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StanfordVL/OmniGibson
OmniGibson Documentation
StanfordVL/OmniGibson
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Getting Started
Getting Started
Installation
Quickstart
Important Concepts
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OmniGibson Modules
OmniGibson Modules
Overview
Prims
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Object States
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Systems
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Transition Rules
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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
install
lazy
macros
simulator
simulator
Table of contents
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
simulator