Move physics cfgs back into simulation cfg#5
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…ic_write (isaac-sim#5380) ## Summary Replace the `sync_usd_on_fabric_write` workaround in `FabricFrameView` with proper `PrepareForReuse()` calls on the Fabric `PrimSelection`. This tells the renderer (FSD/Storm) that Fabric data has changed, so the next rendered frame reflects updated transforms — eliminating the need to copy Fabric writes back to USD. ## Motivation The existing `sync_usd_on_fabric_write` flag worked by mirroring every Fabric write back to USD, which defeated the performance benefits of Fabric. With `PrepareForReuse()`, the rendering pipeline is properly notified of Fabric data changes without any USD writeback. Additionally, the old code incorrectly fell back to USD for CPU devices — Warp handles CPU Fabric buffers correctly, so the fallback was unnecessary. This addresses two of the issues raised in @pbarejko Piotr's review of PR isaac-sim#4923: - **Issue #1** (USD write-back): Fabric writes no longer sync back to USD - **Issue #4** (PrepareForReuse): Renderer notification via `PrepareForReuse()` instead of USD writeback ## Changes ### Core (FabricFrameView) - Call `_prepare_for_reuse()` in write paths (`set_world_poses`, `set_scales`) to notify the renderer - Remove `sync_usd_on_fabric_write` parameter (accepted via `**kwargs` for backward compat) - Remove incorrect CPU/device fallback warnings — Warp handles CPU Fabric buffers correctly - Add `_rebuild_fabric_arrays()` for topology change recovery when `PrepareForReuse()` returns True, with assertion guarding the prim-count invariant ### Camera - Remove `sync_usd_on_fabric_write=True` from FrameView construction in `camera.py` ## Benchmark Results 1024 prims, 50 iterations, NVIDIA L40 GPU: | Operation | USD (ms) | Fabric (ms) | Speedup | |---|---|---|---| | Get World Poses | 14.71 | 0.07 | **203x** | | Set World Poses | 40.75 | 0.16 | **259x** | | Interleaved Set→Get | 55.90 | 0.24 | **232x** | | Get Local Poses | 11.08 | 11.12 | 1.0x | | Set Local Poses | 16.14 | 16.28 | 1.0x | Local poses fall back to USD (expected — Fabric only accelerates world poses via `omni:fabric:worldMatrix`). ## Tests Added | Test | What it validates | |------|------------------| | `test_camera_pose_update_reflected_in_render` | Camera pose changes propagate to rendered depth (close vs far) for CPU/GPU, tiled/non-tiled | | `test_fabric_set_world_does_not_write_back_to_usd` | Fabric writes stay in Fabric, USD prim unchanged | | `test_set_world_updates_local` (xfail) | Documents Issue #5: `set_world_poses` doesn't update local pose in Fabric mode | ## Test Results | Test Suite | Passed | Skipped | Xfailed | Total | |---|---|---|---|---| | Fabric contract tests (`test_views_xform_prim_fabric.py`) | 17 | 16 | 1 | 34 | | USD contract tests (`test_views_xform_prim.py`) | 45 | 0 | 0 | 45 | | Camera render test (`test_tiled_camera.py`) | 8 | 0 | 0 | 8 | ## Type of change - Performance improvement (removes redundant USD writeback on Fabric operations) ## Checklist - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there *No doc changes needed (parameter wasn't referenced in any docs)*
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pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there