[Question] Training with a large number of different objects #40
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Hi! That is a very interesting question. In principle, one can delete a prim and spawn a new prim to the stage at any time when the stage is running. So you don't need to close the simulator. I haven't tested this but something like this would fit your need: from omni.isaac.core.utils.prims import delete_prim, create_prim
delete_prim("/World/envs/env_0/Object")
create_prim("/World/envs/env_0/Object", usd_path=cfg.usd_path)However, spawning assets on the fly (i.e. while the simulation is playing) is somewhat risky. Whenever a new object is spawned, physics needs to allocate memory for it and then the A workaround can be that you spawn all the assets at the start and hide them far away from the scene (under the ground), and at every reset put one of them back on the table by changing their position. Not an elegant solution though. |
Mayankm96
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Closing the issue due to no activity. Please re-open if still unresolved. |
# Description Adds a directory `docker` in the root of the repo, containing a `Dockerfile`, `dockerfile-compose.yaml`, `.env`, and utility script `container.sh` that wraps docker-compose CLI commands. The instructions in the documentation specify the installation steps and how to get the Isaac Sim docker image for completeness. To run a container, the user needs to create NGC credentials via the NVIDIA Developers program. After that they can run the script to launch the container: ```bash ./docker/container.sh start ./docker/container.sh enter ``` Also added an argument `-o` or `--docker` to the `orbit.sh` that calls the above script. The above then becomes: ```bash ./orbit.sh -o start ./orbit.sh -o enter ``` Fixes #23 ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.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 - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file --------- Co-authored-by: Mayank Mittal <[email protected]>
# Description Adds a directory `docker` in the root of the repo, containing a `Dockerfile`, `dockerfile-compose.yaml`, `.env`, and utility script `container.sh` that wraps docker-compose CLI commands. The instructions in the documentation specify the installation steps and how to get the Isaac Sim docker image for completeness. To run a container, the user needs to create NGC credentials via the NVIDIA Developers program. After that they can run the script to launch the container: ```bash ./docker/container.sh start ./docker/container.sh enter ``` Also added an argument `-o` or `--docker` to the `orbit.sh` that calls the above script. The above then becomes: ```bash ./orbit.sh -o start ./orbit.sh -o enter ``` Fixes #23 ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.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 - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file --------- Co-authored-by: Mayank Mittal <[email protected]>
Question
Hi great work!
What is a possible way to clear stage and spawn a random rigid object at each episode without closing the simulator? without running into memory leaks
Thanks,
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