Add OvPhysxView: a string-keyed binding manager for OVPhysX tensor bindings (view series, part 1)

docs/source/api/index.rst

@@ -214,6 +214,7 @@ The following modules are available in the ``isaaclab_ovphysx`` extension:
    assets
    cloner
    physics
+   sim.views
 
 
 isaaclab_experimental extension

docs/source/api/lab_ovphysx/isaaclab_ovphysx.sim.views.rst

@@ -0,0 +1,4 @@
+isaaclab\_ovphysx.sim.views
+===========================
+
+.. automodule:: isaaclab_ovphysx.sim.views

source/isaaclab_ovphysx/changelog.d/ovphysx-view.major.rst

@@ -0,0 +1,15 @@
+Added
+^^^^^
+
+* Added :class:`~isaaclab_ovphysx.sim.views.OvPhysxView`, a string-keyed binding manager
+  over the OVPhysX tensor bindings. Attributes are addressed by the lowercased
+  ``TensorType`` name (e.g. ``view.get_attribute("articulation_dof_stiffness")``,
+  ``view.read_into("articulation_root_pose", buf)``,
+  ``view.set_attribute("rigid_body_pose", values, mask=...)``), bringing the OVPhysX
+  binding surface closer to the Newton selection API. The view reads/writes each binding
+  on its native device and raises on a device mismatch rather than staging between CPU
+  and GPU. :meth:`~isaaclab_ovphysx.sim.views.OvPhysxView.get_attribute` returns a typed
+  array for attributes with a structured layout (e.g. ``wp.transformf`` for poses,
+  ``wp.spatial_vectorf`` for velocities) and flat ``float32`` otherwise, and
+  :meth:`~isaaclab_ovphysx.sim.views.OvPhysxView.read_into` reuses the ``float32``
+  reinterpret of a destination buffer across calls so the wheel's read cache stays warm.

source/isaaclab_ovphysx/isaaclab_ovphysx/sim/views/__init__.pyi

@@ -5,6 +5,8 @@
 
 __all__ = [
     "OvPhysxFrameView",
+    "OvPhysxView",
 ]
 
 from .ovphysx_frame_view import OvPhysxFrameView
+from .ovphysx_view import OvPhysxView