Enables FSD for faster rendering (#398)

# Description

This change enables the Fabric Scene Delegate (FSD), which should help
speed up workflows requiring rendering as it optimizes the
transformation updates for rendering.

Fixes # (issue)

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## Type of change

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applicable. -->

- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Checklist

- [ ] 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

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

apps/isaaclab.python.headless.kit

@@ -74,6 +74,11 @@ app.hydraEngine.waitIdle = false
 # app.hydra.aperture.conform = 4 # in 105.1 pixels are square by default
 omni.replicator.asyncRendering = false
 
+### FSD
+app.useFabricSceneDelegate = true
+# Temporary, should be enabled by default in Kit soon
+rtx.hydra.readTransformsFromFabricInRenderDelegate = true
+
 # Enable Iray and pxr by setting this to "rtx,iray,pxr"
 renderer.enabled = "rtx"
 
@@ -153,6 +158,8 @@ fabricUpdateTransformations = false
 fabricUpdateVelocities = false
 fabricUpdateForceSensors = false
 fabricUpdateJointStates = false
+### When Direct GPU mode is enabled (suppressReadback=true) use direct interop between PhysX GPU and Fabric
+fabricUseGPUInterop = true
 
 # Performance improvement
 resourcemonitor.timeBetweenQueries = 100

apps/isaaclab.python.headless.rendering.kit

@@ -34,6 +34,11 @@ app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
 app.version = "5.0.0"
 
+### FSD
+app.useFabricSceneDelegate = true
+# Temporary, should be enabled by default in Kit soon
+rtx.hydra.readTransformsFromFabricInRenderDelegate = true
+
 # Disable print outs on extension startup information
 # this only disables the app print_and_log function
 app.enableStdoutOutput = false
@@ -118,6 +123,8 @@ fabricUpdateTransformations = false
 fabricUpdateVelocities = false
 fabricUpdateForceSensors = false
 fabricUpdateJointStates = false
+### When Direct GPU mode is enabled (suppressReadback=true) use direct interop between PhysX GPU and Fabric
+fabricUseGPUInterop = true
 
 # Register extension folder from this repo in kit
 [settings.app.exts]

apps/isaaclab.python.kit

@@ -242,6 +242,10 @@ omni.replicator.asyncRendering = false
 app.asyncRendering = false
 app.asyncRenderingLowLatency = false
 
+### FSD
+app.useFabricSceneDelegate = true
+rtx.hydra.readTransformsFromFabricInRenderDelegate = true
+
 # disable replicator orchestrator for better runtime perf
 exts."omni.replicator.core".Orchestrator.enabled = false
 
@@ -292,6 +296,8 @@ fabricUpdateTransformations = false
 fabricUpdateVelocities = false
 fabricUpdateForceSensors = false
 fabricUpdateJointStates = false
+### When Direct GPU mode is enabled (suppressReadback=true) use direct interop between PhysX GPU and Fabric
+fabricUseGPUInterop = true
 
 # Asset path
 # set the S3 directory manually to the latest published S3

apps/isaaclab.python.rendering.kit

@@ -35,6 +35,11 @@ app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
 app.version = "5.0.0"
 
+### FSD
+app.useFabricSceneDelegate = true
+# Temporary, should be enabled by default in Kit soon
+rtx.hydra.readTransformsFromFabricInRenderDelegate = true
+
 # Disable print outs on extension startup information
 # this only disables the app print_and_log function
 app.enableStdoutOutput = false
@@ -99,6 +104,8 @@ fabricUpdateTransformations = false
 fabricUpdateVelocities = false
 fabricUpdateForceSensors = false
 fabricUpdateJointStates = false
+### When Direct GPU mode is enabled (suppressReadback=true) use direct interop between PhysX GPU and Fabric
+fabricUseGPUInterop = true
 
 [settings.exts."omni.kit.registry.nucleus"]
 registries = [

apps/isaaclab.python.xr.openxr.headless.kit

@@ -17,6 +17,11 @@ app.folder = "${exe-path}/"
 app.name = "Isaac-Sim"
 app.version = "5.0.0"
 
+### FSD
+app.useFabricSceneDelegate = true
+# Temporary, should be enabled by default in Kit soon
+rtx.hydra.readTransformsFromFabricInRenderDelegate = true
+
 [dependencies]
 "isaaclab.python.xr.openxr" = {}
 

apps/isaaclab.python.xr.openxr.kit

@@ -26,6 +26,11 @@ app.asyncRenderingLowLatency = true
 renderer.multiGpu.maxGpuCount = 16
 renderer.gpuEnumeration.glInterop.enabled = true # Allow Kit XR OpenXR to render headless
 
+### FSD
+app.useFabricSceneDelegate = true
+# Temporary, should be enabled by default in Kit soon
+rtx.hydra.readTransformsFromFabricInRenderDelegate = true
+
 [dependencies]
 "isaaclab.python" = {}