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