Feat/robot fixes

docs/tutorials/demo_collection.md

@@ -101,7 +101,7 @@ playback_env = DataPlaybackWrapper.create_from_hdf5(
 )
 
 # Playback the entire dataset and record observations
-playback_env.playback_dataset(record=True)
+playback_env.playback_dataset(record_data=True)
 
 # Save the recorded playback data
 playback_env.save_data()

omnigibson/configs/fetch_behavior.yaml

@@ -40,6 +40,8 @@ scene:
 robots:
   - type: Fetch
     obs_modalities: [scan, rgb, depth]
+    include_sensor_names: null
+    exclude_sensor_names: null
     scale: 1.0
     self_collision: false
     action_normalize: true

omnigibson/configs/r1_primitives.yaml

@@ -32,6 +32,8 @@ scene:
 robots:
   - type: R1
     obs_modalities: [rgb]
+    include_sensor_names: null
+    exclude_sensor_names: null
     scale: 1.0
     self_collisions: true
     action_normalize: false

omnigibson/configs/robots/fetch.yaml

@@ -17,6 +17,8 @@ robot:
   self_collision: true
   grasping_mode: physical
   default_arm_pose: vertical
+  include_sensor_names: null
+  exclude_sensor_names: null
   sensor_config:
     VisionSensor:
       sensor_kwargs:

omnigibson/configs/robots/freight.yaml

@@ -10,6 +10,8 @@ robot:
   base_name: null
   scale: 1.0
   self_collision: false
+  include_sensor_names: null
+  exclude_sensor_names: null
   sensor_config:
     VisionSensor:
       sensor_kwargs:

omnigibson/configs/robots/husky.yaml

@@ -10,6 +10,8 @@ robot:
   base_name: null
   scale: 1.0
   self_collision: false
+  include_sensor_names: null
+  exclude_sensor_names: null
   sensor_config:
     VisionSensor:
       sensor_kwargs:

omnigibson/configs/robots/locobot.yaml

@@ -10,6 +10,8 @@ robot:
   base_name: null
   scale: 1.0
   self_collision: false
+  include_sensor_names: null
+  exclude_sensor_names: null
   sensor_config:
     VisionSensor:
       sensor_kwargs:

omnigibson/configs/robots/turtlebot.yaml

@@ -10,6 +10,8 @@ robot:
   base_name: null
   scale: 1.0
   self_collision: false
+  include_sensor_names: null
+  exclude_sensor_names: null
   sensor_config:
     VisionSensor:
       sensor_kwargs:

omnigibson/configs/tiago_primitives.yaml

@@ -33,6 +33,8 @@ scene:
 robots:
   - type: Tiago
     obs_modalities: [rgb]
+    include_sensor_names: null
+    exclude_sensor_names: null
     scale: 1.0
     self_collisions: true
     action_normalize: false

omnigibson/configs/turtlebot_nav.yaml

@@ -30,6 +30,8 @@ scene:
 robots:
   - type: Turtlebot
     obs_modalities: [scan, rgb, depth]
+    include_sensor_names: null
+    exclude_sensor_names: null
     scale: 1.0
     self_collision: false
     action_normalize: true

omnigibson/controllers/ik_controller.py

@@ -53,7 +53,7 @@ def __init__(
         pos_kp=None,
         pos_damping_ratio=None,
         vel_kp=None,
-        use_impedances=True,
+        use_impedances=False,
         mode="pose_delta_ori",
         smoothing_filter_size=None,
         workspace_pose_limiter=None,

omnigibson/controllers/joint_controller.py

@@ -13,7 +13,7 @@
 )
 from omnigibson.macros import create_module_macros
 from omnigibson.utils.backend_utils import _compute_backend as cb
-from omnigibson.utils.backend_utils import _ComputeBackend, _ComputeNumpyBackend, _ComputeTorchBackend
+from omnigibson.utils.backend_utils import add_compute_function
 from omnigibson.utils.python_utils import assert_valid_key
 from omnigibson.utils.ui_utils import create_module_logger
 
@@ -223,7 +223,7 @@ def compute_control(self, goal_dict, control_dict):
             else:  # effort
                 u = target
 
-            u = cb.compute_joint_torques(u, control_dict["mass_matrix"], self.dof_idx)
+            u = cb.get_custom_method("compute_joint_torques")(u, control_dict["mass_matrix"], self.dof_idx)
 
             # Add gravity compensation
             if self._use_gravity_compensation:
@@ -341,6 +341,6 @@ def _compute_joint_torques_numpy(
 
 
 # Set these as part of the backend values
-setattr(_ComputeBackend, "compute_joint_torques", None)
-setattr(_ComputeTorchBackend, "compute_joint_torques", _compute_joint_torques_torch)
-setattr(_ComputeNumpyBackend, "compute_joint_torques", _compute_joint_torques_numpy)
+add_compute_function(
+    name="compute_joint_torques", np_function=_compute_joint_torques_numpy, th_function=_compute_joint_torques_torch
+)

omnigibson/controllers/multi_finger_gripper_controller.py

@@ -126,8 +126,15 @@ def _generate_default_command_output_limits(self):
         if self._mode == "binary":
             command_output_limits = (-1.0, 1.0)
         # If we're in smoothing mode, output limits should be the average of the independent limits
-        elif self._mode == "smoothing":
-            command_output_limits = cb.mean(command_output_limits[0]), cb.mean(command_output_limits[1])
+        elif self._mode == "smooth":
+            command_output_limits = (
+                cb.mean(command_output_limits[0]),
+                cb.mean(command_output_limits[1]),
+            )
+        elif self._mode == "independent":
+            pass
+        else:
+            raise ValueError(f"Invalid mode {self._mode}")
 
         return command_output_limits