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

* Add 'ovphysx' field to PhysicsCfg in AnymalD flat_env_cfg.py
* Add 'ovphysx' field to VelocityEnvContactSensorCfg in velocity_env_cfg.py
* events.py randomize_rigid_body_material: explicit OvPhysxManager branch
  (no-op + warning; PhysX impl assumes root_view.link_paths which OvPhysx's
  per-tensor-type bindings dict does not satisfy)
* ContactSensor._initialize_impl: override _num_envs from binding sensor_count
  (clone_usd=False on OvPhysX leaves env_1..N out of USD, so the parent
  class's USD walk reports num_envs=1 even with N=4096 cloned physics envs)

Author: AntoineRichard

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_ovphysx/isaaclab_ovphysx/sensors/contact_sensor/contact_sensor.py

@@ -209,6 +209,13 @@ def _initialize_impl(self) -> None:
             filter_patterns = None
 
         # Create the contact binding (must happen BEFORE the next step()).
+        # OVPhysX's ``InteractiveScene`` runs in ``clone_usd=False`` mode:
+        # env_1..N have no USD prim — they're physics-layer clones via
+        # ``physx.clone()``.  The parent class's ``find_matching_prims`` walk
+        # therefore sees only env_0 and sets ``self._num_envs = 1`` even when
+        # the scene is configured for many envs.  We size the
+        # ``max_contact_data_count`` for env_0 only here; the binding's
+        # ``sensor_count`` after creation gives us the real env count.
         max_count = self.cfg.max_contact_data_count_per_prim * self._num_sensors * self._num_envs
         self._contact_binding = physx_instance.create_contact_binding(
             sensor_patterns=sensor_patterns,
@@ -217,17 +224,29 @@ def _initialize_impl(self) -> None:
             max_contact_data_count=max_count,
         )
 
-        # Validate that ovphysx matched what we expected. sensor_count is the
-        # global total (envs * bodies); the binding does not split per env.
-        expected_sensors = self._num_sensors * self._num_envs
-        if self._contact_binding.sensor_count != expected_sensors:
+        # Validate: sensor_count must be a non-zero multiple of num_sensors.
+        if self._contact_binding.sensor_count == 0 or self._contact_binding.sensor_count % self._num_sensors != 0:
             raise RuntimeError(
                 "Failed to initialize contact binding for specified bodies."
                 f"\n\tInput prim path     : {self.cfg.prim_path}"
-                f"\n\tExpected sensors    : {expected_sensors} ({self._num_envs} envs * {self._num_sensors} bodies)"
+                f"\n\tNum sensor bodies   : {self._num_sensors}"
                 f"\n\tBound sensors       : {self._contact_binding.sensor_count}"
             )
 
+        # Override ``_num_envs`` with the binding's view if it differs (it does
+        # for any OVPhysX scene with ``num_envs > 1`` due to ``clone_usd=False``).
+        # Re-allocate the env-sized buffers from the parent class so they match
+        # the real env count.
+        binding_num_envs = self._contact_binding.sensor_count // self._num_sensors
+        if binding_num_envs != self._num_envs:
+            self._num_envs = binding_num_envs
+            self._ALL_ENV_MASK = wp.ones((self._num_envs,), dtype=wp.bool, device=self._device)
+            self._reset_mask = wp.zeros((self._num_envs,), dtype=wp.bool, device=self._device)
+            self._reset_mask_torch = wp.to_torch(self._reset_mask)
+            self._is_outdated = wp.ones(self._num_envs, dtype=wp.bool, device=self._device)
+            self._timestamp = wp.zeros(self._num_envs, dtype=wp.float32, device=self._device)
+            self._timestamp_last_update = wp.zeros_like(self._timestamp)
+
         # Optional: pose tracking via a RIGID_BODY_POSE tensor binding.
         # ovphysx fnmatch does not brace-expand, so we cannot match multiple
         # body names with a single glob.  Single-body sensors (the common case
@@ -247,12 +266,12 @@ def _initialize_impl(self) -> None:
                 pattern=single_pose_pattern,
                 tensor_type=TT.RIGID_BODY_POSE,
             )
-            if self._pose_binding.count != expected_sensors:
+            if self._pose_binding.count != self._contact_binding.sensor_count:
                 raise RuntimeError(
                     "RIGID_BODY_POSE binding count mismatch."
                     f"\n\tPattern: {single_pose_pattern}"
                     f"\n\tBound  : {self._pose_binding.count}"
-                    f"\n\tExpect : {expected_sensors}"
+                    f"\n\tExpect : {self._contact_binding.sensor_count}"
                 )
 
         self._create_buffers()

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py

@@ -4,6 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
+from isaaclab_ovphysx.physics import OvPhysxCfg
 from isaaclab_physx.physics import PhysxCfg
 
 from isaaclab.sim import SimulationCfg
@@ -28,6 +29,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     physx = default
+    ovphysx = OvPhysxCfg()
 
 
 @configclass

source/isaaclab_tasks/isaaclab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py

@@ -8,6 +8,7 @@
 
 from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg, NewtonCollisionPipelineCfg, NewtonShapeCfg
 from isaaclab_newton.sensors import ContactSensorCfg as NewtonContactSensorCfg
+from isaaclab_ovphysx.sensors import ContactSensorCfg as OvPhysXContactSensorCfg
 from isaaclab_physx.physics import PhysxCfg
 from isaaclab_physx.sensors import ContactSensorCfg as PhysXContactSensorCfg
 
@@ -78,6 +79,7 @@ class VelocityEnvContactSensorCfg(PresetCfg):
     default = PhysXContactSensorCfg(prim_path="{ENV_REGEX_NS}/Robot/.*", history_length=3, track_air_time=True)
     newton_mjwarp = NewtonContactSensorCfg(prim_path="{ENV_REGEX_NS}/Robot/.*", history_length=3, track_air_time=True)
     physx = default
+    ovphysx = OvPhysXContactSensorCfg(prim_path="{ENV_REGEX_NS}/Robot/.*", history_length=3, track_air_time=True)
 
 
 @configclass