StanfordVL/BEHAVIOR-1K

Create JointPrims for fixed joints too, distinguish fixed and controllable joints via a controllable_joints member on controllable_object

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#343 opened on Dec 13, 2023

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enhancementgood first issue

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Description

Currently we can't create JointPrim objects for fixed joints because they show up in the .joints member of robots etc. which complicates a lot of math due to their 0 degrees of freedom.

Let's avoid this filtering by either adding a new member that only shows controllable joints and using it, OR even better, making all joint-based code work with variable #dof instead of just 1 dof per joint.

Contributor guide

Research direction
Understand the current joint handling in the codebase, particularly how `.joints` is defined and used. Then design a solution to either add a `controllable joints` member or modify code to handle variable DOF. Check existing tests for joint related functionality.
Tech stack
python
Domain
aibackend
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
PythonGit
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
65