Merge pull request #1165 from StanfordVL/fix/vr-data-wrapper

Fix/vr & data wrapper

Author: hang-yin

omnigibson/object_states/saturated.py

@@ -77,9 +77,9 @@ def serialize(self, state):
                     state_flat,
                     th.cat(
                         [
-                            (
-                                self.obj.scene.get_system(system_name, force_init=False).uuid,
-                                state[system_name],
+                            th.tensor(
+                                [self.obj.scene.get_system(system_name, force_init=False).uuid, state[system_name]],
+                                dtype=th.float32,
                             )
                             for system_name in system_names
                         ]

omnigibson/omnigibson_4_5_0.kit

@@ -9,6 +9,7 @@ keywords = ["experience", "app", "usd", "isaacsim"] # That makes it browsable in
 [dependencies]
 "isaacsim.exp.base" = {}
 "omni.flowusd" = {}
+"omni.kit.xr.profile.vr" = {}
 
 [settings.app]
 name = "OmniGibson"

omnigibson/utils/teleop_utils.py

@@ -173,8 +173,6 @@ def __init__(
         if align_to_prim:
             self.set_anchor_with_prim(self.align_anchor_to)
         self.raw_data = {}
-        # enable xr extension
-        lazy.omni.isaac.core.utils.extensions.enable_extension("omni.kit.xr.profile.vr")
         # run super method
         super().__init__(teleop_config, robot, show_control_marker)
         # get xr core and profile