Replace cubric ctypes shim with IFabricHierarchy GPU API

source/isaaclab/isaaclab/cloner/_fabric_notices.py

@@ -9,10 +9,9 @@
 framework so cloning can suspend Fabric's USD notice listener without depending on
 ``isaacsim.core.simulation_manager``.
 
-Mirrors the in-tree pattern in :mod:`isaaclab_newton.physics._cubric` for
-``omni::cubric::IAdapter`` — same problem (base-Kit Carbonite interface with no
-Python binding), same solution. When Kit exposes this from Python, replace this
-module with a one-line import.
+This is a temporary shim for a base-Kit Carbonite interface that has no Python
+binding yet. When Kit exposes this from Python, replace this module with a
+one-line import.
 """
 
 from __future__ import annotations

source/isaaclab_newton/changelog.d/pbarejko-fabric-hierarchy-gpu-update.rst

@@ -0,0 +1,15 @@
+Changed
+^^^^^^^
+
+* Changed Newton Kit viewport transform sync to call
+  ``IFabricHierarchy.update_world_xforms_gpu_with_options`` with
+  ``FabricHierarchyGpuUpdateOptions.RIGID_BODY | FORCE_UPDATE`` instead of the
+  private ctypes ``omni::cubric::IAdapter`` shim. Older Kit builds without the
+  new API continue to fall back to ``IFabricHierarchy.update_world_xforms``.
+
+Removed
+^^^^^^^
+
+* Removed :mod:`isaaclab_newton.physics._cubric` ctypes bindings for
+  ``omni::cubric::IAdapter``. Use
+  ``IFabricHierarchy.update_world_xforms_gpu_with_options`` instead.