OmniGibson

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Support for combined decrypted DatasetObject USDs

1

Currently DatasetObject does not support an unencrypted mode. We should consider implementing it so that custom objects with metadata can still be loaded in by users.

cgokmen

Multi-wheel differential drive for Husky etc.

2

Thanks for this amazing project! I have a question regarding the controller for Husky, which is currently implemented using `JointController` class. However, seems like [it should be](https://github.com/husky/husky/blob/100563b7e4fe0867b8b8daef761656b7f8b89950/husky_control/config/control.yaml#L6C3-L6C52) `DifferentialDrive`. I wonder...

lhy0807

Changing resolution of VisionSensor with pre-created robot doesn't change image resolution

17

By default the resolution of Fetchs Camera Sensor is 128x128. That is too small for what I'm trying to do. Is there any way to increase the resolution?

KayJersch

This is done in a number of places ad-hoc right now to find object/link using prim path - we should unify and we should also make it assert the pattern

cgokmen

cgokmen

Currently we can't create JointPrim objects for fixed joints because they show up in the .joints member of robots etc. which complicates a lot of math due to their 0...

cgokmen

Let's be OK with np.inf joint limits - this means we need to assert no normalization for dimensions that directly control these joint positions.

cgokmen

cgokmen

Currently there's some weird stuff going on that uses volume/density sometimes and mass other times. Let's unify.

cgokmen

Solution: load_state should also work for the dependency states, such as VerticalAdjacency, ContactBodies, etc. Currently those states are not dumped/loaded.

cgokmen