fix(physx): handle collection deletion events safely

source/isaaclab_physx/changelog.d/rigid-collection-deletion-callback.md

@@ -0,0 +1 @@
+Fixed rigid object collection deletion handling to preserve legacy string-path callbacks and normalize event payloads before invalidation.

source/isaaclab_physx/isaaclab_physx/assets/rigid_object_collection/rigid_object_collection.py

@@ -1493,22 +1493,34 @@ def _invalidate_initialize_callback(self, event) -> None:
         # set all existing views to None to invalidate them
         self._root_view = None
 
-    def _on_prim_deletion(self, prim_path: str) -> None:
-        """Invalidates and deletes the callbacks when the prim is deleted.
+    def _on_prim_deletion(self, event) -> None:
+        """Invalidates and deletes the callbacks when a prim is deleted.
 
         Args:
-            prim_path: The path to the prim that is being deleted.
+            event: A legacy prim-path string, a deletion payload dictionary, or a deletion event
+                whose payload contains the deleted prim path.
 
         .. note::
-            This function is called when the prim is deleted.
+            This function is called when a prim is deleted.
         """
+        if isinstance(event, str):
+            prim_path = event
+        else:
+            payload = getattr(event, "payload", event) if not isinstance(event, dict) else event
+            prim_path = payload.get("prim_path", "") if isinstance(payload, dict) else ""
         if prim_path == "/":
-            self._clear_callbacks()
+            matches_collection = True
+        else:
+            matches_collection = any(
+                sim_utils.matches_path_expr_prefix(obj.prim_path, prim_path)
+                for obj in self.cfg.rigid_objects.values()
+            )
+        if not matches_collection:
             return
-        for prim_path_expr in [obj.prim_path for obj in self.cfg.rigid_objects.values()]:
-            if sim_utils.matches_path_expr_prefix(prim_path_expr, prim_path):
-                self._clear_callbacks()
-                return
+        try:
+            self._invalidate_initialize_callback(event)
+        finally:
+            self._clear_callbacks()
 
     """
     Deprecated properties and methods.

source/isaaclab_physx/test/assets/test_rigid_object_collection_callbacks.py

@@ -0,0 +1,70 @@
+# 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
+
+from types import SimpleNamespace
+from unittest.mock import Mock
+
+import pytest
+
+from isaaclab_physx.assets.rigid_object_collection.rigid_object_collection import RigidObjectCollection
+
+
+def _make_collection_for_deletion_test() -> RigidObjectCollection:
+    collection = object.__new__(RigidObjectCollection)
+    collection.cfg = SimpleNamespace(
+        rigid_objects={"object": SimpleNamespace(prim_path="/World/Table_[^/]*/Object_0")}
+    )
+    collection._is_initialized = True
+    collection._root_view = object()
+    collection._debug_vis_handle = None
+    return collection
+
+
+def test_prim_deletion_string_path_preserves_legacy_input() -> None:
+    collection = _make_collection_for_deletion_test()
+
+    collection._on_prim_deletion("/World/Table_0/Object_0")
+
+    assert collection.is_initialized is False
+    assert collection._root_view is None
+
+
+def test_prim_deletion_event_invalidates_matching_collection() -> None:
+    collection = _make_collection_for_deletion_test()
+
+    collection._on_prim_deletion(SimpleNamespace(payload={"prim_path": "/World/Table_0/Object_0"}))
+
+    assert collection.is_initialized is False
+    assert collection._root_view is None
+
+
+@pytest.mark.parametrize("event", [{"prim_path": "/"}, SimpleNamespace(payload={"prim_path": "/"})])
+def test_prim_deletion_event_accepts_root_payload_forms(event) -> None:
+    collection = _make_collection_for_deletion_test()
+
+    collection._on_prim_deletion(event)
+
+    assert collection.is_initialized is False
+    assert collection._root_view is None
+
+
+def test_nonmatching_prim_deletion_leaves_collection_initialized() -> None:
+    collection = _make_collection_for_deletion_test()
+
+    collection._on_prim_deletion(SimpleNamespace(payload={"prim_path": "/World/Other/Object_0"}))
+
+    assert collection.is_initialized is True
+    assert collection._root_view is not None
+
+
+def test_prim_deletion_clears_callbacks_when_invalidation_fails() -> None:
+    collection = _make_collection_for_deletion_test()
+    collection._invalidate_initialize_callback = Mock(side_effect=RuntimeError("teardown failed"))
+    collection._clear_callbacks = Mock()
+
+    with pytest.raises(RuntimeError, match="teardown failed"):
+        collection._on_prim_deletion({"prim_path": "/"})
+
+    collection._clear_callbacks.assert_called_once_with()