Refactor OVPhysX SDP to mirror PhysX single-binding shape

Drop per-articulation TT.LINK_POSE bindings now that the wheel's
RIGID_BODY_POSE matcher is confirmed (probe + wheel docs) to accept
patterns matching any UsdPhysics.RigidBodyAPI prim, including
articulation links. The provider now bucket-by-relative-path: one
RIGID_BODY_POSE + RIGID_BODY_VELOCITY binding per distinct env-wildcard
form (cartpole -> 2 bindings, Allegro hand -> ~17), each covering all
envs. Mirrors PhysX's single-RigidBodyView intent while respecting the
wheel's one-pattern-per-binding API.

Other changes pulled in by the same refactor:

* Add UsdPhysics.RigidBodyAPI filter on Newton body paths so joints and
  articulation-root xforms are excluded from binding patterns (mirrors
  PhysxSceneDataProvider._setup_rigid_body_view at physx_scene_data_provider.py:281).
* Migrate to the wheel-0.4 binding.read(dst) API with pre-allocated warp
  destination buffers so per-step reads are allocation-free.
* Drop _classify_paths_by_articulation_root, _apply_articulation_bindings,
  _articulation_link_bindings, _bindings dict, _get_binding, and the
  velocity-aggregation loop in get_velocities.
* Update tests: replace partition test with one-per-distinct-rigid-path
  test, retarget merge test to rigid+xform, fix get_velocities test to
  exercise the new read(dst) API.

Author: AntoineRichard

source/isaaclab_ovphysx/changelog.d/antoiner-feat-ovphysx-scene-data-provider.minor.rst

@@ -4,10 +4,15 @@ Added
 * Added :class:`~isaaclab_ovphysx.scene_data_providers.OvPhysxSceneDataProvider`,
   the OVPhysX-backend implementation of
   :class:`~isaaclab.physics.base_scene_data_provider.BaseSceneDataProvider`.
-  Builds a Newton model from the scene's per-group :class:`~isaaclab.cloner.ClonePlan`
-  map (gated on ``SceneDataRequirement.requires_newton_model``) and syncs
-  ovphysx body poses into the Newton state on every ``update()``. Reads
-  body poses via ``TT.RIGID_BODY_POSE`` and ``TT.LINK_POSE``
-  bindings, with :class:`~isaaclab.sim.views.FrameView` fallback for
-  prims neither binding covers. Enables Rerun, Viser, and the native
-  Newton viewport to render OVPhysX simulations.
+  Builds a Newton model from the scene's :class:`~isaaclab.cloner.ClonePlan`
+  (gated on ``SceneDataRequirement.requires_newton_model``) and syncs ovphysx
+  body poses into the Newton state on every ``update()``. Reads body poses
+  through ``TT.RIGID_BODY_POSE`` bindings — one binding per distinct RB-prim
+  path in env-wildcard form, covering free rigid bodies and articulation
+  links uniformly (the wheel's ``RIGID_BODY_POSE`` matcher accepts any prim
+  with ``UsdPhysics.RigidBodyAPI``). Velocities come from the parallel
+  ``TT.RIGID_BODY_VELOCITY`` bindings. Pre-allocates warp destination
+  buffers so per-step ``binding.read(dst)`` calls are allocation-free.
+  :class:`~isaaclab.sim.views.FrameView` fallback handles prims without
+  ``RigidBodyAPI``. Enables Rerun, Viser, and the native Newton viewport to
+  render OVPhysX simulations.