Hello, I’m an engineer at Boston Dynamics attempting to use Omniverse and Isaac sim for visualizing some of our existing simulations. I’m currently syncing joint data via python and the low level USD API eg:
trans_op = xformable_prim.AddTranslateOp()
trans_op.Set(value=value)
I’m seeing pretty poor performance, aprox .5 ms per xform (trans+rotate) with some robots and scenes joint updates take longer than scene rendering. Profiling the code it appears that there is a tracing library that eats up time as well as updating the UI.
Is there a faster API to use? Do I need to rewrite the code in C++ to get more reasonable perf? Thanks for any insight.