Open SparKgod1 opened 1 month ago
What do you mean by in demonstrations should I set object names?
I want to use my own grasping sequence data as demonstrations to train RFCL. While organizing the data, I noticed that the actors in env_state require actor_id, so I want to find the naming in the builder.
Ah I remember this particular / potential issue. Env state is not well defined when there might be different objects in the environment. Previously in maniskill 2 all objects had the same name since we only did CPU simulation whereas to support GPU sim they should have different names.
I think I have one potential solution that I will try and add in this week. For now tasks with object geometry randomization might not have useable env states.
in ./mani_skill/envs/tasks/tabletop/pick_single_ycb.py
In demonstrations, should I set the name of the YCB object to {model_id}-{i}? What does the i represent in this context?