Drop full_data and dead helpers from OVPhysX RigidObject

Address Antoine's PR #5426 review comments:

* Rename set_root_*_to_sim kernels to *_to_sim_index and drop the
  from_mask flag plus unused root_*_state_w outputs (RigidObject does
  not have those state buffers).  Same simplification for
  write_2d_data_to_buffer_with_indices, write_body_inertia_to_buffer,
  and write_body_com_pose_to_buffer (renamed to *_index).
* Drop the full_data parameter from every *_index writer and setter on
  RigidObject; index methods strictly accept partial data shaped
  (len(env_ids), ...).  Full-data callers should use the matching
  *_mask overload.  Matches Newton/PhysX convention.
* Replace the deprecated write_root_state_to_sim shims' use of the
  internal _write_body_state plumbing with direct calls to the public
  write_root_*_to_sim_index methods, mirroring PhysX/Newton.
* Remove the GPU-side write plumbing (_write_body_state,
  _com_pose_to_link_pose, _to_flat_f32, _as_gpu_f32_2d,
  _get_write_scratch, _stage_to_pinned_cpu, _binding_write,
  _binding_read, _to_cpu_numpy, _to_cpu_indices,
  _env_ids_to_gpu_warp, _n_envs_index) that those shims relied on.
* Remove the now-unused _compose_root_link_pose_from_com kernel; the
  set_root_com_pose_to_sim_* kernels recover the link pose inline via
  get_com_pose_in_link_frame_func.
* Remove the masses 1-D-to-(K, 1) auto-reshape from set_masses_index;
  callers must pass shape (len(env_ids), len(body_ids)) explicitly.
* Reword every public docstring on RigidObject to follow the
  Newton/PhysX template (one-line summary, .. note:: / .. tip:: blocks,
  Args: block with shape/dtype on the parameter line).

test_rigid_body_set_mass updated to drop the now-unnecessary
masses.squeeze(-1) call (matches the Newton test's signature).

Bumps isaaclab_ovphysx 0.2.15 -> 0.2.16.

Author: AntoineRichard

source/isaaclab_ovphysx/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.2.15"
+version = "0.2.16"
 
 # Description
 title = "OvPhysX simulation interfaces for IsaacLab core package"

source/isaaclab_ovphysx/docs/CHANGELOG.rst

@@ -1,6 +1,51 @@
 Changelog
 ---------
 
+0.2.16 (2026-04-30)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Aligned :class:`~isaaclab_ovphysx.assets.RigidObject` with the Newton-style
+  index/mask kernel split: ``set_root_link_pose_to_sim``,
+  ``set_root_com_pose_to_sim``, ``set_root_com_velocity_to_sim``, and
+  ``set_root_link_velocity_to_sim`` are renamed to ``*_to_sim_index`` and no
+  longer take a ``from_mask`` flag or unused ``root_link_state_w`` /
+  ``root_state_w`` outputs.  Same simplification for
+  ``write_2d_data_to_buffer_with_indices``,
+  ``write_body_inertia_to_buffer_index``, and
+  ``write_body_com_pose_to_buffer_index``.
+* Dropped the ``full_data`` parameter from every
+  :class:`~isaaclab_ovphysx.assets.RigidObject` ``*_index`` writer / setter
+  (``write_root_*_to_sim_index``, ``set_masses_index``, ``set_coms_index``,
+  ``set_inertias_index``).  Index methods now strictly accept partial data
+  shaped ``(len(env_ids), ...)``; full-data callers should use the matching
+  ``*_mask`` overload instead.  This matches the Newton/PhysX convention.
+* Reworded every public docstring on
+  :class:`~isaaclab_ovphysx.assets.RigidObject` to follow the Newton/PhysX
+  template (one-line summary, ``.. note::`` and ``.. tip::`` blocks,
+  ``Args:`` block with shape/dtype on the parameter line).
+
+Removed
+^^^^^^^
+
+* Removed the GPU-side write plumbing
+  (``RigidObject._write_body_state``, ``_com_pose_to_link_pose``,
+  ``_to_flat_f32``, ``_as_gpu_f32_2d``, ``_get_write_scratch``,
+  ``_stage_to_pinned_cpu``, ``_binding_write``, ``_binding_read``,
+  ``_to_cpu_numpy``, ``_to_cpu_indices``, ``_env_ids_to_gpu_warp``,
+  ``_n_envs_index``).  The deprecated ``write_root_state_to_sim`` /
+  ``write_root_com_state_to_sim`` / ``write_root_link_state_to_sim`` shims now
+  call the public ``write_root_*_to_sim_index`` methods directly, mirroring
+  PhysX/Newton.
+* Removed the now-unused ``_compose_root_link_pose_from_com`` kernel from
+  :mod:`isaaclab_ovphysx.assets.kernels`; the ``set_root_com_pose_to_sim_*``
+  kernels recover the link pose inline via ``get_com_pose_in_link_frame_func``.
+* Removed the ``masses`` 1-D-to-``(K, 1)`` auto-reshape from
+  :meth:`~isaaclab_ovphysx.assets.RigidObject.set_masses_index`; callers must
+  pass shape ``(len(env_ids), len(body_ids))`` explicitly (matches PhysX).
+
 0.2.15 (2026-04-30)
 ~~~~~~~~~~~~~~~~~~~~