fix: implement Fabric-aware get/set_local_poses in FabricFrameView

source/isaaclab/isaaclab/sensors/camera/camera.py

@@ -19,7 +19,7 @@
 import isaaclab.utils.sensors as sensor_utils
 from isaaclab.app.settings_manager import get_settings_manager
 from isaaclab.renderers import BaseRenderer, Renderer
-from isaaclab.sim.views import FrameView
+from isaaclab.sim.views import UsdFrameView
 from isaaclab.utils import has_kit, to_camel_case
 from isaaclab.utils.math import (
     convert_camera_frame_orientation_convention,
@@ -405,9 +405,11 @@ def _initialize_impl(self):
         # references to prims located in the stage.
         self._renderer.prepare_stage(self.stage, self._num_envs)
 
-        # Create a view for the sensor with Fabric enabled for fast pose queries.
-        # TODO: remove sync_usd_on_fabric_write=True once the GPU Fabric sync bug is fixed.
-        self._view = FrameView(self.cfg.prim_path, device=self._device, stage=self.stage, sync_usd_on_fabric_write=True)
+        # Camera uses UsdFrameView directly (not FrameView/FabricFrameView) because
+        # the RTX renderer / Replicator reads camera poses from USD prim paths, not
+        # from Fabric.  Writing to Fabric + sync_usd_on_fabric_write was wasteful —
+        # this bypasses Fabric entirely for camera transforms.
+        self._view = UsdFrameView(self.cfg.prim_path, device=self._device, stage=self.stage)
         # Check that sizes are correct
         if self._view.count != self._num_envs:
             raise RuntimeError(

source/isaaclab/isaaclab/sim/views/usd_frame_view.py

@@ -71,8 +71,7 @@ def __init__(
             stage: USD stage to search for prims. Defaults to None, in which case the current
                 active stage from the simulation context is used.
             **kwargs: Additional keyword arguments (ignored). Allows forward-compatible
-                construction when callers pass backend-specific options like
-                ``sync_usd_on_fabric_write``.
+                construction when callers pass backend-specific options.
 
         Raises:
             ValueError: If any matched prim is not Xformable or doesn't have standardized

source/isaaclab/test/sensors/test_tiled_camera.py

@@ -195,3 +195,79 @@ def _populate_scene():
         sim_utils.define_rigid_body_properties(prim_path, sim_utils.RigidBodyPropertiesCfg())
         sim_utils.define_mass_properties(prim_path, sim_utils.MassPropertiesCfg(mass=5.0))
         sim_utils.define_collision_properties(prim_path, sim_utils.CollisionPropertiesCfg())
+
+
+# ------------------------------------------------------------------
+# Camera pose → render validation (PrepareForReuse / Fabric path)
+# ------------------------------------------------------------------
+
+
+@pytest.mark.parametrize(
+    "device, camera_cls",
+    [
+        pytest.param("cpu", TiledCamera, id="cpu-tiled"),
+        pytest.param("cpu", Camera, id="cpu-non_tiled"),
+        pytest.param("cuda:0", TiledCamera, id="cuda:0-tiled"),
+        pytest.param("cuda:0", Camera, id="cuda:0-non_tiled"),
+    ],
+)
+def test_camera_pose_update_reflected_in_render(setup_camera, device, camera_cls):
+    """Camera pose changes via FrameView should be visible in rendered depth.
+
+    Moves camera close then far, renders depth, and verifies that the mean
+    valid depth from the far position is significantly larger (>1.5×) than
+    the close position.  This validates that Fabric-side pose writes
+    (via PrepareForReuse) or USD writes are correctly propagated to the
+    RTX renderer.
+    """
+    sim, _unused_cam_cfg, dt = setup_camera
+
+    cam_cfg = CameraCfg(
+        prim_path="/World/PoseTestCam",
+        height=128,
+        width=256,
+        update_period=0,
+        update_latest_camera_pose=True,
+        data_types=["distance_to_camera"],
+        spawn=sim_utils.PinholeCameraCfg(
+            focal_length=24.0,
+            focus_distance=400.0,
+            horizontal_aperture=20.955,
+            clipping_range=(0.1, 1.0e5),
+        ),
+    )
+    camera = camera_cls(cam_cfg)
+    sim.reset()
+
+    target = torch.tensor([[0.0, 0.0, 0.0]], dtype=torch.float32, device=camera.device)
+    max_range = cam_cfg.spawn.clipping_range[1]
+
+    # -- close position --
+    eyes_close = torch.tensor([[2.0, 2.0, 2.0]], dtype=torch.float32, device=camera.device)
+    camera.set_world_poses_from_view(eyes_close, target)
+    sim.step()
+    camera.update(dt)
+    depth_close = camera.data.output["distance_to_camera"].clone()
+
+    # -- far position --
+    eyes_far = torch.tensor([[8.0, 8.0, 8.0]], dtype=torch.float32, device=camera.device)
+    camera.set_world_poses_from_view(eyes_far, target)
+    sim.step()
+    camera.update(dt)
+    depth_far = camera.data.output["distance_to_camera"].clone()
+
+    # -- validate --
+    valid_close = depth_close[depth_close < max_range]
+    valid_far = depth_far[depth_far < max_range]
+
+    assert valid_close.numel() > 0, "No valid close-range depth pixels"
+    assert valid_far.numel() > 0, "No valid far-range depth pixels"
+
+    mean_close = valid_close.mean().item()
+    mean_far = valid_far.mean().item()
+
+    assert mean_far > mean_close * 1.5, (
+        f"Far depth ({mean_far:.2f}) should be > 1.5× close depth ({mean_close:.2f}). "
+        "Camera pose change may not be reaching the renderer."
+    )
+    del camera