A lot of failure cases when try to run "python scripts/sim.py --vis"

[CodingCatMountain]

I tried to visualize the grasping results via python scripts/sim.py --vis. However, I found there are lots of failure cases. Could you give me some instructions about how to visual the successful grasping case?? @jianglongye

[jianglongye]

Our generative model primarily focuses on searching for successful trajectories, so the sampled results before filtering might include some trajectories that look visually plausible but aren't physically accurate.

Regarding SAPIEN visualization, we didn't test this in the initial code release. Currently, we use viser to visualize trajectories only (not SAPIEN simulation), as seen in scripts/visualize_sampling.py. We plan to add SAPIEN visualization later, but we can't guarantee the exact date—possibly after Sept.