Adds mock interfaces selection API.

source/isaaclab_newton/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.2.3"
+version = "0.3.0"
 
 # Description
 title = "Newton simulation interfaces for IsaacLab core package"

source/isaaclab_newton/docs/CHANGELOG.rst

@@ -1,6 +1,36 @@
 Changelog
 ---------
 
+0.3.0 (2026-02-25)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added :mod:`isaaclab_newton.test.mock_interfaces` test infrastructure module with
+  structured mock views, factory functions, and unit tests — mirroring the
+  ``isaaclab_physx`` mock interface pattern:
+
+  * :class:`~isaaclab_newton.test.mock_interfaces.views.MockNewtonArticulationView`:
+    extracted from monolithic ``mock_newton.py`` into its own module with lazy
+    initialization, individual ``set_mock_*`` methods, ``_noop_setters`` flag,
+    and numpy-based ``set_random_mock_data()``.
+
+  * Factory functions: ``create_mock_articulation_view()``,
+    ``create_mock_quadruped_view()``, ``create_mock_humanoid_view()`` for
+    convenient test setup.
+
+* Added unit tests for mock interfaces:
+  ``test_mock_articulation_view.py`` and ``test_factories.py``.
+
+Changed
+^^^^^^^
+
+* Restructured ``mock_newton.py``: moved ``MockNewtonArticulationView`` to
+  ``views/mock_articulation_view.py`` and removed ``torch`` dependency from
+  the mock module (replaced with ``numpy`` for random data generation).
+
+
 0.2.3 (2026-02-27)
 ~~~~~~~~~~~~~~~~~~
 

source/isaaclab_newton/isaaclab_newton/test/__init__.py

@@ -0,0 +1,4 @@
+# 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

source/isaaclab_newton/isaaclab_newton/test/mock_interfaces/__init__.py

@@ -0,0 +1,37 @@
+# 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
+
+"""Mock interfaces for Newton simulation views.
+
+This module provides mock implementations of Newton simulation components for unit testing
+without requiring an actual simulation environment.
+"""
+
+from .factories import (
+    create_mock_articulation_view,
+    create_mock_humanoid_view,
+    create_mock_quadruped_view,
+)
+from .mock_newton import (
+    MockNewtonContactSensor,
+    MockNewtonModel,
+    MockWrenchComposer,
+    create_mock_newton_manager,
+)
+from .views import MockNewtonArticulationView
+
+__all__ = [
+    # Views
+    "MockNewtonArticulationView",
+    # Other mocks
+    "MockNewtonModel",
+    "MockWrenchComposer",
+    "MockNewtonContactSensor",
+    # Factory functions
+    "create_mock_articulation_view",
+    "create_mock_quadruped_view",
+    "create_mock_humanoid_view",
+    "create_mock_newton_manager",
+]

source/isaaclab_newton/isaaclab_newton/test/mock_interfaces/factories.py

@@ -0,0 +1,191 @@
+# 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
+
+"""Factory functions for creating mock Newton views."""
+
+from __future__ import annotations
+
+from .views import MockNewtonArticulationView
+
+
+def create_mock_articulation_view(
+    count: int = 1,
+    num_joints: int = 1,
+    num_bodies: int = 2,
+    joint_names: list[str] | None = None,
+    body_names: list[str] | None = None,
+    is_fixed_base: bool = False,
+    device: str = "cpu",
+) -> MockNewtonArticulationView:
+    """Create a mock Newton articulation view.
+
+    Args:
+        count: Number of articulation instances.
+        num_joints: Number of degrees of freedom (joints).
+        num_bodies: Number of bodies (links).
+        joint_names: Names of the joints. Defaults to auto-generated names.
+        body_names: Names of the bodies. Defaults to auto-generated names.
+        is_fixed_base: Whether the articulation has a fixed base.
+        device: Device for array allocation.
+
+    Returns:
+        A MockNewtonArticulationView instance.
+    """
+    return MockNewtonArticulationView(
+        num_instances=count,
+        num_bodies=num_bodies,
+        num_joints=num_joints,
+        device=device,
+        is_fixed_base=is_fixed_base,
+        joint_names=joint_names,
+        body_names=body_names,
+    )
+
+
+# -- Pre-configured factories --
+
+
+def create_mock_quadruped_view(
+    count: int = 1,
+    device: str = "cpu",
+) -> MockNewtonArticulationView:
+    """Create a mock articulation view configured for a quadruped robot.
+
+    Configuration:
+        - 12 DOFs (3 per leg x 4 legs: hip, thigh, calf)
+        - 13 links (base + 3 per leg)
+        - Floating base
+
+    Args:
+        count: Number of articulation instances.
+        device: Device for array allocation.
+
+    Returns:
+        A MockNewtonArticulationView configured for quadruped.
+    """
+    joint_names = [
+        "FL_hip_joint",
+        "FL_thigh_joint",
+        "FL_calf_joint",
+        "FR_hip_joint",
+        "FR_thigh_joint",
+        "FR_calf_joint",
+        "RL_hip_joint",
+        "RL_thigh_joint",
+        "RL_calf_joint",
+        "RR_hip_joint",
+        "RR_thigh_joint",
+        "RR_calf_joint",
+    ]
+    body_names = [
+        "base",
+        "FL_hip",
+        "FL_thigh",
+        "FL_calf",
+        "FR_hip",
+        "FR_thigh",
+        "FR_calf",
+        "RL_hip",
+        "RL_thigh",
+        "RL_calf",
+        "RR_hip",
+        "RR_thigh",
+        "RR_calf",
+    ]
+    return MockNewtonArticulationView(
+        num_instances=count,
+        num_bodies=13,
+        num_joints=12,
+        device=device,
+        is_fixed_base=False,
+        joint_names=joint_names,
+        body_names=body_names,
+    )
+
+
+def create_mock_humanoid_view(
+    count: int = 1,
+    device: str = "cpu",
+) -> MockNewtonArticulationView:
+    """Create a mock articulation view configured for a humanoid robot.
+
+    Configuration:
+        - 21 DOFs (typical humanoid configuration)
+        - 22 links
+        - Floating base
+
+    Args:
+        count: Number of articulation instances.
+        device: Device for array allocation.
+
+    Returns:
+        A MockNewtonArticulationView configured for humanoid.
+    """
+    joint_names = [
+        # Torso
+        "torso_joint",
+        # Left arm
+        "left_shoulder_pitch",
+        "left_shoulder_roll",
+        "left_shoulder_yaw",
+        "left_elbow",
+        # Right arm
+        "right_shoulder_pitch",
+        "right_shoulder_roll",
+        "right_shoulder_yaw",
+        "right_elbow",
+        # Left leg
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle_pitch",
+        "left_ankle_roll",
+        # Right leg
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle_pitch",
+        "right_ankle_roll",
+    ]
+    body_names = [
+        "pelvis",
+        "torso",
+        # Left arm
+        "left_shoulder",
+        "left_upper_arm",
+        "left_lower_arm",
+        "left_hand",
+        # Right arm
+        "right_shoulder",
+        "right_upper_arm",
+        "right_lower_arm",
+        "right_hand",
+        # Left leg
+        "left_hip",
+        "left_upper_leg",
+        "left_lower_leg",
+        "left_ankle",
+        "left_foot",
+        # Right leg
+        "right_hip",
+        "right_upper_leg",
+        "right_lower_leg",
+        "right_ankle",
+        "right_foot",
+        # Head
+        "neck",
+        "head",
+    ]
+    return MockNewtonArticulationView(
+        num_instances=count,
+        num_bodies=22,
+        num_joints=21,
+        device=device,
+        is_fixed_base=False,
+        joint_names=joint_names,
+        body_names=body_names,
+    )