Refactors Newton XformPrimView: proper local poses, warp-native API, and shared contract tests

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

@@ -7,11 +7,27 @@
 
   .. autosummary::
 
-    XformPrimView
+    BaseFrameView
+    UsdFrameView
+    FrameView
 
-XForm Prim View
+Base Frame View
 ---------------
 
-.. autoclass:: XformPrimView
+.. autoclass:: BaseFrameView
+    :members:
+    :show-inheritance:
+
+USD Frame View
+--------------
+
+.. autoclass:: UsdFrameView
+    :members:
+    :show-inheritance:
+
+Frame View
+----------
+
+.. autoclass:: FrameView
     :members:
     :show-inheritance:

docs/source/migration/migrating_to_isaaclab_3-0.rst

@@ -98,6 +98,49 @@ The following classes have been moved to ``isaaclab_physx``:
    installation steps are required.
 
 
+Renaming of ``XformPrimView`` to ``FrameView``
+-----------------------------------------------
+
+Isaac Lab's ``XformPrimView`` and related classes have been renamed to ``FrameView`` to
+better reflect their purpose and avoid confusion with Isaac Sim's ``XFormPrim`` class
+hierarchy. The old ``XformPrimView`` name is kept as a deprecated alias.
+
+The rename applies across all backends:
+
+.. list-table::
+   :header-rows: 1
+   :widths: 50 50
+
+   * - Isaac Lab 2.x
+     - Isaac Lab 3.0
+   * - ``BaseXformPrimView``
+     - :class:`~isaaclab.sim.views.BaseFrameView`
+   * - ``UsdXformPrimView``
+     - :class:`~isaaclab.sim.views.UsdFrameView`
+   * - ``XformPrimView``
+     - :class:`~isaaclab.sim.views.FrameView`
+   * - ``FabricXformPrimView``
+     - :class:`~isaaclab_physx.sim.views.FabricFrameView`
+   * - ``NewtonSiteXformPrimView``
+     - :class:`~isaaclab_newton.sim.views.NewtonSiteFrameView`
+
+For most users, the only change needed is updating imports:
+
+.. code-block:: python
+
+   # Before
+   from isaaclab.sim.views import XformPrimView
+
+   # After
+   from isaaclab.sim.views import FrameView
+
+The :class:`~isaaclab.sim.views.FrameView` factory automatically dispatches to the correct
+backend (:class:`~isaaclab_physx.sim.views.FabricFrameView` for PhysX,
+:class:`~isaaclab_newton.sim.views.NewtonSiteFrameView` for Newton) based on the active
+physics backend. The deprecated ``XformPrimView`` alias continues to work but will be
+removed in a future release.
+
+
 Unchanged Imports
 -----------------
 

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