Fix bug in camera replication skip

[StafaH]

Description

Fixed a bug where ovphysx was not correctly expanding world-attached cameras

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have added a changelog fragment under source/<pkg>/changelog.d/ for every touched package (do not edit CHANGELOG.rst or bump extension.toml — CI handles that)
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[greptile-apps]

Greptile Summary

The PR expands source-only world-attached frame and camera views across clone-plan destinations without requiring replicated USD prims.

• Projects source frame and parent transforms onto each cloned environment anchor.
• Reconstructs camera prim mappings from clone-plan sources and validates view cardinality.
• Adds a translation-based regression test and changelog fragment.

Confidence Score: 5/5

The PR appears safe to merge.

No blocking failure remains.

Important Files Changed

Filename	Overview
source/isaaclab_ovphysx/isaaclab_ovphysx/sim/views/ovphysx_frame_view.py	Adds clone-plan projection of source-only world frames and their parent transforms into destination environments.
source/isaaclab/isaaclab/sensors/camera/camera.py	Reconstructs source camera prims for clone-plan-expanded frame rows and validates resolved cardinality.
source/isaaclab_ovphysx/test/sim/test_views_xform_prim_ovphysx.py	Adds regression coverage for source-only frame expansion across translated cloned environments.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
  Plan[Clone plan] --> Sources[Resolve source-only frames]
  Sources --> Anchors[Resolve destination environment anchors]
  Anchors --> Project[Project source and parent transforms]
  Project --> View[Populate synthetic FrameView rows]
  Sources --> Cameras[Reconstruct camera prim mapping]
  Cameras --> Render[Prepare per-environment camera rendering]

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_{Reviews (2): Last reviewed commit: "Fix bug in camera replication for ovphys..." | Re-trigger Greptile}

[greptile-apps]

Rotation projection remains untested

The new transform-composition path is sensitive to matrix order, but this regression covers only translated environment anchors. Add a non-identity source or destination rotation so an ordering regression cannot report incorrect world-frame poses while this test still passes.

Knowledge Base Used: IsaacLab Core Simulation Layer

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

[isaaclab-review-bot]

Isaac Lab Review Bot

The clone-plan-driven expansion for source-only world-attached cameras is coherent and covered by an OVPhysX regression test. Before merge, add the required Isaac Lab changelog fragment and normalize projected transforms before quaternion extraction so scaled or sheared Xforms do not produce invalid orientations.

• Design and architecture: The projection path consistently derives per-environment synthetic frame rows from the clone plan and connects them to camera initialization. The overall approach is sound, but projected world transforms must preserve the frame-view pose contract by removing scale and shear before conversion to position and quaternion.
• API: No public symbols or signatures change. Camera initialization does gain user-visible clone-plan expansion and stricter failure behavior, but this change is currently recorded only in the OVPhysX changelog; repository policy requires a separate fragment for the touched isaaclab package.
• Implementation: Source resolution, synthetic-path assignment, environment ordering, and buffer sizing are coherent. However, _expand_world_sites_from_clone_plan.project_world passes composed matrices directly to quaternion extraction, unlike the adjacent resolver that orthonormalizes transforms first. Add equivalent normalization and add source/isaaclab/changelog.d/<slug>.rst with a Fixed entry.

Minor fixes needed. Posted 2 actionable findings inline.

Automated review; human maintainers own approval decisions.

[isaaclab-review-bot]

🟡 Warning · Implementation — Missing changelog fragment for isaaclab package

This PR changes user-visible behavior in the isaaclab package (camera prim resolution now expands via the clone plan and raises instead of falling back to the first camera prim), but the only fragment added is under source/isaaclab_ovphysx/changelog.d/. Repository rules require one fragment per touched package, so the compiled isaaclab changelog and version bump will omit this fix. Add source/isaaclab/changelog.d/<slug>.rst with a Fixed entry.

[isaaclab-review-bot]

🔵 Suggestion · Implementation — Projection skips orthonormalization before quaternion extraction

_resolve_rigid_body_ancestor orthonormalizes every world matrix before calling _gf_matrix_to_xform7, because quaternion extraction from a matrix carrying scale or shear yields an incorrect rotation. project_world composes the source, inverse anchor, and destination anchor transforms without any Orthonormalize() call, so a scaled source or env-root Xform produces invalid site orientations. Orthonormalize the composed transform to match the existing pattern.