Bat

Hey @arminiusresistance, were you able to successfully run `yolov10` on your Jetson?

It seems like there is not info provided related to disabling some collision pairs in the official docs. A temporary solution could be manually adding disabled collision pairs in [RigidEntitiy._is_ompl_state_valid(state)](https://github.com/Genesis-Embodied-AI/Genesis/blob/main/genesis/engine/entities/rigid_entity/rigid_entity.py#L1413),...

Can you elaborate your question again? Do you mean you want to access to transformation between camera and world frames?

Perhaps, what you are looking for is [`Camera.transform`](https://github.com/Genesis-Embodied-AI/Genesis/blob/bf3bc101630bea36b1835f9d9cbbbf8e65596760/genesis/vis/camera.py#L562) which gives a 4x4 transformation matrix. You can access from your camera instance like this: ```bash cam_0 = scene.add_camera( res=(1280, 960), pos=(3.5,...

For collision detection, it is already available at [`RigidEntity.collision_detection()`](https://github.com/Genesis-Embodied-AI/Genesis/blob/fa388580a38f17991a8fca96b301db1cc6bf05b5/genesis/engine/entities/rigid_entity/rigid_entity.py#L2300), which will return indices of collided pairs.

I believe there is no capsule among [primitive shapes](https://genesis-world.readthedocs.io/en/latest/api_reference/options/morph/primitive/index.html). Loading [GR1T2_simple.urdf](https://github.com/FFTAI/Wiki-GRx-Models/blob/master/GR1_legacy/GR1/GR1T2/urdf/GR1T2_simple.urdf) works since the simpler model uses cylinder instead capsule. ```diff - + ```

> When loading the h1 model from [DIAL-MPC](https://github.com/LeCAR-Lab/dial-mpc) the actuator force range does not get properly First of all, xml model doesn't provide force range. Instead, it provides control range....

According to [the doc roadmap](https://genesis-world.readthedocs.io/en/latest/roadmap/index.html#in-progress-and-will-be-released-in-the-near-future), the generative framework is still in progress.