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haosulab / ManiSkill

SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark
https://maniskill.ai/
Apache License 2.0
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[Question]Motion Planning for Articulated Object link! #501

Closed LongXinKou closed 2 months ago

LongXinKou commented 3 months ago

Hello! I encountered an issue while using the PandaArmMotionPlanningSolver for path planning, specifically related to obtaining the bounding box of a link. When working with static objects(like mani_skill/examples/motionplanning/panda/solutions/pick_cube.py), I can obtain the Actor's Bounding Box using get_actor_obb(env.obj). However, when trying to work with articulated objects, I can retrieve the Bounding Box of a link by get_local_axis_aligned_bbox_for_link, but it can not work for path planning like Actor.

Could you please guide me on how to properly handle articulated objects and effectively use the Bounding Box of a link? I would greatly appreciate your assistance.

Once again, thank you for your outstanding work and support!

StoneT2000 commented 3 months ago

Can you share example code / bash script you ran and the error output?