Fixes failing tests from torch to warp updates (#4617)

# Description

Fixes some more failing tests that were introduced in #4551 

## Type of change

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applicable. -->

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

## 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
- [ ] 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

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---------

Signed-off-by: Antoine RICHARD <antoiner@nvidia.com>
Co-authored-by: Antoine Richard <antoiner@nvidia.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>

Author: 3 people

source/isaaclab/isaaclab/test/mock_interfaces/assets/mock_articulation.py

@@ -163,7 +163,7 @@ def default_root_pose(self) -> wp.array:
         if self._default_root_pose is None:
             pose_np = np.zeros((self._num_instances, 7), dtype=np.float32)
             pose_np[..., 6] = 1.0  # identity quat qw=1, transformf layout: (px,py,pz,qx,qy,qz,qw)
-            return wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
+            self._default_root_pose = wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
         return self._default_root_pose
 
     @property
@@ -355,7 +355,7 @@ def root_link_pose_w(self) -> wp.array:
         if self._root_link_pose_w is None:
             pose_np = np.zeros((self._num_instances, 7), dtype=np.float32)
             pose_np[..., 6] = 1.0  # identity quat qw=1, transformf layout: (px,py,pz,qx,qy,qz,qw)
-            return wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
+            self._root_link_pose_w = wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
         return self._root_link_pose_w
 
     @property
@@ -381,7 +381,7 @@ def root_link_pos_w(self) -> wp.array:
 
     @property
     def root_link_quat_w(self) -> wp.array:
-        """Root link orientation in world frame. Shape: (N,), dtype=wp.quatf."""
+        """Root link orientation in world frame (x, y, z, w). Shape: (N,), dtype=wp.quatf."""
         t = self.root_link_pose_w
         return wp.array(ptr=t.ptr + 3 * 4, shape=t.shape, dtype=wp.quatf, strides=t.strides, device=self.device)
 
@@ -456,7 +456,7 @@ def body_link_pose_w(self) -> wp.array:
         if self._body_link_pose_w is None:
             pose_np = np.zeros((self._num_instances, self._num_bodies, 7), dtype=np.float32)
             pose_np[..., 6] = 1.0  # identity quat qw=1, transformf layout: (px,py,pz,qx,qy,qz,qw)
-            return wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
+            self._body_link_pose_w = wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
         return self._body_link_pose_w
 
     @property
@@ -489,12 +489,14 @@ def body_link_quat_w(self) -> wp.array:
     @property
     def body_link_lin_vel_w(self) -> wp.array:
         """Body link linear velocities in world frame. Shape: (N, num_bodies, 3)."""
-        return self.body_link_vel_w[..., :3]
+        vel_torch = wp.to_torch(self.body_link_vel_w)
+        return wp.from_torch(vel_torch[..., :3].contiguous())
 
     @property
     def body_link_ang_vel_w(self) -> wp.array:
         """Body link angular velocities in world frame. Shape: (N, num_bodies, 3)."""
-        return self.body_link_vel_w[..., 3:6]
+        vel_torch = wp.to_torch(self.body_link_vel_w)
+        return wp.from_torch(vel_torch[..., 3:6].contiguous())
 
     # -- Body state properties (CoM frame) --
 
@@ -539,7 +541,7 @@ def body_com_pose_b(self) -> wp.array:
         if self._body_com_pose_b is None:
             pose_np = np.zeros((self._num_instances, self._num_bodies, 7), dtype=np.float32)
             pose_np[..., 6] = 1.0  # identity quat qw=1, transformf layout: (px,py,pz,qx,qy,qz,qw)
-            return wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
+            self._body_com_pose_b = wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
         return self._body_com_pose_b
 
     # Sliced properties (zero-copy pointer arithmetic on transformf)
@@ -558,22 +560,26 @@ def body_com_quat_w(self) -> wp.array:
     @property
     def body_com_lin_vel_w(self) -> wp.array:
         """Body CoM linear velocities in world frame. Shape: (N, num_bodies, 3)."""
-        return self.body_com_vel_w[..., :3]
+        vel_torch = wp.to_torch(self.body_com_vel_w)
+        return wp.from_torch(vel_torch[..., :3].contiguous())
 
     @property
     def body_com_ang_vel_w(self) -> wp.array:
         """Body CoM angular velocities in world frame. Shape: (N, num_bodies, 3)."""
-        return self.body_com_vel_w[..., 3:6]
+        vel_torch = wp.to_torch(self.body_com_vel_w)
+        return wp.from_torch(vel_torch[..., 3:6].contiguous())
 
     @property
     def body_com_lin_acc_w(self) -> wp.array:
         """Body CoM linear accelerations in world frame. Shape: (N, num_bodies, 3)."""
-        return self.body_com_acc_w[..., :3]
+        acc_torch = wp.to_torch(self.body_com_acc_w)
+        return wp.from_torch(acc_torch[..., :3].contiguous())
 
     @property
     def body_com_ang_acc_w(self) -> wp.array:
         """Body CoM angular accelerations in world frame. Shape: (N, num_bodies, 3)."""
-        return self.body_com_acc_w[..., 3:6]
+        acc_torch = wp.to_torch(self.body_com_acc_w)
+        return wp.from_torch(acc_torch[..., 3:6].contiguous())
 
     @property
     def body_com_pos_b(self) -> wp.array:
@@ -649,6 +655,16 @@ def root_com_ang_vel_b(self) -> wp.array:
         """Root CoM angular velocity in body frame. Shape: (N, 3)."""
         return wp.clone(self.root_com_ang_vel_w, self.device)
 
+    @property
+    def com_pos_b(self) -> wp.array:
+        """Convenience alias for root_com_pos_w. Shape: (N, 3)."""
+        return wp.clone(self.root_com_pos_w, self.device)
+
+    @property
+    def com_quat_b(self) -> wp.array:
+        """Convenience alias for root_com_quat_w. Shape: (N, 4)."""
+        return wp.clone(self.root_com_quat_w, self.device)
+
     # -- Fixed tendon properties --
 
     @property

source/isaaclab/isaaclab/test/mock_interfaces/assets/mock_rigid_object.py

@@ -97,7 +97,7 @@ def default_root_pose(self) -> wp.array:
         if self._default_root_pose is None:
             pose_np = np.zeros((self._num_instances, 7), dtype=np.float32)
             pose_np[..., 6] = 1.0  # identity quat qw=1, transformf layout: (px,py,pz,qx,qy,qz,qw)
-            return wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
+            self._default_root_pose = wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
         return self._default_root_pose
 
     @property
@@ -122,7 +122,7 @@ def root_link_pose_w(self) -> wp.array:
         if self._root_link_pose_w is None:
             pose_np = np.zeros((self._num_instances, 7), dtype=np.float32)
             pose_np[..., 6] = 1.0  # identity quat qw=1, transformf layout: (px,py,pz,qx,qy,qz,qw)
-            return wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
+            self._root_link_pose_w = wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
         return self._root_link_pose_w
 
     @property
@@ -146,6 +146,7 @@ def root_link_pos_w(self) -> wp.array:
         t = self.root_link_pose_w
         return wp.array(ptr=t.ptr, shape=t.shape, dtype=wp.vec3f, strides=t.strides, device=self.device)
 
+    # Sliced properties (convert through torch for simplicity in mock)
     @property
     def root_link_quat_w(self) -> wp.array:
         """Root link orientation. Shape: (N,), dtype=wp.quatf."""
@@ -199,6 +200,7 @@ def root_com_pos_w(self) -> wp.array:
         t = self.root_com_pose_w
         return wp.array(ptr=t.ptr, shape=t.shape, dtype=wp.vec3f, strides=t.strides, device=self.device)
 
+    # Sliced properties (convert through torch for simplicity in mock)
     @property
     def root_com_quat_w(self) -> wp.array:
         """Root CoM orientation. Shape: (N,), dtype=wp.quatf."""
@@ -223,7 +225,7 @@ def body_link_pose_w(self) -> wp.array:
         if self._body_link_pose_w is None:
             pose_np = np.zeros((self._num_instances, 1, 7), dtype=np.float32)
             pose_np[..., 6] = 1.0  # identity quat qw=1, transformf layout: (px,py,pz,qx,qy,qz,qw)
-            return wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
+            self._body_link_pose_w = wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
         return self._body_link_pose_w
 
     @property
@@ -247,6 +249,7 @@ def body_link_pos_w(self) -> wp.array:
         t = self.body_link_pose_w
         return wp.array(ptr=t.ptr, shape=t.shape, dtype=wp.vec3f, strides=t.strides, device=self.device)
 
+    # Sliced properties (convert through torch for simplicity in mock)
     @property
     def body_link_quat_w(self) -> wp.array:
         """Body link orientation. Shape: (N, 1), dtype=wp.quatf."""
@@ -256,12 +259,14 @@ def body_link_quat_w(self) -> wp.array:
     @property
     def body_link_lin_vel_w(self) -> wp.array:
         """Body link linear velocity. Shape: (N, 1, 3)."""
-        return self.body_link_vel_w[..., :3]
+        vel_torch = wp.to_torch(self.body_link_vel_w)
+        return wp.from_torch(vel_torch[..., :3].contiguous())
 
     @property
     def body_link_ang_vel_w(self) -> wp.array:
         """Body link angular velocity. Shape: (N, 1, 3)."""
-        return self.body_link_vel_w[..., 3:6]
+        vel_torch = wp.to_torch(self.body_link_vel_w)
+        return wp.from_torch(vel_torch[..., 3:6].contiguous())
 
     # -- Body state properties (CoM frame) --
 
@@ -306,7 +311,7 @@ def body_com_pose_b(self) -> wp.array:
         if self._body_com_pose_b is None:
             pose_np = np.zeros((self._num_instances, 1, 7), dtype=np.float32)
             pose_np[..., 6] = 1.0  # identity quat qw=1, transformf layout: (px,py,pz,qx,qy,qz,qw)
-            return wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
+            self._body_com_pose_b = wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
         return self._body_com_pose_b
 
     # Sliced properties (zero-copy pointer arithmetic on transformf)
@@ -325,22 +330,26 @@ def body_com_quat_w(self) -> wp.array:
     @property
     def body_com_lin_vel_w(self) -> wp.array:
         """Body CoM linear velocity. Shape: (N, 1, 3)."""
-        return self.body_com_vel_w[..., :3]
+        vel_torch = wp.to_torch(self.body_com_vel_w)
+        return wp.from_torch(vel_torch[..., :3].contiguous())
 
     @property
     def body_com_ang_vel_w(self) -> wp.array:
         """Body CoM angular velocity. Shape: (N, 1, 3)."""
-        return self.body_com_vel_w[..., 3:6]
+        vel_torch = wp.to_torch(self.body_com_vel_w)
+        return wp.from_torch(vel_torch[..., 3:6].contiguous())
 
     @property
     def body_com_lin_acc_w(self) -> wp.array:
         """Body CoM linear acceleration. Shape: (N, 1, 3)."""
-        return self.body_com_acc_w[..., :3]
+        acc_torch = wp.to_torch(self.body_com_acc_w)
+        return wp.from_torch(acc_torch[..., :3].contiguous())
 
     @property
     def body_com_ang_acc_w(self) -> wp.array:
         """Body CoM angular acceleration. Shape: (N, 1, 3)."""
-        return self.body_com_acc_w[..., 3:6]
+        acc_torch = wp.to_torch(self.body_com_acc_w)
+        return wp.from_torch(acc_torch[..., 3:6].contiguous())
 
     @property
     def body_com_pos_b(self) -> wp.array:
@@ -409,6 +418,17 @@ def root_com_ang_vel_b(self) -> wp.array:
         return wp.clone(self.root_com_ang_vel_w, self.device)
 
     # -- Shorthand properties (root_pose_w, body_pos_w, com_pos_b, etc.) --
+
+    @property
+    def com_pos_b(self) -> wp.array:
+        """Convenience alias for root_com_pos_w. Shape: (N, 3)."""
+        return wp.clone(self.root_com_pos_w, self.device)
+
+    @property
+    def com_quat_b(self) -> wp.array:
+        """Convenience alias for root_com_quat_w. Shape: (N, 4)."""
+        return wp.clone(self.root_com_quat_w, self.device)
+
     # Inherited from BaseRigidObjectData
 
     # -- Deprecated properties (default_mass, default_inertia) --

source/isaaclab/isaaclab/test/mock_interfaces/assets/mock_rigid_object_collection.py

@@ -121,7 +121,7 @@ def body_link_pose_w(self) -> wp.array:
         if self._body_link_pose_w is None:
             pose_np = np.zeros((self._num_instances, self._num_bodies, 7), dtype=np.float32)
             pose_np[..., 6] = 1.0  # identity quat qw=1, transformf layout: (px,py,pz,qx,qy,qz,qw)
-            return wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
+            self._body_link_pose_w = wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
         return self._body_link_pose_w
 
     @property
@@ -145,6 +145,7 @@ def body_link_pos_w(self) -> wp.array:
         t = self.body_link_pose_w
         return wp.array(ptr=t.ptr, shape=t.shape, dtype=wp.vec3f, strides=t.strides, device=self.device)
 
+    # Sliced properties (convert through torch for simplicity in mock)
     @property
     def body_link_quat_w(self) -> wp.array:
         """Body link orientations. Shape: (N, num_bodies), dtype=wp.quatf."""
@@ -154,12 +155,14 @@ def body_link_quat_w(self) -> wp.array:
     @property
     def body_link_lin_vel_w(self) -> wp.array:
         """Body link linear velocities. Shape: (N, num_bodies, 3)."""
-        return self.body_link_vel_w[..., :3]
+        vel_torch = wp.to_torch(self.body_link_vel_w)
+        return wp.from_torch(vel_torch[..., :3].contiguous())
 
     @property
     def body_link_ang_vel_w(self) -> wp.array:
         """Body link angular velocities. Shape: (N, num_bodies, 3)."""
-        return self.body_link_vel_w[..., 3:6]
+        vel_torch = wp.to_torch(self.body_link_vel_w)
+        return wp.from_torch(vel_torch[..., 3:6].contiguous())
 
     # -- Body state properties (CoM frame) --
 
@@ -197,7 +200,7 @@ def body_com_pose_b(self) -> wp.array:
         if self._body_com_pose_b is None:
             pose_np = np.zeros((self._num_instances, self._num_bodies, 7), dtype=np.float32)
             pose_np[..., 6] = 1.0  # identity quat qw=1, transformf layout: (px,py,pz,qx,qy,qz,qw)
-            return wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
+            self._body_com_pose_b = wp.array(pose_np, dtype=wp.float32, device=self.device).view(wp.transformf)
         return self._body_com_pose_b
 
     # Sliced properties (zero-copy pointer arithmetic on transformf)
@@ -216,22 +219,26 @@ def body_com_quat_w(self) -> wp.array:
     @property
     def body_com_lin_vel_w(self) -> wp.array:
         """Body CoM linear velocities. Shape: (N, num_bodies, 3)."""
-        return self.body_com_vel_w[..., :3]
+        vel_torch = wp.to_torch(self.body_com_vel_w)
+        return wp.from_torch(vel_torch[..., :3].contiguous())
 
     @property
     def body_com_ang_vel_w(self) -> wp.array:
         """Body CoM angular velocities. Shape: (N, num_bodies, 3)."""
-        return self.body_com_vel_w[..., 3:6]
+        vel_torch = wp.to_torch(self.body_com_vel_w)
+        return wp.from_torch(vel_torch[..., 3:6].contiguous())
 
     @property
     def body_com_lin_acc_w(self) -> wp.array:
         """Body CoM linear accelerations. Shape: (N, num_bodies, 3)."""
-        return self.body_com_acc_w[..., :3]
+        acc_torch = wp.to_torch(self.body_com_acc_w)
+        return wp.from_torch(acc_torch[..., :3].contiguous())
 
     @property
     def body_com_ang_acc_w(self) -> wp.array:
         """Body CoM angular accelerations. Shape: (N, num_bodies, 3)."""
-        return self.body_com_acc_w[..., 3:6]
+        acc_torch = wp.to_torch(self.body_com_acc_w)
+        return wp.from_torch(acc_torch[..., 3:6].contiguous())
 
     @property
     def body_com_pos_b(self) -> wp.array:

source/isaaclab/isaaclab/test/mock_interfaces/sensors/mock_contact_sensor.py

@@ -64,7 +64,7 @@ def __init__(
         self._net_forces_w: wp.array | None = None
         self._net_forces_w_history: wp.array | None = None
         self._force_matrix_w: wp.array | None = None
-        self._force_matrix_w_history: wp.array | None = None
+        self._force_matrix_w_history: torch.Tensor | None = None  # 5D, exceeds warp's 4D limit
         self._contact_pos_w: wp.array | None = None
         self._friction_forces_w: wp.array | None = None
         self._last_air_time: wp.array | None = None
@@ -133,14 +133,17 @@ def force_matrix_w(self) -> wp.array | None:
         return self._force_matrix_w
 
     @property
-    def force_matrix_w_history(self) -> wp.array | None:
-        """History of filtered forces. Shape: (N, T, B, M, 3)."""
+    def force_matrix_w_history(self) -> torch.Tensor | None:
+        """History of filtered forces. Shape: (N, T, B, M, 3).
+
+        Note: Returns torch.Tensor instead of wp.array due to 5D shape limitation in warp (max 4D).
+        """
         if self._history_length == 0 or self._num_filter_bodies == 0:
             return None
         if self._force_matrix_w_history is None:
-            return wp.zeros(
-                shape=(self._num_instances, self._history_length, self._num_bodies, self._num_filter_bodies, 3),
-                dtype=wp.float32,
+            return torch.zeros(
+                (self._num_instances, self._history_length, self._num_bodies, self._num_filter_bodies, 3),
+                dtype=torch.float32,
                 device=self.device,
             )
         return self._force_matrix_w_history
@@ -222,8 +225,11 @@ def set_force_matrix_w(self, value: torch.Tensor) -> None:
         self._force_matrix_w = wp.from_torch(value.to(self.device).contiguous(), dtype=wp.float32)
 
     def set_force_matrix_w_history(self, value: torch.Tensor) -> None:
-        """Set filtered forces history."""
-        self._force_matrix_w_history = wp.from_torch(value.to(self.device).contiguous(), dtype=wp.float32)
+        """Set filtered forces history.
+
+        Note: Stores as torch.Tensor instead of wp.array due to 5D shape limitation in warp (max 4D).
+        """
+        self._force_matrix_w_history = value.to(self.device).contiguous()
 
     def set_contact_pos_w(self, value: torch.Tensor) -> None:
         """Set contact point positions."""

source/isaaclab/isaaclab/test/mock_interfaces/sensors/mock_imu.py

@@ -64,11 +64,11 @@ def pos_w(self) -> wp.array:
 
     @property
     def quat_w(self) -> wp.array:
-        """Orientation (w, x, y, z) in world frame. Shape: (N, 4)."""
+        """Orientation (x, y, z, w) in world frame. Shape: (N, 4)."""
         if self._quat_w is None:
-            # Default to identity quaternion (w, x, y, z) = (1, 0, 0, 0)
+            # Default to identity quaternion (x, y, z, w) = (0, 0, 0, 1)
             quat_np = np.zeros((self._num_instances, 4), dtype=np.float32)
-            quat_np[:, 0] = 1.0
+            quat_np[:, 3] = 1.0  # w component is at index 3 in XYZW format
             return wp.array(quat_np, dtype=wp.float32, device=self.device)
         return self._quat_w
 
@@ -162,7 +162,7 @@ def set_mock_data(
 
         Args:
             pos_w: Position in world frame. Shape: (N, 3).
-            quat_w: Orientation (w, x, y, z) in world frame. Shape: (N, 4).
+            quat_w: Orientation (x, y, z, w) in world frame. Shape: (N, 4).
             projected_gravity_b: Gravity direction in body frame. Shape: (N, 3).
             lin_vel_b: Linear velocity in body frame. Shape: (N, 3).
             ang_vel_b: Angular velocity in body frame. Shape: (N, 3).