Before revision:  The scenes are replicas of real-world homes, with distribution and the layout of objects aligned to those of the real world. iGibson  integrates several key features to facilitate the study of interactive tasks:
After revision:  The scenes are replicas of real-world homes, with distribution and the layout of objects aligned to those of the real world. iGibson 1.0 integrates several key features to facilitate the study of interactive tasks: