From 7e80e14f45fff853342f43e4a25713c18d3aa076 Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Wed, 13 Mar 2024 16:38:56 -0400 Subject: [PATCH] Fixes for startup performance --- VERSION | 2 +- docs/release_notes.md | 9 ++++++++ .../utils/config_utils/sim_config.py | 22 +++++++++++++++++++ setup.py | 2 +- 4 files changed, 33 insertions(+), 2 deletions(-) diff --git a/VERSION b/VERSION index 951d542d..fe8e42e9 100644 --- a/VERSION +++ b/VERSION @@ -1 +1 @@ -2023.1.1 \ No newline at end of file +2023.1.1a \ No newline at end of file diff --git a/docs/release_notes.md b/docs/release_notes.md index 5038cdfb..132f9b98 100644 --- 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 index 4e76d382..084d99c0 100644 --- 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 index fd345b79..56cb8219 100644 --- 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,