No Collision in Sapien about dex-urdf

[yzqin]

Which script you are running, you may need to call scene.step to make sapien a physical simulator. If you just set the robot qpos or link pose, SAPIEN can also be regarded as a visualizer

[Janebek]

I am running render_urdf_sapien.py and have verified that scene.step is included, with all settings set to default. Do you have any idea what might be causing this issue? The render_urdf_issacgym.py runs perfectly with collision.

[yzqin]

Hi @Janebek

Thanks for the information and sorry for the issue. I find that this is a bug in the render_urdf_sapien.py code which enable disable_self_collision by default so that the self collision is ignored by SAPIEN simulator.

This issue is fixed in 3c9a8e8

[Janebek]

Hi! I'm glad you found it.

However, I encountered another issue which might be related to the version of SAPIEN. The error message is shown below. Do you think I should switch to a specific version of SAPIEN?

[yzqin]

Previously I am using the pre-release version of SAPIEN. Since this is not a code repo so I do not update the py file frequently. To better support the newer sapien version, I have just updated the code to 3.0.0b1. You can try:
pip3 install sapien=3.0.0b1

[Janebek]

Thank you! The hand now has collisions in SAPIEN.