Hi,
Ah yes, but sometimes the localhost Nucleus cannot login, anyways, it’s working now.
And just like I said, I combined the ant demo with livestream, and I found the Gridclone has a code bug. I have fixed it like this: (the bug is the get_clone_tranforms function can not get the prim_paths from clone function)
def get_clone_transforms(
self,
num_clones: int,
position_offsets: np.ndarray = None,
orientation_offsets: np.ndarray = None,
):
if position_offsets is not None:
if len(position_offsets) != len(self.prim_paths):
raise ValueError("Dimension mismatch between position_offsets and prim_paths!")
# convert to numpy array
if isinstance(position_offsets, torch.Tensor):
position_offsets = position_offsets.detach().cpu().numpy()
elif not isinstance(position_offsets, np.ndarray):
position_offsets = np.asarray(position_offsets)
if orientation_offsets is not None:
if len(orientation_offsets) != len(self.prim_paths):
raise ValueError("Dimension mismatch between orientation_offsets and prim_paths!")
# convert to numpy array
if isinstance(orientation_offsets, torch.Tensor):
orientation_offsets = orientation_offsets.detach().cpu().numpy()
elif not isinstance(orientation_offsets, np.ndarray):
orientation_offsets = np.asarray(orientation_offsets)
......
def clone(
self,
source_prim_path: str,
prim_paths: List[str],
position_offsets: np.ndarray = None,
orientation_offsets: np.ndarray = None,
replicate_physics: bool = False,
base_env_path: str = None,
root_path: str = None,
copy_from_source: bool = False,
):
self.prim_paths = prim_paths # use to transfer the paths to get_clone_transforms function
Then, when I running this demo, there is another error: [Error] [gpu.foundation.plugin] Failed to read texture cache file /home/username/.cache/ov/texturecache/WireframeBlur_blue_92_1_1697585919_1474958_6.ovtex.5
