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[WIP] Structured configs#1069

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cgokmen wants to merge 50 commits intoog-developStanfordVL/OmniGibson:og-developfrom structured-config-aiderStanfordVL/OmniGibson:structured-config-aiderCopy head branch name to clipboard

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Commits on Dec 31, 2024

• feat: Add structured config dataclasses for OmniGibson using OmegaConf

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• feat: Migrate Environment config to OmegaConf structured configs

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• refactor: Implement structured configs for robot, object, and prim classes

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• refactor: Enhance object configuration with comprehensive config classes

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• refactor: Update BaseObject and StatefulObject to use structured configs

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• refactor: Update object classes to use structured configs

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Commits on Jan 2, 2025

• refactor: Introduce config objects for prim classes with base configuration structure

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• refactor: Update prim classes to use config objects

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• refactor: Update MaterialPrim to use config object pattern

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• feat: Import PrimConfig in material_prim.py to resolve undefined name error

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• refactor: Update prim classes to use config object pattern consistently

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• refactor: Update prim classes to use config object pattern

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• refactor: Fix config object handling in prim classes during refactoring

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• refactor: Update prim creation method to use PrimConfig

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• refactor: Add Hydra config objects for robot and controller configurations

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• refactor: Create separate config classes for different robot types

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• refactor: Update Husky robot to use HuskyConfig in constructor

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• Based on the changes, I'll generate a concise commit message that captures the essence of the refactoring:

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• refactor: Add MISSING import from omegaconf for config validation

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• refactor: Update LocomotionRobot with config-based validation and docstring

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• refactor: Update LocomotionRobot to use config-based base joint control

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• docs: Update docstring for LocomotionRobot configuration description

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• Some help from cline

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• feat: Create structured config hierarchy for OmegaConf configuration

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• The changes look good. I've added the necessary imports and fixed the formatting issues in both object_config.py and prim_config.py.

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• refactor: Update controller config imports and types in RobotConfig

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• Remove useless and tricky copy method

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• feat: Refactor PrimitiveObject to use structured configs and remove kwargs

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• feat: Refactor StatefulObject to use structured config with type hints and improved config handling

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• refactor: Simplify StatefulObject initialization and type hint config parameter

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• feat: Add import for StatefulObjectConfig to resolve undefined name errors

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• refactor: Convert DatasetObject to use structured config with Hydra/OmegaConf

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• refactor: Add imports for DatasetObjectConfig and USDObjectConfig

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• refactor: Convert USDObject to use structured config with proper config access

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• refactor: Update USDObject to use structured USDObjectConfig

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• refactor: Convert LightObject to use structured config with direct config access

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• refactor: Update LightObject to use structured config with import

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• refactor: Migrate ControllableObject to use structured Hydra/OmegaConf configs

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• The changes look good. I'll generate a concise commit message for these modifications:

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• refactor: Migrate ControllableObject to use structured configs and remove manual config handling

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Commits on Jan 3, 2025

• fix: Remove unused subsume controller code and update controller config handling

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• refactor: Simplify ControllableObject config handling and controller initialization

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• refactor: Improve structured config handling in ControllableObject

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• feat: Add import for ControllableObjectConfig in controllable_object.py

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• feat: Refactor object classes to use config object directly

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• refactor: Update primitive_type access from self._primitive_type to self._config.primitive_type

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• refactor: Update PrimitiveObject to use structured config pattern

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• refactor: Add import for PrimitiveObjectConfig in primitive_object.py

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• Read primitive type

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