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OmniGibson v1.0.0

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@cgokmen cgokmen released this 18 Mar 06:57
· 1549 commits to main since this release

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