OmniGibson patches & configs¶

ManiGuard consumes OmniGibson as an unmodified upstream dependency. The behaviors it needs that aren't in upstream are installed at runtime by maniguard/_omnigibson_patches.py, applied automatically the first time you import maniguard:

import maniguard   # calls maniguard._omnigibson_patches.apply()

apply() is idempotent. Set MANIGUARD_SKIP_OMNIGIBSON_PATCH=1 to skip it entirely (e.g. lightweight pure-Python consumers that never touch the simulator). If OmniGibson isn't importable, the eager patches are silently skipped so non-sim tooling still works.

Two kinds of patch¶

1. Import-time injection. A MetaPathFinder wraps the loader for omnigibson.object_states so the instant that subpackage finishes importing, ManiGuard injects Dropped, Upright (from maniguard.object_states), and Grasped (an alias of upstream IsGrasping). This must happen during import omnigibson because downstream modules reference those names at module load.

2. Eager class/function patches, applied after import omnigibson completes:

Patch	What it does	Why
`_extend_factory_lists`	Adds `Dropped`/`Upright` to the default state set	so any object can carry them
`_patch_grasp_goal`	`GraspGoal` gains a `hold_steps` counter	require a grasp to be held N steps
`_patch_grasp_reward`	`GraspReward` falls back when robot lacks `torso_lift_link`	Franka has no torso link
`_patch_sampling_utils`	tensor dtype/device-safe `draw_debug_markers`	avoid CPU/GPU tensor mismatches
`_patch_franka_longfinger`	long-finger Franka USD/URDF/cuRobo assets + denser AG ray points	accurate assisted-grasp with long fingers
`_patch_create_joint_skip_render`	skips `og.sim.render()` in `create_joint` when all poses are supplied	fixes an AG-path segfault (render invalidates articulation handles inside a physics callback)
`_patch_attachable_for_f_link_objects`	auto-adds `attachable` to objects with an F meta-link	lid↔container coupling needs both sides attachable
`_patch_attached_to_disable_collision`	filters collisions between attached child/parent	stops light containers flying apart on attach
`apply_ag_throttle_from_env`	throttles assisted-grasp to every Nth substep	cuts redundant per-substep AG raycasts in long rollouts
`_register_bddl_predicates`	registers `upright`/`dropped`/`grasped`/`stashed` BDDL predicates	expose ManiGuard states to BDDL

Environment variables¶

Runtime toggles for the patch layer (all read at import maniguard):

Variable	Effect
`MANIGUARD_SKIP_OMNIGIBSON_PATCH=1`	skip all patches (no sim needed)
`MANIGUARD_SKIP_LONGFINGER=1`	skip the long-finger Franka asset patch
`MANIGUARD_AG_SUBSTEP_INTERVAL=N`	fire assisted-grasp once per N physics substeps (set N ≈ physics-steps-per-action-step to fire once per env step)

These variables are read at runtime by the patch module; nothing else needs to be configured to enable the patches.