Add files using upload-large-folder tool

.claude/settings.json

@@ -0,0 +1,7 @@
+{
+  "permissions": {
+    "allow": [
+      "Bash(python -c \":*)"
+    ]
+  }
+}

.gitignore

@@ -0,0 +1,128 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+!robosuite/controllers/config/default/parts
+!robosuite/controllers/parts
+sdist/
+var/
+wheels/
+!robosuite/models/assets/robots/**/wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# dotenv
+.env
+
+# virtualenv
+.venv
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+
+# mac
+.DS_Store
+
+# mujoco files
+mjkey.txt
+MUJOCO_LOG.TXT
+
+.mujocomanip_temp_model.xml
+
+*.jpg
+.idea
+
+.pytest_cache/
+
+# private macros
+macros_private.py
+
+robosuite_usd/
+
+MUJOCO_LOG.TXT
+
+# private demonstration files
+robosuite/models/assets/demonstrations_private

.pre-commit-config.yaml

@@ -0,0 +1,11 @@
+repos:
+  - repo: https://github.com/psf/black
+    rev: 22.10.0 # Replace by any tag/version: https://github.com/psf/black/tags
+    hooks:
+      - id: black
+        language_version: python3 # Should be a command that runs python3.6+
+  - repo: https://github.com/pycqa/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        name: isort (python)

AUTHORS

@@ -0,0 +1,36 @@
+# This file contains an official list of authors of this framework.
+
+# Names should be added to this file as:
+# Name or Organization <email address>
+# The email address is not required for organizations.
+
+Core Team
+Yuke Zhu <yukez@cs.utexas.edu>
+Josiah Wong <jdwong@stanford.edu>
+Ajay Mandlekar <amandlek@cs.stanford.edu>
+Roberto Martín-Martín <robertomm@cs.utexas.edu>
+Abhishek Joshi <ahjoshi@utexas.edu>
+Kevin Lin <thankyou@utexas.edu>
+Soroush Nasiriany <soroush@cs.utexas.edu>
+Yifeng Zhu <yifeng.zhu@utexas.edu>
+
+Contributors
+Zhenyu Jiang <zhenyu@cs.utexas.edu>
+Yuqi Xie <xieleo@utexas.edu>
+Abhiram Maddukuri <abhicm@utexas.edu>
+You Liang Tan <tan_you_liang@hotmail.com>
+Jiren Zhu <jirenz@stanford.edu>
+Jim (Linxi) Fan <jimfan@cs.stanford.edu>
+Orien Zeng <orien.f.zeng@gmail.com>
+Anchit Gupta <anchitg@stanford.edu>
+Zihua Liu <zliu19@stanford.edu>
+Joan Creus-Costa <jcreus@stanford.edu>
+Anchit Gupta <anchitg@stanford.edu>
+Michelle Lee <mishlee@stanford.edu>
+Andrew Kondrich <andrewk1@stanford.edu>
+Rachel Gardner <rachel0@stanford.edu>
+Jonathan Booher <jaustinb@stanford.edu>
+Danfei Xu <danfei@stanford.edu>
+Rachel Gardner <rachel0@stanford.edu>
+Albert Tung <atung3@stanford.edu>
+Divyansh Jha <divyanshj.16@gmail.com>

CONTRIBUTING.md

@@ -0,0 +1,47 @@
+How to Contribute
+=================
+
+We are so happy to see you reading this page!
+
+Our team wholeheartedly welcomes the community to contribute to robosuite. Contributions from members of the community will help ensure the long-term success of this project. Before you plan to make contributions, here are important resources to get started with:
+
+- Read the robosuite [documentation](https://robosuite.ai/docs/overview.html) and [whitepaper](https://robosuite.ai/assets/whitepaper.pdf)
+- Check our latest status from existing [issues](https://github.com/ARISE-Initiative/robosuite/issues), [pull requests](https://github.com/ARISE-Initiative/robosuite/pulls), and [branches](https://github.com/ARISE-Initiative/robosuite/branches) and avoid duplicate efforts
+- Join our [ARISE Slack](https://ariseinitiative.slack.com) workspace for technical discussions. Please [email us](mailto:yukez@cs.utexas.edu) to be added to the workspace.
+
+We encourage the community to make four major types of contributions:
+
+- **Bug fixes**: Address open issues and fix bugs presented in the `master` branch
+- **Environment designs:** Design new environments and add them to our existing set of [environments](https://github.com/ARISE-Initiative/robosuite/tree/master/robosuite/environments)
+- **Additional assets:** Incorporate new [models](https://github.com/ARISE-Initiative/robosuite/tree/master/robosuite/models) and functionalities of robots, grippers, objects, and workspaces
+- **New functionalities:** Implement new features, such as dynamics randomization, rendering tools, new controllers, etc.
+
+Testing
+-------
+Before submitting your contributions, make sure that the changes do not break existing functionalities.
+We have a handful of [tests](https://github.com/ARISE-Initiative/robosuite/tree/master/tests) for verifying the correctness of the code.
+You can run all the tests with the following command in the root folder of robosuite. Make sure that it does not throw any error before you proceed to the next step.
+```sh
+$ python -m pytest
+```
+
+Submission
+----------
+Please read the coding conventions below and make sure that your code is consistent with ours. We use the [black](https://github.com/psf/black) and [isort](https://github.com/pycqa/isort) as the [pre-commit](https://pre-commit.com/) hooks to format the source code before code review. To install these hooks, first `pip install pre-commit; pre-commit install` to set them up. Once set up, these hooks should be automatically triggered when committing new changes. If you want to manually check the format of the codes that have already been committed, please run `pre-commit run --all-files` in the project folder.
+
+When making a contribution, make a [pull request](https://docs.github.com/en/free-pro-team@latest/github/collaborating-with-issues-and-pull-requests/proposing-changes-to-your-work-with-pull-requests)
+to robosuite with an itemized list of what you have done. When you submit a pull request, it is immensely helpful to include example script(s) that showcase the proposed changes and highlight any new APIs. 
+We always love to see more test coverage. When it is appropriate, add a new test to the [tests](https://github.com/ARISE-Initiative/robosuite/tree/master/tests) folder for checking the correctness of your code.
+
+Coding Conventions
+------------------
+In addition to the pre-commit hooks, we value readability and adhere to the following coding conventions:
+- Indent using four spaces (soft tabs)
+- Always put spaces after list items and method parameters (e.g., `[1, 2, 3]` rather than `[1,2,3]`), and around operators and hash arrows (e.g., `x += 1` rather than `x+=1`)
+- Use the [Google Python Style](https://google.github.io/styleguide/pyguide.html#38-comments-and-docstrings) for the docstrings
+- For scripts such as in [demos](https://github.com/ARISE-Initiative/robosuite/tree/master/robosuite/demos) and [tests](https://github.com/ARISE-Initiative/robosuite/tree/master/tests),
+  include a docstring at the top of the file that describes the high-level purpose of the script and/or instructions on how to use the scripts (if relevant).
+
+We look forward to your contributions. Thanks!
+
+The robosuite core team

LICENSE

@@ -0,0 +1,28 @@
+MIT License
+
+Copyright (c) 2022 Stanford Vision and Learning Lab and UT Robot Perception and Learning Lab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+This software includes the partial implementation of Deepmind Mujoco https://github.com/deepmind/mujoco. 
+Deepmind Mujoco is licensed under the Apache License, Version 2.0 (the "License");
+you may not use the files except in compliance with the License. 
+
+You may obtain a copy of the License at
+    http://www.apache.org/licenses/LICENSE-2.0

MANIFEST.in

@@ -0,0 +1,4 @@
+recursive-include robosuite/controllers/config/ *
+recursive-include robosuite/demos *
+recursive-include robosuite/models/assets/ *
+recursive-include robosuite/scripts *

README.md

@@ -0,0 +1,51 @@
+# robosuite
+
+![gallery of_environments](docs/images/gallery.png)
+
+[**[Homepage]**](https://robosuite.ai/)   [**[White Paper]**](https://arxiv.org/abs/2009.12293)   [**[Documentations]**](https://robosuite.ai/docs/overview.html)   [**[ARISE Initiative]**](https://github.com/ARISE-Initiative)
+
+-------
+## Latest Updates
+
+- [10/28/2024] **v1.5**: Added support for diverse robot embodiments (including humanoids), custom robot composition, composite controllers (including whole body controllers), more teleoperation devices, photo-realistic rendering. [[release notes]](https://github.com/ARISE-Initiative/robosuite/releases/tag/v1.5.0) [[documentation]](http://robosuite.ai/docs/overview.html)
+
+- [11/15/2022] **v1.4**: Backend migration to DeepMind's official [MuJoCo Python binding](https://github.com/deepmind/mujoco), robot textures, and bug fixes :robot: [[release notes]](https://github.com/ARISE-Initiative/robosuite/releases/tag/v1.4.0) [[documentation]](http://robosuite.ai/docs/v1.4/)
+
+- [10/19/2021] **v1.3**: Ray tracing and physically based rendering tools :sparkles: and access to additional vision modalities 🎥 [[video spotlight]](https://www.youtube.com/watch?v=2xesly6JrQ8) [[release notes]](https://github.com/ARISE-Initiative/robosuite/releases/tag/v1.3) [[documentation]](http://robosuite.ai/docs/v1.3/)
+
+- [02/17/2021] **v1.2**: Added observable sensor models :eyes: and dynamics randomization :game_die: [[release notes]](https://github.com/ARISE-Initiative/robosuite/releases/tag/v1.2)
+
+- [12/17/2020] **v1.1**: Refactored infrastructure and standardized model classes for much easier environment prototyping :wrench: [[release notes]](https://github.com/ARISE-Initiative/robosuite/releases/tag/v1.1)
+
+-------
+
+**robosuite** is a simulation framework powered by the [MuJoCo](http://mujoco.org/) physics engine for robot learning. It also offers a suite of benchmark environments for reproducible research. The current release (v1.5) features support for diverse robot embodiments (including humanoids), custom robot composition, composite controllers (including whole body controllers), more teleoperation devices, photo-realistic rendering. This project is part of the broader [Advancing Robot Intelligence through Simulated Environments (ARISE) Initiative](https://github.com/ARISE-Initiative), with the aim of lowering the barriers of entry for cutting-edge research at the intersection of AI and Robotics.
+
+Data-driven algorithms, such as reinforcement learning and imitation learning, provide a powerful and generic tool in robotics. These learning paradigms, fueled by new advances in deep learning, have achieved some exciting successes in a variety of robot control problems. However, the challenges of reproducibility and the limited accessibility of robot hardware (especially during a pandemic) have impaired research progress. The overarching goal of **robosuite** is to provide researchers with:
+
+* a standardized set of benchmarking tasks for rigorous evaluation and algorithm development;
+* a modular design that offers great flexibility in designing new robot simulation environments;
+* a high-quality implementation of robot controllers and off-the-shelf learning algorithms to lower the barriers to entry.
+
+This framework was originally developed in late 2017 by researchers in [Stanford Vision and Learning Lab](http://svl.stanford.edu) (SVL) as an internal tool for robot learning research. Now, it is actively maintained and used for robotics research projects in SVL, the [UT Robot Perception and Learning Lab](http://rpl.cs.utexas.edu) (RPL) and NVIDIA [Generalist Embodied Agent Research Group](https://research.nvidia.com/labs/gear/) (GEAR). We welcome community contributions to this project. For details, please check out our [contributing guidelines](CONTRIBUTING.md).
+
+**Robosuite** offers a modular design of APIs for building new environments, robot embodiments, and robot controllers with procedural generation. We highlight these primary features below:
+
+* **standardized tasks**: a set of standardized manipulation tasks of large diversity and varying complexity and RL benchmarking results for reproducible research;
+* **procedural generation**: modular APIs for programmatically creating new environments and new tasks as combinations of robot models, arenas, and parameterized 3D objects. Check out our repo [robosuite_models](https://github.com/ARISE-Initiative/robosuite_models) for extra robot models tailored to robosuite.
+* **robot controllers**: a selection of controller types to command the robots, such as joint-space velocity control, inverse kinematics control, operational space control, and whole body control;
+* **teleoperation devices**: a selection of teleoperation devices including keyboard, spacemouse and MuJoCo viewer drag-drop;
+* **multi-modal sensors**: heterogeneous types of sensory signals, including low-level physical states, RGB cameras, depth maps, and proprioception;
+* **human demonstrations**: utilities for collecting human demonstrations, replaying demonstration datasets, and leveraging demonstration data for learning. Check out our sister project [robomimic](https://arise-initiative.github.io/robomimic-web/);
+* **photorealistic rendering**: integration with advanced graphics tools that provide real-time photorealistic renderings of simulated scenes, including support for NVIDIA Isaac Sim rendering.
+
+## Citation
+Please cite [**robosuite**](https://robosuite.ai) if you use this framework in your publications:
+```bibtex
+@inproceedings{robosuite2020,
+  title={robosuite: A Modular Simulation Framework and Benchmark for Robot Learning},
+  author={Yuke Zhu and Josiah Wong and Ajay Mandlekar and Roberto Mart\'{i}n-Mart\'{i}n and Abhishek Joshi and Soroush Nasiriany and Yifeng Zhu and Kevin Lin},
+  booktitle={arXiv preprint arXiv:2009.12293},
+  year={2020}
+}
+```

collect.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+# Collect 50 successful episodes per task with videos
+# Usage: bash collect.sh
+# Output: tactile_data/{task_name}/episode_XX.hdf5
+#         tactile_data/videos/{task_name}/{task_name}_epXX.mp4
+
+set -e
+cd "$(dirname "$0")"
+
+PYTHONUNBUFFERED=1 python tactile_tasks/run_collection.py \
+    --task all \
+    --n_episodes 50 \
+    --save_dir ./tactile_data

docs/.gitignore

@@ -0,0 +1 @@
+_build

docs/Makefile

@@ -0,0 +1,23 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = sphinx-build
+SPHINXPROJ    = robosuite
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+apidoc:
+	@sphinx-apidoc -T --force ../robosuite -o source
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/acknowledgement.md

@@ -0,0 +1,14 @@
+# Acknowledgements
+
+**robosuite** is built on the [MuJoCo engine](http://www.mujoco.org/) with the Python interfaces provided by [mujoco](https://github.com/deepmind/mujoco). We would like to thank members of the [Stanford People, AI, & Robots (PAIR) Group](http://pair.stanford.edu/) and [UT Robot Perception and Learning Lab](http://rpl.cs.utexas.edu/) for their support and feedback to this project. In particular, the following people have made their contributions in different stages of this project:
+
+- [Jiren Zhu](https://github.com/jirenz), [Joan Creus-Costa](https://github.com/jcreus) (robosuite v0.3)
+- [Jim (Linxi) Fan](http://jimfan.me/), [Zihua Liu](https://www.linkedin.com/in/zihua-liu/), [Orien Zeng](https://www.linkedin.com/in/orien-zeng-054589b6/), [Anchit Gupta](https://www.linkedin.com/in/anchitgupta/) ([Surreal](http://surreal.stanford.edu/) experiments)
+- [Michelle Lee](http://stanford.edu/~mishlee/), [Rachel Gardner](https://www.linkedin.com/in/rachel0/) (controller implementations)
+- [Danfei Xu](https://cs.stanford.edu/~danfei/) (placement initializer)
+- [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/basicusage.md

@@ -0,0 +1,39 @@
+# Basic Usage
+
+## Running Standardized Environments
+**robosuite** offers a set of standardized manipulation tasks for benchmarking purposes. These pre-defined environments can be easily instantiated with the `make` function. The APIs we provide to interact with our environments are simple and similar to the ones used by [OpenAI Gym](https://github.com/openai/gym/). Below is a minimalistic example of how to interact with an environment.
+
+<div class="admonition warning">
+<p class="admonition-title">Attention Mac users!</p>
+
+Mac users who wish to use the default mjviewer renderer need to prepend the "python" command with "mj": `mjpython ...`
+</div>
+
+```python
+import numpy as np
+import robosuite as suite
+
+# create environment instance
+env = suite.make(
+    env_name="Lift", # try with other tasks like "Stack" and "Door"
+    robots="Panda",  # try with other robots like "Sawyer" and "Jaco"
+    has_renderer=True,
+    has_offscreen_renderer=False,
+    use_camera_obs=False,
+)
+
+# reset the environment
+env.reset()
+
+for i in range(1000):
+    action = np.random.randn(*env.action_spec[0].shape) * 0.1
+    obs, reward, done, info = env.step(action)  # take action in the environment
+    env.render()  # render on display
+````
+
+This script above creates a simulated environment with the on-screen renderer, which is useful for visualization and qualitative evaluation. The `step()` function takes an `action` as input and returns a tuple of `(obs, reward, done, info)` where `obs` is an `OrderedDict` containing observations `[(name_string, np.array), ...]`, `reward` is the immediate reward obtained per step, `done` is a Boolean flag indicating if the episode has terminated and `info` is a dictionary which contains additional metadata.
+
+Many other parameters can be configured for each environment. They provide functionalities such as headless rendering, getting pixel observations, changing camera settings, using reward shaping, and adding extra low-level observations. Please refer to [Environment](modules/environments) modules and the [Environment class](simulation/environment) APIs for further details.
+
+Demo scripts that showcase various features of **robosuite** are available [here](demos). The purpose of each script and usage instructions can be found at the beginning of each file.
+

docs/changelog.md

@@ -0,0 +1,74 @@
+# Changelog
+
+## Version 1.5.2
+
+- **Bug Fixes**:  
+  - Fixed domain randomization compatibility for `mujoco!=3.1.1`.  
+  - Corrected dexterous hand mounting for Panda and pot-with-handles geometry for rectangular pots.  
+  - Fixed Mink IK with delta input, duplicated inertial properties, free-joint issues, and Baxter mesh problems.  
+  - Resolved mobile base XML and controller logic issues, binding utils on Windows, and EGL error reporting.  
+  - Hot-fixed `Task.generate_id_mappings()` to remove invalid EEF targets.
+
+- **Features / Enhancements**:  
+  - Add env seeding for determinism.  
+  - Added support for multiple cameras across renderers and observation pipelines.  
+  - Enabled instance segmentation to include arena bodies.  
+  - Added DualSense controller support and improved SpaceMouse auto-detection.  
+  - Introduced scalable arenas and MuJoCo objects via `set_scale`.  
+  - Allowed base type specification and manipulator mounts for mobile manipulation envs.  
+  - Added new robots and hands (xArm7 revised, Inspire/Fourier grasp qpos).  
+  - Extended whole-body IK with `input_ref_frame=base` and `skip_wbc_action`.  
+  - Added sensors, shell inertia for Sawyer meshes, and joint position observations.
+
+- **Documentation Updates**:  
+  - Updated v1.5 docs, fixed broken links, improved dark-mode visibility, and refined demo/device documentation.  
+  - Added USD requirements and SpaceMouse dependencies to docs and extras.  
+  - Improved demos page and clarified base type comments.
+
+- **CI / Release / Tooling**:  
+  - Added and refined PyPI publishing workflows.  
+  - Improved build–docs synchronization and pinned Mink version.  
+
+- **Miscellaneous**:  
+  - Added render modalities and updated demo scripts to include all manipulators by default.  
+  - Refactored controller configs and composite controller logic.  
+  - Improved data collection wrapper resets and environment seeding.
+
+## 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
+
+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

@@ -0,0 +1,205 @@
+# -*- coding: utf-8 -*-
+#
+# robosuite documentation build configuration file, created by
+# sphinx-quickstart on Sun Aug 16 10:05:44 2020.
+#
+# This file is execfile()d with the current directory set to its
+# containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+
+import os
+import sys
+
+sys.path.insert(0, os.path.abspath("."))
+
+import sphinx_book_theme
+
+import robosuite
+
+# -- General configuration ------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    "sphinx.ext.napoleon",
+    "sphinx_markdown_tables",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.githubpages",
+    "sphinx.ext.autodoc",
+    "recommonmark",  # use Sphinx-1.4 or newer
+    "nbsphinx",
+    "sphinx_togglebutton",
+]
+
+myst_enable_extensions = [
+    "dollarmath",
+]
+
+mathjax_config = {
+    "tex2jax": {
+        "inlineMath": [["\\(", "\\)"]],
+        "displayMath": [["\\[", "\\]"]],
+    },
+}
+
+mathjax3_config = {
+    "tex": {
+        "inlineMath": [["\\(", "\\)"]],
+        "displayMath": [["\\[", "\\]"]],
+    }
+}
+
+# Sphinx-apidoc variables
+apidoc_module_dir = "../robosuite"
+apidoc_output_dir = "reference"
+
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ["_templates"]
+
+# source_parsers = {
+#     '.md': CommonMarkParser,
+# }
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+source_suffix = [".rst", ".md", ".ipynb"]
+
+# The master toctree document.
+master_doc = "index"
+
+# General information about the project.
+project = "robosuite"
+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
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y version.
+version = (".").join(robosuite.__version__.split(".")[:-1])
+# The full version, including alpha/beta/rc tags.
+release = (".").join(robosuite.__version__.split(".")[:-1])
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This patterns also effect to html_static_path and html_extra_path
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = "sphinx"
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = False
+
+
+# -- Options for HTML output ----------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = "sphinx_book_theme"
+html_logo = "robosuite_color.png"
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ["_static"]
+
+html_css_files = [
+    "css/theme.css",
+]
+
+html_js_files = ["js/custom.js"]
+
+
+# -- Options for HTMLHelp output ------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = "robosuitedoc"
+
+
+# -- Options for LaTeX output ---------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #
+    # 'papersize': 'letterpaper',
+    # The font size ('10pt', '11pt' or '12pt').
+    #
+    # 'pointsize': '10pt',
+    # Additional stuff for the LaTeX preamble.
+    #
+    # 'preamble': '',
+    # Latex figure (float) alignment
+    #
+    # 'figure_align': 'htbp',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+latex_documents = [
+    (master_doc, "robosuite.tex", "robosuite Documentation", author, "manual"),
+]
+
+
+# -- Options for manual page output ---------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [(master_doc, "robosuite", "robosuite Documentation", [author], 1)]
+
+
+# -- Options for Texinfo output -------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (
+        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",
+]

docs/demos.md

@@ -0,0 +1,230 @@
+# Demo Showcases
+
+We provide a collection of [demo scripts](https://github.com/ARISE-Initiative/robosuite/tree/master/robosuite/demos) to showcase the functionalities in **robosuite**.
+
+<div class="admonition warning">
+<p class="admonition-title">Attention Mac users!</p>
+
+For these scripts, Mac users who wish to use the default mjviewer renderer need to prepend the "python" command with "mj": `mjpython ...`
+</div>
+
+### Environment Configuration
+The `demo_random_action.py` script is the starter demo script that you should try first. It highlights the modular design of our simulated environments. It enables users to create new simulation instances by choosing one [environment](modules/environments), one or more [robots](modules/robots), and their [controllers](modules/controllers) from the command line. The script creates an environment instance and controls the robots with uniform random actions drawn from the controller-specific action space. The list of all environments, robots, controllers, and gripper types supported in the current version of **robosuite** are defined by `suite.ALL_ENVIRONMENTS`, `suite.ALL_ROBOTS`, `suite. ALL_PART_CONTROLLERS`, and `suite.ALL_GRIPPERS` respectively.
+
+
+### Controller Test
+The `demo_control.py` script demonstrates the various functionalities of each controller available within **robosuite**.
+For a given controller, runs through each dimension and executes a perturbation `test_value` from its
+neutral (stationary) value for a certain amount of time "steps_per_action", and then returns to all neutral values
+for time `steps_per_rest` before proceeding with the next action dim.
+For example, given that the expected action space of the `OSC_POSE` controller (without a gripper) is `(dx, dy, dz, droll, dpitch, dyaw)`, the testing sequence of actions over time will be:
+
+```
+***START OF DEMO***
+( dx,  0,  0,  0,  0,  0, grip)     <-- Translation in x-direction      for 'steps_per_action' steps
+(  0,  0,  0,  0,  0,  0, grip)     <-- No movement (pause)             for 'steps_per_rest' steps
+(  0, dy,  0,  0,  0,  0, grip)     <-- Translation in y-direction      for 'steps_per_action' steps
+(  0,  0,  0,  0,  0,  0, grip)     <-- No movement (pause)             for 'steps_per_rest' steps
+(  0,  0, dz,  0,  0,  0, grip)     <-- Translation in z-direction      for 'steps_per_action' steps
+(  0,  0,  0,  0,  0,  0, grip)     <-- No movement (pause)             for 'steps_per_rest' steps
+(  0,  0,  0, dr,  0,  0, grip)     <-- Rotation in roll (x) axis       for 'steps_per_action' steps
+(  0,  0,  0,  0,  0,  0, grip)     <-- No movement (pause)             for 'steps_per_rest' steps
+(  0,  0,  0,  0, dp,  0, grip)     <-- Rotation in pitch (y) axis      for 'steps_per_action' steps
+(  0,  0,  0,  0,  0,  0, grip)     <-- No movement (pause)             for 'steps_per_rest' steps
+(  0,  0,  0,  0,  0, dy, grip)     <-- Rotation in yaw (z) axis        for 'steps_per_action' steps
+(  0,  0,  0,  0,  0,  0, grip)     <-- No movement (pause)             for 'steps_per_rest' steps
+***END OF DEMO***
+```
+
+Thus the `OSC_POSE` controller should be expected to sequentially move linearly in the x direction first, then the y direction, then the z direction, and then begin sequentially rotating about its x-axis, then y-axis, then z-axis. Please reference the documentation of [Controllers](modules/controllers) for an overview of each controller. Controllers are expected to behave in a generally controlled manner, according to their control space. The expected sequential qualitative behavior during the test is described below for each controller:
+
+* `OSC_POSE`: Gripper moves sequentially and linearly in x, y, z direction, then sequentially rotates in x-axis, y-axis, z-axis, relative to the global coordinate frame
+* `OSC_POSITION`: Gripper moves sequentially and linearly in x, y, z direction, relative to the global coordinate frame
+* `IK_POSE`: Gripper moves sequentially and linearly in x, y, z direction, then sequentially rotates in x-axis, y-axis, z-axis, relative to the local robot end effector frame
+* `JOINT_POSITION`: Robot Joints move sequentially in a controlled fashion
+* `JOINT_VELOCITY`: Robot Joints move sequentially in a controlled fashion
+* `JOINT_TORQUE`: Unlike other controllers, joint torque controller is expected to act rather lethargic, as the "controller" is really just a wrapper for direct torque control of the mujoco actuators. Therefore, a "neutral" value of 0 torque will not guarantee a stable robot when it has non-zero velocity!
+
+
+### Domain Randomization
+
+The `demo_domain_randomization.py` script showcases our domain randomization functionality. Domain randomization can be easily enabled by wrapping an environment with the [DomainRandomizationWrapper](source/robosuite.wrappers). At this moment, the randomization functionality focuses on visual variations, including colors, textures, and camera viewpoints.
+
+![collection of grippers](images/domain_randomization.png)
+
+
+### Sensor Realism
+The `demo_sensor_corruption.py` script shows how the [Observable](modules/sensors) functionality can be used to model sensor corruption and delay. The [Observable](modules/sensors) class provides easy-to-use interface for simulating real-world sensor noises, variable sensor delays, and sampling frequencies of realistic sensors. These techniques are useful for improving the generalization and robustness of the policies trained on robosuite, facilitating sim2real transfer to the real hardware. For example, see Appendix B of [Zhu et al. RSS'2018](https://arxiv.org/abs/1802.09564) and Section V of [Tan et al. RSS'2018](https://arxiv.org/abs/1804.10332).
+
+
+### Gripper Selection
+The `demo_gripper_selection.py` script shows you how to select gripper for an environment. This is controlled by `gripper_type` keyword argument. The set of all grippers is defined by the global variable `robosuite.ALL_GRIPPERS`.
+
+![collection of grippers](images/gripper_collection.png)
+
+### Gripper Interaction & Procedural Generation
+The `demo_gripper_interaction.py` script illustrates the process of importing grippers into a scene and making it interact
+with the objects with actuators. It also shows how to procedurally generate a scene with the Modeling APIs of the MJCF utility functions.
+
+
+### Trajectory Replay
+The `demo_collect_and_playback_data.py` shows how to record robot roll-out trajectory data with the [DataCollectionWrapper](source/robosuite.wrappers) wrapper and play them back. This wrapper records and stores the environment states in a trajectory to temporary files in `.npz` format (default path: `/tmp`). During playback, it loads the stored states from disk and resets the simulator to these states. Example:
+```
+$ python demo_collect_and_playback_data.py --environment Door
+```
+
+### OpenAI Gym-style APIs
+This `demo_gym_functionality.py` script shows how to adapt an environment to be compatible with the [OpenAI Gym](https://gym.openai.com/)-style APIs. This is useful when using learning pipelines that require supporting these APIs. For instance, this can be used with [OpenAI Baselines](https://github.com/openai/baselines) to train agents with RL. We base this script off of some code snippets found in the [Getting Started with Gym](https://gym.openai.com/docs/) section of the OpenAI gym documentation. The following snippet was used to demo basic functionality in OpenAI Gym.
+
+```python
+import gym
+env = gym.make('CartPole-v0')
+for i_episode in range(20):
+    observation = env.reset()
+    for t in range(100):
+        env.render()
+        print(observation)
+        action = env.action_space.sample()
+        observation, reward, done, info = env.step(action)
+        if done:
+            print("Episode finished after {} timesteps".format(t+1))
+            break
+```
+
+To adapt the **robosuite** APIs to be compatible with OpenAI Gym's style, this script demonstrates how this can be easily achieved by using the [GymWrapper](source/robosuite.wrappers).
+
+
+### Teleoperation
+The `demo_device_control.py` scripts shows how to teleoperate robot with [control devices](modules/devices), such as keyboard or SpaceMouse. The user input device can be set by the `--device` argument, with the following two options:
+
+* **Keyboard**
+    We use the keyboard to control the end-effector of the robot.
+    The keyboard provides 6-DoF control commands through various keyboard keys.
+
+    **Note:**
+        To run this script with macOS, you must run it with root access.
+
+* **SpaceMouse**
+    We use the SpaceMouse 3D mouse from [3Dconnexion](https://www.3dconnexion.com/spacemouse_wireless/en/) to control the end-effector of the robot. The mouse provides 6-DoF control commands.
+
+    We used the SpaceMouse Wireless. The paper below used the same device
+    to collect human demonstrations for imitation learning.
+
+    ```text
+    Reinforcement and Imitation Learning for Diverse Visuomotor Skills
+    Yuke Zhu, Ziyu Wang, Josh Merel, Andrei Rusu, Tom Erez, Serkan Cabi, Saran Tunyasuvunakool,
+    János Kramár, Raia Hadsell, Nando de Freitas, Nicolas Heess
+    RSS 2018
+    ```
+
+    **Note:**
+        This current implementation only supports macOS (Linux support can be added).
+        Download and install the [driver](https://www.3dconnexion.com/service/drivers.html) before running the script.
+
+* **DualSense**
+    We use the DualSense joystick from [DualSense](https://www.playstation.com/en-us/accessories/dualsense-wireless-controller/) to control the end-effector of the robot. The joystick provides 6-DoF control commands.
+
+    **Note:**
+        Make sure `hidapi` can detect your DualSense in your computer. In Linux, you may add udev rules in `/etc/udev/rules.d` to get access to the device without root privilege. For the rules content you can refer to [game-device-udev](https://codeberg.org/fabiscafe/game-devices-udev).
+
+* **Mujoco GUI**
+        The Mujoco GUI provides a graphical user interface for viewing and interacting with a mujoco simulation. We use the GUI and a mouse to drag and drop mocap bodies, whose
+        poses are tracked by a controller. More specifically, once the mujoco GUI is loaded from running `python demo_device_control.py`, you first need to hit the <Tab> key to reach the interactive mujoco viewer state. Then, you should double click on
+        a mocap body. Finally, to drag the mocap body, you can hit to <Ctrl> or <Shift> key to translate or rotate the mocap body. For Mac users, you need to use `mjpython demo_device_control.py`. See the note from [mujoco](https://mujoco.readthedocs.io/en/stable/python.html#passive-viewer) for more details.
+
+
+Additionally, `--pos_sensitivity` and `--rot_sensitivity` provide relative gains for increasing / decreasing the user input
+device sensitivity.
+
+
+Furthermore, please choose environment specifics with the following arguments:
+
+* `--environment`: Task to perform, e.g., `Lift`, `TwoArmPegInHole`, `NutAssembly`, etc.
+
+* `--robots`: Robot(s) with which to perform the task, e.g., `Tiago`, `Panda`, `GR1`, `Sawyer`, etc. Note that the environments include sanity checks, such that a `TwoArm...` environment will not accept configurations with a single, one-armed robot.
+
+* `--config`: Exclusively applicable and only should be specified for `TwoArm...` environments. Specifies the robot
+        configuration desired for the task when two robots are inputted. Options are {`parallel` and `opposed`}
+
+    * `parallel`: Sets up the environment such that two robots are stationed next to
+                each other facing the same direction. Expects a 2-tuple of robot names to be specified
+                in the `--robots` argument.
+
+    * `opposed`: Sets up the environment such that two robots are stationed opposed from
+                each other, facing each other from opposite directions. Expects a 2-tuple of robot names
+                to be specified in the `--robots` argument.
+
+
+Examples:
+* For normal single-arm environment:
+```
+$ python demo_device_control.py --environment PickPlaceCan --robots Sawyer
+```
+* For two-arm bimanual environment:
+```
+$ python demo_device_control.py --environment TwoArmLift --robots Tiago
+```
+* For two-arm multi single-arm robot environment:
+```
+$ python demo_device_control.py --environment TwoArmLift --robots Sawyer Sawyer --config parallel
+```
+
+### Video Recording
+The `demo_video_recording.py` script shows how to record a video of robot roll-out with the `imageio` library. This script uses offscreen rendering. This is useful for generating qualitative videos of robot policy behaviors. The generated video is in the mp4 format. Example:
+```sh
+$ python demo_video_recording.py --environment Lift --robots Panda
+```
+
+### Rendering Options
+The `demo_renderers.py` script shows how to use different renderers with the simulation environments. Our current version supports the default MuJoCo renderer. More information about these renderers can be found in the [Renderer](modules/renderers) module. Example:
+```sh
+$ python demo_renderers.py --renderer default
+```
+The `--renderer` flag can be set to `mujoco` or `default`
+
+### Exporting to USD
+Exporting to USD allows users to render **robosuite** trajectories in external renderers such as NVIDIA Omniverse and Blender. In order to export to USD you must install the required dependencies for the exporter.
+```sh
+$ pip install usd-core pillow tqdm
+```
+Once the dependencies are installed, the USD exporter can be imported via `from robosuite.utils.usd import exporter`. The `USDExporter` class in the `exporter` module handles exporting all nessecary assets and USD files associated with a **robosuite** trajectory. 
+
+First, instantiate a **robosuite** environment. Each environment has an MjModel and MjData instance associated with it. These attributes can be retrieved using
+```python
+model = env.sim.model._model
+data = env.sim.data._data
+```
+Both `model` and `data` are used by the USD exporter. Once a robosuite environment is defined, create a `USDExporter` object with the following arguments.
+
+* `model` (required): an MjModel instance.
+* `max_geom`: Optional integer specifying the maximum number of geoms that
+can be rendered in the same scene. If None this will be chosen
+automatically based on the estimated maximum number of renderable
+geoms in the model.
+* `output_directory_name`: name of root directory to store outputted frames
+and assets generated by the USD renderer.
+and assets by the USD renderer.
+* `light_intensity`: default intensity of the lights in the external renderer.
+* `shareable`: use relative paths to assets instead of absolute paths to allow
+files to be shared across users.
+* `online`: set to true if using USD exporter for online rendering. This value
+is set to true when rendering with Isaac Sim. If online is set to true, shareable must be false.
+* `framerate`: framerate of the exported scene when rendered
+* `camera_names`: list of fixed cameras defined in the mujoco model to render.
+* `stage`: predefined stage to add objects in the scene to.
+* `verbose`: decides whether to print updates.
+
+`USDExporter` is adapted from [MuJoCo](https://github.com/google-deepmind/mujoco). In order to add a new frame in the outputted USD trajectory, call `update_scene` in the `exporter` module. 
+
+```python
+exp = exporter.USDExporter(model=model, output_directory_name="usd_demo")
+exp.update_scene(data)
+```
+
+This updates all geoms in the scene with their current poses from simulation. To save a USD trajectory, use the `save_scene` method.
+
+```python
+exp.save_scene(filetype="usd")
+```
+
+Users are able to save scenes as .usd, .usda, or .usdc files. For a more comprehensive example of the USD renderer, please refer to the [`demo_usd_export.py`]() script. This demonstration allows users to teleoperate a robot with a device (i.e. keyboard or spacemouse) and save the collected trajectory as a USD file. 

docs/index.rst

@@ -0,0 +1,84 @@
+.. robosuite documentation master file, created by
+   sphinx-quickstart on Sun Aug 16 10:05:44 2020.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Welcome to robosuite's documentation!
+=====================================
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Introduction
+
+   overview
+   installation
+   basicusage
+   demos
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Modules
+
+   modules/overview
+   modules/robots
+   modules/objects
+   modules/environments
+   modules/sensors
+   modules/devices
+   modules/renderers
+   modules/controllers
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Tutorials
+
+   tutorials/add_controller
+   tutorials/add_environment
+
+.. toctree::
+   :maxdepth: 3
+   :caption: Simulation API
+
+   simulation/robot
+   simulation/environment
+   simulation/device
+   simulation/controller
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Modeling API
+
+   modeling/mujoco_model
+   modeling/robot_model
+   modeling/object_model
+   modeling/arena
+   modeling/task
+
+.. toctree::
+   :maxdepth: 4
+   :caption: Source API
+
+   source/robosuite
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Algorithms
+
+   algorithms/benchmarking
+   algorithms/demonstrations
+   algorithms/sim2real
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Miscellaneous
+
+   references
+   changelog
+   acknowledgement
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`

docs/installation.md

@@ -0,0 +1,92 @@
+# Installation
+**robosuite** officially supports macOS and Linux on Python 3. It can be run with an on-screen display for visualization or in a headless mode for model training, with or without a GPU.
+
+The base installation requires the MuJoCo physics engine (with [mujoco](https://github.com/deepmind/mujoco), refer to link for troubleshooting the installation and further instructions) and [numpy](http://www.numpy.org/). To avoid interfering with system packages, it is recommended to install it under a virtual environment by first running `virtualenv -p python3 . && source bin/activate` or setting up a Conda environment by installing [Anaconda](https://www.anaconda.com/) and running `conda create -n robosuite python=3.10`.
+
+### Install from pip
+
+**Note**: For users looking to use the most up-to-date code and develop customized features, it is recommended to install from source.
+
+1. After setting up mujoco, robosuite can be installed with
+   ```sh
+   $ pip install robosuite
+   ```
+
+2. Test your installation with
+   ```sh
+   $ python -m robosuite.demos.demo_random_action
+   ```
+
+   <div class="admonition warning">
+   <p class="admonition-title">Attention Mac users!</p>
+
+   Mac users who wish to use the default mjviewer renderer need to prepend the "python" command with "mj": `mjpython ...`
+   </div>
+
+### Install from source
+
+1. Clone the robosuite repository
+   ```sh 
+   $ git clone https://github.com/ARISE-Initiative/robosuite.git
+   $ cd robosuite
+   ```
+
+2. Install the base requirements with
+   ```sh
+   $ pip3 install -r requirements.txt
+   ```
+   This will also install our library as an editable package, such that local changes will be reflected elsewhere without having to reinstall the package.
+
+3. (Optional) We also provide add-on functionalities, such as [OpenAI Gym](https://github.com/openai/gym) [interfaces](source/robosuite.wrappers), [inverse kinematics controllers](source/robosuite.controllers) powered by [PyBullet](http://bulletphysics.org), and [teleoperation](source/robosuite.devices) with [SpaceMouse](https://www.3dconnexion.com/products/spacemouse.html) and [DualSense](https://www.playstation.com/en-us/accessories/dualsense-wireless-controller/) devices. To enable these additional features, please install the extra dependencies by running
+   ```sh
+   $ pip3 install -r requirements-extra.txt
+   ```
+
+4. Test your installation with
+   ```sh
+   $ python robosuite/demos/demo_random_action.py
+   ```
+
+   <div class="admonition warning">
+   <p class="admonition-title">Attention Mac users!</p>
+
+   Mac users who wish to use the default mjviewer renderer need to prepend the "python" command with "mj": `mjpython ...`
+   </div>
+
+### Installing on Windows
+
+It is common to run into issues when installing **robosuite** on a Windows machine. **robosuite** can be installed on Windows using the following steps.
+
+1. Either follow step 1 from the section [Install from pip](#install-from-pip) or steps 1 and 2 in the section [Install from source](#install-from-source). During this process, you may run into some errors. Please refer to the steps below on how to fix these.
+
+2. If you run into the error `FileNotFoundError: [Errno 2] No such file or directory: 'C:\\tmp\\robosuite.log'`, create a directory called `tmp` under `C:\`.
+
+3. You will also likely face the issue of `mujoco.dll not found`. If you are running in a conda environment (highly recommended), go to the location where your packages are installed (i.e. site-packages). If you are unsure where the MuJoCo package is located, open a new python shell and run the following.
+
+   ```python
+   import mujoco
+   print(mujoco.__path__)
+   ```
+
+   If the MuJoCo package does not already exists, install it by running 
+
+   ```sh
+   $ pip install mujoco
+   ```
+
+   Within the MuJoCo package, there should be a file called `mujoco.dll`. If you installed robosuite using pip, copy and paste this file into `anaconda3\envs\{your env name}\Lib\site-packages\robosuite\utils `. If you installed robosuite from source, copy and paste this file directly into `robosuite\utils`. 
+
+4. You may also get an `EGL` issue. If this happens, please go into `robosuite\utils\binding_utils.py` (either in site-packages or in cloned repository depending on whether you installed from pip or source) and change `"egl"` to `"wgl"` at line 43. It should look like this:
+
+   ```python
+    if _SYSTEM == "Darwin":
+        os.environ["MUJOCO_GL"] = "cgl"
+    else:
+        os.environ["MUJOCO_GL"] = "wgl"
+   ```
+
+5. Test your **robosuite** installation by running
+
+   ```sh
+   $ python robosuite/demos/demo_random_action.py
+   ```

docs/overview.md

@@ -0,0 +1,35 @@
+# Overview
+
+![gallery of_environments](images/gallery.png)
+
+
+**robosuite** is a simulation framework powered by the [MuJoCo](http://mujoco.org/) physics engine for robot learning. It also offers a suite of benchmark environments for reproducible research. The current release (v1.5) features support for diverse robot embodiments (including humanoids), custom robot composition, composite controllers (including whole body controllers), more teleoperation devices, photo-realistic rendering. This project is part of the broader [Advancing Robot Intelligence through Simulated Environments (ARISE) Initiative](https://github.com/ARISE-Initiative), with the aim of lowering the barriers of entry for cutting-edge research at the intersection of AI and Robotics.
+
+Data-driven algorithms, such as reinforcement learning and imitation learning, provide a powerful and generic tool in robotics. These learning paradigms, fueled by new advances in deep learning, have achieved some exciting successes in a variety of robot control problems. However, the challenges of reproducibility and the limited accessibility of robot hardware have impaired research progress. The overarching goal of **robosuite** is to provide researchers with:
+
+* a standardized set of benchmarking tasks for rigorous evaluation and algorithm development;
+* a modular design that offers great flexibility in designing new robot simulation environments;
+* a high-quality implementation of robot controllers and off-the-shelf learning algorithms to lower the barriers to entry.
+
+This framework was originally developed in late 2017 by researchers in [Stanford Vision and Learning Lab](http://svl.stanford.edu) (SVL) as an internal tool for robot learning research. Now, it is actively maintained and used for robotics research projects in SVL, the [UT Robot Perception and Learning Lab](http://rpl.cs.utexas.edu) (RPL) and NVIDIA [Generalist Embodied Agent Research Group](https://research.nvidia.com/labs/gear/) (GEAR). We welcome community contributions to this project. For details, please check out our [contributing guidelines](CONTRIBUTING.md).
+
+**Robosuite** offers a modular design of APIs for building new environments, robot embodiments, and robot controllers with procedural generation. We highlight these primary features below:
+
+* **standardized tasks**: a set of standardized manipulation tasks of large diversity and varying complexity and RL benchmarking results for reproducible research;
+* **procedural generation**: modular APIs for programmatically creating new environments and new tasks as combinations of robot models, arenas, and parameterized 3D objects. Check out our repo [robosuite_models](https://github.com/ARISE-Initiative/robosuite_models) for extra robot models tailored to robosuite.
+* **robot controllers**: a selection of controller types to command the robots, such as joint-space velocity control, inverse kinematics control, operational space control, and whole body control;
+* **teleoperation devices**: a selection of teleoperation devices including keyboard, spacemouse, dualsense and MuJoCo viewer drag-drop;
+* **multi-modal sensors**: heterogeneous types of sensory signals, including low-level physical states, RGB cameras, depth maps, and proprioception;
+* **human demonstrations**: utilities for collecting human demonstrations, replaying demonstration datasets, and leveraging demonstration data for learning. Check out our sister project [robomimic](https://arise-initiative.github.io/robomimic-web/);
+* **photorealistic rendering**: integration with advanced graphics tools that provide real-time photorealistic renderings of simulated scenes, including support for NVIDIA Isaac Sim rendering.
+
+## Citation
+Please cite [**robosuite**](https://robosuite.ai) if you use this framework in your publications:
+```bibtex
+@inproceedings{robosuite2020,
+  title={robosuite: A Modular Simulation Framework and Benchmark for Robot Learning},
+  author={Yuke Zhu and Josiah Wong and Ajay Mandlekar and Roberto Mart\'{i}n-Mart\'{i}n and Abhishek Joshi and Kevin Lin and Abhiram Maddukuri and Soroush Nasiriany and Yifeng Zhu},
+  booktitle={arXiv preprint arXiv:2009.12293},
+  year={2020}
+}
+```

docs/references.md

@@ -0,0 +1,4 @@
+# Projects using robosuite
+
+Link to list of references of projects and papers that use [**robosuite**](https://scholar.google.com/scholar?oi=bibs&hl=en&cites=10588857002863609969&as_sdt=5)
+

docs/simulation/controller.rst

@@ -0,0 +1,210 @@
+Controller
+==========
+
+Every ``Robot`` is equipped with a controller, which determines both the action space as well as how its
+values are mapped into command torques. By default, all controllers have a pre-defined set of methods and
+properities, though specific controllers may extend and / or override the default functionality found in
+the base class.
+
+
+
+Composite Controllers
+----------------------
+Composite controllers are controllers that are composed of multiple sub-controllers. They are used to control the entire robot, including all of its parts. What happens is that when an action vector is commanded to the robot, the action will be split into multipl sub-actions, each of which will be sent to the corresponding sub-controller. To understand the action split, use the function `robosuite.robots.robot.print_action_info()`. To create the action easily, we also provide a helper function  `robosuite.robots.robot.create_action_vector()` which takes the action dictionary as inputs and return the action vector with correct dimensions. For controller actions whose input dimentions does not match the robot's degrees of freedoms, you need to write your own `create_action_vector()` function inside the custom composite controller so that the robot's function can retrieve the information properly.
+
+Composite Controller (Base class)
+*********************************
+.. autoclass:: robosuite.controllers.composite.composite_controller.CompositeController
+
+  .. automethod:: load_controller_config
+  .. automethod:: _init_controllers
+  .. automethod:: _validate_composite_controller_specific_config
+  .. automethod:: setup_action_split_idx
+  .. automethod:: set_goal
+  .. automethod:: reset
+  .. automethod:: run_controller
+  .. automethod:: get_control_dim
+  .. automethod:: get_controller_base_pose
+  .. automethod:: update_state
+  .. automethod:: get_controller
+  .. autoproperty:: action_limits
+
+HybridMobileBase
+****************
+.. autoclass:: robosuite.controllers.composite.composite_controller.HybridMobileBase
+
+  .. automethod:: set_goal
+  .. autoproperty:: action_limits
+  .. automethod:: create_action_vector
+
+WholeBody
+*********
+.. autoclass:: robosuite.controllers.composite.composite_controller.WholeBody
+
+  .. automethod:: _init_controllers
+  .. automethod:: _init_joint_action_policy
+  .. automethod:: setup_action_split_idx
+  .. automethod:: setup_whole_body_controller_action_split_idx
+  .. automethod:: set_goal
+  .. automethod:: update_state
+  .. autoproperty:: action_limits
+  .. automethod:: create_action_vector
+  .. automethod:: print_action_info
+  .. automethod:: print_action_info_dict
+
+WholeBodyIK
+***********
+.. autoclass:: robosuite.controllers.composite.composite_controller.WholeBodyIK
+
+  .. automethod:: _validate_composite_controller_specific_config
+  .. automethod:: _init_joint_action_policy
+
+
+
+
+Part Controllers
+-----------------
+Part controllers are equivalent to controllers in robosuite up to `v1.4`. Starting from `v1.5`, we need to accommodate the diverse embodiments, and the original controllers are changed to controllers for specific parts, such as arms, heads, legs, torso, etc. 
+
+Controller (Base class)
+************************
+.. autoclass:: robosuite.controllers.parts.controller.Controller
+
+  .. automethod:: run_controller
+  .. automethod:: scale_action
+  .. automethod:: update_reference_data
+  .. automethod:: _update_single_reference
+  .. automethod:: update
+  .. automethod:: update_base_pose
+  .. automethod:: update_origin
+  .. automethod:: update_initial_joints
+  .. automethod:: clip_torques
+  .. automethod:: reset_goal
+  .. automethod:: nums2array
+  .. autoproperty:: torque_compensation
+  .. autoproperty:: actuator_limits
+  .. autoproperty:: control_limits
+  .. autoproperty:: name
+
+Joint Position Controller (generic)
+************************************
+.. autoclass:: robosuite.controllers.parts.generic.joint_pos.JointPositionController
+
+  .. automethod:: update_base_pose
+  .. automethod:: set_goal
+  .. automethod:: run_controller
+  .. automethod:: reset_goal
+  .. autoproperty:: control_limits
+  .. autoproperty:: name
+
+Joint Velocity Controller (generic)
+************************************
+.. autoclass:: robosuite.controllers.parts.generic.joint_vel.JointVelocityController
+
+  .. automethod:: set_goal
+  .. automethod:: run_controller
+  .. automethod:: reset_goal
+  .. autoproperty:: name
+
+
+Joint Torque Controller (generic)
+**********************************
+.. autoclass:: robosuite.controllers.parts.generic.joint_tor.JointTorqueController
+
+  .. automethod:: set_goal
+  .. automethod:: run_controller
+  .. automethod:: reset_goal
+  .. autoproperty:: name
+
+
+Operational Space Controller (arm)
+**********************************
+.. autoclass:: osc.OperationalSpaceController
+
+  .. automethod:: set_goal
+  .. automethod:: world_to_origin_frame
+  .. automethod:: compute_goal_pos
+  .. automethod:: goal_origin_to_eef_pose
+  .. automethod:: compute_goal_orientation
+  .. automethod:: run_controller
+  .. automethod:: update_origin
+  .. automethod:: update_initial_joints
+  .. automethod:: reset_goal
+  .. autoproperty:: control_limits
+  .. autoproperty:: nam
+
+
+Inverse Kinematics Controller (arm)
+************************************
+.. autoclass:: robosuite.controllers.parts.arm.ik.InverseKinematicsController
+
+  .. automethod:: get_control
+  .. automethod:: compute_joint_positions
+  .. automethod:: set_goal
+  .. automethod:: run_controller
+  .. automethod:: update_initial_joints
+  .. automethod:: reset_goal
+  .. automethod:: _clip_ik_input
+  .. automethod:: _make_input
+  .. automethod:: _get_current_error
+  .. autoproperty:: control_limits
+  .. autoproperty:: name
+
+
+Mobile Base Controller (mobile base)
+*************************************
+.. autoclass:: robosuite.controllers.parts.mobile_base.mobile_base_controller.MobileBaseController
+
+  .. automethod:: get_base_pose
+  .. automethod:: reset
+  .. automethod:: run_controller
+  .. automethod:: scale_action
+  .. automethod:: update
+  .. automethod:: update_initial_joints
+  .. automethod:: clip_torques
+  .. automethod:: reset_goal
+  .. automethod:: nums2array
+  .. autoproperty:: torque_compensation
+  .. autoproperty:: actuator_limits
+  .. autoproperty:: control_limits
+  .. autoproperty:: name
+
+
+Mobile Base Joint Velocity Controller (mobile base)
+****************************************************
+.. autoclass:: robosuite.controllers.parts.mobile_base.joint_vel.MobileBaseJointVelocityController
+
+  .. automethod:: set_goal
+  .. automethod:: run_controller
+  .. automethod:: reset_goal
+  .. autoproperty:: control_limits
+  .. autoproperty:: name
+
+
+Gripper Controller (base class)
+********************************
+.. autoclass:: robosuite.controllers.parts.gripper.gripper_controller.GripperController
+
+  .. automethod:: run_controller
+  .. automethod:: scale_action
+  .. automethod:: update
+  .. automethod:: update_base_pose
+  .. automethod:: update_initial_joints
+  .. automethod:: clip_torques
+  .. automethod:: reset_goal
+  .. automethod:: nums2array
+  .. autoproperty:: torque_compensation
+  .. autoproperty:: actuator_limits
+  .. autoproperty:: control_limits
+  .. autoproperty:: name
+
+
+Simple Grip Controller (gripper)
+*********************************
+.. autoclass:: robosuite.controllers.parts.gripper.simple_grip.SimpleGripController
+
+  .. automethod:: set_goal
+  .. automethod:: run_controller
+  .. automethod:: reset_goal
+  .. autoproperty:: control_limits
+  .. autoproperty:: name

docs/simulation/device.rst

@@ -0,0 +1,55 @@
+Device
+======
+
+Devices allow for direct real-time interfacing with the MuJoCo simulation. The currently supported devices are ``Keyboard``. ``SpaceMouse``. ``DualSense`` and ``MjGUI``.
+
+Base Device
+-----------
+
+.. autoclass:: robosuite.devices.device.Device
+
+  .. automethod:: start_control
+  .. automethod:: get_controller_state
+
+
+Keyboard Device
+---------------
+
+.. autoclass:: robosuite.devices.keyboard.Keyboard
+
+  .. automethod:: get_controller_state
+  .. automethod:: on_press
+  .. automethod:: on_release
+  .. automethod:: _display_controls
+
+
+SpaceMouse Device
+-----------------
+
+.. autoclass:: robosuite.devices.spacemouse.SpaceMouse
+
+  .. automethod:: get_controller_state
+  .. automethod:: run
+  .. automethod:: control
+  .. automethod:: control_gripper
+  .. automethod:: _display_controls
+
+DualSense Device
+-----------------
+
+.. autoclass:: robosuite.devices.dualsense.DualSense
+
+  .. automethod:: get_controller_state
+  .. automethod:: run
+  .. automethod:: control
+  .. automethod:: control_gripper
+  .. automethod:: _display_controls
+  .. automethod:: _check_connection_type
+
+MjGUI Device
+------------
+.. autoclass:: robosuite.devices.mjgui.MJGUI
+
+  .. automethod:: get_controller_state
+  .. automethod:: input2action
+  .. automethod:: _display_controls

docs/simulation/environment.rst

@@ -0,0 +1,50 @@
+Environment
+===========
+
+The ``MujocoEnv`` class defines a top-level simulation object encapsulating a ``MjSim`` object. Robosuite uses
+class extensions of this base class, namely, ``RobotEnv`` which additionally encompasses ``Robot`` objects and the top-level
+task environments which capture specific ``ManipulationTask`` instances and additional objects.
+
+Base Environment
+----------------
+
+.. autoclass:: robosuite.environments.base.MujocoEnv
+
+  .. automethod:: initialize_time
+  .. automethod:: reset
+  .. automethod:: step
+  .. automethod:: reward
+  .. automethod:: render
+  .. automethod:: observation_spec
+  .. automethod:: clear_objects
+  .. automethod:: visualize
+  .. automethod:: reset_from_xml_string
+  .. automethod:: check_contact
+  .. automethod:: get_contacts
+  .. automethod:: modify_observable
+  .. automethod:: close
+  .. autoproperty:: observation_modalities
+  .. autoproperty:: observation_names
+  .. autoproperty:: enabled_observables
+  .. autoproperty:: active_observables
+  .. autoproperty:: action_spec
+  .. autoproperty:: action_dim
+
+
+Robot Environment
+-----------------
+
+.. autoclass:: robosuite.environments.robot_env.RobotEnv
+
+  .. automethod:: _load_robots
+  .. automethod:: _check_robot_configuration
+
+
+Manipulator Environment
+-----------------------
+
+.. autoclass:: robosuite.environments.manipulation.manipulation_env.ManipulationEnv
+
+  .. automethod:: _check_grasp
+  .. automethod:: _gripper_to_target
+  .. automethod:: _visualize_gripper_to_target

docs/simulation/robot.rst

@@ -0,0 +1,137 @@
+Robot
+=====
+
+The ``Robot`` class defines a simulation object encapsulating a robot model, gripper model, base model, and controller. Robosuite uses class extensions of this base class to model different robotic domains. The current release focuses on manipulation and mobility, and includes a ``MobileRobot`` class, which itself is extended by ``WheeledRobot`` and ``LeggedRobot`` classes representing different types of mobile robots.
+
+Base Robot
+----------
+.. autoclass:: robosuite.robots.robot.Robot
+
+  .. automethod:: _load_controller
+  .. automethod:: _postprocess_part_controller_config
+  .. automethod:: load_model
+  .. automethod:: reset_sim
+  .. automethod:: reset
+  .. automethod:: setup_references
+  .. automethod:: setup_observables
+  .. automethod:: _create_arm_sensors
+  .. automethod:: _create_base_sensors
+  .. automethod:: control
+  .. automethod:: check_q_limits
+  .. autoproperty:: is_mobile
+  .. autoproperty:: action_limits
+  .. automethod:: _input2dict
+  .. autoproperty:: torque_limits
+  .. autoproperty:: action_dim
+  .. autoproperty:: dof
+  .. automethod:: pose_in_base_from_name
+  .. automethod:: set_robot_joint_positions
+  .. autoproperty:: js_energy
+  .. autoproperty:: _joint_positions
+  .. autoproperty:: _joint_velocities
+  .. autoproperty:: joint_indexes
+  .. autoproperty:: arm_joint_indexes
+  .. automethod:: get_sensor_measurement
+  .. automethod:: visualize
+  .. automethod:: _visualize_grippers
+  .. autoproperty:: action_limits
+  .. autoproperty:: is_mobile
+  .. autoproperty:: ee_ft_integral
+  .. autoproperty:: ee_force
+  .. autoproperty:: ee_torque
+  .. autoproperty:: _hand_pose
+  .. autoproperty:: _hand_quat
+  .. autoproperty:: _hand_total_velocity
+  .. autoproperty:: _hand_pos
+  .. autoproperty:: _hand_orn
+  .. autoproperty:: _hand_vel
+  .. autoproperty:: _hand_ang_vel
+  .. automethod:: _load_arm_controllers
+  .. automethod:: enable_parts
+  .. automethod:: enabled
+  .. automethod:: create_action_vector
+  .. automethod:: print_action_info
+  .. automethod:: print_action_info_dict
+  .. automethod:: get_gripper_name
+  .. automethod:: has_part
+  .. autoproperty:: _joint_split_idx
+  .. autoproperty:: part_controllers
+
+
+Fixed Base Robot
+----------------
+Tabletop manipulators.
+
+.. autoclass:: robosuite.robots.fixed_base_robot.FixedBaseRobot
+Mobile Base Robot
+-----------------
+
+``WheeledRobot`` and ``LeggedRobot`` are two types of mobile base robots supported in robosuite.
+
+.. autoclass:: robosuite.robots.mobile_base_robot.MobileBaseRobot
+
+  .. automethod:: _load_controller
+  .. automethod:: load_model
+  .. automethod:: reset
+  .. automethod:: setup_references
+  .. automethod:: control
+  .. automethod:: setup_observables
+  .. autoproperty:: action_limits
+  .. autoproperty:: is_mobile
+  .. autoproperty:: _action_split_indexes
+
+Mobile robot
+-------------
+Base class for wheeled and legged robots.
+
+.. autoclass:: robosuite.robots.mobile_robot.MobileRobot
+
+  .. automethod:: _load_controller
+  .. automethod:: _load_base_controller
+  .. automethod:: _load_torso_controller
+  .. automethod:: _load_head_controller
+  .. automethod:: load_model
+  .. automethod:: reset
+  .. automethod:: setup_references
+  .. automethod:: control
+  .. automethod:: setup_observables
+  .. automethod:: _create_base_sensors
+  .. automethod:: enable_parts
+  .. autoproperty:: is_mobile
+  .. autoproperty:: base
+  .. autoproperty:: torso
+  .. autoproperty:: head
+  .. autoproperty:: legs
+  .. autoproperty:: _action_split_indexes
+
+Wheeled Robot
+-------------
+Mobile robots with wheeled bases.
+
+.. autoclass:: robosuite.robots.wheeled_robot.WheeledRobot
+
+  .. automethod:: _load_controller
+  .. automethod:: load_model
+  .. automethod:: reset
+  .. automethod:: setup_references
+  .. automethod:: control
+  .. automethod:: setup_observables
+  .. autoproperty:: action_limits
+
+
+Legged Robot
+------------
+Robots with legs.
+
+.. autoclass:: robosuite.robots.legged_robot.LeggedRobot
+
+  .. automethod:: _load_leg_controllers
+  .. automethod:: _load_controller
+  .. automethod:: load_model
+  .. automethod:: reset
+  .. automethod:: setup_references
+  .. automethod:: control
+  .. automethod:: setup_observables
+  .. autoproperty:: action_limits
+  .. autoproperty:: is_legs_actuated
+  .. autoproperty:: num_leg_joints

docs/source/robosuite.controllers.composite.rst

@@ -0,0 +1,29 @@
+robosuite.controllers.composite package
+=======================================
+
+Submodules
+----------
+
+robosuite.controllers.composite.composite\_controller module
+------------------------------------------------------------
+
+.. automodule:: robosuite.controllers.composite.composite_controller
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.controllers.composite.composite\_controller\_factory module
+---------------------------------------------------------------------
+
+.. automodule:: robosuite.controllers.composite.composite_controller_factory
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.controllers.composite
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.controllers.parts.arm.rst

@@ -0,0 +1,29 @@
+robosuite.controllers.parts.arm package
+=======================================
+
+Submodules
+----------
+
+robosuite.controllers.parts.arm.ik module
+-----------------------------------------
+
+.. automodule:: robosuite.controllers.parts.arm.ik
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.controllers.parts.arm.osc module
+------------------------------------------
+
+.. automodule:: robosuite.controllers.parts.arm.osc
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.controllers.parts.arm
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.controllers.parts.generic.rst

@@ -0,0 +1,37 @@
+robosuite.controllers.parts.generic package
+===========================================
+
+Submodules
+----------
+
+robosuite.controllers.parts.generic.joint\_pos module
+-----------------------------------------------------
+
+.. automodule:: robosuite.controllers.parts.generic.joint_pos
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.controllers.parts.generic.joint\_tor module
+-----------------------------------------------------
+
+.. automodule:: robosuite.controllers.parts.generic.joint_tor
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.controllers.parts.generic.joint\_vel module
+-----------------------------------------------------
+
+.. automodule:: robosuite.controllers.parts.generic.joint_vel
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.controllers.parts.generic
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.controllers.parts.mobile_base.rst

@@ -0,0 +1,29 @@
+robosuite.controllers.parts.mobile\_base package
+================================================
+
+Submodules
+----------
+
+robosuite.controllers.parts.mobile\_base.joint\_vel module
+----------------------------------------------------------
+
+.. automodule:: robosuite.controllers.parts.mobile_base.joint_vel
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.controllers.parts.mobile\_base.mobile\_base\_controller module
+------------------------------------------------------------------------
+
+.. automodule:: robosuite.controllers.parts.mobile_base.mobile_base_controller
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.controllers.parts.mobile_base
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.devices.rst

@@ -0,0 +1,53 @@
+robosuite.devices package
+=========================
+
+Submodules
+----------
+
+robosuite.devices.device module
+-------------------------------
+
+.. automodule:: robosuite.devices.device
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.devices.dualsense module
+----------------------------------
+
+.. automodule:: robosuite.devices.dualsense
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.devices.keyboard module
+---------------------------------
+
+.. automodule:: robosuite.devices.keyboard
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.devices.mjgui module
+------------------------------
+
+.. automodule:: robosuite.devices.mjgui
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.devices.spacemouse module
+-----------------------------------
+
+.. automodule:: robosuite.devices.spacemouse
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.devices
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.environments.manipulation.rst

@@ -0,0 +1,117 @@
+robosuite.environments.manipulation package
+===========================================
+
+Submodules
+----------
+
+robosuite.environments.manipulation.door module
+-----------------------------------------------
+
+.. automodule:: robosuite.environments.manipulation.door
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.environments.manipulation.lift module
+-----------------------------------------------
+
+.. automodule:: robosuite.environments.manipulation.lift
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.environments.manipulation.manipulation\_env module
+------------------------------------------------------------
+
+.. automodule:: robosuite.environments.manipulation.manipulation_env
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.environments.manipulation.nut\_assembly module
+--------------------------------------------------------
+
+.. automodule:: robosuite.environments.manipulation.nut_assembly
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.environments.manipulation.pick\_place module
+------------------------------------------------------
+
+.. automodule:: robosuite.environments.manipulation.pick_place
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.environments.manipulation.stack module
+------------------------------------------------
+
+.. automodule:: robosuite.environments.manipulation.stack
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.environments.manipulation.tool\_hang module
+-----------------------------------------------------
+
+.. automodule:: robosuite.environments.manipulation.tool_hang
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.environments.manipulation.two\_arm\_env module
+--------------------------------------------------------
+
+.. automodule:: robosuite.environments.manipulation.two_arm_env
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.environments.manipulation.two\_arm\_handover module
+-------------------------------------------------------------
+
+.. automodule:: robosuite.environments.manipulation.two_arm_handover
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.environments.manipulation.two\_arm\_lift module
+---------------------------------------------------------
+
+.. automodule:: robosuite.environments.manipulation.two_arm_lift
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.environments.manipulation.two\_arm\_peg\_in\_hole module
+------------------------------------------------------------------
+
+.. automodule:: robosuite.environments.manipulation.two_arm_peg_in_hole
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.environments.manipulation.two\_arm\_transport module
+--------------------------------------------------------------
+
+.. automodule:: robosuite.environments.manipulation.two_arm_transport
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.environments.manipulation.wipe module
+-----------------------------------------------
+
+.. automodule:: robosuite.environments.manipulation.wipe
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.environments.manipulation
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.models.grippers.rst

@@ -0,0 +1,125 @@
+robosuite.models.grippers package
+=================================
+
+Submodules
+----------
+
+robosuite.models.grippers.bd\_gripper module
+--------------------------------------------
+
+.. automodule:: robosuite.models.grippers.bd_gripper
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.grippers.fourier\_hands module
+-----------------------------------------------
+
+.. automodule:: robosuite.models.grippers.fourier_hands
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.grippers.gripper\_factory module
+-------------------------------------------------
+
+.. automodule:: robosuite.models.grippers.gripper_factory
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.grippers.gripper\_model module
+-----------------------------------------------
+
+.. automodule:: robosuite.models.grippers.gripper_model
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.grippers.gripper\_tester module
+------------------------------------------------
+
+.. automodule:: robosuite.models.grippers.gripper_tester
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.grippers.inspire\_hands module
+-----------------------------------------------
+
+.. automodule:: robosuite.models.grippers.inspire_hands
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.grippers.jaco\_three\_finger\_gripper module
+-------------------------------------------------------------
+
+.. automodule:: robosuite.models.grippers.jaco_three_finger_gripper
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.grippers.null\_gripper module
+----------------------------------------------
+
+.. automodule:: robosuite.models.grippers.null_gripper
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.grippers.panda\_gripper module
+-----------------------------------------------
+
+.. automodule:: robosuite.models.grippers.panda_gripper
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.grippers.rethink\_gripper module
+-------------------------------------------------
+
+.. automodule:: robosuite.models.grippers.rethink_gripper
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.grippers.robotiq\_140\_gripper module
+------------------------------------------------------
+
+.. automodule:: robosuite.models.grippers.robotiq_140_gripper
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.grippers.robotiq\_85\_gripper module
+-----------------------------------------------------
+
+.. automodule:: robosuite.models.grippers.robotiq_85_gripper
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.grippers.robotiq\_three\_finger\_gripper module
+----------------------------------------------------------------
+
+.. automodule:: robosuite.models.grippers.robotiq_three_finger_gripper
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.grippers.wiping\_gripper module
+------------------------------------------------
+
+.. automodule:: robosuite.models.grippers.wiping_gripper
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.models.grippers
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.models.mounts.rst

@@ -0,0 +1,53 @@
+robosuite.models.mounts package
+===============================
+
+Submodules
+----------
+
+robosuite.models.mounts.mount\_factory module
+---------------------------------------------
+
+.. automodule:: robosuite.models.mounts.mount_factory
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.mounts.mount\_model module
+-------------------------------------------
+
+.. automodule:: robosuite.models.mounts.mount_model
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.mounts.null\_mount module
+------------------------------------------
+
+.. automodule:: robosuite.models.mounts.null_mount
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.mounts.rethink\_minimal\_mount module
+------------------------------------------------------
+
+.. automodule:: robosuite.models.mounts.rethink_minimal_mount
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.mounts.rethink\_mount module
+---------------------------------------------
+
+.. automodule:: robosuite.models.mounts.rethink_mount
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.models.mounts
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.models.objects.composite.rst

@@ -0,0 +1,77 @@
+robosuite.models.objects.composite package
+==========================================
+
+Submodules
+----------
+
+robosuite.models.objects.composite.bin module
+---------------------------------------------
+
+.. automodule:: robosuite.models.objects.composite.bin
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.objects.composite.cone module
+----------------------------------------------
+
+.. automodule:: robosuite.models.objects.composite.cone
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.objects.composite.hammer module
+------------------------------------------------
+
+.. automodule:: robosuite.models.objects.composite.hammer
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.objects.composite.hollow\_cylinder module
+----------------------------------------------------------
+
+.. automodule:: robosuite.models.objects.composite.hollow_cylinder
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.objects.composite.hook\_frame module
+-----------------------------------------------------
+
+.. automodule:: robosuite.models.objects.composite.hook_frame
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.objects.composite.lid module
+---------------------------------------------
+
+.. automodule:: robosuite.models.objects.composite.lid
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.objects.composite.pot\_with\_handles module
+------------------------------------------------------------
+
+.. automodule:: robosuite.models.objects.composite.pot_with_handles
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.objects.composite.stand\_with\_mount module
+------------------------------------------------------------
+
+.. automodule:: robosuite.models.objects.composite.stand_with_mount
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.models.objects.composite
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.models.objects.group.rst

@@ -0,0 +1,21 @@
+robosuite.models.objects.group package
+======================================
+
+Submodules
+----------
+
+robosuite.models.objects.group.transport module
+-----------------------------------------------
+
+.. automodule:: robosuite.models.objects.group.transport
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.models.objects.group
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.models.robots.manipulators.rst

@@ -0,0 +1,125 @@
+robosuite.models.robots.manipulators package
+============================================
+
+Submodules
+----------
+
+robosuite.models.robots.manipulators.baxter\_robot module
+---------------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.baxter_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.manipulators.gr1\_robot module
+------------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.gr1_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.manipulators.humanoid\_model module
+-----------------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.humanoid_model
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.manipulators.humanoid\_upperbody\_model module
+----------------------------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.humanoid_upperbody_model
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.manipulators.iiwa\_robot module
+-------------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.iiwa_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.manipulators.jaco\_robot module
+-------------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.jaco_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.manipulators.kinova3\_robot module
+----------------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.kinova3_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.manipulators.legged\_manipulator\_model module
+----------------------------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.legged_manipulator_model
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.manipulators.manipulator\_model module
+--------------------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.manipulator_model
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.manipulators.panda\_robot module
+--------------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.panda_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.manipulators.sawyer\_robot module
+---------------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.sawyer_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.manipulators.spot\_arm module
+-----------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.spot_arm
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.manipulators.tiago\_robot module
+--------------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.tiago_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.manipulators.ur5e\_robot module
+-------------------------------------------------------
+
+.. automodule:: robosuite.models.robots.manipulators.ur5e_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.models.robots.manipulators
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.models.robots.rst

@@ -0,0 +1,37 @@
+robosuite.models.robots package
+===============================
+
+Subpackages
+-----------
+
+.. toctree::
+   :maxdepth: 4
+
+   robosuite.models.robots.manipulators
+
+Submodules
+----------
+
+robosuite.models.robots.compositional module
+--------------------------------------------
+
+.. automodule:: robosuite.models.robots.compositional
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.robots.robot\_model module
+-------------------------------------------
+
+.. automodule:: robosuite.models.robots.robot_model
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.models.robots
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.models.tasks.rst

@@ -0,0 +1,29 @@
+robosuite.models.tasks package
+==============================
+
+Submodules
+----------
+
+robosuite.models.tasks.manipulation\_task module
+------------------------------------------------
+
+.. automodule:: robosuite.models.tasks.manipulation_task
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.models.tasks.task module
+----------------------------------
+
+.. automodule:: robosuite.models.tasks.task
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.models.tasks
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.renderers.context.rst

@@ -0,0 +1,37 @@
+robosuite.renderers.context package
+===================================
+
+Submodules
+----------
+
+robosuite.renderers.context.egl\_context module
+-----------------------------------------------
+
+.. automodule:: robosuite.renderers.context.egl_context
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.renderers.context.glfw\_context module
+------------------------------------------------
+
+.. automodule:: robosuite.renderers.context.glfw_context
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.renderers.context.osmesa\_context module
+--------------------------------------------------
+
+.. automodule:: robosuite.renderers.context.osmesa_context
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.renderers.context
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.renderers.mjviewer.rst

@@ -0,0 +1,21 @@
+robosuite.renderers.mjviewer package
+====================================
+
+Submodules
+----------
+
+robosuite.renderers.mjviewer.mjviewer\_renderer module
+------------------------------------------------------
+
+.. automodule:: robosuite.renderers.mjviewer.mjviewer_renderer
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.renderers.mjviewer
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.renderers.mujoco.rst

@@ -0,0 +1,21 @@
+robosuite.renderers.mujoco package
+==================================
+
+Submodules
+----------
+
+robosuite.renderers.mujoco.mujoco\_py\_renderer module
+------------------------------------------------------
+
+.. automodule:: robosuite.renderers.mujoco.mujoco_py_renderer
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.renderers.mujoco
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.renderers.rst

@@ -0,0 +1,38 @@
+robosuite.renderers package
+===========================
+
+Subpackages
+-----------
+
+.. toctree::
+   :maxdepth: 4
+
+   robosuite.renderers.context
+   robosuite.renderers.mjviewer
+
+Submodules
+----------
+
+robosuite.renderers.base module
+-------------------------------
+
+.. automodule:: robosuite.renderers.base
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.renderers.base\_parser module
+---------------------------------------
+
+.. automodule:: robosuite.renderers.base_parser
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.renderers
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.robots.rst

@@ -0,0 +1,53 @@
+robosuite.robots package
+========================
+
+Submodules
+----------
+
+robosuite.robots.fixed\_base\_robot module
+------------------------------------------
+
+.. automodule:: robosuite.robots.fixed_base_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.robots.legged\_robot module
+-------------------------------------
+
+.. automodule:: robosuite.robots.legged_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.robots.mobile\_robot module
+-------------------------------------
+
+.. automodule:: robosuite.robots.mobile_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.robots.robot module
+-----------------------------
+
+.. automodule:: robosuite.robots.robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.robots.wheeled\_robot module
+--------------------------------------
+
+.. automodule:: robosuite.robots.wheeled_robot
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.robots
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.rst

@@ -0,0 +1,44 @@
+robosuite package
+=================
+
+Subpackages
+-----------
+
+.. toctree::
+   :maxdepth: 4
+
+   robosuite.controllers
+   robosuite.devices
+   robosuite.environments
+   robosuite.models
+   robosuite.renderers
+   robosuite.robots
+   robosuite.utils
+   robosuite.wrappers
+
+Submodules
+----------
+
+robosuite.macros module
+-----------------------
+
+.. automodule:: robosuite.macros
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.macros\_private module
+--------------------------------
+
+.. automodule:: robosuite.macros_private
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/robosuite.utils.rst

@@ -0,0 +1,165 @@
+robosuite.utils package
+=======================
+
+Submodules
+----------
+
+robosuite.utils.binding\_utils module
+-------------------------------------
+
+.. automodule:: robosuite.utils.binding_utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.buffers module
+------------------------------
+
+.. automodule:: robosuite.utils.buffers
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.camera\_utils module
+------------------------------------
+
+.. automodule:: robosuite.utils.camera_utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.control\_utils module
+-------------------------------------
+
+.. automodule:: robosuite.utils.control_utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.errors module
+-----------------------------
+
+.. automodule:: robosuite.utils.errors
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.ik\_utils module
+--------------------------------
+
+.. automodule:: robosuite.utils.ik_utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.input\_utils module
+-----------------------------------
+
+.. automodule:: robosuite.utils.input_utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.log\_utils module
+---------------------------------
+
+.. automodule:: robosuite.utils.log_utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.mjcf\_utils module
+----------------------------------
+
+.. automodule:: robosuite.utils.mjcf_utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.mjmod module
+----------------------------
+
+.. automodule:: robosuite.utils.mjmod
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.numba module
+----------------------------
+
+.. automodule:: robosuite.utils.numba
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.observables module
+----------------------------------
+
+.. automodule:: robosuite.utils.observables
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.opencv\_renderer module
+---------------------------------------
+
+.. automodule:: robosuite.utils.opencv_renderer
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.placement\_samplers module
+------------------------------------------
+
+.. automodule:: robosuite.utils.placement_samplers
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.robot\_composition\_utils module
+------------------------------------------------
+
+.. automodule:: robosuite.utils.robot_composition_utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.robot\_utils module
+-----------------------------------
+
+.. automodule:: robosuite.utils.robot_utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.sim\_utils module
+---------------------------------
+
+.. automodule:: robosuite.utils.sim_utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.traj\_utils module
+----------------------------------
+
+.. automodule:: robosuite.utils.traj_utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+robosuite.utils.transform\_utils module
+---------------------------------------
+
+.. automodule:: robosuite.utils.transform_utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: robosuite.utils
+   :members:
+   :undoc-members:
+   :show-inheritance:

generate_urdf.py

@@ -0,0 +1,428 @@
+#!/usr/bin/env python3
+"""Generate a combined Sawyer + Robotiq85 URDF from robosuite MJCF files."""
+
+import os
+import shutil
+import numpy as np
+from scipy.spatial.transform import Rotation
+
+
+def quat_wxyz_to_rpy(w, x, y, z):
+    """Convert MuJoCo quaternion (w,x,y,z) to URDF rpy (roll,pitch,yaw)."""
+    r = Rotation.from_quat([x, y, z, w])  # scipy uses (x,y,z,w)
+    return r.as_euler('xyz')  # extrinsic XYZ = rpy
+
+
+def fmt(v, prec=6):
+    return f"{v:.{prec}f}".rstrip('0').rstrip('.')
+
+
+def rpy_str(w, x, y, z):
+    rpy = quat_wxyz_to_rpy(w, x, y, z)
+    return f"{fmt(rpy[0])} {fmt(rpy[1])} {fmt(rpy[2])}"
+
+
+def xyz_str(x, y, z):
+    return f"{fmt(x)} {fmt(y)} {fmt(z)}"
+
+
+def diag_to_inertia(ixx, iyy, izz):
+    return f'<inertia ixx="{fmt(ixx)}" ixy="0" ixz="0" iyy="{fmt(iyy)}" iyz="0" izz="{fmt(izz)}"/>'
+
+
+def inertial_block(mass, pos, diag, quat=None):
+    lines = ['      <inertial>']
+    if quat:
+        lines.append(f'        <origin xyz="{pos}" rpy="{rpy_str(*quat)}"/>')
+    else:
+        lines.append(f'        <origin xyz="{pos}" rpy="0 0 0"/>')
+    lines.append(f'        <mass value="{fmt(mass)}"/>')
+    lines.append(f'        {diag_to_inertia(*diag)}')
+    lines.append('      </inertial>')
+    return '\n'.join(lines)
+
+
+def visual_mesh(mesh_path, origin_xyz="0 0 0", origin_rpy="0 0 0", scale=None):
+    lines = ['      <visual>']
+    lines.append(f'        <origin xyz="{origin_xyz}" rpy="{origin_rpy}"/>')
+    if scale:
+        lines.append(f'        <geometry><mesh filename="{mesh_path}" scale="{scale}"/></geometry>')
+    else:
+        lines.append(f'        <geometry><mesh filename="{mesh_path}"/></geometry>')
+    lines.append('      </visual>')
+    return '\n'.join(lines)
+
+
+def collision_mesh(mesh_path, origin_xyz="0 0 0", origin_rpy="0 0 0", scale=None):
+    lines = ['      <collision>']
+    lines.append(f'        <origin xyz="{origin_xyz}" rpy="{origin_rpy}"/>')
+    if scale:
+        lines.append(f'        <geometry><mesh filename="{mesh_path}" scale="{scale}"/></geometry>')
+    else:
+        lines.append(f'        <geometry><mesh filename="{mesh_path}"/></geometry>')
+    lines.append('      </collision>')
+    return '\n'.join(lines)
+
+
+def revolute_joint(name, parent, child, xyz, rpy, axis, lower, upper, effort, damping=0.0):
+    return f"""
+    <joint name="{name}" type="revolute">
+      <parent link="{parent}"/>
+      <child link="{child}"/>
+      <origin xyz="{xyz}" rpy="{rpy}"/>
+      <axis xyz="{axis}"/>
+      <limit lower="{fmt(lower)}" upper="{fmt(upper)}" effort="{fmt(effort)}" velocity="3.0"/>
+      <dynamics damping="{fmt(damping)}"/>
+    </joint>"""
+
+
+def fixed_joint(name, parent, child, xyz, rpy="0 0 0"):
+    return f"""
+    <joint name="{name}" type="fixed">
+      <parent link="{parent}"/>
+      <child link="{child}"/>
+      <origin xyz="{xyz}" rpy="{rpy}"/>
+    </joint>"""
+
+
+def mimic_joint(name, parent_link, child_link, xyz, rpy, axis, lower, upper,
+                mimic_joint_name, multiplier=1.0, offset=0.0):
+    return f"""
+    <joint name="{name}" type="revolute">
+      <parent link="{parent_link}"/>
+      <child link="{child_link}"/>
+      <origin xyz="{xyz}" rpy="{rpy}"/>
+      <axis xyz="{axis}"/>
+      <limit lower="{fmt(lower)}" upper="{fmt(upper)}" effort="20" velocity="3.0"/>
+      <mimic joint="{mimic_joint_name}" multiplier="{fmt(multiplier)}" offset="{fmt(offset)}"/>
+    </joint>"""
+
+
+def generate_urdf():
+    parts = []
+    parts.append('<?xml version="1.0"?>')
+    parts.append('<robot name="sawyer_robotiq85">')
+
+    # ==================== SAWYER ARM ====================
+    # --- base_link (world mount point) ---
+    parts.append("""
+    <link name="base_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.001"/>
+        <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+      </inertial>
+    </link>""")
+
+    # --- right_arm_base_link ---
+    sawyer_meshes = {
+        'base': ['base_0.obj', 'base_1.obj'],
+        'l0': [f'l0_{i}.obj' for i in range(7)],
+        'l1': [f'l1_{i}.obj' for i in range(3)],
+        'l2': [f'l2_{i}.obj' for i in range(5)],
+        'l3': [f'l3_{i}.obj' for i in range(4)],
+        'l4': [f'l4_{i}.obj' for i in range(8)],
+        'l5': [f'l5_{i}.obj' for i in range(5)],
+        'l6': [f'l6_{i}.obj' for i in range(6)],
+    }
+
+    def sawyer_link(name, mass, pos, diag, quat, mesh_dir, meshes):
+        lines = [f'\n    <link name="{name}">']
+        lines.append(inertial_block(mass, pos, diag, quat))
+        for m in meshes:
+            lines.append(visual_mesh(f"meshes/sawyer/{mesh_dir}/{m}"))
+            lines.append(collision_mesh(f"meshes/sawyer/{mesh_dir}/{m}"))
+        lines.append('    </link>')
+        return '\n'.join(lines)
+
+    parts.append(sawyer_link("right_arm_base_link", 2.0687,
+                             "-0.0006241 -0.0000280 0.065404",
+                             (0.00740351, 0.00681776, 0.00672942),
+                             (-0.209285, 0.674441, 0.227335, 0.670558),
+                             "base", sawyer_meshes['base']))
+
+    parts.append(fixed_joint("base_to_arm", "base_link", "right_arm_base_link",
+                             "0 0 0"))
+
+    # --- right_l0 ---
+    parts.append(sawyer_link("right_l0", 5.3213,
+                             "0.024366 0.010969 0.14363",
+                             (0.0651588, 0.0510944, 0.0186218),
+                             (0.894823, 0.00899958, -0.170275, 0.412573),
+                             "l0", sawyer_meshes['l0']))
+    parts.append(revolute_joint("right_j0", "right_arm_base_link", "right_l0",
+                                "0 0 0.08", "0 0 0", "0 0 1",
+                                -3.0503, 3.0503, 80.0))
+
+    # --- right_l1 ---
+    parts.append(sawyer_link("right_l1", 4.505,
+                             "-0.0030849 -0.026811 0.092521",
+                             (0.0224339, 0.0221624, 0.0097097),
+                             (0.424888, 0.891987, 0.132364, -0.0794296),
+                             "l1", sawyer_meshes['l1']))
+    rpy_l1 = rpy_str(0.5, -0.5, 0.5, 0.5)
+    parts.append(revolute_joint("right_j1", "right_l0", "right_l1",
+                                "0.081 0.05 0.237", rpy_l1, "0 0 1",
+                                -3.8095, 2.2736, 80.0))
+
+    # --- right_l2 ---
+    parts.append(sawyer_link("right_l2", 1.745,
+                             "-0.00016044 -0.014967 0.13582",
+                             (0.0257928, 0.025506, 0.00292515),
+                             (0.707831, -0.0524761, 0.0516007, 0.702537),
+                             "l2", sawyer_meshes['l2']))
+    rpy_l2 = rpy_str(0.707107, 0.707107, 0, 0)
+    parts.append(revolute_joint("right_j2", "right_l1", "right_l2",
+                                "0 -0.14 0.1425", rpy_l2, "0 0 1",
+                                -3.0426, 3.0426, 40.0))
+
+    # --- right_l3 ---
+    parts.append(sawyer_link("right_l3", 2.5097,
+                             "-0.0048135 -0.0281 -0.084154",
+                             (0.0102404, 0.0096997, 0.00369622),
+                             (0.902999, 0.385391, -0.0880901, 0.168247),
+                             "l3", sawyer_meshes['l3']))
+    rpy_l3 = rpy_str(0.707107, -0.707107, 0, 0)
+    parts.append(revolute_joint("right_j3", "right_l2", "right_l3",
+                                "0 -0.042 0.26", rpy_l3, "0 0 1",
+                                -3.0439, 3.0439, 40.0))
+
+    # --- right_l4 ---
+    parts.append(sawyer_link("right_l4", 1.1136,
+                             "-0.0018844 0.0069001 0.1341",
+                             (0.0136549, 0.0135493, 0.00127353),
+                             (0.803612, 0.031257, -0.0298334, 0.593582),
+                             "l4", sawyer_meshes['l4']))
+    rpy_l4 = rpy_str(0.707107, 0.707107, 0, 0)
+    parts.append(revolute_joint("right_j4", "right_l3", "right_l4",
+                                "0 -0.125 -0.1265", rpy_l4, "0 0 1",
+                                -2.9761, 2.9761, 9.0))
+
+    # --- right_l5 ---
+    parts.append(sawyer_link("right_l5", 1.5625,
+                             "0.0061133 -0.023697 0.076416",
+                             (0.00474131, 0.00422857, 0.00190672),
+                             (0.404076, 0.9135, 0.0473125, 0.00158335),
+                             "l5", sawyer_meshes['l5']))
+    rpy_l5 = rpy_str(0.707107, -0.707107, 0, 0)
+    parts.append(revolute_joint("right_j5", "right_l4", "right_l5",
+                                "0 0.031 0.275", rpy_l5, "0 0 1",
+                                -2.9761, 2.9761, 9.0, damping=0.2))
+
+    # --- right_l6 ---
+    parts.append(sawyer_link("right_l6", 0.3292,
+                             "-0.0000081 0.0085838 -0.0049566",
+                             (0.000360258, 0.000311068, 0.000214974),
+                             (0.479044, 0.515636, -0.513069, 0.491322),
+                             "l6", sawyer_meshes['l6']))
+    rpy_l6 = rpy_str(0.0616248, 0.06163, -0.704416, 0.704416)
+    parts.append(revolute_joint("right_j6", "right_l5", "right_l6",
+                                "0 -0.11 0.1053", rpy_l6, "0 0 1",
+                                -4.7124, 4.7124, 9.0, damping=0.1))
+
+    # --- right_hand (gripper mount) ---
+    parts.append("""
+    <link name="right_hand">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.001"/>
+        <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+      </inertial>
+    </link>""")
+    rpy_hand = rpy_str(0.707105, 0, 0, 0.707108)
+    parts.append(fixed_joint("right_l6_to_hand", "right_l6", "right_hand",
+                             "0 0 0.024", rpy_hand))
+
+    # ==================== ROBOTIQ 85 GRIPPER ====================
+    s = "0.001 0.001 0.001"  # scale for gripper meshes
+
+    # --- adapter link (gripper base) ---
+    parts.append(f"""
+    <link name="robotiq_85_adapter_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.01"/>
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      {visual_mesh("meshes/robotiq_85/robotiq_arg2f_base_link_vis.stl")}
+      {collision_mesh("meshes/robotiq_85/robotiq_arg2f_base_link.stl")}
+    </link>""")
+    parts.append(fixed_joint("hand_to_gripper", "right_hand", "robotiq_85_adapter_link",
+                             "0 0 0"))
+
+    # --- left_outer_knuckle ---
+    parts.append(f"""
+    <link name="left_outer_knuckle">
+      {inertial_block(0.0311462, "0.000164 0.055483 -0.010076",
+                       (5.11372e-05, 4.89464e-05, 4.95906e-06),
+                       (0.920541, 0.390623, -0.00362953, 0.00231744))}
+      {visual_mesh("meshes/robotiq_85/robotiq_arg2f_85_outer_knuckle_vis.stl", scale=s)}
+      {collision_mesh("meshes/robotiq_85/robotiq_arg2f_85_outer_knuckle.stl", scale=s)}
+    </link>""")
+    # quat "0 0 0 1" = identity in MuJoCo → rpy 0 0 pi (w=0 is 180 rotation)
+    # Actually quat (w=0, x=0, y=0, z=1) → 180° around z
+    rpy_lok = rpy_str(0, 0, 0, 1)
+    parts.append(revolute_joint("finger_joint", "robotiq_85_adapter_link", "left_outer_knuckle",
+                                "0 -0.0306011 0.054904", rpy_lok, "1 0 0",
+                                0, 0.8, 20.0))
+
+    # --- left_outer_finger (visual only, part of left_outer_knuckle subtree) ---
+    parts.append(f"""
+    <link name="left_outer_finger">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.001"/>
+        <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+      </inertial>
+      {visual_mesh("meshes/robotiq_85/robotiq_arg2f_85_outer_finger_vis.stl", scale=s)}
+      {collision_mesh("meshes/robotiq_85/robotiq_arg2f_85_outer_finger.stl", scale=s)}
+    </link>""")
+    parts.append(fixed_joint("left_outer_finger_joint", "left_outer_knuckle", "left_outer_finger",
+                             "0 0.0315 -0.0041"))
+
+    # --- left_inner_finger ---
+    parts.append(f"""
+    <link name="left_inner_finger">
+      {inertial_block(0.0156391, "0.0002 0.003269 0.001753",
+                       (1.57977e-05, 1.51089e-05, 1.4647e-06),
+                       (0.933621, 0.35825, -0.00273441, 0.00104851))}
+      {visual_mesh("meshes/robotiq_85/robotiq_arg2f_85_inner_finger_vis.stl", scale=s)}
+      {collision_mesh("meshes/robotiq_85/robotiq_arg2f_85_inner_finger.stl", scale=s)}
+    </link>""")
+    parts.append(mimic_joint("left_inner_finger_joint", "left_outer_finger", "left_inner_finger",
+                             "0 0.0376 0.043", "0 0 0", "1 0 0",
+                             -0.8757, 0.8757, "finger_joint", multiplier=-1.0))
+
+    # --- left_inner_knuckle ---
+    parts.append(f"""
+    <link name="left_inner_knuckle">
+      {inertial_block(0.0271177, "0.000123 0.050785 0.00104",
+                       (2.83809e-05, 2.61936e-05, 2.81319e-06),
+                       (0.497203, 0.502496, -0.507943, 0.492221))}
+      {visual_mesh("meshes/robotiq_85/robotiq_arg2f_85_inner_knuckle_vis.stl", scale=s)}
+      {collision_mesh("meshes/robotiq_85/robotiq_arg2f_85_inner_knuckle.stl", scale=s)}
+    </link>""")
+    rpy_lik = rpy_str(0, 0, 0, 1)
+    parts.append(mimic_joint("left_inner_knuckle_joint", "robotiq_85_adapter_link", "left_inner_knuckle",
+                             "0 -0.0127 0.06142", rpy_lik, "1 0 0",
+                             0, 0.8757, "finger_joint", multiplier=1.0))
+
+    # --- right_outer_knuckle ---
+    parts.append(f"""
+    <link name="right_outer_knuckle">
+      {inertial_block(0.0311462, "0.000164 0.055483 -0.010076",
+                       (5.11372e-05, 4.89464e-05, 4.95906e-06),
+                       (0.920541, 0.390623, -0.00362953, 0.00231744))}
+      {visual_mesh("meshes/robotiq_85/robotiq_arg2f_85_outer_knuckle_vis.stl", scale=s)}
+      {collision_mesh("meshes/robotiq_85/robotiq_arg2f_85_outer_knuckle.stl", scale=s)}
+    </link>""")
+    parts.append(mimic_joint("right_outer_knuckle_joint", "robotiq_85_adapter_link", "right_outer_knuckle",
+                             "0 0.0306011 0.054904", "0 0 0", "1 0 0",
+                             0, 0.8, "finger_joint", multiplier=1.0))
+
+    # --- right_outer_finger ---
+    parts.append(f"""
+    <link name="right_outer_finger">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.001"/>
+        <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+      </inertial>
+      {visual_mesh("meshes/robotiq_85/robotiq_arg2f_85_outer_finger_vis.stl", scale=s)}
+      {collision_mesh("meshes/robotiq_85/robotiq_arg2f_85_outer_finger.stl", scale=s)}
+    </link>""")
+    parts.append(fixed_joint("right_outer_finger_joint", "right_outer_knuckle", "right_outer_finger",
+                             "0 0.0315 -0.0041"))
+
+    # --- right_inner_finger ---
+    parts.append(f"""
+    <link name="right_inner_finger">
+      {inertial_block(0.0156391, "0.0002 0.003269 0.001753",
+                       (1.57977e-05, 1.51089e-05, 1.4647e-06),
+                       (0.933621, 0.35825, -0.00273441, 0.00104851))}
+      {visual_mesh("meshes/robotiq_85/robotiq_arg2f_85_inner_finger_vis.stl", scale=s)}
+      {collision_mesh("meshes/robotiq_85/robotiq_arg2f_85_inner_finger.stl", scale=s)}
+    </link>""")
+    parts.append(mimic_joint("right_inner_finger_joint", "right_outer_finger", "right_inner_finger",
+                             "0 0.0376 0.043", "0 0 0", "1 0 0",
+                             -0.8757, 0.8757, "finger_joint", multiplier=-1.0))
+
+    # --- right_inner_knuckle ---
+    parts.append(f"""
+    <link name="right_inner_knuckle">
+      {inertial_block(0.0271177, "0.000123 0.050785 0.00104",
+                       (2.83809e-05, 2.61936e-05, 2.81319e-06),
+                       (0.497203, 0.502496, -0.507943, 0.492221))}
+      {visual_mesh("meshes/robotiq_85/robotiq_arg2f_85_inner_knuckle_vis.stl", scale=s)}
+      {collision_mesh("meshes/robotiq_85/robotiq_arg2f_85_inner_knuckle.stl", scale=s)}
+    </link>""")
+    parts.append(mimic_joint("right_inner_knuckle_joint", "robotiq_85_adapter_link", "right_inner_knuckle",
+                             "0 0.0127 0.06142", "0 0 0", "1 0 0",
+                             0, 0.8757, "finger_joint", multiplier=1.0))
+
+    # --- EEF frame (for reference) ---
+    parts.append("""
+    <link name="eef_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="0.001"/>
+        <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+      </inertial>
+    </link>""")
+    rpy_eef = rpy_str(0.707105, 0, 0, -0.707105)
+    parts.append(fixed_joint("eef_joint", "robotiq_85_adapter_link", "eef_link",
+                             "0 0 0.145", rpy_eef))
+
+    parts.append('\n</robot>')
+    return '\n'.join(parts)
+
+
+def copy_meshes(output_dir):
+    """Copy all required mesh files to output directory."""
+    robosuite_root = os.path.dirname(os.path.abspath(__file__))
+    sawyer_mesh_src = os.path.join(robosuite_root, "robosuite/models/assets/robots/sawyer/obj_meshes")
+    gripper_mesh_src = os.path.join(robosuite_root, "robosuite/models/assets/grippers/meshes/robotiq_85_gripper")
+
+    # Sawyer meshes
+    for subdir in ['base', 'l0', 'l1', 'l2', 'l3', 'l4', 'l5', 'l6']:
+        dst = os.path.join(output_dir, "meshes/sawyer", subdir)
+        os.makedirs(dst, exist_ok=True)
+        src = os.path.join(sawyer_mesh_src, subdir)
+        if os.path.isdir(src):
+            for f in os.listdir(src):
+                if f.endswith('.obj'):
+                    shutil.copy2(os.path.join(src, f), os.path.join(dst, f))
+
+    # Robotiq85 meshes (STL files)
+    dst = os.path.join(output_dir, "meshes/robotiq_85")
+    os.makedirs(dst, exist_ok=True)
+    for f in os.listdir(gripper_mesh_src):
+        if f.endswith('.stl'):
+            shutil.copy2(os.path.join(gripper_mesh_src, f), os.path.join(dst, f))
+
+
+def main():
+    output_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "supplement/urdf")
+    os.makedirs(output_dir, exist_ok=True)
+
+    # Generate URDF
+    urdf_content = generate_urdf()
+    urdf_path = os.path.join(output_dir, "sawyer_robotiq85.urdf")
+    with open(urdf_path, 'w') as f:
+        f.write(urdf_content)
+    print(f"URDF written to: {urdf_path}")
+
+    # Copy meshes
+    copy_meshes(output_dir)
+    print(f"Meshes copied to: {output_dir}/meshes/")
+
+    # Verify
+    n_sawyer = sum(len(os.listdir(os.path.join(output_dir, "meshes/sawyer", d)))
+                   for d in os.listdir(os.path.join(output_dir, "meshes/sawyer")))
+    n_gripper = len(os.listdir(os.path.join(output_dir, "meshes/robotiq_85")))
+    print(f"Total: {n_sawyer} sawyer meshes + {n_gripper} gripper meshes")
+    print(f"\nDone! URDF package at: {output_dir}/")
+
+
+if __name__ == "__main__":
+    main()

pyproject.toml

@@ -0,0 +1,15 @@
+[tool.black]
+line-length = 120
+target-version = ["py36", "py37", "py38"]
+extend-exclude = "robosuite/((models/assets)|(controllers/config))"
+
+[tool.isort]
+profile = "black"
+line_length = 120
+skip = ["__init__.py"]
+filter_files = true
+py_version = "all"
+extend_skip = [
+    "robosuite/models/assets",
+    "robosuite/controllers/config",
+]

requirements-extra.txt

@@ -0,0 +1,14 @@
+# required for GymWrapper
+gymnasium
+
+# macOS only
+hidapi
+
+# required for demonstration utils
+h5py
+
+# for extra robosuite_models
+robosuite-models==1.0.0
+
+# for USD export and rendering
+usd-core

requirements.txt

@@ -0,0 +1,27 @@
+-e .
+
+# PyTorch (CUDA 12.1)
+--extra-index-url https://download.pytorch.org/whl/cu121
+torch==2.4.1
+torchvision==0.19.1
+
+# ACT
+einops==0.8.2
+ipython==8.38.0
+
+# DP
+hydra-core==1.2.0
+omegaconf==2.3.0
+diffusers==0.37.0
+numba==0.64.0
+dill==0.4.1
+pandas==2.3.3
+
+# Shared
+numpy==1.26.4
+scipy==1.15.3
+h5py==3.15.1
+zarr==2.18.3
+transforms3d==0.4.2
+wandb==0.25.0
+PyYAML==6.0.3

setup.py

@@ -0,0 +1,45 @@
+# read the contents of your README file
+from os import path
+
+from setuptools import find_packages, setup
+
+this_directory = path.abspath(path.dirname(__file__))
+with open(path.join(this_directory, "README.md"), encoding="utf-8") as f:
+    lines = f.readlines()
+
+# remove images from README
+lines = [x for x in lines if ".png" not in x]
+long_description = "".join(lines)
+
+setup(
+    name="robosuite",
+    packages=[package for package in find_packages() if package.startswith("robosuite")],
+    install_requires=[
+        "numpy>=1.13.3",
+        "numba>=0.49.1",
+        "scipy>=1.2.3",
+        "mujoco>=3.3.0",
+        "qpsolvers[quadprog]>=4.3.1",
+        "Pillow",
+        "opencv-python",
+        "pynput",
+        "termcolor",
+        "pytest",
+        "tqdm",
+    ],
+    extras_require={
+        "mink": [
+            "mink==0.0.5",
+        ],
+    },
+    eager_resources=["*"],
+    include_package_data=True,
+    python_requires=">=3",
+    description="robosuite: A Modular Simulation Framework and Benchmark for Robot Learning",
+    author="Yuke Zhu",
+    url="https://github.com/ARISE-Initiative/robosuite",
+    author_email="yukez@cs.utexas.edu",
+    version="1.5.2",
+    long_description=long_description,
+    long_description_content_type="text/markdown",
+)

train_all.sh

@@ -0,0 +1,34 @@
+#!/bin/bash
+# Train ACT and DP on all tactile tasks
+# Usage: bash train_all.sh
+
+set -e
+
+TASKS="precision_grasp peg_insertion gentle_stack"
+
+echo "============================================"
+echo "  ACT Training"
+echo "============================================"
+for task in $TASKS; do
+    echo ""
+    echo ">>> ACT: $task"
+    cd /home/p/robosuite/policy/ACT
+    python imitate_episodes.py --task $task
+done
+
+echo ""
+echo "============================================"
+echo "  DP Training"
+echo "============================================"
+for task in $TASKS; do
+    echo ""
+    echo ">>> DP: $task"
+    cd /home/p/robosuite/policy/DP
+    python train.py --config-name=robot_dp_tactile \
+        task.dataset.zarr_path=data/${task}-default-50.zarr
+done
+
+echo ""
+echo "============================================"
+echo "  All done!"
+echo "============================================"