Asset Optimization¶
Learning Objectives¶
After completing this tutorial, you will have learned:
- Asset structure optimization techniques
- Mesh merging (Merge Mesh)
- Performance improvement through scenegraph instancing
- Comparing performance before and after optimization
Getting Started¶
Prerequisites¶
- Complete Tutorial 3: Articulate a Basic Robot before starting this tutorial.
Estimated Time¶
Approximately 15-20 minutes.
Overview¶
In this tutorial, you will learn techniques for improving robot asset performance in Isaac Sim using the Jetbot robot as an example. Through asset structure optimization, mesh merging, and scenegraph instancing, you will achieve performance improvements from 40 FPS to 64 FPS.
Loading the Robot¶
Load the Jetbot robot asset.
Asset Structure Optimization¶
Setting Up Reparenting and Layers¶
Prepare for reorganizing the asset structure.
Creating Asset Structure¶
Reorganize into an optimal structure.
Merging Meshes¶
Use the Merge Mesh tool to consolidate unnecessary mesh nodes.
Scenegraph Instancing¶
Reduce memory usage and rendering load by reusing identical meshes.
Other Considerations¶
Additional tips and best practices for performance optimization.
Summary¶
This tutorial covered the following topics:
- Asset structure optimization
- Mesh merging (Merge Mesh)
- Scenegraph instancing
- Measuring and improving performance
Next Steps¶
Proceed to the next tutorial, "Rig a Legged Robot", to learn how to rig a legged robot for a locomotion policy.