Updates fabric cloning for environments that support it (#510)

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Add cfg field to InteractiveSceneCfg for enabling fabric cloning
Thread cfg field to cloner calls in InteractiveScene and spawners
Disable fabric cloning by default and enable for a subset of
environments which pass with non_rl_benchmarks.py

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- 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

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- [ ] 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
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- [ ] 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
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---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.42.23"
+version = "0.42.24"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
-0.42.23 (2025-06-25)
+0.42.24 (2025-06-25)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -12,7 +12,7 @@ Added
   env instance
 
 
-0.42.22 (2025-07-11)
+0.42.23 (2025-07-11)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -22,7 +22,7 @@ Fixed
 restricting the resetting joint indices be that user defined joint indices.
 
 
-0.42.21 (2025-07-11)
+0.42.22 (2025-07-11)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -32,7 +32,7 @@ Fixed
   env_ids are passed.
 
 
-0.42.20 (2025-07-09)
+0.42.21 (2025-07-09)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -49,7 +49,7 @@ Fixed
   buffer on recording.
 
 
-0.42.19 (2025-07-10)
+0.42.20 (2025-07-10)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -80,7 +80,17 @@ Changed
 * Changed the implementation of :func:`~isaaclab.utils.math.copysign` to better reflect the documented functionality.
 
 
-0.42.18 (2025-07-09)
+0.42.19 (2025-07-09)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Added clone_in_fabric config flag to :class:`~isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg`
+* Enable clone_in_fabric for envs which work with limited benchmark_non_rl.py script
+
+
+0.42.18 (2025-07-07)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -13,6 +13,7 @@ import omni.usd
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.prims import XFormPrim
 from isaacsim.core.utils.stage import get_current_stage
+from isaacsim.core.version import get_version
 from pxr import PhysxSchema
 
 import isaaclab.sim as sim_utils
@@ -141,16 +142,31 @@ class InteractiveScene:
         # when replicate_physics=False, we assume heterogeneous environments and clone the xforms first.
         # this triggers per-object level cloning in the spawner.
         if not self.cfg.replicate_physics:
-            # clone the env xform
-            env_origins = self.cloner.clone(
-                source_prim_path=self.env_prim_paths[0],
-                prim_paths=self.env_prim_paths,
-                replicate_physics=False,
-                copy_from_source=True,
-                enable_env_ids=(
-                    self.cfg.filter_collisions if self.device != "cpu" else False
-                ),  # this won't do anything because we are not replicating physics
-            )
+            # check version of Isaac Sim to determine whether clone_in_fabric is valid
+            isaac_sim_version = float(".".join(get_version()[2]))
+            if isaac_sim_version < 5:
+                # clone the env xform
+                env_origins = self.cloner.clone(
+                    source_prim_path=self.env_prim_paths[0],
+                    prim_paths=self.env_prim_paths,
+                    replicate_physics=False,
+                    copy_from_source=True,
+                    enable_env_ids=(
+                        self.cfg.filter_collisions if self.device != "cpu" else False
+                    ),  # this won't do anything because we are not replicating physics
+                )
+            else:
+                # clone the env xform
+                env_origins = self.cloner.clone(
+                    source_prim_path=self.env_prim_paths[0],
+                    prim_paths=self.env_prim_paths,
+                    replicate_physics=False,
+                    copy_from_source=True,
+                    enable_env_ids=(
+                        self.cfg.filter_collisions if self.device != "cpu" else False
+                    ),  # this won't do anything because we are not replicating physics
+                    clone_in_fabric=self.cfg.clone_in_fabric,
+                )
             self._default_env_origins = torch.tensor(env_origins, device=self.device, dtype=torch.float32)
         else:
             # otherwise, environment origins will be initialized during cloning at the end of environment creation
@@ -166,13 +182,25 @@ class InteractiveScene:
             # replicate physics if we have more than one environment
             # this is done to make scene initialization faster at play time
             if self.cfg.replicate_physics and self.cfg.num_envs > 1:
-                self.cloner.replicate_physics(
-                    source_prim_path=self.env_prim_paths[0],
-                    prim_paths=self.env_prim_paths,
-                    base_env_path=self.env_ns,
-                    root_path=self.env_regex_ns.replace(".*", ""),
-                    enable_env_ids=self.cfg.filter_collisions if self.device != "cpu" else False,
-                )
+                # check version of Isaac Sim to determine whether clone_in_fabric is valid
+                isaac_sim_version = float(".".join(get_version()[2]))
+                if isaac_sim_version < 5:
+                    self.cloner.replicate_physics(
+                        source_prim_path=self.env_prim_paths[0],
+                        prim_paths=self.env_prim_paths,
+                        base_env_path=self.env_ns,
+                        root_path=self.env_regex_ns.replace(".*", ""),
+                        enable_env_ids=self.cfg.filter_collisions if self.device != "cpu" else False,
+                    )
+                else:
+                    self.cloner.replicate_physics(
+                        source_prim_path=self.env_prim_paths[0],
+                        prim_paths=self.env_prim_paths,
+                        base_env_path=self.env_ns,
+                        root_path=self.env_regex_ns.replace(".*", ""),
+                        enable_env_ids=self.cfg.filter_collisions if self.device != "cpu" else False,
+                        clone_in_fabric=self.cfg.clone_in_fabric,
+                    )
 
             # since env_ids is only applicable when replicating physics, we have to fallback to the previous method
             # to filter collisions if replicate_physics is not enabled
@@ -199,16 +227,31 @@ class InteractiveScene:
                 " This may adversely affect PhysX parsing. We recommend disabling this property."
             )
 
-        # clone the environment
-        env_origins = self.cloner.clone(
-            source_prim_path=self.env_prim_paths[0],
-            prim_paths=self.env_prim_paths,
-            replicate_physics=self.cfg.replicate_physics,
-            copy_from_source=copy_from_source,
-            enable_env_ids=(
-                self.cfg.filter_collisions if self.device != "cpu" else False
-            ),  # this automatically filters collisions between environments
-        )
+        # check version of Isaac Sim to determine whether clone_in_fabric is valid
+        isaac_sim_version = float(".".join(get_version()[2]))
+        if isaac_sim_version < 5:
+            # clone the environment
+            env_origins = self.cloner.clone(
+                source_prim_path=self.env_prim_paths[0],
+                prim_paths=self.env_prim_paths,
+                replicate_physics=self.cfg.replicate_physics,
+                copy_from_source=copy_from_source,
+                enable_env_ids=(
+                    self.cfg.filter_collisions if self.device != "cpu" else False
+                ),  # this automatically filters collisions between environments
+            )
+        else:
+            # clone the environment
+            env_origins = self.cloner.clone(
+                source_prim_path=self.env_prim_paths[0],
+                prim_paths=self.env_prim_paths,
+                replicate_physics=self.cfg.replicate_physics,
+                copy_from_source=copy_from_source,
+                enable_env_ids=(
+                    self.cfg.filter_collisions if self.device != "cpu" else False
+                ),  # this automatically filters collisions between environments
+                clone_in_fabric=self.cfg.clone_in_fabric,
+            )
 
         # since env_ids is only applicable when replicating physics, we have to fallback to the previous method
         # to filter collisions if replicate_physics is not enabled

source/isaaclab/isaaclab/scene/interactive_scene_cfg.py

@@ -109,3 +109,14 @@ class InteractiveSceneCfg:
         Collisions can only be filtered automatically in direct workflows when physics replication is enabled.
         If ``replicated_physics=False`` and collision filtering is desired, make sure to call ``scene.filter_collisions()``.
     """
+
+    clone_in_fabric: bool = False
+    """Enable/disable cloning in fabric. Default is False.
+    If True, cloning happens through Omniverse fabric, which is a more optimized method for performing cloning in
+    scene creation. However, this limits flexibility in accessing the stage through USD APIs and instead, the stage
+    must be accessed through USDRT.
+    If False, cloning will happen through regular USD APIs.
+    .. note::
+        Cloning in fabric can only be enabled if physics replication is also enabled.
+        If ``replicated_physics=False``, we will automatically default cloning in fabric to be False.
+    """

source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py

@@ -39,6 +39,7 @@ def spawn_from_usd(
     cfg: from_files_cfg.UsdFileCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Spawn an asset from a USD file and override the settings with the given config.
 
@@ -62,6 +63,7 @@ def spawn_from_usd(
             case the translation specified in the USD file is used.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case the orientation specified in the USD file is used.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The prim of the spawned asset.
@@ -79,6 +81,7 @@ def spawn_from_urdf(
     cfg: from_files_cfg.UrdfFileCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Spawn an asset from a URDF file and override the settings with the given config.
 
@@ -102,6 +105,7 @@ def spawn_from_urdf(
             case the translation specified in the generated USD file is used.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case the orientation specified in the generated USD file is used.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The prim of the spawned asset.
@@ -120,6 +124,7 @@ def spawn_ground_plane(
     cfg: from_files_cfg.GroundPlaneCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Spawns a ground plane into the scene.
 
@@ -138,6 +143,7 @@ def spawn_ground_plane(
             case the translation specified in the USD file is used.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case the orientation specified in the USD file is used.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The prim of the spawned asset.
@@ -225,6 +231,7 @@ def _spawn_from_usd_file(
     cfg: from_files_cfg.FileCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Spawn an asset from a USD file and override the settings with the given config.
 
@@ -241,6 +248,7 @@ def _spawn_from_usd_file(
             case the translation specified in the generated USD file is used.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case the orientation specified in the generated USD file is used.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The prim of the spawned asset.

source/isaaclab/isaaclab/sim/spawners/lights/lights.py

@@ -22,6 +22,7 @@ def spawn_light(
     cfg: lights_cfg.LightCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Create a light prim at the specified prim path with the specified configuration.
 
@@ -39,6 +40,7 @@ def spawn_light(
         translation: The translation of the prim. Defaults to None, in which case this is set to the origin.
         orientation: The orientation of the prim as (w, x, y, z). Defaults to None, in which case this
             is set to identity.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Raises:
         ValueError:  When a prim already exists at the specified prim path.

source/isaaclab/isaaclab/sim/spawners/meshes/meshes.py

@@ -28,6 +28,7 @@ def spawn_mesh_sphere(
     cfg: meshes_cfg.MeshSphereCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Create a USD-Mesh sphere prim with the given attributes.
 
@@ -44,6 +45,7 @@ def spawn_mesh_sphere(
             this is set to the origin.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case this is set to identity.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The created prim.
@@ -65,6 +67,7 @@ def spawn_mesh_cuboid(
     cfg: meshes_cfg.MeshCuboidCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Create a USD-Mesh cuboid prim with the given attributes.
 
@@ -81,6 +84,7 @@ def spawn_mesh_cuboid(
             this is set to the origin.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case this is set to identity.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The created prim.
@@ -101,6 +105,7 @@ def spawn_mesh_cylinder(
     cfg: meshes_cfg.MeshCylinderCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Create a USD-Mesh cylinder prim with the given attributes.
 
@@ -117,6 +122,7 @@ def spawn_mesh_cylinder(
             this is set to the origin.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case this is set to identity.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The created prim.
@@ -146,6 +152,7 @@ def spawn_mesh_capsule(
     cfg: meshes_cfg.MeshCapsuleCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Create a USD-Mesh capsule prim with the given attributes.
 
@@ -162,6 +169,7 @@ def spawn_mesh_capsule(
             this is set to the origin.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case this is set to identity.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The created prim.
@@ -191,6 +199,7 @@ def spawn_mesh_cone(
     cfg: meshes_cfg.MeshConeCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Create a USD-Mesh cone prim with the given attributes.
 
@@ -207,6 +216,7 @@ def spawn_mesh_cone(
             this is set to the origin.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case this is set to identity.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The created prim.
@@ -242,6 +252,7 @@ def _spawn_mesh_geom_from_mesh(
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
     scale: tuple[float, float, float] | None = None,
+    **kwargs,
 ):
     """Create a `USDGeomMesh`_ prim from the given mesh.
 
@@ -263,6 +274,7 @@ def _spawn_mesh_geom_from_mesh(
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case this is set to identity.
         scale: The scale to apply to the prim. Defaults to None, in which case this is set to identity.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Raises:
         ValueError: If a prim already exists at the given path.

source/isaaclab/isaaclab/sim/spawners/sensors/sensors.py

@@ -54,6 +54,7 @@ def spawn_camera(
     cfg: sensors_cfg.PinholeCameraCfg | sensors_cfg.FisheyeCameraCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Create a USD camera prim with given projection type.
 
@@ -73,6 +74,7 @@ def spawn_camera(
             this is set to the origin.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case this is set to identity.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The created prim.

source/isaaclab/isaaclab/sim/spawners/shapes/shapes.py

@@ -23,6 +23,7 @@ def spawn_sphere(
     cfg: shapes_cfg.SphereCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Create a USDGeom-based sphere prim with the given attributes.
 
@@ -41,6 +42,7 @@ def spawn_sphere(
             this is set to the origin.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case this is set to identity.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The created prim.
@@ -61,6 +63,7 @@ def spawn_cuboid(
     cfg: shapes_cfg.CuboidCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Create a USDGeom-based cuboid prim with the given attributes.
 
@@ -83,6 +86,7 @@ def spawn_cuboid(
             this is set to the origin.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case this is set to identity.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The created prim.
@@ -106,6 +110,7 @@ def spawn_cylinder(
     cfg: shapes_cfg.CylinderCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Create a USDGeom-based cylinder prim with the given attributes.
 
@@ -124,6 +129,7 @@ def spawn_cylinder(
             this is set to the origin.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case this is set to identity.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The created prim.
@@ -144,6 +150,7 @@ def spawn_capsule(
     cfg: shapes_cfg.CapsuleCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Create a USDGeom-based capsule prim with the given attributes.
 
@@ -162,6 +169,7 @@ def spawn_capsule(
             this is set to the origin.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case this is set to identity.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The created prim.
@@ -182,6 +190,7 @@ def spawn_cone(
     cfg: shapes_cfg.ConeCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    **kwargs,
 ) -> Usd.Prim:
     """Create a USDGeom-based cone prim with the given attributes.
 
@@ -200,6 +209,7 @@ def spawn_cone(
             this is set to the origin.
         orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
             in which case this is set to identity.
+        **kwargs: Additional keyword arguments, like ``clone_in_fabric``.
 
     Returns:
         The created prim.

source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers.py

@@ -27,6 +27,8 @@ def spawn_multi_asset(
     cfg: wrappers_cfg.MultiAssetSpawnerCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    clone_in_fabric: bool = False,
+    replicate_physics: bool = False,
 ) -> Usd.Prim:
     """Spawn multiple assets based on the provided configurations.
 
@@ -39,6 +41,8 @@ def spawn_multi_asset(
         cfg: The configuration for spawning the assets.
         translation: The translation of the spawned assets. Default is None.
         orientation: The orientation of the spawned assets in (w, x, y, z) order. Default is None.
+        clone_in_fabric: Whether to clone in fabric. Default is False.
+        replicate_physics: Whether to replicate physics. Default is False.
 
     Returns:
         The created prim at the first prim path.
@@ -85,7 +89,14 @@ def spawn_multi_asset(
                 setattr(asset_cfg, attr_name, attr_value)
         # spawn single instance
         proto_prim_path = f"{template_prim_path}/Asset_{index:04d}"
-        asset_cfg.func(proto_prim_path, asset_cfg, translation=translation, orientation=orientation)
+        asset_cfg.func(
+            proto_prim_path,
+            asset_cfg,
+            translation=translation,
+            orientation=orientation,
+            clone_in_fabric=clone_in_fabric,
+            replicate_physics=replicate_physics,
+        )
         # append to proto prim paths
         proto_prim_paths.append(proto_prim_path)
 
@@ -125,6 +136,8 @@ def spawn_multi_usd_file(
     cfg: wrappers_cfg.MultiUsdFileCfg,
     translation: tuple[float, float, float] | None = None,
     orientation: tuple[float, float, float, float] | None = None,
+    clone_in_fabric: bool = False,
+    replicate_physics: bool = False,
 ) -> Usd.Prim:
     """Spawn multiple USD files based on the provided configurations.
 
@@ -136,6 +149,8 @@ def spawn_multi_usd_file(
         cfg: The configuration for spawning the assets.
         translation: The translation of the spawned assets. Default is None.
         orientation: The orientation of the spawned assets in (w, x, y, z) order. Default is None.
+        clone_in_fabric: Whether to clone in fabric. Default is False.
+        replicate_physics: Whether to replicate physics. Default is False.
 
     Returns:
         The created prim at the first prim path.
@@ -175,4 +190,4 @@ def spawn_multi_usd_file(
         multi_asset_cfg.activate_contact_sensors = cfg.activate_contact_sensors
 
     # call the original function
-    return spawn_multi_asset(prim_path, multi_asset_cfg, translation, orientation)
+    return spawn_multi_asset(prim_path, multi_asset_cfg, translation, orientation, clone_in_fabric, replicate_physics)

source/isaaclab/isaaclab/sim/utils.py

@@ -292,8 +292,24 @@ def clone(func: Callable) -> Callable:
         # clone asset using cloner API
         if len(prim_paths) > 1:
             cloner = Cloner(stage=stage)
-            # clone the prim
-            cloner.clone(prim_paths[0], prim_paths[1:], replicate_physics=False, copy_from_source=cfg.copy_from_source)
+            # check version of Isaac Sim to determine whether clone_in_fabric is valid
+            isaac_sim_version = float(".".join(get_version()[2]))
+            if isaac_sim_version < 5:
+                # clone the prim
+                cloner.clone(
+                    prim_paths[0], prim_paths[1:], replicate_physics=False, copy_from_source=cfg.copy_from_source
+                )
+            else:
+                # clone the prim
+                clone_in_fabric = kwargs.get("clone_in_fabric", False)
+                replicate_physics = kwargs.get("replicate_physics", False)
+                cloner.clone(
+                    prim_paths[0],
+                    prim_paths[1:],
+                    replicate_physics=replicate_physics,
+                    copy_from_source=cfg.copy_from_source,
+                    clone_in_fabric=clone_in_fabric,
+                )
         # return the source prim
         return prim
 

source/isaaclab_tasks/isaaclab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py

@@ -98,7 +98,9 @@ class AllegroHandEnvCfg(DirectRLEnvCfg):
         },
     )
     # scene
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=8192, env_spacing=0.75, replicate_physics=True)
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(
+        num_envs=8192, env_spacing=0.75, replicate_physics=True, clone_in_fabric=True
+    )
     # reset
     reset_position_noise = 0.01  # range of position at reset
     reset_dof_pos_noise = 0.2  # range of dof pos at reset

source/isaaclab_tasks/isaaclab_tasks/direct/ant/ant_env.py

@@ -45,7 +45,9 @@ class AntEnvCfg(DirectRLEnvCfg):
     )
 
     # scene
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=4.0, replicate_physics=True)
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(
+        num_envs=4096, env_spacing=4.0, replicate_physics=True, clone_in_fabric=True
+    )
 
     # robot
     robot: ArticulationCfg = ANT_CFG.replace(prim_path="/World/envs/env_.*/Robot")

source/isaaclab_tasks/isaaclab_tasks/direct/cartpole/cartpole_env.py

@@ -40,7 +40,9 @@ class CartpoleEnvCfg(DirectRLEnvCfg):
     pole_dof_name = "cart_to_pole"
 
     # scene
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=4.0, replicate_physics=True)
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(
+        num_envs=4096, env_spacing=4.0, replicate_physics=True, clone_in_fabric=True
+    )
 
     # reset
     max_cart_pos = 3.0  # the cart is reset if it exceeds that position [m]

source/isaaclab_tasks/isaaclab_tasks/direct/factory/factory_env_cfg.py

@@ -116,7 +116,7 @@ class FactoryEnvCfg(DirectRLEnvCfg):
         ),
     )
 
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=128, env_spacing=2.0)
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=128, env_spacing=2.0, clone_in_fabric=True)
 
     robot = ArticulationCfg(
         prim_path="/World/envs/env_.*/Robot",

source/isaaclab_tasks/isaaclab_tasks/direct/franka_cabinet/franka_cabinet_env.py

@@ -46,7 +46,9 @@ class FrankaCabinetEnvCfg(DirectRLEnvCfg):
     )
 
     # scene
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=3.0, replicate_physics=True)
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(
+        num_envs=4096, env_spacing=3.0, replicate_physics=True, clone_in_fabric=True
+    )
 
     # robot
     robot = ArticulationCfg(

source/isaaclab_tasks/isaaclab_tasks/direct/humanoid/humanoid_env.py

@@ -45,7 +45,9 @@ class HumanoidEnvCfg(DirectRLEnvCfg):
     )
 
     # scene
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=4.0, replicate_physics=True)
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(
+        num_envs=4096, env_spacing=4.0, replicate_physics=True, clone_in_fabric=True
+    )
 
     # robot
     robot: ArticulationCfg = HUMANOID_CFG.replace(prim_path="/World/envs/env_.*/Robot")

source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/quadcopter_env.py

@@ -85,7 +85,9 @@ class QuadcopterEnvCfg(DirectRLEnvCfg):
     )
 
     # scene
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=2.5, replicate_physics=True)
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(
+        num_envs=4096, env_spacing=2.5, replicate_physics=True, clone_in_fabric=True
+    )
 
     # robot
     robot: ArticulationCfg = CRAZYFLIE_CFG.replace(prim_path="/World/envs/env_.*/Robot")

source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py

@@ -205,7 +205,9 @@ class ShadowHandEnvCfg(DirectRLEnvCfg):
         },
     )
     # scene
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=8192, env_spacing=0.75, replicate_physics=True)
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(
+        num_envs=8192, env_spacing=0.75, replicate_physics=True, clone_in_fabric=True
+    )
 
     # reset
     reset_position_noise = 0.01  # range of position at reset

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/ant/ant_env_cfg.py

@@ -160,7 +160,7 @@ class AntEnvCfg(ManagerBasedRLEnvCfg):
     """Configuration for the MuJoCo-style Ant walking environment."""
 
     # Scene settings
-    scene: MySceneCfg = MySceneCfg(num_envs=4096, env_spacing=5.0)
+    scene: MySceneCfg = MySceneCfg(num_envs=4096, env_spacing=5.0, clone_in_fabric=True)
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py

@@ -159,7 +159,7 @@ class CartpoleEnvCfg(ManagerBasedRLEnvCfg):
     """Configuration for the cartpole environment."""
 
     # Scene settings
-    scene: CartpoleSceneCfg = CartpoleSceneCfg(num_envs=4096, env_spacing=4.0)
+    scene: CartpoleSceneCfg = CartpoleSceneCfg(num_envs=4096, env_spacing=4.0, clone_in_fabric=True)
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()

source/isaaclab_tasks/isaaclab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py

@@ -197,7 +197,7 @@ class HumanoidEnvCfg(ManagerBasedRLEnvCfg):
     """Configuration for the MuJoCo-style Humanoid walking environment."""
 
     # Scene settings
-    scene: MySceneCfg = MySceneCfg(num_envs=4096, env_spacing=5.0)
+    scene: MySceneCfg = MySceneCfg(num_envs=4096, env_spacing=5.0, clone_in_fabric=True)
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()

source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py

@@ -21,6 +21,8 @@ class AllegroCubeEnvCfg(inhand_env_cfg.InHandObjectEnvCfg):
 
         # switch robot to allegro hand
         self.scene.robot = ALLEGRO_HAND_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+        # enable clone in fabric
+        self.scene.clone_in_fabric = True
 
 
 @configclass