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haosulab / ManiSkill2-Learn

Apache License 2.0
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Missing obs_mode="pointcloud+robot_seg" in env/wrapper.py #12

Closed HeegerGao closed 1 year ago

HeegerGao commented 1 year ago

Hi, I find that in Maniskill2, the environment supports obs_mode=pointcloud+robot_seg, which will add robot segmentation in the returned observation dict. However, in ManiSkill2-Learn, in env/wrapper.py, there seems no branch for obs_mode=pointcloud+robot_seg, and if I set obs_mode=pointcloud+robot_seg, I will go to the else branch.

Is that true? Or is there any other good way to get robot segmentation in pointcloud observation? Thanks!

xuanlinli17 commented 1 year ago

Hi,

Yes it's true. For simplicity we only implemented obs_mode = state / rgbd / pointcloud. If you'd like to support "pointcloud+robot_seg", you can modify env/wrapper.py and customize it.

HeegerGao commented 1 year ago

Thanks for your quick reply! OK, I will customize it. I just think maybe ManiSkill2-Learn should keep the same APIs as ManiSkill2.