From 97e1711750e047a4a7a7cdc5d440a1a14575b8a3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Tue, 3 Oct 2023 02:25:06 -0700
Subject: [PATCH 01/37] No more docs build on the OG repo.

---
 .github/workflows/docs.yml | 77 --------------------------------------
 1 file changed, 77 deletions(-)
 delete mode 100644 .github/workflows/docs.yml

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
deleted file mode 100644
index ad99e03df..000000000
--- a/.github/workflows/docs.yml
+++ /dev/null
@@ -1,77 +0,0 @@
-name: Build & deploy docs
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - og-develop
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event_name == 'pull_request' && github.head_ref || github.sha }}
-  cancel-in-progress: true
-
-jobs:
-  docs:
-    runs-on: [linux]
-    container:
-      image: stanfordvl/omnigibson-dev:latest
-      options: --gpus=all --privileged --user=root
-      env:
-        DISPLAY: ""
-        OMNIGIBSON_HEADLESS: 1
-      volumes:
-        - /scr/omni-data/datasets:/data
-        - /usr/share/vulkan/icd.d/nvidia_icd.json:/etc/vulkan/icd.d/nvidia_icd.json
-        - /usr/share/vulkan/icd.d/nvidia_layers.json:/etc/vulkan/implicit_layer.d/nvidia_layers.json
-        - /usr/share/glvnd/egl_vendor.d/10_nvidia.json:/usr/share/glvnd/egl_vendor.d/10_nvidia.json
-        - /scr/omni-data/isaac-sim/cache/ov:/root/.cache/ov:rw
-        - /scr/omni-data/isaac-sim/cache/pip:/root/.cache/pip:rw
-        - /scr/omni-data/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw
-        - /scr/omni-data/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw
-        - /scr/omni-data/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw
-        - /scr/omni-data/isaac-sim/config:/root/.nvidia-omniverse/config:rw
-        - /scr/omni-data/isaac-sim/data:/root/.local/share/ov/data:rw
-        - /scr/omni-data/isaac-sim/documents:/root/Documents:rw
-
-    defaults:
-      run:
-        shell: micromamba run -n omnigibson /bin/bash -leo pipefail {0}
-
-    steps:
-      - name: Fix home
-        run: echo "HOME=/root" >> $GITHUB_ENV
-
-      - name: Checkout source
-        uses: actions/checkout@v3
-        with:
-          submodules: true
-          path: omnigibson-src
-
-      - name: Install
-        working-directory: omnigibson-src
-        run: pip install -e .
-
-      - name: Install dev requirements
-        working-directory: omnigibson-src
-        run: pip install -r requirements-dev.txt
-
-      - name: Build docs
-        working-directory: omnigibson-src
-        run: source scripts/build_docs.sh
-
-      - name: Copy benchmark index page
-        working-directory: omnigibson-src
-        run: mkdir site/benchmark && cp scripts/benchmark* site/benchmark/ && cd site/benchmark && mv benchmark.html index.html
-
-      - name: Fetch benchmark file from gh-pages branch
-        working-directory: omnigibson-src
-        run: |
-          git fetch origin gh-pages:gh-pages --force
-          git show gh-pages:benchmark/data.js > ./site/benchmark/data.js
-          git diff
-          
-      - name: Deploy to gh-pages
-        uses: peaceiris/actions-gh-pages@v3
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          publish_dir: ./omnigibson-src/site

From 15a02ce8b4c5e875734d4feb9e231d301ba7f63d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?=
 <1408354+cgokmen@users.noreply.github.com>
Date: Wed, 4 Oct 2023 16:25:05 -0700
Subject: [PATCH 02/37] Update documentation URL to point to BEHAVIOR website
 (#285)

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 3a5d623b5..d3cf03d3f 100644
--- a/README.md
+++ b/README.md
@@ -22,7 +22,7 @@
 * 🤖 Mobile Manipulator Robots with Modular ⚙️ Controllers
 * 🌎 OpenAI Gym Interface
 
-Check out [**`OmniGibson`**'s documentation](https://stanfordvl.github.io/OmniGibson/getting_started/installation.html) to get started!
+Check out [**`OmniGibson`**'s documentation](https://behavior.stanford.edu/omnigibson/getting_started/installation.html) to get started!
 
 ### Citation
 If you use **`OmniGibson`** or its assets and models, please cite:

From fcc463e15c7d7d1908474425ca7bbab06f1bbd89 Mon Sep 17 00:00:00 2001
From: Wensi Ai <wsai@stanford.edu>
Date: Thu, 12 Oct 2023 14:08:16 -0700
Subject: [PATCH 03/37] Add franka allegro robot

---
 omnigibson/robots/franka_allegro.py | 330 ++++++++++++++++++++++++++++
 1 file changed, 330 insertions(+)
 create mode 100644 omnigibson/robots/franka_allegro.py

diff --git a/omnigibson/robots/franka_allegro.py b/omnigibson/robots/franka_allegro.py
new file mode 100644
index 000000000..66a440690
--- /dev/null
+++ b/omnigibson/robots/franka_allegro.py
@@ -0,0 +1,330 @@
+import os
+import numpy as np
+
+from omnigibson.macros import gm
+from omnigibson.robots.manipulation_robot import ManipulationRobot
+from omnigibson.robots.active_camera_robot import ActiveCameraRobot
+
+from omni.isaac.core.utils.prims import get_prim_at_path
+
+RESET_JOINT_OPTIONS = {
+    "tuck",
+    "untuck",
+}
+
+
+class FrankaAllegro(ManipulationRobot):
+    """
+    Franka Robot with Allegro hand
+    """
+
+    def __init__(
+        self,
+        # Shared kwargs in hierarchy
+        name,
+        prim_path=None,
+        class_id=None,
+        uuid=None,
+        scale=None,
+        visible=True,
+        visual_only=False,
+        self_collisions=True,
+        load_config=None,
+        fixed_base=True,
+
+        # Unique to USDObject hierarchy
+        abilities=None,
+
+        # Unique to ControllableObject hierarchy
+        control_freq=None,
+        controller_config=None,
+        action_type="continuous",
+        action_normalize=True,
+        reset_joint_pos=None,
+
+        # Unique to BaseRobot
+        obs_modalities="all",
+        proprio_obs="default",
+        sensor_config=None,
+
+        # Unique to ManipulationRobot
+        grasping_mode="physical",
+
+        **kwargs,
+    ):
+        """
+        Args:
+            name (str): Name for the object. Names need to be unique per scene
+            prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
+                created at /World/<name>
+            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
+                If None, the ID will be inferred from this object's category.
+            uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
+                If None is specified, then it will be auto-generated
+            scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
+                for this object. A single number corresponds to uniform scaling along the x,y,z axes, whereas a
+                3-array specifies per-axis scaling.
+            visible (bool): whether to render this object or not in the stage
+            visual_only (bool): Whether this object should be visual only (and not collide with any other objects)
+            self_collisions (bool): Whether to enable self collisions for this object
+            load_config (None or dict): If specified, should contain keyword-mapped values that are relevant for
+                loading this prim at runtime.
+            abilities (None or dict): If specified, manually adds specific object states to this object. It should be
+                a dict in the form of {ability: {param: value}} containing object abilities and parameters to pass to
+                the object state instance constructor.
+            control_freq (float): control frequency (in Hz) at which to control the object. If set to be None,
+                simulator.import_object will automatically set the control frequency to be 1 / render_timestep by default.
+            controller_config (None or dict): nested dictionary mapping controller name(s) to specific controller
+                configurations for this object. This will override any default values specified by this class.
+            action_type (str): one of {discrete, continuous} - what type of action space to use
+            action_normalize (bool): whether to normalize inputted actions. This will override any default values
+                specified by this class.
+            reset_joint_pos (None or n-array): if specified, should be the joint positions that the object should
+                be set to during a reset. If None (default), self.default_joint_pos will be used instead.
+            obs_modalities (str or list of str): Observation modalities to use for this robot. Default is "all", which
+                corresponds to all modalities being used.
+                Otherwise, valid options should be part of omnigibson.sensors.ALL_SENSOR_MODALITIES.
+                Note: If @sensor_config explicitly specifies `modalities` for a given sensor class, it will
+                    override any values specified from @obs_modalities!
+            proprio_obs (str or list of str): proprioception observation key(s) to use for generating proprioceptive
+                observations. If str, should be exactly "default" -- this results in the default proprioception
+                observations being used, as defined by self.default_proprio_obs. See self._get_proprioception_dict
+                for valid key choices
+            sensor_config (None or dict): nested dictionary mapping sensor class name(s) to specific sensor
+                configurations for this object. This will override any default values specified by this class.
+            grasping_mode (str): One of {"physical", "assisted", "sticky"}.
+                If "physical", no assistive grasping will be applied (relies on contact friction + finger force).
+                If "assisted", will magnetize any object touching and within the gripper's fingers.
+                If "sticky", will magnetize any object touching the gripper's fingers.
+            kwargs (dict): Additional keyword arguments that are used for other super() calls from subclasses, allowing
+                for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject).
+        """
+        # Parse reset joint pos if specifying special string
+        if isinstance(reset_joint_pos, str):
+            assert (
+                reset_joint_pos in RESET_JOINT_OPTIONS
+            ), "reset_joint_pos should be one of {} if using a string!".format(RESET_JOINT_OPTIONS)
+            reset_joint_pos = (
+                self.tucked_default_joint_pos if reset_joint_pos == "tuck" else self.untucked_default_joint_pos
+            )
+
+        # Run super init
+        super().__init__(
+            prim_path=prim_path,
+            name=name,
+            class_id=class_id,
+            uuid=uuid,
+            scale=scale,
+            visible=visible,
+            fixed_base=fixed_base,
+            visual_only=visual_only,
+            self_collisions=self_collisions,
+            load_config=load_config,
+            abilities=abilities,
+            control_freq=control_freq,
+            controller_config=controller_config,
+            action_type=action_type,
+            action_normalize=action_normalize,
+            reset_joint_pos=reset_joint_pos,
+            obs_modalities=obs_modalities,
+            proprio_obs=proprio_obs,
+            sensor_config=sensor_config,
+            grasping_mode=grasping_mode,
+            **kwargs,
+        )
+
+    def _post_load(self):
+        super()._post_load()
+        self._world_base_fixed_joint_prim = get_prim_at_path(f"{self._prim_path}/root_joint")
+
+    @property
+    def model_name(self):
+        return "FrankaAllegro"
+
+    @property
+    def tucked_default_joint_pos(self):
+        return np.zeros(23)
+
+    @property
+    def untucked_default_joint_pos(self):
+        # return np.r_[[0.012, -0.57, 0, -2.81, 0, 3.037, 0.741], np.zeros(16)]
+        return np.r_[[0.86, -0.27, -0.68, -1.52, -0.18, 1.29, 1.72], np.zeros(16)]
+
+    @property
+    def discrete_action_list(self):
+        # Not supported for this robot
+        raise NotImplementedError()
+
+    def _create_discrete_action_space(self):
+        # Fetch does not support discrete actions
+        raise ValueError("Fetch does not support discrete actions!")
+
+    def tuck(self):
+        """
+        Immediately set this robot's configuration to be in tucked mode
+        """
+        self.set_joint_positions(self.tucked_default_joint_pos)
+
+    def untuck(self):
+        """
+        Immediately set this robot's configuration to be in untucked mode
+        """
+        self.set_joint_positions(self.untucked_default_joint_pos)
+
+    def update_controller_mode(self):
+        super().update_controller_mode()
+        # overwrite joint params here
+        # self.joints[f"panda_joint1"].damping = 10472
+        # self.joints[f"panda_joint1"].stiffness = 104720
+        # self.joints[f"panda_joint2"].damping = 1047.2
+        # self.joints[f"panda_joint2"].stiffness = 10472
+        # self.joints[f"panda_joint3"].damping = 5236
+        # self.joints[f"panda_joint3"].stiffness = 104720
+        # self.joints[f"panda_joint4"].damping = 523.6
+        # self.joints[f"panda_joint4"].stiffness = 10472
+        # self.joints[f"panda_joint5"].damping = 52.36
+        # self.joints[f"panda_joint5"].stiffness = 436.3
+        # self.joints[f"panda_joint6"].damping = 52.36
+        # self.joints[f"panda_joint6"].stiffness = 261.8
+        # self.joints[f"panda_joint7"].damping = 52.36
+        # self.joints[f"panda_joint7"].stiffness = 872.66
+        for i in range(7):
+            self.joints[f"panda_joint{i+1}"].damping = 1000
+            self.joints[f"panda_joint{i+1}"].stiffness = 1000
+        for i in range(16):
+            self.joints[f"joint_{i}_0"].damping = 100
+            self.joints[f"joint_{i}_0"].stiffness = 300
+            self.joints[f"joint_{i}_0"].max_effort = 15
+
+    @property
+    def controller_order(self):
+        # Ordered by general robot kinematics chain
+        return ["arm_{}".format(self.default_arm), "gripper_{}".format(self.default_arm)]
+
+    @property
+    def _default_controllers(self):
+        # Always call super first
+        controllers = super()._default_controllers
+        controllers["arm_{}".format(self.default_arm)] = "InverseKinematicsController"
+        controllers["gripper_{}".format(self.default_arm)] = "JointController"
+
+        return controllers
+    
+    @property
+    def default_joint_pos(self):
+        return self.untucked_default_joint_pos
+
+    @property
+    def finger_lengths(self):
+        return {self.default_arm: 0.1}
+
+    @property
+    def arm_control_idx(self):
+        return {self.default_arm: np.arange(7)}
+
+    @property
+    def gripper_control_idx(self):
+        return {self.default_arm: np.arange(7, 23)}
+
+    @property
+    def arm_link_names(self):
+        return {self.default_arm: [
+            "panda_link0",
+            "panda_link1",
+            "panda_link2",
+            "panda_link3",
+            "panda_link4",
+            "panda_link5",
+            "panda_link6",
+            "panda_link7",
+        ]}
+
+    @property
+    def arm_joint_names(self):
+        return {self.default_arm: [
+            "panda_joint_1",
+            "panda_joint_2",
+            "panda_joint_3",
+            "panda_joint_4",
+            "panda_joint_5",
+            "panda_joint_6",
+            "panda_joint_7",
+        ]}
+
+    @property
+    def eef_link_names(self):
+        return {self.default_arm: "base_link"}
+
+    @property
+    def finger_link_names(self):
+        return {self.default_arm: [
+            "link_0_0",
+            "link_1_0",
+            "link_2_0",
+            "link_3_0",
+            "link_4_0",
+            "link_5_0",
+            "link_6_0",
+            "link_7_0",
+            "link_8_0",
+            "link_9_0",
+            "link_10_0",
+            "link_11_0",
+            "link_12_0",
+            "link_13_0",
+            "link_14_0",
+            "link_15_0",
+        ]}
+
+    @property
+    def finger_joint_names(self):
+        return {self.default_arm: [
+            "joint_0_0",
+            "joint_1_0",
+            "joint_2_0",
+            "joint_3_0",
+            "joint_4_0",
+            "joint_5_0",
+            "joint_6_0",
+            "joint_7_0",
+            "joint_8_0",
+            "joint_9_0",
+            "joint_10_0",
+            "joint_11_0",
+            "joint_12_0",
+            "joint_13_0",
+            "joint_14_0",
+            "joint_15_0",
+        ]}
+
+    @property
+    def usd_path(self):
+        return os.path.join(gm.ASSET_PATH, "models/franka_allegro/franka_allegro.usd")
+    
+    @property
+    def robot_arm_descriptor_yamls(self):
+        return {self.default_arm: os.path.join(gm.ASSET_PATH, "models/franka_allegro/franka_allegro_description.yaml")}
+    
+    @property
+    def robot_gripper_descriptor_yamls(self):
+        return {
+            finger: os.path.join(gm.ASSET_PATH, f"models/franka_allegro/allegro_{finger}_description.yaml")
+            for finger in ["thumb", "index", "middle", "ring"]
+        }
+
+    @property
+    def urdf_path(self):
+        return os.path.join(gm.ASSET_PATH, "models/franka_allegro/franka_allegro.urdf")
+    
+    @property
+    def gripper_urdf_path(self):
+        return os.path.join(gm.ASSET_PATH, "models/franka_allegro/allegro_hand.urdf")
+    
+    @property
+    def disabled_collision_pairs(self):
+        return [
+            ["link_12_0", "part_studio_link"],
+        ]
+    
+    def set_position(self, position):
+        self._world_base_fixed_joint_prim.GetAttribute("physics:localPos0").Set(tuple(position))

From d99eb8586eef155fabd276fc5ef4103282668dd5 Mon Sep 17 00:00:00 2001
From: Wensi Ai <wsai@stanford.edu>
Date: Thu, 12 Oct 2023 14:08:51 -0700
Subject: [PATCH 04/37] Change init file

---
 omnigibson/robots/__init__.py | 1 +
 omnigibson/simulator.py       | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/omnigibson/robots/__init__.py b/omnigibson/robots/__init__.py
index 3c3088cdb..d44f06d23 100644
--- a/omnigibson/robots/__init__.py
+++ b/omnigibson/robots/__init__.py
@@ -9,3 +9,4 @@
 from omnigibson.robots.fetch import Fetch
 from omnigibson.robots.tiago import Tiago
 from omnigibson.robots.two_wheel_robot import TwoWheelRobot
+from omnigibson.robots.franka_allegro import FrankaAllegro
diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py
index 9d6f9e39f..45e930b8a 100644
--- a/omnigibson/simulator.py
+++ b/omnigibson/simulator.py
@@ -70,7 +70,7 @@ class Simulator(SimulationContext, Serializable):
     def __init__(
             self,
             gravity=9.81,
-            physics_dt=1.0 / 60.0,
+            physics_dt=1.0 / 240.0,
             rendering_dt=1.0 / 60.0,
             stage_units_in_meters=1.0,
             viewer_width=gm.DEFAULT_VIEWER_WIDTH,

From 6614ab6b155f31a00f181be025f7c40ac0f8e582 Mon Sep 17 00:00:00 2001
From: Wensi Ai <wsai@stanford.edu>
Date: Thu, 12 Oct 2023 20:19:48 -0700
Subject: [PATCH 05/37] Revert simulator change

---
 omnigibson/simulator.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py
index 45e930b8a..9d6f9e39f 100644
--- a/omnigibson/simulator.py
+++ b/omnigibson/simulator.py
@@ -70,7 +70,7 @@ class Simulator(SimulationContext, Serializable):
     def __init__(
             self,
             gravity=9.81,
-            physics_dt=1.0 / 240.0,
+            physics_dt=1.0 / 60.0,
             rendering_dt=1.0 / 60.0,
             stage_units_in_meters=1.0,
             viewer_width=gm.DEFAULT_VIEWER_WIDTH,

From 7cfb3eab026a55572895da7e759752e8051c9f18 Mon Sep 17 00:00:00 2001
From: Ikko Eltociear Ashimine <eltociear@gmail.com>
Date: Mon, 16 Oct 2023 19:30:51 +0900
Subject: [PATCH 06/37] Fix typo in scene_base.py

arbitary -> arbitrary
---
 omnigibson/scenes/scene_base.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/omnigibson/scenes/scene_base.py b/omnigibson/scenes/scene_base.py
index 296814f6f..e166f9402 100644
--- a/omnigibson/scenes/scene_base.py
+++ b/omnigibson/scenes/scene_base.py
@@ -31,7 +31,7 @@
 class Scene(Serializable, Registerable, Recreatable, ABC):
     """
     Base class for all Scene objects.
-    Contains the base functionalities for an arbitary scene with an arbitrary set of added objects
+    Contains the base functionalities for an arbitrary scene with an arbitrary set of added objects
     """
     def __init__(
             self,

From 8c0e8ae8d7f09e146dca0e983d0e3654ce80113d Mon Sep 17 00:00:00 2001
From: Wensi Ai <wsai@stanford.edu>
Date: Mon, 16 Oct 2023 10:21:05 -0700
Subject: [PATCH 07/37] Clean up franka allegro class

---
 omnigibson/robots/franka_allegro.py | 87 ++---------------------------
 1 file changed, 5 insertions(+), 82 deletions(-)

diff --git a/omnigibson/robots/franka_allegro.py b/omnigibson/robots/franka_allegro.py
index 66a440690..70daf4112 100644
--- a/omnigibson/robots/franka_allegro.py
+++ b/omnigibson/robots/franka_allegro.py
@@ -3,7 +3,6 @@
 
 from omnigibson.macros import gm
 from omnigibson.robots.manipulation_robot import ManipulationRobot
-from omnigibson.robots.active_camera_robot import ActiveCameraRobot
 
 from omni.isaac.core.utils.prims import get_prim_at_path
 
@@ -133,10 +132,6 @@ def __init__(
             **kwargs,
         )
 
-    def _post_load(self):
-        super()._post_load()
-        self._world_base_fixed_joint_prim = get_prim_at_path(f"{self._prim_path}/root_joint")
-
     @property
     def model_name(self):
         return "FrankaAllegro"
@@ -147,7 +142,7 @@ def tucked_default_joint_pos(self):
 
     @property
     def untucked_default_joint_pos(self):
-        # return np.r_[[0.012, -0.57, 0, -2.81, 0, 3.037, 0.741], np.zeros(16)]
+        # position where the hand is parallel to the ground
         return np.r_[[0.86, -0.27, -0.68, -1.52, -0.18, 1.29, 1.72], np.zeros(16)]
 
     @property
@@ -174,20 +169,6 @@ def untuck(self):
     def update_controller_mode(self):
         super().update_controller_mode()
         # overwrite joint params here
-        # self.joints[f"panda_joint1"].damping = 10472
-        # self.joints[f"panda_joint1"].stiffness = 104720
-        # self.joints[f"panda_joint2"].damping = 1047.2
-        # self.joints[f"panda_joint2"].stiffness = 10472
-        # self.joints[f"panda_joint3"].damping = 5236
-        # self.joints[f"panda_joint3"].stiffness = 104720
-        # self.joints[f"panda_joint4"].damping = 523.6
-        # self.joints[f"panda_joint4"].stiffness = 10472
-        # self.joints[f"panda_joint5"].damping = 52.36
-        # self.joints[f"panda_joint5"].stiffness = 436.3
-        # self.joints[f"panda_joint6"].damping = 52.36
-        # self.joints[f"panda_joint6"].stiffness = 261.8
-        # self.joints[f"panda_joint7"].damping = 52.36
-        # self.joints[f"panda_joint7"].stiffness = 872.66
         for i in range(7):
             self.joints[f"panda_joint{i+1}"].damping = 1000
             self.joints[f"panda_joint{i+1}"].stiffness = 1000
@@ -198,16 +179,12 @@ def update_controller_mode(self):
 
     @property
     def controller_order(self):
-        # Ordered by general robot kinematics chain
         return ["arm_{}".format(self.default_arm), "gripper_{}".format(self.default_arm)]
 
     @property
     def _default_controllers(self):
-        # Always call super first
         controllers = super()._default_controllers
         controllers["arm_{}".format(self.default_arm)] = "InverseKinematicsController"
-        controllers["gripper_{}".format(self.default_arm)] = "JointController"
-
         return controllers
     
     @property
@@ -228,28 +205,11 @@ def gripper_control_idx(self):
 
     @property
     def arm_link_names(self):
-        return {self.default_arm: [
-            "panda_link0",
-            "panda_link1",
-            "panda_link2",
-            "panda_link3",
-            "panda_link4",
-            "panda_link5",
-            "panda_link6",
-            "panda_link7",
-        ]}
+        return {self.default_arm: [f"panda_link{i}" for i in range(8)]}
 
     @property
     def arm_joint_names(self):
-        return {self.default_arm: [
-            "panda_joint_1",
-            "panda_joint_2",
-            "panda_joint_3",
-            "panda_joint_4",
-            "panda_joint_5",
-            "panda_joint_6",
-            "panda_joint_7",
-        ]}
+        return {self.default_arm: [f"panda_joint_{i+1}" for i in range(7)]}
 
     @property
     def eef_link_names(self):
@@ -257,45 +217,11 @@ def eef_link_names(self):
 
     @property
     def finger_link_names(self):
-        return {self.default_arm: [
-            "link_0_0",
-            "link_1_0",
-            "link_2_0",
-            "link_3_0",
-            "link_4_0",
-            "link_5_0",
-            "link_6_0",
-            "link_7_0",
-            "link_8_0",
-            "link_9_0",
-            "link_10_0",
-            "link_11_0",
-            "link_12_0",
-            "link_13_0",
-            "link_14_0",
-            "link_15_0",
-        ]}
+        return {self.default_arm: [f"link_{i}_0" for i in range(16)]}
 
     @property
     def finger_joint_names(self):
-        return {self.default_arm: [
-            "joint_0_0",
-            "joint_1_0",
-            "joint_2_0",
-            "joint_3_0",
-            "joint_4_0",
-            "joint_5_0",
-            "joint_6_0",
-            "joint_7_0",
-            "joint_8_0",
-            "joint_9_0",
-            "joint_10_0",
-            "joint_11_0",
-            "joint_12_0",
-            "joint_13_0",
-            "joint_14_0",
-            "joint_15_0",
-        ]}
+        return {self.default_arm: [f"joint_{i}_0" for i in range(16)]}
 
     @property
     def usd_path(self):
@@ -325,6 +251,3 @@ def disabled_collision_pairs(self):
         return [
             ["link_12_0", "part_studio_link"],
         ]
-    
-    def set_position(self, position):
-        self._world_base_fixed_joint_prim.GetAttribute("physics:localPos0").Set(tuple(position))

From f00ad62c61b365f9de067fbf02feb762e113a19a Mon Sep 17 00:00:00 2001
From: Wensi Ai <wsai@stanford.edu>
Date: Mon, 16 Oct 2023 14:51:06 -0700
Subject: [PATCH 08/37] Add franka panda robot

---
 omnigibson/robots/__init__.py       |   1 +
 omnigibson/robots/franka.py         | 229 ++++++++++++++++++++++++++++
 omnigibson/robots/franka_allegro.py |  14 +-
 3 files changed, 236 insertions(+), 8 deletions(-)
 create mode 100644 omnigibson/robots/franka.py

diff --git a/omnigibson/robots/__init__.py b/omnigibson/robots/__init__.py
index d44f06d23..17b4af9a0 100644
--- a/omnigibson/robots/__init__.py
+++ b/omnigibson/robots/__init__.py
@@ -9,4 +9,5 @@
 from omnigibson.robots.fetch import Fetch
 from omnigibson.robots.tiago import Tiago
 from omnigibson.robots.two_wheel_robot import TwoWheelRobot
+from omnigibson.robots.franka import FrankaPanda
 from omnigibson.robots.franka_allegro import FrankaAllegro
diff --git a/omnigibson/robots/franka.py b/omnigibson/robots/franka.py
new file mode 100644
index 000000000..0b1761838
--- /dev/null
+++ b/omnigibson/robots/franka.py
@@ -0,0 +1,229 @@
+import os
+import numpy as np
+
+from omnigibson.macros import gm
+from omnigibson.robots.manipulation_robot import ManipulationRobot
+
+
+RESET_JOINT_OPTIONS = {
+    "tuck",
+    "untuck",
+}
+
+
+class FrankaPanda(ManipulationRobot):
+    """
+    The Franka Emika Panda robot
+    """
+
+    def __init__(
+        self,
+        # Shared kwargs in hierarchy
+        name,
+        prim_path=None,
+        class_id=None,
+        uuid=None,
+        scale=None,
+        visible=True,
+        visual_only=False,
+        self_collisions=True,
+        load_config=None,
+        fixed_base=True,
+
+        # Unique to USDObject hierarchy
+        abilities=None,
+
+        # Unique to ControllableObject hierarchy
+        control_freq=None,
+        controller_config=None,
+        action_type="continuous",
+        action_normalize=True,
+        reset_joint_pos=None,
+
+        # Unique to BaseRobot
+        obs_modalities="all",
+        proprio_obs="default",
+        sensor_config=None,
+
+        # Unique to ManipulationRobot
+        grasping_mode="physical",
+
+        **kwargs,
+    ):
+        """
+        Args:
+            name (str): Name for the object. Names need to be unique per scene
+            prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
+                created at /World/<name>
+            class_id (None or int): What class ID the object should be assigned in semantic segmentation rendering mode.
+                If None, the ID will be inferred from this object's category.
+            uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
+                If None is specified, then it will be auto-generated
+            scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
+                for this object. A single number corresponds to uniform scaling along the x,y,z axes, whereas a
+                3-array specifies per-axis scaling.
+            visible (bool): whether to render this object or not in the stage
+            visual_only (bool): Whether this object should be visual only (and not collide with any other objects)
+            self_collisions (bool): Whether to enable self collisions for this object
+            load_config (None or dict): If specified, should contain keyword-mapped values that are relevant for
+                loading this prim at runtime.
+            abilities (None or dict): If specified, manually adds specific object states to this object. It should be
+                a dict in the form of {ability: {param: value}} containing object abilities and parameters to pass to
+                the object state instance constructor.
+            control_freq (float): control frequency (in Hz) at which to control the object. If set to be None,
+                simulator.import_object will automatically set the control frequency to be 1 / render_timestep by default.
+            controller_config (None or dict): nested dictionary mapping controller name(s) to specific controller
+                configurations for this object. This will override any default values specified by this class.
+            action_type (str): one of {discrete, continuous} - what type of action space to use
+            action_normalize (bool): whether to normalize inputted actions. This will override any default values
+                specified by this class.
+            reset_joint_pos (None or n-array): if specified, should be the joint positions that the object should
+                be set to during a reset. If None (default), self.default_joint_pos will be used instead.
+            obs_modalities (str or list of str): Observation modalities to use for this robot. Default is "all", which
+                corresponds to all modalities being used.
+                Otherwise, valid options should be part of omnigibson.sensors.ALL_SENSOR_MODALITIES.
+                Note: If @sensor_config explicitly specifies `modalities` for a given sensor class, it will
+                    override any values specified from @obs_modalities!
+            proprio_obs (str or list of str): proprioception observation key(s) to use for generating proprioceptive
+                observations. If str, should be exactly "default" -- this results in the default proprioception
+                observations being used, as defined by self.default_proprio_obs. See self._get_proprioception_dict
+                for valid key choices
+            sensor_config (None or dict): nested dictionary mapping sensor class name(s) to specific sensor
+                configurations for this object. This will override any default values specified by this class.
+            grasping_mode (str): One of {"physical", "assisted", "sticky"}.
+                If "physical", no assistive grasping will be applied (relies on contact friction + finger force).
+                If "assisted", will magnetize any object touching and within the gripper's fingers.
+                If "sticky", will magnetize any object touching the gripper's fingers.
+            kwargs (dict): Additional keyword arguments that are used for other super() calls from subclasses, allowing
+                for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject).
+        """
+        # Parse reset joint pos if specifying special string
+        if isinstance(reset_joint_pos, str):
+            assert (
+                reset_joint_pos in RESET_JOINT_OPTIONS
+            ), "reset_joint_pos should be one of {} if using a string!".format(RESET_JOINT_OPTIONS)
+            reset_joint_pos = (
+                self.tucked_default_joint_pos if reset_joint_pos == "tuck" else self.untucked_default_joint_pos
+            )
+
+        # Run super init
+        super().__init__(
+            prim_path=prim_path,
+            name=name,
+            class_id=class_id,
+            uuid=uuid,
+            scale=scale,
+            visible=visible,
+            fixed_base=fixed_base,
+            visual_only=visual_only,
+            self_collisions=self_collisions,
+            load_config=load_config,
+            abilities=abilities,
+            control_freq=control_freq,
+            controller_config=controller_config,
+            action_type=action_type,
+            action_normalize=action_normalize,
+            reset_joint_pos=reset_joint_pos,
+            obs_modalities=obs_modalities,
+            proprio_obs=proprio_obs,
+            sensor_config=sensor_config,
+            grasping_mode=grasping_mode,
+            **kwargs,
+        )
+
+    @property
+    def model_name(self):
+        return "FrankaPanda"
+
+    @property
+    def tucked_default_joint_pos(self):
+        return np.zeros(9)
+
+    @property
+    def untucked_default_joint_pos(self):
+        return np.array([0.00, -1.3, 0.00, -2.87, 0.00, 2.00, 0.75, 0.00, 0.00])
+
+    @property
+    def discrete_action_list(self):
+        # Not supported for this robot
+        raise NotImplementedError()
+
+    def _create_discrete_action_space(self):
+        # Fetch does not support discrete actions
+        raise ValueError("Franka does not support discrete actions!")
+
+    def tuck(self):
+        """
+        Immediately set this robot's configuration to be in tucked mode
+        """
+        self.set_joint_positions(self.tucked_default_joint_pos)
+
+    def untuck(self):
+        """
+        Immediately set this robot's configuration to be in untucked mode
+        """
+        self.set_joint_positions(self.untucked_default_joint_pos)
+
+    def update_controller_mode(self):
+        super().update_controller_mode()
+        # overwrite joint params (e.g. damping, stiffess, max_effort) here
+
+    @property
+    def controller_order(self):
+        return ["arm_{}".format(self.default_arm), "gripper_{}".format(self.default_arm)]
+
+    @property
+    def _default_controllers(self):
+        controllers = super()._default_controllers
+        controllers["arm_{}".format(self.default_arm)] = "InverseKinematicsController"
+        controllers["gripper_{}".format(self.default_arm)] = "MultiFingerGripperController"
+        return controllers
+    
+    @property
+    def default_joint_pos(self):
+        return self.untucked_default_joint_pos
+
+    @property
+    def finger_lengths(self):
+        return {self.default_arm: 0.1}
+
+    @property
+    def arm_control_idx(self):
+        return {self.default_arm: np.arange(7)}
+
+    @property
+    def gripper_control_idx(self):
+        return {self.default_arm: np.arange(7, 9)}
+
+    @property
+    def arm_link_names(self):
+        return {self.default_arm: [f"panda_link{i}" for i in range(8)]}
+
+    @property
+    def arm_joint_names(self):
+        return {self.default_arm: [f"panda_joint_{i+1}" for i in range(7)]}
+
+    @property
+    def eef_link_names(self):
+        return {self.default_arm: "panda_hand"}
+
+    @property
+    def finger_link_names(self):
+        return {self.default_arm: ["panda_leftfinger", "panda_rightfinger"]}
+
+    @property
+    def finger_joint_names(self):
+        return {self.default_arm: ["panda_finger_joint1", "panda_finger_joint2"]}
+
+    @property
+    def usd_path(self):
+        return os.path.join(gm.ASSET_PATH, "models/franka/franka_panda.usd")
+    
+    @property
+    def robot_arm_descriptor_yamls(self):
+        return {self.default_arm: os.path.join(gm.ASSET_PATH, "models/franka/franka_panda_description.yaml")}
+    
+    @property
+    def urdf_path(self):
+        return os.path.join(gm.ASSET_PATH, "models/franka/franka_panda.urdf")
+    
\ No newline at end of file
diff --git a/omnigibson/robots/franka_allegro.py b/omnigibson/robots/franka_allegro.py
index 70daf4112..40bf953fb 100644
--- a/omnigibson/robots/franka_allegro.py
+++ b/omnigibson/robots/franka_allegro.py
@@ -4,8 +4,6 @@
 from omnigibson.macros import gm
 from omnigibson.robots.manipulation_robot import ManipulationRobot
 
-from omni.isaac.core.utils.prims import get_prim_at_path
-
 RESET_JOINT_OPTIONS = {
     "tuck",
     "untuck",
@@ -152,7 +150,7 @@ def discrete_action_list(self):
 
     def _create_discrete_action_space(self):
         # Fetch does not support discrete actions
-        raise ValueError("Fetch does not support discrete actions!")
+        raise ValueError("Franka does not support discrete actions!")
 
     def tuck(self):
         """
@@ -225,26 +223,26 @@ def finger_joint_names(self):
 
     @property
     def usd_path(self):
-        return os.path.join(gm.ASSET_PATH, "models/franka_allegro/franka_allegro.usd")
+        return os.path.join(gm.ASSET_PATH, "models/franka/franka_allegro.usd")
     
     @property
     def robot_arm_descriptor_yamls(self):
-        return {self.default_arm: os.path.join(gm.ASSET_PATH, "models/franka_allegro/franka_allegro_description.yaml")}
+        return {self.default_arm: os.path.join(gm.ASSET_PATH, "models/franka/franka_allegro_description.yaml")}
     
     @property
     def robot_gripper_descriptor_yamls(self):
         return {
-            finger: os.path.join(gm.ASSET_PATH, f"models/franka_allegro/allegro_{finger}_description.yaml")
+            finger: os.path.join(gm.ASSET_PATH, f"models/franka/allegro_{finger}_description.yaml")
             for finger in ["thumb", "index", "middle", "ring"]
         }
 
     @property
     def urdf_path(self):
-        return os.path.join(gm.ASSET_PATH, "models/franka_allegro/franka_allegro.urdf")
+        return os.path.join(gm.ASSET_PATH, "models/franka/franka_allegro.urdf")
     
     @property
     def gripper_urdf_path(self):
-        return os.path.join(gm.ASSET_PATH, "models/franka_allegro/allegro_hand.urdf")
+        return os.path.join(gm.ASSET_PATH, "models/franka/allegro_hand.urdf")
     
     @property
     def disabled_collision_pairs(self):

From e5ba3dba73cb1a5bd8e55fcb1e7906efe0b87821 Mon Sep 17 00:00:00 2001
From: Wensi Ai <wsai@stanford.edu>
Date: Mon, 16 Oct 2023 15:04:59 -0700
Subject: [PATCH 09/37] Remove tuck/untuck for Franka

---
 omnigibson/robots/franka.py         | 25 +------------------------
 omnigibson/robots/franka_allegro.py | 25 ++-----------------------
 2 files changed, 3 insertions(+), 47 deletions(-)

diff --git a/omnigibson/robots/franka.py b/omnigibson/robots/franka.py
index 0b1761838..c4e2f9a90 100644
--- a/omnigibson/robots/franka.py
+++ b/omnigibson/robots/franka.py
@@ -5,12 +5,6 @@
 from omnigibson.robots.manipulation_robot import ManipulationRobot
 
 
-RESET_JOINT_OPTIONS = {
-    "tuck",
-    "untuck",
-}
-
-
 class FrankaPanda(ManipulationRobot):
     """
     The Franka Emika Panda robot
@@ -97,15 +91,6 @@ def __init__(
             kwargs (dict): Additional keyword arguments that are used for other super() calls from subclasses, allowing
                 for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject).
         """
-        # Parse reset joint pos if specifying special string
-        if isinstance(reset_joint_pos, str):
-            assert (
-                reset_joint_pos in RESET_JOINT_OPTIONS
-            ), "reset_joint_pos should be one of {} if using a string!".format(RESET_JOINT_OPTIONS)
-            reset_joint_pos = (
-                self.tucked_default_joint_pos if reset_joint_pos == "tuck" else self.untucked_default_joint_pos
-            )
-
         # Run super init
         super().__init__(
             prim_path=prim_path,
@@ -135,14 +120,6 @@ def __init__(
     def model_name(self):
         return "FrankaPanda"
 
-    @property
-    def tucked_default_joint_pos(self):
-        return np.zeros(9)
-
-    @property
-    def untucked_default_joint_pos(self):
-        return np.array([0.00, -1.3, 0.00, -2.87, 0.00, 2.00, 0.75, 0.00, 0.00])
-
     @property
     def discrete_action_list(self):
         # Not supported for this robot
@@ -181,7 +158,7 @@ def _default_controllers(self):
     
     @property
     def default_joint_pos(self):
-        return self.untucked_default_joint_pos
+        return np.array([0.00, -1.3, 0.00, -2.87, 0.00, 2.00, 0.75, 0.00, 0.00])
 
     @property
     def finger_lengths(self):
diff --git a/omnigibson/robots/franka_allegro.py b/omnigibson/robots/franka_allegro.py
index 40bf953fb..9303d313c 100644
--- a/omnigibson/robots/franka_allegro.py
+++ b/omnigibson/robots/franka_allegro.py
@@ -4,11 +4,6 @@
 from omnigibson.macros import gm
 from omnigibson.robots.manipulation_robot import ManipulationRobot
 
-RESET_JOINT_OPTIONS = {
-    "tuck",
-    "untuck",
-}
-
 
 class FrankaAllegro(ManipulationRobot):
     """
@@ -96,14 +91,6 @@ def __init__(
             kwargs (dict): Additional keyword arguments that are used for other super() calls from subclasses, allowing
                 for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject).
         """
-        # Parse reset joint pos if specifying special string
-        if isinstance(reset_joint_pos, str):
-            assert (
-                reset_joint_pos in RESET_JOINT_OPTIONS
-            ), "reset_joint_pos should be one of {} if using a string!".format(RESET_JOINT_OPTIONS)
-            reset_joint_pos = (
-                self.tucked_default_joint_pos if reset_joint_pos == "tuck" else self.untucked_default_joint_pos
-            )
 
         # Run super init
         super().__init__(
@@ -134,15 +121,6 @@ def __init__(
     def model_name(self):
         return "FrankaAllegro"
 
-    @property
-    def tucked_default_joint_pos(self):
-        return np.zeros(23)
-
-    @property
-    def untucked_default_joint_pos(self):
-        # position where the hand is parallel to the ground
-        return np.r_[[0.86, -0.27, -0.68, -1.52, -0.18, 1.29, 1.72], np.zeros(16)]
-
     @property
     def discrete_action_list(self):
         # Not supported for this robot
@@ -187,7 +165,8 @@ def _default_controllers(self):
     
     @property
     def default_joint_pos(self):
-        return self.untucked_default_joint_pos
+        # position where the hand is parallel to the ground
+        return np.r_[[0.86, -0.27, -0.68, -1.52, -0.18, 1.29, 1.72], np.zeros(16)]
 
     @property
     def finger_lengths(self):

From e5b619f7e0158ce1cfc9d05c2caad7662d9c84ca Mon Sep 17 00:00:00 2001
From: vince-ai <vinceai@outlook.com>
Date: Mon, 16 Oct 2023 22:26:19 -0700
Subject: [PATCH 10/37] linux setup fix

---
 scripts/setup.sh | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/scripts/setup.sh b/scripts/setup.sh
index 238369233..0c6474f2b 100755
--- a/scripts/setup.sh
+++ b/scripts/setup.sh
@@ -28,7 +28,8 @@ echo -e "\nUsing $conda_name as the conda environment name\n"
 
 # Get Python version from Isaac Sim
 ISAAC_PYTHON_VERSION=$(${ISAAC_SIM_PATH}/python.sh -c "import platform; print(platform.python_version())")
-echo Using Python version $ISAAC_PYTHON_VERSION[0m matching your current Isaac Sim version
+ISAAC_PYTHON_VERSION="${ISAAC_PYTHON_VERSION##*$'\n'}" # get rid of conda activation warnings
+echo Using Python version $ISAAC_PYTHON_VERSION matching your current Isaac Sim version
 
 # Create a conda environment with the appropriate python version
 source $(conda info --base)/etc/profile.d/conda.sh

From 45672eae38abe4ded29a3d37bbe963400243be30 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Tue, 17 Oct 2023 14:23:17 -0700
Subject: [PATCH 11/37] Decontainerize tests

---
 .github/workflows/tests.yml | 21 +--------------------
 1 file changed, 1 insertion(+), 20 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index f76955536..64ed147f2 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -8,26 +8,7 @@ concurrency:
 
 jobs:
   test:
-    runs-on: [self-hosted, linux, gpu]
-    container:
-      image: stanfordvl/omnigibson-dev:latest
-      options: --gpus=all --privileged --user=root
-      env:
-        DISPLAY: ""
-        OMNIGIBSON_HEADLESS: 1
-      volumes:
-        - /scr/omni-data/datasets:/data
-        - /usr/share/vulkan/icd.d/nvidia_icd.json:/etc/vulkan/icd.d/nvidia_icd.json
-        - /usr/share/vulkan/icd.d/nvidia_layers.json:/etc/vulkan/implicit_layer.d/nvidia_layers.json
-        - /usr/share/glvnd/egl_vendor.d/10_nvidia.json:/usr/share/glvnd/egl_vendor.d/10_nvidia.json
-        - /scr/omni-data/isaac-sim/cache/ov:/root/.cache/ov:rw
-        - /scr/omni-data/isaac-sim/cache/pip:/root/.cache/pip:rw
-        - /scr/omni-data/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw
-        - /scr/omni-data/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw
-        - /scr/omni-data/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw
-        - /scr/omni-data/isaac-sim/config:/root/.nvidia-omniverse/config:rw
-        - /scr/omni-data/isaac-sim/data:/root/.local/share/ov/data:rw
-        - /scr/omni-data/isaac-sim/documents:/root/Documents:rw
+    runs-on: [self-hosted, linux, gpu, dataset-enabled]
 
     defaults:
       run:

From 0aee03990852ef684c75cd2613410698f49d8851 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Tue, 17 Oct 2023 15:34:45 -0700
Subject: [PATCH 12/37] Retest docker build

---
 .github/workflows/build-push-containers.yml | 20 +++++++++++++-------
 1 file changed, 13 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index aa27c728b..6f38c197e 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -12,26 +12,32 @@ jobs:
   docker:
     runs-on: [self-hosted, linux, gpu]
     steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v4
+      -
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
       -
         name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v3
       -
         name: Login to NVCR
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: nvcr.io
           username: ${{ secrets.NVCR_USERNAME }}
           password: ${{ secrets.NVCR_PASSWORD }}   
       -
         name: Login to Docker Hub
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKER_HUB_USERNAME }}
           password: ${{ secrets.DOCKER_HUB_PASSWORD }}
       -
         name: Metadata for dev Image
         id: meta-dev
-        uses: docker/metadata-action@v4
+        uses: docker/metadata-action@v5
         with:
           images: |
             stanfordvl/omnigibson-dev
@@ -41,7 +47,7 @@ jobs:
       -
         name: Metadata for prod Image
         id: meta-prod
-        uses: docker/metadata-action@v4
+        uses: docker/metadata-action@v5
         with:
           images: |
             stanfordvl/omnigibson
@@ -50,7 +56,7 @@ jobs:
             type=semver,pattern={{version}}
       -
         name: Build and push dev image
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           push: true
           tags: ${{ steps.meta-dev.outputs.tags }}
@@ -60,7 +66,7 @@ jobs:
           cache-to: type=gha,mode=max
       -
         name: Build and push prod image
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           push: true
           tags: ${{ steps.meta-prod.outputs.tags }}

From 02268aa9552cc5407a3010064ba81ae64b638c5d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Tue, 17 Oct 2023 22:59:11 -0700
Subject: [PATCH 13/37] Switch over to 2023.1.0 containers

---
 .github/workflows/build-push-containers.yml | 2 +-
 docker/dev.Dockerfile                       | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index 6f38c197e..ed8f783e8 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -10,7 +10,7 @@ on:
 
 jobs:
   docker:
-    runs-on: [self-hosted, linux, gpu]
+    runs-on: ubuntu-latest
     steps:
       -
         name: Checkout
diff --git a/docker/dev.Dockerfile b/docker/dev.Dockerfile
index 113889b7d..1d84d0f22 100644
--- a/docker/dev.Dockerfile
+++ b/docker/dev.Dockerfile
@@ -1,4 +1,4 @@
-FROM nvcr.io/nvidia/isaac-sim:2022.2.0
+FROM nvcr.io/nvidia/isaac-sim:2023.1.0
 
 # Set up all the prerequisites.
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
@@ -19,7 +19,7 @@ ENV OMNIGIBSON_KEY_PATH /data/omnigibson.key
 # Install Mamba (light conda alternative)
 RUN curl -Ls https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xvj -C / bin/micromamba
 ENV MAMBA_ROOT_PREFIX /micromamba
-RUN micromamba create -n omnigibson -c conda-forge python=3.7
+RUN micromamba create -n omnigibson -c conda-forge python=3.10
 RUN micromamba shell init --shell=bash --prefix=/micromamba
 
 # Make sure isaac gets properly sourced every time omnigibson gets called
@@ -45,8 +45,8 @@ RUN cd /ompl/build/Release && \
     micromamba run -n omnigibson cmake ../.. \
       -DCMAKE_INSTALL_PREFIX="$CONDA_PREFIX" \
       -DBOOST_ROOT="$CONDA_PREFIX" \
-      -DPYTHON_EXEC=/micromamba/envs/omnigibson/bin/python3.7 \
-      -DPYTHONPATH=/micromamba/envs/omnigibson/lib/python3.7/site-packages && \
+      -DPYTHON_EXEC=/micromamba/envs/omnigibson/bin/python3.10 \
+      -DPYTHONPATH=/micromamba/envs/omnigibson/lib/python3.10/site-packages && \
     micromamba run -n omnigibson make -j 4 update_bindings && \
     micromamba run -n omnigibson make -j 4 && \
     cd py-bindings && \

From 9094eb72ede1c89d267e6eaf53d5c82dc11f222d Mon Sep 17 00:00:00 2001
From: Surav Shrestha <surav313@gmail.com>
Date: Wed, 18 Oct 2023 18:02:37 +0545
Subject: [PATCH 14/37] docs: fix typos in
 docs/getting_started/building_blocks.md

---
 docs/getting_started/building_blocks.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/getting_started/building_blocks.md b/docs/getting_started/building_blocks.md
index c3fce4b21..d64c57bd8 100644
--- a/docs/getting_started/building_blocks.md
+++ b/docs/getting_started/building_blocks.md
@@ -11,7 +11,7 @@ icon: octicons/package-16
 
 ??? question annotate "Why macros?"
 
-    Macros enforce global behavior that is consistent within an individual python process but can differ between processes. This is useful because globally enabling all of **`OmniGibson`**'s features can cause unecessary slowdowns, and so configuring the macros for your specific use case can optimize performance.
+    Macros enforce global behavior that is consistent within an individual python process but can differ between processes. This is useful because globally enabling all of **`OmniGibson`**'s features can cause unnecessary slowdowns, and so configuring the macros for your specific use case can optimize performance.
 
     For example, Omniverse provides a so-called `flatcache` feature which provides significant performance boosts, but cannot be used when fluids or soft bodies are present. So, we ideally should always have `gm.USE_FLATCACHE=True` unless we have fluids or soft bodies in our environment.
 
@@ -407,7 +407,7 @@ python -m omnigibson.examples.object_states.particle_source_sink_demo
 
 This demo loads in a sink, which is enabled with both the ParticleSource and ParticleSink states. The sink's particle source is located at the faucet spout and spawns a continuous stream of water particles, which is then destroyed ("sunk") by the sink's particle sink located at the drain.
 
-??? note "Difference bewteen `ParticleApplier/Removers` and `ParticleSource/Sinks`"
+??? note "Difference between `ParticleApplier/Removers` and `ParticleSource/Sinks`"
     The key difference between `ParticleApplier/Removers` and `ParticleSource/Sinks` is that `Applier/Removers`
     requires contact (if using `ParticleProjectionMethod.ADJACENCY`) or overlap
     (if using `ParticleProjectionMethod.PROJECTION`) in order to spawn / remove particles, and generally only spawn

From ad5288d8cd55a06333fddab9d427774a246fdf59 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 11:13:02 -0700
Subject: [PATCH 15/37] Remove now-unnecessary driver logic

---
 docker/run_docker.sh | 52 --------------------------------------------
 1 file changed, 52 deletions(-)

diff --git a/docker/run_docker.sh b/docker/run_docker.sh
index 146ae218c..0d596cc67 100755
--- a/docker/run_docker.sh
+++ b/docker/run_docker.sh
@@ -26,55 +26,6 @@ do
     esac
 done
 
-ICD_PATH_1="/usr/share/vulkan/icd.d/nvidia_icd.json"
-ICD_PATH_2="/etc/vulkan/icd.d/nvidia_icd.json"
-LAYERS_PATH_1="/usr/share/vulkan/icd.d/nvidia_layers.json"
-LAYERS_PATH_2="/usr/share/vulkan/implicit_layer.d/nvidia_layers.json"
-LAYERS_PATH_3="/etc/vulkan/implicit_layer.d/nvidia_layers.json"
-EGL_VENDOR_PATH="/usr/share/glvnd/egl_vendor.d/10_nvidia.json"
-
-# Find the ICD file
-if [ -e "$ICD_PATH_1" ]; then
-    ICD_PATH=$ICD_PATH_1
-elif [ -e "$ICD_PATH_2" ]; then
-    ICD_PATH=$ICD_PATH_2
-else
-    echo "Missing nvidia_icd.json file.";
-    echo "Typical paths:";
-    echo "- /usr/share/vulkan/icd.d/nvidia_icd.json or";
-    echo "- /etc/vulkan/icd.d/nvidia_icd.json";
-    echo "You can google nvidia_icd.json for your distro to find the correct path.";
-    echo "Consider updating your driver to 525 if you cannot find the file.";
-    echo "To continue update the ICD_PATH_1 at the top of the run_docker.sh file and retry";
-    exit;
-fi
-
-# Find the layers file
-if [ -e "$LAYERS_PATH_1" ]; then
-    LAYERS_PATH=$LAYERS_PATH_1
-elif [ -e "$LAYERS_PATH_2" ]; then
-    LAYERS_PATH=$LAYERS_PATH_2
-elif [ -e "$LAYERS_PATH_3" ]; then
-    LAYERS_PATH=$LAYERS_PATH_3
-else
-    echo "Missing nvidia_layers.json file."
-    echo "Typical paths:";
-    echo "- /usr/share/vulkan/icd.d/nvidia_layers.json";
-    echo "- /usr/share/vulkan/implicit_layer.d/nvidia_layers.json";
-    echo "- /etc/vulkan/implicit_layer.d/nvidia_layers.json";
-    echo "You can google nvidia_layers.json for your distro to find the correct path.";
-    echo "Consider updating your driver to 525 if you cannot find the file.";
-    echo "To continue update the LAYERS_PATH_1 at the top of the run_docker.sh file and retry";
-    exit;
-fi 
-
-if [ ! -e "$EGL_VENDOR_PATH" ]; then
-    echo "Missing ${EGL_VENDOR_PATH} file."
-    echo "(default path: /usr/share/vulkan/icd.d/nvidia_icd.json)";
-    echo "To continue update the EGL_VENDOR_PATH at the top of the run_docker.sh file and retry";
-    exit;
-fi 
-
 # Move directories from their legacy paths.
 if [ -e "${DATA_PATH}/og_dataset" ]; then
     mv "${DATA_PATH}/og_dataset" "${DATA_PATH}/datasets/og_dataset"
@@ -117,9 +68,6 @@ docker run \
     -e DISPLAY=${DOCKER_DISPLAY} \
     -e OMNIGIBSON_HEADLESS=${OMNIGIBSON_HEADLESS} \
     -v $DATA_PATH/datasets:/data \
-    -v ${ICD_PATH}:/etc/vulkan/icd.d/nvidia_icd.json \
-    -v ${LAYERS_PATH}:/etc/vulkan/implicit_layer.d/nvidia_layers.json \
-    -v ${EGL_VENDOR_PATH}:/usr/share/glvnd/egl_vendor.d/10_nvidia.json \
     -v $DATA_PATH/isaac-sim/cache/kit:/isaac-sim/kit/cache/Kit:rw \
     -v $DATA_PATH/isaac-sim/cache/ov:/root/.cache/ov:rw \
     -v $DATA_PATH/isaac-sim/cache/pip:/root/.cache/pip:rw \

From 1b1988b9513f84feb84474e784619dc4564945b8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 12:01:47 -0700
Subject: [PATCH 16/37] Update particle utils with support for the 2023 version

---
 omnigibson/utils/deprecated_utils.py | 57 ++++++++++++++++++++--------
 1 file changed, 41 insertions(+), 16 deletions(-)

diff --git a/omnigibson/utils/deprecated_utils.py b/omnigibson/utils/deprecated_utils.py
index 02bcf45d0..b4df02c6b 100644
--- a/omnigibson/utils/deprecated_utils.py
+++ b/omnigibson/utils/deprecated_utils.py
@@ -22,7 +22,7 @@ def __init__(self, prim_type: str, **kwargs):
             prim_type (str): It supports Plane/Sphere/Cone/Cylinder/Disk/Torus/Cube.
 
         kwargs:
-            object_origin (Gf.Vec3f): Position of mesh center.
+            object_origin (Gf.Vec3f): Position of mesh center in stage units.
 
             u_patches (int): The number of patches to tessellate U direction.
 
@@ -31,7 +31,7 @@ def __init__(self, prim_type: str, **kwargs):
             w_patches (int): The number of patches to tessellate W direction.
                              It only works for Cone/Cylinder/Cube.
 
-            half_scale (float): Half size of mesh. Default None.
+            half_scale (float): Half size of mesh in centimeters. Default is None, which means it's controlled by settings.
 
             u_verts_scale (int): Tessellation Level of U. It's a multiplier of u_patches.
 
@@ -42,23 +42,22 @@ def __init__(self, prim_type: str, **kwargs):
                                  For Cone/Cylinder, it's to tessellate the caps.
                                  For Cube, it's to tessellate along z-axis.
 
+            above_ground (bool): It will offset the center of mesh above the ground plane if it's True,
+                False otherwise. It's False by default. This param only works when param object_origin is not given.
+                Otherwise, it will be ignored.
+
             stage (Usd.Stage): If specified, stage to create prim on
         """
+
         self._prim_type = prim_type[0:1].upper() + prim_type[1:].lower()
         self._usd_context = omni.usd.get_context()
         self._selection = self._usd_context.get_selection()
         self._stage = kwargs.get("stage", self._usd_context.get_stage())
         self._settings = carb.settings.get_settings()
-        self._prim_path = None
-        self._default_path = None
-        self._prepend_default_prim = True
-        if "prim_path" in kwargs and kwargs["prim_path"]:
-            self._default_path = Sdf.Path(kwargs["prim_path"])
-        self._select_new_prim = True
-        if "select_new_prim" in kwargs:
-            self._select_new_prim = bool(kwargs["select_new_prim"])
-        if "prepend_default_prim" in kwargs:
-            self._prepend_default_prim = bool(kwargs["prepend_default_prim"])
+        self._default_path = kwargs.get("prim_path", None)
+        self._select_new_prim = kwargs.get("select_new_prim", True)
+        self._prepend_default_prim = kwargs.get("prepend_default_prim", True)
+        self._above_round = kwargs.get("above_ground", False)
 
         self._attributes = {**kwargs}
         # Supported mesh types should have an associated evaluator class
@@ -66,7 +65,7 @@ def __init__(self, prim_type: str, **kwargs):
         assert isinstance(self._evaluator_class, type)
 
 
-class Utils(OmniUtils):
+class Utils2022(OmniUtils):
     """
     Subclass that overrides a specific function within Omni's Utils class to fix a bug
     """
@@ -101,13 +100,39 @@ def create_material(self, name):
         return [material_path]
 
 
+class Utils2023(OmniUtils):
+    def create_material(self, name):
+        material_url = carb.settings.get_settings().get("/exts/omni.particle.system.core/material")
+
+        # TODO: THIS IS THE ONLY LINE WE CHANGE! "/" SHOULD BE ""
+        material_path = ""
+        default_prim = self.stage.GetDefaultPrim()
+        if default_prim:
+            material_path = default_prim.GetPath().pathString
+
+        if not self.stage.GetPrimAtPath(material_path + "/Looks"):
+            self.stage.DefinePrim(material_path + "/Looks", "Scope")
+        material_path += "/Looks/" + name
+        material_path = ou.get_stage_next_free_path(
+            self.stage, material_path, False
+        )
+        prim = self.stage.DefinePrim(material_path, "Material")
+        if material_url:
+            prim.GetReferences().AddReference(material_url)
+        else:
+            carb.log_error("Failed to find material URL in settings")
+
+        return [material_path]
+
+
 class Core(OmniCore):
     """
     Subclass that overrides a specific function within Omni's Core class to fix a bug
     """
     def __init__(self, popup_callback: Callable[[str], None], particle_system_name: str):
         self._popup_callback = popup_callback
-        self.utils = Utils()    # TODO: THIS IS THE ONLY LINE THAT WE CHANGE! ONCE FIXED, REMOVE THIS
+        from omnigibson.utils.sim_utils import meets_minimum_isaac_version
+        self.utils = Utils2023() if meets_minimum_isaac_version("2023.0.0") else Utils2022()
         self.context = ou.get_context()
         self.stage = self.context.get_stage()
         self.selection = self.context.get_selection()
@@ -123,7 +148,7 @@ def get_compute_graph(self, selected_paths, create_new_graph=True, created_paths
         """
         graph = None
         graph_paths = [path for path in selected_paths
-                       if self.stage.GetPrimAtPath(path).GetTypeName() == "ComputeGraph"]
+                       if self.stage.GetPrimAtPath(path).GetTypeName() in ["ComputeGraph", "OmniGraph"] ]
 
         if len(graph_paths) > 0:
             graph = ogc.get_graph_by_path(graph_paths[0])
@@ -131,6 +156,7 @@ def get_compute_graph(self, selected_paths, create_new_graph=True, created_paths
                 carb.log_warn(f"Multiple ComputeGraph prims selected. Only the first will be used: {graph.get_path_to_graph()}")
         elif create_new_graph:
             # If no graph was found in the selected prims, we'll make a new graph.
+            # TODO: THIS IS THE ONLY LINE THAT WE CHANGE! ONCE FIXED, REMOVE THIS
             graph_path = Sdf.Path(f"/OmniGraph/{self.particle_system_name}").MakeAbsolutePath(Sdf.Path.absoluteRootPath)
             graph_path = ou.get_stage_next_free_path(self.stage, graph_path, True)
 
@@ -159,4 +185,3 @@ def get_compute_graph(self, selected_paths, create_new_graph=True, created_paths
             carb.log_info(f"No ComputeGraph selected. A new graph has been created at {graph.get_path_to_graph()}")
 
         return graph
-

From 5668ee97d1936ecf342f69e6ffa13483ae7f3feb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 12:33:18 -0700
Subject: [PATCH 17/37] No need for QEMU

---
 .github/workflows/build-push-containers.yml | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index ed8f783e8..59288863f 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -15,9 +15,6 @@ jobs:
       -
         name: Checkout
         uses: actions/checkout@v4
-      -
-        name: Set up QEMU
-        uses: docker/setup-qemu-action@v3
       -
         name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3

From bcaf3ad80a075a4971ed6f55ebf66fbfc2cbd253 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 13:05:11 -0700
Subject: [PATCH 18/37] Remove docker image caching

---
 .github/workflows/build-push-containers.yml | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index 59288863f..7ecefc460 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -59,8 +59,6 @@ jobs:
           tags: ${{ steps.meta-dev.outputs.tags }}
           labels: ${{ steps.meta-dev.outputs.labels }}
           file: docker/dev.Dockerfile
-          cache-from: type=gha
-          cache-to: type=gha,mode=max
       -
         name: Build and push prod image
         uses: docker/build-push-action@v5
@@ -69,5 +67,3 @@ jobs:
           tags: ${{ steps.meta-prod.outputs.tags }}
           labels: ${{ steps.meta-prod.outputs.labels }}
           file: docker/prod.Dockerfile
-          cache-from: type=gha
-          cache-to: type=gha,mode=max

From 44a794ca5d5b22ea215b7afb3b580ec773478c84 Mon Sep 17 00:00:00 2001
From: mj-hwang <mjhwang@berkeley.edu>
Date: Wed, 18 Oct 2023 13:18:03 -0700
Subject: [PATCH 19/37] Add an option to use external camera as additional
 modalities in env obs

---
 omnigibson/envs/env_base.py | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/omnigibson/envs/env_base.py b/omnigibson/envs/env_base.py
index 82a25747e..715384088 100644
--- a/omnigibson/envs/env_base.py
+++ b/omnigibson/envs/env_base.py
@@ -11,6 +11,7 @@
 from omnigibson.utils.ui_utils import create_module_logger
 from omnigibson.utils.python_utils import assert_valid_key, merge_nested_dicts, create_class_from_registry_and_config,\
     Recreatable
+from omnigibson.sensors.vision_sensor import VisionSensor
 
 
 # Create module logger
@@ -30,6 +31,8 @@ def __init__(
         automatic_reset=False,
         flatten_action_space=False,
         flatten_obs_space=False,
+        use_external_camera=False,
+        external_camera_pose=None,
     ):
         """
         Args:
@@ -42,6 +45,8 @@ def __init__(
             automatic_reset (bool): whether to automatic reset after an episode finishes
             flatten_action_space (bool): whether to flatten the action space as a sinle 1D-array
             flatten_obs_space (bool): whether the observation space should be flattened when generated
+            use_external_camera (bool): whether to use external camera as additional modalities in observation.
+            external_camera_pose (iterable of lists or of n-arrays): desired position and orientation of external camera.
         """
         # Call super first
         super().__init__()
@@ -80,6 +85,21 @@ def __init__(
         # Load this environment
         self.load()
 
+        # Set the initial camera if required.
+        self.use_external_camera = use_external_camera
+        if use_external_camera:
+            self.camera = VisionSensor(
+                prim_path="/World/viewer_camera",
+                name="camera",
+                modalities=["rgb", "depth"], # cfg is some customized config
+            )
+            self.camera.initialize()
+            if external_camera_pose is not None:
+                self.camera.set_position_orientation(
+                    external_camera_pose[0],
+                    external_camera_pose[1],
+                )
+
     def reload(self, configs, overwrite_old=True):
         """
         Reload using another set of config file(s).
@@ -346,6 +366,9 @@ def get_obs(self):
         # Add task observations
         obs["task"] = self._task.get_obs(env=self)
 
+        if self.use_external_camera:
+            obs["external"] = self.camera.get_obs()
+
         # Possibly flatten obs if requested
         if self._flatten_obs_space:
             obs = recursively_generate_flat_dict(dic=obs)

From fe2c0930e501f9d1d3ad0c6598ab688a6657e222 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 13:33:20 -0700
Subject: [PATCH 20/37] Revert "Add an option to use external camera as
 additional modalities in env obs"

This reverts commit 44a794ca5d5b22ea215b7afb3b580ec773478c84 which was pushed accidentally.
---
 omnigibson/envs/env_base.py | 23 -----------------------
 1 file changed, 23 deletions(-)

diff --git a/omnigibson/envs/env_base.py b/omnigibson/envs/env_base.py
index 715384088..82a25747e 100644
--- a/omnigibson/envs/env_base.py
+++ b/omnigibson/envs/env_base.py
@@ -11,7 +11,6 @@
 from omnigibson.utils.ui_utils import create_module_logger
 from omnigibson.utils.python_utils import assert_valid_key, merge_nested_dicts, create_class_from_registry_and_config,\
     Recreatable
-from omnigibson.sensors.vision_sensor import VisionSensor
 
 
 # Create module logger
@@ -31,8 +30,6 @@ def __init__(
         automatic_reset=False,
         flatten_action_space=False,
         flatten_obs_space=False,
-        use_external_camera=False,
-        external_camera_pose=None,
     ):
         """
         Args:
@@ -45,8 +42,6 @@ def __init__(
             automatic_reset (bool): whether to automatic reset after an episode finishes
             flatten_action_space (bool): whether to flatten the action space as a sinle 1D-array
             flatten_obs_space (bool): whether the observation space should be flattened when generated
-            use_external_camera (bool): whether to use external camera as additional modalities in observation.
-            external_camera_pose (iterable of lists or of n-arrays): desired position and orientation of external camera.
         """
         # Call super first
         super().__init__()
@@ -85,21 +80,6 @@ def __init__(
         # Load this environment
         self.load()
 
-        # Set the initial camera if required.
-        self.use_external_camera = use_external_camera
-        if use_external_camera:
-            self.camera = VisionSensor(
-                prim_path="/World/viewer_camera",
-                name="camera",
-                modalities=["rgb", "depth"], # cfg is some customized config
-            )
-            self.camera.initialize()
-            if external_camera_pose is not None:
-                self.camera.set_position_orientation(
-                    external_camera_pose[0],
-                    external_camera_pose[1],
-                )
-
     def reload(self, configs, overwrite_old=True):
         """
         Reload using another set of config file(s).
@@ -366,9 +346,6 @@ def get_obs(self):
         # Add task observations
         obs["task"] = self._task.get_obs(env=self)
 
-        if self.use_external_camera:
-            obs["external"] = self.camera.get_obs()
-
         # Possibly flatten obs if requested
         if self._flatten_obs_space:
             obs = recursively_generate_flat_dict(dic=obs)

From 611eda8b152533404683958b206c58a7c2b1d860 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 13:35:45 -0700
Subject: [PATCH 21/37] Try to avoid space limitations on Docker build

---
 .github/workflows/build-push-containers.yml | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index 7ecefc460..8190b7f49 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -12,6 +12,13 @@ jobs:
   docker:
     runs-on: ubuntu-latest
     steps:
+      - name: Maximize build space
+        uses: easimon/maximize-build-space@master
+        with:
+          remove-dotnet: 'true'
+          remove-android: 'true'
+          remove-haskell: 'true'
+          remove-codeql: 'true'
       -
         name: Checkout
         uses: actions/checkout@v4
@@ -59,6 +66,8 @@ jobs:
           tags: ${{ steps.meta-dev.outputs.tags }}
           labels: ${{ steps.meta-dev.outputs.labels }}
           file: docker/dev.Dockerfile
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
       -
         name: Build and push prod image
         uses: docker/build-push-action@v5
@@ -67,3 +76,5 @@ jobs:
           tags: ${{ steps.meta-prod.outputs.tags }}
           labels: ${{ steps.meta-prod.outputs.labels }}
           file: docker/prod.Dockerfile
+          cache-from: type=gha
+          cache-to: type=gha,mode=max

From 41810f99ac1ccf2c3b1938bfb83b19ea486db580 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 16:04:00 -0700
Subject: [PATCH 22/37] Switch to buildah for Docker builds

---
 .github/workflows/build-push-containers.yml | 43 ++++++++++++---------
 1 file changed, 25 insertions(+), 18 deletions(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index 8190b7f49..f883d3a5c 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -10,32 +10,23 @@ on:
 
 jobs:
   docker:
-    runs-on: ubuntu-latest
+    runs-on: [self-hosted, linux]
     steps:
-      - name: Maximize build space
-        uses: easimon/maximize-build-space@master
-        with:
-          remove-dotnet: 'true'
-          remove-android: 'true'
-          remove-haskell: 'true'
-          remove-codeql: 'true'
       -
         name: Checkout
         uses: actions/checkout@v4
-      -
-        name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
       -
         name: Login to NVCR
-        uses: docker/login-action@v3
+        uses: redhat-actions/podman-login@v1
         with:
           registry: nvcr.io
           username: ${{ secrets.NVCR_USERNAME }}
           password: ${{ secrets.NVCR_PASSWORD }}   
       -
         name: Login to Docker Hub
-        uses: docker/login-action@v3
+        uses: redhat-actions/podman-login@v1
         with:
+          registry: docker.io
           username: ${{ secrets.DOCKER_HUB_USERNAME }}
           password: ${{ secrets.DOCKER_HUB_PASSWORD }}
       -
@@ -59,17 +50,19 @@ jobs:
             type=ref,event=branch
             type=semver,pattern={{version}}
       -
-        name: Build and push dev image
-        uses: docker/build-push-action@v5
+        name: Build dev image
+        id: build-dev
+        uses: redhat-actions/buildah-build@v2
         with:
-          push: true
+          image: stanfordvl/omnigibson-dev
           tags: ${{ steps.meta-dev.outputs.tags }}
           labels: ${{ steps.meta-dev.outputs.labels }}
-          file: docker/dev.Dockerfile
+          containerfiles: docker/dev.Dockerfile
           cache-from: type=gha
           cache-to: type=gha,mode=max
       -
-        name: Build and push prod image
+        name: Build prod image
+        id: build-prod
         uses: docker/build-push-action@v5
         with:
           push: true
@@ -78,3 +71,17 @@ jobs:
           file: docker/prod.Dockerfile
           cache-from: type=gha
           cache-to: type=gha,mode=max
+      - 
+        name: Push dev image
+        uses: redhat-actions/push-to-registry@v2
+        with:
+          image: ${{ steps.build-dev.outputs.image }}
+          tags: ${{ steps.build-dev.outputs.tags }}
+          registry: docker.io
+      - 
+        name: Push prod image
+        uses: redhat-actions/push-to-registry@v2
+        with:
+          image: ${{ steps.build-prod.outputs.image }}
+          tags: ${{ steps.build-prod.outputs.tags }}
+          registry: docker.io
\ No newline at end of file

From a8797ba5b3031211677ffedc14e55810fd49bc6f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 16:21:43 -0700
Subject: [PATCH 23/37] Back to GH-hosted

---
 .github/workflows/tests.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 64ed147f2..0aebd96e9 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -8,7 +8,7 @@ concurrency:
 
 jobs:
   test:
-    runs-on: [self-hosted, linux, gpu, dataset-enabled]
+    runs-on: ubuntu-latest # [self-hosted, linux, gpu, dataset-enabled]
 
     defaults:
       run:

From d44374798bfead61f0e07a3399ed11a43faf1c16 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 16:25:32 -0700
Subject: [PATCH 24/37] Fix changed runner config for wrong image

---
 .github/workflows/build-push-containers.yml | 2 +-
 .github/workflows/tests.yml                 | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index f883d3a5c..e41d145b9 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -10,7 +10,7 @@ on:
 
 jobs:
   docker:
-    runs-on: [self-hosted, linux]
+    runs-on: ubuntu-latest  # [self-hosted, linux]
     steps:
       -
         name: Checkout
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 0aebd96e9..64ed147f2 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -8,7 +8,7 @@ concurrency:
 
 jobs:
   test:
-    runs-on: ubuntu-latest # [self-hosted, linux, gpu, dataset-enabled]
+    runs-on: [self-hosted, linux, gpu, dataset-enabled]
 
     defaults:
       run:

From e245884bdff770ece9718f99904fec918e0e945a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 17:22:42 -0700
Subject: [PATCH 25/37] Set auth file path

---
 .github/workflows/build-push-containers.yml | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index e41d145b9..468e757e7 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -10,7 +10,7 @@ on:
 
 jobs:
   docker:
-    runs-on: ubuntu-latest  # [self-hosted, linux]
+    runs-on: [self-hosted, linux]
     steps:
       -
         name: Checkout
@@ -19,6 +19,7 @@ jobs:
         name: Login to NVCR
         uses: redhat-actions/podman-login@v1
         with:
+          auth_file_path: /run/containers/0/auth.json
           registry: nvcr.io
           username: ${{ secrets.NVCR_USERNAME }}
           password: ${{ secrets.NVCR_PASSWORD }}   
@@ -26,6 +27,7 @@ jobs:
         name: Login to Docker Hub
         uses: redhat-actions/podman-login@v1
         with:
+          auth_file_path: /run/containers/0/auth.json
           registry: docker.io
           username: ${{ secrets.DOCKER_HUB_USERNAME }}
           password: ${{ secrets.DOCKER_HUB_PASSWORD }}
@@ -58,19 +60,15 @@ jobs:
           tags: ${{ steps.meta-dev.outputs.tags }}
           labels: ${{ steps.meta-dev.outputs.labels }}
           containerfiles: docker/dev.Dockerfile
-          cache-from: type=gha
-          cache-to: type=gha,mode=max
       -
         name: Build prod image
         id: build-prod
         uses: docker/build-push-action@v5
         with:
-          push: true
+          image: stanfordvl/omnigibson
           tags: ${{ steps.meta-prod.outputs.tags }}
           labels: ${{ steps.meta-prod.outputs.labels }}
-          file: docker/prod.Dockerfile
-          cache-from: type=gha
-          cache-to: type=gha,mode=max
+          containerfiles: docker/prod.Dockerfile
       - 
         name: Push dev image
         uses: redhat-actions/push-to-registry@v2

From c19b28b771450148110dcda551c90a14808258c4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 17:24:31 -0700
Subject: [PATCH 26/37] Make docker config dir

---
 .github/workflows/build-push-containers.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index 468e757e7..1cb7ae913 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -15,6 +15,9 @@ jobs:
       -
         name: Checkout
         uses: actions/checkout@v4
+      -
+        name: Make docker dir
+        run: mkdir /root/.docker
       -
         name: Login to NVCR
         uses: redhat-actions/podman-login@v1

From 8936ad04354b494d3ef1b72454e7d32468c636f8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 17:28:48 -0700
Subject: [PATCH 27/37] Make dummy docker config file

---
 .github/workflows/build-push-containers.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index 1cb7ae913..74d2ee69a 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -16,8 +16,8 @@ jobs:
         name: Checkout
         uses: actions/checkout@v4
       -
-        name: Make docker dir
-        run: mkdir /root/.docker
+        name: Make dummy docker config file
+        run: touch /root/.docker/config.json
       -
         name: Login to NVCR
         uses: redhat-actions/podman-login@v1

From 0599f08f51862a2226672757d930c16250016aa2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 17:29:52 -0700
Subject: [PATCH 28/37] Fix dummy docker config

---
 .github/workflows/build-push-containers.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index 74d2ee69a..a8f7ada40 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -17,7 +17,7 @@ jobs:
         uses: actions/checkout@v4
       -
         name: Make dummy docker config file
-        run: touch /root/.docker/config.json
+        run: echo '{}' > /root/.docker/config.json
       -
         name: Login to NVCR
         uses: redhat-actions/podman-login@v1

From 11e7424a35a229fd40acabf2f8775acbe773637c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 17:32:27 -0700
Subject: [PATCH 29/37] Remove the docker config dir instead of trying to fix
 it

---
 .github/workflows/build-push-containers.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index a8f7ada40..88f0557f4 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -16,8 +16,8 @@ jobs:
         name: Checkout
         uses: actions/checkout@v4
       -
-        name: Make dummy docker config file
-        run: echo '{}' > /root/.docker/config.json
+        name: Remove docker configs
+        run: rm -rf /root/.docker
       -
         name: Login to NVCR
         uses: redhat-actions/podman-login@v1

From b10f8070619830ff6cbbd2729f19972d8b371edd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 17:43:06 -0700
Subject: [PATCH 30/37] Use mock docker config file

---
 .github/workflows/build-push-containers.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index 88f0557f4..610b1a30f 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -17,7 +17,8 @@ jobs:
         uses: actions/checkout@v4
       -
         name: Remove docker configs
-        run: rm -rf /root/.docker
+        run: |
+          echo '{"auths": {}}' > /root/.docker/config.json
       -
         name: Login to NVCR
         uses: redhat-actions/podman-login@v1

From 17dbf5a49ae31181179d89e0a0d89484152c46b6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 17:44:05 -0700
Subject: [PATCH 31/37] Make the directory first

---
 .github/workflows/build-push-containers.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index 610b1a30f..19ab51546 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -18,7 +18,7 @@ jobs:
       -
         name: Remove docker configs
         run: |
-          echo '{"auths": {}}' > /root/.docker/config.json
+          mkdir /root/.docker && echo '{"auths": {}}' > /root/.docker/config.json
       -
         name: Login to NVCR
         uses: redhat-actions/podman-login@v1

From 03055becd6c86d5bf5b3129bda3bdf3c133302ad Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 17:55:39 -0700
Subject: [PATCH 32/37] Pre-clean disk space

---
 .github/workflows/build-push-containers.yml | 46 +++++++++++++++++----
 1 file changed, 39 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index 19ab51546..42a14a92c 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -10,20 +10,53 @@ on:
 
 jobs:
   docker:
-    runs-on: [self-hosted, linux]
+    runs-on: ubuntu-latest
     steps:
+      - 
+        name: Check disk space
+        run: df . -h
+      - 
+        name: Free disk space
+        run: |
+          sudo docker rmi $(docker image ls -aq) >/dev/null 2>&1 || true
+          sudo rm -rf \
+            /usr/share/dotnet /usr/local/lib/android /opt/ghc \
+            /usr/local/share/powershell /usr/share/swift /usr/local/.ghcup \
+            /usr/lib/jvm || true
+          echo "some directories deleted"
+          sudo apt install aptitude -y >/dev/null 2>&1
+          sudo aptitude purge aria2 ansible azure-cli shellcheck rpm xorriso zsync \
+            esl-erlang firefox gfortran-8 gfortran-9 google-chrome-stable \
+            google-cloud-sdk imagemagick \
+            libmagickcore-dev libmagickwand-dev libmagic-dev ant ant-optional kubectl \
+            mercurial apt-transport-https mono-complete libmysqlclient \
+            unixodbc-dev yarn chrpath libssl-dev libxft-dev \
+            libfreetype6 libfreetype6-dev libfontconfig1 libfontconfig1-dev \
+            snmp pollinate libpq-dev postgresql-client powershell ruby-full \
+            sphinxsearch subversion mongodb-org azure-cli microsoft-edge-stable \
+            -y -f >/dev/null 2>&1
+          sudo aptitude purge google-cloud-sdk -f -y >/dev/null 2>&1
+          sudo aptitude purge microsoft-edge-stable -f -y >/dev/null 2>&1 || true
+          sudo apt purge microsoft-edge-stable -f -y >/dev/null 2>&1 || true
+          sudo aptitude purge '~n ^mysql' -f -y >/dev/null 2>&1
+          sudo aptitude purge '~n ^php' -f -y >/dev/null 2>&1
+          sudo aptitude purge '~n ^dotnet' -f -y >/dev/null 2>&1
+          sudo apt-get autoremove -y >/dev/null 2>&1
+          sudo apt-get autoclean -y >/dev/null 2>&1
+          echo "some packages purged"
+      - 
+        name: Check disk space
+        run: |
+          sudo dpkg-query -Wf '${Installed-Size}\t${Package}\n' | sort -nr | head
+          df . -h
+          sudo du /usr/ -hx -d 4 --threshold=1G | sort -hr | head
       -
         name: Checkout
         uses: actions/checkout@v4
-      -
-        name: Remove docker configs
-        run: |
-          mkdir /root/.docker && echo '{"auths": {}}' > /root/.docker/config.json
       -
         name: Login to NVCR
         uses: redhat-actions/podman-login@v1
         with:
-          auth_file_path: /run/containers/0/auth.json
           registry: nvcr.io
           username: ${{ secrets.NVCR_USERNAME }}
           password: ${{ secrets.NVCR_PASSWORD }}   
@@ -31,7 +64,6 @@ jobs:
         name: Login to Docker Hub
         uses: redhat-actions/podman-login@v1
         with:
-          auth_file_path: /run/containers/0/auth.json
           registry: docker.io
           username: ${{ secrets.DOCKER_HUB_USERNAME }}
           password: ${{ secrets.DOCKER_HUB_PASSWORD }}

From 161bed0cdc81a13178dd9f529d48fb7a17f40074 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 17:59:53 -0700
Subject: [PATCH 33/37] No need to be very precise about disk space reporting

---
 .github/workflows/build-push-containers.yml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index 42a14a92c..ac61d9935 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -47,9 +47,7 @@ jobs:
       - 
         name: Check disk space
         run: |
-          sudo dpkg-query -Wf '${Installed-Size}\t${Package}\n' | sort -nr | head
           df . -h
-          sudo du /usr/ -hx -d 4 --threshold=1G | sort -hr | head
       -
         name: Checkout
         uses: actions/checkout@v4

From e1f6c1ec4ba0c9d5293f2295fc279d1ace614665 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cem=20G=C3=B6kmen?= <cem@cemgokmen.com>
Date: Wed, 18 Oct 2023 18:11:00 -0700
Subject: [PATCH 34/37] Back to docker instead of podman

---
 .github/workflows/build-push-containers.yml | 42 ++++++++-------------
 1 file changed, 16 insertions(+), 26 deletions(-)

diff --git a/.github/workflows/build-push-containers.yml b/.github/workflows/build-push-containers.yml
index ac61d9935..b11f9b9a9 100644
--- a/.github/workflows/build-push-containers.yml
+++ b/.github/workflows/build-push-containers.yml
@@ -51,18 +51,20 @@ jobs:
       -
         name: Checkout
         uses: actions/checkout@v4
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
       -
         name: Login to NVCR
-        uses: redhat-actions/podman-login@v1
+        uses: docker/login-action@v3
         with:
           registry: nvcr.io
           username: ${{ secrets.NVCR_USERNAME }}
           password: ${{ secrets.NVCR_PASSWORD }}   
       -
         name: Login to Docker Hub
-        uses: redhat-actions/podman-login@v1
+        uses: docker/login-action@v3
         with:
-          registry: docker.io
           username: ${{ secrets.DOCKER_HUB_USERNAME }}
           password: ${{ secrets.DOCKER_HUB_PASSWORD }}
       -
@@ -86,34 +88,22 @@ jobs:
             type=ref,event=branch
             type=semver,pattern={{version}}
       -
-        name: Build dev image
-        id: build-dev
-        uses: redhat-actions/buildah-build@v2
+        name: Build and push dev image
+        uses: docker/build-push-action@v5
         with:
-          image: stanfordvl/omnigibson-dev
+          push: true
           tags: ${{ steps.meta-dev.outputs.tags }}
           labels: ${{ steps.meta-dev.outputs.labels }}
-          containerfiles: docker/dev.Dockerfile
+          file: docker/dev.Dockerfile
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
       -
-        name: Build prod image
-        id: build-prod
+        name: Build and push prod image
         uses: docker/build-push-action@v5
         with:
-          image: stanfordvl/omnigibson
+          push: true
           tags: ${{ steps.meta-prod.outputs.tags }}
           labels: ${{ steps.meta-prod.outputs.labels }}
-          containerfiles: docker/prod.Dockerfile
-      - 
-        name: Push dev image
-        uses: redhat-actions/push-to-registry@v2
-        with:
-          image: ${{ steps.build-dev.outputs.image }}
-          tags: ${{ steps.build-dev.outputs.tags }}
-          registry: docker.io
-      - 
-        name: Push prod image
-        uses: redhat-actions/push-to-registry@v2
-        with:
-          image: ${{ steps.build-prod.outputs.image }}
-          tags: ${{ steps.build-prod.outputs.tags }}
-          registry: docker.io
\ No newline at end of file
+          file: docker/prod.Dockerfile
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
\ No newline at end of file

From 1cbc141902d31e13056ec7059107a6350fa416e5 Mon Sep 17 00:00:00 2001
From: Minjune Hwang <mjhwang@berkeley.edu>
Date: Sun, 22 Oct 2023 15:38:25 -0700
Subject: [PATCH 35/37] Update the IK Solver acccording to the lula update in
 2023.1.0

---
 omnigibson/utils/control_utils.py | 74 -------------------------------
 1 file changed, 74 deletions(-)
 delete mode 100644 omnigibson/utils/control_utils.py

diff --git a/omnigibson/utils/control_utils.py b/omnigibson/utils/control_utils.py
deleted file mode 100644
index ed68ee8dc..000000000
--- a/omnigibson/utils/control_utils.py
+++ /dev/null
@@ -1,74 +0,0 @@
-"""
-Set of utilities for helping to execute robot control
-"""
-import lula
-import numpy as np
-import omnigibson.utils.transform_utils as T
-
-
-class IKSolver:
-    """
-    Class for thinly wrapping Lula IK solver
-    """
-
-    def __init__(
-        self,
-        robot_description_path,
-        robot_urdf_path,
-        eef_name,
-        default_joint_pos,
-    ):
-        # Create robot description, kinematics, and config
-        self.robot_description = lula.load_robot(robot_description_path, robot_urdf_path)
-        self.kinematics = self.robot_description.kinematics()
-        self.config = lula.CyclicCoordDescentIkConfig()
-        self.eef_name = eef_name
-        self.default_joint_pos = default_joint_pos
-
-    def solve(
-        self,
-        target_pos,
-        target_quat=None,
-        tolerance_pos=0.002,
-        tolerance_quat=0.01,
-        weight_pos=1.0,
-        weight_quat=0.05,
-        max_iterations=150,
-        initial_joint_pos=None,
-    ):
-        """
-        Backs out joint positions to achieve desired @target_pos and @target_quat
-
-        Args:
-            target_pos (3-array): desired (x,y,z) local target cartesian position in robot's base coordinate frame
-            target_quat (4-array or None): If specified, desired (x,y,z,w) local target quaternion orientation in
-            robot's base coordinate frame. If None, IK will be position-only (will override settings such that
-            orientation's tolerance is very high and weight is 0)
-            tolerance_pos (float): Maximum position error (L2-norm) for a successful IK solution
-            tolerance_quat (float): Maximum orientation error (per-axis L2-norm) for a successful IK solution
-            weight_pos (float): Weight for the relative importance of position error during CCD
-            weight_quat (float): Weight for the relative importance of position error during CCD
-            max_iterations (int): Number of iterations used for each cyclic coordinate descent.
-            initial_joint_pos (None or n-array): If specified, will set the initial cspace seed when solving for joint
-                positions. Otherwise, will use self.default_joint_pos
-
-        Returns:
-            None or n-array: Joint positions for reaching desired target_pos and target_quat, otherwise None if no
-                solution was found
-        """
-        pos = np.array(target_pos, dtype=np.float64).reshape(3, 1)
-        rot = np.array(T.quat2mat(np.array([0, 0, 0, 1.0]) if target_quat is None else target_quat), dtype=np.float64)
-        ik_target_pose = lula.Pose3(lula.Rotation3(rot), pos)
-
-        # Set the cspace seed and tolerance
-        initial_joint_pos = self.default_joint_pos if initial_joint_pos is None else np.array(initial_joint_pos)
-        self.config.cspace_seeds = [initial_joint_pos]
-        self.config.position_tolerance = tolerance_pos
-        self.config.orientation_tolerance = 100.0 if target_quat is None else tolerance_quat
-        self.config.position_weight = weight_pos
-        self.config.orientation_weight = 0.0 if target_quat is None else weight_quat
-        self.config.max_iterations_per_descent = max_iterations
-
-        # Compute target joint positions
-        ik_results = lula.compute_ik_ccd(self.kinematics, ik_target_pose, self.eef_name, self.config)
-        return np.array(ik_results.cspace_position)

From f5344f8bdafe790d9d9c9acd7a29db15fd644a2f Mon Sep 17 00:00:00 2001
From: Minjune Hwang <mjhwang@berkeley.edu>
Date: Mon, 23 Oct 2023 14:43:14 -0700
Subject: [PATCH 36/37] Add the IK Solver file for 2023.1.0

---
 omnigibson/utils/control_utils.py | 74 +++++++++++++++++++++++++++++++
 1 file changed, 74 insertions(+)
 create mode 100644 omnigibson/utils/control_utils.py

diff --git a/omnigibson/utils/control_utils.py b/omnigibson/utils/control_utils.py
new file mode 100644
index 000000000..8790ed03e
--- /dev/null
+++ b/omnigibson/utils/control_utils.py
@@ -0,0 +1,74 @@
+"""
+Set of utilities for helping to execute robot control
+"""
+import lula
+import numpy as np
+import omnigibson.utils.transform_utils as T
+
+
+class IKSolver:
+    """
+    Class for thinly wrapping Lula IK solver
+    """
+
+    def __init__(
+        self,
+        robot_description_path,
+        robot_urdf_path,
+        eef_name,
+        default_joint_pos,
+    ):
+        # Create robot description, kinematics, and config
+        self.robot_description = lula.load_robot(robot_description_path, robot_urdf_path)
+        self.kinematics = self.robot_description.kinematics()
+        self.config = lula.CyclicCoordDescentIkConfig()
+        self.eef_name = eef_name
+        self.default_joint_pos = default_joint_pos
+
+    def solve(
+        self,
+        target_pos,
+        target_quat=None,
+        tolerance_pos=0.002,
+        tolerance_quat=0.01,
+        weight_pos=1.0,
+        weight_quat=0.05,
+        max_iterations=150,
+        initial_joint_pos=None,
+    ):
+        """
+        Backs out joint positions to achieve desired @target_pos and @target_quat
+
+        Args:
+            target_pos (3-array): desired (x,y,z) local target cartesian position in robot's base coordinate frame
+            target_quat (4-array or None): If specified, desired (x,y,z,w) local target quaternion orientation in
+            robot's base coordinate frame. If None, IK will be position-only (will override settings such that
+            orientation's tolerance is very high and weight is 0)
+            tolerance_pos (float): Maximum position error (L2-norm) for a successful IK solution
+            tolerance_quat (float): Maximum orientation error (per-axis L2-norm) for a successful IK solution
+            weight_pos (float): Weight for the relative importance of position error during CCD
+            weight_quat (float): Weight for the relative importance of position error during CCD
+            max_iterations (int): Number of iterations used for each cyclic coordinate descent.
+            initial_joint_pos (None or n-array): If specified, will set the initial cspace seed when solving for joint
+                positions. Otherwise, will use self.default_joint_pos
+
+        Returns:
+            None or n-array: Joint positions for reaching desired target_pos and target_quat, otherwise None if no
+                solution was found
+        """
+        pos = np.array(target_pos, dtype=np.float64).reshape(3, 1)
+        rot = np.array(T.quat2mat(np.array([0, 0, 0, 1.0]) if target_quat is None else target_quat), dtype=np.float64)
+        ik_target_pose = lula.Pose3(lula.Rotation3(rot), pos)
+
+        # Set the cspace seed and tolerance
+        initial_joint_pos = self.default_joint_pos if initial_joint_pos is None else np.array(initial_joint_pos)
+        self.config.cspace_seeds = [initial_joint_pos]
+        self.config.position_tolerance = tolerance_pos
+        self.config.orientation_tolerance = 100.0 if target_quat is None else tolerance_quat
+        self.config.ccd_position_weight = weight_pos
+        self.config.ccd_orientation_weight = 0.0 if target_quat is None else weight_quat
+        self.config.max_num_descents = max_iterations
+
+        # Compute target joint positions
+        ik_results = lula.compute_ik_ccd(self.kinematics, ik_target_pose, self.eef_name, self.config)
+        return np.array(ik_results.cspace_position)

From be8c9bdf132d3306aa4352bfed6ac0ee6ff8669f Mon Sep 17 00:00:00 2001
From: Minjune Hwang <mjhwang@berkeley.edu>
Date: Tue, 24 Oct 2023 00:58:49 -0700
Subject: [PATCH 37/37] add version check in IK solver to support old versions

---
 omnigibson/utils/control_utils.py | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/omnigibson/utils/control_utils.py b/omnigibson/utils/control_utils.py
index 8790ed03e..fac1ec4d0 100644
--- a/omnigibson/utils/control_utils.py
+++ b/omnigibson/utils/control_utils.py
@@ -4,6 +4,7 @@
 import lula
 import numpy as np
 import omnigibson.utils.transform_utils as T
+from omnigibson.utils.sim_utils import meets_minimum_isaac_version
 
 
 class IKSolver:
@@ -65,9 +66,15 @@ def solve(
         self.config.cspace_seeds = [initial_joint_pos]
         self.config.position_tolerance = tolerance_pos
         self.config.orientation_tolerance = 100.0 if target_quat is None else tolerance_quat
-        self.config.ccd_position_weight = weight_pos
-        self.config.ccd_orientation_weight = 0.0 if target_quat is None else weight_quat
-        self.config.max_num_descents = max_iterations
+
+        if meets_minimum_isaac_version("2023.0.0"):
+            self.config.ccd_position_weight = weight_pos
+            self.config.ccd_orientation_weight = 0.0 if target_quat is None else weight_quat
+            self.config.max_num_descents = max_iterations
+        else:
+            self.config.position_weight = weight_pos
+            self.config.orientation_weight = 0.0 if target_quat is None else weight_quat
+            self.config.max_iterations_per_descent = max_iterations
 
         # Compute target joint positions
         ik_results = lula.compute_ik_ccd(self.kinematics, ik_target_pose, self.eef_name, self.config)