Migrate OVPhysX IMU sensor onto OvPhysxView (view series, part 5)

[AntoineRichard]

🔗 Stacked on top of #6224 (Part 1 — OvPhysxView)

Branched off #6224 as a sibling of the asset migrations (#6225/#6226/#6227). Targets develop; until #6224 merges, the diff below includes the Part 1 OvPhysxView commits. Please review #6224 first.

Description

Part 5 of the OVPhysX view-migration series — route the IMU sensor's tensor-binding management through OvPhysxView. Internal refactor; no public API change (sensors do not expose a root_view).

• _initialize_impl builds one OvPhysxView instead of separate create_tensor_binding calls; binding handles come from binding_for.
• Pose/state reads route through read_into (cached float32 reinterpret, typed off the binding shape), replacing the manual wp.array(ptr=...) reinterpret views.
• The CPU-only RIGID_BODY_COM_POSE keeps its pinned-host staging + wp.copy to the sim device.
• Numeric behavior unchanged.

Type of change

• This change requires no public API change (internal refactor)

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• My changes generate no new warnings
• I have added a changelog fragment (.skip — internal refactor, no user-facing change / no bump)

Testing

test_imu.py — cpu: 12 passed, cuda: 12 passed.

[greptile-apps]

Greptile Summary

This PR routes the OVPhysX IMU sensor's tensor-binding management through the OvPhysxView abstraction introduced in Part 1 (#6224). It is a pure internal refactor — public API and numeric behavior are unchanged.

• Three direct physx_instance.create_tensor_binding(...) calls are replaced by OvPhysxView(physx_instance, ...) construction plus binding_for per type; the raw binding objects remain available as _pose_binding / _vel_binding / _com_binding for shape/count metadata used in _initialize_buffers_impl.
• Manual float32 reinterpret views (_transforms_view, _velocities_view) are removed; read_into now builds and caches those views inside OvPhysxView._read_views, preserving the wheel's object-identity read cache warm-path.
• The CPU-only RIGID_BODY_COM_POSE staging pattern (pinned CPU read buffer → wp.copy to GPU) is kept intact; read_into enforces the device check on the caller-supplied CPU buffer, which is correct.

Confidence Score: 5/5

Safe to merge — the change is a drop-in substitution with no observable behavioral difference.

Every read path was traced end-to-end: read_into for the two GPU-resident state bindings (pose, velocity) replicates the old manual wp.array(ptr=..., dtype=float32) reinterpret-then-read, now cached inside OvPhysxView._read_views. The CPU-only COM-pose staging (pinned CPU buffer → wp.copy to the GPU kernel buffer) is structurally identical to the previous code. Raw binding objects are still stored on self._*_binding so _initialize_buffers_impl's shape/count queries are unaffected. No data transformation, no API surface, and no kernel changes.

No files require special attention.

Important Files Changed

Filename	Overview
source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/imu/imu.py	Core refactor: replaces three direct create_tensor_binding calls with OvPhysxView, drops manually managed float32 reinterpret views, and delegates cached reinterpret-and-read to read_into. Logic is functionally equivalent; COM-pose staging pattern preserved correctly.
source/isaaclab_ovphysx/changelog.d/antoiner-feat-ovphysx_imu_view.skip	Empty skip file — correctly signals no user-facing changelog entry for this internal refactor.

Sequence Diagram

%%{init: {'theme': 'neutral'}}%%
sequenceDiagram
    participant Imu
    participant OvPhysxView
    participant PhysXBinding

    Note over Imu: _initialize_impl
    Imu->>OvPhysxView: OvPhysxView(physx, pattern, device)
    Imu->>OvPhysxView: binding_for(RIGID_BODY_POSE)
    OvPhysxView->>PhysXBinding: create_tensor_binding(RIGID_BODY_POSE)
    PhysXBinding-->>OvPhysxView: pose_binding (cached)
    OvPhysxView-->>Imu: pose_binding
    Imu->>OvPhysxView: binding_for(RIGID_BODY_VELOCITY)
    OvPhysxView->>PhysXBinding: create_tensor_binding(RIGID_BODY_VELOCITY)
    PhysXBinding-->>OvPhysxView: vel_binding (cached)
    OvPhysxView-->>Imu: vel_binding
    Imu->>OvPhysxView: binding_for(RIGID_BODY_COM_POSE)
    OvPhysxView->>PhysXBinding: create_tensor_binding(RIGID_BODY_COM_POSE)
    PhysXBinding-->>OvPhysxView: com_binding (cached, CPU-only)
    OvPhysxView-->>Imu: com_binding

    Note over Imu: _update_buffers_impl (each step)
    Imu->>OvPhysxView: read_into(RIGID_BODY_POSE, _transforms)
    OvPhysxView->>OvPhysxView: "_read_view(_transforms) -> float32 reinterpret (cached)"
    OvPhysxView->>PhysXBinding: pose_binding.read(reinterpret_view)
    Imu->>OvPhysxView: read_into(RIGID_BODY_VELOCITY, _velocities)
    OvPhysxView->>OvPhysxView: "_read_view(_velocities) -> float32 reinterpret (cached)"
    OvPhysxView->>PhysXBinding: vel_binding.read(reinterpret_view)
    Imu->>OvPhysxView: read_into(RIGID_BODY_COM_POSE, _coms_read_view[CPU])
    OvPhysxView->>PhysXBinding: com_binding.read(_coms_read_view)
    alt GPU simulation
        Imu->>Imu: "wp.copy(_coms_gpu_view <- _coms_read_view)"
    end
    Imu->>Imu: wp.launch(imu_update_kernel)

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sequenceDiagram
    participant Imu
    participant OvPhysxView
    participant PhysXBinding

    Note over Imu: _initialize_impl
    Imu->>OvPhysxView: OvPhysxView(physx, pattern, device)
    Imu->>OvPhysxView: binding_for(RIGID_BODY_POSE)
    OvPhysxView->>PhysXBinding: create_tensor_binding(RIGID_BODY_POSE)
    PhysXBinding-->>OvPhysxView: pose_binding (cached)
    OvPhysxView-->>Imu: pose_binding
    Imu->>OvPhysxView: binding_for(RIGID_BODY_VELOCITY)
    OvPhysxView->>PhysXBinding: create_tensor_binding(RIGID_BODY_VELOCITY)
    PhysXBinding-->>OvPhysxView: vel_binding (cached)
    OvPhysxView-->>Imu: vel_binding
    Imu->>OvPhysxView: binding_for(RIGID_BODY_COM_POSE)
    OvPhysxView->>PhysXBinding: create_tensor_binding(RIGID_BODY_COM_POSE)
    PhysXBinding-->>OvPhysxView: com_binding (cached, CPU-only)
    OvPhysxView-->>Imu: com_binding

    Note over Imu: _update_buffers_impl (each step)
    Imu->>OvPhysxView: read_into(RIGID_BODY_POSE, _transforms)
    OvPhysxView->>OvPhysxView: "_read_view(_transforms) -> float32 reinterpret (cached)"
    OvPhysxView->>PhysXBinding: pose_binding.read(reinterpret_view)
    Imu->>OvPhysxView: read_into(RIGID_BODY_VELOCITY, _velocities)
    OvPhysxView->>OvPhysxView: "_read_view(_velocities) -> float32 reinterpret (cached)"
    OvPhysxView->>PhysXBinding: vel_binding.read(reinterpret_view)
    Imu->>OvPhysxView: read_into(RIGID_BODY_COM_POSE, _coms_read_view[CPU])
    OvPhysxView->>PhysXBinding: com_binding.read(_coms_read_view)
    alt GPU simulation
        Imu->>Imu: "wp.copy(_coms_gpu_view <- _coms_read_view)"
    end
    Imu->>Imu: wp.launch(imu_update_kernel)

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_{Reviews (1): Last reviewed commit: "Merge branch 'develop' into antoiner/fea..." | Re-trigger Greptile}