# Description

The previous implementation in ANYmal-C environment randomly sampled the
friction material. This sometimes led to an overflow of a number of
materials possible from the PhysX side. This MR switches to using events
for the ANYmal Direct RL environment implementation.

Fixes [#941](https://github.com/isaac-sim/IsaacLab/issues/941)

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there