adds check for multi-asset spawning

source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py

@@ -173,6 +173,17 @@ def clone_environments(self, copy_from_source: bool = False):
             copy_from_source=copy_from_source,
         )
 
+        # check if user spawned different assets in individual environments
+        # this flag will be None if no multi asset is spawned
+        carb_settings_iface = carb.settings.get_settings()
+        has_multi_assets = carb_settings_iface.get("/isaaclab/spawn/multi_assets")
+        if has_multi_assets and self.cfg.replicate_physics:
+            carb.log_warn(
+                "Varying assets might have been spawned under different environments."
+                " However, the replicate physics flag is enabled in the 'InteractiveScene' configuration."
+                " This may adversely affect PhysX parsing. We recommend disabling this property."
+            )
+
         # in case of heterogeneous cloning, the env origins is specified at init
         if self._default_env_origins is None:
             self._default_env_origins = torch.tensor(env_origins, device=self.device, dtype=torch.float32)

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py

@@ -9,6 +9,7 @@
 import re
 from typing import TYPE_CHECKING
 
+import carb
 import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils
 from pxr import Sdf, Usd
@@ -108,6 +109,12 @@ def spawn_multi_asset(
     # delete the dataset prim after spawning
     prim_utils.delete_prim(template_prim_path)
 
+    # set carb setting to indicate Isaac Lab's environments that different prims have been spawned
+    # at varying prim paths. In this case, PhysX parser shouldn't optimize the stage parsing.
+    # the flag is mainly used to inform the user that they should disable `InteractiveScene.replicate_physics`
+    carb_settings_iface = carb.settings.get_settings()
+    carb_settings_iface.set_bool("/isaaclab/spawn/multi_assets", True)
+
     # return the prim
     return prim_utils.get_prim_at_path(prim_paths[0])