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

• 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

• 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

• 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