Comments (5)
Since it's a 94-dim vector, the observation mode of the environment is state
mode. We recently updated a detailed description here. Please refer to the links in the wiki for the source code used to generate the observation vector in state
mode.
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Hi, do the first {39, 69}-dim of the 94-dim vector that env.get_state()
returns correspond to the description of env.agent.get_state()
you provided a link to, or is the agent (robot) state somewhere else in the 94-dim vector? Would it be possible for you to provide documentation for env.get_state()
in the same form as documentation is provided for env.agent.get_state()
? If this will take time, could you please provide a pointer to the source code which specifies what each element of the 94-dim vector that self.env.get_state()
returns corresponds to?
Additionally, where can I find the articulated object asset_id
in the cabinet used in the OpenCabinetDrawer_1045_link_0-v0
environment?
Thanks!
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For first question, according to here (also the link in current wiki), env.agent.get_state()
is the last (38, 68) dim of the 94 dim vector in state
mode (with_controller_state
is always set to False in state
, pointcloud
, and rgbd
modes)
@tongzhoumu please add documentation for object articulation.
from maniskill.
Hi @arjung128 ,
env.get_state()
does not always return 94-dim vector, it depends on the tasks. The source code is here. Note that this state
is not available in ManiSkill Challenge.
If you are designing your own experiments on the ManiSkill benchmark and need to access the object state (pose, qpos, etc.), please refer to these lines.
The partnet_mobility_id
of OpenCabinetDrawer_1045_link_0-v0
is 1045.
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Got it, thanks!
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Related Issues (20)
- access to the meshes at each time step HOT 6
- Details about Maniskill model configs HOT 1
- Kinematic Constraint HOT 4
- Question about loading a new type of robot into the environment HOT 1
- Assets and demos missing? HOT 1
- Input to Pretrained Models HOT 1
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- Replay demonstration using the raytracing rendering HOT 5
- How to download the ignored files in the /mani_skill2/assets/ ? HOT 1
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- Identify initial grasping frame in demonstrations HOT 2
- Convert robot qpos to robot joint positions HOT 4
- Rendering with kuafu throws segmentation randomly HOT 5
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- Memory leak when getting observation HOT 1
- X11 Forwarding? HOT 3
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