diff --git a/omnigibson/examples/object_states/dicing_demo.py b/omnigibson/examples/object_states/dicing_demo.py
index 1c0cc2a50..dd3029e89 100644
--- a/omnigibson/examples/object_states/dicing_demo.py
+++ b/omnigibson/examples/object_states/dicing_demo.py
@@ -95,15 +95,17 @@ def main(random_selection=False, headless=False, short_exec=False):
         orientation=T.euler2quat([-math.pi / 2, 0, 0]),
     )
 
-    input("The knife will fall on the apple and dice it. Press [ENTER] to continue.")
+    if short_exec == False:
+        input("The knife will fall on the apple and dice it. Press [ENTER] to continue.")
 
     # Step simulation for a bit so that apple is diced
-    for i in range(1000):
+    for _ in range(1000):
         env.step(th.empty(0))
 
-    input("Apple has been diced! Press [ENTER] to terminate the demo.")
+    if short_exec == False:
+        input("Apple has been diced! Press [ENTER] to terminate the demo.")
 
-    # Always close environment at the end
+    # Always close simulator at the end
     env.close()
 
 
diff --git a/omnigibson/examples/object_states/heat_source_or_sink_demo.py b/omnigibson/examples/object_states/heat_source_or_sink_demo.py
index 9c5ddce5f..911b4756f 100644
--- a/omnigibson/examples/object_states/heat_source_or_sink_demo.py
+++ b/omnigibson/examples/object_states/heat_source_or_sink_demo.py
@@ -8,7 +8,7 @@ from omnigibson.macros import gm
 gm.ENABLE_OBJECT_STATES = True
 
 
-def main():
+def main(random_selection=False, headless=False, short_exec=False):
     # Create the scene config to load -- empty scene with a stove object added
     cfg = {
         "scene": {
@@ -56,7 +56,8 @@ def main():
     assert not heat_source_state
 
     # Toggle on stove, notify user
-    input("Heat source will now turn ON: Press ENTER to continue.")
+    if not short_exec:
+        input("Heat source will now turn ON: Press ENTER to continue.")
     stove.states[object_states.ToggledOn].set_value(True)
 
     assert stove.states[object_states.ToggledOn].get_value()
@@ -71,20 +72,23 @@ def main():
         env.step(th.empty(0))
 
     # Toggle off stove, notify user
-    input("Heat source will now turn OFF: Press ENTER to continue.")
+    if not short_exec:
+        input("Heat source will now turn OFF: Press ENTER to continue.")
     stove.states[object_states.ToggledOn].set_value(False)
     assert not stove.states[object_states.ToggledOn].get_value()
     for _ in range(200):
         env.step(th.empty(0))
 
     # Move stove, notify user
-    input("Heat source is now moving: Press ENTER to continue.")
+    if not short_exec:
+        input("Heat source is now moving: Press ENTER to continue.")
     stove.set_position(th.tensor([0, 1.0, 0.61]))
     for i in range(100):
         env.step(th.empty(0))
 
     # Toggle on stove again, notify user
-    input("Heat source will now turn ON: Press ENTER to continue.")
+    if not short_exec:
+        input("Heat source will now turn ON: Press ENTER to continue.")
     stove.states[object_states.ToggledOn].set_value(True)
     assert stove.states[object_states.ToggledOn].get_value()
     for i in range(500):
diff --git a/omnigibson/examples/object_states/heated_state_demo.py b/omnigibson/examples/object_states/heated_state_demo.py
index 1467f879f..657ab573d 100644
--- a/omnigibson/examples/object_states/heated_state_demo.py
+++ b/omnigibson/examples/object_states/heated_state_demo.py
@@ -8,7 +8,7 @@ from omnigibson.macros import gm
 gm.ENABLE_OBJECT_STATES = True
 
 
-def main():
+def main(random_selection=False, headless=False, short_exec=False):
     # Define object configurations for objects to load -- we want to load a light and three bowls
     obj_configs = []
 
@@ -70,8 +70,9 @@ def main():
     print("==== Initial state ====")
     report_states(objs)
 
-    # Notify user that we're about to heat the object
-    input("Objects will be heated, and steam will slowly rise. Press ENTER to continue.")
+    if not short_exec:
+        # Notify user that we're about to heat the object
+        input("Objects will be heated, and steam will slowly rise. Press ENTER to continue.")
 
     # Heated.
     for obj in objs:
@@ -83,7 +84,8 @@ def main():
     # After a while, objects will be below the Steam temperature threshold.
     print("==== Objects are now heated... ====")
     print()
-    for _ in range(2000):
+    max_iterations = 2000 if not short_exec else 100
+    for _ in range(max_iterations):
         env.step(th.empty(0))
         # Also print temperatures
         temps = [f"{obj.states[object_states.Temperature].get_value():>7.2f}" for obj in objs]
@@ -94,8 +96,10 @@ def main():
     print("==== Objects are no longer heated... ====")
     report_states(objs)
 
-    # Close environment at the end
-    input("Demo completed. Press ENTER to shutdown environment.")
+    if not short_exec:
+        # Close environment at the end
+        input("Demo completed. Press ENTER to shutdown environment.")
+
     env.close()
 
 
diff --git a/omnigibson/examples/object_states/object_state_texture_demo.py b/omnigibson/examples/object_states/object_state_texture_demo.py
index 5aefd5c7f..66e667488 100644
--- a/omnigibson/examples/object_states/object_state_texture_demo.py
+++ b/omnigibson/examples/object_states/object_state_texture_demo.py
@@ -11,7 +11,7 @@ gm.USE_GPU_DYNAMICS = True
 gm.ENABLE_HQ_RENDERING = True
 
 
-def main():
+def main(random_selection=False, headless=False, short_exec=False):
     # Create the scene config to load -- empty scene plus a cabinet
     cfg = {
         "scene": {
@@ -87,38 +87,45 @@ def main():
     report_states()
 
     # Notify user that we're about to freeze the object, and then freeze the object
-    input("\nObject will be frozen. Press ENTER to continue.")
+    if not short_exec:
+        input("\nObject will be frozen. Press ENTER to continue.")
     obj.states[object_states.Temperature].set_value(-50)
     report_states()
 
     # Notify user that we're about to cook the object, and then cook the object
-    input("\nObject will be cooked. Press ENTER to continue.")
+    if not short_exec:
+        input("\nObject will be cooked. Press ENTER to continue.")
     obj.states[object_states.Temperature].set_value(100)
     report_states()
 
     # Notify user that we're about to burn the object, and then burn the object
-    input("\nObject will be burned. Press ENTER to continue.")
+    if not short_exec:
+        input("\nObject will be burned. Press ENTER to continue.")
     obj.states[object_states.Temperature].set_value(250)
     report_states()
 
     # Notify user that we're about to reset the object to its default state, and then reset state
-    input("\nObject will be reset to default state. Press ENTER to continue.")
+    if not short_exec:
+        input("\nObject will be reset to default state. Press ENTER to continue.")
     obj.states[object_states.Temperature].set_value(macros.object_states.temperature.DEFAULT_TEMPERATURE)
     obj.states[object_states.MaxTemperature].set_value(macros.object_states.temperature.DEFAULT_TEMPERATURE)
     report_states()
 
     # Notify user that we're about to soak the object, and then soak the object
-    input("\nObject will be saturated with water. Press ENTER to continue.")
+    if not short_exec:
+        input("\nObject will be saturated with water. Press ENTER to continue.")
     obj.states[object_states.Saturated].set_value(env.scene.get_system("water"), True)
     report_states()
 
     # Notify user that we're about to unsoak the object, and then unsoak the object
-    input("\nObject will be unsaturated with water. Press ENTER to continue.")
+    if not short_exec:
+        input("\nObject will be unsaturated with water. Press ENTER to continue.")
     obj.states[object_states.Saturated].set_value(env.scene.get_system("water"), False)
     report_states()
 
     # Close environment at the end
-    input("Demo completed. Press ENTER to shutdown environment.")
+    if not short_exec:
+        input("Demo completed. Press ENTER to shutdown environment.")
     env.close()
 
 
diff --git a/omnigibson/examples/object_states/overlaid_demo.py b/omnigibson/examples/object_states/overlaid_demo.py
index 6d8116acb..a28ea7327 100644
--- a/omnigibson/examples/object_states/overlaid_demo.py
+++ b/omnigibson/examples/object_states/overlaid_demo.py
@@ -68,6 +68,7 @@ def main(random_selection=False, headless=False, short_exec=False):
     while steps != max_steps:
         print(f"Overlaid {carpet.states[Overlaid].get_value(breakfast_table)}    ", end="\r")
         env.step(th.empty(0))
+        steps += 1
 
     # Shut down env at the end
     env.close()
diff --git a/omnigibson/examples/objects/draw_bounding_box.py b/omnigibson/examples/objects/draw_bounding_box.py
index 4bb7a86e5..518181213 100644
--- a/omnigibson/examples/objects/draw_bounding_box.py
+++ b/omnigibson/examples/objects/draw_bounding_box.py
@@ -76,7 +76,9 @@ def main(random_selection=False, headless=False, short_exec=False):
         if "3d" not in bbox_modality:
             from omnigibson.utils.deprecated_utils import colorize_bboxes
 
-            colorized_img = colorize_bboxes(bboxes_2d_data=obs[bbox_modality], bboxes_2d_rgb=obs["rgb"], num_channels=4)
+            colorized_img = colorize_bboxes(
+                bboxes_2d_data=obs[bbox_modality], bboxes_2d_rgb=obs["rgb"].cpu().numpy(), num_channels=4
+            )
             fpath = f"{bbox_modality}_img.png"
             plt.imsave(fpath, colorized_img)
             og.log.info(f"Saving modality [{bbox_modality}] image to: {fpath}")
diff --git a/omnigibson/objects/object_base.py b/omnigibson/objects/object_base.py
index 83ebf8a27..4d4749ab5 100644
--- a/omnigibson/objects/object_base.py
+++ b/omnigibson/objects/object_base.py
@@ -327,7 +327,7 @@ class BaseObject(EntityPrim, Registerable, metaclass=ABCMeta):
                 }
             material.enable_emission = True if enabled else self._highlight_cached_values[material]["enable_emission"]
             material.emissive_color = (
-                m.HIGHLIGHT_RGB if enabled else self._highlight_cached_values[material]["emissive_color"]
+                m.HIGHLIGHT_RGB if enabled else self._highlight_cached_values[material]["emissive_color"].tolist()
             )
             material.emissive_intensity = (
                 m.HIGHLIGHT_INTENSITY if enabled else self._highlight_cached_values[material]["emissive_intensity"]
diff --git a/omnigibson/objects/primitive_object.py b/omnigibson/objects/primitive_object.py
index 8c0618c5e..ff4b7d379 100644
--- a/omnigibson/objects/primitive_object.py
+++ b/omnigibson/objects/primitive_object.py
@@ -184,7 +184,11 @@ class PrimitiveObject(StatefulObject):
             raise ValueError("Prim type must either be PrimType.RIGID or PrimType.CLOTH for loading a primitive object")
 
         visual_geom_prim.color = self._load_config["color"]
-        visual_geom_prim.opacity = self._load_config["opacity"].item()
+        visual_geom_prim.opacity = (
+            self._load_config["opacity"].item()
+            if isinstance(self._load_config["opacity"], th.Tensor)
+            else self._load_config["opacity"]
+        )
 
     @property
     def radius(self):
@@ -326,10 +330,13 @@ class PrimitiveObject(StatefulObject):
                 for attr in (geom.GetPointsAttr(), geom.GetNormalsAttr()):
                     # Scale all three axes by the scaling factor
                     vals = th.tensor(attr.Get()).double() * scaling_factor
-                    attr.Set(lazy.pxr.Vt.Vec3fArray([lazy.pxr.Gf.Vec3f(*v) for v in vals]))
+                    attr.Set(lazy.pxr.Vt.Vec3fArray([lazy.pxr.Gf.Vec3f(*v.tolist()) for v in vals]))
                 geom.GetExtentAttr().Set(
                     lazy.pxr.Vt.Vec3fArray(
-                        [lazy.pxr.Gf.Vec3f(*(-self._extents / 2.0)), lazy.pxr.Gf.Vec3f(*(self._extents / 2.0))]
+                        [
+                            lazy.pxr.Gf.Vec3f(*(-self._extents / 2.0).tolist()),
+                            lazy.pxr.Gf.Vec3f(*(self._extents / 2.0).tolist()),
+                        ]
                     )
                 )
 
diff --git a/omnigibson/sensors/vision_sensor.py b/omnigibson/sensors/vision_sensor.py
index b1a5e287d..96f952ef6 100644
--- a/omnigibson/sensors/vision_sensor.py
+++ b/omnigibson/sensors/vision_sensor.py
@@ -294,7 +294,8 @@ class VisionSensor(BaseSensor):
             # All segmentation modalities return uint32 warp arrays, but PyTorch doesn't support it
             if modality in ["seg_semantic", "seg_instance", "seg_instance_id"]:
                 obs[modality] = obs[modality].view(lazy.warp.int32)
-            obs[modality] = lazy.warp.to_torch(obs[modality])
+            if not modality in ["bbox_2d_tight", "bbox_2d_loose", "bbox_3d"]:
+                obs[modality] = lazy.warp.to_torch(obs[modality])
             if modality == "seg_semantic":
                 id_to_labels = raw_obs["info"]["idToLabels"]
                 obs[modality], info[modality] = self._remap_semantic_segmentation(obs[modality], id_to_labels)
@@ -341,7 +342,7 @@ class VisionSensor(BaseSensor):
                 replicator_mapping[key] = categories[0]
 
             assert (
-                replicator_mapping[key] in semantic_class_id_to_name(self._scene).values()
+                replicator_mapping[key] in semantic_class_id_to_name().values()
             ), f"Class {val['class']} does not exist in the semantic class name to id mapping!"
 
         image_keys = th.unique(img)
@@ -349,9 +350,7 @@ class VisionSensor(BaseSensor):
             set(replicator_mapping.keys())
         ), "Semantic segmentation image does not match the original id_to_labels mapping."
 
-        return VisionSensor.SEMANTIC_REMAPPER.remap(
-            replicator_mapping, semantic_class_id_to_name(self._scene), img, image_keys
-        )
+        return VisionSensor.SEMANTIC_REMAPPER.remap(replicator_mapping, semantic_class_id_to_name(), img, image_keys)
 
     def _remap_instance_segmentation(self, img, id_to_labels, semantic_img, semantic_labels, id=False):
         """
diff --git a/omnigibson/utils/asset_utils.py b/omnigibson/utils/asset_utils.py
index 58d4a25a6..94c1accf2 100644
--- a/omnigibson/utils/asset_utils.py
+++ b/omnigibson/utils/asset_utils.py
@@ -163,6 +163,7 @@ def get_all_system_categories():
     og_categories_path = os.path.join(og_dataset_path, "systems")
 
     categories = [f for f in os.listdir(og_categories_path) if not is_dot_file(f)]
+    categories.append("cloth")
     return sorted(categories)
 
 
diff --git a/omnigibson/utils/constants.py b/omnigibson/utils/constants.py
index c76e54745..c9bdb7c64 100644
--- a/omnigibson/utils/constants.py
+++ b/omnigibson/utils/constants.py
@@ -11,7 +11,7 @@ import torch as th
 
 import omnigibson as og
 from omnigibson.macros import gm
-from omnigibson.utils.asset_utils import get_all_object_categories, get_og_avg_category_specs
+from omnigibson.utils.asset_utils import get_all_object_categories, get_all_system_categories
 
 MAX_INSTANCE_COUNT = th.iinfo(th.int32).max
 MAX_CLASS_COUNT = th.iinfo(th.int32).max
@@ -170,7 +170,7 @@ UNDER_OBJECTS = [
 
 
 @cache
-def semantic_class_name_to_id(scene):
+def semantic_class_name_to_id():
     """
     Get mapping from semantic class name to class id
 
@@ -178,8 +178,8 @@ def semantic_class_name_to_id(scene):
         dict: class name to class id
     """
     categories = get_all_object_categories()
+    systems = get_all_system_categories()
 
-    systems = sorted(scene.system_registry.object_names)
     all_semantics = sorted(set(categories + systems + ["background", "unlabelled", "object", "light", "agent"]))
 
     # Assign a unique class id to each class name with hashing, the upper limit here is the max of int32
@@ -189,11 +189,11 @@ def semantic_class_name_to_id(scene):
 
 
 @cache
-def semantic_class_id_to_name(scene):
+def semantic_class_id_to_name():
     """
     Get mapping from semantic class id to class name
 
     Returns:
         dict: class id to class name
     """
-    return {v: k for k, v in semantic_class_name_to_id(scene).items()}
+    return {v: k for k, v in semantic_class_name_to_id().items()}
diff --git a/omnigibson/utils/deprecated_utils.py b/omnigibson/utils/deprecated_utils.py
index 663ade90f..bda08cf71 100644
--- a/omnigibson/utils/deprecated_utils.py
+++ b/omnigibson/utils/deprecated_utils.py
@@ -10,6 +10,7 @@ import omni
 import omni.graph.core as ogc
 import omni.timeline
 import omni.usd as ou
+import numpy as np
 import torch
 import torch as th
 import warp as wp
@@ -681,10 +682,10 @@ def colorize_bboxes(bboxes_2d_data, bboxes_2d_rgb, num_channels=3):
     for bbox_2d in bboxes_2d_data:
         semantic_id_list.append(bbox_2d["semanticId"])
         bbox_2d_list.append(bbox_2d)
-    semantic_id_list_np = th.unique(th.tensor(semantic_id_list))
+    semantic_id_list_np = np.unique(np.array(semantic_id_list))
     color_list = random_colours(len(semantic_id_list_np.tolist()), True, num_channels)
     for bbox_2d in bbox_2d_list:
-        index = th.where(semantic_id_list_np == bbox_2d["semanticId"])[0][0]
+        index = np.where(semantic_id_list_np == bbox_2d["semanticId"])[0][0]
         bbox_color = color_list[index]
         outline = (bbox_color[0], bbox_color[1], bbox_color[2])
         if num_channels == 4:
@@ -697,5 +698,5 @@ def colorize_bboxes(bboxes_2d_data, bboxes_2d_rgb, num_channels=3):
         rgb_img_draw.rectangle(
             [(bbox_2d["x_min"], bbox_2d["y_min"]), (bbox_2d["x_max"], bbox_2d["y_max"])], outline=outline, width=2
         )
-    bboxes_2d_rgb = th.tensor(rgb_img)
+    bboxes_2d_rgb = np.array(rgb_img)
     return bboxes_2d_rgb
diff --git a/omnigibson/utils/vision_utils.py b/omnigibson/utils/vision_utils.py
index d2307ffb1..34a3bc231 100644
--- a/omnigibson/utils/vision_utils.py
+++ b/omnigibson/utils/vision_utils.py
@@ -153,7 +153,7 @@ class Remapper:
                     f"We do not have semantic information about bounding box semantic id {semantic_id} yet. Marking as unlabelled."
                 )
                 self.warning_printed.add(semantic_id)
-            return semantic_class_name_to_id(scene)["unlabelled"]
+            return semantic_class_name_to_id()["unlabelled"]
         return self.key_array[semantic_id]
 
 
diff --git a/tests/create_tests_of_examples.py b/tests/create_tests_of_examples.py
index fdbb250e8..e2d7fc438 100644
--- a/tests/create_tests_of_examples.py
+++ b/tests/create_tests_of_examples.py
@@ -17,7 +17,10 @@ EXAMPLES_TO_SKIP = [
     "learning.navigation_policy_demo",
     "teleoperation.robot_teleoperate_demo",
     # TODO: Temporarily skip the following examples
-    "robots.all_robots_visualizer",
+    "robots.all_robots_visualizer",  # waiting for base link bug to be fixed
+    "object_states.attachment_demo",  # seg fualt??
+    "environments.behavior_env_demo",  # This only works with pre-sampled cached BEHAVIOR activity scene
+    "robots.advanced.ik_example",  # waiting for base link bug to be fixed; Fetch is fix base in this example
 ]