Fanbo Xiang

The point cloud should be in the root frame of the robot since mplib does not take robot root pose as an argument. So maybe the maniskill point cloud is...

The root frame is the pose of the robot root link. You can get this pose by `robot.pose` or `robot.get_links()[0].pose`. You need to transform the pointcloud to this frame. The...

I am not sure what is `cur_state[18]`, but I suggest printing out the root pose of the robot to verify it is indeed changed. From your description, I believe the...

CUDA_VISIBLE_DEVICES and the device argument of the renderer should not be set together. When CUDA_VISIBLE_DEVICES is 1, your GPU 1 becomes cuda:0. Also you may disregard any GLFW error. If...

I just realized that you should keep the offscreen_only=True all the time. If it is false, it means you want on-screen rendering, and the GPU selection may override your preferred...

Can you run `sapien.core.VulkanRenderer.set_log_level("info")` before creating the renderer and show the result? This should provide detailed logs for GPU selection.

A new version 2.2.0 has been released and KuafuRenderer is now deprecated. The ray tracer is merged into SapienRenderer (previously named VulkanRenderer). Please follow the updated documentation here to set...

Please open a new issue if the problem persists with the new renderer.

We are currently working on a grasping demo as one of our major project. Grasping itself is simple but the related motion planning problems are quite non-trivial (especially on the...

.mtl files are loaded in Kuafu automatically. You just need to load the .obj file. Kuafu is also only designed to work as a renderer. Many convenient functions such as...