 27, 2026
@AntoineRichard
Adds mock interfaces selection API. (#4722)
9d2e9e5 
# Description

Adds mock interfaces selection API. Getting the code ready to write UTs
across backends. Built ontop of
#4720

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
daniela-hase pushed a commit to daniela-hase/IsaacLab that referenced this pull request Mar 30, 2026
@AntoineRichard @daniela-hase
Updates Mocks (isaac-sim#4720)
ace575d 
# Description

Updates the mocks to match the API signature after the latest changes.
Builds on top of isaac-sim#4719

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
daniela-hase pushed a commit to daniela-hase/IsaacLab that referenced this pull request Mar 30, 2026
@AntoineRichard @daniela-hase
Adds mock interfaces selection API. (isaac-sim#4722)
cbf9797 
# Description

Adds mock interfaces selection API. Getting the code ready to write UTs
across backends. Built ontop of
isaac-sim#4720

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
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@kellyguo11 kellyguo11 kellyguo11 approved these changes

@ooctipus ooctipus ooctipus approved these changes

@pascal-roth pascal-roth Awaiting requested review from pascal-roth

@Mayankm96 Mayankm96 Awaiting requested review from Mayankm96 Mayankm96 is a code owner

@jtigue-bdai jtigue-bdai Awaiting requested review from jtigue-bdai

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@AntoineRichard @kellyguo11 @ooctipus