AssetBase.get_world_poses() seems to be very unoptimized

[vluduk]

I was spawning some objects using AssetBaseCfg and ManagerBasedRLEnv, and then tried getting their positions in the observation manager. It seems that both get_world_poses and set_world_poses are taking far too much computation time to execute, and I don't know why. I also can't find their implementation anywhere, so I can't elaborate further.

In terms of performance, after adding these methods into the observation step, my simulation started running about three times slower.

Can someone point me to the implementation of these methods or explain why they are so computationally expensive?

[RandomOakForest]

Thank you for posting this. These methods are Isaac Sim core implementations that Isaac Lab reuses in multiple libraries. Depending on your specific task, you may be calling one or the other. At the end of the day, with Isaac Sim upgrades, the team intends to leverage higher computing performance platforms. There is, however, a doc with speed-ups that may be of help. I will inquire with the team if there is anything else we can point you to regarding these methods.

[RandomOakForest]

Following up on this, the team has suggested you should try using the tensor-based RigidPrim (see this example) instead of XFormPrim which is implemented using the USD API and is not as fast.