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
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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
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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
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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