[OVPHYSX] ContactSensor#5422

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AntoineRichard wants to merge 25 commits into

isaac-sim:developfrom

AntoineRichard:antoiner/feat/ovphysx_contactsensor

Commits on May 18, 2026

Scaffold isaaclab_ovphysx sensors sub-package
AntoineRichard
committed
Add shared warp sensor kernels for ovphysx backend
AntoineRichard
committed
Port contact-sensor warp kernels to ovphysx backend
AntoineRichard
committed
Add ovphysx ContactSensorCfg
AntoineRichard
committed
Add ovphysx ContactSensorData mirroring PhysX
AntoineRichard
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Add ovphysx ContactSensor skeleton
AntoineRichard
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Implement ovphysx ContactSensor _initialize_impl and _create_buffers
AntoineRichard
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Implement ovphysx ContactSensor _update_buffers_impl
AntoineRichard
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Implement ovphysx ContactSensor reset, compute_first_*, invalidation
AntoineRichard
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Replace ovphysx ContactSensor test stubs with ported PhysX tests
AntoineRichard
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Fix ruff SIM105 lint errors in contact sensor cleanup
AntoineRichard
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Convert ContactSensor changelog to fragment file
AntoineRichard
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Rewrite ContactSensor tests for kitless ovphysx flow
AntoineRichard
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Apply pre-commit auto-formatting to test file
AntoineRichard
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Fix SensorBase backend dispatch matching OvPhysxManager
AntoineRichard
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Generalize physx-vs-ovphysx dispatch in base classes
AntoineRichard
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Drop PhysxContactReportAPI requirement in ovphysx ContactSensor
AntoineRichard
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Revert "Drop PhysxContactReportAPI requirement in ovphysx ContactSensor"
AntoineRichard
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Auto-register PhysxSchema USD plugin in OvPhysxManager
AntoineRichard
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Fix PhysicsManager.clear_callbacks ID-recycle bug
AntoineRichard
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Wire OvPhysX preset into AnymalD Flat + multi-env sensor count
AntoineRichard
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Fix ContactSensor flat-buffer indexing to match ovphysx pattern-major layout
AntoineRichard
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Add regression test for multi-body sensor flat-buffer ordering
AntoineRichard
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Align OVPhysX contact sensor with develop's configclass import path
AntoineRichard
committed
Align OVPhysX ContactSensor parity with PhysX/Newton
AntoineRichard
committed

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[OVPHYSX] ContactSensor#5422

[OVPHYSX] ContactSensor#5422
AntoineRichard wants to merge 25 commits into
isaac-sim:developfrom
AntoineRichard:antoiner/feat/ovphysx_contactsensor

Commits on May 18, 2026

Scaffold isaaclab_ovphysx sensors sub-package

Add shared warp sensor kernels for ovphysx backend

Port contact-sensor warp kernels to ovphysx backend

Add ovphysx ContactSensorCfg

Add ovphysx ContactSensorData mirroring PhysX

Add ovphysx ContactSensor skeleton

Implement ovphysx ContactSensor _initialize_impl and _create_buffers

Implement ovphysx ContactSensor _update_buffers_impl

Implement ovphysx ContactSensor reset, compute_first_*, invalidation

Replace ovphysx ContactSensor test stubs with ported PhysX tests

Fix ruff SIM105 lint errors in contact sensor cleanup

Convert ContactSensor changelog to fragment file

Rewrite ContactSensor tests for kitless ovphysx flow

Apply pre-commit auto-formatting to test file

Fix SensorBase backend dispatch matching OvPhysxManager

Generalize physx-vs-ovphysx dispatch in base classes

Drop PhysxContactReportAPI requirement in ovphysx ContactSensor

Revert "Drop PhysxContactReportAPI requirement in ovphysx ContactSensor"

Auto-register PhysxSchema USD plugin in OvPhysxManager

Fix PhysicsManager.clear_callbacks ID-recycle bug

Wire OvPhysX preset into AnymalD Flat + multi-env sensor count

Fix ContactSensor flat-buffer indexing to match ovphysx pattern-major layout

Add regression test for multi-body sensor flat-buffer ordering

Align OVPhysX contact sensor with develop's configclass import path

Align OVPhysX ContactSensor parity with PhysX/Newton