[MISC] Reduce memory usage and increase runtime speed of example scripts. (#2245)

Author: duburcqa

examples/coupling/cloth_on_rigid.py

@@ -27,7 +27,7 @@ def main():
             camera_fov=40,
         ),
         vis_options=gs.options.VisOptions(
-            rendered_envs_idx=[1],
+            rendered_envs_idx=[0],
         ),
         show_viewer=args.vis,
     )
@@ -66,7 +66,7 @@ def main():
     )
 
     ########################## build ##########################
-    scene.build(n_envs=2)
+    scene.build(n_envs=0)
 
     horizon = 500 if "PYTEST_VERSION" not in os.environ else 5
 

examples/coupling/cut_dragon.py

@@ -65,7 +65,7 @@ def main():
             vis_mode="particle",
         ),
     )
-    scene.build(n_envs=2)
+    scene.build(n_envs=0)
 
     horizon = 400 if "PYTEST_VERSION" not in os.environ else 5
     for _ in range(horizon):

examples/coupling/flush_cubes.py

@@ -88,7 +88,7 @@ def main():
             color=(0.0, 0.4, 0.9, 1.0),
         ),
     )
-    scene.build(n_envs=2)
+    scene.build(n_envs=0)
 
     horizon = 100 if "PYTEST_VERSION" not in os.environ else 5
     for i in range(horizon):

examples/coupling/sand_wheel.py

@@ -104,7 +104,7 @@ def main():
             color=(1.0, 0.9, 0.6, 1.0),
         ),
     )
-    scene.build(n_envs=2)
+    scene.build(n_envs=0)
 
     horizon = 1000 if "PYTEST_VERSION" not in os.environ else 5
     for i in range(horizon):

examples/coupling/sph_mpm.py

@@ -71,7 +71,7 @@ def main():
 
     ########################## build ##########################
 
-    scene.build(n_envs=2)
+    scene.build(n_envs=0)
 
     horizon = 800 if "PYTEST_VERSION" not in os.environ else 5
     for i in range(horizon):

examples/coupling/water_wheel.py

@@ -65,7 +65,7 @@ def main():
             vis_mode="recon" if args.recon else "particle",
         ),
     )
-    scene.build(n_envs=2)
+    scene.build(n_envs=0)
 
     horizon = 500 if "PYTEST_VERSION" not in os.environ else 5
     for i in range(horizon):

examples/pbd_liquid.py

@@ -42,7 +42,7 @@ def main():
         ),
         morph=gs.morphs.Box(lower=(0.2, 0.1, 0.1), upper=(0.4, 0.3, 0.5)),
     )
-    scene.build(n_envs=2)
+    scene.build(n_envs=0)
 
     horizon = 4000 if "PYTEST_VERSION" not in os.environ else 5
     for i in range(horizon):

examples/tutorials/advanced_muscle.py

@@ -66,7 +66,7 @@
 )
 
 ########################## build ##########################
-scene.build(n_envs=2)
+scene.build(n_envs=0)
 
 ########################## run ##########################
 horizon = 1000 if "PYTEST_VERSION" not in os.environ else 5