Fix open grasp planning for revolute not taking into account the joint offsets OR world frame vs object frame issues

[cgokmen]

Faulty logic here

OmniGibson/omnigibson/utils/grasping_planning_utils.py

Lines 336 to 353 in 255a4e4

	bbox_quat_in_world = link.get_position_orientation()[1]
	bbox_extent_in_link_frame = th.tensor(
	target_obj.native_link_bboxes[link_name]["collision"]["axis_aligned"]["extent"]
	)
	bbox_wrt_origin = T.relative_pose_transform(
	bbox_center_in_world, bbox_quat_in_world, *link.get_position_orientation()
	)
	origin_wrt_bbox = T.invert_pose_transform(*bbox_wrt_origin)
	joint_orientation = lazy.omni.isaac.core.utils.rotations.gf_quat_to_np_array(
	relevant_joint.get_attribute("physics:localRot0")
	)[[1, 2, 3, 0]]
	joint_axis = T.quat_apply(joint_orientation, th.tensor([1, 0, 0], dtype=th.float32))
	joint_axis /= th.norm(joint_axis)
	origin_towards_bbox = th.tensor(bbox_wrt_origin[0])
	open_direction = th.linalg.cross(joint_axis, origin_towards_bbox)
	open_direction /= th.norm(open_direction)
	lateral_axis = th.linalg.cross(open_direction, joint_axis)