Comments (1)
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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