igibson --> omnigibson

StanfordVL · Oct 22, 2022 · 04747e3 · 04747e3
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diff --git a/.github/workflows/build-containers.yml b/.github/workflows/build-containers.yml
@@ -7,7 +7,7 @@ on:
   workflow_dispatch:
 
 env:
-  REGISTRY_USER: igibson
+  REGISTRY_USER: omnigibson
   IMAGE_REGISTRY: docker.io
   REGISTRY_PASSWORD: ${{ secrets.REGISTRY_PASSWORD }}
 

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
@@ -6,7 +6,7 @@ jobs:
   build-docs:
     name: Build and deploy documentation
     runs-on: ubuntu-latest
-    if: github.repository == 'StanfordVL/iGibson' && github.ref == 'refs/heads/master'
+    if: github.repository == 'StanfordVL/OmniGibson' && github.ref == 'refs/heads/master'
 
     steps:
     - name: Checkout code

diff --git a/.github/workflows/examples-as-test.yml b/.github/workflows/examples-as-test.yml
@@ -15,14 +15,14 @@ concurrency:
 jobs:
   test:
     runs-on: [self-hosted, linux, gpu]
-    if: github.repository == 'StanfordVL/iGibson-dev'
+    if: github.repository == 'StanfordVL/OmniGibson-dev'
 
     steps:
       - name: Checkout source
         uses: actions/checkout@v2
         with:
           submodules: true
-          path: igibson
+          path: omnigibson
 
       - name: Add CUDA to env
         run: echo "/usr/local/cuda/bin" >> $GITHUB_PATH
@@ -34,19 +34,19 @@ jobs:
           architecture: x64
 
       - name: Install dev requirements
-        working-directory: igibson
+        working-directory: omnigibson
         run: pip install -r requirements-dev.txt
 
       - name: Install additional dev requirements
-        working-directory: igibson
+        working-directory: omnigibson
         run: pip install -r tests/requirements-tests.txt
 
       - name: Install
-        working-directory: igibson
+        working-directory: omnigibson
         run: pip install -e .
 
       - name: Uninstall pip bddl
-        working-directory: igibson
+        working-directory: omnigibson
         run: pip uninstall -y bddl
 
       - name: Checkout BDDL
@@ -64,15 +64,15 @@ jobs:
         run: pip install -e .
 
       - name: Link Dataset
-        working-directory: igibson
-        run: ln -s /scr/ig-data igibson/data
+        working-directory: omnigibson
+        run: ln -s /scr/ig-data omnigibson/data
 
       - name: Create tests of examples
-        working-directory: igibson
+        working-directory: omnigibson
         run: python tests/create_tests_of_examples.py
 
       - name: Run tests
-        working-directory: igibson
+        working-directory: omnigibson
         run: pytest /tmp/tests_of_examples
 
       - name: Remove Files

diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
@@ -9,7 +9,7 @@ jobs:
   build:
     runs-on: "ubuntu-latest"
     steps:
-    - name: Checkout iGibson source
+    - name: Checkout OmniGibson source
       uses: actions/checkout@master
       with:
         submodules: true
@@ -24,7 +24,7 @@ jobs:
         build
         --user
     - name: Remove unnecessary files to reduce file size
-      run: rm -r igibson/render/openvr/samples
+      run: rm -r omnigibson/render/openvr/samples
     - name: Build a binary wheel and a source tarball
       run: >-
         python -m
@@ -33,7 +33,7 @@ jobs:
         --outdir dist/
         .
     - name: Publish a Python distribution to PyPI
-      if: github.repository == 'StanfordVL/iGibson' && startsWith(github.ref, 'refs/tags')
+      if: github.repository == 'StanfordVL/OmniGibson' && startsWith(github.ref, 'refs/tags')
       uses: pypa/gh-action-pypi-publish@release/v1
       with:
         user: __token__

diff --git a/.github/workflows/sync-repos.yml b/.github/workflows/sync-repos.yml
@@ -1,4 +1,4 @@
-name: Sync iGibson-dev/master to iGibson/master
+name: Sync OmniGibson-dev/master to OmniGibson/master
 
 on:
   workflow_dispatch:
@@ -12,7 +12,7 @@ jobs:
     if: github.ref == 'refs/heads/master'
     steps:
       - uses: actions/checkout@v2
-      - name: Sync iGibson-dev/master to iGibson/master
-        if: github.repository == 'StanfordVL/iGibson-dev' && startsWith(github.ref, 'refs/tags')
+      - name: Sync OmniGibson-dev/master to OmniGibson/master
+        if: github.repository == 'StanfordVL/OmniGibson-dev' && startsWith(github.ref, 'refs/tags')
         run:
-          git push https://$PERSONAL_ACCESS_TOKEN:[email protected]/StanfordVL/iGibson.git master:master
+          git push https://$PERSONAL_ACCESS_TOKEN:[email protected]/StanfordVL/OmniGibson.git master:master
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
@@ -9,14 +9,14 @@ concurrency:
 jobs:
   test:
     runs-on: [self-hosted, linux, gpu]
-    if: github.repository == 'StanfordVL/iGibson-dev'
+    if: github.repository == 'StanfordVL/OmniGibson-dev'
 
     steps:
       - name: Checkout source
         uses: actions/checkout@v2
         with:
           submodules: true
-          path: igibson
+          path: omnigibson
 
       - name: Add CUDA to env
         run: echo "/usr/local/cuda/bin" >> $GITHUB_PATH
@@ -28,15 +28,15 @@ jobs:
           architecture: x64
 
       - name: Install dev requirements
-        working-directory: igibson
+        working-directory: omnigibson
         run: pip install -r requirements-dev.txt
 
       - name: Install
-        working-directory: igibson
+        working-directory: omnigibson
         run: pip install -e .
 
       - name: Uninstall pip bddl
-        working-directory: igibson
+        working-directory: omnigibson
         run: pip uninstall -y bddl
 
       - name: Checkout BDDL
@@ -54,33 +54,33 @@ jobs:
         run: pip install -e .
 
       - name: Link Dataset
-        working-directory: igibson
-        run: ln -s /scr/ig-data igibson/data
+        working-directory: omnigibson
+        run: ln -s /scr/ig-data omnigibson/data
 
       # The below method of checking out ig-dataset is currently unused due to poor speed.
       # - name: Create data directory
-      #   run: mkdir -p igibson/igibson/data
+      #   run: mkdir -p omnigibson/omnigibson/data
       #
-      # - name: Checkout ig_dataset
+      # - name: Checkout og_dataset
       #   uses: actions/checkout@v2
       #   with:
-      #     repository: StanfordVL/ig_dataset
+      #     repository: StanfordVL/og_dataset
       #     token: ${{ secrets.PERSONAL_ACCESS_TOKEN }}  # PAT is required since this is a different repo
-      #     path: igibson/igibson/data/ig_dataset
+      #     path: omnigibson/omnigibson/data/og_dataset
       #     submodules: recursive
       #     lfs: true
       #
-      # - name: Checkout ig_assets
+      # - name: Checkout og_assets
       #   uses: actions/checkout@v2
       #   with:
-      #     repository: StanfordVL/ig_assets
+      #     repository: StanfordVL/og_assets
       #     token: ${{ secrets.PERSONAL_ACCESS_TOKEN }}  # PAT is required since this is a different repo
-      #     path: igibson/igibson/data/assets
+      #     path: omnigibson/omnigibson/data/assets
       #     submodules: recursive
       #     lfs: true
 
       - name: Run tests
-        working-directory: igibson
+        working-directory: omnigibson
         run: pytest
 
       - name: Upload coverage to Codecov

diff --git a/.gitignore b/.gitignore
@@ -74,12 +74,12 @@ build
 dist
 
 # Directories used for QC pipeline
-igibson/utils/data_utils/mesh_decimation/collision
-igibson/utils/data_utils/mesh_decimation/visual
-igibson/utils/data_utils/mesh_decimation/final_videos
+omnigibson/utils/data_utils/mesh_decimation/collision
+omnigibson/utils/data_utils/mesh_decimation/visual
+omnigibson/utils/data_utils/mesh_decimation/final_videos
 
 # libcryptopp
-igibson/render/mesh_renderer/libcryptopp.so.8.6
+omnigibson/render/mesh_renderer/libcryptopp.so.8.6
 
 # Coverage
 .coverage

diff --git a/.gitmodules b/.gitmodules
@@ -1,15 +1,15 @@
-[submodule "igibson/render/pybind11"]
-	path = igibson/render/pybind11
+[submodule "omnigibson/render/pybind11"]
+	path = omnigibson/render/pybind11
 	url = https://github.com/pybind/pybind11.git
-[submodule "igibson/render/glfw"]
-	path = igibson/render/glfw
+[submodule "omnigibson/render/glfw"]
+	path = omnigibson/render/glfw
 	url = https://github.com/glfw/glfw
-[submodule "igibson/render/glm"]
-	path = igibson/render/glm
+[submodule "omnigibson/render/glm"]
+	path = omnigibson/render/glm
 	url = https://github.com/g-truc/glm
-[submodule "igibson/render/openvr"]
-	path = igibson/render/openvr
+[submodule "omnigibson/render/openvr"]
+	path = omnigibson/render/openvr
 	url = https://github.com/ValveSoftware/openvr
-[submodule "igibson/render/cryptopp"]
-	path = igibson/render/cryptopp
+[submodule "omnigibson/render/cryptopp"]
+	path = omnigibson/render/cryptopp
 	url = https://github.com/fxia22/cryptopp
diff --git a/MANIFEST.in b/MANIFEST.in
@@ -1,7 +1,7 @@
 include LICENSE
 
-graft igibson
-prune igibson/data
-prune igibson/render/openvr/samples
+graft omnigibson
+prune omnigibson/data
+prune omnigibson/render/openvr/samples
 
 global-exclude *.py[co]
diff --git a/README.md b/README.md
@@ -1,34 +1,34 @@
-#  iGibson: A Simulation Environment to train Robots in Large Realistic Interactive Scenes
+#  OmniGibson: A Simulation Environment to train Robots in Large Realistic Interactive Scenes
 
-<img src="./docs/images/igibsonlogo.png" width="500"> <img src="./docs/images/igibson.gif" width="250"> 
+<img src="./docs/images/omnigibsonlogo.png" width="500"> <img src="./docs/images/omnigibson.gif" width="250"> 
 
-iGibson is a simulation environment providing fast visual rendering and physics simulation based on Bullet. iGibson is equipped with fifteen fully interactive high quality scenes, hundreds of large 3D scenes reconstructed from real homes and offices, and compatibility with datasets like CubiCasa5K and 3D-Front, providing 8000+ additional interactive scenes. Some of the features of iGibson include domain randomization, integration with motion planners and easy-to-use tools to collect human demonstrations. With these scenes and features, iGibson allows researchers to train and evaluate robotic agents that use visual signals to solve navigation and manipulation tasks such as opening doors, picking up and placing objects, or searching in cabinets.
+OmniGibson is a simulation environment providing fast visual rendering and physics simulation based on Bullet. OmniGibson is equipped with fifteen fully interactive high quality scenes, hundreds of large 3D scenes reconstructed from real homes and offices, and compatibility with datasets like CubiCasa5K and 3D-Front, providing 8000+ additional interactive scenes. Some of the features of OmniGibson include domain randomization, integration with motion planners and easy-to-use tools to collect human demonstrations. With these scenes and features, OmniGibson allows researchers to train and evaluate robotic agents that use visual signals to solve navigation and manipulation tasks such as opening doors, picking up and placing objects, or searching in cabinets.
 
 ### Latest Updates
-[8/9/2021] Major update to iGibson to reach iGibson 2.0, for details please refer to our [arxiv preprint](https://arxiv.org/abs/2108.03272). 
+[8/9/2021] Major update to OmniGibson to reach OmniGibson 2.0, for details please refer to our [arxiv preprint](https://arxiv.org/abs/2108.03272). 
 
--  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. 
+-  OmniGibson 2.0 supports object states, including temperature, wetness level, cleanliness level, and toggled and sliced states, necessary to cover a wider range of tasks. 
+- OmniGibson 2.0 implements a set of predicate logic functions that map the simulator states to logic states like Cooked or Soaked.
+- OmniGibson 2.0 includes a virtual reality (VR) interface to immerse humans in its scenes to collect demonstrations. 
 
 
-[12/1/2020] Major update to iGibson to reach iGibson 1.0, for details please refer to our [arxiv preprint](https://arxiv.org/abs/2012.02924). 
+[12/1/2020] Major update to OmniGibson to reach OmniGibson 1.0, for details please refer to our [arxiv preprint](https://arxiv.org/abs/2012.02924). 
 
-- Release of iGibson dataset that includes 15 fully interactive scenes and 500+ object models annotated with materials and physical attributes on top of [existing 3D articulated models](https://cs.stanford.edu/~kaichun/partnet/).
+- Release of OmniGibson dataset that includes 15 fully interactive scenes and 500+ object models annotated with materials and physical attributes on top of [existing 3D articulated models](https://cs.stanford.edu/~kaichun/partnet/).
 - Compatibility to import [CubiCasa5K](https://github.com/CubiCasa/CubiCasa5k) and [3D-Front](https://tianchi.aliyun.com/specials/promotion/alibaba-3d-scene-dataset) scene descriptions leading to more than 8000 extra interactive scenes!
-- New features in iGibson: Physically based rendering, 1-beam and 16-beam LiDAR, domain randomization, motion planning integration, tools to collect human demos and more!
+- New features in OmniGibson: Physically based rendering, 1-beam and 16-beam LiDAR, domain randomization, motion planning integration, tools to collect human demos and more!
 - Code refactoring, better class structure and cleanup. 
 
 [05/14/2020] Added dynamic light support :flashlight:
 
 [04/28/2020] Added support for Mac OSX :computer:
 
 ### Citation
-If you use iGibson or its assets and models, consider citing the following publication:
+If you use OmniGibson or its assets and models, consider citing the following publication:
 
 ```
-@misc{li2021igibson,
-      title={iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks}, 
+@misc{li2021omnigibson,
+      title={OmniGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks}, 
       author={Chengshu Li and Fei Xia and Roberto Mart\'in-Mart\'in and Michael Lingelbach and Sanjana Srivastava and Bokui Shen and Kent Vainio and Cem Gokmen and Gokul Dharan and Tanish Jain and Andrey Kurenkov and Karen Liu and Hyowon Gweon and Jiajun Wu and Li Fei-Fei and Silvio Savarese},
       year={2021},
       eprint={2108.03272},
@@ -38,8 +38,8 @@ If you use iGibson or its assets and models, consider citing the following publi
 ```
 
 ```
-@inproceedings{shen2021igibson,
-      title={iGibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenes}, 
+@inproceedings{shen2021omnigibson,
+      title={OmniGibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenes}, 
       author={Bokui Shen and Fei Xia and Chengshu Li and Roberto Mart\'in-Mart\'in and Linxi Fan and Guanzhi Wang and Claudia P\'erez-D'Arpino and Shyamal Buch and Sanjana Srivastava and Lyne P. Tchapmi and Micael E. Tchapmi and Kent Vainio and Josiah Wong and Li Fei-Fei and Silvio Savarese},
       booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
       year={2021},
@@ -49,30 +49,30 @@ If you use iGibson or its assets and models, consider citing the following publi
 ```
 
 ### Documentation
-The documentation for iGibson can be found here: [iGibson Documentation](http://svl.stanford.edu/igibson/docs/). It includes installation guide (including data download instructions), quickstart guide, code examples, and APIs.
+The documentation for OmniGibson can be found here: [OmniGibson Documentation](http://svl.stanford.edu/omnigibson/docs/). It includes installation guide (including data download instructions), quickstart guide, code examples, and APIs.
 
-If you want to know more about iGibson, you can also check out [our webpage](http://svl.stanford.edu/igibson),  [iGibson 2.0 arxiv preprint](https://arxiv.org/abs/2108.03272) and [iGibson 1.0 arxiv preprint](https://arxiv.org/abs/2012.02924).
+If you want to know more about OmniGibson, you can also check out [our webpage](http://svl.stanford.edu/omnigibson),  [OmniGibson 2.0 arxiv preprint](https://arxiv.org/abs/2108.03272) and [OmniGibson 1.0 arxiv preprint](https://arxiv.org/abs/2012.02924).
 
 ### Dowloading the Dataset of 3D Scenes
 
-For instructions to install iGibson and download dataset, you can visit [installation guide](http://svl.stanford.edu/igibson/docs/installation.html) and [dataset download guide](http://svl.stanford.edu/igibson/docs/dataset.html).
+For instructions to install OmniGibson and download dataset, you can visit [installation guide](http://svl.stanford.edu/omnigibson/docs/installation.html) and [dataset download guide](http://svl.stanford.edu/omnigibson/docs/dataset.html).
 
-There are other datasets we link to iGibson. We include support to use CubiCasa5K and 3DFront scenes, adding up more than 10000 extra interactive scenes to use in iGibson! Check our [documentation](https://github.com/StanfordVL/iGibson/tree/master/igibson/utils/data_utils/ext_scene) on how to use those.
+There are other datasets we link to OmniGibson. We include support to use CubiCasa5K and 3DFront scenes, adding up more than 10000 extra interactive scenes to use in OmniGibson! Check our [documentation](https://github.com/StanfordVL/OmniGibson/tree/master/omnigibson/utils/data_utils/ext_scene) on how to use those.
 
-We also maintain compatibility with datasets of 3D reconstructed large real-world scenes (homes and offices) that you can download and use with iGibson. For Gibson Dataset and Stanford 2D-3D-Semantics Dataset, please fill out this [form](https://forms.gle/36TW9uVpjrE1Mkf9A). For Matterport3D Dataset, please fill in this [form](http://dovahkiin.stanford.edu/matterport/public/MP_TOS.pdf) and send it to [[email protected]](mailto:[email protected]). Please put "use with iGibson simulator" in your email. Check our [dataset download guide](http://svl.stanford.edu/igibson/docs/dataset.html) for more details.
+We also maintain compatibility with datasets of 3D reconstructed large real-world scenes (homes and offices) that you can download and use with OmniGibson. For Gibson Dataset and Stanford 2D-3D-Semantics Dataset, please fill out this [form](https://forms.gle/36TW9uVpjrE1Mkf9A). For Matterport3D Dataset, please fill in this [form](http://dovahkiin.stanford.edu/matterport/public/MP_TOS.pdf) and send it to [[email protected]](mailto:[email protected]). Please put "use with OmniGibson simulator" in your email. Check our [dataset download guide](http://svl.stanford.edu/omnigibson/docs/dataset.html) for more details.
 
-### Using iGibson with VR
-If you want to use iGibson VR interface, please visit the [VR guide (TBA)].
+### Using OmniGibson with VR
+If you want to use OmniGibson VR interface, please visit the [VR guide (TBA)].
 
 
 ### Contributing
-This is the github repository for iGibson (pip package `igibson`) 2.0 release. (For iGibson 1.0, please use `1.0` branch.) Bug reports, suggestions for improvement, as well as community developments are encouraged and appreciated. Please, consider creating an issue or sending us an email. 
+This is the github repository for OmniGibson (pip package `omnigibson`) 2.0 release. (For OmniGibson 1.0, please use `1.0` branch.) Bug reports, suggestions for improvement, as well as community developments are encouraged and appreciated. Please, consider creating an issue or sending us an email. 
 
 The support for our previous version of the environment, Gibson, can be found in the [following repository](http://github.com/StanfordVL/GibsonEnv/).
 
 ### Acknowledgments
 
-iGibson uses code from a few open source repositories. Without the efforts of these folks (and their willingness to release their implementations under permissable copyleft licenses), iGibson would not be possible. We thanks these authors for their efforts!
+OmniGibson uses code from a few open source repositories. Without the efforts of these folks (and their willingness to release their implementations under permissable copyleft licenses), OmniGibson would not be possible. We thanks these authors for their efforts!
 
 - Syoyo Fujita: [tinyobjloader](https://github.com/syoyo/tinyobjloader)
 - Erwin Coumans: [egl_example](https://github.com/erwincoumans/egl_example)

diff --git a/clean.sh b/clean.sh
@@ -1,4 +1,4 @@
 #!/bin/sh
 
 rm -rf build
-rm -rf igibson/render/mesh_renderer/build/
+rm -rf omnigibson/render/mesh_renderer/build/
diff --git a/docker/.env b/docker/.env
@@ -1,3 +1,3 @@
 REGISTRY=docker.io
-REPO=igibson
+REPO=omnigibson
 VERSION=v2.0.4