diff --git a/docs/changelog.md b/docs/changelog.md index 9a85deff01..1462a95c20 100644 --- a/docs/changelog.md +++ b/docs/changelog.md @@ -1,12 +1,39 @@ # Changelog +## Version 1.5.1 +- **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. + +- **Bug Fixes**: + - Fixed segmentation demo, part controller demo, demo renderer, joint and actuator issues, equality removal, and orientation mismatch in Fourier hands. + +- **Features/Enhancements**: + - Added GymWrapper support for both `gym` and `gymnasium` with `dict_obs`. + - Updated DexMimicGen assets and included a default whole-body Mink IK config. + - Improved CI to check all tests and print video save paths in demo recordings. + +- **Miscellaneous**: + - Added troubleshooting for SpaceMouse failures and terminated `mjviewer` on resets. + - Adjusted OSC position fixes and updated part controller JSONs. ## Version 1.5.0 -
-

Breaking API changes

-
- -
-
\ No newline at end of file +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) diff --git a/docs/conf.py b/docs/conf.py index 47880736b7..6a3006dcd8 100755 --- a/docs/conf.py +++ b/docs/conf.py @@ -84,7 +84,7 @@ # General information about the project. project = "robosuite" -copyright = "Stanford University and The University of Texas at Austin 2022" +copyright = "Stanford University and The University of Texas at Austin 2025" author = "the robosuite core team" # The version info for the project you're documenting, acts as replacement for diff --git a/robosuite/__init__.py b/robosuite/__init__.py index 5366c7b79b..9cf1965bb7 100644 --- a/robosuite/__init__.py +++ b/robosuite/__init__.py @@ -41,7 +41,7 @@ "Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot." ) -__version__ = "1.5.0" +__version__ = "1.5.1" __logo__ = """ ; / ,--. ["] ["] ,< |__**| diff --git a/robosuite/renderers/context/egl_context.py b/robosuite/renderers/context/egl_context.py index 31b58355e7..093953947d 100644 --- a/robosuite/renderers/context/egl_context.py +++ b/robosuite/renderers/context/egl_context.py @@ -1,4 +1,4 @@ -# Modifications Copyright 2022 The robosuite Authors +# Modifications Copyright 2025 The robosuite Authors # Original Copyright 2018 The dm_control Authors # # Licensed under the Apache License, Version 2.0 (the "License"); diff --git a/setup.py b/setup.py index e036afceaf..982720b3be 100644 --- a/setup.py +++ b/setup.py @@ -33,7 +33,7 @@ author="Yuke Zhu", url="https://github.com/ARISE-Initiative/robosuite", author_email="yukez@cs.utexas.edu", - version="1.5.0", + version="1.5.1", long_description=long_description, long_description_content_type="text/markdown", )