iGibson 2.2.2

iGibson 2.2.2 is a new patch version with the below changes:

Changelog:

• Replace references to deprecated np.int and np.bool with int

Full Changelog: 2.2.1...2.2.2

iGibson 2.2.1

iGibson 2.2.1 is a new patch version with the below changes:

Changelog:

• Restores support for legacy BehaviorRobot proprioception dimensionality to match BEHAVIOR baselines, using the legacy_proprioception constructor flag.
• Fixes setuptools build issues.
• Remove references to non-dataset scenes.
• Fix BehaviorRobot saving/loading bugs.

Full Changelog: 2.2.0...2.2.1

iGibson 2.2.0

iGibson 2.2.0 is a new minor version with the below features:

Changelog:

• Fixes iGibson ROS integration
• Adds the Tiago robot
• Adds primitive action interface and a sample set of (work-in-progress) object-centric action primitives
• Fixes some bugs around point nav task robot pose sampling
• Fixes some bugs around occupancy maps

Full Changelog: 2.1.0...2.2.0

iGibson 2.1.0

iGibson 2.1.0 is a bugfix release (that is numbered as a minor version because 2.0.6, which was a breaking change, was incorrectly numbered as a patch).

Changelog:

• Fixed performance regression in scenes with large numbers of markers (see #169)
• Fixed broken iGibson logo
• Fixed Docker images
• Removed vendored OpenVR to drastically shrink package size
• Add better dataset version checking

Full Changelog: 2.0.6...2.1.0

iGibson 2.0.6

Bug-fixes

• Fix texture randomization
• Renderer updates object poses when the objects' islands are awake
• Set ignore_visual_shape to True by default
• EmptyScene render_floor_plane set to True by default
• Fix shadow rendering for openGL 4.1
• Fix VR demo scripts

Improvements

• Major refactoring of Scene saving and loading
• Major refactoring of unifying Robots into Objects
• Make BehaviorRobot inherit BaseRobot
• Clean up robot demos
• Add optical flow example
• Improve AG (assistive grasping)
• Support for multi-arm robots
• Handle hidden instances for optimized renderer
• Unify semantic class ID
• Clean up ray examples
• Move VR activation out of BehaviorRobot
• Base motion planning using onboard sensing, global 2d map, or full observability
• Add gripper to JR2
• Add dataset / assets version validation

Full Changelog: 2.0.5...2.0.6

iGibson 2.0.5

Re-release of iGibson 2.0.4 due to issue in PyPI distribution pipeline.

Bug-fixes

• Robot camera rendering where there is non-zero rotation in the x-axis (forward direction)
• Rendering floor plane in StaticIndoorScene
• BehaviorRobot assisted grasping ray-casting incorrect
• BehaviorRobot head rotation incorrect (moving faster than it's supposed to)
• URDFObject bounding box computation incorrect
• EGL context error if pybullet GUI created before EGL context
• Rendering on retina screens
• Viewer breaks in planning mode when no robot
• LiDAR rendering

Improvements

• Major refactoring of Simualtor (including rendering mode), Task, Environment, Robot, sampling code, scene/object/robot importing logic, etc.
• Better CI and automation
• Add predicates of BehaviorTask to info of Env
• Major updates of examples
• Minor updates of docs

New Features

• Add Controller interface to all robots

Full Changelog: 2.0.3...2.0.5

iGibson 2.0.3

Bug-fixes

• pybullet retore state
• adjacency ray casting
• link CoM frame computation
• sem/ins segmentation rendering
• simulator force_sync renderer
• material id for objects without valid MTL
• Open state checking for windows
• BehaviorRobot trigger fraction out of bound
• BehaviorRobot AG joint frame not at contact point

Improvements

• Refactor iG object inheritance
• Improve documentation
• Improve sampling
• scene caches support FetchGripper robot
• BehaviorRobot action space: delta action on top of actual pose, not "ghost" pose
• Upgrade shader version to 460
• Minify docker container size

New Features

• VR Linux support
• GitHub action CI

iGibson 2.0.2

Changelog:

• Fix semantic segmentation and instance segmentation bug
• Fix a material handling bug and improve readability

iGibson 2.0.1

Changelog:

• Added support for FetchGripper robot
• Integrate FetchGripper robot for BEHAVIOR tasks
• Miscellaneous bug fixes

iGibson 2.0.0 release

Major update to iGibson to reach iGibson 2.0, for details please refer to our arxiv preprint.

• iGibson 2.0 supports object states, including temperature, wetness level, cleanliness level, and toggled and sliced states, necessary to cover a wider range of tasks.
• iGibson 2.0 implements a set of predicate logic functions that map the simulator states to logic states like Cooked or Soaked.
• iGibson 2.0 includes a virtual reality (VR) interface to immerse humans in its scenes to collect demonstrations.

iGibson 2.0 is also the version to use with BEHAVIOR Challenge. For more information please visit: http://svl.stanford.edu/behavior/challenge.html