Optimizes interactive scene for homogeneous cloning

[kellyguo11]

Description

Previously, we always assumed heterogeneous environment setup, which performed cloning on a per-actor basis during spawning of actors. In some direct workflow environments, a redundant cloning call was made at the end of environment setup to perform cloning on a global scope.

With this change, we determine whether to perform cloning on a per-actor or global scope based on the replicate_physics parameter in InteractiveSceneCfg. When replicate_physics=True, homogeneous environment is assumed and cloning will only happen on a global scope. This reduces the time required for cloning for homogeneous setups. For heterogeneous environments, set replicate_physics=False and cloning will happen per-actor.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• This change requires a documentation update

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[kellyguo11]

Addressed the comments.

For the list argument in def filter_collisions(self, global_prim_paths: list[str] = []):, I think this one will be a breaking change. If we go for it, perhaps we should do it in a new MR?

[Mayankm96]

For the list argument in def filter_collisions(self, global_prim_paths: list[str] = []):, I think this one will be a breaking change. If we go for it, perhaps we should do it in a new MR?

I don't think that is a breaking API change since it was a default argument. I don't think anyone was calling filter_collisions multiple times so far so we should be able to do this change without any breaking of the API itself.

Though if you think it is better, we can make a separate MR for it. We should fix it though :)