adds flag for replicate_physics in SimCfg

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

 Changelog
 ---------
 
+0.1.2 (2023-01-19)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Added the flag ``replicate_physics`` to the :class:`SimCfg` class.
+* Increased the default value of ``gpu_found_lost_pairs_capacity`` in :class:`PhysxCfg` class
+
 0.1.1 (2023-01-18)
 ~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/isaac_env.py

@@ -146,7 +146,11 @@ class IsaacEnv(gym.Env):
             global_prim_paths = list()
         # clone the scenes into the namespace "/World/envs" based on template namespace
         self.envs_prim_paths = cloner.generate_paths(self.env_ns + "/env", self.num_envs)
-        self.envs_positions = cloner.clone(source_prim_path=self.template_env_ns, prim_paths=self.envs_prim_paths)
+        self.envs_positions = cloner.clone(
+            source_prim_path=self.template_env_ns,
+            prim_paths=self.envs_prim_paths,
+            replicate_physics=self.cfg.sim.replicate_physics,
+        )
         # convert environment positions to torch tensor
         self.envs_positions = torch.tensor(self.envs_positions, dtype=torch.float, device=self.device)
         # filter collisions within each environment instance

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/isaac_env_cfg.py

@@ -102,8 +102,8 @@ class PhysxCfg:
     gpu_max_rigid_patch_count: int = 80 * 1024 * 2
     """Size of the rigid contact patch stream buffer allocated in pinned host memory. Default is 80 * 2 ** 11."""
 
-    gpu_found_lost_pairs_capacity: int = 1024 * 2
-    """Capacity of found and lost buffers allocated in GPU global memory. Default is 2 ** 11.
+    gpu_found_lost_pairs_capacity: int = 1024 * 1024 * 2
+    """Capacity of found and lost buffers allocated in GPU global memory. Default is 2 ** 21.
 
     This is used for the found/lost pair reports in the BP.
     """
@@ -158,6 +158,13 @@ class SimCfg:
     can also provide some performance speed-up.
     """
 
+    replicate_physics: bool = True
+    """Enable/disable replication of physics schemas when using the Cloner APIs. Default is False.
+
+    Note: In Isaac Sim 2022.2.0, domain randomization of material properties is not supported when
+    ``replicate_physics`` is set to True.
+    """
+
     use_flatcache: bool = True  # output from simulation to flat cache
     """Enable/disable reading of physics buffers directly. Default is True.
 

source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/velocity/velocity_cfg.py

@@ -181,7 +181,9 @@ class VelocityEnvCfg(IsaacEnvCfg):
     env: EnvCfg = EnvCfg(num_envs=4096, env_spacing=2.5, episode_length_s=20.0)
     viewer: ViewerCfg = ViewerCfg()
     # Physics settings
-    sim: SimCfg = SimCfg(dt=0.005, substeps=4)
+    # disable replicate physics to use physics domain randomization
+    # TODO: This is a temporary fix. Should be resolved in the future.
+    sim: SimCfg = SimCfg(dt=0.005, substeps=4, replicate_physics=False)
 
     # Scene Settings
     terrain: TerrainCfg = TerrainCfg()