Stone Tao
Stone Tao
Can you try `robot_uids=robot` instead? The code might be a bit outdated now, there was a few small changes to maniskill3 API.
We are in the process of writing a report now but no clear timeline on when we will put it up on online. For now the major changes for SAPIEN...
First try pip installing the latest git commit of maniskill, there may be some changes that could help. Otherwise I recommend first running some random actions and opening the viewer...
Also in the viewer i recommend clicking the robot and toggling on collision view to see what the collision mesh looks like
Ok hard to tell directly. I will take a look at your codebase and try myself some time this week. May be able to improve our documentation on collision handling...
Something else to try before I try investigating myself deeply: - Can you try removing every collision tag in your .urdf except for the hand collision tags? - If the...
Ok it looks like the issue is clear, you have some self collisions that you want to disable (you don't need to disable all of them). There are two options...
You have to disable some self collisions regardless unless you fine tune the collision meshes a lot. To avoid disabling all of them the .srdf can define which specific pairs...
This will be a project we may have someone work on eventually. We would like to make something similar to https://vigorous-lamarr-a0a9c0.netlify.app/ which lets people browse through all of the ProcTHOR/AI2Thor...