Enable all rough terrain envs on Newton backend

docs/source/api/lab/isaaclab.sim.views.rst

@@ -7,11 +7,11 @@
 
   .. autosummary::
 
-    XformPrimView
+    FrameView
 
-XForm Prim View
----------------
+Frame View
+----------
 
-.. autoclass:: XformPrimView
+.. autoclass:: FrameView
     :members:
     :show-inheritance:

docs/source/overview/core-concepts/scene_data_providers.rst

@@ -55,7 +55,7 @@ Newton-based visualizers (Newton, Rerun, Viser) require a Newton model/state to
 The sync pipeline:
 
 1. Reads transforms from PhysX ``RigidBodyView`` (fast tensor API)
-2. Falls back to ``XformPrimView`` for bodies not covered by the rigid body view
+2. Falls back to :class:`~isaaclab.sim.views.FrameView` for bodies not covered by the rigid body view
 3. Converts and writes merged poses into the Newton state via Warp kernels
 
 Newton Scene Data Provider

docs/source/tutorials/04_sensors/add_sensors_on_robot.rst

@@ -93,11 +93,11 @@ Height scanner
 
 The height-scanner is implemented as a virtual sensor using the NVIDIA Warp ray-casting kernels.
 Through the :class:`sensors.RayCasterCfg`, we can specify the pattern of rays to cast and the
-meshes against which to cast the rays. Since they are virtual sensors, there is no corresponding
-prim created in the scene for them. Instead they are attached to a prim in the scene, which is
-used to specify the location of the sensor.
+meshes against which to cast the rays. By default, :attr:`~sensors.RayCasterCfg.spawn` creates
+a plain USD Xform at :attr:`~sensors.RayCasterCfg.prim_path` to serve as the sensor's
+attachment frame, similar to how :class:`sensors.CameraCfg` spawns a Camera prim.
 
-For this tutorial, the ray-cast based height scanner is attached to the base frame of the robot.
+For this tutorial, the ray-cast based height scanner is attached under the base frame of the robot.
 The pattern of rays is specified using the :attr:`~sensors.RayCasterCfg.pattern` attribute. For
 a uniform grid pattern, we specify the pattern using :class:`~sensors.patterns.GridPatternCfg`.
 Since we only care about the height information, we do not need to consider the roll and pitch