Performance optimization on asset writes by AntoineRichard · Pull Request #5329 · isaac-sim/IsaacLab

Commits on Apr 20, 2026

Add articulation micro-benchmarks and perf optimization design
AntoineRichard
committed
Remove dead state-buffer outputs from Newton root pose/velocity kernels
AntoineRichard
committed
Cache wp.from_torch results in _resolve_* methods
AntoineRichard
committed
Cache warp .view(wp.float32) results in PhysX writers
AntoineRichard
committed
Pre-allocate pinned CPU buffers for PhysX joint property writes
AntoineRichard
committed
Update benchmark create_test_articulation for new cache fields
AntoineRichard
committed
Add disable_shape_checks config flag to skip shape assertions
AntoineRichard
committed
Cache wrench .flatten().view() results in PhysX write_data_to_sim
AntoineRichard
committed
Fuse joint state position+velocity writes into single kernel launches
AntoineRichard
committed
Fix review issues: CHANGELOGs, int64 cache, Newton API parity
AntoineRichard
committed
Skip resolve cache for int64 tensors to avoid GC hazard
AntoineRichard
committed
Fix review suggestions: grammar, naming, docstrings
AntoineRichard
committed
Remove superpowers planning docs
AntoineRichard
committed
Remove dead state-buffer outputs from PhysX root/body pose/velocity kernels
AntoineRichard
committed
Add resolve cache to DeformableObject and Newton RigidObject/Collection
AntoineRichard
committed
Add view cache, wrench cache, and pinned CPU buffers to PhysX assets
AntoineRichard
committed
Fix _check_shapes AttributeError by adding class-level default
AntoineRichard
committed
Add Newton RigidObject and RigidObjectData benchmarks
AntoineRichard
committed
Add Newton RigidObjectCollection and CollectionData benchmarks
AntoineRichard
committed
Add fill-ratio benchmark variants to PhysX articulation benchmark
AntoineRichard
committed

Commits on Apr 21, 2026

Commits on Apr 28, 2026

Commits on Apr 29, 2026

Merge remote-tracking branch 'origin/develop' into pr-5329
AntoineRichard
committed

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Performance optimization on asset writes#5329

Performance optimization on asset writes#5329
kellyguo11 merged 30 commits into
isaac-sim:developfrom
AntoineRichard:antoiner/perf/articulation-resolve-caching

Commits on Apr 20, 2026

Add articulation micro-benchmarks and perf optimization design

Remove dead state-buffer outputs from Newton root pose/velocity kernels

Cache wp.from_torch results in _resolve_* methods

Cache warp .view(wp.float32) results in PhysX writers

Pre-allocate pinned CPU buffers for PhysX joint property writes

Update benchmark create_test_articulation for new cache fields

Add disable_shape_checks config flag to skip shape assertions

Cache wrench .flatten().view() results in PhysX write_data_to_sim

Fuse joint state position+velocity writes into single kernel launches

Fix review issues: CHANGELOGs, int64 cache, Newton API parity

Skip resolve cache for int64 tensors to avoid GC hazard

Fix review suggestions: grammar, naming, docstrings

Remove superpowers planning docs

Remove dead state-buffer outputs from PhysX root/body pose/velocity kernels

Add resolve cache to DeformableObject and Newton RigidObject/Collection

Add view cache, wrench cache, and pinned CPU buffers to PhysX assets

Fix _check_shapes AttributeError by adding class-level default

Add Newton RigidObject and RigidObjectData benchmarks

Add Newton RigidObjectCollection and CollectionData benchmarks

Add fill-ratio benchmark variants to PhysX articulation benchmark

Commits on Apr 21, 2026

Merge remote-tracking branch 'origin/develop' into antoiner/perf/articulation-resolve-caching

Fix pre-commit and missing cache attrs in iface tests

Revert nodal view caching in DeformableObject

Fix DeformableObjectData buffer reassignment causing stale views

Add fill-ratio benchmark variants to PhysX RigidObject and Collection

Commits on Apr 28, 2026

Merge develop into PR 5329

Fix unsafe index resolution cache

Commits on Apr 29, 2026

Merge remote-tracking branch 'origin/develop' into pr-5329

Commits on Apr 30, 2026

Merge remote-tracking branch 'origin/develop' into pr-5329

Merge branch 'develop' into antoiner/perf/articulation-resolve-caching