remove clone in fabric

Author: ooctipus

source/isaaclab/test/sim/test_stage_in_memory.py

@@ -207,7 +207,6 @@ def test_stage_in_memory_with_clone_in_fabric(sim):
             base_env_path=base_env_path,
             prim_paths=target_paths,
             replicate_physics=True,
-            clone_in_fabric=True,
         )
         prim_path_regex = "/World/envs/env_.*"
 

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

@@ -98,9 +98,7 @@ class AllegroHandEnvCfg(DirectRLEnvCfg):
         },
     )
     # scene
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(
-        num_envs=8192, env_spacing=0.75, replicate_physics=True, clone_in_fabric=True
-    )
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=8192, env_spacing=0.75, replicate_physics=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

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

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

@@ -40,9 +40,7 @@ class CartpoleEnvCfg(DirectRLEnvCfg):
     pole_dof_name = "cart_to_pole"
 
     # scene
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(
-        num_envs=4096, env_spacing=4.0, replicate_physics=True, clone_in_fabric=True
-    )
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=4.0, replicate_physics=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, clone_in_fabric=True)
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=128, env_spacing=2.0)
 
     robot = ArticulationCfg(
         prim_path="/World/envs/env_.*/Robot",

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

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

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

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

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

@@ -85,9 +85,7 @@ class QuadcopterEnvCfg(DirectRLEnvCfg):
     )
 
     # scene
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(
-        num_envs=4096, env_spacing=2.5, replicate_physics=True, clone_in_fabric=True
-    )
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=4096, env_spacing=2.5, replicate_physics=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

@@ -205,9 +205,7 @@ class ShadowHandEnvCfg(DirectRLEnvCfg):
         },
     )
     # scene
-    scene: InteractiveSceneCfg = InteractiveSceneCfg(
-        num_envs=8192, env_spacing=0.75, replicate_physics=True, clone_in_fabric=True
-    )
+    scene: InteractiveSceneCfg = InteractiveSceneCfg(num_envs=8192, env_spacing=0.75, replicate_physics=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, clone_in_fabric=True)
+    scene: MySceneCfg = MySceneCfg(num_envs=4096, env_spacing=5.0)
     # Basic settings
     observations: ObservationsCfg = ObservationsCfg()
     actions: ActionsCfg = ActionsCfg()