Migrate OVPhysX contact-sensor pose binding onto OvPhysxView (view series, part 5)

source/isaaclab_ovphysx/isaaclab_ovphysx/sensors/contact_sensor/contact_sensor.py

@@ -22,6 +22,7 @@
 
 import isaaclab_ovphysx.tensor_types as TT
 from isaaclab_ovphysx.physics import OvPhysxManager
+from isaaclab_ovphysx.sim.views.ovphysx_view import OvPhysxView
 
 from .contact_sensor_data import ContactSensorData
 from .kernels import (
@@ -92,6 +93,9 @@ def __init__(self, cfg: ContactSensorCfg):
         self._physx_instance: Any = None
         self._contact_binding: Any = None
         self._pose_binding: Any = None
+        # The pose binding (track_pose only) is managed by an OvPhysxView; the ContactBinding
+        # is a separate wheel API the view does not wrap.
+        self._root_view: OvPhysxView | None = None
         # Pre-allocated read buffers, populated in _create_buffers.
         self._net_forces_flat_buf: wp.array | None = None
         self._force_matrix_flat_buf: wp.array | None = None
@@ -281,10 +285,8 @@ def has_contact_report(prim) -> bool:
                     "per body."
                 )
             single_pose_pattern = f"{base_glob}/{body_names[0]}"
-            self._pose_binding = physx_instance.create_tensor_binding(
-                pattern=single_pose_pattern,
-                tensor_type=TT.RIGID_BODY_POSE,
-            )
+            self._root_view = OvPhysxView(physx_instance, pattern=single_pose_pattern, device=self._device)
+            self._pose_binding = self._root_view.binding_for(TT.RIGID_BODY_POSE)
             if self._pose_binding.count != self._contact_binding.sensor_count:
                 raise RuntimeError(
                     "RIGID_BODY_POSE binding count mismatch."
@@ -378,7 +380,7 @@ def _update_buffers_impl(self, env_mask: wp.array | None = None) -> None:
 
         if self.cfg.track_pose:
             # Read pose into [num_envs * num_sensors, 7] float32 -> view as transformf.
-            self._pose_binding.read(self._poses_flat_buf)
+            self._root_view.read_into(TT.RIGID_BODY_POSE, self._poses_flat_buf)
             poses_flat = self._poses_flat_buf.view(wp.transformf)
             wp.launch(
                 split_flat_pose_to_pos_quat,
@@ -518,4 +520,7 @@ def _invalidate_initialize_callback(self, event) -> None:
             with contextlib.suppress(Exception):
                 self._pose_binding.destroy()
         self._pose_binding = None
+        # Drop the view too: it caches the same (now-destroyed) pose binding, so leaving it set
+        # would keep a destroyed handle reachable. _initialize_impl rebuilds a fresh view on play.
+        self._root_view = None
         self._physx_instance = None