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License: MIT License
error info
File "generate_sapien_collision_mesh.py", line 100, in <module>
tyro.cli(main)
File "/home/zhanghaoyang/.conda/envs/sapien/lib/python3.8/site-packages/tyro/_cli.py", line 184, in cli
output = _cli_impl(
File "/home/zhanghaoyang/.conda/envs/sapien/lib/python3.8/site-packages/tyro/_cli.py", line 446, in _cli_impl
out, consumed_keywords = _calling.call_from_args(
File "/home/zhanghaoyang/.conda/envs/sapien/lib/python3.8/site-packages/tyro/_calling.py", line 241, in call_from_args
return unwrapped_f(*positional_args, **kwargs), consumed_keywords # type: ignore
File "generate_sapien_collision_mesh.py", line 93, in main
parse_urdf(
File "generate_sapien_collision_mesh.py", line 64, in parse_urdf
if isinstance(collision_shape, sapien.physx.PhysxCollisionShapeConvexMesh):
AttributeError: module 'sapien.core' has no attribute 'physx'
It seems the version of sapien is not lateset. Could you help me with this? Thank you.
Hi, @yzqin,
Could you provide the UR10e assets corresponding to Sapien? When I load the UR10e assets from Isaacgym, they blow up but can run well in Isaacgym.
Could you help me solve the problem? Thanks for any questions :)
I'm excited to see that you updated the inspire hand commit yesterday ! Is it available on dex-retargeting now ?
Thanks for your amazing job :)
Hi! Thanks for your exciting work. I want to know how to attach hand on robot arm. Is it just a matter of stitching together the URDF files? Can you provide some tutorials?
Hi, @yzqin
I try to use the [shadow_hand_right.urdf](https://github.com/dexsuite/dex-urdf/blob/main/robots/hands/shadow_hand/shadow_hand_right.urdf) with ur10e.urdf in Sapine Simulator for dexterous manipulation. However, I found when I use shadow_hand_right.urdf with ur10e.urdf as my robot, the training speed is very low! This is very strange!
But when I use xarm6_allegro_wrist_mounted_rotate.urdf in Project [dexart-release](https://github.com/Kami-code/dexart-release) as my robot, the training speed is very fast!
I didn't change any RL setting, but it is very slow caused by replacing the robot :(
Since the urdf files and meshes are larger than 25MB, I will send you ShadowHand_with_UR10e.zip and corresponding setting env/rl_env/base.py and utils/common_robot_utils.py like [dexart-release](https://github.com/Kami-code/dexart-release) and dex-hand-teleop by Email.
Thanks for any help!
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