Adds flag to wait for texture loading completion when reset (#164)

This PR adds a new `wait_for_textures` option in DirectRLEnv and
ManagerBasedEnv cfg classes to wait for texture loading to complete
before proceeding with rendering. Previously, textures may continue to
load while the environment is running, resulting in renders with
incomplete textures.

- Bug fix (non-breaking change which fixes an issue)

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -163,7 +163,7 @@ Added
 * Added full buffer property to :class:`omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer`
 
 
-0.27.33 (2024-12-15)
+0.27.34 (2024-12-15)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -172,7 +172,7 @@ Added
 * Added action clip to all :class:`omni.isaac.lab.envs.mdp.actions`.
 
 
-0.27.32 (2024-12-14)
+0.27.33 (2024-12-14)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -181,7 +181,7 @@ Changed
 * Added check for error below threshold in state machines to ensure the state has been reached.
 
 
-0.27.31 (2024-12-13)
+0.27.32 (2024-12-13)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -190,7 +190,7 @@ Fixed
 * Fixed the shape of ``quat_w`` in the ``apply_actions`` method of :attr:`~omni.isaac.lab.env.mdp.NonHolonomicAction` (previously (N,B,4), now (N,4) since the number of root bodies B is required to be 1). Previously ``apply_actions`` errored because ``euler_xyz_from_quat`` requires inputs of shape (N,4).
 
 
-0.27.30 (2024-12-11)
+0.27.31 (2024-12-11)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -201,7 +201,7 @@ Changed
 * Improved documentation to clarify the usage of the :meth:`~omni.isaac.lab.envs.mdp.rewards.base_height_l2` function in both flat and rough terrain settings.
 
 
-0.27.29 (2024-12-11)
+0.27.30 (2024-12-11)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -211,7 +211,7 @@ Fixed
   Jacobian computed w.r.t. to the root frame of the robot. This helps ensure that root pose does not affect the tracking.
 
 
-0.27.28 (2024-12-09)
+0.27.29 (2024-12-09)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -221,7 +221,7 @@ Fixed
   return only the states of the specified environment IDs.
 
 
-0.27.27 (2024-12-06)
+0.27.28 (2024-12-06)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -231,7 +231,7 @@ Fixed
   :attr:`~omni.isaac.lab.assets.Articulation.root_physx_view` level.
 
 
-0.27.26 (2024-12-06)
+0.27.27 (2024-12-06)
 ~~~~~~~~~~~~~~~~~~~~
 
 Changed
@@ -242,7 +242,7 @@ Changed
   disabled. Using an articulation root for rigid bodies is not needed and decreases overall performance.
 
 
-0.27.25 (2024-12-06)
+0.27.26 (2024-12-06)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -252,7 +252,7 @@ Fixed
   Earlier, the projection names used snakecase instead of camelcase.
 
 
-0.27.24 (2024-12-06)
+0.27.25 (2024-12-06)
 ~~~~~~~~~~~~~~~~~~~~
 
 Added
@@ -270,7 +270,7 @@ Changed
   :class:`~omni.isaac.lab.sensors.Camera` did not clip them and had a different behavior for both types.
 
 
-0.27.23 (2024-12-05)
+0.27.24 (2024-12-05)
 ~~~~~~~~~~~~~~~~~~~~
 
 Fixed
@@ -279,6 +279,16 @@ Fixed
 * Fixed the condition in ``isaaclab.sh`` that checks whether ``pre-commit`` is installed before attempting installation.
 
 
+0.27.23 (2024-12-04)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Added the attributes :attr:`~omni.isaac.lab.envs.DirectRLEnvCfg.wait_for_textures` and :attr:`~omni.isaac.lab.envs.ManagerBasedEnvCfg.wait_for_textures`
+  to enable assets loading check during :class:`~omni.isaac.lab.DirectRLEnv` and :class:`~omni.isaac.lab.ManagerBasedEnv` reset method when rtx sensors are added to the scene.
+
+
 0.27.22 (2024-12-04)
 ~~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py

@@ -20,6 +20,7 @@ from typing import Any, ClassVar
 import isaacsim.core.utils.torch as torch_utils
 import omni.kit.app
 import omni.log
+from isaacsim.core.simulation_manager import SimulationManager
 from isaacsim.core.version import get_version
 
 from omni.isaac.lab.managers import EventManager
@@ -281,6 +282,10 @@ class DirectRLEnv(gym.Env):
         if self.sim.has_rtx_sensors() and self.cfg.rerender_on_reset:
             self.sim.render()
 
+        if self.cfg.wait_for_textures and self.sim.has_rtx_sensors():
+            while SimulationManager.assets_loading():
+                self.sim.render()
+
         # return observations
         return self._get_observations(), self.extras
 

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py

@@ -222,3 +222,6 @@ class DirectRLEnvCfg:
       step will be performed after each time an environment is reset.
 
     """
+
+    wait_for_textures: bool = True
+    """True to wait for assets to be loaded completely, False otherwise. Defaults to True."""

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py

@@ -10,6 +10,7 @@ from typing import Any
 
 import isaacsim.core.utils.torch as torch_utils
 import omni.log
+from isaacsim.core.simulation_manager import SimulationManager
 
 from omni.isaac.lab.managers import ActionManager, EventManager, ObservationManager, RecorderManager
 from omni.isaac.lab.scene import InteractiveScene
@@ -294,6 +295,10 @@ class ManagerBasedEnv:
         # compute observations
         self.obs_buf = self.observation_manager.compute()
 
+        if self.cfg.wait_for_textures and self.sim.has_rtx_sensors():
+            while SimulationManager.assets_loading():
+                self.sim.render()
+
         # return observations
         return self.obs_buf, self.extras
 

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py

@@ -114,3 +114,6 @@ class ManagerBasedEnvCfg:
       step will be performed after each time an environment is reset.
 
     """
+
+    wait_for_textures: bool = True
+    """True to wait for assets to be loaded completely, False otherwise. Defaults to True."""

source/extensions/omni.isaac.lab_tasks/test/test_environments.py

@@ -88,6 +88,8 @@ class TestEnvironments(unittest.TestCase):
         """Run random actions and check environments returned signals are valid."""
         # create a new stage
         omni.usd.get_context().new_stage()
+        # reset the rtx sensors carb setting to False
+        carb.settings.get_settings().set_bool("/isaaclab/render/rtx_sensors", False)
         try:
             # parse configuration
             env_cfg: ManagerBasedRLEnvCfg = parse_env_cfg(task_name, device=device, num_envs=num_envs)