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StanfordVL/OmniGibson
OmniGibson Documentation
StanfordVL/OmniGibson
Home
Getting Started
Getting Started
Installation
Quickstart
Important Concepts
Examples
OmniGibson Modules
OmniGibson Modules
Overview
Prims
Objects
Object States
Robots
Controllers
Sensors
Systems
Scenes
Transition Rules
Simulator
Tasks
Environments
Vector Environments
Setting Macros
Under the Hood - Isaac Sim
BEHAVIOR Components
BEHAVIOR Components
BEHAVIOR Tasks
BEHAVIOR Knowledgebase
Tutorials
Tutorials
Demo Collection
Running on a Compute Cluster
Remote Streaming
Saving and Loading Simulation State
Customizing Robots
Custom Robot Import
Miscellaneous
Miscellaneous
Roadmap
Speed Optimization
FAQ
Known Issues & Troubleshooting
Contributing
Contact Us
API Reference
API Reference
download_datasets
download_datasets
Table of contents
download_datasets
install
lazy
macros
simulator
transition_rules
Action primitives
Action primitives
curobo
starter_semantic_action_primitives
symbolic_semantic_action_primitives
Controllers
Controllers
controller_base
dd_controller
ik_controller
joint_controller
multi_finger_gripper_controller
null_joint_controller
osc_controller
Envs
Envs
data_wrapper
env_base
env_wrapper
sb3_vec_env
vec_env_base
Examples
Examples
Action primitives
Action primitives
rs_int_example
solve_simple_task
wip_solve_behavior_task
Environments
Environments
behavior_env_demo
navigation_env_demo
vector_env_demo
Learning
Learning
navigation_policy_demo
Object states
Object states
attachment_demo
dicing_demo
folded_unfolded_state_demo
heat_source_or_sink_demo
heated_state_demo
object_state_texture_demo
onfire_demo
overlaid_demo
particle_applier_remover_demo
particle_source_sink_demo
sample_kinematics_demo
slicing_demo
temperature_demo
Objects
Objects
draw_bounding_box
highlight_objects
load_object_selector
visualize_object
Renderer settings
Renderer settings
renderer_settings_example
Robots
Robots
all_robots_visualizer
grasping_mode_example
robot_control_example
Advanced
Advanced
ik_example
Scenes
Scenes
scene_selector
scene_tour_demo
traversability_map_example
Simulator
Simulator
sim_save_load_example
Teleoperation
Teleoperation
robot_teleoperate_demo
vr_simple_demo
Maps
Maps
map_base
segmentation_map
traversable_map
Object states
Object states
aabb
adjacency
attached_to
burnt
cloth_mixin
contact_bodies
contact_particles
contact_subscribed_state_mixin
contains
cooked
covered
draped
factory
filled
folded
frozen
heat_source_or_sink
heated
inside
joint_break_subscribed_state_mixin
joint_state
kinematics_mixin
link_based_state_mixin
max_temperature
next_to
object_state_base
on_fire
on_top
open_state
overlaid
particle
particle_modifier
particle_source_or_sink
pose
robot_related_states
saturated
sliceable
slicer_active
temperature
tensorized_value_state
toggle
touching
under
update_state_mixin
Objects
Objects
controllable_object
dataset_object
light_object
object_base
primitive_object
stateful_object
usd_object
Prims
Prims
cloth_prim
entity_prim
geom_prim
joint_prim
material_prim
prim_base
rigid_prim
xform_prim
Renderer settings
Renderer settings
common_settings
path_tracing_settings
post_processing_settings
real_time_settings
renderer_settings
settings_base
Reward functions
Reward functions
collision_reward
grasp_reward
point_goal_reward
potential_reward
reaching_goal_reward
reward_function_base
Robots
Robots
a1
active_camera_robot
articulated_trunk_robot
behavior_robot
fetch
franka
franka_mounted
freight
holonomic_base_robot
husky
locobot
locomotion_robot
manipulation_robot
mobile_manipulation_robot
r1
robot_base
stretch
tiago
turtlebot
two_wheel_robot
untucked_arm_pose_robot
vx300s
Scene graphs
Scene graphs
graph_builder
Scenes
Scenes
interactive_traversable_scene
scene_base
static_traversable_scene
traversable_scene
Sensors
Sensors
dropout_sensor_noise
scan_sensor
sensor_base
sensor_noise_base
vision_sensor
Systems
Systems
macro_particle_system
micro_particle_system
system_base
Tasks
Tasks
behavior_task
dummy_task
grasp_task
point_navigation_task
point_reaching_task
task_base
Termination conditions
Termination conditions
falling
grasp_goal
max_collision
point_goal
predicate_goal
reaching_goal
termination_condition_base
timeout
Utils
Utils
asset_utils
bddl_utils
config_utils
constants
control_utils
deprecated_utils
geometry_utils
git_utils
grasping_planning_utils
gym_utils
lazy_import_utils
motion_planning_utils
numpy_utils
object_state_utils
object_utils
physx_utils
processing_utils
profiling_utils
pynvml_utils
python_utils
registry_utils
render_utils
sampling_utils
sim_utils
teleop_utils
transform_utils
ui_utils
usd_utils
vision_utils
Changelog
download_datasets
Helper script to download OmniGibson dataset and assets.