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Feat/robot fixes#1075

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cremebrule merged 55 commits intoog-developStanfordVL/OmniGibson:og-developfrom feat/robot-fixesStanfordVL/OmniGibson:feat/robot-fixesCopy head branch name to clipboardFeb 5, 2025

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Commits on Dec 20, 2024

• add ability to specify sensors to include / exclude, remove enforcing of controller existence due to subsume feature

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• update configs

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Commits on Dec 21, 2024

• add reverse_preprocess_command to all curobo joint pos execution

  

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• fix minor bug for is_grasping in manipulation_robot

  

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Commits on Jan 8, 2025

• Merge branch 'og-develop' into feat/robot-fixes

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Commits on Jan 16, 2025

• Merge branch 'og-develop' into feat/robot-fixes

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Commits on Jan 18, 2025

• add updated compute function for joint controller

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• fix data wrapper bugs

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• fix deprecated API bug

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Commits on Jan 21, 2025

• add ability to process obs in data wrapper env, fix bug where objects initially sleeping are not tracked

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Commits on Jan 22, 2025

• update data wrapper for recording videos

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Commits on Jan 23, 2025

• add ability to wrap additional envs for data wrapper; standardize wrapper step() kwargs

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Commits on Jan 24, 2025

• programmatically infer grasping points

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Commits on Jan 27, 2025

• prune outdated code

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• use_impedances

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• maintain original default arm link convention during curobo config generation during custom robot import

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• Merge remote-tracking branch 'origin/feat/robot-fixes' into feat/robot-fixes

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• Merge branch 'og-develop' into feat/robot-fixes

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Commits on Jan 28, 2025

• fix grasping type inference for MultiFingerGripperController

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• retune test_controllers.py

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• retune ground truth camera pose for test robot states

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• make sure exclude and include sensor names are mutually exclusive

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Commits on Jan 29, 2025

• update test_controllers to improve determinacy

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• make waypoint tolerance more strict, always run every waypoint as an action at least once

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• fix leaking tensors in control filter

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• update grasping_planning_utils.py with new robot finger properties

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• Merge remote-tracking branch 'origin/feat/robot-fixes' into feat/robot-fixes

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• update docs and prune outdated robot properties

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• make AG default grasping point proportions a macro, prune outdated, hardcoded finger properties from robot model classes

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• Merge remote-tracking branch 'origin/feat/robot-fixes' into feat/robot-fixes

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Commits on Jan 30, 2025

• primitive sticky grasping top down move hand use stop_on_ag, instead of stop_on_contact

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• Merge branch 'feat/robot-fixes' of github.com:StanfordVL/OmniGibson into feat/robot-fixes

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• fix outdated franka eef name, tune ik / osc keyboard control gains

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• Merge remote-tracking branch 'origin/feat/robot-fixes' into feat/robot-fixes

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Commits on Feb 4, 2025

• add support for estimated velocities for controllable objects to avoid isaac velocity bias

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• make isaac kp / kd configurable

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• Merge remote-tracking branch 'origin/feat/robot-fixes' into feat/robot-fixes

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• fix auto caching of updated transforms during Batch Control view clearing

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Commits on Feb 5, 2025

• clarify reshaping purpose for batching calls in transform utils

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• add comments clarifying velocity estimations for controllable objects

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• Merge remote-tracking branch 'origin/feat/robot-fixes' into feat/robot-fixes

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• small clarification

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• fix formatting

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• explicitly copy proprio values to avoid implicit reference updating

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