[Question] Will scripted / hand-crafted agents be available?

[ykawamura96]

Question

Hi, thank you for the great project.
The paper says that the demo in Figure 6 was collected by "Demonstration of the designed tasks using hand-crafted state machines and task-space controllers." but this agent was not found in current code base. Also, there was no specific mention of a hand crafted agent in the develeopment roadmap.
Is this something you plan to release in the future?

Thanks!

[Mayankm96]

Hi @ykawamura96

Thanks a lot for the feedback! Yes, we are aiming to release some hand-crafted state machines in the coming months (tentatively April). Currently, we have these implemented using torch backend but we are considering moving them to warp to have an easier way to define a parallelized version of these.

[Mayankm96]

@ykawamura96 I added a warp-based state machine for the lift environment. You can find instructions to run it over here: https://isaac-orbit.github.io/orbit/source/setup/sample.html#state-machine

It would be a lot better to have a more general way to define state machines. But that's still a work-in-progress. Let me know if you have further questions.