I am trying to do Pick and Place task with Franka for arbitrary objects. For that, I collected some objects in different environments and made a usd file out of them. The stage looks like this:
Next, I tried to do Pick and Place task for the cube that was added to the scene in the python script and it was successful. But, when I tried to do the same thing with the objects in the added usd file, I found out that they are not recognized. I used “world.scene.object_exists” and “world.scene.get_object” functions.
Do you know how can I access these objects to be able to perform pick and place task on them?