BEHAVIOR-1K v3.9.0

What's Changed

• Add code/report release column to leaderboard by @hang-yin in #1938
• Feat/new robots by @wensi-ai in #1890
• Fix/misc by @wensi-ai in #1944
• Update Docker setup to create image from scratch, use setup script by @cgokmen in #1945
• Include conda activation on gh actions entrypoint by @cgokmen in #1961
• Use default environment inside actions runner by @cgokmen in #1960
• Refactor robot subclasses into single robot class + YAML definition files by @Andorexad in #1905
• Hang's freedom by @hang-yin in #1967
• Set fixed base for non mobile robots to be true by @Andorexad in #1970
• Fix example demos: tensor handling, keyboard teleop by @kmy17518 in #1952
• Fix curobo holonomic joint limit by @hang-yin in #1937
• Convert visual and collision geom prims to plain geom prim by @cgokmen in #1973
• Fix profiling by @cgokmen in #1980
• Refactor assisted grasping and state restoration flow by @cgokmen in #1982
• Fix test failures: velocity returns, robot YAML defs, scene pose cache by @cgokmen in #1981
• Small fix for robot_control_example quickstart behavior by @stefren in #1985
• Small update to robot definition schema to make controllers optional by @stefren in #1986
• Small docs nits by @stefren in #1987
• Revert "Small update to robot definition schema to make controllers optional" by @stefren in #1988
• Fix robot get_position_orientation passthrough params by @stefren in #1989
• disable test_primitives for tiago for 50 series GPU by @stefren in #1993
• Update test_robot_states_flatcache by @stefren in #1991
• Hygiene: update ui_utils omnigibson logo to avoid deprecationwarning by @stefren in #1995
• Update CI tests by @stefren in #1994
• Refactor: merge BaseObject with StatefulObject by @stefren in #1996
• Fix kinematic mixin regression from object state refactor by @cgokmen in #2003
• Add lenient timeout per-step for each test by @stefren in #2002
• test different test report by @stefren in #1997
• Move light object and primitive object to inherit from USDObject by @stefren in #2000
• Remove fixed_base from LightObject by @stefren in #2008
• Fix / disable a few tests from the examples as tests by @stefren in #2004
• Fix issues in robot tests and examples by @cgokmen in #2011
• Persistent-cached, step-updated, robust-to-sleep RigidContactAPI for contact checking by @cgokmen in #1977
• Make tests blocking by @stefren in #2015
• Temporarily disable failing tests on main and add a few more test fixes by @stefren in #2022
• Multi-step contact caching by @cgokmen in #2024
• Merge USDObject with BaseObject by @stefren in #2014
• Controller refactor for batched compute by @Andorexad in #1990
• Move articulation root computing to preload by @stefren in #2027
• Use jparse for ik. Remove unused non-batch compute by @wensi-ai in #2033
• Fix try/catch statements in windows setup script by @stefren in #2031
• Skip contact checking when objects in scene are kinematic-only or fixed by @stefren in #2034
• Update to Isaac Sim 5.1 by @wensi-ai in #1992
• Change og_test to only load objects as needed by @stefren in #2038
• Update Dockerfile to Isaac 5.1 by @cgokmen in #2043
• CuRobo fix by @wensi-ai in #2046
• Fix RigidContactAPI: don't create None views if scene contains no objects by @cgokmen in #2051
• Fix curobo and floor plane collsion by @wensi-ai in #2052
• Fix PoseAPI invalidation issues by @wensi-ai in #2055
• Small fix for draw_bounding_box test by @stefren in #2058
• Refactor simulator simcontext as instance instead of subclass by @stefren in #2059
• Fix scale for dataset objects with bounding boxes by @stefren in #2064
• add play/stop in USD use case by @stefren in #2062
• Fix/sampling clean up by @hang-yin in #1886
• Fix physics context callback by @wensi-ai in #2069
• fixed left, right typo on _update_hand_tracking_data in omnigibson/utils/teleop_utils.py by @asattiraju1 in #2071
• Fix articulation root and post_load operations by @stefren in #2070
• Fix test_object_states CI failures and disable broken particle tests with tracking issues by @yalcintur in #2067
• Refactor data collection to support LeRobot playback and HDF5 formats by @wensi-ai in #2074
• Fix primitives scale by @stefren in #2076
• Fix lerobot commit hash by @wensi-ai in #2077
• Fix/lerobot by @wensi-ai in #2078
• Clean up and reorganize joylo scripts by @wensi-ai in #2079
• Use mesh instead of sphere for particles by @stefren in #2075
• Update joylo documentation by @wensi-ai in #2086
• Refactor sampling by @wensi-ai in #2087
• Refactor metrics to use MetricBase and add streaming replay support by @wensi-ai in #2084
• Enforce Fabric enabled, remove option to disable by @stefren in #2091
• Add agent md file by @wensi-ai in #2092
• FIx Assisted Grasp Window from 3.0 to 0.7 and use physics _dt instead of sim_step_dt by @yalcintur in #2072
• Add documentation links to claude/agents.md by @stefren in #2095
• Fix depth writing by @wensi-ai in #2096
• fix ag by @wensi-ai in #2098
• BDDL refactor: unified KnowledgeBase API, explicit predicates, and clean task interface by @cgokmen in #2040
• Enforce USD-Fabric sync via editing_usd() context by @cgokmen in #2094
• bump stepping in one transition_rules test to reduce flakiness by @stefren in #2107
• Add snapshotting tests by @stefren in #2105
• add trunk integration by @stefren in #2108
• Add cache=true options to jit compile by @yalcintur in #2101
• Include pycache in gitignore by @wensi-ai in #2112
• Fix Trunk integration by checking out source first by @stefren in #2113
• Refactor sampling scripts to use outputs/ folder and remove online mode by @wensi-ai in #2097
• Fix: clean PhysX step/event subscriptions during og.clear to prevent stale callbacks by @Andorexad in #2114
• Fix bugs by @wensi-ai in #2118
• Fix Test Report to fail if jobs are cancelled by @stefren in #2123
• Serialize assisted grasping state by @stefren in #2119
• Skip viewport creation in headless mode for VisionSensor by @wensi-ai in #2117
• Update robot import, add kinova and ur5e yaml by @wensi-ai in #2019
• Fix synsets index.html page on knowledgebase website by @stefren in #2128
• Use appropriate pose setters for articulations, force physx-to-Fabric sync, and remove PoseAPI by @cgokmen in #2127
• reinstate test_snapshots with 99% accuracy by @stefren in #2129
• Fix unresponsive goal-condition text color updates by @yalcintur in #2132
• Fix rollback and checkpointing during teleop by @stefren in #2135
• Add floor plan visualizer by @cgokmen in #2136
• Update inside setter by @wensi-ai in #2131
• Add utils for sampling by @stefren in #2134
• Minor changes to sampling pipeline by @wensi-ai in #2137
• Sampling Fixes by @wensi-ai in #2141
• Parameterize test_grasping_mode over grasping modes by @cgokmen in #2120
• cache link.volume once and reuse after by @yalcintur in #2099
• Per-robot RigidContactView for assisted-grasp contact positions by @cgokmen in #2116
• Add collision and joint state checks into Inside sampling by @wensi-ai in #2143
• Fix validate task in multiply script by @wensi-ai in #2145
• Fix qa failed grasp by @wensi-ai in #2147
• Update cook brisket and freeze fruit bddl by @wensi-ai in #2148
• Additional fixes for autogenerate script by @stefren in #2150
• Fix replay transition ordering by @wensi-ai in #2151
• Update tidying_living_room, sorting_bottles_cans_and_paper bddl by @stefren in #2149
• Update cook brisket bddl by @wensi-ai in #2157
• sample ground particles to be reachable by @stefren in #2160
• Fix robot height in sample_robot_pose by @stefren in #2158
• Modify bddl for sweeping garage and stacking wood by @stefren in #2159
• fix robot sampling pose script by @stefren in #2161
• Add interactive prompting for choosing the episode to replay by @yalcintur in #2165
• Fix robot keep still by @wensi-ai in #2164
• Update store produce bddl by @yalcintur in #2171
• Update make rose centerpieces bddl by @yalcintur in #2168
• Update organizing art supplies bddl by @yalcintur in #2170
• Update installing smoke detectors bddl by @yalcintur in #2167
• Update halve an egg bddl by @yalcintur in #2169
• Update re_shelving_library_books bddl by @kmy17518 in #2172
• Fix JoyLo Home reset after slicing objects by @yalcintur in #2173
• Update bddl and teleop cfg for bringing paper to recycling by @stefren in #2175
• Add attachment visual guides for teleop by @yalcintur in #2176
• bddl for turning_out light and unloading the car by @13RENDA in #2180
• Remove duplicate logging from OmniGibson by @stefren in #2182
• Enable macro physical particle test by @yalcintur in #2184
• Fix asset export pipeline to run on 5.1, implement first round of requested fixes from sampling team by @cgokmen in #2178
• Enable RT2 and fractional opacity by @yalcintur in #2183
• Add helper script to scan and reboot joylo motors by @stefren in #2181
• New dataset RC without visual-only error, added version checking by @cgokmen in #2189
• Bump pytest from 7.2.0 to 9.0.3 in /asset_pipeline by @dependabot[bot] in #2185
• Replace context managers for play/stop/pause by @stefren in #2162
• Remove more og.sim.stopped context managers by @stefren in #2191
• Update bddl for tidying living room by @stefren in #2192
• update bddl for boxing food, cleaning branches, thawing frozen food, … by @stefren in #2193
• update vacuum mass by @stefren in #2201
• Small change to replay_data, auto-select when only one episode by @stefren in #2207
• fix teleop cfg for new scenes by @stefren in #2204
• Format bounding box sizes for super-thin objects by @stefren in #2203
• Fix deleting particle group by @stefren in #2205
• Change USD hash warnings from warning to debug by @yalcintur in #2208
• Use th.as_tensor for bounding box construction by @yalcintur in #2210
• Fix sampling to use reachability map by @stefren in #2206
• update trash can mass by @stefren in #2209
• Clear stale assisted-grasp state when removing objects by @yalcintur in #2214
• Refresh PhysX-Fabric bindings when restoring re-added scene objects by @yalcintur in #2212
• Remove visual only objects from ignore set for is_in_contact by @yalcintur in #2216
• Update bddl for clean up broken glass, clean rusty tools, packing meal by @stefren in #2213
• Fix syncing BDDL github action by @stefren in #2218
• Fix sampling scripts for scenes that have capital letters by @stefren in #2219
• Release new asset RC containing scene, texture fixes by @cgokmen in #2221
• Revert "update trash can mass" by @stefren in #2222
• Lower mass on potted plant by @stefren in #2223
• update bringing paper to recycling, cleaning up branches bddl by @stefren in #2225
• Add overlap based failed grasping check by @yalcintur in #2226
• Update dispose_of_glass bddl by @yalcintur in #2227
• Add rs_int and restaurant diner to teleop config by @yalcintur in #2228
• [tmp] remove objects from combined room object list by @stefren in #2230
• update polishing_shoes bddl by @stefren in #2231
• update clean rusty tools bddl by @stefren in #2229
• Run combined room object list and some file manifests by @cgokmen in #2234
• Add floor plan room picker for task sampling by @yalcintur in #2177
• Actually build knowledgebase in pull-sheets workflow check by @cgokmen in #2235
• Visual QA for task sampling by @yalcintur in #2196
• Update put_together_a_basic_pruning_kit task by @kmy17518 in #2239
• Brenda/sampling bddl by @13RENDA in #2241
• New dataset RC with scene fixes by @cgokmen in #2242
• Installing a modem bddl update by @yalcintur in #2243
• Update bddl for tidying bathroom and carrying out garden furniture by @stefren in #2244
• Update BDDL for store_batteries and store_honey by @yalcintur in #2246
• update dirty dishes bddl by @stefren in #2248
• update several bddl files by @stefren in #2249
• Update bddl by @kmy17518 in #2250
• Update laying_tile_floors bddl by @kmy17518 in #2253
• Fix task instruction by @wensi-ai in #2256
• Brenda/sampling bddl by @13RENDA in #2254
• Brenda/sampling bddl by @13RENDA in #2263
• Update sorting_books_on_shelf bddl by @kmy17518 in #2266
• Bddl change for tasks store_produce and cook_broccolini by @yalcintur in #2269
• Update garden furniture bddl by @wensi-ai in #2273
• update cocktail party bddl to spawn on cabinet by @stefren in #2271
• update bddl for packing meal task by @stefren in #2275
• adjust packing meal bddl to only have 3 burgers by @stefren in #2276
• Correctly compute updated_state_objects when multiple objects change temperature by @stefren in #2272
• Do not mark object as sleeping if it has moved by @stefren in #2274
• Brenda/sampling bddl by @13RENDA in #2278
• Fix installing a fax machine bddl by @wensi-ai in #2277
• Handle multiple types of line breaks in the task csv file by @stefren in #2279
• Update cook pie bddl by @wensi-ai in #2281
• fix docker build by @stefren in #2282
• Replay & Eval fix by @wensi-ai in #2260
• Add use last demo functionality by @wensi-ai in #2283
• Fix lightning for turning off all lights before sleep by @wensi-ai in #2286
• Disable crash reporter by @yalcintur in #2290
• Release asset version 3.9.0 by @cgokmen in #2293
• Bump version to 3.9.0 by @wensi-ai in #2294
• Website Update by @wensi-ai in #2291
• Create work in progress (WIP) folder for examples by @yalcintur in #2289
• Update Eval by @wensi-ai in #2285
• Fix installation by @wensi-ai in #2297
• Fix custom robot import pipeline for Isaac Sim 5.1 by @yalcintur in #2292
• fix warp version for curobo install by @wensi-ai in #2298
• Decrese port requirement to 50. Decrease timeout to 1.5x by @wensi-ai in #2299
• Update baselines.md by @kmy17518 in #2300

Full Changelog: v3.7.2...v3.9.0