The robot code in omniisaac gymenvs includes the line "Self._usd_path = assets_root_path + “/Isaac/Robots/ANYbotics/anymal_instanceable usd”
Also, what does the prim_path mentioned in the code mean and how do I define it when I use the new usd file? Thank you very much
To add your own USD you have to create the instanceable version of them. The most success I had was following this:
## A Note on Instanceable USD Assets
The following section presents a method that modifies existing USD assets
which allows Isaac Sim to load significantly more environments. This is currently
an experimental method and has thus not been completely integrated into the
framework. As a result, this section is reserved for power users who wish to
maxmimize the performance of the Isaac Sim RL framework.
### Motivation
One common issue in Isaac Sim that occurs when we try to increase
the number of environments `numEnvs` is running out of RAM. This occurs because
the Isaac Sim RL framework uses `omni.isaac.cloner` to duplicate environments.
As a result, there are `numEnvs` number of identical copies of the visual and
collision meshes in the scene, which consumes lots of memory. However, only one
copy of the meshes are needed on stage since prims in all other environments could
merely reference that one copy, thus reducing the amount of memory used for loading
environments. To enable this functionality, USD assets need to be modified to be
`instanceable`.
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Thank you very much for your reply, it is very valuable. Well, I have a new idea, and I’m going to try it
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