Merge branch 'og-develop' into curobo

.github/workflows/publish-pypi.yml

@@ -0,0 +1,38 @@
+# This workflow will upload a Python Package using Twine when a release is created
+# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-python#publishing-to-package-registries
+
+# This workflow uses actions that are not certified by GitHub.
+# They are provided by a third-party and are governed by
+# separate terms of service, privacy policy, and support
+# documentation.
+
+name: Upload Python Package
+
+on:
+  release:
+    types: [published]
+
+jobs:
+  pypi-publish:
+    name: Upload release to PyPI
+    runs-on: ubuntu-latest
+    environment:
+      name: pypi
+      url: https://pypi.org/p/omnigibson
+    permissions:
+      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
+      contents: read
+    steps:
+    - uses: actions/checkout@v4
+    - name: Set up Python
+      uses: actions/setup-python@v3
+      with:
+        python-version: '3.x'
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install setuptools wheel twine
+    - name: Build package
+      run: python setup.py sdist
+    - name: Publish package distributions to PyPI
+      uses: pypa/[email protected]

.gitignore

@@ -72,6 +72,7 @@ gibson/assets
 notebook
 build
 dist
+omnigibson.egg-info
 
 # Directories used for QC pipeline
 omnigibson/utils/data_utils/mesh_decimation/collision

README.md

@@ -13,6 +13,8 @@
 -------
 
 ### Latest Updates
+- [10/01/24] **v1.1.0**: Major improvements, stability fixes, pip installation, and much more! [[release notes]](https://github.com/StanfordVL/OmniGibson/releases/tag/v1.1.0)
+
 - [03/17/24] **v1.0.0**: First full release with 1,004 pre-sampled tasks, all 50 scenes, and many new objects! [[release notes]](https://github.com/StanfordVL/OmniGibson/releases/tag/v1.0.0)
 
 - [08/04/23] **v0.2.0**: More assets! 600 pre-sampled tasks, 7 new scenes, and many new objects 📈 [[release notes]](https://github.com/StanfordVL/OmniGibson/releases/tag/v0.2.0)

docker/prod.Dockerfile

@@ -1,4 +1,4 @@
-FROM nvcr.io/nvidia/isaac-sim:4.0.0
+FROM nvcr.io/nvidia/isaac-sim:4.1.0
 
 # Set up all the prerequisites.
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \

docs/miscellaneous/contact.md

@@ -1,3 +1,7 @@
+---
+icon: material/email
+---
+
 # **Contact**
 
 If you have any questions, comments, or concerns, please feel free to reach out to us by joining our Discord server:

docs/miscellaneous/contributing.md

@@ -1,3 +1,7 @@
+---
+icon: material/arm-flex
+---
+
 # **Contribution Guidelines**
 
 We sincerely welcome contributions of any form to OmniGibson, as our aim is to make it a more robust and useful resource for the community. We have always held the belief that a collective effort from the community is essential to tailor BEHAVIOR/OmniGibson to meet diverse needs and unlock its full potential. 
@@ -48,4 +52,18 @@ The BEHAVIOR suite has continuous integration running via Github Actions in cont
 * Docs builds are run on the behavior-website repo along with the rest of the website.
 * When GitHub releases are created, a source distribution will be packed and shipped on PyPI by a hosted runner
 
-For more information about the workflows and runners, please reach out on our Discord channel.
+For more information about the workflows and runners, please reach out on our Discord channel.
+
+## **Release Process**
+At the time of each release, we follow the below process:
+
+1. Update the version of OmniGibson in the pyproject.toml and __init__.py files.
+2. Add a release note on the README.md file
+3. Push to `og-develop`
+4. Wait for all tests to finish, confirm they are passing, confirm docs build on behavior-website
+5. Push `og-develop` to `main`
+6. Click on create release on GitHub, tag the version starting with the letter `v`
+7. Create release notes. You can use the automated release notes but edit to include the important info.
+8. Create the release.
+9. Wait for docker and PyPI releases to finish, confirm success
+10. Announce on Discord, user channels.

docs/miscellaneous/faq.md

@@ -1,3 +1,7 @@
+---
+icon: material/file-question
+---
+
 # **Frequently Asked Questions**
 
 ## **What is the relationship between BEHAVIOR-1K and OmniGibson?**

docs/miscellaneous/known_issues.md

@@ -1,3 +1,7 @@
+---
+icon: octicons/question-16
+---
+
 # **Known Issues & Troubleshooting**
 
 ## 🤔 **Known Issues**

docs/modules/robots.md

@@ -80,7 +80,7 @@ Controllers and sensors can be accessed directly via the `controllers` and `sens
 
 
 ## Types
-**`OmniGibson`** currently supports 9 robots, consisting of 4 mobile robots, 2 manipulation robots, 2 mobile manipulation robots, and 1 anthropomorphic "robot" (a bimanual agent proxy used for VR teleoperation). Below, we provide a brief overview of each model:
+**`OmniGibson`** currently supports 12 robots, consisting of 4 mobile robots, 3 manipulation robots, 4 mobile manipulation robots, and 1 anthropomorphic "robot" (a bimanual agent proxy used for VR teleoperation). Below, we provide a brief overview of each model:
 
 ### Mobile Robots
 These are navigation-only robots (an instance of [`LocomotionRobot`](../reference/robots/locomotion_robot.md)) that solely consist of a base that can move.
@@ -170,6 +170,19 @@ These are manipulation-only robots (an instance of [`ManipulationRobot`](../refe
             <img src="../assets/robots/VX300S.png" alt="rgb">
         </td>
     </tr>
+    <tr>
+        <td valign="top" width="60%">
+            [**`A1`**](../reference/robots/A1.md)<br><br>  
+            The 6-DOF A1 model equipped with a Inspire-Robots Dexterous Hand.<br><br> 
+            <ul>
+                <li>_Controllers_: Arm, Gripper</li>
+                <li>_Sensors_: Wrist Camera</li>
+            </ul>
+        </td>
+        <td>
+            <img src="../assets/robots/A1.png" alt="rgb">
+        </td>
+    </tr>
 </table>
 
 
@@ -203,6 +216,32 @@ These are robots that can both navigate and manipulate (and inherit from both [`
             <img src="../assets/robots/Tiago.png" alt="rgb">
         </td>
     </tr>
+    <tr>
+        <td valign="top" width="60%">
+            [**`Stretch`**](../reference/robots/stretch.md)<br><br>  
+            The <a href="https://hello-robot.com/stretch-3-product">Stretch</a> model from Hello Robot, composed of a two-wheeled base, 2-DOF head, 5-DOF arm, and 1-DOF gripper.<br><br> 
+            <ul>
+                <li>_Controllers_: Base, Head, Arm, Gripper</li>
+                <li>_Sensors_: Head Camera</li>
+            </ul>
+        </td>
+        <td>
+            <img src="../assets/robots/Stretch.png" alt="rgb">
+        </td>
+    </tr>
+    <tr>
+        <td valign="top" width="60%">
+            [**`R1`**](../reference/robots/R1.md)<br><br>  
+            The bimanual R1 model, composed of a holonomic base (which we model as a 3-DOF (x,y,rz) set of joints), 4-DOF torso, x2 6-DOF arm, and x2 2-DOF parallel jaw grippers.<br><br> 
+            <ul>
+                <li>_Controllers_: Base, Left Arm, Right Arm, Left Gripper, Right Gripper</li>
+                <li>_Sensors_: Head Camera</li>
+            </ul>
+        </td>
+        <td>
+            <img src="../assets/robots/R1.png" alt="rgb">
+        </td>
+    </tr>
 </table>
 
 ### Additional Robots

docs/tutorials/demo_collection.md

@@ -34,3 +34,75 @@ action = teleop_sys.get_action(teleop_sys.get_obs())
 ```
 
 to get the action based on the user teleoperation input, and pass the action to the `env.step` function.
+
+## Data Collection and Playback
+
+OmniGibson provides tools for collecting demonstration data and playing it back for further analysis, training, or evaluation. This is implemented via two environment wrapper classes: `DataCollectionWrapper` and `DataPlaybackWrapper`.
+
+### DataCollectionWrapper
+
+The `DataCollectionWrapper` is used to collect data during environment interactions. It wraps around an existing OmniGibson environment and records relevant information at each step.
+
+Key features:
+
+ - Records actions, states, rewards, and termination conditions
+ - Optimizes the simulator for data collection
+ - Tracks object and system transitions within the environment
+
+Example usage:
+
+```python
+import omnigibson as og
+from omnigibson.envs import DataCollectionWrapper
+
+# Create your OmniGibson environment
+env = og.Environment(configs=your_config)
+
+# Wrap it with DataCollectionWrapper
+wrapped_env = DataCollectionWrapper(
+    env=env,
+    output_path="path/to/save/data.hdf5",
+    only_successes=False,  # Set to True to only save successful episodes
+)
+
+# Use the wrapped environment as you would normally
+obs, info = wrapped_env.reset()
+for _ in range(num_steps):
+    action = your_policy(obs)
+    obs, reward, terminated, truncated, info = wrapped_env.step(action)
+
+# Save the collected data
+wrapped_env.save_data()
+```
+
+### DataPlaybackWrapper
+
+The `DataPlaybackWrapper` is used to replay collected data and optionally record additional observations. This is particularly useful for gathering visual data or other sensor information that wasn't collected during the initial demonstration.
+
+Key features:
+ - Replays episodes from collected data
+ - Can record additional observation modalities during playback
+ - Supports custom robot sensor configurations and external sensors
+
+Example usage:
+
+```python
+from omnigibson.envs import DataPlaybackWrapper
+
+# Create a playback environment
+playback_env = DataPlaybackWrapper.create_from_hdf5(
+    input_path="path/to/collected/data.hdf5",
+    output_path="path/to/save/playback/data.hdf5",
+    robot_obs_modalities=["proprio", "rgb", "depth_linear"],
+    robot_sensor_config=your_robot_sensor_config,
+    external_sensors_config=your_external_sensors_config,
+    n_render_iterations=5,
+    only_successes=False,
+)
+
+# Playback the entire dataset and record observations
+playback_env.playback_dataset(record=True)
+
+# Save the recorded playback data
+playback_env.save_data()
+```

mkdocs.yml

@@ -131,9 +131,9 @@ nav:
     - FAQ: miscellaneous/faq.md
     - Known Issues & Troubleshooting: miscellaneous/known_issues.md
     - Contributing: miscellaneous/contributing.md
-    - Changelog: https://github.com/StanfordVL/OmniGibson/releases
     - Contact Us: miscellaneous/contact.md
   - API Reference: reference/*
+  - Changelog: https://github.com/StanfordVL/OmniGibson/releases
 
 extra:
   analytics:

omnigibson/__init__.py

@@ -28,7 +28,7 @@
 
 nest_asyncio.apply()
 
-__version__ = "1.0.0"
+__version__ = "1.1.0"
 
 root_path = os.path.dirname(os.path.realpath(__file__))
 

omnigibson/download_datasets.py

@@ -23,7 +23,7 @@ def main():
         print(
             f"If you want to install data under a different path, please change the DATA_PATH variable in omnigibson/macros.py and rerun omnigibson/download_datasets.py."
         )
-        if click.confirm("Do you want to continue?"):
+        if click.confirm("Do you want to continue?", default=True):
             # Only download if the dataset path doesn't exist
             if not dataset_exists:
                 print("Downloading dataset...")