Merge pull request #429 from fxia22/ig-develop

upgrade master branch to ig-develop (official igibson 2.0 release)

.github/workflows/black.yml

@@ -0,0 +1,10 @@
+name: Lint
+
+on: [push, pull_request]
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: psf/black@stable

.github/workflows/isort.yml

@@ -0,0 +1,12 @@
+name: Run isort
+on: [push, pull_request]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions/setup-python@v2
+        with:
+          python-version: 3.7
+      - uses: jamescurtin/isort-action@master

.gitignore

@@ -1,4 +1,5 @@
 *.pyc
+*.pyd
 *.pkl
 *.so
 *.egg-info/
@@ -8,6 +9,7 @@ src/
 pw
 *.o
 *.ipynb
+*.ipynb_checkpoints/
 *.out
 npz/
 *.npy
@@ -33,6 +35,10 @@ physics/models
 */events*
 0_VRDemoSettings.txt
 
+# VR
+# This is the folder where the pyd files get put after setup.py builds gibson
+Release
+
 cnn_policy*
 *ppo_policy*
 checkpoint
@@ -66,3 +72,11 @@ gibson/assets
 notebook
 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
+
+# libcryptopp
+igibson/render/mesh_renderer/libcryptopp.so.8.6

.gitmodules

@@ -7,3 +7,9 @@
 [submodule "igibson/render/glm"]
 	path = igibson/render/glm
 	url = https://github.com/g-truc/glm
+[submodule "igibson/render/openvr"]
+	path = igibson/render/openvr
+	url = https://github.com/ValveSoftware/openvr
+[submodule "igibson/render/cryptopp"]
+	path = igibson/render/cryptopp
+	url = https://github.com/fxia22/cryptopp

.pre-commit-config.yaml

@@ -0,0 +1,11 @@
+repos:
+  - repo: https://github.com/psf/black
+    rev: stable # Replace by any tag/version: https://github.com/psf/black/tags
+    hooks:
+      - id: black
+        language_version: python3 # Should be a command that runs python3.6+
+  - repo: https://github.com/pycqa/isort
+    rev: 5.8.0
+    hooks:
+      - id: isort
+        name: isort (python)

Jenkinsfile

@@ -39,6 +39,8 @@ pipeline {
                 sh 'pytest igibson/test/test_igsdf_scene_importing.py --junitxml=test_result/test_igsdf_scene_importing.py.xml'
                 sh 'pytest igibson/test/test_sensors.py --junitxml=test_result/test_sensors.py.xml'
                 sh 'pytest igibson/test/test_motion_planning.py --junitxml=test_result/test_motion_planning.py.xml'
+                sh 'pytest igibson/test/test_states.py --junitxml=test_result/test_states.py.xml'
+                sh 'pytest igibson/test/test_determinism_against_same_version.py --junitxml=test_result/test_determinism_against_same_version.py.xml'
             }
         }
 
@@ -84,4 +86,4 @@ pipeline {
                 }
             }
         }
-}
+}

README.md

@@ -5,8 +5,14 @@
 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.
 
 ### 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). 
 
-[12/1/2020] Major update to iGibson to reach iGibson v1.0, for details please refer to our [arxiv preprint](https://arxiv.org/abs/2012.02924). 
+-  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. 
+
+
+[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). 
 
 - 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/).
 - 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!
@@ -21,46 +27,45 @@ iGibson is a simulation environment providing fast visual rendering and physics
 If you use iGibson or its assets and models, consider citing the following publication:
 
 ```
-@article{shenigibson,
-  title={iGibson, a Simulation Environment for Interactive Tasks in Large Realistic Scenes},
-  author={Shen*, Bokui and Xia*, Fei and Li*, Chengshu and Mart{\'i}n-Mart{\'i}n*, Roberto and Fan, Linxi and Wang, Guanzhi and Buch, Shyamal and D’Arpino, Claudia and Srivastava, Sanjana and Tchapmi, Lyne P and  Vainio, Kent and Fei-Fei, Li and Savarese, Silvio},
-  journal={arXiv preprint arXiv:2012.02924},
-  year={2020}
+@misc{shen2021igibson,
+      title={iGibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenes}, 
+      author={Bokui Shen and Fei Xia and Chengshu Li and Roberto Martín-Martín and Linxi Fan and Guanzhi Wang and Claudia Pérez-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},
+      year={2021},
+      eprint={2012.02924},
+      archivePrefix={arXiv},
+      primaryClass={cs.AI}
+}
+```
+
+```
+@misc{li2021igibson,
+      title={iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks}, 
+      author={Chengshu Li and Fei Xia and Roberto Martín-Martín 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},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO}
 }
 ```
 
 ### 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.
 
-If you want to know more about iGibson, you can also check out [our webpage](http://svl.stanford.edu/igibson),  [our
- updated arxiv preprint](https://arxiv.org/abs/2012.02924) and [our previous RAL+ICRA20 paper](https://arxiv.org/abs/1910.14442).
+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).
 
 ### Dowloading the Dataset of 3D Scenes
 
-With iGibson v1.0 release, you will have access to 15 fully interactive scenes (100+ rooms) that can be
- used in simulation. As a highlight, here
- are the features we support. We also include 500+ object models.  
-
-- Scenes are the
- result of converting 3D reconstructions of real homes into fully interactive simulatable models.
-- Each scene corresponds to one floor of a real-world home.
-The scenes are annotated with bounding box location and size of different objects, mostly furniture, e.g. cabinets, doors, stoves, tables, chairs, beds, showers, toilets, sinks...
-- Scenes include layout information (occupancy, semantics)
-- Each scene's lighting effect is designed manually, and the texture of the building elements (walls, floors, ceilings
-) is baked offline with high-performant ray-tracing
-- Scenes are defined in iGSDF (iGibson Scene Definition Format), an extension of URDF, and shapes are OBJ files with
- associated materials
-
-For instructions to install iGibson and download dataset, you can visit [installation guide](http://svl.stanford.edu/igibson/docs/installation.html).
+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).
 
 There are other datasets we link to iGibson. We include support to use CubiCasa5K and 3DFront scenes, adding up more than 8000 extra interactive scenes to use in iGibson! Check our documentation 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 example from our previous simulator, Gibson. All of them will be accessible once you fill in this <a href="https://forms.gle/36TW9uVpjrE1Mkf9A" target="_blank">[form]</a>.
 
+### Using iGibson with VR
+If you want to use iGibson VR interface, please visit the [VR guide (TBA)].
+
+
 ### Contributing
-This is the github repository for iGibson (pip package `igibson`) 1.0 release. 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 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. 
 
-The support for our previous version of the environment, Gibson, can be found in the [following repository
- ](http://github.com/StanfordVL/GibsonEnv/).
+The support for our previous version of the environment, Gibson, can be found in the [following repository](http://github.com/StanfordVL/GibsonEnv/).

docker/behavior/Dockerfile

@@ -0,0 +1,38 @@
+FROM nvidia/cudagl:11.1.1-devel-ubuntu20.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+	cmake \
+	git \
+	vim \
+	wget \
+	curl \
+	python3-dev \
+	python3-opencv \
+	python3-pip && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN curl -LO http://repo.continuum.io/miniconda/Miniconda-latest-Linux-x86_64.sh
+RUN bash Miniconda-latest-Linux-x86_64.sh -p /miniconda -b
+RUN rm Miniconda-latest-Linux-x86_64.sh
+ENV PATH=/miniconda/bin:${PATH}
+RUN conda update -y conda
+RUN conda create -y -n igibson python=3.8.0
+
+ENV PATH /miniconda/envs/igibson/bin:$PATH
+
+RUN pip install torch pytest ray[default,rllib] stable-baselines3
+
+RUN git clone --branch ig-develop https://github.com/StanfordVL/iGibson /opt/iGibson --recursive
+WORKDIR /opt/iGibson
+RUN pip install -e .
+
+RUN git clone --branch master https://github.com/StanfordVL/BDDL /opt/BDDL --recursive
+WORKDIR /opt/BDDL
+RUN pip install -e .
+
+RUN python3 -m igibson.utils.assets_utils --download_assets
+RUN python3 -m igibson.utils.assets_utils --download_demo_data
+
+WORKDIR /opt/iGibson/igibson

docker/behavior/build.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+IMAGE=igibson/behavior_challenge_2021
+
+docker build -t $IMAGE . \
+    && echo BUILD SUCCESSFUL
+
+# podman build -t $IMAGE . \
+#     && echo BUILD SUCCESSFUL

docker/behavior/run.sh

@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+
+IMAGE=igibson/behavior_challenge_2021
+
+# For docker
+docker run --gpus all -ti --rm $IMAGE:latest
+
+# Or if your cluster uses podman
+# podman run --rm -it --net=host \
+# --security-opt=no-new-privileges \
+# --security-opt label=type:nvidia_container_t \
+# -e DISPLAY \
+# $IMAGE:latest

docker/igibson2/Dockerfile

@@ -0,0 +1,34 @@
+FROM nvidia/cudagl:11.1.1-devel-ubuntu20.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+	cmake \
+	git \
+	wget \
+	curl \
+	python3-dev \
+	python3-opencv \
+	python3-pip && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN curl -LO http://repo.continuum.io/miniconda/Miniconda-latest-Linux-x86_64.sh
+RUN bash Miniconda-latest-Linux-x86_64.sh -p /miniconda -b
+RUN rm Miniconda-latest-Linux-x86_64.sh
+ENV PATH=/miniconda/bin:${PATH}
+RUN conda update -y conda
+RUN conda create -y -n igibson python=3.8.0
+
+ENV PATH /miniconda/envs/igibson/bin:$PATH
+
+RUN pip install --no-cache-dir https://github.com/StanfordVL/bullet3/archive/master.zip
+RUN pip install torch pytest ray[default,rllib] stable-baselines3
+
+RUN git clone --branch master https://github.com/StanfordVL/iGibson /opt/igibson --recursive
+WORKDIR /opt/igibson
+RUN pip install -e .
+
+RUN python3 -m igibson.utils.assets_utils --download_assets
+RUN python3 -m igibson.utils.assets_utils --download_demo_data
+
+WORKDIR /opt/igibson/igibson/examples/demo

docker/igibson2/build.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+IMAGE=igibson/igibson
+
+docker build -t $IMAGE:v2.0.0 . \
+    && docker tag $IMAGE:v2.0.0 $IMAGE:latest \
+    && echo BUILD SUCCESSFUL
+
+# podman build -t $IMAGE:v2.0.0 . \
+#     && podman tag $IMAGE:v2.0.0 $IMAGE:latest \
+#     && echo BUILD SUCCESSFUL

docker/igibson2/run.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+# For docker
+docker run --gpus all -ti --rm igibson/igibson:latest
+
+# Or if your cluster uses podman
+# podman run --rm -it --net=host \
+# --security-opt=no-new-privileges \
+# --security-opt label=type:nvidia_container_t \
+# -e DISPLAY \
+# igibson/igibson:latest