Merge branch 'og-develop' into pypi-release

docs/miscellaneous/contact.md

@@ -1,3 +1,7 @@
+---
+icon: material/email
+---
+
 # **Contact**
 
 If you have any questions, comments, or concerns, please feel free to reach out to us by joining our Discord server:

docs/miscellaneous/contributing.md

@@ -1,3 +1,7 @@
+---
+icon: material/arm-flex
+---
+
 # **Contribution Guidelines**
 
 We sincerely welcome contributions of any form to OmniGibson, as our aim is to make it a more robust and useful resource for the community. We have always held the belief that a collective effort from the community is essential to tailor BEHAVIOR/OmniGibson to meet diverse needs and unlock its full potential. 

docs/miscellaneous/faq.md

@@ -1,3 +1,7 @@
+---
+icon: material/file-question
+---
+
 # **Frequently Asked Questions**
 
 ## **What is the relationship between BEHAVIOR-1K and OmniGibson?**

docs/miscellaneous/known_issues.md

@@ -1,3 +1,7 @@
+---
+icon: octicons/question-16
+---
+
 # **Known Issues & Troubleshooting**
 
 ## 🤔 **Known Issues**

docs/modules/robots.md

@@ -80,7 +80,7 @@ Controllers and sensors can be accessed directly via the `controllers` and `sens
 
 
 ## Types
-**`OmniGibson`** currently supports 9 robots, consisting of 4 mobile robots, 2 manipulation robots, 2 mobile manipulation robots, and 1 anthropomorphic "robot" (a bimanual agent proxy used for VR teleoperation). Below, we provide a brief overview of each model:
+**`OmniGibson`** currently supports 12 robots, consisting of 4 mobile robots, 3 manipulation robots, 4 mobile manipulation robots, and 1 anthropomorphic "robot" (a bimanual agent proxy used for VR teleoperation). Below, we provide a brief overview of each model:
 
 ### Mobile Robots
 These are navigation-only robots (an instance of [`LocomotionRobot`](../reference/robots/locomotion_robot.md)) that solely consist of a base that can move.
@@ -170,6 +170,19 @@ These are manipulation-only robots (an instance of [`ManipulationRobot`](../refe
             <img src="../assets/robots/VX300S.png" alt="rgb">
         </td>
     </tr>
+    <tr>
+        <td valign="top" width="60%">
+            [**`A1`**](../reference/robots/A1.md)<br><br>  
+            The 6-DOF A1 model equipped with a Inspire-Robots Dexterous Hand.<br><br> 
+            <ul>
+                <li>_Controllers_: Arm, Gripper</li>
+                <li>_Sensors_: Wrist Camera</li>
+            </ul>
+        </td>
+        <td>
+            <img src="../assets/robots/A1.png" alt="rgb">
+        </td>
+    </tr>
 </table>
 
 
@@ -203,6 +216,32 @@ These are robots that can both navigate and manipulate (and inherit from both [`
             <img src="../assets/robots/Tiago.png" alt="rgb">
         </td>
     </tr>
+    <tr>
+        <td valign="top" width="60%">
+            [**`Stretch`**](../reference/robots/stretch.md)<br><br>  
+            The <a href="https://hello-robot.com/stretch-3-product">Stretch</a> model from Hello Robot, composed of a two-wheeled base, 2-DOF head, 5-DOF arm, and 1-DOF gripper.<br><br> 
+            <ul>
+                <li>_Controllers_: Base, Head, Arm, Gripper</li>
+                <li>_Sensors_: Head Camera</li>
+            </ul>
+        </td>
+        <td>
+            <img src="../assets/robots/Stretch.png" alt="rgb">
+        </td>
+    </tr>
+    <tr>
+        <td valign="top" width="60%">
+            [**`R1`**](../reference/robots/R1.md)<br><br>  
+            The bimanual R1 model, composed of a holonomic base (which we model as a 3-DOF (x,y,rz) set of joints), 4-DOF torso, x2 6-DOF arm, and x2 2-DOF parallel jaw grippers.<br><br> 
+            <ul>
+                <li>_Controllers_: Base, Left Arm, Right Arm, Left Gripper, Right Gripper</li>
+                <li>_Sensors_: Head Camera</li>
+            </ul>
+        </td>
+        <td>
+            <img src="../assets/robots/R1.png" alt="rgb">
+        </td>
+    </tr>
 </table>
 
 ### Additional Robots

docs/tutorials/demo_collection.md

@@ -34,3 +34,75 @@ action = teleop_sys.get_action(teleop_sys.get_obs())
 ```
 
 to get the action based on the user teleoperation input, and pass the action to the `env.step` function.
+
+## Data Collection and Playback
+
+OmniGibson provides tools for collecting demonstration data and playing it back for further analysis, training, or evaluation. This is implemented via two environment wrapper classes: `DataCollectionWrapper` and `DataPlaybackWrapper`.
+
+### DataCollectionWrapper
+
+The `DataCollectionWrapper` is used to collect data during environment interactions. It wraps around an existing OmniGibson environment and records relevant information at each step.
+
+Key features:
+
+ - Records actions, states, rewards, and termination conditions
+ - Optimizes the simulator for data collection
+ - Tracks object and system transitions within the environment
+
+Example usage:
+
+```python
+import omnigibson as og
+from omnigibson.envs import DataCollectionWrapper
+
+# Create your OmniGibson environment
+env = og.Environment(configs=your_config)
+
+# Wrap it with DataCollectionWrapper
+wrapped_env = DataCollectionWrapper(
+    env=env,
+    output_path="path/to/save/data.hdf5",
+    only_successes=False,  # Set to True to only save successful episodes
+)
+
+# Use the wrapped environment as you would normally
+obs, info = wrapped_env.reset()
+for _ in range(num_steps):
+    action = your_policy(obs)
+    obs, reward, terminated, truncated, info = wrapped_env.step(action)
+
+# Save the collected data
+wrapped_env.save_data()
+```
+
+### DataPlaybackWrapper
+
+The `DataPlaybackWrapper` is used to replay collected data and optionally record additional observations. This is particularly useful for gathering visual data or other sensor information that wasn't collected during the initial demonstration.
+
+Key features:
+ - Replays episodes from collected data
+ - Can record additional observation modalities during playback
+ - Supports custom robot sensor configurations and external sensors
+
+Example usage:
+
+```python
+from omnigibson.envs import DataPlaybackWrapper
+
+# Create a playback environment
+playback_env = DataPlaybackWrapper.create_from_hdf5(
+    input_path="path/to/collected/data.hdf5",
+    output_path="path/to/save/playback/data.hdf5",
+    robot_obs_modalities=["proprio", "rgb", "depth_linear"],
+    robot_sensor_config=your_robot_sensor_config,
+    external_sensors_config=your_external_sensors_config,
+    n_render_iterations=5,
+    only_successes=False,
+)
+
+# Playback the entire dataset and record observations
+playback_env.playback_dataset(record=True)
+
+# Save the recorded playback data
+playback_env.save_data()
+```

mkdocs.yml

@@ -131,9 +131,9 @@ nav:
     - FAQ: miscellaneous/faq.md
     - Known Issues & Troubleshooting: miscellaneous/known_issues.md
     - Contributing: miscellaneous/contributing.md
-    - Changelog: https://github.com/StanfordVL/OmniGibson/releases
     - Contact Us: miscellaneous/contact.md
   - API Reference: reference/*
+  - Changelog: https://github.com/StanfordVL/OmniGibson/releases
 
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