Fixes backend asset state invalidation + provides a skip (isaac-sim#6150)

# Description

Fix stale cached pose and velocity state after backend asset state
writers push data into simulation.

This updates the Newton, PhysX, and OV PhysX backend asset writers to
invalidate the affected cached
data through shared data-class reset helpers.

Fixes # (issue): N/A

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Screenshots

N/A

## Validation

- `./isaaclab.sh -f` (all hooks passed except `check-git-lfs-pointers`,
which failed because `git-lfs` is not installed locally)
- `SKIP=check-git-lfs-pointers ./isaaclab.sh -f`

## 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
- [x] 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)
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

Author: AntoineRichard

source/isaaclab/changelog.d/backend-asset-invalidation.rst

@@ -0,0 +1,19 @@
+Added
+^^^^^
+
+* Added a ``skip_forward`` argument to the abstract root, body, and joint state writers of
+  :class:`~isaaclab.assets.BaseArticulation`, :class:`~isaaclab.assets.BaseRigidObject`, and
+  :class:`~isaaclab.assets.BaseRigidObjectCollection` to defer cached-buffer invalidation when
+  several writes are batched before a single forward pass.
+* Added :func:`~isaaclab.utils.buffers.reset_timestamps` to invalidate a list of timestamped
+  buffers in one call, shared by the backend asset data classes' cache-reset helpers.
+
+Changed
+^^^^^^^
+
+* **Breaking:** Added abstract ``_reset_pose`` and ``_reset_velocity`` cache-invalidation hooks to
+  :class:`~isaaclab.assets.BaseArticulationData`, :class:`~isaaclab.assets.BaseRigidObjectData`,
+  and :class:`~isaaclab.assets.BaseRigidObjectCollectionData`. Custom simulation-backend subclasses
+  must now implement both methods to remain instantiable: ``_reset_pose`` invalidates the
+  pose-derived cached buffers and ``_reset_velocity`` the velocity-derived ones (see the Newton,
+  PhysX, and OV PhysX data classes for reference implementations).

source/isaaclab/isaaclab/assets/articulation/base_articulation.py

@@ -345,6 +345,7 @@ def write_root_pose_to_sim_index(
         *,
         root_pose: torch.Tensor | wp.array,
         env_ids: Sequence[int] | torch.Tensor | wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Set the root pose over selected environment indices into the simulation.
 
@@ -361,6 +362,8 @@ def write_root_pose_to_sim_index(
             root_pose: Root poses in simulation frame. Shape is (len(env_ids), 7)
                 or (len(env_ids),) with dtype wp.transformf.
             env_ids: Environment indices. If None, then all indices are used.
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -370,6 +373,7 @@ def write_root_pose_to_sim_mask(
         *,
         root_pose: torch.Tensor | wp.array,
         env_mask: wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Set the root pose over selected environment mask into the simulation.
 
@@ -386,6 +390,8 @@ def write_root_pose_to_sim_mask(
             root_pose: Root poses in simulation frame. Shape is (num_instances, 7)
                 or (num_instances,) with dtype wp.transformf.
             env_mask: Environment mask. If None, then all the instances are updated. Shape is (num_instances,).
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -395,6 +401,7 @@ def write_root_link_pose_to_sim_index(
         *,
         root_pose: torch.Tensor | wp.array,
         env_ids: Sequence[int] | torch.Tensor | wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Set the root link pose over selected environment indices into the simulation.
 
@@ -411,6 +418,8 @@ def write_root_link_pose_to_sim_index(
             root_pose: Root poses in simulation frame. Shape is (len(env_ids), 7)
                 or (len(env_ids),) with dtype wp.transformf.
             env_ids: Environment indices. If None, then all indices are used.
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -420,6 +429,7 @@ def write_root_link_pose_to_sim_mask(
         *,
         root_pose: torch.Tensor | wp.array,
         env_mask: wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Set the root link pose over selected environment mask into the simulation.
 
@@ -436,6 +446,8 @@ def write_root_link_pose_to_sim_mask(
             root_pose: Root poses in simulation frame. Shape is (num_instances, 7)
                 or (num_instances,) with dtype wp.transformf.
             env_mask: Environment mask. If None, then all the instances are updated. Shape is (num_instances,).
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -445,6 +457,7 @@ def write_root_com_pose_to_sim_index(
         *,
         root_pose: torch.Tensor | wp.array,
         env_ids: Sequence[int] | torch.Tensor | wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Set the root center of mass pose over selected environment indices into the simulation.
 
@@ -462,6 +475,8 @@ def write_root_com_pose_to_sim_index(
             root_pose: Root center of mass poses in simulation frame. Shape is (len(env_ids), 7)
                 or (len(env_ids),) with dtype wp.transformf.
             env_ids: Environment indices. If None, then all indices are used.
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -471,6 +486,7 @@ def write_root_com_pose_to_sim_mask(
         *,
         root_pose: torch.Tensor | wp.array,
         env_mask: wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Set the root center of mass pose over selected environment mask into the simulation.
 
@@ -488,6 +504,8 @@ def write_root_com_pose_to_sim_mask(
             root_pose: Root center of mass poses in simulation frame. Shape is (num_instances, 7)
                 or (num_instances,) with dtype wp.transformf.
             env_mask: Environment mask. If None, then all the instances are updated. Shape is (num_instances,).
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -497,6 +515,7 @@ def write_root_velocity_to_sim_index(
         *,
         root_velocity: torch.Tensor | wp.array,
         env_ids: Sequence[int] | torch.Tensor | wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Set the root center of mass velocity over selected environment indices into the simulation.
 
@@ -516,6 +535,8 @@ def write_root_velocity_to_sim_index(
             root_velocity: Root center of mass velocities in simulation world frame. Shape is (len(env_ids), 6)
                 or (len(env_ids),) with dtype wp.spatial_vectorf.
             env_ids: Environment indices. If None, then all indices are used.
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -525,6 +546,7 @@ def write_root_velocity_to_sim_mask(
         *,
         root_velocity: torch.Tensor | wp.array,
         env_mask: wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Set the root center of mass velocity over selected environment mask into the simulation.
 
@@ -544,6 +566,8 @@ def write_root_velocity_to_sim_mask(
             root_velocity: Root center of mass velocities in simulation world frame. Shape is (num_instances, 6)
                 or (num_instances,) with dtype wp.spatial_vectorf.
             env_mask: Environment mask. If None, then all the instances are updated. Shape is (num_instances,).
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -553,6 +577,7 @@ def write_root_com_velocity_to_sim_index(
         *,
         root_velocity: torch.Tensor | wp.array,
         env_ids: Sequence[int] | torch.Tensor | wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Set the root center of mass velocity over selected environment indices into the simulation.
 
@@ -572,6 +597,8 @@ def write_root_com_velocity_to_sim_index(
             root_velocity: Root center of mass velocities in simulation world frame. Shape is (len(env_ids), 6)
                 or (len(env_ids),) with dtype wp.spatial_vectorf.
             env_ids: Environment indices. If None, then all indices are used.
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -581,6 +608,7 @@ def write_root_com_velocity_to_sim_mask(
         *,
         root_velocity: torch.Tensor | wp.array,
         env_mask: wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Set the root center of mass velocity over selected environment mask into the simulation.
 
@@ -600,6 +628,8 @@ def write_root_com_velocity_to_sim_mask(
             root_velocity: Root center of mass velocities in simulation world frame. Shape is (num_instances, 6)
                 or (num_instances,) with dtype wp.spatial_vectorf.
             env_mask: Environment mask. If None, then all the instances are updated. Shape is (num_instances,).
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -609,6 +639,7 @@ def write_root_link_velocity_to_sim_index(
         *,
         root_velocity: torch.Tensor | wp.array,
         env_ids: Sequence[int] | torch.Tensor | wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Set the root link velocity over selected environment indices into the simulation.
 
@@ -628,6 +659,8 @@ def write_root_link_velocity_to_sim_index(
             root_velocity: Root frame velocities in simulation world frame. Shape is (len(env_ids), 6)
                 or (len(env_ids),) with dtype wp.spatial_vectorf.
             env_ids: Environment indices. If None, then all indices are used.
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -637,6 +670,7 @@ def write_root_link_velocity_to_sim_mask(
         *,
         root_velocity: torch.Tensor | wp.array,
         env_mask: wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Set the root link velocity over selected environment mask into the simulation.
 
@@ -656,6 +690,8 @@ def write_root_link_velocity_to_sim_mask(
             root_velocity: Root frame velocities in simulation world frame. Shape is (num_instances, 6)
                 or (num_instances,) with dtype wp.spatial_vectorf.
             env_mask: Environment mask. If None, then all the instances are updated. Shape is (num_instances,).
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -666,6 +702,7 @@ def write_joint_position_to_sim_index(
         position: torch.Tensor | wp.array,
         joint_ids: Sequence[int] | torch.Tensor | wp.array | None = None,
         env_ids: Sequence[int] | torch.Tensor | wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Write joint positions to the simulation.
 
@@ -680,6 +717,8 @@ def write_joint_position_to_sim_index(
             position: Joint positions. Shape is (len(env_ids), len(joint_ids)).
             joint_ids: The joint indices to set the targets for. Defaults to None (all joints).
             env_ids: The environment indices to set the targets for. Defaults to None (all instances).
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -690,6 +729,7 @@ def write_joint_position_to_sim_mask(
         position: torch.Tensor | wp.array,
         joint_mask: wp.array | None = None,
         env_mask: wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Write joint positions to the simulation.
 
@@ -704,6 +744,8 @@ def write_joint_position_to_sim_mask(
             position: Joint positions. Shape is (num_instances, num_joints).
             joint_mask: Joint mask. If None, then all the joints are updated. Shape is (num_joints,).
             env_mask: Environment mask. If None, then all the instances are updated. Shape is (num_instances,).
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -714,6 +756,7 @@ def write_joint_velocity_to_sim_index(
         velocity: torch.Tensor | wp.array,
         joint_ids: Sequence[int] | torch.Tensor | wp.array | None = None,
         env_ids: Sequence[int] | torch.Tensor | wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Write joint velocities to the simulation.
 
@@ -728,6 +771,8 @@ def write_joint_velocity_to_sim_index(
             velocity: Joint velocities. Shape is (len(env_ids), len(joint_ids)).
             joint_ids: The joint indices to set the targets for. Defaults to None (all joints).
             env_ids: The environment indices to set the targets for. Defaults to None (all instances).
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 
@@ -738,6 +783,7 @@ def write_joint_velocity_to_sim_mask(
         velocity: torch.Tensor | wp.array,
         joint_mask: wp.array | None = None,
         env_mask: wp.array | None = None,
+        skip_forward: bool = False,
     ) -> None:
         """Write joint velocities to the simulation.
 
@@ -752,6 +798,8 @@ def write_joint_velocity_to_sim_mask(
             velocity: Joint velocities. Shape is (num_instances, num_joints).
             joint_mask: Joint mask. If None, then all the joints are updated. Shape is (num_joints,).
             env_mask: Environment mask. If None, then all the instances are updated. Shape is (num_instances,).
+            skip_forward: Whether to skip invalidating cached data after the write. When True, the caller
+                must invalidate stale cached data before reading it back. Defaults to False.
         """
         raise NotImplementedError()
 

source/isaaclab/isaaclab/assets/articulation/base_articulation_data.py

@@ -56,6 +56,34 @@ def __init__(self, root_view, device: str):
     def update(self, dt: float) -> None:
         raise NotImplementedError
 
+    @abstractmethod
+    def _reset_pose(self, from_link: bool = True) -> None:
+        """Invalidate cached pose-dependent quantities after a pose write to the simulation.
+
+        Backends implement this to mark the affected pose buffers stale (and trigger any
+        forward-kinematics refresh) so the next read recomputes from the freshly written state.
+
+        Args:
+            from_link: Set ``True`` when the root link pose was written so the derived
+                center-of-mass pose (:attr:`root_com_pose_w`) is also invalidated; set ``False``
+                when the center-of-mass pose was written directly so it is not clobbered.
+        """
+        raise NotImplementedError
+
+    @abstractmethod
+    def _reset_velocity(self, from_com: bool = True) -> None:
+        """Invalidate cached velocity-dependent quantities after a velocity write to the simulation.
+
+        Backends implement this to mark the affected velocity buffers stale (and trigger any
+        forward-kinematics refresh) so the next read recomputes from the freshly written state.
+
+        Args:
+            from_com: Set ``True`` when the root center-of-mass velocity was written so the derived
+                link velocity (:attr:`root_link_vel_w`) is also invalidated; set ``False`` when the
+                link velocity was written directly so it is not clobbered.
+        """
+        raise NotImplementedError
+
     ##
     # Names.
     ##