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OmniGibson v0.2.0
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@cremebrule cremebrule released this 07 Aug 06:42
· 1405 commits to main since this release
v0.2.0
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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
Assets 2