robosuite 1.4.0 Release Notes
- Highlights
- New Features
- Improvements
- Critical Bug Fixes
- Other Bug Fixes
Highlights
This release of robosuite refactors our backend to leverage DeepMind's new mujoco bindings. Below, we discuss the key details of this refactoring:
Installation
Now, installation has become much simpler, with mujoco being directly installed on Linux or Mac via pip install mujoco
. Importing mujoco is now done via import mujoco
instead of import mujoco_py
Rendering
The new DeepMind mujoco bindings do not ship with an onscreen renderer. As a result, we've implented an OpenCV renderer, which provides most of the core functionality from the original mujoco renderer, but has a few limitations (most significantly, no glfw keyboard callbacks and no ability to move the free camera).
Improvements
The following briefly describes other changes that improve on the pre-existing structure. This is not an exhaustive list, but a highlighted list of changes.
-
Standardize end-effector frame inference (#25). Now, all end-effector frames are correctly inferred from raw robot XMLs and take into account arbitrary relative orientations between robot arm link frames and gripper link frames.
-
Improved robot textures (#27). With added support from DeepMind's mujoco bindings for obj texture files, all robots are now natively rendered with more accurate texture maps.
-
Revamped macros (#30). Macros now references a single macro file that can be arbitrarily specified by the user.
-
Improved method for specifying GPU ID (#29). The new logic is as follows:
- If
render_device_gpu_id=-1
,MUJOCO_EGL_DEVICE_ID
andCUDA_VISIBLE_DEVICES
are not set, we either choose the first available device (usually0
) ifmacros.MUJOCO_GPU_RENDERING
isTrue
, otherwise use CPU; CUDA_VISIBLE_DEVICES
orMUJOCO_EGL_DEVICE_ID
are set, we make sure that they dominate over programmatically defined GPU device id.- If
CUDA_VISIBLE_DEVICES
andMUJOCO_EGL_DEVICE_ID
are both set, then we useMUJOCO_EGL_DEVICE_ID
and make sure it is defined inCUDA_VISIBLE_DEVICES
- If
-
robosuite docs updated
-
Add new papers
Critical Bug Fixes
- Fix Sawyer IK instability bug (#25)
Other Bug Fixes
- Fix iGibson renderer bug (#21)
Contributor Spotlight
We would like to introduce the newest members of our robosuite core team, all of whom have contributed significantly to this release!
@awesome-aj0123
@snasiriany
@zhuyifengzju