v1.5 - Diverse robot embodiments and composite controllers

Robosuite v1.5 Release Notes

Highlights

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 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()

Migration

• Composite controller refactoring: please see example of usage

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Contributor Spotlight

We would like to introduce the newest member of our robosuite core team, who has contributed significantly to this release!

Kevin Lin @kevin-thankyou-lin