Skip to content

Fix Fabric synchronization after GUI resume #1

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
bdelhaisse wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Fix Fabric synchronization after GUI resume #1

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
31 changes: 29 additions & 2 deletions source/isaaclab/isaaclab/sim/simulation_context.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
Expand Down Expand Up @@ -30,7 +30,7 @@
from isaacsim.core.simulation_manager import SimulationManager
from isaacsim.core.utils.viewports import set_camera_view
from isaacsim.core.version import get_version
from pxr import Gf, PhysxSchema, Sdf, Usd, UsdPhysics
from pxr import Gf, PhysxSchema, Sdf, Usd, UsdPhysics, UsdUtils

from isaaclab.sim.utils import stage as stage_utils

Expand Down Expand Up @@ -550,6 +550,11 @@ def step(self, render: bool = True):
# meantime if someone stops, break out of the loop
if self.is_stopped():
break
if not self.is_stopped():
# HACK: PhysX Fabric 107.3.21+ skips writing articulation poses on subsequent resumes.
# Remove once the IsaacLab pin includes https://github.com/isaac-sim/IsaacLab/pull/5178
# or the underlying PhysX issue https://github.com/isaac-sim/IsaacLab/issues/4279 is fixed.
self._re_sync_fabric()
# need to do one step to refresh the app
# reason: physics has to parse the scene again and inform other extensions like hydra-delegate.
# without this the app becomes unresponsive.
Expand Down Expand Up @@ -855,6 +860,28 @@ def _load_fabric_interface(self):
# Needed for backward compatibility with older Isaac Sim versions
self._update_fabric = self._fabric_iface.update

def _re_sync_fabric(self) -> None:
"""Force Fabric to re-synchronize after a pause/resume transition.

Detaching and re-attaching the USD stage forces FabricManager to reinitialize and write
articulation transforms for Hydra after PhysX Fabric 107.3.21+ skips that initialization
on subsequent resumes.
"""
if self._fabric_iface is None:
return

stage = self.stage
if stage is None:
return

stage_id = UsdUtils.StageCache.Get().GetId(stage).ToLongInt()
if stage_id <= 0:
return

self._fabric_iface.detach_stage()
self._fabric_iface.attach_stage(stage_id)
self._update_fabric(0.0, 0.0)

def _update_anim_recording(self):
"""Tracks anim recording timestamps and triggers finish animation recording if the total time has elapsed."""
if self._anim_recording_started_timestamp is None:
Expand Down