[OvPhysX] Add RayCaster sensor for the OVPhysX backend

source/isaaclab/changelog.d/ovphysx-raycaster-dispatch.rst

@@ -0,0 +1,11 @@
+Fixed
+^^^^^
+
+* Fixed :class:`~isaaclab.sensors.ray_caster.RayCaster`,
+  :class:`~isaaclab.sensors.ray_caster.RayCasterCamera`,
+  :class:`~isaaclab.sensors.ray_caster.MultiMeshRayCaster`, and
+  :class:`~isaaclab.sensors.ray_caster.MultiMeshRayCasterCamera` factory
+  dispatch under the OVPhysX backend. Each factory's
+  ``_backend_class_names`` now routes ``"ovphysx"`` to the corresponding
+  class in :mod:`isaaclab_ovphysx.sensors.ray_caster` instead of raising
+  ``ModuleNotFoundError``.

source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py

@@ -13,4 +13,8 @@
 class MultiMeshRayCaster(FactoryBase, BaseMultiMeshRayCaster):
     """Backend-dispatching multi-mesh ray-caster sensor."""
 
-    _backend_class_names = {"physx": "MultiMeshRayCaster", "newton": "MultiMeshRayCaster"}
+    _backend_class_names = {
+        "physx": "MultiMeshRayCaster",
+        "newton": "MultiMeshRayCaster",
+        "ovphysx": "MultiMeshRayCaster",
+    }

source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py

@@ -13,4 +13,8 @@
 class MultiMeshRayCasterCamera(FactoryBase, BaseMultiMeshRayCasterCamera):
     """Backend-dispatching multi-mesh ray-caster camera sensor."""
 
-    _backend_class_names = {"physx": "MultiMeshRayCasterCamera", "newton": "MultiMeshRayCasterCamera"}
+    _backend_class_names = {
+        "physx": "MultiMeshRayCasterCamera",
+        "newton": "MultiMeshRayCasterCamera",
+        "ovphysx": "MultiMeshRayCasterCamera",
+    }

source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py

@@ -13,4 +13,4 @@
 class RayCaster(FactoryBase, BaseRayCaster):
     """Backend-dispatching ray-caster sensor."""
 
-    _backend_class_names = {"physx": "RayCaster", "newton": "RayCaster"}
+    _backend_class_names = {"physx": "RayCaster", "newton": "RayCaster", "ovphysx": "RayCaster"}

source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py

@@ -13,4 +13,4 @@
 class RayCasterCamera(FactoryBase, BaseRayCasterCamera):
     """Backend-dispatching ray-caster camera sensor."""
 
-    _backend_class_names = {"physx": "RayCasterCamera", "newton": "RayCasterCamera"}
+    _backend_class_names = {"physx": "RayCasterCamera", "newton": "RayCasterCamera", "ovphysx": "RayCasterCamera"}

source/isaaclab_ovphysx/changelog.d/ovphysx-raycaster.minor.rst

@@ -0,0 +1,15 @@
+Added
+^^^^^
+
+* Added :mod:`isaaclab_ovphysx.sensors.ray_caster` with
+  :class:`~isaaclab_ovphysx.sensors.ray_caster.RayCaster`,
+  :class:`~isaaclab_ovphysx.sensors.ray_caster.RayCasterCamera`,
+  :class:`~isaaclab_ovphysx.sensors.ray_caster.MultiMeshRayCaster`, and
+  :class:`~isaaclab_ovphysx.sensors.ray_caster.MultiMeshRayCasterCamera`.
+  Mirrors :mod:`isaaclab_physx.sensors.ray_caster` structure: a single
+  ``_OvPhysxRayCasterMixin`` carries the backend-specific pose-tracking
+  surface, reading body poses via the ovphysx
+  ``create_tensor_binding(pattern=..., tensor_type=RIGID_BODY_POSE)``
+  API. Static (non-physics) sensor frames fall back to a one-time USD
+  pose snapshot. Unblocks ``Isaac-Velocity-Rough-Anymal-D-v0`` (the
+  height_scanner now dispatches under OVPhysX).

source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/ray_caster/__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-module for OVPhysX ray-caster sensors."""
+
+from isaaclab.utils.module import lazy_export
+
+lazy_export()

source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/ray_caster/__init__.pyi

@@ -0,0 +1,16 @@
+# 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__ = [
+    "MultiMeshRayCaster",
+    "MultiMeshRayCasterCamera",
+    "RayCaster",
+    "RayCasterCamera",
+]
+
+from .multi_mesh_ray_caster import MultiMeshRayCaster
+from .multi_mesh_ray_caster_camera import MultiMeshRayCasterCamera
+from .ray_caster import RayCaster
+from .ray_caster_camera import RayCasterCamera

source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/ray_caster/multi_mesh_ray_caster.py

@@ -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
+
+from __future__ import annotations
+
+from isaaclab.sensors.ray_caster.base_multi_mesh_ray_caster import BaseMultiMeshRayCaster
+
+from .ray_caster import _OvPhysxRayCasterMixin
+
+
+class MultiMeshRayCaster(_OvPhysxRayCasterMixin, BaseMultiMeshRayCaster):
+    """OVPhysX MultiMeshRayCaster implementation."""

source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/ray_caster/multi_mesh_ray_caster_camera.py

@@ -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
+
+from __future__ import annotations
+
+from isaaclab.sensors.ray_caster.base_multi_mesh_ray_caster_camera import BaseMultiMeshRayCasterCamera
+
+from .ray_caster import _OvPhysxRayCasterMixin
+
+
+class MultiMeshRayCasterCamera(_OvPhysxRayCasterMixin, BaseMultiMeshRayCasterCamera):
+    """OVPhysX MultiMeshRayCasterCamera implementation."""