resolved conflict

Author: Arpitrf

.gitignore

@@ -14,6 +14,6 @@ build/
 *.swp
 
 # Other custom files/folders
-resources/
+demos/
 tmp/
 

MUJOCO_LOG.TXT

@@ -0,0 +1,27 @@
+Sun Mar  8 18:16:15 2026
+WARNING: OpenGL error 0x501 in or before mjr_makeContext
+
+Sun Mar  8 18:29:23 2026
+WARNING: OpenGL error 0x501 in or before mjr_makeContext
+
+Sun Mar  8 23:02:37 2026
+WARNING: OpenGL error 0x501 in or before mjr_makeContext
+
+Sun Mar  8 23:04:00 2026
+WARNING: OpenGL error 0x501 in or before mjr_makeContext
+
+Sun Mar  8 23:10:13 2026
+WARNING: OpenGL error 0x501 in or before mjr_makeContext
+
+Sun Mar  8 23:11:07 2026
+WARNING: OpenGL error 0x501 in or before mjr_makeContext
+
+Sun Mar  8 23:45:51 2026
+WARNING: OpenGL error 0x501 in or before mjr_makeContext
+
+Sun Mar  8 23:46:06 2026
+WARNING: OpenGL error 0x501 in or before mjr_makeContext
+
+Sun Mar  8 23:48:20 2026
+WARNING: OpenGL error 0x501 in or before mjr_makeContext
+

README.md

@@ -15,8 +15,13 @@ OopsieVerse provides a damage-aware, simulator-agnostic framework and benchmark
 
 # Commands
 
-1. playback
+1. teleop (b1k)
+```bash
+python scripts/teleop_b1k.py --task_name shelve_item --live_feedback --save_video
+```
+
+2. playback (b1k)
 
 ```bash
-python scripts/playback.py --task_name shelve_item --playback --collect_hdf5_path tests/data/teleop_data/behavior1k/shelve_item_safe.hdf5 --playback_hdf5_path resources/playback_data/shelve_item_safe.hdf5 --demo_ids 0 1
+python scripts/playback_b1k.py --task_name shelve_item --collect_hdf5_path demos/behavior1k/teleop_data/shelve_item.hdf5      --playback_hdf5_path demos/behavior1k/playback_data/shelve_item.hdf5 --playback --visualize --compute_metrics
 ```

damagesim/omnigibson/damageable_env.py

@@ -317,10 +317,25 @@ def enable_health_visualization(self):
             return False
 
     def disable_health_visualization(self):
+        # Clear object highlights
+        if self._health_tracked_object_names is not None:
+            for obj_name in self._health_tracked_object_names:
+                try:
+                    obj = self.scene.object_registry("name", obj_name)
+                    if obj is not None:
+                        obj.highlighted = False
+                except Exception:
+                    pass
         if self._health_fig is not None:
             try:
                 import matplotlib.pyplot as plt
-                plt.close(self._health_fig)
+                if plt.fignum_exists(self._health_fig.number):
+                    plt.close(self._health_fig)
+            except Exception:
+                pass
+            try:
+                import matplotlib.pyplot as plt
+                plt.ioff()
             except Exception:
                 pass
         self._health_visualization_enabled = False
@@ -341,13 +356,25 @@ def update_health_visualization(self, obs=None):
         else:
             health_arr = np.asarray(health_arr)
         link_healths = {}
-        for idx, name in enumerate(self.health_list_part_names):
+        for idx, name in enumerate(self.health_list_link_names):
             if idx < len(health_arr):
                 link_healths[name] = health_arr[idx]
         current = {}
         for obj_name in self._health_tracked_object_names:
             vals = [v for k, v in link_healths.items() if k.startswith(f"{obj_name}@")]
             current[obj_name] = min(vals) if vals else 100.0
+
+        # Live object coloring: tint objects red proportionally to damage
+        for obj_name in self._health_tracked_object_names:
+            try:
+                obj = self.scene.object_registry("name", obj_name)
+                if obj is not None:
+                    intensity = 10000 * (100.0 - current[obj_name]) / 100.0
+                    obj.set_highlight_properties(color=[255.0, 0.0, 0.0], intensity=intensity)
+                    obj.highlighted = True
+            except Exception:
+                pass
+
         try:
             return update_live_health_bars(
                 self._health_fig, self._health_ax, self._health_bars_dict,

damagesim/omnigibson/params/damage_params.py

@@ -16,6 +16,14 @@
     "shelve_item": {
         "categories": ["bottle_of_beer", "bottle_of_wine", "wineglass", "bag_of_flour", "box_of_crackers"],
         "names": [],
+    },
+    "pour_water": {
+        "categories": ["laptop", "coffee_cup"],
+        "names": ["water_glass"],
+    },
+    "add_firewood": {
+        "categories": ["agent"],
+        "names": [],
     }
 }
 
@@ -33,6 +41,7 @@
 
     # ── Robots (OG category = "agent") ──────────────────────────────────
     "agent": {
+        # TODO: Add mechanical damage evaluator back, need to debug mech damage params
         "damage_evaluators": ["mechanical", "thermal"],
         # dict_keys(['panda_link0', 'panda_link1', 'panda_link2', 'panda_link3', 'panda_link4', 'panda_link5', 'panda_link6', 'panda_link7', 'panda_hand', 'panda_leftfinger', 'panda_rightfinger', 'eef_link'])
         "damageablefrankapanda_damageable_links": [
@@ -223,6 +232,24 @@
             "damage_scale": 1.0,
         },
     },
+    "log": {
+        "damage_evaluators": ["mechanical"],
+        "mechanical": {
+            "impact_damage_sensitivity": 0.5,
+            "qs_damage_sensitivity": 0.5,
+            "damage_threshold": 100.0,
+            "damage_scale": 1.0,
+        },
+    },
+    "wood_fireplace": {
+        "damage_evaluators": ["mechanical"],
+        "mechanical": {
+            "impact_damage_sensitivity": 0.1,
+            "qs_damage_sensitivity": 0.1,
+            "damage_threshold": 200.0,
+            "damage_scale": 1.0,
+        },
+    },
     "bottom_cabinet": {
         "damage_evaluators": ["mechanical"],
         "mechanical": {