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Caches PhysX view's joint paths when processing fixed articulation tendons #1347

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Merged
merged 7 commits into from
Nov 1, 2024
Merged

Caches PhysX view's joint paths when processing fixed articulation tendons #1347

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99f8ac8
Cache physx view's dof paths before looping
Toni-SM Oct 28, 2024
c455814
Update version and CHANGELOG
Toni-SM Oct 28, 2024
0ab6f10
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Mayankm96 Oct 31, 2024
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Mayankm96 Oct 31, 2024
3e3bbd0
Merge branch 'main' into toni/perf/process_fixed_tendons
Mayankm96 Oct 31, 2024
3b6f738
Merge branch 'main' into toni/perf/process_fixed_tendons
Mayankm96 Nov 1, 2024
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Mayankm96 Nov 1, 2024
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2 changes: 1 addition & 1 deletion source/extensions/omni.isaac.lab/config/extension.toml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
[package]

# Note: Semantic Versioning is used: https://semver.org/
version = "0.27.9"
version = "0.27.10"

# Description
title = "Isaac Lab framework for Robot Learning"
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10 changes: 10 additions & 0 deletions source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
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@@ -1,6 +1,16 @@
Changelog
---------

0.27.10 (2024-11-01)
~~~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Cached the PhysX view's joint paths before looping over them when processing fixed joint tendons
inside the :class:`Articulation` class. This helps improve the processing time for the tendons.


0.27.9 (2024-11-01)
~~~~~~~~~~~~~~~~~~~

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3 changes: 2 additions & 1 deletion source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
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Expand Up @@ -1190,10 +1190,11 @@ def _process_fixed_tendons(self):
# parse fixed tendons properties if they exist
if self.num_fixed_tendons > 0:
stage = stage_utils.get_current_stage()
joint_paths = self.root_physx_view.dof_paths[0]

# iterate over all joints to find tendons attached to them
for j in range(self.num_joints):
usd_joint_path = self.root_physx_view.dof_paths[0][j]
usd_joint_path = joint_paths[j]
# check whether joint has tendons - tendon name follows the joint name it is attached to
joint = UsdPhysics.Joint.Get(stage, usd_joint_path)
if joint.GetPrim().HasAPI(PhysxSchema.PhysxTendonAxisRootAPI):
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