Merge pull request #601 from ARISE-Initiative/v1.5.1

Bump version 1.5.0 -> 1.5.1

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
 
-<div class="admonition warning">
-<p class="admonition-title">Breaking API changes</p>
-<div>
-    <ul>New controller design.</ul>
-</div>
-</div>
+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)

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

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__ = """
       ;     /        ,--.
      ["]   ["]  ,<  |__**|

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");

setup.py

@@ -33,7 +33,7 @@
     author="Yuke Zhu",
     url="https://github.com/ARISE-Initiative/robosuite",
     author_email="[email protected]",
-    version="1.5.0",
+    version="1.5.1",
     long_description=long_description,
     long_description_content_type="text/markdown",
 )