Sicheng He

I'm setting up Isaac Sim on a new computer, but it seems the application cannot close normally. ### My environment - Ubuntu 22.04 - NVIDIA GeForce RTX 3060, Driver Version:...

Lack of image normalization in DiffusionPolicy

3

In `policy.py`, image normalization is applied in both ACTPolicy and CNNMLPPolicy as follows: ```python normalize = transforms.Normalize(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) image = normalize(image) ``` However, this normalization step...

Hello, I previously mounted a left Allegro Hand on an xArm, and it worked as expected in ManiSkill (https://github.com/haosulab/ManiSkill/issues/482). Recently, I attempted to mount a right Allegro Hand on a...

`BaseEnv.render()` Returns the Last Frame of the Previous Episode After `BaseEnv.reset()`

3

In my training script, I have two environments: - One environment for collecting online data. - An evaluation environment (`eval_env`) with `num_envs > 1`, which I use to periodically evaluate...

[Question] Accessing and Modifying Actor Scales During Simulation

4

I am looking to adjust the scales of actors when an environment is reset. I have identified where the properties for entities in subscenes are specified, which is in `sapien.wrapper.actor_builder.ActorBuilder.build_physx_component`:...

[Question] Debug Drawing in ManiSkill

4

Isaac Sim provides [debug drawing utilities](https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.debug_draw/docs/index.html). Does ManiSkill offer a similar feature for visual debugging?

RuntimeError: setJointOrder failed

1

I am using `mplib` version 0.1.1 with a custom robot setup (an Allegro Hand mounted on a Franka Panda arm) in ManiSkill. When I attempt to provide only the Franka...

Overly Strict Collision Check

1

In mplib 0.1.1, there seems to be a minor issue: the planning process assumes collisions are strictly disallowed by default. If a collision is detected, the planning is considered a...