Comments (1)
ChengshuLi
commented on June 2, 2024
Hi @whcpumpkin ,
Your dataset is correct. For smaller objects like bucket and jar, we indeed do not have supporting surface annotations.
One thing you can try is to do is to use obj.states[Inside].set_value(target_obj, True, use_ray_casting_method=True):
https://github.com/StanfordVL/iGibson/blob/7d9598278b95ec1039e1f4366c66b45346521e44/igibson/object_states/inside.py#L21C44-L21C66
This ray casting based method doesn't require supporting surface annotations and can sometimes succeed to sample. Let me know if you have any additional questions.
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