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Signed-off-by: Kelly Guo <kellyg@nvidia.com>
# Description Fix some of our UTs
# Description Get the Franka and UR 10 environments for reach working with direct joint control. No IK, no OSC. ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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
# Description Track main HEAD of Newton dependencies to ensure we are always on the latest for development. Signed-off-by: Kelly Guo <kellyg@nvidia.com>
…o setup.py (isaac-sim#3379) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html --> Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html --> Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - This change requires a documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
Moved Julia's PR. Co-authored-by: Julia von Muralt <jvonmuralt@nvidia.com>
# Description Initial support for the Allegro env ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] 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 - [] 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 --------- Signed-off-by: Eric Heiden <eheiden@nvidia.com> Co-authored-by: Julia von Muralt <jvonmuralt@nvidia.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com>
# Description Brought back all the velocity environments except Digit. They are all tuned ## Type of change - New feature (non-breaking change which adds functionality) - This change requires a documentation update ## Screenshots ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] 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 - [ ] 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
Fix for the mjmax and ncon settings + tuning of the assets + froze the commits of newton and mjwarp.
# Description Adds support for Cameras and validated them with Cartpole RGB + Depth. Try training it by running: ./isaaclab.sh -p scripts/reinforcement_learning/skrl/train.py --task Isaac-Cartpole-Depth-Camera-Direct-v0 --headless --enable_cameras ./isaaclab.sh -p scripts/reinforcement_learning/skrl/train.py --task Isaac-Cartpole-RGB-Camera-Direct-v0 --headless --enable_cameras Test is by running: ./isaaclab.sh -p scripts/reinforcement_learning/skrl/play.py --task Isaac-Cartpole-Depth-Camera-Direct-v0 --enable_cameras --num_envs 128 --checkpoint logs/skrl/cartpole_camera_direct/PATH_2_CHECKPOINT ./isaaclab.sh -p scripts/reinforcement_learning/skrl/play.py --task Isaac-Cartpole-RGB-Camera-Direct-v0 --enable_cameras --num_envs 128 --checkpoint logs/skrl/cartpole_camera_direct/PATH_2_CHECKPOINT --------- Co-authored-by: ooctipus <zhengyuz@nvidia.com>
# Description Fix spawn of fixed articulations
Last batch of changes for Newton Beta 1.1
…h Newton (isaac-sim#3515) # Description Minor fixes for the reset logic in the cartpole camera environment. Also updates the mujoco dependency to match the version in the Newton beta-1 build and removes unsupported rough terrain environment. Updates the benchmark script to include new environments and perception environments. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) 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 updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description Updates the extension registry path for the rendering apps so that we can pull from public registries. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## 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` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
Update RSL RL for dextra support. @ooctipus please try it out!
# Description Fixes for newton_visualizer after QA feedback.
Fix linting issues
Add friction randomization event (isaac-sim#3499) Signed-off-by: Milad-Rakhsha <miladrakhsha@gmail.com> Co-authored-by: Milad-Rakhsha <miladrakhsha@gmail.com> Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>
Fixes collisions issues with G1.
Compatibility with Beta 0.1.3
…based environments (isaac-sim#3582) # Description Matching the manager-based configs with the direct environment solver configs for mujoco ant and humanoid environments to avoid the ncollision overflow error. ## 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 - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description RSL RL 3.0.1 updated some parameter names in the configs. This change updates current RSL RL configs to match the configuration parameters expected by RSL RL. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## 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` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
This reverts commit 9f782c2. # Description isaac-sim#3575 caused some regressions in training, reverting for now. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## 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 - [ ] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
… main branch (isaac-sim#3581) # Description <!-- Thank you for your interest in sending a pull request. Please make sure to check the contribution guidelines. Link: https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html 💡 Please try to keep PRs small and focused. Large PRs are harder to review and merge. --> Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change. Fixes # (issue) <!-- As a practice, it is recommended to open an issue to have discussions on the proposed pull request. This makes it easier for the community to keep track of what is being developed or added, and if a given feature is demanded by more than one party. --> ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (existing functionality will not work without user modification) - Documentation update ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) 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 updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
…on. (isaac-sim#3628) # Description I ran these tests locally and the reward thresholds can be tightened a bit. I would like to have them tighter because we will start running the training tests in the newton CI as a forward-compatibility check. Added a flag to disable the duration checks in the training tests to account for different type of hardware. Updated to latest Newton and matching MJWarp. ## Type of change - Test fix ## 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 - [~] I have added tests that prove my fix is effective or that my feature works - [~] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Alain Denzler <adenzler@nvidia.com> Co-authored-by: Antoine Richard <antoiner@nvidia.com>
…aac-sim#3850) # Description Recent Newton updates went through some renaming of parameters, including changing ncon_per_env to nconmax. This change accommodates the Isaac Lab naming to match the same naming for consistency. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## 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` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Co-authored-by: Antoine RICHARD <antoiner@nvidia.com>
# Description This PR fixes the bug where the Newton._model has no access to num_envs ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Screenshots Please attach before and after screenshots of the change if applicable. <!-- Example: | Before | After | | ------ | ----- | | _gif/png before_ | _gif/png after_ | To upload images to a PR -- simply drag and drop an image while in edit mode and it should upload the image directly. You can then paste that source into the above before/after sections. --> ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
# Description Header change for 2026 ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) 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 updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
# Description This PR fixes more wxyz -> xyzw found in dev/newton. ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] 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 <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
…-sim#4499) # Description Fixes an issue where the walking direction was incorrectly calculated. Bug came from IsaacSim internal code. Need to look where else it's used. Fixes isaac-sim#4465 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## 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` - [x] 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
) # Description Adds a new CI job that runs tests on the latest newton commit off of main. It reads the mujoco-warp and mujoco versions from newton's uv.lock file. ## Type of change - New feature (non-breaking change which adds functionality) ## 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 - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
# Description Brings back all of the original integration tests from the Articulation + the wrench composer. Also provides UTs, ITs and micro benchmarks for the articulation with newton. Some integration tests are still failing / skipped as the feature set of newton is not complete yet. Run a unit-test: ```bash ./isaaclab.sh -p -m pytest source/isaaclab_newton/test/assets/rigid_object/test_rigid_object.py ./isaaclab.sh -p -m pytest source/isaaclab_newton/test/assets/rigid_object/test_rigid_object_data.py ./isaaclab.sh -p -m pytest source/isaaclab_newton/test/assets/rigid_object/test_articulation.py ./isaaclab.sh -p -m pytest source/isaaclab_newton/test/assets/rigid_object/test_articulation_data.py ``` Run integration tests: ```bash ./isaaclab.sh -p -m pytest source/isaaclab_newton/test/assets/rigid_object/test_integration_rigid_object.py ./isaaclab.sh -p -m pytest source/isaaclab_newton/test/assets/rigid_object/test_integration_articulation.py ``` Run a micro-benchmark: ```bash ./isaaclab.sh -p source/isaaclab_newton/test/assets/rigid_object/benchmark_rigid_object.py ./isaaclab.sh -p source/isaaclab_newton/test/assets/rigid_object/benchmark_rigid_object_data.py ./isaaclab.sh -p source/isaaclab_newton/test/assets/rigid_object/benchmark_articulation.py ./isaaclab.sh -p source/isaaclab_newton/test/assets/rigid_object/benchmark_articulation_data.py ``` Known slow down: - The methods: `make_complete_data_from_torch_dual_index`, `make_complete_data_from_torch_single_index`, `make_masks_from_torch_ids`, are very slow, and they should be modified to include a out argument, that would allow to preallocate the tensors. - For now most of the warp code was written with modularity in mind, this means that sometimes we launch multiple kernels when we should really just be launching one. For performance optimization we should track these instances and write dedicated kernels. ## Checklist - [ ] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) 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 updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
Co-authored-by: Cursor <cursoragent@cursor.com>
Co-authored-by: Cursor <cursoragent@cursor.com>
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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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Description
Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context.
List any dependencies that are required for this change.
Fixes # (issue)
Type of change
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Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there