Merge branch 'master' of https://github.com/Abhiram824/robosuite

Author: Abhiram824

.github/workflows/run-tests.yaml

@@ -57,4 +57,5 @@ jobs:
       run: |
         export PYOPENGL_PLATFORM="osmesa"
         export MUJOCO_GL="osmesa"
+        export NUMBA_DISABLE_JIT=1
         pytest

.github/workflows/update-pypi.yaml

@@ -0,0 +1,63 @@
+name: Publish to PyPI
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - 'pypi-action'
+  release:
+    types: [published]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+    name: Build distribution
+    runs-on: ubuntu-latest
+
+    steps:
+    # Checkout the repository
+    - name: Checkout code
+      uses: actions/checkout@v4
+
+    # Set up Python environment
+    - name: Set up Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.x'
+
+    # Install dependencies
+    - name: Build release distribution
+      run: |
+        python -m pip install --upgrade pip
+        python -m pip install build
+        python -m build
+
+    - name: Store the distribution packages
+      uses: actions/upload-artifact@v4
+      with:
+        name: release-dists
+        path: dist/
+
+  publish-to-pypi:
+    name: Publish Python distribution to PyPI
+    needs:
+    - build
+    runs-on: ubuntu-latest
+
+    environment:
+      name: pypi
+      url: https://pypi.org/p/robosuite/
+
+    permissions:
+      id-token: write  # IMPORTANT: mandatory for trusted publishing
+
+    steps:
+    - name: Download the dists
+      uses: actions/download-artifact@v4
+      with:
+        name: release-dists
+        path: dist/
+    - name: Publish distribution to PyPI
+      uses: pypa/gh-action-pypi-publish@release/v1

docs/algorithms/demonstrations.md

@@ -2,11 +2,13 @@
 
 ## Collecting Human Demonstrations
 
-We provide teleoperation utilities that allow users to control the robots with input devices, such as the keyboard, [SpaceMouse](https://www.3dconnexion.com/spacemouse_compact/en/) and mujoco-gui. Such functionality allows us to collect a dataset of human demonstrations for learning. We provide an example script to illustrate how to collect demonstrations. Our [collect_human_demonstrations](https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/scripts/collect_human_demonstrations.py) script takes the following arguments:
+We provide teleoperation utilities that allow users to control the robots with input devices, such as the keyboard, [SpaceMouse](https://www.3dconnexion.com/spacemouse_compact/en/), [DualSense](https://www.playstation.com/en-us/accessories/dualsense-wireless-controller/) and mujoco-gui. Such functionality allows us to collect a dataset of human demonstrations for learning. We provide an example script to illustrate how to collect demonstrations. Our [collect_human_demonstrations](https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/scripts/collect_human_demonstrations.py) script takes the following arguments:
 
 - `directory:` path to a folder for where to store the pickle file of collected demonstrations
 - `environment:` name of the environment you would like to collect the demonstrations for
-- `device:` either "keyboard" or "spacemouse" or "mjgui"
+- `device:` either "keyboard" or "spacemouse" or "dualsense" or "mjgui"
+- `renderer:` Mujoco's builtin interactive viewer (mjviewer) or OpenCV viewer (mujoco)
+- `camera:` Pass multiple camera names to enable multiple views. Note that the "mujoco" renderer must be enabled when using multiple views, while "mjviewer" is not supported.
 
 See the [devices page](https://robosuite.ai/docs/modules/devices.html) for details on how to use the devices.
 

docs/changelog.md

@@ -2,18 +2,19 @@
 
 ## 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.  
 
-- **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.  
+  - 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.  

docs/conf.py

@@ -185,12 +185,21 @@
 # (source start file, target name, title, author,
 #  dir menu entry, description, category)
 texinfo_documents = [
-    (master_doc, "robosuite", "robosuite Documentation", author, "robosuite", "ARISE", "Miscellaneous"),
+    (
+        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

@@ -121,6 +121,12 @@ The `demo_device_control.py` scripts shows how to teleoperate robot with [contro
         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
@@ -174,7 +180,7 @@ The `demo_renderers.py` script shows how to use different renderers with the sim
 ```sh
 $ python demo_renderers.py --renderer default
 ```
-The `--renderer` flag can be set to `mujoco` or `default(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.

docs/installation.md

@@ -37,7 +37,7 @@ The base installation requires the MuJoCo physics engine (with [mujoco](https://
    ```
    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) devices. To enable these additional features, please install the extra dependencies by running
+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
    ```

docs/modules/devices.md

@@ -1,6 +1,6 @@
 # I/O Devices
 
-Devices are used to read user input and teleoperate simulated robots in real-time. This is achieved by either using a keyboard or a [SpaceMouse](https://www.3dconnexion.com/spacemouse_compact/en/), and whose teleoperation capabilities can be demonstrated with the [demo_device_control.py](../demos.html#teleoperation) script. More generally, we support any interface that implements the [Device](../simulation/device) abstract base class. In order to support your own custom device, simply subclass this base class and implement the required methods.
+Devices are used to read user input and teleoperate simulated robots in real-time. This is achieved by either using a keyboard, a [SpaceMouse](https://www.3dconnexion.com/spacemouse_compact/en/) or a [DualSense](https://www.playstation.com/en-us/accessories/dualsense-wireless-controller/) joystick, and whose teleoperation capabilities can be demonstrated with the [demo_device_control.py](../demos.html#teleoperation) script. More generally, we support any interface that implements the [Device](../simulation/device) abstract base class. In order to support your own custom device, simply subclass this base class and implement the required methods.
 
 ## Keyboard
 
@@ -19,10 +19,10 @@ Note that the rendering window must be active for these commands to work.
 |        o-p          |                 rotate (yaw)               |
 |        y-h          |                rotate (pitch)              |
 |        e-r          |                 rotate (roll)              |
-|         b           |     toggle arm/base mode (if appli cable)  |
+|         b           |     toggle arm/base mode (if applicable)  |
 |         s           |  switch active arm (if multi-armed robot)  |
 |         =           | switch active robot (if multi-robot env)   |
-|        ESC          |                    quit                    |
+|       Ctrl+C           |                    quit                    |
 
 
 ## 3Dconnexion SpaceMouse
@@ -38,8 +38,29 @@ We support the use of a [SpaceMouse](https://www.3dconnexion.com/spacemouse_comp
 |   Move mouse laterally    |  move arm horizontally in x-y plane   |
 |   Move mouse vertically   |          move arm vertically          |
 | Twist mouse about an axis | rotate arm about a corresponding axis |
-|      ESC (keyboard)       |                 quit                  |
-
+|           b               |  toggle arm/base mode (if applicable) |
+|           s               |  switch active arm (if multi-armed robot)  |
+|           =               |  switch active robot (if multi-robot environment)   |
+|      Ctrl+C (keyboard)    |                 quit                  |
+
+## Sony DualSense
+
+we support the use of a [Sony DualSense](https://www.playstation.com/en-us/accessories/dualsense-wireless-controller/) as well.
+
+**Sony DualSense controls**
+
+|          Control             |                Command                |
+| :--------------------------- | :------------------------------------ |
+|       Square button          |           reset simulation            |
+|    Circle button (hold)      |             close gripper             |
+|      Move LX/LY Stick        |  move arm horizontally in x-y plane   |
+|   Press L2 Trigger with or without L1 button   |          move arm vertically          |
+|   Move RX/RY Stick           |  rotate arm about x/y axis (roll/pitch)   |
+|   Press R2 Trigger with or without R1 button   |          rotate arm about z axis (yaw)          |
+|      Triangle button         |           toggle arm/base mode (if applicable)             |
+|   Left/Right Direction Pad   |   switch active arm (if multi-armed robot)  |
+|    Up/Down Direction Pad     |    switch active robot (if multi-robot environment)  |
+|      Ctrl+C (keyboard)       |                 quit                  |
 
 ## Mujoco GUI Device
 

docs/overview.md

@@ -18,7 +18,7 @@ This framework was originally developed in late 2017 by researchers in [Stanford
 * **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;
+* **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.

docs/simulation/device.rst

@@ -1,7 +1,7 @@
 Device
 ======
 
-Devices allow for direct real-time interfacing with the MuJoCo simulation. The currently supported devices are ``Keyboard``. ``SpaceMouse`` and ``MjGUI``.
+Devices allow for direct real-time interfacing with the MuJoCo simulation. The currently supported devices are ``Keyboard``. ``SpaceMouse``. ``DualSense`` and ``MjGUI``.
 
 Base Device
 -----------
@@ -34,6 +34,18 @@ SpaceMouse Device
   .. 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