YCB Object Identity State Observation

[nicholscrawford]

Is the object identity or some other object representation available when using state based observations and a YCB env? I don't see where it would be in the code.

https://github.com/haosulab/ManiSkill/blob/main/mani_skill/envs/tasks/tabletop/pick_single_ycb.py#L205

This seems like it would hamper state-based methods on the PickSingleYCB env.

[StoneT2000]

It is not provided. This is what we did with previous iterations of ManiSkill. Our argument is mostly any more specific engineering is left to the user to decide on. Vision (or divide and conquer strategy) is required for 100% success rate.