OmniGibson

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wensi-ai

Currently, if we want to import cloth objects, we need to manually specify its prim type as `CLOTH`. An example of this is in `tests/utils.py`: `get_obj_cfg("dishtowel", "dishtowel", "dtfspn", prim_type=PrimType.CLOTH, abilities={"cloth":...

hang-yin

NumPy -> Torch

1

High level changes: - Numpy -> Torch conversion - Enforce th.float32 whenever possible - Simulation backend -> torch - Rewrite transform utils with torch jit scripts - Use math instead...

hang-yin

initial commit to benchmark metrics

yyf20001230

Articulation root API can not be set while simulation is playing

1

When you import a USD while the simulation is playing, the object gets loaded into PhysX before post_load can run, meaning it gets loaded with the articulation root API still...

hang-yin

Ticket #754 BasePrim, TransitionRuleAPI, and BaseSysten objects now store the scene index instead of the scene object. When querying a scene from these objects, it fetches the corresponding scene stored...

Carperis

Ticket #765 Add underscores to class implementation of the following: 1. RigidContactAPI 2. GripperRigidContactAPI Change classes to simulator-based ownership, classes include: 1. CollisionAPI -> og.sim.collision_api 2. ControllableObjectViewAPI -> og.sim.controllable_object_view_api 3....

Carperis

Scene graph tool does not work with multiple robots

2

It seems that the function of _scene_graph_builder.start(self.scene) in OmniGibson/omnigibson/scene_graphs/graph_builder.py only supports single agent settings: ` if self._robot_name is None: assert ( len(scene.robots) == 1 ), "Cannot build scene graph without...

yubinwang11

Adjusting Scene Lighting

3

Hi Is there a way to adjust lighting in scenes?

krajaei

https://github.com/StanfordVL/OmniGibson/pull/699#discussion_r1630181105

hang-yin