OmniGibson v1.1.1

This release contains the below bugfixes to bugs affecting installation, particle systems, action primitives, profiling, and segmentation images:

What's Changed

• Fix missing rename behavior in old glibc versions by @cgokmen in #927
• Fix pynvml for profiling VRAM by @hang-yin in #928
• Enforce flatcache off when using micro particle systems by @hang-yin in #930
• Check for missing test xml by @hang-yin in #913
• Instance Segmentation Refactor by @hang-yin in #932
• Fix transition rule and cuRobo tests by @ChengshuLi in #936
• action primitives bugfix for no op action IK controller by @yyf20001230 in #933

Full Changelog: v1.1.0...v1.1.1

OmniGibson v1.1.0

We are excited to announce the latest release of OmniGibson, bringing significant enhancements to our simulation platform for embodied AI research and development.

Highlights

• Fast Installation with pip: You can now install OmniGibson and Isaac Sim via pip! For detailed
  installation instructions, please visit our official documentation.
• Multiple/Parallel Environments: Support for reinforcement learning with optimized performance
  by running multiple environments at once as in Isaac Gym.
• Data Collection and Playback: You can now use our data collection environment wrappers for demonstration data.
• Primitive Skill Library: We now provide more robust action primitives and faster IK, with primitives
  now covered under integration tests for reliability.
• Torch Integration: OmniGibson now works exclusively with torch tensors instead of numpy arrays, in
  anticipation of full GPU-based simulation and data pipeline.
• cuRobo Integration: OmniGibson now supports some accelerated motion planning capabilities from curobo.
  This integration will be extended in the near future to fully remove the OMPL dependency in primitives.
• Scene Graph Generation: OmniGibson can now generate scene graphs, compatible with single or multiple agents.
• New Robots: We support a number of new robots and provide improvements for our existing robots.
• Documentation Overhaul: Detailed OG modules and tutorials are now provided in the documentation.

Breaking Changes

• OmniGibson now uses torch instead of numpy as is numerical computation backend, in anticipation of
  full GPU-based simulation features that we plan to include in the next release. This means that users
  now need to provide torch tensors when calling APIs instead of numpy arrays.
• OmniGibson is no longer compatible with Isaac Sim 2023.1.1 - we recommend upgrading to 4.1. OmniGibson
  is not yet compatible with Isaac Sim 4.2.
• Local pose APIs have been removed and unified into the set_position_orientation and get_position_orientation
  APIs with the frame argument.
• Absolute prim paths may no longer be provided when creating objects and prims. You will need to provide
  a relative prim path which will be applied on top of the object's scene's prim, in order to support
  multiple environments when necessary.
• Inverse Kinematics controllers have been updated to use a local approximation ("differential IK")
  instead of solving the full IK problem on every step, providing significantly better speed especially
  in multi-environment contexts.

We encourage all users to upgrade to this latest version to take advantage of these improvements and new features. As always, we welcome your feedback and contributions to help make OmniGibson even better.

Merged PRs

• Replicator hot fix by @hang-yin in #667
• Optimize segmentation remapping performance by @hang-yin in #669
• Remove dev docker image, add colab image & improve example/installation usability by @cgokmen in #670
• Black formatter by @hang-yin in #672
• Add black precommit hook & use pre-commit CI for linter by @cgokmen in #673
• Check Isaac Sim version by @hang-yin in #680
• Fix tests for v1.0.0 asset release by @ChengshuLi in #696
• Update profiling by @wensi-ai in #678
• Update intrinsic matrix by @hang-yin in #692
• Fix primitives tests by @sujaygarlanka in #701
• Feat/docs update v2 by @cremebrule in #693
• Fix/general improvements by @cremebrule in #698
• Run tests faster (and make them easier to re-run) by splitting them up by @cgokmen in #682
• Make the README test badge show main instead of og-develop by @cgokmen in #675
• Remove global config by @hang-yin in #702
• Require positive scales and validate local transforms by @cgokmen in #636
• Add and apply isort by @cgokmen in #674
• lazy access of gm values by @hang-yin in #631
• remove friction override for tiago by @cremebrule in #710
• fix small seg semantic id bug by @cremebrule in #722
• Primitives merge to rl by @cgokmen in #728
• Merge experimental RL updates into Hang's PR by @cgokmen in #729
• add flexibility to bddl sampling by @cremebrule in #732
• Merge franka family by @wensi-ai in #725
• fix render_product syncing when updating camera width / height by @cremebrule in #735
• Parallel environments support & RL toolkit by @cgokmen in #699
• [WIP] RL training infra for primitives by @sujaygarlanka in #282
• Fix geodesic_reward==None bug by @hang-yin in #718
• Compatibility fixes for Isaac Sim 4.0.0 by @cgokmen in #776
• Revive transition rules by @ChengshuLi in #781
• Update Docker images to Isaac Sim 4.0.0, add both-version compatibility to kit files by @cgokmen in #778
• fix typo in controller base by @ChengshuLi in #788
• Fix gymnasium flatdim by @hang-yin in #792
• Doc update multiple envs by @hang-yin in #789
• Improve documentation for Tasks, Save/Load, BEHAVIOR Tasks and Knowledgebase by @ChengshuLi in #795
• Cem docs by @cgokmen in #798
• Add import robot and speed optimization tutorials by @wensi-ai in #793
• Some quick docs fixes by @cgokmen in #799
• Feat/doc update josiah by @cremebrule in #794
• Feat/auto robot idx by @cremebrule in #797
• Remove outdated examples README, fix geodesic potential, revive behavior task test by @ChengshuLi in #804
• Improve ControllableObjectViewAPI to work with different robot types by @cgokmen in #803
• Fix scene graph by @hang-yin in #740
• Clean up launch / clear interface and fix some bugs by @cgokmen in #809
• Support OmniGibson and Isaac Sim installation via pip by @yyf20001230 in #796
• Reorganize docs and fix some small bugs by @cgokmen in #813
• Fix draw boudning box example by @hang-yin in #816
• Fix two controller issues by @cgokmen in #817
• Documentation for remote streaming by @hang-yin in #712
• isaacsim new version support and windows installation fix by @yyf20001230 in #829
• Bbox test by @hang-yin in #821
• Add robot load and drive test by @hang-yin in #819
• Support multiple agent in scene graph by @hang-yin in #836
• Data Collection / Playback Environments by @cremebrule in #811
• fix jacobian bug by @cremebrule in #838
• fix demo collection bugt by @wensi-ai in #840
• NumPy -> Torch by @hang-yin in #780
• Disable gravity compensation by @cgokmen in #855
• Fix base footprint offset not applied in ControllableObjectViewAPI by @cgokmen in #857
• add outer loop to simulator by @cremebrule in #864
• Add differential IK option to do IK without Lula by @cgokmen in #858
• Fix/osc by @cremebrule in #863
• do not require floor plane by @cremebrule in #869
• remove lula from IK controller; always use differential IK by @ChengshuLi in #876
• fix clothification for scaled cloth by @ChengshuLi in #860
• Torch mini followup - bug fixes by @hang-yin in #867
• Unify world/local/scene pose getters and setters by @yyf20001230 in https://...

OmniGibson v1.0.0

We are happy to announce the first full release of BEHAVIOR-1K with 1,004 pre-sampled task instances now fully functional! See docs at https://behavior.stanford.edu/omnigibson/getting_started/installation.html

Highlights

• Expanded interactive scenes
• Enhanced object interaction
• Teleoperation System
• Advanced feature support: action primitives, transition rules, etc.

Change log

• Assets:

  • We now offer all 50 interactive traversable scenes
  • Fillable object meshes have been updated with tighter, more accurate fillable volumes
  • Comprehensive meta link annotations
  • Full sliceable synset coverage
  • 1004 pre-sampled task initial conditions from the B1K activity suite

• Simulation:

  • Operational Space Controller support
  • New teleoperation system supporting OpenXR (Meta Quest), SteamVR (HTC VIVE), SpaceMouse, and Keyboard teleoperation
  • Assisted grasping support
  • More robust cloth generation
  • Support for external sensors
  • Controller logic has been significantly refactored to properly handle staggered action and physics timestep differences
  • Controller performance has been optimized, and gravity compensation has been fixed
  • Lazy import: importing OmniGibson no longer immediately launches the simulator
  • Poses in USD, Fabric, and PhysX are now synchronized without taking simulation steps
  • Full transition rule support
  • Deterministic global labels for semantic segmentation and consistent labels for instance segmentation
  • Segmentation support for particle systems
  • More accurate bounding box computation
  • Improved support for non-uniformly scaled meshes
  • Improved task sampling support
  • Action primitives support

• Usability:

  • Comprehensive documentation, including modules, tutorials, and updated examples
  • Logging has been pruned for a cleaner output.
  • Profiling support
  • A Colab notebook for running OmniGibson without local installation is now available

Full Changelog: v0.2.1...v1.0.0

OmniGibson v0.2.1

Bug Fixes

• Fix task sampling errors (#253)
• Improved dataset quality (better annotated metalinks)
• Improved transition rule useability
• Fix Tiago floating issue
• Improved sampling robustness

OmniGibson v0.2.0

BEHAVIOR-1K v0.2.0 beta release of OmniGibson, with a significantly expanded dataset and broad code improvements. See docs at https://stanfordvl.github.io/OmniGibson/getting_started/installation.html

Known Issues

• The latest version of Isaac Sim (2022.2.1) may cause segfault when loading scenes with certain OmniGibson configurations

Highlights

• Revamped dataset
• Expanded object states suite and improved cloth features

Change log

• Assets:

  • 22 Scenes, including all 15 iGibson scenes and 7 new large-scale scenes (house_single_floor, house_double_floor_lower, house_double_floor_upper, grocery_store_cafe, restaurant_brunch, office_large, Pomaria_0_garden)
  • Improve collision mesh quality
  • Many new object assets, with added support for full OmniGibson object state features
  • 300+ systems, including fluid, granular, and visual-type particles
  • 600 pre-sampled task initial conditions from the B1K activity suite

• Simulation:

  • Added object states:
    • Contains
    • Draped
    • Covered for attaching visual particles to cloths
  • Refactored systems
    • New particle type: MacroPhysicalParticleSystem, for physical, "large" particles that are in the ~10-50 instance range (e.g.: small fruits, nuts, etc.)
  • Refactored BehaviorTask
    • Refactored online task sampling scheme for better robustness and generalizability with BDDLSampler
  • Dynamic clothification at runtime to allow users to input arbitrary objects to be converted to cloths
  • Added RecipeRule transition rules to enable programmatic, modular rule specifications
  • Highlighted Bug Fixes:
    • Fix scaling of prismatic joints
    • Fix bugs related to assisted-grasping
    • Tune cloth hyperparameters for better physical behavior

• Usability:

  • Improved standardization and docstrings to improve code interpretability / extensibility
  • Improved conda environment installation scripts
  • Updated installation documentation

OmniGibson v0.1.0

BEHAVIOR-1K beta release of OmniGibson, with new features and significant improvements over installation, stability, and performance. See docs at https://behavior.stanford.edu/omnigibson/

Known Issues

• The latest version of Isaac Sim (2022.2.1) may cause segfault when loading scenes with certain OmniGibson configurations

Highlights

• Cross-platform compatibility and better installation robustness
• All demo scripts work error-free
• Improved rendering quality and simulation speed

Change log

• Assets:
  • Included 5 iGibson scenes
  • Improved collision mesh quality
  • Fixed lights in all existing scenes
• Simulation:
  • Revamped object states:
    • Attached to AttachedTo
    • FluidSource / FluidSink to ParticleSource / ParticleSink
  • Added unit tests for object states
  • Added demo scripts for Dicing and ParticleSource / ParticleSink
  • Updated RL standalone training example
• Usability:
  • Added support for Windows
  • Improved conda environment installation scripts
  • Updated installation documentation
  • Cleaned up logging and spurious omni warnings / errors

OmniGibson v0.0.6

BEHAVIOR-1K beta release of OmniGibson.

This release has been deprecated due to bugs. Please use v0.1.0 instead.

OmniGibson v0.0.5

BEHAVIOR-1K beta release of OmniGibson, with bugfixes and compatibility with Isaac Sim 2022.2.0 as well as updates to Docker initialization. See docs at https://behavior.stanford.edu/omnigibson/

OmniGibson v0.0.4

BEHAVIOR-1K beta release of OmniGibson, with bugfixes and compatibility with Isaac Sim 2022.2.0. See docs at https://behavior.stanford.edu/omnigibson/

OmniGibson v0.0.3

BEHAVIOR-1K beta release of OmniGibson, with bugfixes. See docs at https://behavior.stanford.edu/omnigibson/