Sicheng He

I'm setting up Isaac Sim on a new computer, but it seems the application cannot close normally. ### My environment - Ubuntu 22.04 - NVIDIA GeForce RTX 3060, Driver Version:...

Lack of image normalization in DiffusionPolicy

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In `policy.py`, image normalization is applied in both ACTPolicy and CNNMLPPolicy as follows: ```python normalize = transforms.Normalize(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) image = normalize(image) ``` However, this normalization step...

Hello, I previously mounted a left Allegro Hand on an xArm, and it worked as expected in ManiSkill (https://github.com/haosulab/ManiSkill/issues/482). Recently, I attempted to mount a right Allegro Hand on a...

`BaseEnv.render()` Returns the Last Frame of the Previous Episode After `BaseEnv.reset()`

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In my training script, I have two environments: - One environment for collecting online data. - An evaluation environment (`eval_env`) with `num_envs > 1`, which I use to periodically evaluate...

[Question] Accessing and Modifying Actor Scales During Simulation

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I am looking to adjust the scales of actors when an environment is reset. I have identified where the properties for entities in subscenes are specified, which is in `sapien.wrapper.actor_builder.ActorBuilder.build_physx_component`:...

[Question] Debug Drawing in ManiSkill

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Isaac Sim provides [debug drawing utilities](https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.debug_draw/docs/index.html). Does ManiSkill offer a similar feature for visual debugging?

RuntimeError: setJointOrder failed

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I am using `mplib` version 0.1.1 with a custom robot setup (an Allegro Hand mounted on a Franka Panda arm) in ManiSkill. When I attempt to provide only the Franka...

Overly Strict Collision Check

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In mplib 0.1.1, there seems to be a minor issue: the planning process assumes collisions are strictly disallowed by default. If a collision is detected, the planning is considered a...

Update Protobuf Version for Compatibility

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We currently build Deoxys using Protobuf 3. However, using a newer version of Protobuf in Python (e.g., protobuf==5.28.3) causes compatibility issues. https://github.com/UT-Austin-RPL/deoxys_control/blob/97396fd91324e9e961f061544e80a208889526ff/deoxys/InstallPackage#L45 ```bash $ python examples/run_deoxys_with_space_mouse.py Traceback (most recent call...

In my environment (Python 3.8 + numpy 1.24.4), the previous concatenation syntax caused errors. This PR replaces the `+` operator with `np.concatenate` to resolve the issue.