Defer clone backend stage configuration

Author: ooctipus

source/isaaclab_ov/isaaclab_ov/cloner/replicate.py

@@ -12,7 +12,7 @@
 
 import numpy as np
 
-from pxr import Gf, Sdf, Usd, UsdGeom
+from pxr import Gf, Usd, UsdGeom
 
 from isaaclab import cloner
 from isaaclab.physics import PhysicsManager
@@ -116,9 +116,6 @@ def __init__(self, sim_context: SimulationContext):
         """
         self._sim = sim_context
         self.stage = sim_context.stage
-        physics_scene_prim = self.stage.GetPrimAtPath("/physicsScene")
-        if physics_scene_prim.IsValid():
-            physics_scene_prim.CreateAttribute("physxScene:envIdInBoundsBitCount", Sdf.ValueTypeNames.Int).Set(4)
 
     def replicate(self, plan: ClonePlan) -> None:
         """Publish clone operations from this context's plan rows.

source/isaaclab_ov/isaaclab_ov/physics/ovphysx_manager.py

@@ -24,7 +24,7 @@
 import numpy as np
 import warp as wp
 
-from pxr import UsdPhysics
+from pxr import Sdf, UsdPhysics
 
 from isaaclab.physics import PhysicsEvent, PhysicsManager
 from isaaclab.scene_data import SceneDataBackend, SceneDataFormat
@@ -946,6 +946,8 @@ def _warmup_and_load(cls) -> None:
 
         scene_prim = sim.stage.GetPrimAtPath(sim.cfg.physics_prim_path)
         if scene_prim.IsValid():
+            if cls._active_clone_recipes:
+                scene_prim.CreateAttribute("physxScene:envIdInBoundsBitCount", Sdf.ValueTypeNames.Int).Set(4)
             cls._configure_physx_scene_prim(scene_prim, PhysicsManager._cfg, ovphysx_device)
 
         # Flatten the current USD stage to USDA text so OVStage can populate it
@@ -1107,8 +1109,6 @@ def _configure_physx_scene_prim(scene_prim, cfg, device: str) -> None:
                 values. The GPU buffer-capacity values are only consulted when ``device == "gpu"``.
             device: Resolved physics device — one of ``"cpu"`` or ``"gpu"``.
         """
-        from pxr import Sdf
-
         schemas = Sdf.TokenListOp()
         current = scene_prim.GetMetadata("apiSchemas") or Sdf.TokenListOp()
         items = list(current.prependedItems) if current.prependedItems else []

source/isaaclab_physx/isaaclab_physx/cloner/replicate.py

@@ -34,9 +34,6 @@ def __init__(self, stage: Usd.Stage):
         cache = UsdUtils.StageCache.Get()
         cached_id = cache.GetId(stage)
         self._stage_id = cached_id.ToLongInt() if cached_id.IsValid() else cache.Insert(stage).ToLongInt()
-        physics_scene_prim = self.stage.GetPrimAtPath("/physicsScene")
-        if physics_scene_prim.IsValid():
-            physics_scene_prim.CreateAttribute("physxScene:envIdInBoundsBitCount", Sdf.ValueTypeNames.Int).Set(4)
 
     def replicate(self, plan: ClonePlan) -> None:
         """Register the PhysX replicator for this context's plan rows.
@@ -102,6 +99,10 @@ def _replicate_mapping(
         if all(len(envs) == 1 and src == destination.format(envs[0]) for src, destination, envs in physx_queue):
             return
 
+        physics_scene_prim = self.stage.GetPrimAtPath("/physicsScene")
+        if physics_scene_prim.IsValid():
+            physics_scene_prim.CreateAttribute("physxScene:envIdInBoundsBitCount", Sdf.ValueTypeNames.Int).Set(4)
+
         current_worlds: list[int] = []
         current_template: str = ""
         prefixes = [cloner.path.split(destination)[0] for destination in destinations]