Fixes for startup performance

isaac-sim · Mar 13, 2024 · 7e80e14 · 7e80e14
1 parent 22df12f
commit 7e80e14
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Showing 4 changed files with 33 additions and 2 deletions.
diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-2023.1.1
+2023.1.1a
diff --git a/docs/release_notes.md b/docs/release_notes.md
@@ -1,6 +1,15 @@
 Release Notes
 =============
 
+2023.1.1a - March 13, 2024
+--------------------------
+
+Fixes
+-----
+- Add workaround for nucleus hang issue on startup
+- Fix USD update flags being reset after creating new stage
+
+
 2023.1.1 - December 12, 2023
 ----------------------------
 

diff --git a/omniisaacgymenvs/utils/config_utils/sim_config.py b/omniisaacgymenvs/utils/config_utils/sim_config.py
@@ -97,6 +97,28 @@ def dock_window(space, name, location, ratio=0.5):
         if window:
             window.visible = False
 
+        # workaround for asset root search hang
+        carb.settings.get_settings().set_string(
+            "/persistent/isaac/asset_root/default",
+            "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1",
+        )
+        carb.settings.get_settings().set_string(
+            "/persistent/isaac/asset_root/nvidia",
+            "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/2023.1.1",
+        )
+
+        # make sure the correct USD update flags are set
+        if self._sim_params["use_fabric"]:
+            carb.settings.get_settings().set_bool("/physics/updateToUsd", False)
+            carb.settings.get_settings().set_bool("/physics/updateParticlesToUsd", False)
+            carb.settings.get_settings().set_bool("/physics/updateVelocitiesToUsd", False)
+            carb.settings.get_settings().set_bool("/physics/updateForceSensorsToUsd", False)
+            carb.settings.get_settings().set_bool("/physics/outputVelocitiesLocalSpace", False)
+            carb.settings.get_settings().set_bool("/physics/fabricUpdateTransformations", True)
+            carb.settings.get_settings().set_bool("/physics/fabricUpdateVelocities", False)
+            carb.settings.get_settings().set_bool("/physics/fabricUpdateForceSensors", False)
+            carb.settings.get_settings().set_bool("/physics/fabricUpdateJointStates", False)
+
     def _parse_config(self):
         # general sim parameter
         self._sim_params = copy.deepcopy(default_sim_params)

diff --git a/setup.py b/setup.py
@@ -52,7 +52,7 @@
 setup(
     name="omniisaacgymenvs",
     author="NVIDIA",
-    version="2023.1.1",
+    version="2023.1.1a",
     description="RL environments for robot learning in NVIDIA Isaac Sim.",
     keywords=["robotics", "rl"],
     include_package_data=True,