diff --git a/docs/source/features/hydra.rst b/docs/source/features/hydra.rst
index 703a531bf26e..6ff952adce3d 100644
--- a/docs/source/features/hydra.rst
+++ b/docs/source/features/hydra.rst
@@ -252,7 +252,7 @@ override is given:
     class PhysicsCfg(PresetCfg):
         isaacsim_physx: PhysxCfg = PhysxCfg()
         physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
-        default: PhysxAutoCfg = physx
+        default: PhysxCfg = isaacsim_physx
         newton_mjwarp: NewtonCfg = NewtonCfg()
 
     @configclass
@@ -264,11 +264,13 @@ override is given:
     # Use Newton physics backend
     python train.py --task=Isaac-Reach-Franka env.physics=newton_mjwarp
 
-For tasks that expose automatic PhysX-family selection, ``physics=physx`` is
-resolved at launch time: Isaac Sim PhysX is used when a Kit renderer or Kit viewer
-is requested. For fully kit-less runs, OvPhysX is used when the task configures
-an OvPhysX alternative; otherwise selection falls back to Isaac Sim PhysX and
-requires Kit. Use ``physics=isaacsim_physx`` to force Isaac Sim PhysX.
+The concrete ``isaacsim_physx`` variant is the default in this example. Select
+``physics=physx`` to enable automatic PhysX-family selection at launch time:
+Isaac Sim PhysX is used when a Kit renderer or Kit viewer is requested. For fully
+kit-less runs, OvPhysX is used when the task configures an OvPhysX alternative;
+otherwise selection falls back to Isaac Sim PhysX and requires Kit. This matches
+renderer selection, where ``isaacsim_rtx`` is the concrete default and
+``renderer=rtx`` is automatic.
 
 The ``default`` field can be set to ``None`` to make an optional feature that is
 disabled unless explicitly selected:
@@ -321,7 +323,7 @@ Physics backend selection uses the same preset system. A task can define a
             isaacsim_physx=isaacsim_physx,
             ovphysx=ovphysx,
         )
-        default = physx
+        default: PhysxCfg = isaacsim_physx
         newton_mjwarp: NewtonCfg = NewtonCfg(
             solver_cfg=MJWarpSolverCfg(njmax=5, nconmax=3),
             num_substeps=1,
diff --git a/docs/source/migration/migrating_to_isaaclab_3-0.rst b/docs/source/migration/migrating_to_isaaclab_3-0.rst
index f59106d8ebd5..e3846efc4a5c 100644
--- a/docs/source/migration/migrating_to_isaaclab_3-0.rst
+++ b/docs/source/migration/migrating_to_isaaclab_3-0.rst
@@ -652,20 +652,25 @@ when no CLI override is given. Other fields are named presets selectable with
 
 .. code-block:: python
 
-   from isaaclab_tasks.utils import PresetCfg
+   from isaaclab.physics import PhysxAutoCfg
    from isaaclab.utils.configclass import configclass
+   from isaaclab_ovphysx.physics import OvPhysxCfg
+   from isaaclab_tasks.utils import PresetCfg
 
    @configclass
    class MyPhysicsCfg(PresetCfg):
-       default: PhysxCfg = PhysxCfg(...)   # used when no override is given
-       physx:   PhysxCfg = PhysxCfg(...)   # selected by physics=physx
+       isaacsim_physx: PhysxCfg = PhysxCfg(...)
+       ovphysx: OvPhysxCfg = OvPhysxCfg()
+       physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
+       default: PhysxCfg = isaacsim_physx  # used when no override is given
        newton_mjwarp:  NewtonCfg = NewtonCfg(...)  # selected by physics=newton_mjwarp
 
 Selecting a preset at launch
 -----------------------------
 
-Pass ``physics=newton_mjwarp`` (or ``physics=physx``) on the CLI to swap the entire config section.
-The legacy ``presets=NAME`` form still works for the same values.
+Pass ``physics=newton_mjwarp`` on the CLI to swap the entire config section.
+Use ``physics=physx`` to opt into automatic PhysX-family selection. The legacy
+``presets=NAME`` form still works for the same values.
 
 .. code-block:: bash
 
@@ -673,7 +678,7 @@ The legacy ``presets=NAME`` form still works for the same values.
    uv run --extra isaacsim isaaclab train --rl_library rsl_rl \
        --task Isaac-Open-Drawer-Franka-Direct physics=newton_mjwarp
 
-   # Run with default (PhysX) backend
+   # Run with default (concrete Isaac Sim PhysX) backend
    uv run --extra isaacsim isaaclab train --rl_library rsl_rl \
        --task Isaac-Open-Drawer-Franka-Direct
 
@@ -693,18 +698,30 @@ subclass that carries both a PhysX and a Newton variant.
        self.sim.dt = 1 / 60
        self.sim.physics = PhysxCfg(bounce_threshold_velocity=0.2)
 
+.. important::
+
+   The ``After`` example below mirrors the current Reach task, which intentionally
+   uses Newton/MJWarp as its default. The ``Before`` snippet only illustrates the
+   older single-backend form, so the default differs between the two snippets.
+   When migrating a task that should retain PhysX by default, use
+   ``default: PhysxCfg = isaacsim_physx`` instead. Adding backend variants should
+   not silently change a task's established default.
+
 *After:*
 
 .. code-block:: python
 
+   from isaaclab.physics import PhysxAutoCfg
    from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
+   from isaaclab_ovphysx.physics import OvPhysxCfg
    from isaaclab_physx.physics import PhysxCfg
    from isaaclab_tasks.utils import PresetCfg
 
    @configclass
    class ReachPhysicsCfg(PresetCfg):
-       default: PhysxCfg = PhysxCfg(bounce_threshold_velocity=0.2)
-       physx:   PhysxCfg = PhysxCfg(bounce_threshold_velocity=0.2)
+       isaacsim_physx: PhysxCfg = PhysxCfg(bounce_threshold_velocity=0.2)
+       ovphysx: OvPhysxCfg = OvPhysxCfg()
+       physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
        newton_mjwarp:  NewtonCfg = NewtonCfg(
            solver_cfg=MJWarpSolverCfg(
                njmax=20, nconmax=20, ls_iterations=20,
@@ -714,6 +731,7 @@ subclass that carries both a PhysX and a Newton variant.
            num_substeps=1,
            debug_mode=False,
        )
+       default: NewtonCfg = newton_mjwarp
 
    # In the env cfg __post_init__:
    def __post_init__(self):
diff --git a/docs/source/overview/core-concepts/multi_backend_architecture.rst b/docs/source/overview/core-concepts/multi_backend_architecture.rst
index a43e80cdc5c4..9fbb72cf6844 100644
--- a/docs/source/overview/core-concepts/multi_backend_architecture.rst
+++ b/docs/source/overview/core-concepts/multi_backend_architecture.rst
@@ -176,6 +176,7 @@ below shows only the physics-related fields:
 .. code-block:: python
 
     from isaaclab.envs import DirectRLEnvCfg
+    from isaaclab.physics import PhysxAutoCfg
     from isaaclab.sim import SimulationCfg
     from isaaclab.utils.configclass import configclass
     from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
@@ -185,12 +186,16 @@ below shows only the physics-related fields:
 
     @configclass
     class CartpolePhysicsCfg(PresetCfg):
-        default: PhysxCfg = PhysxCfg()
-        physx: PhysxCfg = PhysxCfg()
+        isaacsim_physx: PhysxCfg = PhysxCfg()
+        ovphysx: OvPhysxCfg = OvPhysxCfg()
+        physx: PhysxAutoCfg = PhysxAutoCfg(
+            isaacsim_physx=isaacsim_physx,
+            ovphysx=ovphysx,
+        )
+        default: PhysxCfg = isaacsim_physx
         newton_mjwarp: NewtonCfg = NewtonCfg(
             solver_cfg=MJWarpSolverCfg(njmax=5, nconmax=3)
         )
-        ovphysx: OvPhysxCfg = OvPhysxCfg()
 
     @configclass
     class CartpoleEnvCfg(DirectRLEnvCfg):
@@ -204,9 +209,12 @@ Users then select a physics backend at the command line:
 
       .. code-block:: bash
 
-          # Default (PhysX)
+          # Default (concrete Isaac Sim PhysX)
           uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct
 
+          # Automatic PhysX-family selection
+          uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=physx
+
           # MJWarp (Newton backend)
           uv run isaaclab train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=newton_mjwarp
 
@@ -217,15 +225,26 @@ Users then select a physics backend at the command line:
 
       .. code-block:: bash
 
-          # Default (PhysX)
+          # Default (concrete Isaac Sim PhysX)
           ./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-Direct
 
+          # Automatic PhysX-family selection
+          ./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=physx
+
           # MJWarp (Newton backend)
           ./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=newton_mjwarp
 
           # OvPhysX backend
           ./isaaclab.sh train --rl_library rsl_rl --task Isaac-Cartpole-Direct physics=ovphysx
 
+When a task's default would otherwise be automatic ``PhysxAutoCfg`` selection,
+its ``default`` variant is the concrete ``isaacsim_physx`` configuration.
+Explicit defaults such as Newton remain unchanged. The ``physics=physx``
+selector is opt-in and chooses between Isaac Sim PhysX and OvPhysX at launch
+time according to whether the resolved runtime requires Kit. This mirrors
+renderer presets: the default is concrete ``isaacsim_rtx``, while
+``renderer=rtx`` opts into automatic selection.
+
 The Physics Manager
 -------------------
 
diff --git a/docs/source/overview/core-concepts/physical-backends/index.rst b/docs/source/overview/core-concepts/physical-backends/index.rst
index 4558a7d91268..18d07d11fc71 100644
--- a/docs/source/overview/core-concepts/physical-backends/index.rst
+++ b/docs/source/overview/core-concepts/physical-backends/index.rst
@@ -135,17 +135,23 @@ declares all three backends side by side:
 
 .. code-block:: python
 
-    from isaaclab_physx.physics import PhysxCfg
+    from isaaclab.physics import PhysxAutoCfg
     from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
     from isaaclab_ovphysx.physics import OvPhysxCfg
+    from isaaclab_physx.physics import PhysxCfg
 
     @configclass
     class CartpolePhysicsCfg(PresetCfg):
-        default: PhysxCfg = PhysxCfg()
-        physx: PhysxCfg = PhysxCfg()
-        newton_mjwarp: NewtonCfg = NewtonCfg(solver_cfg=MJWarpSolverCfg())
+        isaacsim_physx: PhysxCfg = PhysxCfg()
         ovphysx: OvPhysxCfg = OvPhysxCfg()
+        physx: PhysxAutoCfg = PhysxAutoCfg(
+            isaacsim_physx=isaacsim_physx,
+            ovphysx=ovphysx,
+        )
+        default: PhysxCfg = isaacsim_physx
+        newton_mjwarp: NewtonCfg = NewtonCfg(solver_cfg=MJWarpSolverCfg())
 
-Users then select the backend at the command line via ``presets=<name>`` or by
-overriding the physics field directly. See :ref:`hydra-backend-solver-presets` for
-the full Hydra interaction.
+With no selector, the task uses concrete Isaac Sim PhysX. Users can select a
+backend with ``physics=<name>``; ``physics=physx`` explicitly opts into automatic
+selection between the configured PhysX-family implementations. See
+:ref:`hydra-backend-solver-presets` for the full Hydra interaction.
diff --git a/docs/source/overview/core-concepts/physical-backends/physx/installation.rst b/docs/source/overview/core-concepts/physical-backends/physx/installation.rst
index d56027cc34ad..c3fbbf912e69 100644
--- a/docs/source/overview/core-concepts/physical-backends/physx/installation.rst
+++ b/docs/source/overview/core-concepts/physical-backends/physx/installation.rst
@@ -37,5 +37,8 @@ default preset:
 
           ./isaaclab.sh -p scripts/environments/zero_agent.py --task Isaac-Cartpole --num_envs 128
 
-The ``default`` preset on most tasks resolves to PhysX. You can also pass
-``physics=physx`` explicitly on tasks that declare multi-backend physics presets.
+Environments whose previous default was automatic PhysX selection now use the
+concrete ``isaacsim_physx`` variant by default. Existing explicit defaults, such
+as Newton, remain unchanged. Pass ``physics=physx`` explicitly to opt into
+automatic PhysX-family selection between Isaac Sim PhysX and OvPhysX on tasks
+that support both.
diff --git a/docs/source/overview/core-concepts/physical-backends/physx/supported-features.rst b/docs/source/overview/core-concepts/physical-backends/physx/supported-features.rst
index 1b68ad147374..f94293f2d91b 100644
--- a/docs/source/overview/core-concepts/physical-backends/physx/supported-features.rst
+++ b/docs/source/overview/core-concepts/physical-backends/physx/supported-features.rst
@@ -3,8 +3,10 @@ Supported Features
 
 PhysX is the broadest backend in Isaac Lab. It is the reference for behaviour
 parity and supports most public asset, sensor, and renderer surfaces in the
-framework. Tasks built before Isaac Lab 3.0 ran on PhysX, and the bulk of the
-shipped tasks still default to the PhysX preset.
+framework. Tasks built before Isaac Lab 3.0 ran on PhysX. Environments whose
+previous default was automatic PhysX selection now use the concrete
+``isaacsim_physx`` preset by default; explicit backend defaults remain
+unchanged.
 
 The summary below is intentionally coarse; consult each component's API
 documentation for fine-grained capability details.
@@ -52,8 +54,9 @@ Tasks and Workflows
 -------------------
 
 * Direct and Manager-based workflows
-* All ``isaaclab_tasks`` environments default to the PhysX preset unless the
-  task explicitly opts in to a different backend
+* ``isaaclab_tasks`` environments that previously defaulted to automatic PhysX
+  selection now default to concrete Isaac Sim PhysX. Environments with an
+  explicit backend default, including Newton tasks, retain that default.
 * Imitation learning and motion-generation pipelines (Mimic, motion generators)
 
 
diff --git a/docs/source/overview/environments.rst b/docs/source/overview/environments.rst
index 504c300a16d7..47da6c69d8c3 100644
--- a/docs/source/overview/environments.rst
+++ b/docs/source/overview/environments.rst
@@ -90,13 +90,17 @@ modes. The **Presets** column in each table below is divided into three labeled
 
 * **physics=** — physics-backend name passed as ``physics=NAME``
   (e.g. ``physx``, ``isaacsim_physx``, ``newton_mjwarp``,
-  ``newton_kamino``, ``ovphysx``, ``newton_mjwarp_vbd_proxy``). On tasks that
-  expose automatic PhysX-family selection, ``physx`` uses Isaac Sim PhysX when
-  Kit is required and OvPhysX otherwise when the task supports it. Tasks
-  without an OvPhysX alternative fall back to Isaac Sim PhysX; use
-  ``isaacsim_physx`` to force Isaac Sim PhysX directly.
+  ``newton_kamino``, ``ovphysx``, ``newton_mjwarp_vbd_proxy``). Environments
+  whose previous default was automatic PhysX selection use the concrete
+  ``isaacsim_physx`` variant by default; explicit backend defaults such as
+  Newton remain unchanged. Select ``physics=physx`` to opt into automatic
+  PhysX-family selection: it uses Isaac Sim PhysX when Kit is required and
+  OvPhysX otherwise when the task supports it. Tasks without an OvPhysX
+  alternative fall back to Isaac Sim PhysX.
 * **renderer=** — renderer-backend name passed as ``renderer=NAME``
-  (e.g. ``isaacsim_rtx``, ``newton_renderer``, ``ovrtx``, ``rtx``)
+  (e.g. ``isaacsim_rtx``, ``newton_renderer``, ``ovrtx``, ``rtx``). Cameras
+  using the multi-backend renderer config default to concrete ``isaacsim_rtx``;
+  select ``renderer=rtx`` to opt into automatic RTX-family selection.
 * **presets=** — environment-specific (domain) preset name passed as
   ``presets=NAME[,NAME,...]``
   (e.g. ``rgb``, ``depth``, ``single_camera``, ``duo_camera``)
@@ -109,7 +113,7 @@ supported and causes configuration validation to fail.
 
 Pass ``--task=<task-name> --help`` to a training script to see all available
 preset names grouped by selector type at the command line, or run
-``./isaaclab.sh -p scripts/environments/list_envs.py --show_presets``
+``uv run python scripts/environments/list_envs.py --show_presets``
 to list presets for every registered environment.
 
 See the :doc:`Hydra preset system documentation </source/features/hydra>`
diff --git a/docs/source/overview/imitation-learning/augmented_imitation.rst b/docs/source/overview/imitation-learning/augmented_imitation.rst
index 363f655c9aab..8ebba1e0d95c 100644
--- a/docs/source/overview/imitation-learning/augmented_imitation.rst
+++ b/docs/source/overview/imitation-learning/augmented_imitation.rst
@@ -311,8 +311,11 @@ To install the robomimic framework, use the following commands:
 
    # install the dependencies
    sudo apt install cmake build-essential
-   # install python module (for robomimic)
-   ./isaaclab.sh -i robomimic
+   # resolve and verify Robomimic in the uv-managed environment
+   uv run --extra mimic python -c "import robomimic"
+
+For a legacy environment, install the same dependencies with
+``./isaaclab.sh -i mimic``.
 
 Training an agent
 ^^^^^^^^^^^^^^^^^
@@ -325,7 +328,7 @@ Using the generated data, we can now train a visuomotor BC agent for ``IsaacCont
 
       .. code:: bash
 
-          uv run python scripts/imitation_learning/robomimic/train.py \
+          uv run --extra mimic python scripts/imitation_learning/robomimic/train.py \
           --task IsaacContrib-Stack-Cube-Franka-IK-Rel-Visuomotor-Cosmos --algo bc \
           --dataset ./datasets/mimic_cosmos_dataset.hdf5 \
           --name bc_rnn_image_franka_stack_mimic_cosmos
@@ -417,7 +420,7 @@ Example usage for the cube stacking task:
 
       .. code:: bash
 
-          uv run python scripts/imitation_learning/robomimic/robust_eval.py \
+          uv run --extra mimic python scripts/imitation_learning/robomimic/robust_eval.py \
           --task IsaacContrib-Stack-Cube-Franka-IK-Rel-Visuomotor-Cosmos \
           --input_dir logs/robomimic/IsaacContrib-Stack-Cube-Franka-IK-Rel-Visuomotor-Cosmos/bc_rnn_image_franka_stack_mimic_cosmos/*/models \
           --log_dir robust_results/bc_rnn_image_franka_stack_mimic_cosmos \
diff --git a/docs/source/overview/imitation-learning/teleop_imitation.rst b/docs/source/overview/imitation-learning/teleop_imitation.rst
index 958f38f15f19..0011baecbfc3 100644
--- a/docs/source/overview/imitation-learning/teleop_imitation.rst
+++ b/docs/source/overview/imitation-learning/teleop_imitation.rst
@@ -459,9 +459,11 @@ Install the Robomimic framework using the following command:
 
    # install the dependencies
    sudo apt install cmake build-essential
-   # install python module (for robomimic)
-   ./isaaclab.sh -i robomimic
+   # resolve and verify Robomimic in the uv-managed environment
+   uv run --extra mimic python -c "import robomimic"
 
+For a legacy environment, install the same dependencies with
+``./isaaclab.sh -i mimic``.
 
 
 Train an Agent
@@ -479,7 +481,7 @@ Using the Isaac Lab Mimic generated data we can now train a state-based BC RNN a
 
       .. code:: bash
 
-         uv run python scripts/imitation_learning/robomimic/train.py \
+         uv run --extra mimic python scripts/imitation_learning/robomimic/train.py \
          --task IsaacContrib-Stack-Cube-Franka-IK-Rel \
          --algo bc \
          --dataset ./datasets/generated_dataset.hdf5
@@ -489,7 +491,7 @@ Using the Isaac Lab Mimic generated data we can now train a state-based BC RNN a
 
       .. code:: bash
 
-         uv run python scripts/imitation_learning/robomimic/train.py \
+         uv run --extra mimic python scripts/imitation_learning/robomimic/train.py \
          --task IsaacContrib-Stack-Cube-Franka-IK-Rel-Visuomotor \
          --algo bc \
          --dataset ./datasets/generated_dataset.hdf5
@@ -512,7 +514,7 @@ Run the trained policy to visualize the results:
 
       .. code:: bash
 
-         uv run python scripts/imitation_learning/robomimic/play.py \
+         uv run --extra mimic python scripts/imitation_learning/robomimic/play.py \
          --task IsaacContrib-Stack-Cube-Franka-IK-Rel \
          --viz kit \
          --num_rollouts 50 \
@@ -523,7 +525,7 @@ Run the trained policy to visualize the results:
 
       .. code:: bash
 
-         uv run python scripts/imitation_learning/robomimic/play.py \
+         uv run --extra mimic python scripts/imitation_learning/robomimic/play.py \
          --task IsaacContrib-Stack-Cube-Franka-IK-Rel-Visuomotor \
          --viz kit \
          --num_rollouts 50 \
diff --git a/docs/source/overview/reinforcement-learning/rl_existing_scripts.rst b/docs/source/overview/reinforcement-learning/rl_existing_scripts.rst
index d3b99cb3d186..5d6487736e48 100644
--- a/docs/source/overview/reinforcement-learning/rl_existing_scripts.rst
+++ b/docs/source/overview/reinforcement-learning/rl_existing_scripts.rst
@@ -155,6 +155,13 @@ The contributed Cartpole showcase tasks likewise pair each non-default
 configs, such as RSL-RL symmetry or recurrent policies and skrl's AMP/IPPO/MAPPO
 algorithms, are algorithm choices rather than preset requirements.
 
+.. note::
+
+   RSL-RL is included in the default uv environment. RL-Games, SKRL, and
+   Stable-Baselines3 are optional, so their uv commands below select the
+   corresponding extra. RLinf commands assume the dedicated installation in
+   :ref:`rlinf-post-training` has been completed.
+
 
 RL-Games
 --------
@@ -180,23 +187,21 @@ RL-Games
 
                .. code:: bash
 
-                  # install python module (for rl-games)
-                  ./isaaclab.sh -i rl_games
                   # run command for training
-                  uv run isaaclab train --rl_library rl_games --task Isaac-Ant
+                  uv run --extra rl-games isaaclab train --rl_library rl_games --task Isaac-Ant
                   # run command for training with Newton backend
-                  uv run isaaclab train --rl_library rl_games --task Isaac-Ant physics=newton_mjwarp
+                  uv run --extra rl-games isaaclab train --rl_library rl_games --task Isaac-Ant physics=newton_mjwarp
                   # run command for playing with 32 environments
-                  uv run isaaclab play --rl_library rl_games --task Isaac-Ant --num_envs 32 --checkpoint /PATH/TO/model.pth
+                  uv run --extra rl-games isaaclab play --rl_library rl_games --task Isaac-Ant --num_envs 32 --checkpoint /PATH/TO/model.pth
                   # run command for recording video of a trained agent
-                  uv run --extra video isaaclab play --rl_library rl_games --task Isaac-Ant --video --video_length 200
+                  uv run --extra rl-games --extra video isaaclab play --rl_library rl_games --task Isaac-Ant --video --video_length 200
 
             .. tab-item:: isaaclab.sh / isaaclab.bat
 
                .. code:: bash
 
                   # install python module (for rl-games)
-                  ./isaaclab.sh -i rl_games
+                  ./isaaclab.sh -i 'rl[rl-games]'
                   # run command for training
                   ./isaaclab.sh train --rl_library rl_games --task Isaac-Ant
                   # run command for training with Newton backend
@@ -212,7 +217,7 @@ RL-Games
          .. code:: batch
 
             :: install python module (for rl-games)
-            isaaclab.bat -i rl_games
+            isaaclab.bat -i "rl[rl-games]"
             :: run command for training
             isaaclab.bat train --rl_library rl_games --task Isaac-Ant
             :: run command for training with Newton backend
@@ -240,8 +245,6 @@ RSL-RL
 
                .. code:: bash
 
-                  # install python module (for rsl-rl)
-                  ./isaaclab.sh -i rsl_rl
                   # run command for training
                   uv run isaaclab train --rl_library rsl_rl --task Isaac-Reach-Franka
                   # run command for training with Newton backend
@@ -256,7 +259,7 @@ RSL-RL
                .. code:: bash
 
                   # install python module (for rsl-rl)
-                  ./isaaclab.sh -i rsl_rl
+                  ./isaaclab.sh -i 'rl[rsl-rl]'
                   # run command for training
                   ./isaaclab.sh train --rl_library rsl_rl --task Isaac-Reach-Franka
                   # run command for training with Newton backend
@@ -272,7 +275,7 @@ RSL-RL
          .. code:: batch
 
             :: install python module (for rsl-rl)
-            isaaclab.bat -i rsl_rl
+            isaaclab.bat -i "rl[rsl-rl]"
             :: run command for training
             isaaclab.bat train --rl_library rsl_rl --task Isaac-Reach-Franka
             :: run command for training with Newton backend
@@ -297,8 +300,6 @@ RSL-RL
 
                .. code:: bash
 
-                  # install python module (for rsl-rl)
-                  ./isaaclab.sh -i rsl_rl
                   # run command for rl training of the teacher agent
                   uv run isaaclab train --rl_library rsl_rl --task Isaac-Velocity-Flat-AnymalD
                   # run command for rl training of the teacher agent with Newton backend
@@ -313,7 +314,7 @@ RSL-RL
                .. code:: bash
 
                   # install python module (for rsl-rl)
-                  ./isaaclab.sh -i rsl_rl
+                  ./isaaclab.sh -i 'rl[rsl-rl]'
                   # run command for rl training of the teacher agent
                   ./isaaclab.sh train --rl_library rsl_rl --task Isaac-Velocity-Flat-AnymalD
                   # run command for rl training of the teacher agent with Newton backend
@@ -329,7 +330,7 @@ RSL-RL
          .. code:: batch
 
             :: install python module (for rsl-rl)
-            isaaclab.bat -i rsl_rl
+            isaaclab.bat -i "rl[rsl-rl]"
             :: run command for rl training of the teacher agent
             isaaclab.bat train --rl_library rsl_rl --task Isaac-Velocity-Flat-AnymalD
             :: run command for rl training of the teacher agent with Newton backend
@@ -361,23 +362,21 @@ SKRL
 
                         .. code:: bash
 
-                           # install python module (for skrl)
-                           ./isaaclab.sh -i skrl
                            # run command for training
-                           uv run isaaclab train --rl_library skrl --task Isaac-Reach-Franka
+                           uv run --extra skrl isaaclab train --rl_library skrl --task Isaac-Reach-Franka
                            # run command for training with Newton backend
-                           uv run isaaclab train --rl_library skrl --task Isaac-Reach-Franka physics=newton_mjwarp
+                           uv run --extra skrl isaaclab train --rl_library skrl --task Isaac-Reach-Franka physics=newton_mjwarp
                            # run command for playing with 32 environments
-                           uv run isaaclab play --rl_library skrl --task Isaac-Reach-Franka --num_envs 32 --checkpoint /PATH/TO/model.pt
+                           uv run --extra skrl isaaclab play --rl_library skrl --task Isaac-Reach-Franka --num_envs 32 --checkpoint /PATH/TO/model.pt
                            # run command for recording video of a trained agent
-                           uv run --extra video isaaclab play --rl_library skrl --task Isaac-Reach-Franka --video --video_length 200
+                           uv run --extra skrl --extra video isaaclab play --rl_library skrl --task Isaac-Reach-Franka --video --video_length 200
 
                      .. tab-item:: isaaclab.sh / isaaclab.bat
 
                         .. code:: bash
 
                            # install python module (for skrl)
-                           ./isaaclab.sh -i skrl
+                           ./isaaclab.sh -i 'rl[skrl]'
                            # run command for training
                            ./isaaclab.sh train --rl_library skrl --task Isaac-Reach-Franka
                            # run command for training with Newton backend
@@ -393,7 +392,7 @@ SKRL
                   .. code:: batch
 
                      :: install python module (for skrl)
-                     isaaclab.bat -i skrl
+                     isaaclab.bat -i "rl[skrl]"
                      :: run command for training
                      isaaclab.bat train --rl_library skrl --task Isaac-Reach-Franka
                      :: run command for training with Newton backend
@@ -432,7 +431,7 @@ SKRL
                      .. code:: bash
 
                         # install python module (for skrl)
-                        ./isaaclab.sh -i skrl
+                        uv run --extra skrl python -c "import skrl"
                         # install JAX for CUDA 12
                         uv pip install -U "jax[cuda12]"
                         # install skrl dependencies for JAX
@@ -443,7 +442,7 @@ SKRL
                      .. code:: bash
 
                         # install python module (for skrl)
-                        ./isaaclab.sh -i skrl
+                        ./isaaclab.sh -i 'rl[skrl]'
                         # install JAX for CUDA 12
                         ./isaaclab.sh -p -m pip install -U "jax[cuda12]"
                         # install skrl dependencies for JAX
@@ -459,7 +458,7 @@ SKRL
                      .. code:: bash
 
                         # install python module (for skrl)
-                        ./isaaclab.sh -i skrl
+                        uv run --extra skrl python -c "import skrl"
                         # install JAX for CUDA 13
                         uv pip install -U "jax[cuda13]"
                         # install skrl dependencies for JAX
@@ -470,7 +469,7 @@ SKRL
                      .. code:: bash
 
                         # install python module (for skrl)
-                        ./isaaclab.sh -i skrl
+                        ./isaaclab.sh -i 'rl[skrl]'
                         # install JAX for CUDA 13
                         ./isaaclab.sh -p -m pip install -U "jax[cuda13]"
                         # install skrl dependencies for JAX
@@ -483,13 +482,13 @@ SKRL
                .. code:: bash
 
                   # run command for training
-                  uv run isaaclab train --rl_library skrl --task Isaac-Reach-Franka --ml_framework jax
+                  uv run --extra skrl isaaclab train --rl_library skrl --task Isaac-Reach-Franka --ml_framework jax
                   # run command for training with Newton backend
-                  uv run isaaclab train --rl_library skrl --task Isaac-Reach-Franka --ml_framework jax presets=newton_mjwarp
+                  uv run --extra skrl isaaclab train --rl_library skrl --task Isaac-Reach-Franka --ml_framework jax presets=newton_mjwarp
                   # run command for playing with 32 environments
-                  uv run isaaclab play --rl_library skrl --task Isaac-Reach-Franka --num_envs 32  --ml_framework jax --checkpoint /PATH/TO/model.pt
+                  uv run --extra skrl isaaclab play --rl_library skrl --task Isaac-Reach-Franka --num_envs 32  --ml_framework jax --checkpoint /PATH/TO/model.pt
                   # run command for recording video of a trained agent
-                  uv run --extra video isaaclab play --rl_library skrl --task Isaac-Reach-Franka --ml_framework jax --video --video_length 200
+                  uv run --extra skrl --extra video isaaclab play --rl_library skrl --task Isaac-Reach-Franka --ml_framework jax --video --video_length 200
 
             .. tab-item:: isaaclab.sh / isaaclab.bat
 
@@ -518,19 +517,17 @@ SKRL
 
                .. code:: bash
 
-                  # install python module (for skrl)
-                  ./isaaclab.sh -i skrl
                   # run command for training with the MAPPO algorithm (IPPO is also supported)
-                  uv run isaaclab train --rl_library skrl --task Isaac-Shadow-Handover-Direct --algorithm MAPPO
+                  uv run --extra skrl isaaclab train --rl_library skrl --task Isaac-Shadow-Handover-Direct --algorithm MAPPO
                   # run command for playing with 32 environments with the MAPPO algorithm (IPPO is also supported)
-                  uv run isaaclab play --rl_library skrl --task Isaac-Shadow-Handover-Direct --num_envs 32 --algorithm MAPPO --checkpoint /PATH/TO/model.pt
+                  uv run --extra skrl isaaclab play --rl_library skrl --task Isaac-Shadow-Handover-Direct --num_envs 32 --algorithm MAPPO --checkpoint /PATH/TO/model.pt
 
             .. tab-item:: isaaclab.sh / isaaclab.bat
 
                .. code:: bash
 
                   # install python module (for skrl)
-                  ./isaaclab.sh -i skrl
+                  ./isaaclab.sh -i 'rl[skrl]'
                   # run command for training with the MAPPO algorithm (IPPO is also supported)
                   ./isaaclab.sh train --rl_library skrl --task Isaac-Shadow-Handover-Direct --algorithm MAPPO
                   # run command for playing with 32 environments with the MAPPO algorithm (IPPO is also supported)
@@ -542,7 +539,7 @@ SKRL
          .. code:: batch
 
             :: install python module (for skrl)
-            isaaclab.bat -i skrl
+            isaaclab.bat -i "rl[skrl]"
             :: run command for training with the MAPPO algorithm (IPPO is also supported)
             isaaclab.bat train --rl_library skrl --task Isaac-Shadow-Handover-Direct --algorithm MAPPO
             :: run command for playing with 32 environments with the MAPPO algorithm (IPPO is also supported)
@@ -567,23 +564,21 @@ Stable-Baselines3
 
                .. code:: bash
 
-                  # install python module (for stable-baselines3)
-                  ./isaaclab.sh -i sb3
                   # run command for training
-                  uv run isaaclab train --rl_library sb3 --task IsaacContrib-Velocity-Flat-UnitreeA1
+                  uv run --extra sb3 isaaclab train --rl_library sb3 --task IsaacContrib-Velocity-Flat-UnitreeA1
                   # run command for training with Newton backend
-                  uv run isaaclab train --rl_library sb3 --task IsaacContrib-Velocity-Flat-UnitreeA1 physics=newton_mjwarp
+                  uv run --extra sb3 isaaclab train --rl_library sb3 --task IsaacContrib-Velocity-Flat-UnitreeA1 physics=newton_mjwarp
                   # run command for playing with 32 environments
-                  uv run isaaclab play --rl_library sb3 --task IsaacContrib-Velocity-Flat-UnitreeA1 --num_envs 32 --checkpoint /PATH/TO/model.zip
+                  uv run --extra sb3 isaaclab play --rl_library sb3 --task IsaacContrib-Velocity-Flat-UnitreeA1 --num_envs 32 --checkpoint /PATH/TO/model.zip
                   # run command for recording video of a trained agent
-                  uv run --extra video isaaclab play --rl_library sb3 --task IsaacContrib-Velocity-Flat-UnitreeA1 --video --video_length 200
+                  uv run --extra sb3 --extra video isaaclab play --rl_library sb3 --task IsaacContrib-Velocity-Flat-UnitreeA1 --video --video_length 200
 
             .. tab-item:: isaaclab.sh / isaaclab.bat
 
                .. code:: bash
 
                   # install python module (for stable-baselines3)
-                  ./isaaclab.sh -i sb3
+                  ./isaaclab.sh -i 'rl[sb3]'
                   # run command for training
                   ./isaaclab.sh train --rl_library sb3 --task IsaacContrib-Velocity-Flat-UnitreeA1
                   # run command for training with Newton backend
@@ -599,7 +594,7 @@ Stable-Baselines3
          .. code:: batch
 
             :: install python module (for stable-baselines3)
-            isaaclab.bat -i sb3
+            isaaclab.bat -i "rl[sb3]"
             :: run command for training
             isaaclab.bat train --rl_library sb3 --task IsaacContrib-Velocity-Flat-UnitreeA1
             :: run command for training with Newton backend
diff --git a/docs/source/refs/troubleshooting.rst b/docs/source/refs/troubleshooting.rst
index 6b466b0b0c2a..b58f35c42e97 100644
--- a/docs/source/refs/troubleshooting.rst
+++ b/docs/source/refs/troubleshooting.rst
@@ -93,8 +93,10 @@ Isaac Sim version before installing Isaac Lab.
 ``ModuleNotFoundError: No module named 'rsl_rl'``
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-Include the RL framework: ``./isaaclab.sh -i rsl_rl``, or use
-``./isaaclab.sh -i`` to install all frameworks.
+RSL-RL is included in the default uv environment. Run ``uv sync`` and retry the
+command with ``uv run``. For the legacy installer, use
+``./isaaclab.sh -i 'rl[rsl-rl]'`` or ``./isaaclab.sh -i`` to install all
+frameworks.
 
 Crash in ``libusd_tf`` / USD Symbol Collision with OVRTX
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
diff --git a/docs/source/setup/quickstart_details.rst b/docs/source/setup/quickstart_details.rst
index ad4cc9663d3f..cfc7f59156df 100644
--- a/docs/source/setup/quickstart_details.rst
+++ b/docs/source/setup/quickstart_details.rst
@@ -32,6 +32,11 @@ options (observation modes, camera configs, etc.). They fold into Hydra override
 
       .. code-block:: bash
 
+         # Default: concrete Isaac Sim PhysX
+         uv run isaaclab train --rl_library rsl_rl \
+           --task=Isaac-Cartpole-Direct \
+           --num_envs=4096
+
          # Kit-less: Newton MJWarp + Newton visualizer
          uv run isaaclab train --rl_library rsl_rl \
            --task=Isaac-Cartpole-Direct \
@@ -80,18 +85,18 @@ Available Presets
 
 **Physics backends** (``physics=NAME``):
 
+- ``isaacsim_physx`` — concrete PhysX via Isaac Sim / Kit; this is the default when an environment would otherwise default to automatic PhysX selection
 - ``physx`` — automatic PhysX-family selection: Isaac Sim PhysX when Kit is required, otherwise OvPhysX when the task supports it; tasks without OvPhysX support fall back to Isaac Sim PhysX
-- ``isaacsim_physx`` — force PhysX via Isaac Sim / Kit
 - ``newton_mjwarp`` — Newton with the MuJoCo-Warp solver
 - ``newton_kamino`` — Newton with the Kamino solver (beta, limited tasks)
 - ``ovphysx`` — OV PhysX (kit-less; incompatible with ``--visualizer kit``)
 
 **Renderer backends** (``renderer=NAME``):
 
-- ``isaacsim_rtx`` — Isaac Sim RTX (default with Isaac Sim)
+- ``isaacsim_rtx`` — concrete Isaac Sim RTX; this is the default for cameras that use the multi-backend renderer config
 - ``newton_renderer`` — Newton Warp renderer
 - ``ovrtx`` — OV RTX renderer (kit-less)
-- ``rtx`` — Automatic RTX renderer selection
+- ``rtx`` — automatic RTX renderer selection
 
 Automatic RTX selection is available only when the camera exposes the renderer
 choices with :class:`~isaaclab_tasks.utils.presets.MultiBackendRendererCfg`:
diff --git a/skills/user/use-presets/examples.md b/skills/user/use-presets/examples.md
index 6e584647aafa..825683a45a74 100644
--- a/skills/user/use-presets/examples.md
+++ b/skills/user/use-presets/examples.md
@@ -26,19 +26,25 @@ This is enough when the task only supports PhysX and there are no renderer, sens
 ## Physics Presets
 
 Use `PresetCfg` when the same task supports multiple physics backends.
+The example below applies when the task's established default is PhysX. Preserve
+an explicit Newton or other backend default when adding more variants.
 
 ```python
+from isaaclab.physics import PhysxAutoCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.utils.configclass import configclass
 from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
+from isaaclab_ovphysx.physics import OvPhysxCfg
 from isaaclab_physx.physics import PhysxCfg
 from isaaclab_tasks.utils import PresetCfg
 
 
 @configclass
 class PhysicsCfg(PresetCfg):
-    default = PhysxCfg(gpu_max_rigid_patch_count=10 * 2**15)
-    physx = default
+    isaacsim_physx = PhysxCfg(gpu_max_rigid_patch_count=10 * 2**15)
+    ovphysx = OvPhysxCfg()
+    physx = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
+    default = isaacsim_physx
     newton_mjwarp = NewtonCfg(
         solver_cfg=MJWarpSolverCfg(njmax=120, nconmax=15),
         num_substeps=1,
@@ -53,6 +59,7 @@ class MyMultiBackendEnvCfg:
 Command examples:
 
 ```bash
+uv run python scripts/environments/random_agent.py --task Isaac-Ant --num_envs 4
 uv run python scripts/environments/random_agent.py --task Isaac-Ant --num_envs 4 physics=physx
 uv run python scripts/environments/random_agent.py --task Isaac-Ant --num_envs 4 physics=newton_mjwarp
 ```
@@ -90,7 +97,7 @@ uv run python scripts/environments/random_agent.py --task Isaac-Cartpole-Camera-
 For camera tasks that expose physics, renderer, and data-type variants, combine selectors:
 
 ```bash
-uv run python scripts/environments/random_agent.py --task Isaac-Cartpole-Camera-Direct --num_envs 4 physics=physx renderer=isaacsim_rtx_renderer presets=rgb
+uv run python scripts/environments/random_agent.py --task Isaac-Cartpole-Camera-Direct --num_envs 4 physics=isaacsim_physx renderer=isaacsim_rtx presets=rgb
 uv run python scripts/environments/random_agent.py --task Isaac-Cartpole-Camera-Direct --num_envs 4 physics=newton_mjwarp renderer=newton_renderer presets=depth
 ```
 
diff --git a/skills/user/use-presets/reference.md b/skills/user/use-presets/reference.md
index 1ec8871dcd19..feac0cf3bcfd 100644
--- a/skills/user/use-presets/reference.md
+++ b/skills/user/use-presets/reference.md
@@ -49,9 +49,11 @@ From the Isaac Lab checkout, use `uv run python scripts/environments/list_envs.p
 Import paths:
 
 ```python
+from isaaclab.physics import PhysxAutoCfg
 from isaaclab.sim import SimulationCfg
 from isaaclab.utils.configclass import configclass
 from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
+from isaaclab_ovphysx.physics import OvPhysxCfg
 from isaaclab_physx.physics import PhysxCfg
 from isaaclab_tasks.utils import PresetCfg
 ```
@@ -61,8 +63,10 @@ Pattern:
 ```python
 @configclass
 class PhysicsCfg(PresetCfg):
-    default = PhysxCfg()
-    physx = default
+    isaacsim_physx = PhysxCfg()
+    ovphysx = OvPhysxCfg()
+    physx = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
+    default = isaacsim_physx
     newton_mjwarp = NewtonCfg(solver_cfg=MJWarpSolverCfg())
 
 
@@ -73,11 +77,13 @@ class MyEnvCfg:
 
 For multi-backend tasks, keep backend-specific solver values in the preset wrapper. Do not branch on backend names inside step, reward, or reset logic unless behavior truly cannot be represented as config.
 
+When a task currently defaults to `PhysxAutoCfg`, replace that default with the concrete `isaacsim_physx` variant. Preserve explicit Newton and other backend defaults. Keep `physx` as the explicit automatic selector through `PhysxAutoCfg`, matching the renderer convention where `isaacsim_rtx` is concrete and `rtx` is automatic.
+
 For schema presets, import universal fragments and base cfgs from `isaaclab.sim.schemas`, PhysX-specific cfgs from `isaaclab_physx.sim.schemas`, and Newton or MuJoCo cfgs from `isaaclab_newton.sim.schemas`.
 
 ## Validation Checklist
 
-- The `default` variant is valid.
+- A default that previously aliased `PhysxAutoCfg` now aliases `isaacsim_physx`; explicit backend defaults remain unchanged.
 - Every named variant is tested.
 - Selector names match existing conventions such as `physx`, `newton_mjwarp`, `newton_kamino`, `ovphysx`, `rgb`, and `depth`.
 - A small random-agent rollout succeeds for each variant.
diff --git a/source/isaaclab/changelog.d/fix-install-hints.rst b/source/isaaclab/changelog.d/fix-install-hints.rst
new file mode 100644
index 000000000000..f090ccdf20d7
--- /dev/null
+++ b/source/isaaclab/changelog.d/fix-install-hints.rst
@@ -0,0 +1,4 @@
+Fixed
+^^^^^
+
+* Fixed visualizer runtime errors to recommend valid uv-managed commands.
diff --git a/source/isaaclab/isaaclab/sim/simulation_context.py b/source/isaaclab/isaaclab/sim/simulation_context.py
index fe89d8d7ff14..a73558f4a29d 100644
--- a/source/isaaclab/isaaclab/sim/simulation_context.py
+++ b/source/isaaclab/isaaclab/sim/simulation_context.py
@@ -33,6 +33,7 @@
 from isaaclab.utils.string import clear_resolve_matching_names_cache
 from isaaclab.utils.version import has_kit
 from isaaclab.visualizers.base_visualizer import BaseVisualizer
+from isaaclab.visualizers.visualizer_cfg import _get_visualizer_install_hint
 
 if TYPE_CHECKING:
     from pxr import Usd
@@ -392,10 +393,9 @@ def _create_default_visualizer_configs(self, requested_visualizers: list[str]) -
                 # isaaclab_visualizers is optional; log once at warning level
                 if "isaaclab_visualizers" in str(exc):
                     logger.warning(
-                        "[SimulationContext] Visualizer '%s' skipped: isaaclab_visualizers is not installed. "
-                        "Install with: pip install isaaclab_visualizers[%s]",
-                        viz_type,
+                        "[SimulationContext] Visualizer '%s' skipped: isaaclab_visualizers is not installed. %s",
                         viz_type,
+                        _get_visualizer_install_hint(viz_type),
                     )
                 else:
                     logger.error(
@@ -509,11 +509,15 @@ def _resolve_visualizer_cfgs(self) -> list[Any]:
             resolved_types = {getattr(cfg, "visualizer_type", None) for cfg in resolved}
             missing = [t for t in cli_requested if t not in resolved_types]
             if missing:
+                install_hints = " ".join(
+                    _get_visualizer_install_hint(visualizer_type)
+                    for visualizer_type in missing
+                    if visualizer_type in _VISUALIZER_TYPES
+                )
                 raise RuntimeError(
                     f"Explicitly requested visualizer(s) {missing} could not be configured. "
                     f"Valid types: {', '.join(repr(t) for t in _VISUALIZER_TYPES)}. "
-                    "Ensure the required package is installed "
-                    "(e.g., pip install isaaclab_visualizers[<type>])."
+                    f"{install_hints}"
                 )
 
         # XR auto-start: auto-inject a KitVisualizer when XR is active and no
@@ -533,9 +537,9 @@ def _resolve_visualizer_cfgs(self) -> list[Any]:
                     logger.info("[SimulationContext] Auto-injecting KitVisualizer for XR app-update pumping.")
                 except (ImportError, ModuleNotFoundError, AttributeError) as exc:
                     logger.warning(
-                        "[SimulationContext] XR mode could not auto-inject a KitVisualizer: %s. "
-                        "Install isaaclab_visualizers[kit] or pass --visualizer kit.",
+                        "[SimulationContext] XR mode could not auto-inject a KitVisualizer: %s. %s",
                         exc,
+                        _get_visualizer_install_hint("kit"),
                     )
 
         return resolved
diff --git a/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py b/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py
index 76d0ea70df50..c63d1cfdfdc7 100644
--- a/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py
+++ b/source/isaaclab/isaaclab/visualizers/visualizer_cfg.py
@@ -22,6 +22,14 @@
 }
 
 
+def _get_visualizer_install_hint(visualizer_type: str) -> str:
+    """Return the uv command needed to run a visualizer backend."""
+    extra = _VISUALIZER_EXTRAS.get(visualizer_type)
+    if extra is None:
+        return "Run your command with: uv run <command>."
+    return f"Run your command with: uv run --extra {extra} <command>."
+
+
 @configclass
 class VisualizerCfg:
     """Base configuration for all visualizer backends.
@@ -141,13 +149,8 @@ def create_visualizer(self) -> BaseVisualizer:
             return Visualizer(self)
         except (ValueError, ImportError, ModuleNotFoundError) as exc:
             if self.visualizer_type in ("newton", "rerun", "viser", "kit"):
-                extra = _VISUALIZER_EXTRAS.get(self.visualizer_type)
-                if extra is None:
-                    install_hint = "Synchronize the project environment with: uv sync."
-                else:
-                    install_hint = f"Run your command with: uv run --extra {extra} <command>."
                 raise ImportError(
                     f"Could not import visualizer '{self.visualizer_type}' from isaaclab_visualizers. "
-                    f"{install_hint}\nOriginal error: {exc}"
+                    f"{_get_visualizer_install_hint(self.visualizer_type)}\nOriginal error: {exc}"
                 ) from exc
             raise
diff --git a/source/isaaclab_ov/changelog.d/fix-install-hints.rst b/source/isaaclab_ov/changelog.d/fix-install-hints.rst
new file mode 100644
index 000000000000..8aa48738e655
--- /dev/null
+++ b/source/isaaclab_ov/changelog.d/fix-install-hints.rst
@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed OVRTX missing-runtime errors to recommend supported uv-managed and
+  direct-wheel commands.
diff --git a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py b/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py
index 6af04ee8359d..14de1a819a7a 100644
--- a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py
+++ b/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py
@@ -70,7 +70,8 @@
     raise ModuleNotFoundError(
         "The OVRTX renderer requires the optional 'ovrtx' runtime wheel, which is not installed. "
         "Run your command with: uv run --extra ovrtx <command> "
-        "(or, manually: pip install --extra-index-url https://pypi.nvidia.com -e 'source/isaaclab_ov[ovrtx]')."
+        "(or, manually: python -m pip install --extra-index-url https://pypi.nvidia.com "
+        "'ovrtx>=0.4.0,<0.5.0')."
     ) from exc
 
 from isaaclab.cloner.clone_plan import ClonePlan
@@ -178,7 +179,9 @@ def ovrtx_use_ovstage_enabled() -> bool:
     if value == "1" and not _OVSTAGE_AVAILABLE:
         raise RuntimeError(
             f"`{_USE_OVSTAGE_ENV}=1` requests the ovstage scene-ownership path, but the 'ovstage' "
-            "package is not installed. Install it with: ./isaaclab.sh -i 'ov[ovstage]' "
+            "package is not installed. Run your command with: uv run --extra ovrtx <command> "
+            "(or, manually: python -m pip install --extra-index-url https://pypi.nvidia.com "
+            "'ovstage>=0.1.0,<0.2.0')."
         )
     return value == "1"
 
diff --git a/source/isaaclab_ov/test/test_ovrtx_renderer_contract.py b/source/isaaclab_ov/test/test_ovrtx_renderer_contract.py
index 7ccb5402fc54..ac6b64313607 100644
--- a/source/isaaclab_ov/test/test_ovrtx_renderer_contract.py
+++ b/source/isaaclab_ov/test/test_ovrtx_renderer_contract.py
@@ -353,7 +353,7 @@ def test_ovrtx_use_ovstage_raises_when_requested_but_unavailable(monkeypatch):
     monkeypatch.setenv("ISAAC_LAB_OVRTX_USE_OVSTAGE", "1")
     monkeypatch.setattr(ovrtx_renderer_module, "_OVSTAGE_AVAILABLE", False)
 
-    with pytest.raises(RuntimeError, match="ov\\[ovstage\\]"):
+    with pytest.raises(RuntimeError, match="uv run --extra ovrtx"):
         ovrtx_use_ovstage_enabled()
 
 
diff --git a/source/isaaclab_ovphysx/changelog.d/fix-ovphysx-install-hint.rst b/source/isaaclab_ovphysx/changelog.d/fix-ovphysx-install-hint.rst
new file mode 100644
index 000000000000..22809e04bb69
--- /dev/null
+++ b/source/isaaclab_ovphysx/changelog.d/fix-ovphysx-install-hint.rst
@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed the OvPhysX missing-runtime error to recommend installing the supported
+  ``ovphysx`` wheel instead of a nonexistent source-package extra.
diff --git a/source/isaaclab_ovphysx/isaaclab_ovphysx/_runtime.py b/source/isaaclab_ovphysx/isaaclab_ovphysx/_runtime.py
index 38bbff1015a1..acbd236b760d 100644
--- a/source/isaaclab_ovphysx/isaaclab_ovphysx/_runtime.py
+++ b/source/isaaclab_ovphysx/isaaclab_ovphysx/_runtime.py
@@ -13,8 +13,7 @@
 _OVPHYSX_INSTALL_MESSAGE = (
     "The OvPhysX backend requires the optional 'ovphysx' runtime wheel, which is not installed. "
     "Run your command with: uv run --extra ovphysx <command> "
-    "(or, manually: pip install --extra-index-url https://pypi.nvidia.com "
-    "-e 'source/isaaclab_ovphysx[ovphysx]')."
+    "(or, manually: python -m pip install --extra-index-url https://pypi.nvidia.com ovphysx)."
 )
 
 
diff --git a/source/isaaclab_ovphysx/test/assets/test_rigid_object.py b/source/isaaclab_ovphysx/test/assets/test_rigid_object.py
index 7e3ef125d625..3f93e3f5808b 100644
--- a/source/isaaclab_ovphysx/test/assets/test_rigid_object.py
+++ b/source/isaaclab_ovphysx/test/assets/test_rigid_object.py
@@ -1051,10 +1051,12 @@ def test_body_root_state_properties(num_cubes, device, with_offset):
                 # center of mass vel will be constant (i.e. spinning around com)
                 torch.testing.assert_close(torch.zeros_like(root_com_vel_w[..., :3]), root_com_vel_w[..., :3])
                 torch.testing.assert_close(torch.zeros_like(body_com_vel_w[..., :3]), body_com_vel_w[..., :3])
-                # link frame will be moving, and should be equal to input angular velocity cross offset
+                # link frame will be moving, and should account for the reported COM velocity and offset
                 lin_vel_rel_root_gt = quat_apply_inverse(root_link_pose_w[..., 3:], root_link_vel_w[..., :3])
                 lin_vel_rel_body_gt = quat_apply_inverse(body_link_pose_w[..., 3:], body_link_vel_w[..., :3])
-                lin_vel_rel_gt = torch.linalg.cross(spin_twist.repeat(num_cubes, 1)[..., 3:], -offset)
+                com_lin_vel_rel_gt = quat_apply_inverse(root_link_pose_w[..., 3:], root_com_vel_w[..., :3])
+                com_ang_vel_rel_gt = quat_apply_inverse(root_link_pose_w[..., 3:], root_com_vel_w[..., 3:])
+                lin_vel_rel_gt = com_lin_vel_rel_gt + torch.linalg.cross(com_ang_vel_rel_gt, -offset)
                 torch.testing.assert_close(lin_vel_rel_gt, lin_vel_rel_root_gt, atol=1e-4, rtol=1e-4)
                 torch.testing.assert_close(lin_vel_rel_gt, lin_vel_rel_body_gt.squeeze(-2), atol=1e-4, rtol=1e-4)
 
diff --git a/source/isaaclab_tasks/changelog.d/default-isaacsim-physx.major.rst b/source/isaaclab_tasks/changelog.d/default-isaacsim-physx.major.rst
new file mode 100644
index 000000000000..4931a1e698fc
--- /dev/null
+++ b/source/isaaclab_tasks/changelog.d/default-isaacsim-physx.major.rst
@@ -0,0 +1,8 @@
+Changed
+^^^^^^^
+
+* **Breaking:** Changed environments whose default physics preset was automatic
+  ``physx`` to use concrete ``isaacsim_physx``. Environments with explicit
+  backend defaults, including Newton, remain unchanged. Select
+  ``physics=physx`` to retain automatic PhysX-family resolution between Isaac
+  Sim PhysX and OvPhysX.
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py
index 24eae22f7071..4d82e25ea065 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py
@@ -204,7 +204,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     physx = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
-    default = physx
+    default = isaacsim_physx
 
 
 # Robot USD assets whose gripper revolute joints are authored with reversed
@@ -232,7 +232,7 @@ def raise_if_reversed_joints_on_newton(env_cfg) -> None:
         raise ValueError(
             "This task's robot has gripper joints authored with reversed body0/body1 ordering, "
             "which the Newton backend's USD parser does not support ('Reversed joints are not "
-            "supported'). Re-run this task with physics=physx (the default)."
+            "supported'). Re-run this task with physics=isaacsim_physx (the default)."
         )
 
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_joint_pos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_joint_pos_env_cfg.py
index 9105def1b2ed..1a6d241d9ef1 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_joint_pos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_joint_pos_env_cfg.py
@@ -64,7 +64,7 @@ class SO101StackPhysicsCfg(PhysicsCfg):
 
     isaacsim_physx = PhysicsCfg().isaacsim_physx.replace(solve_articulation_contact_last=True)
     physx = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
-    default = physx
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/stack_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/stack_env_cfg.py
index b9303ead168e..e9a7c1168d51 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/stack_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/stack/stack_env_cfg.py
@@ -318,7 +318,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     physx = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
-    default = physx
+    default = isaacsim_physx
 
 
 def raise_if_surface_gripper_on_newton(env_cfg) -> None:
@@ -336,7 +336,7 @@ def raise_if_surface_gripper_on_newton(env_cfg) -> None:
     if isinstance(env_cfg.sim.physics, NewtonCfg):
         raise ValueError(
             "Surface grippers are only supported by the PhysX backend; the Newton backend has no "
-            "surface-gripper implementation. Re-run this task with physics=physx (the default)."
+            "surface-gripper implementation. Re-run this task with physics=isaacsim_physx (the default)."
         )
 
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/flat_env_cfg.py
index 9bcb41b9144b..523117be4cdf 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/a1/flat_env_cfg.py
@@ -33,7 +33,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     newton_kamino = NewtonCfg(solver_cfg=KaminoSolverCfg(max_contacts_per_world=64))
-    default = physx
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/flat_env_cfg.py
index c47a0e4b76c0..a88b960e50ec 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_b/flat_env_cfg.py
@@ -33,7 +33,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     newton_kamino = NewtonCfg(solver_cfg=KaminoSolverCfg(max_contacts_per_world=64))
-    default = physx
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/flat_env_cfg.py
index 6c41bccb3590..7f100e452a58 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/anymal_c/flat_env_cfg.py
@@ -33,7 +33,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     newton_kamino = NewtonCfg(solver_cfg=KaminoSolverCfg(max_contacts_per_world=64))
-    default = physx
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/rough_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/rough_env_cfg.py
index c1e8b7d99bac..2284d162e340 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/rough_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/digit/rough_env_cfg.py
@@ -31,7 +31,7 @@ class DigitPhysicsCfg(PresetCfg):
         gpu_total_aggregate_pairs_capacity=2**23,
     )
     physx = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
-    default = physx
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/flat_env_cfg.py
index 2c9cb9575bd7..f239a431f3f7 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/go1/flat_env_cfg.py
@@ -33,7 +33,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     newton_kamino = NewtonCfg(solver_cfg=KaminoSolverCfg(max_contacts_per_world=64))
-    default = physx
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/spot/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/spot/flat_env_cfg.py
index 14cdf9d258cb..81b7a35999a7 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/spot/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/contrib/velocity/config/spot/flat_env_cfg.py
@@ -38,7 +38,7 @@
 class PhysicsCfg(PresetCfg):
     isaacsim_physx = PhysxCfg(gpu_max_rigid_patch_count=10 * 2**15)
     physx = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
-    default = physx
+    default = isaacsim_physx
     newton_mjwarp = NewtonCfg(
         solver_cfg=MJWarpSolverCfg(
             njmax=130,
@@ -231,10 +231,10 @@ class SpotPhysxEventCfg(SpotNewtonEventCfg, SpotStartupEventCfg):
 
 @configclass
 class SpotEventCfg(PresetCfg):
-    default = SpotPhysxEventCfg()
-    newton_mjwarp = SpotNewtonEventCfg()
-    physx = default
+    physx = SpotPhysxEventCfg()
     isaacsim_physx = physx
+    default = isaacsim_physx
+    newton_mjwarp = SpotNewtonEventCfg()
     newton_kamino = newton_mjwarp
 
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_direct_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_direct_env_cfg.py
index 8498fdc946e7..ee409c63d2b0 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_direct_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_direct_env_cfg.py
@@ -36,7 +36,7 @@ class CabinetDirectPhysicsCfg(PresetCfg):
         ),
         num_substeps=1,
     )
-    default = physx
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_env_cfg.py
index 7800d12fc7ff..6acdc084b92a 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cabinet/cabinet_env_cfg.py
@@ -55,7 +55,7 @@ class CabinetSimCfg(PresetCfg):
         physics=PhysxCfg(bounce_threshold_velocity=0.01, friction_correlation_distance=0.00625),
     )
     physx: SimulationCfg = isaacsim_physx.replace(physics=PhysxAutoCfg(isaacsim_physx=isaacsim_physx.physics))
-    default: SimulationCfg = physx
+    default: SimulationCfg = isaacsim_physx
     newton_mjwarp: SimulationCfg = SimulationCfg(
         dt=1 / 600,
         render_interval=1,
@@ -261,9 +261,9 @@ class _CabinetNewtonEventCfg:
 
 @configclass
 class CabinetEventCfg(PresetCfg):
-    default: EventCfg = EventCfg()
     physx: EventCfg = EventCfg()
     isaacsim_physx: EventCfg = physx
+    default: EventCfg = isaacsim_physx
     newton_mjwarp: _CabinetNewtonEventCfg = _CabinetNewtonEventCfg()
 
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env_cfg.py
index 2333bc85e286..4185d7b85536 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_direct_env_cfg.py
@@ -28,7 +28,7 @@ class CartpolePhysicsCfg(PresetCfg):
     isaacsim_physx: PhysxCfg = PhysxCfg()
     ovphysx: OvPhysxCfg = OvPhysxCfg()
     physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
-    default = physx
+    default = isaacsim_physx
     newton_mjwarp: NewtonCfg = NewtonCfg(
         solver_cfg=MJWarpSolverCfg(
             njmax=5,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_env_cfg.py
index cf7e3601fc82..d8c4fa12483e 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/cartpole/cartpole_manager_env_cfg.py
@@ -38,7 +38,7 @@ class CartpolePhysicsCfg(PresetCfg):
     isaacsim_physx: PhysxCfg = PhysxCfg()
     ovphysx: OvPhysxCfg = OvPhysxCfg()
     physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
-    default: PhysxAutoCfg = physx
+    default: PhysxCfg = isaacsim_physx
     newton_mjwarp: NewtonCfg = NewtonCfg(
         solver_cfg=MJWarpSolverCfg(
             njmax=5,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_env_cfg.py
index dbc75bfdbea9..e350e15355b8 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/config/kuka_allegro/kuka_allegro_env_cfg.py
@@ -37,12 +37,13 @@ class KukaAllegroObjectCfg(lift.ObjectCfg):
 class KukaAllegroPhysicsCfg(lift.PhysicsCfg):
     """Physics presets supported by the Kuka Allegro tasks."""
 
+    isaacsim_physx = lift.PhysicsCfg().isaacsim_physx
     ovphysx = OvPhysxCfg(
         gpu_max_rigid_patch_count=4 * 5 * 2**15,
         gpu_found_lost_pairs_capacity=2**26,
     )
-    physx = PhysxAutoCfg(isaacsim_physx=lift.PhysicsCfg().isaacsim_physx, ovphysx=ovphysx)
-    default = physx
+    physx = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/lift/lift_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/lift/lift_env_cfg.py
index e12f5e0c7963..711ce6e1c314 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/lift/lift_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/lift/lift_env_cfg.py
@@ -506,7 +506,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     physx = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
-    default = physx
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_direct_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_direct_env_cfg.py
index 84a7a5f9abb0..c6c89bbe8820 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_direct_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_direct_env_cfg.py
@@ -28,7 +28,7 @@ class AntPhysicsCfg(PresetCfg):
     isaacsim_physx: PhysxCfg = PhysxCfg()
     ovphysx: OvPhysxCfg = OvPhysxCfg()
     physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
-    default = physx
+    default = isaacsim_physx
     newton_mjwarp: NewtonCfg = NewtonCfg(
         solver_cfg=MJWarpSolverCfg(
             njmax=45,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_manager_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_manager_env_cfg.py
index d40b4d6c68c7..d438a86dd0e0 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_manager_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/ant/ant_manager_env_cfg.py
@@ -34,7 +34,7 @@
 class AntPhysicsCfg(PresetCfg):
     isaacsim_physx: PhysxCfg = PhysxCfg(bounce_threshold_velocity=0.2)
     physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
-    default: PhysxAutoCfg = physx
+    default: PhysxCfg = isaacsim_physx
     newton_mjwarp: NewtonCfg = NewtonCfg(
         solver_cfg=MJWarpSolverCfg(
             njmax=38,
@@ -153,9 +153,9 @@ def __post_init__(self):
 
 @configclass
 class AntObservationsCfg(PresetCfg):
-    default: ObservationsCfg = ObservationsCfg()
     physx: ObservationsCfg = ObservationsCfg()
     isaacsim_physx: ObservationsCfg = physx
+    default: ObservationsCfg = isaacsim_physx
     newton_mjwarp: ObservationsCfg = ObservationsCfg()
 
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_direct_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_direct_env_cfg.py
index 9fa34ccc5edc..34c0b8ba8e97 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_direct_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_direct_env_cfg.py
@@ -28,7 +28,7 @@ class HumanoidPhysicsCfg(PresetCfg):
     isaacsim_physx: PhysxCfg = PhysxCfg()
     ovphysx: OvPhysxCfg = OvPhysxCfg()
     physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx, ovphysx=ovphysx)
-    default = physx
+    default = isaacsim_physx
     newton_mjwarp: NewtonCfg = NewtonCfg(
         solver_cfg=MJWarpSolverCfg(
             njmax=80,
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_manager_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_manager_env_cfg.py
index ab774c3d3f43..6725ce8da6e6 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_manager_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/locomotion/humanoid/humanoid_manager_env_cfg.py
@@ -31,7 +31,7 @@
 class HumanoidPhysicsCfg(PresetCfg):
     isaacsim_physx: PhysxCfg = PhysxCfg(bounce_threshold_velocity=0.2)
     physx: PhysxAutoCfg = PhysxAutoCfg(isaacsim_physx=isaacsim_physx)
-    default: PhysxAutoCfg = physx
+    default: PhysxCfg = isaacsim_physx
     newton_mjwarp: NewtonCfg = NewtonCfg(
         solver_cfg=MJWarpSolverCfg(
             njmax=80,
@@ -137,9 +137,9 @@ def __post_init__(self):
 
 @configclass
 class HumanoidObservationsCfg(PresetCfg):
-    default: ObservationsCfg = ObservationsCfg()
     physx: ObservationsCfg = ObservationsCfg()
     isaacsim_physx: ObservationsCfg = physx
+    default: ObservationsCfg = isaacsim_physx
     newton_mjwarp: ObservationsCfg = ObservationsCfg()
 
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py
index 19292a97429f..bbc5a11c3f51 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/reorient/config/shadow_hand/shadow_hand_direct_camera_env_cfg.py
@@ -131,7 +131,7 @@ def __post_init__(self):
         # for the depth-only Newton-warp-renderer benchmark path (``presets=newton_renderer``).
         super().__post_init__()
         for backend_cfg in (self.sim.physics, self.robot_cfg, self.object_cfg):
-            backend_cfg.default = backend_cfg.physx
+            backend_cfg.default = backend_cfg.isaacsim_physx
 
     def validate_config(self):
         """Check renderer/data-type and feature-extractor compatibility."""
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/flat_env_cfg.py
index 7bbf9ff3b052..c53b1d32bfeb 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/anymal_d/flat_env_cfg.py
@@ -32,7 +32,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     newton_kamino = NewtonCfg(solver_cfg=KaminoSolverCfg(max_contacts_per_world=64))
-    default = physx
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/flat_env_cfg.py
index e6293b9995ca..e64feb5fff75 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/cassie/flat_env_cfg.py
@@ -33,7 +33,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     newton_kamino = NewtonCfg(solver_cfg=KaminoSolverCfg(max_contacts_per_world=64))
-    default = physx
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/flat_env_cfg.py
index d2b40ac55134..bcc3f7139f4a 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/g1/flat_env_cfg.py
@@ -34,7 +34,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     newton_kamino = NewtonCfg(solver_cfg=KaminoSolverCfg(max_contacts_per_world=64))
-    default = physx
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/flat_env_cfg.py
index 5b78264b7114..6a9883bf5e20 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/go2/flat_env_cfg.py
@@ -33,7 +33,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     newton_kamino = NewtonCfg(solver_cfg=KaminoSolverCfg(max_contacts_per_world=64))
-    default = physx
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/flat_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/flat_env_cfg.py
index 0be27558d27f..d78ec6098966 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/flat_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/config/h1/flat_env_cfg.py
@@ -33,7 +33,7 @@ class PhysicsCfg(PresetCfg):
         debug_mode=False,
     )
     newton_kamino = NewtonCfg(solver_cfg=KaminoSolverCfg(max_contacts_per_world=64))
-    default = physx
+    default = isaacsim_physx
 
 
 @configclass
diff --git a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/velocity_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/velocity_env_cfg.py
index fb89db49208a..6e9dd535159c 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/core/velocity/velocity_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/core/velocity/velocity_env_cfg.py
@@ -67,7 +67,7 @@ class RoughPhysicsCfg(PresetCfg):
         # on triangle-mesh terrain. See isaaclab_newton 0.5.22 changelog.
         default_shape_cfg=NewtonShapeCfg(margin=0.01),
     )
-    default = physx
+    default = isaacsim_physx
 
 
 ##
diff --git a/source/isaaclab_tasks/test/contrib/stack/test_so101_stack_physics_cfg.py b/source/isaaclab_tasks/test/contrib/stack/test_so101_stack_physics_cfg.py
index aa640d9f0aad..ba66ecf22ca0 100644
--- a/source/isaaclab_tasks/test/contrib/stack/test_so101_stack_physics_cfg.py
+++ b/source/isaaclab_tasks/test/contrib/stack/test_so101_stack_physics_cfg.py
@@ -25,7 +25,7 @@
 
 def test_preset_enables_contact_last_and_keeps_stack_tuning():
     preset = SO101StackPhysicsCfg()
-    assert preset.default == preset.physx
+    assert preset.default == preset.isaacsim_physx
     for physx in (preset.isaacsim_physx, preset.physx.isaacsim_physx):
         assert physx.solve_articulation_contact_last is True
         assert physx.bounce_threshold_velocity == 0.01
diff --git a/source/isaaclab_tasks/test/core/test_preset_kit_decision.py b/source/isaaclab_tasks/test/core/test_preset_kit_decision.py
index 3a9ae2280534..337678d04af2 100644
--- a/source/isaaclab_tasks/test/core/test_preset_kit_decision.py
+++ b/source/isaaclab_tasks/test/core/test_preset_kit_decision.py
@@ -87,8 +87,8 @@ def test_isaacsim_physx_is_physics_selector():
     assert "isaacsim_physx" in preset_map[PresetTarget.PHYSICS]
 
 
-def test_registered_task_physx_presets_use_explicit_auto_cfg():
-    """Every task with Isaac Sim PhysX exposes automatic and concrete presets."""
+def test_registered_task_physx_presets_keep_auto_selection_explicit():
+    """PhysX defaults are concrete while ``physx`` remains the automatic selector."""
 
     for task_id, task_spec in gym.registry.items():
         if not task_id.startswith(("Isaac-", "IsaacContrib-")) or "env_cfg_entry_point" not in task_spec.kwargs:
@@ -102,8 +102,12 @@ def test_registered_task_physx_presets_use_explicit_auto_cfg():
             if any(isinstance(value, PhysxCfg) for value in physics_fields.values()):
                 auto_cfg = physics_fields.get("physx")
                 isaacsim_cfg = physics_fields.get("isaacsim_physx")
+                default_cfg = physics_fields.get("default")
                 assert isinstance(auto_cfg, PhysxAutoCfg), location
                 assert isinstance(isaacsim_cfg, PhysxCfg), location
+                assert not isinstance(default_cfg, PhysxAutoCfg), location
+                if isinstance(default_cfg, PhysxCfg):
+                    assert default_cfg == isaacsim_cfg, location
                 assert auto_cfg.isaacsim_physx == isaacsim_cfg, location
                 assert auto_cfg.ovphysx == physics_fields.get("ovphysx"), location
             elif has_auto_physx and "physx" in fields:
@@ -133,24 +137,24 @@ def test_preset_mjwarp_ovrtx_does_not_need_kit():
     assert needs_kit is False
 
 
-def test_preset_rtx_resolves_to_ovphysx_and_ovrtx_without_kit():
-    """The RTX preset uses kitless PhysX-family backends when no Kit runtime is requested."""
+def test_preset_rtx_with_default_physx_resolves_to_isaac_sim_backends():
+    """Automatic RTX follows the default concrete Isaac Sim PhysX backend."""
     env_cfg = _resolve_with_presets("rtx")
     config_scan = _resolve_runtime_renderer(env_cfg)
 
-    assert isinstance(env_cfg.sim.physics, OvPhysxCfg)
-    assert isinstance(env_cfg.tiled_camera.renderer_cfg, OVRTXRendererCfg)
-    assert config_scan.needs_kit is False
+    assert isinstance(env_cfg.sim.physics, PhysxCfg)
+    assert isinstance(env_cfg.tiled_camera.renderer_cfg, IsaacRtxRendererCfg)
+    assert config_scan.needs_kit is True
 
 
-def test_renderer_selector_rtx_resolves_to_ovphysx_and_ovrtx_without_kit():
-    """The RTX renderer selector uses kitless PhysX-family backends without Kit signals."""
+def test_renderer_selector_rtx_with_default_physx_resolves_to_isaac_sim_backends():
+    """The RTX selector follows the default concrete Isaac Sim PhysX backend."""
     env_cfg = _resolve_with_args("renderer=rtx")
     config_scan = _resolve_runtime_renderer(env_cfg)
 
-    assert isinstance(env_cfg.sim.physics, OvPhysxCfg)
-    assert isinstance(env_cfg.tiled_camera.renderer_cfg, OVRTXRendererCfg)
-    assert config_scan.needs_kit is False
+    assert isinstance(env_cfg.sim.physics, PhysxCfg)
+    assert isinstance(env_cfg.tiled_camera.renderer_cfg, IsaacRtxRendererCfg)
+    assert config_scan.needs_kit is True
 
 
 def test_renderer_selector_physx_rtx_resolves_to_ovphysx_without_kit():
@@ -233,7 +237,7 @@ def test_preset_physx_with_default_kit_camera_resolves_to_physx():
 
 
 def test_preset_default_needs_kit():
-    """Default automatic PhysX plus Isaac RTX requires Kit."""
+    """Default concrete Isaac Sim PhysX plus Isaac RTX requires Kit."""
     env_cfg = _resolve_with_presets("default")
     needs_kit = scan(env_cfg).needs_kit
     assert needs_kit is True
diff --git a/source/isaaclab_tasks/test/core/test_runtime_compatibility.py b/source/isaaclab_tasks/test/core/test_runtime_compatibility.py
index fb3f25e1cc77..10573906fbd7 100644
--- a/source/isaaclab_tasks/test/core/test_runtime_compatibility.py
+++ b/source/isaaclab_tasks/test/core/test_runtime_compatibility.py
@@ -226,17 +226,13 @@ def test_newton_plus_ovrtx_is_valid():
     validate_runtime_compatibility(env_cfg)
 
 
-def test_default_auto_physx_plus_ovrtx_resolves_to_ovphysx():
-    """Default automatic PhysX uses OvPhysX when OVRTX is the only renderer signal."""
+def test_default_isaacsim_physx_plus_ovrtx_raises():
+    """The concrete default Isaac Sim PhysX backend is incompatible with OVRTX."""
     env_cfg = _resolve_with_presets("ovrtx")
 
-    assert isinstance(env_cfg.sim.physics, PhysxAutoCfg)
-
-    config_scan = validate_runtime_compatibility(env_cfg)
-
-    assert isinstance(env_cfg.sim.physics, OvPhysxCfg)
-    assert isinstance(env_cfg.tiled_camera.renderer_cfg, OVRTXRendererCfg)
-    assert config_scan.needs_kit is False
+    assert isinstance(env_cfg.sim.physics, PhysxCfg)
+    with pytest.raises(ValueError, match="PhysxCfg"):
+        validate_runtime_compatibility(env_cfg)
 
 
 def test_explicit_auto_physx_plus_ovrtx_resolves_to_ovphysx():
@@ -306,14 +302,14 @@ def test_default_preset_is_valid():
     validate_runtime_compatibility(env_cfg)
 
 
-def test_rtx_with_default_physx_is_valid_and_resolves_to_ovphysx_and_ovrtx():
-    """The RTX preset chooses kitless PhysX-family backends when no Kit runtime is needed."""
+def test_rtx_with_default_physx_is_valid_and_resolves_to_isaac_sim_backends():
+    """The RTX selector follows the default concrete Isaac Sim PhysX backend."""
     env_cfg = _resolve_with_presets("rtx")
     config_scan = validate_runtime_compatibility(env_cfg)
 
-    assert isinstance(env_cfg.sim.physics, OvPhysxCfg)
-    assert isinstance(env_cfg.tiled_camera.renderer_cfg, OVRTXRendererCfg)
-    assert config_scan.needs_kit is False
+    assert isinstance(env_cfg.sim.physics, PhysxCfg)
+    assert isinstance(env_cfg.tiled_camera.renderer_cfg, IsaacRtxRendererCfg)
+    assert config_scan.needs_kit is True
 
 
 def test_renderer_selector_physx_rtx_is_valid_and_resolves_to_ovphysx_and_ovrtx():