Removes extra calls to write simulation after reset_idx (#3446)

# Description

This PR removes the calls into write simulation after reset_idx,

I think this is not needed anymore because of PR #2736 
Lets see if it passes all test

Fixes # (issue)

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## Type of change

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- Bug fix (non-breaking change which fixes an issue)

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---------

Co-authored-by: Kelly Guo <[email protected]>

Author: ooctipus

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -376,9 +376,6 @@ def step(self, action: torch.Tensor) -> VecEnvStepReturn:
         reset_env_ids = self.reset_buf.nonzero(as_tuple=False).squeeze(-1)
         if len(reset_env_ids) > 0:
             self._reset_idx(reset_env_ids)
-            # update articulation kinematics
-            self.scene.write_data_to_sim()
-            self.sim.forward()
             # if sensors are added to the scene, make sure we render to reflect changes in reset
             if self.sim.has_rtx_sensors() and self.cfg.rerender_on_reset:
                 self.sim.render()

source/isaaclab/isaaclab/envs/manager_based_rl_env.py

@@ -220,9 +220,6 @@ def step(self, action: torch.Tensor) -> VecEnvStepReturn:
             self.recorder_manager.record_pre_reset(reset_env_ids)
 
             self._reset_idx(reset_env_ids)
-            # update articulation kinematics
-            self.scene.write_data_to_sim()
-            self.sim.forward()
 
             # if sensors are added to the scene, make sure we render to reflect changes in reset
             if self.sim.has_rtx_sensors() and self.cfg.rerender_on_reset:

source/isaaclab/test/assets/test_articulation.py

@@ -1879,7 +1879,6 @@ def test_write_joint_state_data_consistency(sim, num_articulations, device, grav
     rand_joint_vel = vel_dist.sample()
 
     articulation.write_joint_state_to_sim(rand_joint_pos, rand_joint_vel)
-    articulation.root_physx_view.get_jacobians()
     # make sure valued updated
     assert torch.count_nonzero(original_body_states[:, 1:] != articulation.data.body_state_w[:, 1:]) > (
         len(original_body_states[:, 1:]) / 2