Merge pull request #604 from Abhiram824/docs_update

updates to docs for v1.5
ARISE-Initiative · Jan 6, 2025 · 359cfbc · 359cfbc
2 parents f156be2 + d31f1c2
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diff --git a/docs/algorithms/sim2real.md b/docs/algorithms/sim2real.md
@@ -143,9 +143,7 @@ env.modify_observable(
 )
 
 # Take a single environment step with positive joint velocity actions
-arm_action = np.ones(env.robots[0].robot_model.dof) * 1.0
-gripper_action = [1]
-action = np.concatenate([arm_action, gripper_action])
+action = np.ones(env.robots[0].robot_model.dof) * 1.0
 env.step(action)
 
 # Now we can analyze what values were recorded

diff --git a/docs/demos.md b/docs/demos.md
@@ -135,11 +135,7 @@ 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. Can be any in
-        {`Panda`, `Sawyer`, `IIWA`, `Jaco`, `Kinova3`, `UR5e`, `Baxter`}. Note that the environments include sanity
-        checks, such that a `TwoArm...` environment will only accept either a 2-tuple of robot names or a single
-        bimanual robot name, according to the specified configuration (see below), and all other environments will
-        only accept a single single-armed robot name
+* `--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`}
@@ -152,14 +148,6 @@ Furthermore, please choose environment specifics with the following arguments:
                 each other, facing each other from opposite directions. Expects a 2-tuple of robot names
                 to be specified in the `--robots` argument.
 
-* `--arm`: Exclusively applicable and only should be specified for `TwoArm...` environments. Specifies which of the
-        multiple arm eef's to control. The other (passive) arm will remain stationary. Options are {`right`, `left`}
-        (from the point of view of the robot(s) facing against the viewer direction)
-
-* `--switch-on-click`: Exclusively applicable and only should be specified for `TwoArm...` environments. If enabled,
-        will switch the current arm being controlled every time the gripper input is pressed
-
-* `--toggle-camera-on-click`: If enabled, gripper input presses will cycle through the available camera angles
 
 Examples:
 * For normal single-arm environment:
@@ -168,7 +156,7 @@ $ python demo_device_control.py --environment PickPlaceCan --robots Sawyer
 ```
 * For two-arm bimanual environment:
 ```
-$ python demo_device_control.py --environment TwoArmLift --robots Baxter --config bimanual --arm left
+$ python demo_device_control.py --environment TwoArmLift --robots Tiago
 ```
 * For two-arm multi single-arm robot environment:
 ```

diff --git a/docs/images/robots_module_v15.png b/docs/images/robots_module_v15.png
diff --git a/docs/modules/robots.md b/docs/modules/robots.md
diff --git a/docs/modules/robots.rst b/docs/modules/robots.rst
@@ -1,13 +1,13 @@
 Robots
 =======
 
-.. figure:: ../images/robot_module.png
+.. figure:: ../images/robots_module_v15.png
 
-**Robots** are a key component in **robosuite**, and serve as the embodiment of a given agent as well as the central interaction point within an environment and key interface to MuJoCo for the robot-related state and control. **robosuite** captures this level of abstraction with the `Robot <../simulation/robot.html>`_-based classes, with support for both single-armed and bimanual variations. In turn, the Robot class is centrally defined by a `RobotModel <../modeling/robot_model.html>`_, `MountModel <../modeling/robot_model.html#mount-model>`_, and `Controller(s) <../simulation/controller.html>`_. Subclasses of the :class:`RobotModel` class may also include additional models as well; for example, the `ManipulatorModel <../modeling/robot_model.html#manipulator-model>`_ class also includes `GripperModel(s) <../modeling/robot_model.html#gripper-model>`_ (with no gripper being represented by a dummy class).
+**Robots** are a key component in **robosuite**, and serve as the embodiment of a given agent as well as the central interaction point within an environment and key interface to MuJoCo for the robot-related state and control. **robosuite** captures this level of abstraction with the `Robot <../simulation/robot>`_-based classes, with support for both single-armed and bimanual variations, as well as robots with mobile manipulation capabilities, including both legged and wheeled variants. In turn, the Robot class is centrally defined by a `RobotModel <../modeling/robot_model>`_, `RobotBaseModel <../modeling/robot_model.html#robot-base-model>`_, `GripperModel <../modeling/robot_model.html#gripper-model>`_, and `Controller(s) <../simulation/controller>`_. Subclasses of the ``RobotModel`` class may also include additional models as well; for example, the `ManipulatorModel <../modeling/robot_model.html#manipulator-model>`_ class also includes `GripperModel(s) <../modeling/robot_model.html#gripper-model>`_ (with no gripper being represented by a dummy class).
 
 The high-level features of **robosuite**'s robots are described as follows:
 
-* **Diverse and Realistic Models**: **robosuite** provides models for 8 commercially-available manipulator robots (including the bimanual Baxter robot), 7 grippers (including the popular Robotiq 140 / 85 models), and 6 controllers, with model properties either taken directly from the company website or raw spec sheets.
+* **Diverse and Realistic Models**: **robosuite** provides models for 10 commercially-available robots (including the humanoid GR1 Robot), 9 grippers (including the inspire dexterous hand model), 4 bases (including the Omron wheeled mobile base), and 6 body-part controllers, with model properties either taken directly from official product documentation or raw spec sheets. An additional 8 robots, 8 grippers, and 3 bases can be installed separately from the `robosuite-models <https://github.com/ARISE-Initiative/robosuite_models>`_ repository.
 
 * **Modularized Support**: Robots are designed to be plug-n-play -- any combinations of robots, models, and controllers can be used, assuming the given environment is intended for the desired robot configuration. Because each robot is assigned a unique ID number, multiple instances of identical robots can be instantiated within the simulation without error.
 
@@ -19,7 +19,7 @@ Below, we discuss the usage and functionality of the robots over the course of i
 
 Initialization
 --------------
-During environment creation (``suite.make(...)``), individual robots are both instantiated and initialized. The desired RobotModel, MountModel, and Controller(s) (where multiple and/or additional models may be specified, e.g. for manipulator bimanual robots) are loaded into each robot, with the models being passed into the environment to compose the final MuJoCo simulation object. Each robot is then set to its initial state.
+During environment creation (``suite.make(...)``), individual robots are both instantiated and initialized. The desired RobotModel, RobotBaseModel, and Controller(s) (where multiple and/or additional models may be specified, e.g. for manipulator bimanual robots) are loaded into each robot, with the models being passed into the environment to compose the final MuJoCo simulation object. Each robot is then set to its initial state.
 
 Runtime
 -------

diff --git a/docs/overview.md b/docs/overview.md
@@ -28,7 +28,7 @@ Please cite [**robosuite**](https://robosuite.ai) if you use this framework in y
 ```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 Soroush Nasiriany and Yifeng Zhu},
+  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}
 }

diff --git a/docs/simulation/device.rst b/docs/simulation/device.rst
@@ -30,6 +30,14 @@ SpaceMouse Device
 
   .. automethod:: get_controller_state
   .. automethod:: run
-  .. autoproperty:: control
-  .. autoproperty:: control_gripper
+  .. automethod:: control
+  .. automethod:: control_gripper
+  .. automethod:: _display_controls
+
+MjGUI Device
+------------
+.. autoclass:: robosuite.devices.mjgui.MJGUI
+
+  .. automethod:: get_controller_state
+  .. automethod:: input2action
   .. automethod:: _display_controls
diff --git a/docs/simulation/robot.rst b/docs/simulation/robot.rst
@@ -1,7 +1,7 @@
 Robot
 =====
 
-The ``Robot`` class defines a simulation object encapsulating a robot model, gripper model, and controller. Robosuite uses class extensions of this base class to model different robotic domains. The current release focuses on manipulation, and includes a ``Manipulator`` class, which itself is extended by ``SingleArm`` and ``Bimanual`` classes representing the two different types of supported robots.
+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
 ----------

diff --git a/docs/source/robosuite.controllers.composite.rst b/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:
diff --git a/docs/source/robosuite.controllers.parts.arm.rst b/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: