🏠 Scene

Description

In OmniGibson, Scenes represent a collection of Objects and global Systems, potentially defined with a pre-configured state. A scene can be constructed iteratively and interactively, or generated from a pre-cached file.

Usage

Importing

Every Environment instance includes a scene, defined by its config that is passed to the environment constructor via the scene key. This is expected to be a dictionary of relevant keyword arguments, specifying the desired scene configuration to be created. The type key is required and specifies the desired scene class. Additional keys can be specified and will be passed directly to the specific scene class constructor. An example of a scene configuration is shown below in .yaml form:

rs_int_example.yaml

scene:
  type: InteractiveTraversableScene
  scene_model: Rs_int
  trav_map_resolution: 0.1
  default_erosion_radius: 0.0
  trav_map_with_objects: true
  num_waypoints: 1
  waypoint_resolution: 0.2
  not_load_object_categories: null
  load_room_types: null
  load_room_instances: null
  seg_map_resolution: 0.1

Alternatively, a scene can be directly imported at runtime by first creating the scene class instance (e.g.: scene = InteractiveTraversableScene(...)) and then importing it via og.sim.import_scene(obj). This can be useful for iteratively prototyping a desired scene configuration. Note that a scene must be imported before any additional objects are imported!

Runtime

To import an object into a scene, call scene.add_object(obj).

The scene keeps track of and organizes all imported objects via its owned scene.object_registry. Objects can quickly be queried by relevant property keys, such as name, prim_path, and category, from env.scene.object_registry as follows:

scene.object_registry_unique_keys and scene.object_registry_group_keys define the valid possible key queries

• env.scene.object_registry("name", OBJECT_NAME): get the object by its name

• env.scene.object_registry("prim_path", PRIM_PATH): get the object by its prim path

• env.scene.object_registry("category", CATEGORY): get all objects with category CATEGORY

Similarly, systems can be queried via scene.system_registry.

In addition, a scene can always be reset by calling reset(). The scene's initial state is cached when the scene is first imported, but can manually be updated by calling scene.update_initial_state(state), where state can either be a desired state (output of og.sim.dump_state()) or None, corresponding to the current sim state.

Types

OmniGibson currently supports two types of scenes. The basic scene class Scene implements a minimal scene setup, which can optionally include a skybox and / or ground plane. The second scene class InteractiveTraversableScene represents a pre-cached, curated scene exclusively populated with fully-interactive objects from the BEHAVIOR-1K dataset. This scene type additionally includes traversability and semantic maps of the scene floorplan. For a breakdown of all the available scenes and the corresponding objects included in each scene, please refer our Knowledgebase Dashboard. Below, we provide brief snapshots of each of our 50 BEHAVIOR-1K scenes:

Beechwood_0_garden
Beechwood_0_int
Beechwood_1_int
Benevolence_0_int
Benevolence_1_int
Benevolence_2_int
Ihlen_0_int
Ihlen_1_int
Merom_0_garden
Merom_0_int
Merom_1_int
Pomaria_0_garden
Pomaria_0_int
Pomaria_1_int
Pomaria_2_int
Rs_garden
Rs_int
Wainscott_0_garden
Wainscott_0_int
Wainscott_1_int
grocery_store_asian
grocery_store_cafe
grocery_store_convenience
grocery_store_half_stocked
hall_arch_wood
hall_conference_large
hall_glass_ceiling
hall_train_station
hotel_gym_spa
hotel_suite_large
hotel_suite_small
house_double_floor_lower
house_double_floor_upper
house_single_floor
office_bike
office_cubicles_left
office_cubicles_right
office_large
office_vendor_machine
restaurant_asian
restaurant_brunch
restaurant_cafeteria
restaurant_diner
restaurant_hotel
restaurant_urban
school_biology
school_chemistry
school_computer_lab_and_infirmary
school_geography
school_gym