How can I add new robot to OmniGibson like Kinova Gen3?

[DawnyWu]

How can I add new robot to OmniGibson like Kinova Gen3?

[wensi-ai]

Hi,

Thank you for your interest in OmniGibson. We have a tutorial for importing custom robots here

In general, you will need to prepare a USD file for your custom robot (which can be converted from URDFs), then write a robot class under omnigibson/robots. You can test the robot with the robot_control_example we provide. The recommended workflow will be to first create a minimum version of the robot class with just null controllers to test the USD can be successfully imported, then gradually add control functionalities to make the robot actually controllable.