OmniGibson

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Alacarter

We include exactly one robot in a task instance in the dataset. Many times, users may want to use a robot that is not the robot included in the scene...

cgokmen

TODOs from previous PR: - Support for in-hand articulated objects - Distinguish between world frame and scene frame - Handle bi-manual target poses - Handle multiple attached objects, attached to...

cremebrule

Currently in primitives we do NOT track our current desired position for the arm when doing other things, and rely on zero actions. What this means is that if there...

cgokmen

Unify BehaviorRobot into floating-base robot paradigm (e.g. Tiago), perhaps through common base class

1

The BehaviorRobot behaves differently from the Tiago robot: Tiago keeps the real base link at the origin, but the BehaviorRobot moves it. We should unify. We should also get rid...

cgokmen

Our Toggle etc. states do NOT work when flatcache is on. This is because we do an overlap mesh query, but PhysX can't tell the position of the mesh (I...

cgokmen

This can output wrong values if the scene is moved.

cgokmen

Right now it is very difficult to follow configs: what are the defaults? What are the possible values? Lots of kwargs passing around happening etc. - we want to change...

cgokmen

cgokmen

This will also allow doing joint IK for bimanual etc. and also support very fast computation for parallel envs

cgokmen