Migrate OVPhysX FrameView + SceneDataBackend pose bindings onto OvPhysxView (view series) (#6233)

> ### 🔗 Stacked on top of #6224 (Part 1 — `OvPhysxView`)
> Branched off #6224 as a sibling of the asset/sensor migrations.
Targets `develop`; until #6224 merges the diff includes the Part 1
`OvPhysxView` commits. **Please review #6224 first.**

# Description

Two more `RIGID_BODY_POSE` binding consumers the asset (#6225-6227) and
sensor (#6228-6232) passes didn't cover, migrated together in one PR:

* **`OvPhysxFrameView`** (`sim/views/ovphysx_frame_view.py`) — the frame
view that cameras / `XformPrim` use. Builds one `OvPhysxView` +
`try_binding_for(RIGID_BODY_POSE)` (preserving its explicit "matched
zero bodies" error, since the view rejects a 0-count binding), and reads
via `read_into`.
* **`OvPhysxSceneDataBackend`** (`physics/ovphysx_manager.py`) — the
scene-data provider. Builds one `OvPhysxView` per distinct rigid-body
pattern, stores it on the per-pattern entry, and reads via `read_into`;
the per-entry merge into the transform buffer is unchanged.

Both are internal refactors — **no public API change** (neither exposes
a `root_view`). The `ContactBinding` is unrelated (separate wheel API;
see #6232). The scene-data backend's bypass-init unit test hand-seeds
the internal entry dict, so it now seeds a matching `view` stub with
`read_into`.

## Type of change

- [x] Internal refactor (non-breaking)

## Checklist

- [x] I have run the `pre-commit` checks with `./isaaclab.sh --format`
- [x] Changelog fragment (`.skip` — internal refactor, no bump)

## Testing

* `test_views_xform_prim_ovphysx.py` — cpu: **18 passed**, cuda: **18
passed**.
* `test_ovphysx_scene_data_backend.py` — **11 passed**.

Author: AntoineRichard

source/isaaclab_ovphysx/changelog.d/antoiner-feat-ovphysx_frameview_scenedata.skip

@@ -98,6 +98,7 @@ def setup(self, physx, stage, device: str) -> None:
             device: Warp device string used to allocate the staging and merged buffers.
         """
         from isaaclab_ovphysx import tensor_types as TT  # local: keep heavy ovphysx out of module load
+        from isaaclab_ovphysx.sim.views.ovphysx_view import OvPhysxView
 
         self._physx = physx
         self._rigid_bindings = []
@@ -119,7 +120,8 @@ def setup(self, physx, stage, device: str) -> None:
         total_count = 0
         for pattern in sorted(patterns):
             try:
-                pose_binding = physx.create_tensor_binding(pattern=pattern, tensor_type=TT.RIGID_BODY_POSE)
+                view = OvPhysxView(physx, pattern=pattern, device=device)
+                pose_binding = view.binding_for(TT.RIGID_BODY_POSE)
             except Exception as exc:
                 logger.warning("Failed to create RIGID_BODY_POSE binding for %s: %s", pattern, exc)
                 continue
@@ -141,6 +143,7 @@ def setup(self, physx, stage, device: str) -> None:
             self._rigid_bindings.append(
                 {
                     "pattern": pattern,
+                    "view": view,
                     "pose": pose_binding,
                     "pose_buf": pose_buf,
                     "pose_buf_transformf": pose_buf_transformf,
@@ -175,7 +178,7 @@ def transforms(self) -> SceneDataFormat.Transform:
 
         for entry in self._rigid_bindings:
             try:
-                entry["pose"].read(entry["pose_buf"])
+                entry["view"].read_into("rigid_body_pose", entry["pose_buf"])
             except Exception as exc:
                 logger.warning("RIGID_BODY_POSE read failed for %s: %s", entry["pattern"], exc)
                 continue

source/isaaclab_ovphysx/isaaclab_ovphysx/physics/ovphysx_manager.py

@@ -357,6 +357,7 @@ def _initialize_impl(self, physx: Any) -> None:
           ``env_0`` replaced by the row's env_id.
         """
         from isaaclab_ovphysx import tensor_types as TT  # noqa: PLC0415
+        from isaaclab_ovphysx.sim.views.ovphysx_view import OvPhysxView  # noqa: PLC0415
 
         xform_cache = UsdGeom.XformCache(Usd.TimeCode.Default())
         identity_xform7 = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
@@ -406,15 +407,19 @@ def _initialize_impl(self, physx: Any) -> None:
         # 4. Create the RIGID_BODY_POSE binding (or operate in world-only mode).
         if patterns:
             pattern = patterns[0]
-            self._pose_binding = physx.create_tensor_binding(pattern=pattern, tensor_type=TT.RIGID_BODY_POSE)
-            if self._pose_binding.shape[0] == 0:
+            self._root_view = OvPhysxView(physx, pattern=pattern, device=self._device)
+            # ``try_binding_for`` returns None for a zero-match binding (the view rejects a
+            # 0-count binding); surface that as the explicit zero-bodies error below.
+            self._pose_binding = self._root_view.try_binding_for(TT.RIGID_BODY_POSE)
+            if self._pose_binding is None:
                 raise RuntimeError(
                     f"OvPhysxFrameView: RIGID_BODY_POSE binding for pattern {pattern!r} matched zero bodies."
                 )
             self._pose_buf = wp.zeros(self._pose_binding.shape, dtype=wp.float32, device=self._device)
             binding_paths: list[str] = list(self._pose_binding.prim_paths)
         else:
             # All prims resolved as world-attached: no binding needed; kernels only hit the -1 branch.
+            self._root_view = None
             self._pose_binding = None
             self._pose_buf = wp.zeros((1, 7), dtype=wp.float32, device=self._device)
             binding_paths = []
@@ -613,7 +618,7 @@ def _current_body_q(self) -> wp.array:
             buffer ``[num_bodies]``.
         """
         if self._pose_binding is not None:
-            self._pose_binding.read(self._pose_buf)
+            self._root_view.read_into("rigid_body_pose", self._pose_buf)
         return self._pose_buf.view(wp.transformf)
 
     # ------------------------------------------------------------------

source/isaaclab_ovphysx/isaaclab_ovphysx/sim/views/ovphysx_frame_view.py

@@ -186,6 +186,7 @@ def fake_read_b(dst):
         {
             "pattern": "/World/envs/env_*/Cube",
             "pose": SimpleNamespace(read=fake_read_a, prim_paths=["/Cube0", "/Cube1"]),
+            "view": SimpleNamespace(read_into=lambda name, dst, _r=fake_read_a: _r(dst)),
             "pose_buf": buf_a,
             "pose_buf_transformf": buf_a_tf,
             "row_offset": 0,
@@ -194,6 +195,7 @@ def fake_read_b(dst):
         {
             "pattern": "/World/envs/env_*/Pole",
             "pose": SimpleNamespace(read=fake_read_b, prim_paths=["/Pole"]),
+            "view": SimpleNamespace(read_into=lambda name, dst, _r=fake_read_b: _r(dst)),
             "pose_buf": buf_b,
             "pose_buf_transformf": buf_b_tf,
             "row_offset": 2,
@@ -324,6 +326,7 @@ def bad_read(dst):
         {
             "pattern": "/World/envs/env_*/Good",
             "pose": SimpleNamespace(read=good_read, prim_paths=["/Good"]),
+            "view": SimpleNamespace(read_into=lambda name, dst, _r=good_read: _r(dst)),
             "pose_buf": buf_good,
             "pose_buf_transformf": buf_good_tf,
             "row_offset": 0,
@@ -332,6 +335,7 @@ def bad_read(dst):
         {
             "pattern": "/World/envs/env_*/Bad",
             "pose": SimpleNamespace(read=bad_read, prim_paths=["/Bad"]),
+            "view": SimpleNamespace(read_into=lambda name, dst, _r=bad_read: _r(dst)),
             "pose_buf": buf_bad,
             "pose_buf_transformf": buf_bad_tf,
             "row_offset": 1,