refactor to use set_setting for carb in simulation_context

Author: ooctipus

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -449,7 +449,17 @@ def set_setting(self, name: str, value: Any):
             name: The name of the setting.
             value: The value of the setting.
         """
-        self._settings.set(name, value)
+        # Route through typed setters for correctness and consistency.
+        if isinstance(value, bool):
+            self._settings.set_bool(name, value)
+        elif isinstance(value, int):
+            self._settings.set_int(name, value)
+        elif isinstance(value, float):
+            self._settings.set_float(name, value)
+        elif isinstance(value, str):
+            self._settings.set_string(name, value)
+        else:
+            raise ValueError(f"Unsupported value type for setting '{name}': {type(value)}")
 
     def get_setting(self, name: str) -> Any:
         """Read the simulation setting using the Carbonite SDK.
@@ -652,10 +662,10 @@ def _apply_physics_settings(self):
         """Sets various carb physics settings."""
         # enable hydra scene-graph instancing
         # note: this allows rendering of instanceable assets on the GUI
-        self.carb_settings.set_bool("/persistent/omnihydra/useSceneGraphInstancing", True)
+        self.set_setting("/persistent/omnihydra/useSceneGraphInstancing", True)
         # change dispatcher to use the default dispatcher in PhysX SDK instead of carb tasking
         # note: dispatcher handles how threads are launched for multi-threaded physics
-        self.carb_settings.set_bool("/physics/physxDispatcher", True)
+        self.set_setting("/physics/physxDispatcher", True)
         # disable contact processing in omni.physx
         # note: we disable it by default to avoid the overhead of contact processing when it isn't needed.
         #   The physics flag gets enabled when a contact sensor is created.
@@ -667,14 +677,14 @@ def _apply_physics_settings(self):
             )
         # FIXME: From investigation, it seems this flag only affects CPU physics. For GPU physics, contacts
         #  are always processed. The issue is reported to the PhysX team by @mmittal.
-        self.carb_settings.set_bool("/physics/disableContactProcessing", True)
+        self.set_setting("/physics/disableContactProcessing", True)
         # disable custom geometry for cylinder and cone collision shapes to allow contact reporting for them
         # reason: cylinders and cones aren't natively supported by PhysX so we need to use custom geometry flags
         # reference: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/Geometry.html?highlight=capsule#geometry
-        self.carb_settings.set_bool("/physics/collisionConeCustomGeometry", False)
-        self.carb_settings.set_bool("/physics/collisionCylinderCustomGeometry", False)
+        self.set_setting("/physics/collisionConeCustomGeometry", False)
+        self.set_setting("/physics/collisionCylinderCustomGeometry", False)
         # hide the Simulation Settings window
-        self.carb_settings.set_bool("/physics/autoPopupSimulationOutputWindow", False)
+        self.set_setting("/physics/autoPopupSimulationOutputWindow", False)
 
     def _apply_render_settings_from_cfg(self):  # noqa: C901
         """Sets rtx settings specified in the RenderCfg."""
@@ -700,7 +710,7 @@ def _apply_render_settings_from_cfg(self):  # noqa: C901
         # 1. command line argument --rendering_mode, if provided
         # 2. rendering_mode from Render Config, if set
         # 3. lastly, default to "balanced" mode, if neither is specified
-        rendering_mode = self.carb_settings.get("/isaaclab/rendering/rendering_mode")
+        rendering_mode = self.get_setting("/isaaclab/rendering/rendering_mode")
         if not rendering_mode:
             rendering_mode = self.cfg.render.rendering_mode
         if not rendering_mode:
@@ -730,16 +740,7 @@ def _apply_render_settings_from_cfg(self):  # noqa: C901
             # set presets
             for key, value in preset_dict.items():
                 key = "/" + key.replace(".", "/")  # convert to carb setting format
-                if isinstance(value, bool):
-                    self.carb_settings.set_bool(key, value)
-                elif isinstance(value, int):
-                    self.carb_settings.set_int(key, value)
-                elif isinstance(value, float):
-                    self.carb_settings.set_float(key, value)
-                elif isinstance(value, str):
-                    self.carb_settings.set_string(key, value)
-                else:
-                    raise ValueError(f"Unsupported value type: {type(value)}")
+                self.set_setting(key, value)
 
         # set user-friendly named settings
         for key, value in vars(self.cfg.render).items():
@@ -752,16 +753,7 @@ def _apply_render_settings_from_cfg(self):  # noqa: C901
                     " need to be updated."
                 )
             key = rendering_setting_name_mapping[key]
-            if isinstance(value, bool):
-                self.carb_settings.set_bool(key, value)
-            elif isinstance(value, int):
-                self.carb_settings.set_int(key, value)
-            elif isinstance(value, float):
-                self.carb_settings.set_float(key, value)
-            elif isinstance(value, str):
-                self.carb_settings.set_string(key, value)
-            else:
-                raise ValueError(f"Unsupported value type: {type(value)}")
+            self.set_setting(key, value)
 
         # set general carb settings
         carb_settings = self.cfg.render.carb_settings
@@ -771,18 +763,9 @@ def _apply_render_settings_from_cfg(self):  # noqa: C901
                     key = "/" + key.replace("_", "/")  # convert from python variable style string
                 elif "." in key:
                     key = "/" + key.replace(".", "/")  # convert from .kit file style string
-                if self.carb_settings.get(key) is None:
+                if self.get_setting(key) is None:
                     raise ValueError(f"'{key}' in RenderCfg.general_parameters does not map to a carb setting.")
-                if isinstance(value, bool):
-                    self.carb_settings.set_bool(key, value)
-                elif isinstance(value, int):
-                    self.carb_settings.set_int(key, value)
-                elif isinstance(value, float):
-                    self.carb_settings.set_float(key, value)
-                elif isinstance(value, str):
-                    self.carb_settings.set_string(key, value)
-                else:
-                    raise ValueError(f"Unsupported value type: {type(value)}")
+                self.set_setting(key, value)
 
         # set denoiser mode
         if self.cfg.render.antialiasing_mode is not None:
@@ -794,8 +777,9 @@ def _apply_render_settings_from_cfg(self):  # noqa: C901
                 pass
 
         # WAR: Ensure /rtx/renderMode RaytracedLighting is correctly cased.
-        if self.carb_settings.get("/rtx/rendermode").lower() == "raytracedlighting":
-            self.carb_settings.set_string("/rtx/rendermode", "RaytracedLighting")
+        rendermode_val = self.get_setting("/rtx/rendermode")
+        if isinstance(rendermode_val, str) and rendermode_val.lower() == "raytracedlighting":
+            self.set_setting("/rtx/rendermode", "RaytracedLighting")
 
     def _set_additional_physx_params(self):
         """Sets additional PhysX parameters that are not directly supported by the parent class."""
@@ -907,10 +891,8 @@ def _setup_anim_recording(self):
         self._physxPvdInterface = _physxPvd.acquire_physx_pvd_interface()
 
         # Set carb settings for the output path and enabling pvd recording
-        self.carb_settings.set_string(
-            "/persistent/physics/omniPvdOvdRecordingDirectory", self._anim_recording_output_dir
-        )
-        self.carb_settings.set_bool("/physics/omniPvdOutputEnabled", True)
+        self.set_setting("/persistent/physics/omniPvdOvdRecordingDirectory", self._anim_recording_output_dir)
+        self.set_setting("/physics/omniPvdOutputEnabled", True)
 
     def _update_usda_start_time(self, file_path, start_time):
         """Updates the start time of the USDA baked anim recordingfile."""
@@ -975,7 +957,7 @@ def _finish_anim_recording(self):
         )
 
         # Disable recording
-        self.carb_settings.set_bool("/physics/omniPvdOutputEnabled", False)
+        self.set_setting("/physics/omniPvdOutputEnabled", False)
 
         return result