Overview

Finalize the OVPhysX backend integration for IsaacLab. PR #4852 delivers the Articulation + physics manager. This epic tracks the remaining work to reach feature parity with PhysX for core robotics workflows.

Guiding principles:

• OVPhysX code must mirror PhysX structure as closely as possible
• Tests are copied from PhysX with only setup modifications allowed
• Assets and sensors must fulfill existing contracts without modifying them
• If something fails on the ovphysx side, @marcodiiga supports the fix — not the other way around

Subtasks

Core Backend (assets + sensors)

• [OVPHYSX] RigidObject asset #5316 — RigidObject asset — mirror PhysX RigidObject with ovphysx TensorBindings
• [OVPHYSX] RigidObjectCollection asset #5317 — RigidObjectCollection asset — multi-body rigid objects with dual indexing
• [OVPHYSX] ContactSensor #5325 — ContactSensor — contact force reporting (requires new ovphysx API)
• [OVPHYSX] IMU sensor #5318 — IMU sensor — angular velocity + linear acceleration (no new APIs needed)
• [OVPHYSX] PVA sensor #5319 — PVA sensor — full pose/velocity/acceleration (no new APIs needed)
• [OVPHYSX] FrameTransformer sensor #5320 — FrameTransformer sensor — relative frame transforms (no new APIs needed)
• [OVPHYSX] DeformableObject asset #5326 — DeformableObject asset — soft bodies (requires base class extraction + ovphysx FEM support)
• [OVPHYSX] SceneDataProvider #5327 — SceneDataProvider — visualization support (no new APIs needed)

Integration & Validation

• [OVPHYSX] Support for manipulation #5322 — Manipulation support — Allegro repose → Franka lift → Franka stack
• [OVPHYSX] Support for rough terrain locomotion #5321 — Rough terrain locomotion — Anymal C flat → rough terrain

Infrastructure

• [OVPHYSX] Test infrastructure #5328 — Test infrastructure — interface tests + backend tests + mocks
• [OVPHYSX] Remove start script #5323 — Remove start script — integrate LD_PRELOAD into standard launcher
• [OVPHYSX] Improve USD integration to avoid disk dumps #5324 — USD integration — avoid disk dumps, use in-memory transfer

Dependency Graph

PR #4852 (Articulation + Manager)
├── #5316 RigidObject
│   ├── #5317 RigidObjectCollection
│   │   └── #5322 Manipulation (stage 3)
│   └── #5322 Manipulation (stage 1)
├── #5318 IMU
│   └── #5319 PVA
├── #5320 FrameTransformer
│   └── #5322 Manipulation (stage 2)
├── #5325 ContactSensor [BLOCKED: needs ovphysx API]
│   └── #5321 Rough Terrain Locomotion
├── #5326 DeformableObject [BLOCKED: needs base extraction + ovphysx FEM]
├── #5327 SceneDataProvider
├── #5328 Test Infrastructure (cross-cutting)
├── #5323 Remove Start Script
└── #5324 USD Integration [BLOCKED: needs ovphysx API]

OVPhysX-Side Blockers for @marcodiiga