Yufa/loco lift

.github/workflows/run-tests.yaml

@@ -23,7 +23,8 @@ jobs:
       run: |
         sudo apt-cache search mesa
         sudo apt update
-        sudo apt install -y libgl1-mesa-glx libgl1-mesa-dev libosmesa6-dev python3-opengl mesa-utils
+        sudo apt install -y libglx-mesa0 libgl1-mesa-dev libosmesa6-dev python3-opengl mesa-utils
+
         # check if OSMesa is installed
         dpkg -L libosmesa6-dev
         python -m pip install --upgrade pip
@@ -56,4 +57,5 @@ jobs:
       run: |
         export PYOPENGL_PLATFORM="osmesa"
         export MUJOCO_GL="osmesa"
+        export NUMBA_DISABLE_JIT=1
         pytest

.github/workflows/update-docs.yaml

@@ -0,0 +1,63 @@
+name: Update Docs and Deploy
+
+on:
+  push:
+    branches:
+      - master
+      - main
+      - ci-docs
+
+jobs:
+  update-docs:
+    name: Generate and Deploy Docs
+    runs-on: ubuntu-latest
+
+    steps:
+    # Checkout the repository
+    - name: Checkout Code
+      uses: actions/checkout@v3
+
+    # Set up Python environment
+    - name: Set up Python
+      uses: actions/setup-python@v4
+      with:
+        python-version: '3.9'
+
+    # Install dependencies
+    - name: Install Dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install -r requirements.txt
+        pip install sphinx sphinx_book_theme sphinx_markdown_tables recommonmark nbsphinx sphinx_togglebutton hidapi
+
+    # Build the documentation
+    - name: Build Docs
+      run: |
+        cd docs
+        make clean html
+        mv _build ..
+
+    # Deploy to GitHub Pages
+    - name: Deploy to GitHub Pages
+      uses: peaceiris/actions-gh-pages@v3
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        publish_dir: _build/html
+        destination_dir: docs
+
+    # Remove .nojekyll from root directory if it exists
+    - name: Remove .nojekyll file
+      run: |
+        git config --global user.name "github-actions[bot]"
+        git config --global user.email "github-actions[bot]@users.noreply.github.com"
+        git fetch origin gh-pages
+        git checkout gh-pages
+        if [ -f .nojekyll ]; then
+          rm .nojekyll
+          git add .nojekyll
+          git commit -m "Remove .nojekyll file"
+          git push origin gh-pages
+          echo ".nojekyll file removed"
+        else
+          echo ".nojekyll file does not exist, skipping."
+        fi

.github/workflows/update-pypi.yaml

@@ -0,0 +1,63 @@
+name: Publish to PyPI
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - 'pypi-action'
+  release:
+    types: [published]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+    name: Build distribution
+    runs-on: ubuntu-latest
+
+    steps:
+    # Checkout the repository
+    - name: Checkout code
+      uses: actions/checkout@v4
+
+    # Set up Python environment
+    - name: Set up Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.x'
+
+    # Install dependencies
+    - name: Build release distribution
+      run: |
+        python -m pip install --upgrade pip
+        python -m pip install build
+        python -m build
+
+    - name: Store the distribution packages
+      uses: actions/upload-artifact@v4
+      with:
+        name: release-dists
+        path: dist/
+
+  publish-to-pypi:
+    name: Publish Python distribution to PyPI
+    needs:
+    - build
+    runs-on: ubuntu-latest
+
+    environment:
+      name: pypi
+      url: https://pypi.org/p/robosuite/
+
+    permissions:
+      id-token: write  # IMPORTANT: mandatory for trusted publishing
+
+    steps:
+    - name: Download the dists
+      uses: actions/download-artifact@v4
+      with:
+        name: release-dists
+        path: dist/
+    - name: Publish distribution to PyPI
+      uses: pypa/gh-action-pypi-publish@release/v1

docs/acknowledgement.md

@@ -9,5 +9,6 @@
 - [Andrew Kondrich](http://www.andrewkondrich.com/), [Jonathan Booher](https://web.stanford.edu/~jaustinb/) (domain randomization)
 - [Albert Tung](https://www.linkedin.com/in/albert-tung3/) (demonstration collection)
 - [Divyansh Jha](https://github.com/divyanshj16), [Fei Xia](http://fxia.me/) (robosuite v1.3 renderers)
+- [Zhenyu Jiang](https://zhenyujiang.me/), [Yuqi Xie](https://xieleo5.github.io/), [You Liang Tan](https://youliangtan.github.io/), (robosuite v1.5)
 
 We wholeheartedly welcome the community to contribute to our project through issues and pull requests. New contributors will be added to the list above.

docs/algorithms/demonstrations.md

@@ -2,39 +2,15 @@
 
 ## Collecting Human Demonstrations
 
-We provide teleoperation utilities that allow users to control the robots with input devices, such as the keyboard and the [SpaceMouse](https://www.3dconnexion.com/spacemouse_compact/en/). Such functionality allows us to collect a dataset of human demonstrations for learning. We provide an example script to illustrate how to collect demonstrations. Our [collect_human_demonstrations](https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/scripts/collect_human_demonstrations.py) script takes the following arguments:
+We provide teleoperation utilities that allow users to control the robots with input devices, such as the keyboard, [SpaceMouse](https://www.3dconnexion.com/spacemouse_compact/en/), [DualSense](https://www.playstation.com/en-us/accessories/dualsense-wireless-controller/) and mujoco-gui. Such functionality allows us to collect a dataset of human demonstrations for learning. We provide an example script to illustrate how to collect demonstrations. Our [collect_human_demonstrations](https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/scripts/collect_human_demonstrations.py) script takes the following arguments:
 
 - `directory:` path to a folder for where to store the pickle file of collected demonstrations
 - `environment:` name of the environment you would like to collect the demonstrations for
-- `device:` either "keyboard" or "spacemouse"
-
-### Keyboard controls
-
-Note that the rendering window must be active for these commands to work.
-
-|   Keys   |              Command               |
-| :------: | :--------------------------------: |
-|    q     |          reset simulation          |
-| spacebar |    toggle gripper (open/close)     |
-| w-a-s-d  | move arm horizontally in x-y plane |
-|   r-f    |        move arm vertically         |
-|   z-x    |      rotate arm about x-axis       |
-|   t-g    |      rotate arm about y-axis       |
-|   c-v    |      rotate arm about z-axis       |
-|   ESC    |                quit                |
-
-### 3Dconnexion SpaceMouse controls
-
-|          Control          |                Command                |
-| :-----------------------: | :-----------------------------------: |
-|       Right button        |           reset simulation            |
-|    Left button (hold)     |             close gripper             |
-|   Move mouse laterally    |  move arm horizontally in x-y plane   |
-|   Move mouse vertically   |          move arm vertically          |
-| Twist mouse about an axis | rotate arm about a corresponding axis |
-|      ESC (keyboard)       |                 quit                  |
-
+- `device:` either "keyboard" or "spacemouse" or "dualsense" or "mjgui"
+- `renderer:` Mujoco's builtin interactive viewer (mjviewer) or OpenCV viewer (mujoco)
+- `camera:` Pass multiple camera names to enable multiple views. Note that the "mujoco" renderer must be enabled when using multiple views, while "mjviewer" is not supported.
 
+See the [devices page](https://robosuite.ai/docs/modules/devices.html) for details on how to use the devices.
 
 ## Replaying Human Demonstrations
 
@@ -45,8 +21,6 @@ We have included an example script that illustrates how demonstrations can be lo
 
 We have included some sample demonstrations for each task at `models/assets/demonstrations`.
 
-Our sister project [RoboTurk](http://roboturk.stanford.edu) has also collected several human demonstration datasets across different tasks and humans, including pilot datasets of more than a thousand demonstrations for two tasks in our suite via crowdsourcing. You can find detailed information about the RoboTurk datasets [here](roboturk).
-
 
 ## Structure of collected demonstrations
 
@@ -81,7 +55,7 @@ The reason for storing mujoco states instead of raw observations is to make it e
 
 ## Using Demonstrations for Learning
 
-We have recently released the [robomimic](https://arise-initiative.github.io/robomimic-web/) framework, which makes it easy to train policies using your own [datasets collected with robosuite](https://arise-initiative.github.io/robomimic-web/docs/introduction/datasets.html#robosuite-hdf5-datasets), and other publically released datasets (such as those collected with RoboTurk). The framework also contains many useful examples for how to integrate hdf5 datasets into your own learning pipeline.
+The [robomimic](https://arise-initiative.github.io/robomimic-web/) framework makes it easy to train policies using your own [datasets collected with robosuite](https://arise-initiative.github.io/robomimic-web/docs/introduction/datasets.html#robosuite-hdf5-datasets). The framework also contains many useful examples for how to integrate hdf5 datasets into your own learning pipeline.
 
 The robosuite repository also has some utilities for using the demonstrations to alter the start state distribution of training episodes for learning RL policies - this have proved effective in [several](https://arxiv.org/abs/1802.09564) [prior](https://arxiv.org/abs/1807.06919) [works](https://arxiv.org/abs/1804.02717). For example, we provide a generic utility for setting various types of learning curriculums which dictate how to sample from demonstration episodes when doing an environment reset. For more information see the `DemoSamplerWrapper` class.
 

docs/algorithms/sim2real.md

@@ -143,9 +143,7 @@ env.modify_observable(
 )
 
 # Take a single environment step with positive joint velocity actions
-arm_action = np.ones(env.robots[0].robot_model.dof) * 1.0
-gripper_action = [1]
-action = np.concatenate([arm_action, gripper_action])
+action = np.ones(env.robots[0].robot_model.dof) * 1.0
 env.step(action)
 
 # Now we can analyze what values were recorded

docs/changelog.md

@@ -1,12 +1,40 @@
 # Changelog
 
+## Version 1.5.1
 
+- **Bug Fixes**:  
+  - Fixed segmentation demo, part controller demo, demo renderer, joint and actuator issues, equality removal, and orientation mismatch in Fourier hands.  
+
+- **Documentation Updates**:  
+  - Updated `basicusage.md`, overview page, demo docs, teleop usage info, devices, and related docs.  
+  - Added a CI doc update workflow and `.nojekyll` fix.  
+  - Simplified composite controller keywords and updated robots section and task images.  
+
+- **Features/Enhancements**:  
+  - Added GymWrapper support for both `gym` and `gymnasium` with `dict_obs`.  
+  - Updated DexMimicGen assets and added a default whole-body Mink IK config.  
+  - Improved CI to check all tests and print video save paths in demo recordings. 
+  - Add GR1 and spot robot to `demo_random_actions.py` script.
+
+- **Miscellaneous**:  
+  - Added troubleshooting for SpaceMouse failures and terminated `mjviewer` on resets.  
+  - Adjusted OSC position fixes and updated part controller JSONs. 
 
 ## Version 1.5.0
 
-<div class="admonition warning">
-<p class="admonition-title">Breaking API changes</p>
-<div>
-    <ul>New controller design.</ul>
-</div>
-</div>
+The 1.5 release of **Robosuite** introduces significant advancements to extend flexibility and realism in robotic simulations. Key highlights include support for diverse robot embodiments (e.g., humanoids), custom robot compositions, composite controllers (such as whole-body controllers), expanded teleoperation devices, and photorealistic rendering capabilities.
+
+### New Features
+- **Diverse Robot Embodiments**: Support for complex robots, including humanoids, allowing exploration of advanced manipulation and mobility tasks. Please see [robosuite_models](https://github.com/ARISE-Initiative/robosuite_models) for extra robosuite-compatible robot models.
+- **Custom Robot Composition**: Users can now build custom robots from modular components, offering extensive configuration options.
+- **Composite Controllers**: New controller abstraction includes whole-body controllers, and the ability to control robots with composed body parts, arms, and grippers.
+- **Additional Teleoperation Devices**: Expanded compatibility with teleoperation tools like drag-and-drop in the MuJoCo viewer and Apple Vision Pro.
+- **Photorealistic Rendering**: Integration of NVIDIA Isaac Sim for enhanced, real-time photorealistic visuals, bringing simulations closer to real-world fidelity.
+
+### Improvements
+- **Updated Documentation**: New tutorials and expanded documentation on utilizing advanced controllers, teleoperation, and rendering options.
+- **Simulation speed improvement**: By default we set the `lite_physics` flag to True to skip redundant calls to [`env.sim.step()`](https://github.com/ARISE-Initiative/robosuite/blob/29e73bd41f9bc43ba88bb7d2573b868398905819/robosuite/environments/base.py#L444)
+
+### Migration
+
+- Composite controller refactoring: please see example of [usage](https://github.com/ARISE-Initiative/robosuite/blob/29e73bd41f9bc43ba88bb7d2573b868398905819/robosuite/examples/third_party_controller/mink_controller.py#L421)

docs/conf.py

@@ -84,7 +84,7 @@
 
 # General information about the project.
 project = "robosuite"
-copyright = "Stanford University and The University of Texas at Austin 2022"
+copyright = "Stanford University and The University of Texas at Austin 2025"
 author = "the robosuite core team"
 
 # The version info for the project you're documenting, acts as replacement for
@@ -185,5 +185,21 @@
 # (source start file, target name, title, author,
 #  dir menu entry, description, category)
 texinfo_documents = [
-    (master_doc, "robosuite", "robosuite Documentation", author, "robosuite", "ARISE", "Miscellaneous"),
+    (
+        master_doc,
+        "robosuite",
+        "robosuite Documentation",
+        author,
+        "robosuite",
+        "ARISE",
+        "Miscellaneous",
+    ),
+]
+
+autodoc_mock_imports = [
+    "robosuite.devices.mjgui",
+    "robosuite.devices.spacemouse",
+    "robosuite.devices.dualsense",
+    "robosuite.devices.keyboard",
+    "robosuite.devices.device",
 ]