Isaac 2022.1.1 startup time?

Omniverse Isaac Sim
1

Hi,

Setup:
Running the ./python.sh standalone_examples/api/omni.isaac.franka/follow_target_with_rmpflow.py example in the official isaac sim 2022.1.1 container. The follow_target_with_rmpflow.py script was modified to successfully run headless in the docker container.

This is being run on Ubuntu 20.04 host with 3x 3090s and 2x 24core intel cpus (48cores)

Problem
Why does it take so long startup? There’s a 40second gap between app ready and Simulation App Startup Complete. This startup time is very consistent.

image
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I’m planning on using this in production, is there any features I can disable to reduce this time?

3

During startup the shader cache has to be created, there are a few things you can try:

  • Run the script once, and then use docker commit to create a new image off of that running container. If you then launch that new image, running the script again should be faster as the shader cache is now in the image.
  • determine where the shadercache is, its usually at a path like this and can be mounted onto the container: -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \ (using docker diff might be helpful to find this path as well)