Adds benchmark script to measure robot loading #1195
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Mayankm96
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gonzalesMK
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Oct 14, 2024
* Updates pre-merge and post-merge CI (isaac-sim#1118) # Description - Improving CI code formatting and readability - Updated AMI: nvidia-container-toolkit vulnerability fix - Making Isaac SIM base image an argument in Dockerfile --------- Co-authored-by: Alexander Poddubny <apoddubny@apoddubny-mlt.client.nvidia.com> Co-authored-by: David Hoeller <dhoeller@nvidia.com> * Adds buildspec for mirroring job (isaac-sim#1177) # Description Adding a buildspec for repo mirroring job: - Mirrors a branch - Uses personal github token - Target repo and branch names are coming from env variables - Pushing code with force * Fix Cartpole Manager-based Vision-Based Environment Task Name in Docs (isaac-sim#1176) # Description Name of Cartpole Manager-based Vision-Based was incorrect in docs, changed to match the exact argument that should be passed as task to workflows ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Fixes Isaac Sim executable on pip installation (isaac-sim#1172) # Description This PR fix isaac-sim#831 by taking into account the Isaac Sim installation using PIP - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Fixes the event for randomizing rigid body material (isaac-sim#1140) # Description The current friction randomization event only selects a single random number in the given range and does not vary them. With the given PR, this is getting fixed, and there is a sampling of the entire given range. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Screenshots | Before | After | | ------ | ----- | |  |  | ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com> * Adds configuration classes for spawning different assets at prim paths (isaac-sim#1164) # Description This MR adds configuration classes that allow spawning different assets at the resolved prim paths. For instance, for the prim path expression "/World/envs/env_.*/Object", these configuration instances allow spawning a different type of prim at individual path locations. Fixes isaac-sim#186 ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: David Hoeller <dhoeller@nvidia.com> * Moves codebuild pipeline files to `.aws` directory (isaac-sim#1196) # Description Moving codebuild pipelines out of github folder to avoid github actions being triggered on them. * Fixes the ray_caster_camera tutorial script when saving the data (isaac-sim#1198) There was a minor error in the `run_ray_caster_camera.py` tutorial script that prevented it from saving images. - [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [X] I have made corresponding changes to the documentation - [X] My changes generate no new warnings - [X] I have added tests that prove my fix is effective or that my feature works - [X] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [X] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Fixes running the docker container when the DISPLAY env variable is not defined (isaac-sim#1163) # Description This PR attempts to fix isaac-sim#1162 by adding the possibility to do not pass the `DISPLAY` env to the docker exec command if the variable is not defined Fixes isaac-sim#1162 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Fixes default joint pos when setting joint limits (isaac-sim#1040) # Description When setting joint limits, the existing default joint positions can fall outside of the bounds of the new joint limits. This change clips the default joint positions to ensure they are within the bounds of the new limits. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Adds benchmark script to measure robot loading (isaac-sim#1195) # Description This MR makes a minimal script to measure how long it takes to load different robots. ## Type of change - New feature (non-breaking change which adds functionality) ## Screenshots For loading 2048 robots headless: | **Metric** | **H1** | **G1** | **Anymal_D** | |-------------------|-------------------|-------------------|-------------------| | App start time | 3791.73 ms | 3660.98 ms | 3597.30 ms | | Imports time | 1116.61 ms | 1132.87 ms | 1142.27 ms | | Scene creation time | 1584.14 ms | 1674.18 ms | 2000.40 ms | | Sim start time | 1451.94 ms | 2647.43 ms | 1778.49 ms | | Per step time | 2.31 ms | 4.71 ms | 3.67 ms | Computer specs: * OS: Ubuntu 20.04.6 LTS x86_64 * CPU: 12th Gen Intel i9-12900K (24) @ 5.100GHz * GPU: NVIDIA 4090 RTX ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Fixes formatting issues in the robot loading benchmark script * Fixes device propogation for noise and adds noise tests (isaac-sim#1175) # Description This PR adds in logic to fix errors when noise config parameters are tensor based and do not have the correct device setting. This adds a check at the beginning of each noise function to correct the config parameters device if they are torch.tensors. In addition this PR adds tests for noise models. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Removes extension startup messages from the Simulation App (isaac-sim#1217) # Description This MR disables terminal spamming when launching the app. With the flag `/app/enableStdoutOutput` disabled, we no longer have the app output when the kit extensions are startup. Fixes isaac-sim#1097, isaac-sim#196 ## Type of change - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Screenshots ``` ./isaaclab.sh -p source/standalone/environments/zero_agent.py --task Isaac-Velocity-Rough-Anymal-C-v0 --num_envs 32 ``` Output: ``` [INFO] Using python from: /home/mayank/mambaforge/envs/isaaclab-rsl/bin/python [INFO][AppLauncher]: Loading experience file: /home/mayank/git_nv/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit Loading user config located at: '/media/vulcan/packman-repo/chk/kit-kernel/106.1.0+release.140981.10a4b5c0.gl.linux-x86_64.release/data/Kit/Isaac-Sim/4.2/user.config.json' [Info] [carb] Logging to file: /media/vulcan/packman-repo/chk/kit-kernel/106.1.0+release.140981.10a4b5c0.gl.linux-x86_64.release/logs/Kit/Isaac-Sim/4.2/kit_20241011_180901.log 2024-10-11 16:09:01 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. |---------------------------------------------------------------------------------------------| | Driver Version: 535.183.01 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | | | | | | | Bus-ID | | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA RTX A6000 | Yes: 0 | | 49386 MB | 10de | 0 | | | | | | | 2230 | bffafd0e.. | | | | | | | 68 | | |=============================================================================================| | OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-122-generic | XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0) | Processor: Intel(R) Core(TM) i9-9820X CPU @ 3.30GHz | Cores: 10 | Logical: 20 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 63970 | Free Memory: 41524 | Total Page/Swap (MB): 2047 | Free Page/Swap: 2047 |---------------------------------------------------------------------------------------------| 2024-10-11 16:09:07 [6,565ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template 2024-10-11 16:09:08 [7,613ms] [Warning] [omni.kit.widget.cache_indicator.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance. [INFO]: Parsing configuration from: <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_c.rough_env_cfg.AnymalCRoughEnvCfg'> 2024-10-11 16:09:17 [16,685ms] [Warning] [omni.isaac.lab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic. [INFO]: Base environment: Environment device : cuda:0 Environment seed : None Physics step-size : 0.005 Rendering step-size : 0.02 Environment step-size : 0.02 [INFO] Generating terrains based on curriculum took : 1.881988 seconds [INFO]: Time taken for scene creation : 4.564743 seconds [INFO]: Scene manager: <class InteractiveScene> Number of environments: 32 Environment spacing : 2.5 Source prim name : /World/envs/env_0 Global prim paths : ['/World/ground'] Replicate physics : True [INFO]: Starting the simulation. This may take a few seconds. Please wait... 2024-10-11 16:09:29 [27,861ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/envs/env_0/Robot/LF_THIGH/visuals.proto_mesh_1_id1 that has not been populated 2024-10-11 16:09:29 [27,880ms] [Warning] [omni.hydra] Mesh '/World/envs/env_0/Robot/base/visuals.proto_mesh_0_id0' has corrupted data in primvar 'st': buffer size 702 doesn't match expected size 12828 in faceVarying primvars [INFO]: Time taken for simulation start : 7.193578 seconds [INFO] Command Manager: <CommandManager> contains 1 active terms. +------------------------------------------------+ | Active Command Terms | +-------+---------------+------------------------+ | Index | Name | Type | +-------+---------------+------------------------+ | 0 | base_velocity | UniformVelocityCommand | +-------+---------------+------------------------+ [INFO] Action Manager: <ActionManager> contains 1 active terms. +------------------------------------+ | Active Action Terms (shape: 12) | +--------+-------------+-------------+ | Index | Name | Dimension | +--------+-------------+-------------+ | 0 | joint_pos | 12 | +--------+-------------+-------------+ Module omni.isaac.lab.utils.warp.kernels 6cb40f6 load on device 'cuda:0' took 0.44 ms [INFO] Observation Manager: <ObservationManager> contains 1 groups. +----------------------------------------------------------+ | Active Observation Terms in Group: 'policy' (shape: (235,)) | +-----------+--------------------------------+-------------+ | Index | Name | Shape | +-----------+--------------------------------+-------------+ | 0 | base_lin_vel | (3,) | | 1 | base_ang_vel | (3,) | | 2 | projected_gravity | (3,) | | 3 | velocity_commands | (3,) | | 4 | joint_pos | (12,) | | 5 | joint_vel | (12,) | | 6 | actions | (12,) | | 7 | height_scan | (187,) | +-----------+--------------------------------+-------------+ [INFO] Event Manager: <EventManager> contains 3 active terms. +--------------------------------------+ | Active Event Terms in Mode: 'startup' | +----------+---------------------------+ | Index | Name | +----------+---------------------------+ | 0 | physics_material | | 1 | add_base_mass | +----------+---------------------------+ +---------------------------------------+ | Active Event Terms in Mode: 'reset' | +--------+------------------------------+ | Index | Name | +--------+------------------------------+ | 0 | base_external_force_torque | | 1 | reset_base | | 2 | reset_robot_joints | +--------+------------------------------+ +----------------------------------------------+ | Active Event Terms in Mode: 'interval' | +-------+------------+-------------------------+ | Index | Name | Interval time range (s) | +-------+------------+-------------------------+ | 0 | push_robot | (10.0, 15.0) | +-------+------------+-------------------------+ [INFO] Termination Manager: <TerminationManager> contains 2 active terms. +---------------------------------+ | Active Termination Terms | +-------+--------------+----------+ | Index | Name | Time Out | +-------+--------------+----------+ | 0 | time_out | True | | 1 | base_contact | False | +-------+--------------+----------+ [INFO] Reward Manager: <RewardManager> contains 11 active terms. +-----------------------------------------+ | Active Reward Terms | +-------+----------------------+----------+ | Index | Name | Weight | +-------+----------------------+----------+ | 0 | track_lin_vel_xy_exp | 1.0 | | 1 | track_ang_vel_z_exp | 0.5 | | 2 | lin_vel_z_l2 | -2.0 | | 3 | ang_vel_xy_l2 | -0.05 | | 4 | dof_torques_l2 | -1e-05 | | 5 | dof_acc_l2 | -2.5e-07 | | 6 | action_rate_l2 | -0.01 | | 7 | feet_air_time | 0.125 | | 8 | undesired_contacts | -1.0 | | 9 | flat_orientation_l2 | 0.0 | | 10 | dof_pos_limits | 0.0 | +-------+----------------------+----------+ [INFO] Curriculum Manager: <CurriculumManager> contains 1 active terms. +---------------------------+ | Active Curriculum Terms | +--------+------------------+ | Index | Name | +--------+------------------+ | 0 | terrain_levels | +--------+------------------+ Creating window for environment. [INFO]: Completed setting up the environment... [INFO]: Gym observation space: Dict('policy': Box(-inf, inf, (32, 235), float32)) [INFO]: Gym action space: Box(-inf, inf, (32, 12), float32) ``` ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Removes additional sbatch and fixes default profile in cluster deployment (isaac-sim#1229) # Description In the slum workflow, currently, there was an unnecessary `sbatch` command; this PR removes it. In addition, the profile argument was marked as optional, but when a job was submitted, and job arguments were passed, it became necessary. This PR fixes this behavior. ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Fixes the checkpoint loading error in RSL-RL training script (isaac-sim#1210) # Description An error of `No checkpoints in the directory` will throw when resume from a previous training with `--video` set. This is because a new log folder will be created before the check. This MR fixes this issue by loading the checkpoint before. Fixes isaac-sim#1209 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Makes pre and post merge pipelines more flexible on the Isaac SIM base image version (isaac-sim#1211) # Description Making the base image version a parameter so the pipelines can use different versions without the need to hardcode that. * Disables backward pass compilation of warp kernels (isaac-sim#1222) # Description Many of the warp kernels don't need backward pass compilation. This MR disables the computation of the backward passes within the kernels. This should reduce the kernel compile times. Reference: https://nvidia.github.io/warp/configuration.html#kernel-settings ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Switches from `carb` to `omni.log` for logging (isaac-sim#1215) # Description Earlier, we used [`Carbonite SDK`](https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/api/dir_carb_logging.html) to log directly. However, this has limited functionalities compared to [`omni.log`](https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/api/namespace_omni__log.html) in Omniverse. Using `omni.log`, you can fine-grain the channels and print levels better. Link to omni.log documentation: https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/omni.log/Logging.html This MR migrates all `carb` references to the new API. ## Type of change - Bug fix (non-breaking change which fixes an issue) - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Screenshot Checking the performance: ``` ./isaaclab.sh -p source/standalone/benchmarks/benchmark_load_robot.py --num_envs 2048 --robot g1 --headless ``` **Before (carb logging)** [INFO]: App start time: 4676.57 ms [INFO]: Imports time: 2008.77 ms [INFO]: Scene creation time: 2966.36 ms [INFO]: Sim start time: 5782.76 ms [INFO]: Per step time: 15.80 ms **After (omni.log logging)** [INFO]: App start time: 4833.56 ms [INFO]: Imports time: 1983.67 ms [INFO]: Scene creation time: 2792.97 ms [INFO]: Sim start time: 5805.97 ms [INFO]: Per step time: 15.86 ms ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there * Excludes cache files from vscode explorer (isaac-sim#1131) Small quality of life change that excludes cache files from VSCode File Explorer when attached to sim container. --------- Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: Alexander Poddubny <143108850+nv-apoddubny@users.noreply.github.com> Co-authored-by: Alexander Poddubny <apoddubny@apoddubny-mlt.client.nvidia.com> Co-authored-by: David Hoeller <dhoeller@nvidia.com> Co-authored-by: glvov-bdai <glvov@theaiinstitute.com> Co-authored-by: Toni-SM <aserranomuno@nvidia.com> Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Co-authored-by: Michael Gussert <michael@gussert.com> Co-authored-by: Giulio Romualdi <giulio.romualdi@gmail.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com> Co-authored-by: Wei Yang <weiy@nvidia.com> Co-authored-by: Sergei Sergienko <divelix1@gmail.com>
iamdrfly
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Nov 21, 2024
# Description This MR makes a minimal script to measure how long it takes to load different robots. ## Type of change - New feature (non-breaking change which adds functionality) ## Screenshots For loading 2048 robots headless: | **Metric** | **H1** | **G1** | **Anymal_D** | |-------------------|-------------------|-------------------|-------------------| | App start time | 3791.73 ms | 3660.98 ms | 3597.30 ms | | Imports time | 1116.61 ms | 1132.87 ms | 1142.27 ms | | Scene creation time | 1584.14 ms | 1674.18 ms | 2000.40 ms | | Sim start time | 1451.94 ms | 2647.43 ms | 1778.49 ms | | Per step time | 2.31 ms | 4.71 ms | 3.67 ms | Computer specs: * OS: Ubuntu 20.04.6 LTS x86_64 * CPU: 12th Gen Intel i9-12900K (24) @ 5.100GHz * GPU: NVIDIA 4090 RTX ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
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Description
This MR makes a minimal script to measure how long it takes to load different robots.
Type of change
Screenshots
For loading 2048 robots headless:
Computer specs:
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there