Omnigibson

This release contains the below bugfixes to bugs affecting installation, particle systems, action primitives, profiling, and segmentation images:

What's Changed
* Fix missing rename behavior in old glibc versions by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/927
* Fix pynvml for profiling VRAM by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/928
* Enforce flatcache off when using micro particle systems by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/930
* Check for missing test xml by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/913
* Instance Segmentation Refactor by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/932
* Fix transition rule and cuRobo tests by ChengshuLi in https://github.com/StanfordVL/OmniGibson/pull/936
* action primitives bugfix for no op action IK controller by yyf20001230 in https://github.com/StanfordVL/OmniGibson/pull/933


**Full Changelog**: https://github.com/StanfordVL/OmniGibson/compare/v1.1.0...v1.1.1

We are excited to announce the latest release of OmniGibson, bringing significant enhancements to our simulation platform for embodied AI research and development.

Highlights

- **Fast Installation with pip**: You can now install OmniGibson and Isaac Sim via pip! For detailed
installation instructions, please visit our [official documentation](https://behavior.stanford.edu/omnigibson/getting_started/installation.html).
- **Multiple/Parallel Environments**: Support for reinforcement learning with optimized performance
by running multiple environments at once as in Isaac Gym.
- **Data Collection and Playback**: You can now use our data collection environment wrappers for demonstration data.
- **Primitive Skill Library**: We now provide more robust action primitives and faster IK, with primitives
now covered under integration tests for reliability.
- **Torch Integration**: OmniGibson now works exclusively with `torch` tensors instead of `numpy` arrays, in
anticipation of full GPU-based simulation and data pipeline.
- **cuRobo Integration**: OmniGibson now supports some accelerated motion planning capabilities from curobo.
This integration will be extended in the near future to fully remove the OMPL dependency in primitives.
- **Scene Graph Generation**: OmniGibson can now generate scene graphs, compatible with single or multiple agents.
- **New Robots**: We support a number of new robots and provide improvements for our existing robots.
- **Documentation Overhaul**: Detailed OG modules and tutorials are now provided in the documentation.


Breaking Changes

- OmniGibson now uses `torch` instead of `numpy` as is numerical computation backend, in anticipation of
full GPU-based simulation features that we plan to include in the next release. This means that users
now need to provide torch tensors when calling APIs instead of numpy arrays.
- OmniGibson is no longer compatible with Isaac Sim 2023.1.1 - we recommend upgrading to 4.1. __OmniGibson
is not yet compatible with Isaac Sim 4.2.__
- Local pose APIs have been removed and unified into the `set_position_orientation` and `get_position_orientation`
APIs with the `frame` argument.
- Absolute prim paths may no longer be provided when creating objects and prims. You will need to provide
a relative prim path which will be applied on top of the object's scene's prim, in order to support
multiple environments when necessary.
- Inverse Kinematics controllers have been updated to use a local approximation ("differential IK")
instead of solving the full IK problem on every step, providing significantly better speed especially
in multi-environment contexts.


We encourage all users to upgrade to this latest version to take advantage of these improvements and new features. As always, we welcome your feedback and contributions to help make OmniGibson even better.

Merged PRs
* Replicator hot fix by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/667
* Optimize segmentation remapping performance by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/669
* Remove dev docker image, add colab image & improve example/installation usability by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/670
* Black formatter by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/672
* Add black precommit hook & use pre-commit CI for linter by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/673
* Check Isaac Sim version by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/680
* Fix tests for v1.0.0 asset release by ChengshuLi in https://github.com/StanfordVL/OmniGibson/pull/696
* Update profiling by wensi-ai in https://github.com/StanfordVL/OmniGibson/pull/678
* Update intrinsic matrix by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/692
* Fix primitives tests by sujaygarlanka in https://github.com/StanfordVL/OmniGibson/pull/701
* Feat/docs update v2 by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/693
* Fix/general improvements by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/698
* Run tests faster (and make them easier to re-run) by splitting them up by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/682
* Make the README test badge show main instead of og-develop by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/675
* Remove global config by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/702
* Require positive scales and validate local transforms by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/636
* Add and apply isort by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/674
* lazy access of gm values by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/631
* remove friction override for tiago by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/710
* fix small seg semantic id bug by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/722
* Primitives merge to rl by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/728
* Merge experimental RL updates into Hang's PR by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/729
* add flexibility to bddl sampling by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/732
* Merge franka family by wensi-ai in https://github.com/StanfordVL/OmniGibson/pull/725
* fix render_product syncing when updating camera width / height by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/735
* Parallel environments support & RL toolkit by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/699
* [WIP] RL training infra for primitives by sujaygarlanka in https://github.com/StanfordVL/OmniGibson/pull/282
* Fix geodesic_reward==None bug by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/718
* Compatibility fixes for Isaac Sim 4.0.0 by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/776
* Revive transition rules by ChengshuLi in https://github.com/StanfordVL/OmniGibson/pull/781
* Update Docker images to Isaac Sim 4.0.0, add both-version compatibility to kit files by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/778
* fix typo in controller base by ChengshuLi in https://github.com/StanfordVL/OmniGibson/pull/788
* Fix gymnasium flatdim by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/792
* Doc update multiple envs by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/789
* Improve documentation for Tasks, Save/Load, BEHAVIOR Tasks and Knowledgebase by ChengshuLi in https://github.com/StanfordVL/OmniGibson/pull/795
* Cem docs by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/798
* Add import robot and speed optimization tutorials by wensi-ai in https://github.com/StanfordVL/OmniGibson/pull/793
* Some quick docs fixes by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/799
* Feat/doc update josiah by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/794
* Feat/auto robot idx by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/797
* Remove outdated examples README, fix geodesic potential, revive behavior task test by ChengshuLi in https://github.com/StanfordVL/OmniGibson/pull/804
* Improve ControllableObjectViewAPI to work with different robot types by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/803
* Fix scene graph by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/740
* Clean up launch / clear interface and fix some bugs by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/809
* Support OmniGibson and Isaac Sim installation via pip by yyf20001230 in https://github.com/StanfordVL/OmniGibson/pull/796
* Reorganize docs and fix some small bugs by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/813
* Fix draw boudning box example by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/816
* Fix two controller issues by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/817
* Documentation for remote streaming by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/712
* isaacsim new version support and windows installation fix by yyf20001230 in https://github.com/StanfordVL/OmniGibson/pull/829
* Bbox test by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/821
* Add robot load and drive test by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/819
* Support multiple agent in scene graph by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/836
* Data Collection / Playback Environments by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/811
* fix jacobian bug by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/838
* fix demo collection bugt by wensi-ai in https://github.com/StanfordVL/OmniGibson/pull/840
* NumPy -> Torch by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/780
* Disable gravity compensation by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/855
* Fix base footprint offset not applied in ControllableObjectViewAPI by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/857
* add outer loop to simulator by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/864
* Add differential IK option to do IK without Lula by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/858
* Fix/osc by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/863
* do not require floor plane by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/869
* remove lula from IK controller; always use differential IK by ChengshuLi in https://github.com/StanfordVL/OmniGibson/pull/876
* fix clothification for scaled cloth by ChengshuLi in https://github.com/StanfordVL/OmniGibson/pull/860
* Torch mini followup - bug fixes by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/867
* Unify world/local/scene pose getters and setters by yyf20001230 in https://github.com/StanfordVL/OmniGibson/pull/786
* update dependency versions, remove torchvision dep by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/881
* New robot (R1 & A1) with robot fixes by wensi-ai in https://github.com/StanfordVL/OmniGibson/pull/868
* Feat/curobo by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/878
* Various small fixes by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/889
* limit numpy <2.0 by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/894
* Bug fixes by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/885
* add sanity check for object-level scale, robot can accept scale as Iterable by ChengshuLi in https://github.com/StanfordVL/OmniGibson/pull/896
* Replicator hot fix by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/900
* Rewrite particle modifier demo by yyf20001230 in https://github.com/StanfordVL/OmniGibson/pull/779
* Minor update to isaac sim setup file by yyf20001230 in https://github.com/StanfordVL/OmniGibson/pull/886
* Eric's release fixes by ChengshuLi in https://github.com/StanfordVL/OmniGibson/pull/905
* Pre-release bug fixes by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/901
* Pre release doc update by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/917
* PyPI release infra, version bump by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/919
* Improved installation via an install script instead of setup.sh and metapackage by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/910
* Fix/misc bugs by cremebrule in https://github.com/StanfordVL/OmniGibson/pull/920
* Revive action primitives examples and tests by yyf20001230 in https://github.com/StanfordVL/OmniGibson/pull/842
* Fix docker build issue due to deprecated mamba arg by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/921
* Remove dependency on numba by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/924
* Replicator Patch for INVALID segmentation label by hang-yin in https://github.com/StanfordVL/OmniGibson/pull/923
* Bump asset URL version by cgokmen in https://github.com/StanfordVL/OmniGibson/pull/925

New Contributors
* yyf20001230 made their first contribution in https://github.com/StanfordVL/OmniGibson/pull/796

**Full Changelog**: https://github.com/StanfordVL/OmniGibson/compare/v1.0.0...v1.1.0

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](https://behavior.stanford.edu/omnigibson/modules/scene.html)
- 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**: https://github.com/StanfordVL/OmniGibson/compare/v0.2.1...v1.0.0

Bug Fixes
- Fix task sampling errors (253)
- Improved dataset quality (better annotated metalinks)
- Improved transition rule useability
- Fix Tiago floating issue
- Improved sampling robustness

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

BEHAVIOR-1K beta release of OmniGibson, with new features and significant improvements over installation, stability, and performance. See docs at https://behavior.stanford.edu/omnigibson/

**Known Issues**

- The latest version of Isaac Sim (2022.2.1) may cause segfault when loading scenes with certain OmniGibson configurations

**Highlights**

- Cross-platform compatibility and better installation robustness
- All demo scripts work error-free
- Improved rendering quality and simulation speed

**Change log**

- Assets:
- Included 5 iGibson scenes
- Improved collision mesh quality
- Fixed lights in all existing scenes
- Simulation:
- Revamped object states:
- Attached to AttachedTo
- FluidSource / FluidSink to ParticleSource / ParticleSink
- Added unit tests for object states
- Added demo scripts for Dicing and ParticleSource / ParticleSink
- Updated RL standalone training example
- Usability:
- Added support for Windows
- Improved conda environment installation scripts
- Updated installation documentation
- Cleaned up logging and spurious omni warnings / errors