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OmniGibson v1.1.0
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@cgokmen cgokmen released this 02 Oct 03:29
· 51 commits to main since this release
v1.1.0
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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

New Contributors

Full Changelog: v1.0.0...v1.1.0

Contributors

cgokmen, ChengshuLi, and 5 other contributors
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