Remove Duplicate Objects in the Scene

I am currenting using iThor for some object navigation tasks. I need to generate some duplicates of objects in a given scene. However, whenever I reset the environment using controller.reset(), the duplicated objects (named with “random_copy”) still appear in the scene. Is there a conveninent way that I missed in the documentation that could auto-remove the duplicated objects? If not, I guess I would have to manually remove them by search for their names.

[qiwu57kevin]

Thank you for your response! That should answer my questions. And I am looking forward to further updates you mentioned!

[mattdeitke]

Hey!

I do use Unity editor for scene manipulation as well. In Unity editor, how do you removed the duplicated objects? I tried RandomSpawnRequiredSceneObjects from PhysicsSceneManager.cs and it could generate duplicated objects for me, but I don’t know how to “reset” the scene back to its initial state (I just want to remove the duplicated objects). Is there a C# function you have built to do that?

At the moment, there is no “action” per see that removes duplicate objects. We just reload the entire scene when Reset is called, which, in turn, removes duplicate objects (along with all other modifications). See: https://github.com/allenai/ai2thor/blob/master/unity/Assets/Scripts/AgentManager.cs#L478

Is it possible to add a new object to the scene in python? Say, I want a specific object in this scene, and I need to check if it is there. If not, I would like to add this new object to the scene if possible.

At the moment, there is only support for duplicating objects that already exist in the scene. However, many of us are interested in being able to spawn in any object to any scene, and it’s pretty high up as one of the things I’d love to support! I will follow-up on this thread when it’s possible, but there’s no immediate timeline.