Merge pull request #1094 from StanfordVL/isaac_4_5

Isaac 4.5 Upgrade

Author: hang-yin

docker/prod.Dockerfile

@@ -1,4 +1,4 @@
-FROM nvcr.io/nvidia/isaac-sim:4.1.0
+FROM nvcr.io/nvidia/isaac-sim:4.5.0
 
 # Set up all the prerequisites.
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \

docs/assets/robots/A1.png

@@ -10,6 +10,23 @@ icon: octicons/question-16
 
     Currently, to run multiple scenes in parallel, you will need to launch separate instances of the OmniGibson environment. While this introduces some overhead due to running multiple instances of IsaacSim, we are actively working on implementing parallelization capabilities. Our goal is to enable running multiple scenes within a single instance, streamlining the process and reducing the associated overhead.
 
+??? question "Why does my particle system behave unexpectedly after clearing the scene?"
+
+    If you clear a particle system and immediately re-initialize it without performing a physics step in between, you may observe unexpected behavior. Our assumption is that this occurs because some internal state variables aren't properly reset during the clearing process.
+
+    **Solution:**
+    Take a physics step after clearing the particle system but before re-initializing it:
+    ```python
+    env.scene.clear_system(system_name)
+    og.sim.step()
+    system = env.scene.get_system(system_name) # Now safe to re-initialize
+    ```
+
+    **Best Practice:**
+    In most scenarios, completely clearing a particle system is unnecessary. Instead, consider:
+    - Removing particles with `system.remove_all_particles()` or `system.remove_particles(...)`
+    - Generating new particles with `system.generate_particles(...)`
+
 ## 🧯 **Troubleshooting**
 
 ??? question "I cannot open Omniverse Launcher AppImage on Linux"