Caches PhysX view's joint paths when processing fixed articulation tendons #1347
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source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py
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Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
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Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
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…ndons (isaac-sim#1347) # Description Cache PhysX view's DOF paths before looping when processing fixed articulation tendons to improve loading time. For the Shadow Hand task, calling `self.root_physx_view.dof_paths` when iterating over all joints to find tendons attached (in `Articulation._process_fixed_tendons` method) is an "expensive" operation. Timing can be reduced from 2.2 seconds to 300 milliseconds (13th Gen Intel® Core™ i9-13950HX × 32, RTX 5000) by calling `self.root_physx_view.dof_paths` once ## Screenshots Without any change  After cache PhysX view's DOF paths before looping (`self.root_physx_view.dof_paths` called only once)  ## 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 - [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
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Description
Cache PhysX view's DOF paths before looping when processing fixed articulation tendons to improve loading time.
For the Shadow Hand task, calling
self.root_physx_view.dof_pathswhen iterating over all joints to find tendons attached (inArticulation._process_fixed_tendonsmethod) is an "expensive" operation. Timing can be reduced from 2.2 seconds to 300 milliseconds (13th Gen Intel® Core™ i9-13950HX × 32, RTX 5000) by callingself.root_physx_view.dof_pathsonceScreenshots
Without any change
After cache PhysX view's DOF paths before looping (
self.root_physx_view.dof_pathscalled only once)Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there