From d8ee80276fea02941d4d39238366c7597432e2e1 Mon Sep 17 00:00:00 2001 From: Hongyi Yu Date: Thu, 12 Jun 2025 16:15:14 -0700 Subject: [PATCH] Fix ppo script --- examples/rigid/batch_render_with_ppo.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/rigid/batch_render_with_ppo.py b/examples/rigid/batch_render_with_ppo.py index 480fda2d9..4fc84b20f 100644 --- a/examples/rigid/batch_render_with_ppo.py +++ b/examples/rigid/batch_render_with_ppo.py @@ -135,7 +135,7 @@ def _obs(self): list_obs.append(cube_pos) list_obs.append(cube_quat) if self.use_depth or self.use_rgb: - rgb, depth, _, _ = self.scene.batch_render() # (batch, n_camera, H, W, channel) + rgb, depth, _, _ = self.scene.render_all_cams() # (batch, n_camera, H, W, channel) if self.use_rgb: rgb = rgb[..., :3] rgb = rgb.float().reshape(self.num_envs, -1) / 255.0 @@ -304,7 +304,7 @@ def main(): # torch.cuda.synchronize() # start_time = time.time() - # rgb, _, _, _ = env.scene.batch_render() + # rgb, _, _, _ = env.scene.render_all_cams() # torch.cuda.synchronize() # total_time += time.time() - start_time # fps = n_test_steps / total_time * rgb.shape[0] / 1e3 @@ -344,7 +344,7 @@ def main(): done_buf[t] = done # Store frames for first 4 environments if upd % log_freq == 0: - rgb, depth, _, _ = env.scene.batch_render() + rgb, depth, _, _ = env.scene.render_all_cams() # Convert to numpy and get first 4 environments # frame0 = rgb[0, 0].cpu().numpy() # frame1 = rgb[0, 1].cpu().numpy()