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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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Weird texture for ArchitecTHOR_SceneManipulation-v1 Env #686

Open wzds2015 opened 2 weeks ago

wzds2015 commented 2 weeks ago

I am testing demo_random_action using ArchitecTHOR_SceneManipulation-v1 env. The texture doesn't look good. Anyone has idea what I did wrong?

https://github.com/user-attachments/assets/af678cfb-96df-42a6-9b1c-4a90845e2df1

Also seems teleop doesn't support ArchitecTHOR_SceneManipulation-v1. The motion planner for "fetch" is missing. I tried ReplicaCAD_SceneManipulation-v1, and the error is the same. What modification should I do to add a new env/robot into teleop?

StoneT2000 commented 2 weeks ago

Currently we don't have easy to use teleop tools yet for mobile manipulation. It is something we will add in the future. It generally requires some engineering effort to essentially keyboard key presses to various actions.

As for the rendering, the AI2 THOR scenes do not have backfaces so you have to move inside the house to see inside it more clearly. If you click an object it will add transparency to it to show you selected it.

If you want a higher rendering quality you can turn on ray-tracing. Note that only ReplicaCAD and Robocasa scenes have tuned lighting. The AI2THOR scenes don't have lighting defined so it might not look that good unless you add it.