perf: Implement Fabric-aware get/set_local_poses on FabricFrameView#5516

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pv-nvidia wants to merge 26 commits into

isaac-sim:developfrom

pv-nvidia:pv/5381-rebased

Commits on May 15, 2026

Commits on May 17, 2026

fix: use GetStageIdAsUInt() instead of GetStageIdAsStageId() for stability
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Revert "fix: use GetStageIdAsUInt() instead of GetStageIdAsStageId() for stability"
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refactor: move Fabric hierarchy cache from FabricFrameView class-level to SimulationContext
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simplify: key hierarchy cache on fabric_id_int only, drop stage_id
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docs: mention multi-GPU as the concrete multi-Fabric scenario
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cleanup: SimulationContext.get_fabric_hierarchy() owns all Fabric state
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cache usdrt stage in SimulationContext, don't re-attach on every call
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fix: restore 'import usdrt' in _initialize_fabric
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refactor: service locator pattern for Fabric cache, remove usdrt from SimulationContext
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docs: add changelog entries for service locator and FabricStageCache
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call close() on services during teardown (IDisposable pattern)
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close existing service when replaced via set_service()
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