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The 3D Diffusion Policy seems to require not only point cloud data and RGB images but also depth information, which obs_mode="pointcloud" doesn't support. Therefore, I expect the return value for obs_mode="sensor_data" should be:
ManiSkill/mani_skill/envs/sapien_env.py
Line 114 in 362d43d
ManiSkill/mani_skill/envs/utils/observations/__init__.py
Lines 14 to 53 in 362d43d
The 3D Diffusion Policy seems to require not only point cloud data and RGB images but also depth information, which
obs_mode="pointcloud"
doesn't support. Therefore, I expect the return value forobs_mode="sensor_data"
should be:By the way, in the point cloud representation
xyzw
, what does thew
stand for?The text was updated successfully, but these errors were encountered: