[pull] develop from isaac-sim:develop - #64
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## Summary Newton startup now requires an explicitly supplied builder instead of silently discovering and importing the USD stage when none exists. - The cable/deformable examples and deformable tutorial declare `@configclass` scene cfgs. Randomized asset declarations are completed in `__post_init__`; `num_envs` and `env_spacing` are constructor arguments. `scene_cfg.class_type(scene_cfg)` constructs the scene after launch; `InteractiveScene` owns spawning and replication. Converter previews also use `InteractiveScene`. Explicit clone orchestration stays in tests and cloner documentation. - Preserved develop's packaged CLI examples and consolidated robot zoo; the deleted robot demos are not restored. No `AGENTS.md` changes. - Native tools can continue using `NewtonManager.set_builder(builder)` without a plan. The explicit stage-import API remains available. - `SimulationContext.reset()` and `play()` are unchanged. Empty simulations and native-only PhysX/OVPhysX callers do not need dummy plans. `create_empty.py` is unchanged from develop. - Previews import their declared assets through the scene lifecycle instead of relying on the fallback. - Fixed duplicate import of globally declared native deformables, exposed by using those previews' existing plans. The exclusion is limited to declared roots. No blanket initialization guards or unrelated empty-scene migrations remain. PR5B (#7995) handles geometry transport through SDP separately. ## Validation - Merged develop `4d7e1dbef`, preserving its example packaging and test consolidation. All 16 remaining CPU script checks and eight focused Newton manager checks passed. No new test functions remain in this PR; existing fixtures were migrated, and one particle-count assertion covers duplicate deformable import. - The packaged zoo and deformable examples passed headless Kit/PhysX launch, stepping and clean shutdown on GPU 1. The packaged cable example passed two CPU/Newton steps. The four-cube tutorial passed reset and three Newton GPU steps, including its controlled-corner checks. - Five seeded comparisons preserved randomized geometry, material values, ordering and random state after moving asset declarations into `__post_init__`. Constructor-only checks now return all requested cables / 12 deformables without external cfg mutation. Tutorial cfgs matched on PhysX, OVPhysX and Newton; all three import without loading USD before launch. - Formatting and changelog checks passed. Tutorial snippet markers were checked; documentation builds remain in CI. - Earlier lifecycle validation confirmed that explicit native builders and native-only PhysX/OVPhysX startup remained supported without dummy plans. ## Performance Pre-rebase matched warm sample after running each checkout once, physical GPU 1 (RTX 5090), `Isaac-Cartpole-Direct`, 4,096 environments, Newton MJWarp, no visualizer, seed 0. Develop: `1e520e9d5`; candidate: `ad0296a06`. Both used identical dependencies and verified checkout imports. Timings have not been rerun for the conflict-only rebase. Startup includes imports through the first step. Runtime excludes 50 warmup steps and measures 200 full environment steps, synchronizing GPU work at the window boundaries. | Metric | PR5A | develop | |---|---:|---:| | Startup | 5.995 s | 5.899 s | | Environment creation and initial reset | 4.607 s | 4.548 s | | Runtime step | 1.611 ms | 1.641 ms | | Aggregate environment FPS | 2,542,219 | 2,496,304 | Differences are approximately 2% or less; this single pair does not establish a speedup or regression. No stepping work was added. ## Checklist - [x] Followed contribution guidelines and ran formatting checks - [x] Updated documentation and package changelog fragments - [x] Extended existing regression coverage and migrated affected callers - [x] <!-- backport-active-release --> Backport to the active release branch
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