[OVPHYSX] ContactSensor

source/isaaclab/changelog.d/antoiner-feat-ovphysx_contactsensor.rst

@@ -0,0 +1,32 @@
+Fixed
+^^^^^
+
+* Fixed three places where ``OvPhysxManager`` was misclassified as the
+  PhysX backend by a substring/schema match:
+
+  - :meth:`~isaaclab.sensors.SensorBase._register_callbacks` matched
+    ``"physx" in physics_mgr_cls.__name__.lower()`` to gate the PhysX
+    ``IsaacEvents.PRIM_DELETION`` import — the substring also matches
+    ``"OvPhysxManager"``, so the ``isaaclab_physx`` import fired in
+    kitless OVPhysX mode and raised
+    :exc:`ModuleNotFoundError` because ``omni.physics.tensors`` is not
+    loaded.  Switched to an exact ``physics_mgr_cls.__name__ ==
+    "PhysxManager"`` match.
+  - :meth:`~isaaclab.assets.AssetBase.set_debug_vis` had the same
+    substring check guarding an ``import omni.kit.app`` call, which
+    would fire for OVPhysX-backed assets and break under
+    ``./scripts/run_ovphysx.sh``.  Switched to an exact
+    ``"PhysxManager"`` match.
+  - :meth:`~isaaclab.physics.SceneDataProvider._get_backend` used
+    ``"physx" in manager_name`` to dispatch the backend factory; this
+    silently routed ``OvPhysxManager`` to the PhysX scene-data
+    provider.  Switched to exact ``"PhysxManager"`` /
+    ``"NewtonManager"`` matches and an explicit ``ValueError`` for
+    unknown managers.
+* Made
+  :attr:`~isaaclab.scene.InteractiveScene.physics_scene_path` accept a
+  bare :class:`pxr.UsdPhysics.Scene` prim as a fallback when no prim
+  with ``PhysxSceneAPI`` applied is on the stage.  Kitless OVPhysX
+  does not load the ``omni.physx`` schema, so the auto-created scene
+  prim only carries the stock USD type.  PhysX-backed flows continue
+  to prefer the ``PhysxSceneAPI`` prim.

source/isaaclab/isaaclab/envs/mdp/events.py

@@ -385,12 +385,35 @@ def __init__(self, cfg: EventTermCfg, env: ManagerBasedEnv):
                 f" with type: '{type(self.asset)}'."
             )
 
-        # detect physics backend and instantiate the appropriate implementation
-        manager_name = env.sim.physics_manager.__name__.lower()
-        if "newton" in manager_name:
+        # detect physics backend and instantiate the appropriate implementation.
+        # Exact name matches: ``"physx" in name.lower()`` would also catch
+        # ``OvPhysxManager`` and route it to the PhysX impl, which assumes a
+        # ``root_view`` with ``.link_paths`` — OVPhysX's per-tensor-type
+        # bindings dict does not satisfy that contract.
+        manager_name = env.sim.physics_manager.__name__
+        if manager_name == "NewtonManager":
             self._impl = _RandomizeRigidBodyMaterialNewton(cfg, env, self.asset, self.asset_cfg)
-        else:
+        elif manager_name == "PhysxManager":
             self._impl = _RandomizeRigidBodyMaterialPhysx(cfg, env, self.asset, self.asset_cfg)
+        elif manager_name == "OvPhysxManager":
+            # No OVPhysX implementation yet — wheel-side
+            # ``RIGID_BODY_MATERIAL`` tensor binding is missing; randomization
+            # would require per-body view creation that ovphysx does not yet
+            # expose.  Run with material randomization disabled (warns once).
+            import logging  # noqa: PLC0415
+
+            logging.getLogger(__name__).warning(
+                "randomize_rigid_body_material is a no-op on the OVPhysX backend "
+                "(wheel-side gap — see docs/superpowers/specs/2026-04-27-ovphysx-contact-api-gaps.md)."
+            )
+
+            class _Noop:
+                def __call__(self, *args, **kwargs):
+                    pass
+
+            self._impl = _Noop()
+        else:
+            raise ValueError(f"Unsupported physics manager for randomize_rigid_body_material: {manager_name!r}")
 
     def __call__(
         self,

source/isaaclab/isaaclab/physics/physics_manager.py

@@ -157,11 +157,23 @@ def dispatch_event(cls, event: PhysicsEvent, payload: Any = None) -> None:
 
     @classmethod
     def clear_callbacks(cls) -> None:
-        """Remove all registered callbacks."""
+        """Remove all registered callbacks.
+
+        Do NOT reset ``_callback_id`` — handle IDs must remain monotonically
+        unique across the lifetime of the process.  Resetting the counter
+        would let a future :meth:`register_callback` hand out an ID that an
+        old, still-alive :class:`CallbackHandle` (e.g. on a sensor that has
+        not been garbage-collected yet) holds, so when the old object
+        eventually finalizes its ``__del__`` would deregister the new
+        callback.  This bit ovphysx's kitless multi-context tests where two
+        ``InteractiveScene``s are created in sequence: the first scene's
+        sensor would post-GC deregister the second scene's
+        ``_initialize_callback`` by ID collision, leaving the second sensor
+        forever uninitialized.
+        """
         for cid in list(cls._callbacks.keys()):
             cls.deregister_callback(cid)
         cls._callbacks.clear()
-        cls._callback_id = 0
 
     @classmethod
     def _wrap_weak_ref(cls, callback: Callable) -> Callable:

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -454,11 +454,21 @@ def __str__(self) -> str:
     def physics_scene_path(self) -> str:
         """The path to the USD Physics Scene."""
         if self._physics_scene_path is None:
+            # Prefer a prim with PhysxSceneAPI applied (Isaac Sim flow).  Fall
+            # back to any UsdPhysics.Scene prim (kitless OvPhysX flow does not
+            # load the omni.physx schema, so the auto-created scene only
+            # carries the stock USD type without PhysxSceneAPI).
+            fallback_path: str | None = None
             for prim in self.stage.Traverse():
                 if "PhysxSceneAPI" in prim.GetAppliedSchemas():
                     self._physics_scene_path = prim.GetPrimPath().pathString
                     logger.info(f"Physics scene prim path: {self._physics_scene_path}")
                     break
+                if fallback_path is None and prim.GetTypeName() == "PhysicsScene":
+                    fallback_path = prim.GetPrimPath().pathString
+            if self._physics_scene_path is None and fallback_path is not None:
+                self._physics_scene_path = fallback_path
+                logger.info(f"Physics scene prim path (no PhysxSceneAPI): {self._physics_scene_path}")
             if self._physics_scene_path is None:
                 raise RuntimeError("No physics scene found! Please make sure one exists.")
         return self._physics_scene_path

source/isaaclab/isaaclab/sensors/sensor_base.py

@@ -294,7 +294,9 @@ def _invoke(callback_name, event):
             PhysicsEvent.STOP,
             order=10,
         )
-        # Optional: prim deletion (only supported by PhysX backend)
+        # Optional: prim deletion (only supported by PhysX backend; the substring
+        # check would also match ``OvPhysxManager``, which does not expose
+        # ``IsaacEvents``, so use an exact class-name match).
         self._prim_deletion_handle = None
         if physics_mgr_cls.__name__ == "PhysxManager":
             from isaaclab_physx.physics import IsaacEvents  # noqa: PLC0415

source/isaaclab_ovphysx/changelog.d/antoiner-feat-ovphysx_contactsensor.minor.rst

@@ -0,0 +1,46 @@
+Added
+^^^^^
+
+* Added :class:`~isaaclab_ovphysx.sensors.ContactSensor`,
+  :class:`~isaaclab_ovphysx.sensors.ContactSensorCfg`, and
+  :class:`~isaaclab_ovphysx.sensors.ContactSensorData` for the OVPhysX
+  backend, satisfying the
+  :class:`~isaaclab.sensors.contact_sensor.BaseContactSensor` and
+  :class:`~isaaclab.sensors.contact_sensor.BaseContactSensorData`
+  contracts. Wires net contact forces and the per-partner force matrix
+  through the OVPhysX :class:`ovphysx.api.ContactBinding` API
+  (``read_net_forces`` / ``read_force_matrix``); optional pose tracking
+  reads through a ``RIGID_BODY_POSE`` :class:`ovphysx.api.TensorBinding`.
+  Air/contact time tracking,
+  :meth:`~isaaclab_ovphysx.sensors.ContactSensor.compute_first_contact`,
+  :meth:`~isaaclab_ovphysx.sensors.ContactSensor.compute_first_air`,
+  history buffers, and reset semantics mirror the PhysX backend.
+* Added the shared
+  :mod:`isaaclab_ovphysx.sensors.kernels` module with
+  :func:`~isaaclab_ovphysx.sensors.kernels.concat_pos_and_quat_to_pose_kernel`
+  and the 1D variant for reuse across future OVPhysX sensors.
+
+Changed
+^^^^^^^
+
+* Changed the existing
+  ``source/isaaclab_ovphysx/test/sensors/check_contact_sensor.py``
+  stubs to real tests adapted from the PhysX
+  :mod:`isaaclab_physx.test.sensors.test_contact_sensor` suite. The
+  three tests that exercise ``track_contact_points`` or
+  ``track_friction_forces`` are decorated with
+  :func:`pytest.mark.skip` until the OVPhysX wheel ships
+  tensor-friendly per-sensor reads (see
+  ``docs/superpowers/specs/2026-04-27-ovphysx-contact-api-gaps.md``);
+  the test bodies are preserved so the decorator can be removed in a
+  follow-up.
+
+Removed
+^^^^^^^
+
+* **Breaking:** Removed the five
+  ``source/isaaclab_ovphysx/test/sensors/check_contact_sensor.py``
+  ``pytest.skip("Contact sensor not yet supported by ovphysx
+  backend.")`` placeholders in favour of the real test suite above.
+  No public migration is required; the placeholder names did not
+  appear in any external API.

source/isaaclab_ovphysx/isaaclab_ovphysx/physics/ovphysx_manager.py

@@ -245,6 +245,36 @@ def register_clone(
         """
         cls._pending_clones.append((source, targets, parent_positions or []))
 
+    _physx_schemas_registered: ClassVar[bool] = False
+
+    @classmethod
+    def _ensure_physx_schemas_registered(cls) -> None:
+        """Register the ``PhysxSchema`` USD plugin shipped with the ovphysx wheel.
+
+        In Kit-based runs ``omni.physx`` registers the schema; in kitless
+        runs it must be registered manually before the wheel can match
+        ``PhysxContactReportAPI`` and friends on the stage.  The wheel
+        bundles the plugin under ``ovphysx/plugins/usd/PhysxSchema``.  This
+        method is idempotent — :meth:`pxr.Plug.Registry.RegisterPlugins`
+        is a no-op once the plugin is registered.
+        """
+        if cls._physx_schemas_registered:
+            return
+        try:
+            import os  # noqa: PLC0415
+
+            import ovphysx  # noqa: PLC0415
+
+            from pxr import Plug  # noqa: PLC0415
+        except Exception:
+            return
+        plugin_root = os.path.join(os.path.dirname(ovphysx.__file__), "plugins", "usd")
+        for sub in ("PhysxSchema/resources", "PhysxSchemaAddition/resources"):
+            path = os.path.join(plugin_root, sub)
+            if os.path.isdir(path):
+                Plug.Registry().RegisterPlugins(path)
+        cls._physx_schemas_registered = True
+
     @classmethod
     def initialize(cls, sim_context: SimulationContext) -> None:
         """Initialize the physics manager with simulation context.
@@ -262,6 +292,7 @@ def initialize(cls, sim_context: SimulationContext) -> None:
         instance is bound to.
         """
         super().initialize(sim_context)
+        cls._ensure_physx_schemas_registered()
         cls._warmup_done = False
         cls._usd_handle = None
         cls._stage_path = None

source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/__init__.py

@@ -0,0 +1,10 @@
+# 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
+
+"""Sub-package for ovphysx-backed sensors."""
+
+from isaaclab.utils.module import lazy_export
+
+lazy_export()

source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/__init__.pyi

@@ -0,0 +1,12 @@
+# 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
+
+__all__ = [
+    "ContactSensor",
+    "ContactSensorCfg",
+    "ContactSensorData",
+]
+
+from .contact_sensor import ContactSensor, ContactSensorCfg, ContactSensorData

source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/contact_sensor/__init__.py

@@ -0,0 +1,10 @@
+# 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
+
+"""OVPhysX-backed contact sensor."""
+
+from isaaclab.utils.module import lazy_export
+
+lazy_export()

source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/contact_sensor/__init__.pyi

@@ -0,0 +1,14 @@
+# 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
+
+__all__ = [
+    "ContactSensor",
+    "ContactSensorCfg",
+    "ContactSensorData",
+]
+
+from .contact_sensor import ContactSensor
+from .contact_sensor_cfg import ContactSensorCfg
+from .contact_sensor_data import ContactSensorData