Mujoco 2.0 support #27
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yukezhu
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# 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](https://github.com/deepmind/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](https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/utils/opencv_renderer.py), 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: 1. If `render_device_gpu_id=-1`, `MUJOCO_EGL_DEVICE_ID` and `CUDA_VISIBLE_DEVICES` are not set, we either choose the first available device (usually `0`) if `macros.MUJOCO_GPU_RENDERING` is `True`, otherwise use CPU; 2. `CUDA_VISIBLE_DEVICES` or `MUJOCO_EGL_DEVICE_ID` are set, we make sure that they dominate over programmatically defined GPU device id. 3. If `CUDA_VISIBLE_DEVICES` and `MUJOCO_EGL_DEVICE_ID` are both set, then we use `MUJOCO_EGL_DEVICE_ID` and make sure it is defined in `CUDA_VISIBLE_DEVICES` - 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
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Updates the requirements to use mujoco 2.0.
Closes #26