From 0bc81a90eb932910a9b7eae0bb1897a5830e967a Mon Sep 17 00:00:00 2001
From: Abhiram824 <abhisuhaas1@gmail.com>
Date: Sat, 31 Aug 2024 16:00:00 -0500
Subject: [PATCH 01/17] updates to allow numpy v2 to work

---
 robosuite/utils/binding_utils.py   | 3 ++-
 robosuite/utils/transform_utils.py | 6 +++---
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/robosuite/utils/binding_utils.py b/robosuite/utils/binding_utils.py
index 563477eebb..7a51911bc9 100644
--- a/robosuite/utils/binding_utils.py
+++ b/robosuite/utils/binding_utils.py
@@ -172,7 +172,8 @@ def read_pixels(self, width, height, depth=False, segmentation=False):
 
         ret_img = rgb_img
         if segmentation:
-            seg_img = rgb_img[:, :, 0] + rgb_img[:, :, 1] * (2**8) + rgb_img[:, :, 2] * (2**16)
+            uint32_rgb_img = rgb_img.astype(np.int32)
+            seg_img = uint32_rgb_img[:, :, 0] + uint32_rgb_img[:, :, 1] * (2**8) + uint32_rgb_img[:, :, 2] * (2**16)
             seg_img[seg_img >= (self.scn.ngeom + 1)] = 0
             seg_ids = np.full((self.scn.ngeom + 1, 2), fill_value=-1, dtype=np.int32)
 
diff --git a/robosuite/utils/transform_utils.py b/robosuite/utils/transform_utils.py
index ac371c09da..da1dd7b34b 100644
--- a/robosuite/utils/transform_utils.py
+++ b/robosuite/utils/transform_utils.py
@@ -411,7 +411,7 @@ def mat2euler(rmat, axes="sxyz"):
     j = _NEXT_AXIS[i + parity]
     k = _NEXT_AXIS[i - parity + 1]
 
-    M = np.array(rmat, dtype=np.float32, copy=False)[:3, :3]
+    M = np.asarray(rmat, dtype=np.float32)[:3, :3]
     if repetition:
         sy = math.sqrt(M[i, j] * M[i, j] + M[i, k] * M[i, k])
         if sy > EPS:
@@ -713,7 +713,7 @@ def rotation_matrix(angle, direction, point=None):
     M[:3, :3] = R
     if point is not None:
         # rotation not around origin
-        point = np.array(point[:3], dtype=np.float32, copy=False)
+        point = np.asarray(point[:3], dtype=np.float32)
         M[:3, 3] = point - np.dot(R, point)
     return M
 
@@ -846,7 +846,7 @@ def unit_vector(data, axis=None, out=None):
             return data
     else:
         if out is not data:
-            out[:] = np.array(data, copy=False)
+            out[:] = np.asarray(data)
         data = out
     length = np.atleast_1d(np.sum(data * data, axis))
     np.sqrt(length, length)

From 4205f690dfc6ba7cd2783314482aa4937f5d7bc5 Mon Sep 17 00:00:00 2001
From: Kevin Lin <kevin.lin20000@gmail.com>
Date: Fri, 6 Sep 2024 14:11:18 -0700
Subject: [PATCH 02/17] Add github issue bug report template

---
 .github/ISSUE_TEMPLATE/bug-report.yml | 49 +++++++++++++++++++++++++++
 1 file changed, 49 insertions(+)
 create mode 100644 .github/ISSUE_TEMPLATE/bug-report.yml

diff --git a/.github/ISSUE_TEMPLATE/bug-report.yml b/.github/ISSUE_TEMPLATE/bug-report.yml
new file mode 100644
index 0000000000..ea76325742
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/bug-report.yml
@@ -0,0 +1,49 @@
+name: "\U0001F41B Bug Report"
+description: Help us improve Robosuite by submitting a bug report
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks submitting a bug report!
+
+  - type: textarea
+    id: system-info
+    attributes:
+      label: System Info
+      description: Which version of Robosuite are you using? Which OS (e.g., Ubuntu, MacOS, Windows) are you using? If you think it'll help, you can also share the output of `pip list`.
+      render: Shell
+      placeholder: Robosuite version, OS.
+    validations:
+      required: true
+
+  - type: checkboxes
+    id: information-scripts-examples
+    attributes:
+      label: Information
+      description: 'The problem arises when using:'
+
+  - type: textarea
+    id: reproduction
+    validations:
+      required: true
+    attributes:
+      label: Reproduction
+      description: |
+        If possible, provide a minimal code sample or script that reproduces the problem you ran into.
+        Please use code tags to correctly format your code: https://help.github.com/en/github/writing-on-github/creating-and-highlighting-code-blocks#syntax-highlighting
+        Please avoid screenshots, as they don't allow copy-and-pasting.
+
+      placeholder: |
+        Steps to reproduce the behavior:
+
+          1. `python robosuite/scripts/example_script.py`
+          2.
+          3.
+
+  - type: textarea
+    id: expected-behavior
+    validations:
+      required: true
+    attributes:
+      label: Expected behavior
+      description: "A clear and concise description of what you would expect to happen."

From cd7ba5727e07fa52be3c1420c3e9a00357e4fadd Mon Sep 17 00:00:00 2001
From: Kevin Lin <kevin.lin20000@gmail.com>
Date: Fri, 6 Sep 2024 14:13:09 -0700
Subject: [PATCH 03/17] Update github issue bug report template

---
 .github/ISSUE_TEMPLATE/bug-report.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/ISSUE_TEMPLATE/bug-report.yml b/.github/ISSUE_TEMPLATE/bug-report.yml
index ea76325742..f4f2ac7a90 100644
--- a/.github/ISSUE_TEMPLATE/bug-report.yml
+++ b/.github/ISSUE_TEMPLATE/bug-report.yml
@@ -16,7 +16,7 @@ body:
     validations:
       required: true
 
-  - type: checkboxes
+  - type: textarea
     id: information-scripts-examples
     attributes:
       label: Information

From 0eec95937c437b95d814cc9d774578b98f1aadbb Mon Sep 17 00:00:00 2001
From: Kevin Lin <kevin.lin20000@gmail.com>
Date: Fri, 6 Sep 2024 14:14:25 -0700
Subject: [PATCH 04/17] Update github issue bug report template 3

---
 .github/ISSUE_TEMPLATE/bug-report.yml | 19 ++++++++++++++++---
 1 file changed, 16 insertions(+), 3 deletions(-)

diff --git a/.github/ISSUE_TEMPLATE/bug-report.yml b/.github/ISSUE_TEMPLATE/bug-report.yml
index f4f2ac7a90..57c8dfe4c5 100644
--- a/.github/ISSUE_TEMPLATE/bug-report.yml
+++ b/.github/ISSUE_TEMPLATE/bug-report.yml
@@ -35,10 +35,23 @@ body:
 
       placeholder: |
         Steps to reproduce the behavior:
+          0. Use the following code-snippet `example_script.py`: 
+          ```
+          from robosuite import make
+          env = make(
+              "Lift",
+              robots="Panda",
+              gripper_types="TwoFinger",
+              use_camera_obs=False,
+              reward_shaping=True,
+              )
+            
+          print(env)
+          ```
 
-          1. `python robosuite/scripts/example_script.py`
-          2.
-          3.
+          ```
+          1. `python example_script.py`
+          2. ...
 
   - type: textarea
     id: expected-behavior

From c6fe6ccd510ae38a6f3637ca39e9b3c1adf84833 Mon Sep 17 00:00:00 2001
From: Kevin Lin <kevin.lin20000@gmail.com>
Date: Fri, 6 Sep 2024 14:15:59 -0700
Subject: [PATCH 05/17] Update github issue bug report template 4

---
 .github/ISSUE_TEMPLATE/bug-report.yml | 23 +++++++----------------
 1 file changed, 7 insertions(+), 16 deletions(-)

diff --git a/.github/ISSUE_TEMPLATE/bug-report.yml b/.github/ISSUE_TEMPLATE/bug-report.yml
index 57c8dfe4c5..9c8ea7a8f7 100644
--- a/.github/ISSUE_TEMPLATE/bug-report.yml
+++ b/.github/ISSUE_TEMPLATE/bug-report.yml
@@ -21,6 +21,12 @@ body:
     attributes:
       label: Information
       description: 'The problem arises when using:'
+      placeholder: |
+        ```
+        import robosuite
+        print(robosuite.__version__)
+        print("Tested script")
+        ```
 
   - type: textarea
     id: reproduction
@@ -35,22 +41,7 @@ body:
 
       placeholder: |
         Steps to reproduce the behavior:
-          0. Use the following code-snippet `example_script.py`: 
-          ```
-          from robosuite import make
-          env = make(
-              "Lift",
-              robots="Panda",
-              gripper_types="TwoFinger",
-              use_camera_obs=False,
-              reward_shaping=True,
-              )
-            
-          print(env)
-          ```
-
-          ```
-          1. `python example_script.py`
+          1. Run the above provided code-snippet `python example_script.py`
           2. ...
 
   - type: textarea

From 5f8aa5e6179daac1115be08b457008642b41e64f Mon Sep 17 00:00:00 2001
From: Kevin Lin <kevin.lin20000@gmail.com>
Date: Fri, 6 Sep 2024 14:24:40 -0700
Subject: [PATCH 06/17] Add PR template

---
 .github/PULL_REQUEST_TEMPLATE.md | 35 ++++++++++++++++++++++++++++++++
 1 file changed, 35 insertions(+)
 create mode 100644 .github/PULL_REQUEST_TEMPLATE.md

diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
new file mode 100644
index 0000000000..980a718af0
--- /dev/null
+++ b/.github/PULL_REQUEST_TEMPLATE.md
@@ -0,0 +1,35 @@
+## What this does
+Explain what this PR does. Feel free to tag your PR with the appropriate label(s).
+
+Examples:
+|  Title               | Label           |
+|----------------------|-----------------|
+| Fixes #[issue]       | (🐛 Bug)        |
+| Optimizes something  | (⚡️ Performance) |
+| Adds a new feature   | (✨ Feature)     |
+
+
+## How it was tested
+Explain/show how you tested your changes.
+
+Examples:
+- Added `test_something` in `tests/test_stuff.py`.
+- Added `new_feature` and checked that training converges with policy X on dataset/environment Y.
+- Optimized `some_function`, it now runs X times faster than previously.
+
+## How to checkout & try? (for the reviewer)
+Provide a simple way for the reviewer to try out your changes.
+
+Examples:
+```bash
+DATA_DIR=tests/data pytest -sx tests/test_stuff.py::test_something
+```
+```bash
+python lerobot/scripts/train.py --some.option=true
+```
+
+## SECTION TO REMOVE BEFORE SUBMITTING YOUR PR
+**Note**: Anyone in the community is free to review the PR once the tests have passed. Feel free to tag
+members/contributors who may be interested in your PR. Try to avoid tagging more than 3 people.
+
+**Note**: Before submitting this PR, please read the [contributor guideline](https://github.com/ARISE-Initiative/robosuite/blob/master/CONTRIBUTING.md).
\ No newline at end of file

From e614a15466882b0a5c69191528e5edf666b5e4c7 Mon Sep 17 00:00:00 2001
From: Kevin Lin <kevin.lin20000@gmail.com>
Date: Fri, 6 Sep 2024 14:25:30 -0700
Subject: [PATCH 07/17] Update PR template

---
 .github/PULL_REQUEST_TEMPLATE.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
index 980a718af0..808ae13312 100644
--- a/.github/PULL_REQUEST_TEMPLATE.md
+++ b/.github/PULL_REQUEST_TEMPLATE.md
@@ -25,7 +25,7 @@ Examples:
 DATA_DIR=tests/data pytest -sx tests/test_stuff.py::test_something
 ```
 ```bash
-python lerobot/scripts/train.py --some.option=true
+python robosuite/scripts/train.py --some.option=true
 ```
 
 ## SECTION TO REMOVE BEFORE SUBMITTING YOUR PR

From cbe7f8a33875383d3f86a7e8d3b6449f3f3cb7de Mon Sep 17 00:00:00 2001
From: kevin-thankyou-lin
 <33344633+kevin-thankyou-lin@users.noreply.github.com>
Date: Sat, 7 Sep 2024 14:54:17 -0500
Subject: [PATCH 08/17] Update bug-report.yml

---
 .github/ISSUE_TEMPLATE/bug-report.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/ISSUE_TEMPLATE/bug-report.yml b/.github/ISSUE_TEMPLATE/bug-report.yml
index 9c8ea7a8f7..d9f0405f66 100644
--- a/.github/ISSUE_TEMPLATE/bug-report.yml
+++ b/.github/ISSUE_TEMPLATE/bug-report.yml
@@ -1,5 +1,5 @@
 name: "\U0001F41B Bug Report"
-description: Help us improve Robosuite by submitting a bug report
+description: Help us improve Robosuite by submitting a bug report!
 body:
   - type: markdown
     attributes:
@@ -20,7 +20,7 @@ body:
     id: information-scripts-examples
     attributes:
       label: Information
-      description: 'The problem arises when using:'
+      description: 'The problem arises when running ABC; the error message is XYZ'
       placeholder: |
         ```
         import robosuite
@@ -47,7 +47,7 @@ body:
   - type: textarea
     id: expected-behavior
     validations:
-      required: true
+      required: false
     attributes:
       label: Expected behavior
       description: "A clear and concise description of what you would expect to happen."

From dfa5f314f559f73f4fd9d5183e46b4191998965e Mon Sep 17 00:00:00 2001
From: Kevin Lin <kevin.lin20000@gmail.com>
Date: Fri, 13 Sep 2024 20:50:10 -0700
Subject: [PATCH 09/17] Update xmlobject docs

---
 docs/modules/objects.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/modules/objects.md b/docs/modules/objects.md
index 99986df6d6..6bd907acb2 100644
--- a/docs/modules/objects.md
+++ b/docs/modules/objects.md
@@ -57,7 +57,7 @@ obj_xml = obj.get_obj().set("pos", array_to_string(pos))    # Set the top-level
 ```
 
 ## Creating a XMLObject
-One can use MuJoCo MJCF XML to generate an object, either as a composition of primitive [geoms](http://mujoco.org/book/modeling.html#geom) or imported from STL files of triangulated [meshes](http://www.mujoco.org/book/modeling.html#mesh). An example is `robosuite.models.objects.xml_objects.BreadObject`. Its [python definition](https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/models/objects/xml_objects.py#L49) is short. Note that all `MujocoXMLObject` classes require both a `fname` and `name` argument, the former which specifies the filepath to the raw XML file and the latter which specifies the in-sim name of the object instantiated. The optional `joints` argument can also specify a custom set of joints to apply to the given object (defaults to "default", which is a single free joint). Additionally, the type of object created can be specified via the `obj_type` argument, and must be one of (`'collision'`, `'visual'`, or `'all'`). Lastly, setting `duplicate_collision_geoms` makes sure that all collision geoms automatically have an associated visual geom as well. Generally, the normal use case is to define a single class corresponding to a specific XML file, as shown below:
+One can use MuJoCo MJCF XML to generate an object, either as a composition of primitive [geoms](http://mujoco.org/book/modeling.html#geom) or imported from STL files of triangulated [meshes](http://www.mujoco.org/book/modeling.html#mesh). An example is `robosuite.models.objects.xml_objects.BreadObject`. Its [python definition](https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/models/objects/xml_objects.py#L49) is short. Note that all `MujocoXMLObject` classes require both a `fname` and `name` argument, the former which specifies the filepath to the raw XML file and the latter which specifies the in-sim name of the object instantiated. The optional `joints` argument can also specify a custom set of joints to apply to the given object (defaults to "default", which is a single free joint). This joint argument determines the DOF of the object as a whole and does not interfere with the joints already in the object. Additionally, the type of object created can be specified via the `obj_type` argument, and must be one of (`'collision'`, `'visual'`, or `'all'`). Lastly, setting `duplicate_collision_geoms` makes sure that all collision geoms automatically have an associated visual geom as well. Generally, the normal use case is to define a single class corresponding to a specific XML file, as shown below:
 ```python
 class BreadObject(MujocoXMLObject):
     def __init__(self, name):

From b3ccef8be109afc1f0a2b6c00eeefc13b9a67c08 Mon Sep 17 00:00:00 2001
From: kevin-thankyou-lin
 <33344633+kevin-thankyou-lin@users.noreply.github.com>
Date: Mon, 16 Sep 2024 20:00:54 -0500
Subject: [PATCH 10/17] Create github issue template for feature-request.yml

---
 .github/ISSUE_TEMPLATE/feature-request.yml | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)
 create mode 100644 .github/ISSUE_TEMPLATE/feature-request.yml

diff --git a/.github/ISSUE_TEMPLATE/feature-request.yml b/.github/ISSUE_TEMPLATE/feature-request.yml
new file mode 100644
index 0000000000..830521c437
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE/feature-request.yml
@@ -0,0 +1,16 @@
+---
+name: Feature Request Template
+about: "For feature requests. Please search for existing issues first. Also see CONTRIBUTING."
+
+---
+
+**Please Describe The Problem To Be Solved**
+(Replace This Text: Please present a concise description of the problem to be addressed by this feature request. Please be clear what parts of the problem are considered to be in-scope and out-of-scope.)
+
+**(Optional): Suggest A Solution**
+(Replace This Text: A concise description of your preferred solution. Things to address include:
+* Details of the technical implementation
+* Tradeoffs made in design decisions
+* Caveats and considerations for the future
+
+If there are multiple solutions, please present each one separately. Save comparisons for the very end.)

From 67d27c249077766b0fae8cd68439976c23ded855 Mon Sep 17 00:00:00 2001
From: kevin-thankyou-lin
 <33344633+kevin-thankyou-lin@users.noreply.github.com>
Date: Mon, 16 Sep 2024 20:05:05 -0500
Subject: [PATCH 11/17] Update feature-request.yml

---
 .github/ISSUE_TEMPLATE/feature-request.yml | 44 ++++++++++++++++------
 1 file changed, 33 insertions(+), 11 deletions(-)

diff --git a/.github/ISSUE_TEMPLATE/feature-request.yml b/.github/ISSUE_TEMPLATE/feature-request.yml
index 830521c437..4b11698b88 100644
--- a/.github/ISSUE_TEMPLATE/feature-request.yml
+++ b/.github/ISSUE_TEMPLATE/feature-request.yml
@@ -1,16 +1,38 @@
 ---
-name: Feature Request Template
-about: "For feature requests. Please search for existing issues first. Also see CONTRIBUTING."
+name: 🛠️ Feature Request
+description: Suggest an idea to help us improve Robosuite :heart:
+title: "[Feature]: "
+labels:
+  - "ty:feature"
 
----
+body:
+  - type: markdown
+    attributes:
+      value: >
+        **Thanks for taking the time to fill out this feature request report! :heart:** Please double check if an issue 
+        [already exists](https://github.com/ARISE-Initiative/robosuite-dev/issues) for
+        your feature.
 
-**Please Describe The Problem To Be Solved**
-(Replace This Text: Please present a concise description of the problem to be addressed by this feature request. Please be clear what parts of the problem are considered to be in-scope and out-of-scope.)
+        We are also happy to accept contributions from our users. For more details see
+        [here](https://github.com/ARISE-Initiative/robosuite-dev/blob/master/CONTRIBUTING.md).
 
-**(Optional): Suggest A Solution**
-(Replace This Text: A concise description of your preferred solution. Things to address include:
-* Details of the technical implementation
-* Tradeoffs made in design decisions
-* Caveats and considerations for the future
+  - type: textarea
+    attributes:
+      label: Description
+      description: |
+        A clear and concise description of the feature you're interested in.
+      value: |
+        <!--- Describe your feature here --->
+    validations:
+      required: true
 
-If there are multiple solutions, please present each one separately. Save comparisons for the very end.)
+  - type: textarea
+    attributes:
+      label: Suggested Solution
+      description: >
+        Describe the solution you'd like. A clear and concise description of what you want to happen. If you have
+        considered alternatives, please describe them.
+      value: |
+        <!--- Describe your solution here --->
+    validations:
+      required: false

From f681960f88a079a68180f1b2cd0dce1e07ca50a8 Mon Sep 17 00:00:00 2001
From: kevin-thankyou-lin
 <33344633+kevin-thankyou-lin@users.noreply.github.com>
Date: Mon, 16 Sep 2024 20:05:21 -0500
Subject: [PATCH 12/17] Update feature-request.yml

---
 .github/ISSUE_TEMPLATE/feature-request.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/ISSUE_TEMPLATE/feature-request.yml b/.github/ISSUE_TEMPLATE/feature-request.yml
index 4b11698b88..2de61de1a0 100644
--- a/.github/ISSUE_TEMPLATE/feature-request.yml
+++ b/.github/ISSUE_TEMPLATE/feature-request.yml
@@ -1,6 +1,6 @@
 ---
 name: 🛠️ Feature Request
-description: Suggest an idea to help us improve Robosuite :heart:
+description: Suggest an idea to help us improve Robosuite!
 title: "[Feature]: "
 labels:
   - "ty:feature"

From 9036ace1dc82bf7c6a222600e754ed049a440021 Mon Sep 17 00:00:00 2001
From: Abhiram824 <abhisuhaas1@gmail.com>
Date: Sun, 3 Nov 2024 16:54:56 -0600
Subject: [PATCH 13/17] changes to make demo scripts working

---
 .gitignore                                    |  1 +
 .../composite/composite_controller_factory.py | 52 +++++++++++++++++++
 .../controllers/config/parts/ik_pose.json     |  7 +++
 .../config/parts/joint_position.json          | 15 ++++++
 .../config/parts/joint_torque.json            | 10 ++++
 .../config/parts/joint_velocity.json          | 11 ++++
 .../controllers/config/parts/osc_pose.json    | 18 +++++++
 .../config/parts/osc_position.json            | 16 ++++++
 .../controllers/parts/controller_factory.py   |  4 +-
 .../demos/demo_collect_and_playback_data.py   |  2 +
 robosuite/demos/demo_control.py               |  9 +++-
 robosuite/demos/demo_device_control.py        |  4 +-
 robosuite/demos/demo_domain_randomization.py  |  4 +-
 robosuite/utils/input_utils.py                |  4 +-
 14 files changed, 148 insertions(+), 9 deletions(-)
 create mode 100644 robosuite/controllers/config/parts/ik_pose.json
 create mode 100644 robosuite/controllers/config/parts/joint_position.json
 create mode 100644 robosuite/controllers/config/parts/joint_torque.json
 create mode 100644 robosuite/controllers/config/parts/joint_velocity.json
 create mode 100644 robosuite/controllers/config/parts/osc_pose.json
 create mode 100644 robosuite/controllers/config/parts/osc_position.json

diff --git a/.gitignore b/.gitignore
index a919c684d4..da7750031b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -18,6 +18,7 @@ eggs/
 lib/
 lib64/
 parts/
+!robosuite/controllers/config/parts
 !robosuite/controllers/parts
 sdist/
 var/
diff --git a/robosuite/controllers/composite/composite_controller_factory.py b/robosuite/controllers/composite/composite_controller_factory.py
index 3a67b227c5..14e5c60b2e 100644
--- a/robosuite/controllers/composite/composite_controller_factory.py
+++ b/robosuite/controllers/composite/composite_controller_factory.py
@@ -1,3 +1,4 @@
+import copy
 import json
 import os
 import pathlib
@@ -18,6 +19,57 @@ def validate_composite_controller_config(config: dict):
             raise ValueError
 
 
+def is_stale_controller_config(config: Dict):
+    """
+    Checks if a controller config is in the format from robosuite versions <= 1.4.1.
+    Does not check for config validity, only the format type.
+
+    Args:
+        config (dict): Controller configuration
+
+    Returns:
+        bool: True if the config is in the old format, False otherwise
+    """
+
+    OLD_CONTROLLER_TYPES = ["JOINT_VELOCITY", "JOINT_TORQUE", "JOINT_POSITION", "OSC_POSITION", "OSC_POSE", "IK_POSE"]
+    if "body_parts_controller_configs" not in config and "type" in config:
+        return config["type"] in OLD_CONTROLLER_TYPES
+    return False
+
+
+def refactor_composite_controller_config(controller_config, robot_type, arms):
+    """
+    Checks if a controller config is in the format from robosuite versions <= 1.4.1.
+    If this is the case, converts the controller config to the new composite controller
+    config format in robosuite versions >= 1.5. If the robot has a default
+    controller config use that and override the arms with the old controller config.
+    If not just use the old controller config for arms.
+
+    Args:
+        old_controller_config (dict): Old controller config
+
+    Returns:
+        dict: New controller config
+    """
+    if not is_stale_controller_config(controller_config):
+        return controller_config
+
+    config_dir = pathlib.Path(robosuite.__file__).parent / "controllers/config/robots/"
+    name = robot_type.lower()
+    configs = os.listdir(config_dir)
+    if f"default_{name}.json" in configs:
+        new_controller_config = load_composite_controller_config(robot=name)
+    else:
+        new_controller_config = {}
+        new_controller_config["type"] = "BASIC"
+        new_controller_config["body_parts"] = {}
+
+    for arm in arms:
+        new_controller_config["body_parts"][arm] = copy.deepcopy(controller_config)
+        new_controller_config["body_parts"][arm]["gripper"] = {"type": "GRIP"}
+    return new_controller_config
+
+
 def load_composite_controller_config(controller: Optional[str] = None, robot: Optional[str] = None) -> Optional[Dict]:
     """
     Utility function that loads the desired composite controller and returns the loaded configuration as a dict
diff --git a/robosuite/controllers/config/parts/ik_pose.json b/robosuite/controllers/config/parts/ik_pose.json
new file mode 100644
index 0000000000..db6191e617
--- /dev/null
+++ b/robosuite/controllers/config/parts/ik_pose.json
@@ -0,0 +1,7 @@
+{
+    "type" : "IK_POSE",
+    "ik_pos_limit": 0.02,
+    "ik_ori_limit": 0.05,
+    "interpolation": null,
+    "ramp_ratio": 0.2
+  }
\ No newline at end of file
diff --git a/robosuite/controllers/config/parts/joint_position.json b/robosuite/controllers/config/parts/joint_position.json
new file mode 100644
index 0000000000..bc25f5cb91
--- /dev/null
+++ b/robosuite/controllers/config/parts/joint_position.json
@@ -0,0 +1,15 @@
+{
+    "type": "JOINT_POSITION",
+    "input_max": 1,
+    "input_min": -1,
+    "output_max": 0.05,
+    "output_min": -0.05,
+    "kp": 50,
+    "damping_ratio": 1,
+    "impedance_mode": "fixed",
+    "kp_limits": [0, 300],
+    "damping_ratio_limits": [0, 10],
+    "qpos_limits": null,
+    "interpolation": null,
+    "ramp_ratio": 0.2
+  }
\ No newline at end of file
diff --git a/robosuite/controllers/config/parts/joint_torque.json b/robosuite/controllers/config/parts/joint_torque.json
new file mode 100644
index 0000000000..8d648428ea
--- /dev/null
+++ b/robosuite/controllers/config/parts/joint_torque.json
@@ -0,0 +1,10 @@
+{
+    "type": "JOINT_TORQUE",
+    "input_max": 1,
+    "input_min": -1,
+    "output_max": 0.1,
+    "output_min": -0.1,
+    "torque_limits": null,
+    "interpolation": null,
+    "ramp_ratio": 0.2
+  }
\ No newline at end of file
diff --git a/robosuite/controllers/config/parts/joint_velocity.json b/robosuite/controllers/config/parts/joint_velocity.json
new file mode 100644
index 0000000000..4a9c7c86aa
--- /dev/null
+++ b/robosuite/controllers/config/parts/joint_velocity.json
@@ -0,0 +1,11 @@
+{
+    "type" : "JOINT_VELOCITY",
+    "input_max": 1,
+    "input_min": -1,
+    "output_max": 0.5,
+    "output_min": -0.5,
+    "kp": 3.0,
+    "velocity_limits": [-1,1],
+    "interpolation": null,
+    "ramp_ratio": 0.2
+  }
\ No newline at end of file
diff --git a/robosuite/controllers/config/parts/osc_pose.json b/robosuite/controllers/config/parts/osc_pose.json
new file mode 100644
index 0000000000..30b20677e7
--- /dev/null
+++ b/robosuite/controllers/config/parts/osc_pose.json
@@ -0,0 +1,18 @@
+{
+    "type": "OSC_POSE",
+    "input_max": 1,
+    "input_min": -1,
+    "output_max": [0.05, 0.05, 0.05, 0.5, 0.5, 0.5],
+    "output_min": [-0.05, -0.05, -0.05, -0.5, -0.5, -0.5],
+    "kp": 150,
+    "damping_ratio": 1,
+    "impedance_mode": "fixed",
+    "kp_limits": [0, 300],
+    "damping_ratio_limits": [0, 10],
+    "position_limits": null,
+    "orientation_limits": null,
+    "uncouple_pos_ori": true,
+    "control_delta": true,
+    "interpolation": null,
+    "ramp_ratio": 0.2
+  }
\ No newline at end of file
diff --git a/robosuite/controllers/config/parts/osc_position.json b/robosuite/controllers/config/parts/osc_position.json
new file mode 100644
index 0000000000..c75e51238c
--- /dev/null
+++ b/robosuite/controllers/config/parts/osc_position.json
@@ -0,0 +1,16 @@
+{
+    "type": "OSC_POSITION",
+    "input_max": 1,
+    "input_min": -1,
+    "output_max": [0.05, 0.05, 0.05],
+    "output_min": [-0.05, -0.05, -0.05],
+    "kp": 150,
+    "damping_ratio": 1,
+    "impedance_mode": "fixed",
+    "kp_limits": [0, 300],
+    "damping_ratio_limits": [0, 10],
+    "position_limits": null,
+    "control_delta": true,
+    "interpolation": null,
+    "ramp_ratio": 0.2
+  }
\ No newline at end of file
diff --git a/robosuite/controllers/parts/controller_factory.py b/robosuite/controllers/parts/controller_factory.py
index b5c6331852..48be504e0b 100644
--- a/robosuite/controllers/parts/controller_factory.py
+++ b/robosuite/controllers/parts/controller_factory.py
@@ -52,7 +52,7 @@ def load_part_controller_config(custom_fpath=None, default_controller=None):
 
         # Store the default controller config fpath associated with the requested controller
         custom_fpath = os.path.join(
-            os.path.dirname(__file__), "..", "controllers/config/parts/{}.json".format(default_controller.lower())
+            os.path.dirname(__file__), "..", "config/parts/{}.json".format(default_controller.lower())
         )
 
     # Assert that the fpath to load the controller is not empty
@@ -122,7 +122,7 @@ def arm_controller_factory(name, params):
             ori_interpolator = deepcopy(interpolator)
             ori_interpolator.set_states(dim=4, ori="quat")
 
-        from robosuite.controllers.arm.ik import InverseKinematicsController
+        from robosuite.controllers.parts.arm.ik import InverseKinematicsController
 
         return InverseKinematicsController(
             interpolator_pos=interpolator,
diff --git a/robosuite/demos/demo_collect_and_playback_data.py b/robosuite/demos/demo_collect_and_playback_data.py
index 1bb71c316a..fb798fb075 100644
--- a/robosuite/demos/demo_collect_and_playback_data.py
+++ b/robosuite/demos/demo_collect_and_playback_data.py
@@ -61,10 +61,12 @@ def playback_trajectory(env, ep_dir):
         for state in states:
             env.sim.set_state_from_flattened(state)
             env.sim.forward()
+            env.viewer.update()
             env.render()
             t += 1
             if t % 100 == 0:
                 print(t)
+    env.close()
 
 
 if __name__ == "__main__":
diff --git a/robosuite/demos/demo_control.py b/robosuite/demos/demo_control.py
index 32d0dafd01..0b27f01cf7 100644
--- a/robosuite/demos/demo_control.py
+++ b/robosuite/demos/demo_control.py
@@ -47,6 +47,7 @@
 from typing import Dict
 
 import robosuite as suite
+from robosuite.controllers.composite.composite_controller_factory import refactor_composite_controller_config
 from robosuite.utils.input_utils import *
 
 if __name__ == "__main__":
@@ -89,10 +90,14 @@
     joint_dim = 6 if options["robots"] == "UR5e" else (16 if options["robots"] == "GR1" else 7)
 
     # Choose controller
-    controller_name = choose_controller()
+    controller_name = choose_controller(part_controllers=True)
 
     # Load the desired controller
-    options["controller_configs"] = suite.load_part_controller_config(default_controller=controller_name)
+    arm_controller_config = suite.load_part_controller_config(default_controller=controller_name)
+    robot = options["robots"][0] if isinstance(options["robots"], list) else options["robots"]
+    options["controller_configs"] = refactor_composite_controller_config(
+        arm_controller_config, robot, ["right", "left"]
+    )
 
     # Define the pre-defined controller actions to use (action_dim, num_test_steps, test_value)
     controller_settings = {
diff --git a/robosuite/demos/demo_device_control.py b/robosuite/demos/demo_device_control.py
index 1788cc2c14..225a5cbc59 100644
--- a/robosuite/demos/demo_device_control.py
+++ b/robosuite/demos/demo_device_control.py
@@ -198,9 +198,9 @@
             # If action_dict is none, then this a reset so we should break
             if action_dict is None:
                 break
-
-            action = action_dict[action_key]
+            arm_action = action_dict[action_key]
             grasp = action_dict[gripper_key]
+            action = np.concatenate([arm_action, grasp])
 
             # If the current grasp is active (1) and last grasp is not (-1) (i.e.: grasping input just pressed),
             # toggle arm control and / or camera viewing angle if requested
diff --git a/robosuite/demos/demo_domain_randomization.py b/robosuite/demos/demo_domain_randomization.py
index 5f5503cf96..e1113ec5ad 100644
--- a/robosuite/demos/demo_domain_randomization.py
+++ b/robosuite/demos/demo_domain_randomization.py
@@ -2,6 +2,8 @@
 Script to showcase domain randomization functionality.
 """
 
+import mujoco
+
 import robosuite.macros as macros
 from robosuite.utils.input_utils import *
 from robosuite.wrappers import DomainRandomizationWrapper
@@ -10,7 +12,7 @@
 macros.USING_INSTANCE_RANDOMIZATION = True
 
 if __name__ == "__main__":
-
+    assert mujoco.__version__ == "3.1.1", "Script requires mujoco-py version 3.1.1 to run"
     # Create dict to hold options that will be passed to env creation call
     options = {}
 
diff --git a/robosuite/utils/input_utils.py b/robosuite/utils/input_utils.py
index 1931b7539b..a7f6860323 100644
--- a/robosuite/utils/input_utils.py
+++ b/robosuite/utils/input_utils.py
@@ -39,7 +39,7 @@ def choose_environment():
     return envs[k]
 
 
-def choose_controller():
+def choose_controller(part_controllers=False):
     """
     Prints out controller options, and returns the requested controller name
 
@@ -47,7 +47,7 @@ def choose_controller():
         str: Chosen controller name
     """
     # get the list of all controllers
-    controllers = list(suite.ALL_COMPOSITE_CONTROLLERS)
+    controllers = list(suite.ALL_PART_CONTROLLERS) if part_controllers else list(suite.ALL_COMPOSITE_CONTROLLERS)
 
     # Select controller to use
     print("Here is a list of controllers in the suite:\n")

From 60f09668e51e3873b9bd13d3c1c96d13e4c5fae7 Mon Sep 17 00:00:00 2001
From: Abhiram824 <abhisuhaas1@gmail.com>
Date: Sun, 3 Nov 2024 17:35:56 -0600
Subject: [PATCH 14/17] updated device usage to match collect human demos
 script

---
 robosuite/demos/demo_device_control.py | 101 ++++++++++++-------------
 1 file changed, 50 insertions(+), 51 deletions(-)

diff --git a/robosuite/demos/demo_device_control.py b/robosuite/demos/demo_device_control.py
index 225a5cbc59..3e35c32ff6 100644
--- a/robosuite/demos/demo_device_control.py
+++ b/robosuite/demos/demo_device_control.py
@@ -94,6 +94,7 @@
 
 import robosuite as suite
 from robosuite import load_composite_controller_config
+from robosuite.controllers.composite.composite_controller import WholeBody
 from robosuite.wrappers import VisualizationWrapper
 
 if __name__ == "__main__":
@@ -107,7 +108,12 @@
     parser.add_argument("--arm", type=str, default="right", help="Which arm to control (eg bimanual) 'right' or 'left'")
     parser.add_argument("--switch-on-grasp", action="store_true", help="Switch gripper control on gripper action")
     parser.add_argument("--toggle-camera-on-grasp", action="store_true", help="Switch camera angle on gripper action")
-    parser.add_argument("--controller", type=str, default="BASIC", help="Choice of controller. Can be 'ik' or 'osc'")
+    parser.add_argument(
+        "--controller",
+        type=str,
+        default=None,
+        help="Choice of controller. Can be generic (eg. 'BASIC' or 'WHOLE_BODY_MINK_IK') or json file (see robosuite/controllers/config for examples)",
+    )
     parser.add_argument("--device", type=str, default="keyboard")
     parser.add_argument("--pos-sensitivity", type=float, default=1.0, help="How much to scale position user inputs")
     parser.add_argument("--rot-sensitivity", type=float, default=1.0, help="How much to scale rotation user inputs")
@@ -161,6 +167,10 @@
         from robosuite.devices import SpaceMouse
 
         device = SpaceMouse(env=env, pos_sensitivity=args.pos_sensitivity, rot_sensitivity=args.rot_sensitivity)
+    elif args.device == "mjgui":
+        from robosuite.devices.mjgui import MJGUI
+
+        device = MJGUI(env=env)
     else:
         raise Exception("Invalid device choice: choose either 'keyboard' or 'spacemouse'.")
 
@@ -178,61 +188,50 @@
 
         # Initialize device control
         device.start_control()
-        action_dict = device.input2action()
-
-        # get key with "delta" in it
-        action_key = [key for key in action_dict.keys() if "delta" in key]
-        assert len(action_key) == 1, "Error: Key with 'delta' in it not found!"
-        action_key = action_key[0]
-        gripper_key = [key for key in action_dict.keys() if "gripper" in key]
-        assert len(gripper_key) == 1, "Error: Key with 'gripper' in it not found!"
-        gripper_key = gripper_key[0]
-
+        all_prev_gripper_actions = [
+            {
+                f"{robot_arm}_gripper": np.repeat([0], robot.gripper[robot_arm].dof)
+                for robot_arm in robot.arms
+                if robot.gripper[robot_arm].dof > 0
+            }
+            for robot in env.robots
+        ]
+
+        # Loop until we get a reset from the input or the task completes
         while True:
             # Set active robot
-            active_robot = env.robots[0] if args.config == "bimanual" else env.robots[args.arm == "left"]
+            active_robot = env.robots[device.active_robot]
 
             # Get the newest action
-            action_dict = device.input2action()
+            input_ac_dict = device.input2action()
 
-            # If action_dict is none, then this a reset so we should break
-            if action_dict is None:
+            # If action is none, then this a reset so we should break
+            if input_ac_dict is None:
                 break
-            arm_action = action_dict[action_key]
-            grasp = action_dict[gripper_key]
-            action = np.concatenate([arm_action, grasp])
-
-            # If the current grasp is active (1) and last grasp is not (-1) (i.e.: grasping input just pressed),
-            # toggle arm control and / or camera viewing angle if requested
-            if last_grasp < 0 < grasp:
-                if args.switch_on_grasp:
-                    args.arm = "left" if args.arm == "right" else "right"
-                if args.toggle_camera_on_grasp:
-                    cam_id = (cam_id + 1) % num_cam
-                    env.viewer.set_camera(camera_id=cam_id)
-            # Update last grasp
-            last_grasp = grasp
-
-            # Fill out the rest of the action space if necessary
-            rem_action_dim = env.action_dim - action.size
-            if rem_action_dim > 0:
-                # Initialize remaining action space
-                rem_action = np.zeros(rem_action_dim)
-                # This is a multi-arm setting, choose which arm to control and fill the rest with zeros
-                if args.arm == "right":
-                    action = np.concatenate([action, rem_action])
-                elif args.arm == "left":
-                    action = np.concatenate([rem_action, action])
+
+            from copy import deepcopy
+
+            action_dict = deepcopy(input_ac_dict)  # {}
+            # set arm actions
+            for arm in active_robot.arms:
+                if isinstance(active_robot.composite_controller, WholeBody):  # input type passed to joint_action_policy
+                    controller_input_type = active_robot.composite_controller.joint_action_policy.input_type
+                else:
+                    controller_input_type = active_robot.part_controllers[arm].input_type
+
+                if controller_input_type == "delta":
+                    action_dict[arm] = input_ac_dict[f"{arm}_delta"]
+                elif controller_input_type == "absolute":
+                    action_dict[arm] = input_ac_dict[f"{arm}_abs"]
                 else:
-                    # Only right and left arms supported
-                    print(
-                        "Error: Unsupported arm specified -- "
-                        "must be either 'right' or 'left'! Got: {}".format(args.arm)
-                    )
-            elif rem_action_dim < 0:
-                # We're in an environment with no gripper action space, so trim the action space to be the action dim
-                action = action[: env.action_dim]
-
-            # Step through the simulation and render
-            obs, reward, done, info = env.step(action)
+                    raise ValueError
+
+            # Maintain gripper state for each robot but only update the active robot with action
+            env_action = [robot.create_action_vector(all_prev_gripper_actions[i]) for i, robot in enumerate(env.robots)]
+            env_action[device.active_robot] = active_robot.create_action_vector(action_dict)
+            env_action = np.concatenate(env_action)
+            for gripper_ac in all_prev_gripper_actions[device.active_robot]:
+                all_prev_gripper_actions[device.active_robot][gripper_ac] = action_dict[gripper_ac]
+
+            env.step(env_action)
             env.render()

From 0e1db5b38fe7c6fbd6a8626dfc37f868087ef933 Mon Sep 17 00:00:00 2001
From: snasiriany <snasiriany@gmail.com>
Date: Sun, 3 Nov 2024 18:45:49 -0600
Subject: [PATCH 15/17] add max frame rate feature to relevant demo scripts

---
 .../demos/demo_collect_and_playback_data.py    | 17 +++++++++++++++--
 robosuite/demos/demo_composite_robot.py        | 18 +++++++++++++++++-
 robosuite/demos/demo_control.py                | 17 +++++++++++++++++
 robosuite/demos/demo_device_control.py         | 13 +++++++++++++
 robosuite/demos/demo_gripper_selection.py      | 11 +++++++++++
 robosuite/demos/demo_random_action.py          | 12 ++++++++++++
 robosuite/demos/demo_renderers.py              | 11 +++++++++++
 .../scripts/collect_human_demonstrations.py    | 17 +++++++++++++++--
 8 files changed, 111 insertions(+), 5 deletions(-)

diff --git a/robosuite/demos/demo_collect_and_playback_data.py b/robosuite/demos/demo_collect_and_playback_data.py
index 1bb71c316a..ab94ff6f2c 100644
--- a/robosuite/demos/demo_collect_and_playback_data.py
+++ b/robosuite/demos/demo_collect_and_playback_data.py
@@ -7,6 +7,7 @@
 
 import argparse
 import os
+import time
 from glob import glob
 
 import numpy as np
@@ -15,7 +16,7 @@
 from robosuite.wrappers import DataCollectionWrapper
 
 
-def collect_random_trajectory(env, timesteps=1000):
+def collect_random_trajectory(env, timesteps=1000, max_fr=None):
     """Run a random policy to collect trajectories.
 
     The rollout trajectory is saved to files in npz format.
@@ -24,18 +25,27 @@ def collect_random_trajectory(env, timesteps=1000):
     Args:
         env (MujocoEnv): environment instance to collect trajectories from
         timesteps(int): how many environment timesteps to run for a given trajectory
+        max_fr (int): if specified, pause the simulation whenever simulation runs faster than max_fr
     """
 
     env.reset()
     dof = env.action_dim
 
     for t in range(timesteps):
+        start = time.time()
         action = np.random.randn(dof)
         env.step(action)
         env.render()
         if t % 100 == 0:
             print(t)
 
+        # limit frame rate if necessary
+        if max_fr is not None:
+            elapsed = time.time() - start
+            diff = 1 / max_fr - elapsed
+            if diff > 0:
+                time.sleep(diff)
+
 
 def playback_trajectory(env, ep_dir):
     """Playback data from an episode.
@@ -74,6 +84,9 @@ def playback_trajectory(env, ep_dir):
     parser.add_argument("--robots", nargs="+", type=str, default="Panda", help="Which robot(s) to use in the env")
     parser.add_argument("--directory", type=str, default="/tmp/")
     parser.add_argument("--timesteps", type=int, default=1000)
+    parser.add_argument(
+        "--max_fr", default=25, type=int, help="sleep when simluation runs faster than specified frame rate"
+    )
     args = parser.parse_args()
 
     # create original environment
@@ -98,7 +111,7 @@ def playback_trajectory(env, ep_dir):
 
     # collect some data
     print("Collecting some random data...")
-    collect_random_trajectory(env, timesteps=args.timesteps)
+    collect_random_trajectory(env, timesteps=args.timesteps, max_fr=args.max_fr)
 
     # playback some data
     _ = input("Press any key to begin the playback...")
diff --git a/robosuite/demos/demo_composite_robot.py b/robosuite/demos/demo_composite_robot.py
index a178032276..b05ed7337b 100644
--- a/robosuite/demos/demo_composite_robot.py
+++ b/robosuite/demos/demo_composite_robot.py
@@ -1,4 +1,5 @@
 import argparse
+import time
 from typing import Dict, List, Union
 
 import numpy as np
@@ -14,6 +15,7 @@ def create_and_test_env(
     robots: Union[str, List[str]],
     controller_config: Dict,
     headless: bool = False,
+    max_fr: int = None,
 ):
 
     config = {
@@ -38,9 +40,18 @@ def create_and_test_env(
 
     # Runs a few steps of the simulation as a sanity check
     for i in range(100):
+        start = time.time()
+
         action = np.random.uniform(low, high)
         obs, reward, done, _ = env.step(action)
 
+        # limit frame rate if necessary
+        if max_fr is not None:
+            elapsed = time.time() - start
+            diff = 1 / max_fr - elapsed
+            if diff > 0:
+                time.sleep(diff)
+
     env.close()
 
 
@@ -53,6 +64,9 @@ def create_and_test_env(
     parser.add_argument("--grippers", nargs="+", type=str, default=["PandaGripper"])
     parser.add_argument("--env", type=str, default="Lift")
     parser.add_argument("--headless", action="store_true")
+    parser.add_argument(
+        "--max_fr", default=25, type=int, help="sleep when simluation runs faster than specified frame rate"
+    )
 
     args = parser.parse_args()
 
@@ -63,4 +77,6 @@ def create_and_test_env(
     create_composite_robot(name, base=args.base, robot=args.robot, grippers=args.grippers)
     controller_config = load_composite_controller_config(controller="BASIC", robot=name)
 
-    create_and_test_env(env="Lift", robots=name, controller_config=controller_config, headless=args.headless)
+    create_and_test_env(
+        env="Lift", robots=name, controller_config=controller_config, headless=args.headless, max_fr=args.max_fr
+    )
diff --git a/robosuite/demos/demo_control.py b/robosuite/demos/demo_control.py
index 32d0dafd01..8d7fab6cdb 100644
--- a/robosuite/demos/demo_control.py
+++ b/robosuite/demos/demo_control.py
@@ -44,11 +44,14 @@
 
 """
 
+import time
 from typing import Dict
 
 import robosuite as suite
 from robosuite.utils.input_utils import *
 
+MAX_FR = 25  # max frame rate for running simluation
+
 if __name__ == "__main__":
 
     # Create dict to hold options that will be passed to env creation call
@@ -143,6 +146,7 @@
     while count < num_test_steps:
         action = neutral.copy()
         for i in range(steps_per_action):
+            start = time.time()
             if controller_name in {"IK_POSE", "OSC_POSE"} and count > 2:
                 # Set this value to be the scaled axis angle vector
                 vec = np.zeros(3)
@@ -153,10 +157,23 @@
             total_action = np.tile(action, n)
             env.step(total_action)
             env.render()
+
+            # limit frame rate if necessary
+            elapsed = time.time() - start
+            diff = 1 / MAX_FR - elapsed
+            if diff > 0:
+                time.sleep(diff)
         for i in range(steps_per_rest):
+            start = time.time()
             total_action = np.tile(neutral, n)
             env.step(total_action)
             env.render()
+
+            # limit frame rate if necessary
+            elapsed = time.time() - start
+            diff = 1 / MAX_FR - elapsed
+            if diff > 0:
+                time.sleep(diff)
         count += 1
 
     # Shut down this env before starting the next test
diff --git a/robosuite/demos/demo_device_control.py b/robosuite/demos/demo_device_control.py
index 1788cc2c14..ed4b93852f 100644
--- a/robosuite/demos/demo_device_control.py
+++ b/robosuite/demos/demo_device_control.py
@@ -89,6 +89,7 @@
 """
 
 import argparse
+import time
 
 import numpy as np
 
@@ -111,6 +112,9 @@
     parser.add_argument("--device", type=str, default="keyboard")
     parser.add_argument("--pos-sensitivity", type=float, default=1.0, help="How much to scale position user inputs")
     parser.add_argument("--rot-sensitivity", type=float, default=1.0, help="How much to scale rotation user inputs")
+    parser.add_argument(
+        "--max_fr", default=25, type=int, help="sleep when simluation runs faster than specified frame rate"
+    )
     args = parser.parse_args()
 
     # Get controller config
@@ -189,6 +193,8 @@
         gripper_key = gripper_key[0]
 
         while True:
+            start = time.time()
+
             # Set active robot
             active_robot = env.robots[0] if args.config == "bimanual" else env.robots[args.arm == "left"]
 
@@ -236,3 +242,10 @@
             # Step through the simulation and render
             obs, reward, done, info = env.step(action)
             env.render()
+
+            # limit frame rate if necessary
+            if args.max_fr is not None:
+                elapsed = time.time() - start
+                diff = 1 / args.max_fr - elapsed
+                if diff > 0:
+                    time.sleep(diff)
diff --git a/robosuite/demos/demo_gripper_selection.py b/robosuite/demos/demo_gripper_selection.py
index 1f87a800b8..1da85c9ddd 100644
--- a/robosuite/demos/demo_gripper_selection.py
+++ b/robosuite/demos/demo_gripper_selection.py
@@ -2,11 +2,15 @@
 This script shows you how to select gripper for an environment.
 This is controlled by gripper_type keyword argument.
 """
+import time
+
 import numpy as np
 
 import robosuite as suite
 from robosuite import ALL_GRIPPERS
 
+MAX_FR = 25  # max frame rate for running simluation
+
 if __name__ == "__main__":
 
     for gripper in ALL_GRIPPERS:
@@ -34,6 +38,7 @@
 
         # Run random policy
         for t in range(100):
+            start = time.time()
             env.render()
             action = np.random.uniform(low, high)
             observation, reward, done, info = env.step(action)
@@ -41,5 +46,11 @@
                 print("Episode finished after {} timesteps".format(t + 1))
                 break
 
+            # limit frame rate if necessary
+            elapsed = time.time() - start
+            diff = 1 / MAX_FR - elapsed
+            if diff > 0:
+                time.sleep(diff)
+
         # close window
         env.close()
diff --git a/robosuite/demos/demo_random_action.py b/robosuite/demos/demo_random_action.py
index 91993bab3e..6ce751c1c9 100644
--- a/robosuite/demos/demo_random_action.py
+++ b/robosuite/demos/demo_random_action.py
@@ -1,5 +1,9 @@
+import time
+
 from robosuite.utils.input_utils import *
 
+MAX_FR = 25  # max frame rate for running simluation
+
 if __name__ == "__main__":
 
     # Create dict to hold options that will be passed to env creation call
@@ -53,6 +57,14 @@
 
     # do visualization
     for i in range(10000):
+        start = time.time()
+
         action = np.random.uniform(low, high)
         obs, reward, done, _ = env.step(action)
         env.render()
+
+        # limit frame rate if necessary
+        elapsed = time.time() - start
+        diff = 1 / MAX_FR - elapsed
+        if diff > 0:
+            time.sleep(diff)
diff --git a/robosuite/demos/demo_renderers.py b/robosuite/demos/demo_renderers.py
index dc31a16e94..d4d0d351d4 100644
--- a/robosuite/demos/demo_renderers.py
+++ b/robosuite/demos/demo_renderers.py
@@ -1,5 +1,6 @@
 import argparse
 import json
+import time
 
 import numpy as np
 
@@ -7,6 +8,8 @@
 import robosuite.utils.transform_utils as T
 from robosuite.utils.input_utils import *
 
+MAX_FR = 25  # max frame rate for running simluation
+
 
 def str2bool(v):
     if v.lower() in ("yes", "true", "t", "y", "1"):
@@ -102,9 +105,17 @@ def print_command(char, info):
 
     # do visualization
     for i in range(10000):
+        start = time.time()
+
         action = np.random.uniform(low, high)
         obs, reward, done, _ = env.step(action)
         env.render()
 
+        # limit frame rate if necessary
+        elapsed = time.time() - start
+        diff = 1 / MAX_FR - elapsed
+        if diff > 0:
+            time.sleep(diff)
+
     env.close_renderer()
     print("Done.")
diff --git a/robosuite/scripts/collect_human_demonstrations.py b/robosuite/scripts/collect_human_demonstrations.py
index a78ad2d639..379eb14d4e 100644
--- a/robosuite/scripts/collect_human_demonstrations.py
+++ b/robosuite/scripts/collect_human_demonstrations.py
@@ -20,7 +20,7 @@
 from robosuite.wrappers import DataCollectionWrapper, VisualizationWrapper
 
 
-def collect_human_trajectory(env, device, arm):
+def collect_human_trajectory(env, device, arm, max_fr):
     """
     Use the device (keyboard or SpaceNav 3D mouse) to collect a demonstration.
     The rollout trajectory is saved to files in npz format.
@@ -30,6 +30,7 @@ def collect_human_trajectory(env, device, arm):
         env (MujocoEnv): environment to control
         device (Device): to receive controls from the device
         arms (str): which arm to control (eg bimanual) 'right' or 'left'
+        max_fr (int): if specified, pause the simulation whenever simulation runs faster than max_fr
     """
 
     env.reset()
@@ -53,6 +54,8 @@ def collect_human_trajectory(env, device, arm):
 
     # Loop until we get a reset from the input or the task completes
     while True:
+        start = time.time()
+
         # Set active robot
         active_robot = env.robots[device.active_robot]
 
@@ -103,6 +106,13 @@ def collect_human_trajectory(env, device, arm):
         else:
             task_completion_hold_count = -1  # null the counter if there's no success
 
+        # limit frame rate if necessary
+        if max_fr is not None:
+            elapsed = time.time() - start
+            diff = 1 / max_fr - elapsed
+            if diff > 0:
+                time.sleep(diff)
+
     # cleanup for end of data collection episodes
     env.close()
 
@@ -228,6 +238,9 @@ def gather_demonstrations_as_hdf5(directory, out_dir, env_info):
         default="mjviewer",
         help="Use Mujoco's builtin interactive viewer (mjviewer) or OpenCV viewer (mujoco)",
     )
+    parser.add_argument(
+        "--max_fr", default=25, type=int, help="sleep when simluation runs faster than specified frame rate"
+    )
     args = parser.parse_args()
 
     # Get controller config
@@ -298,5 +311,5 @@ def gather_demonstrations_as_hdf5(directory, out_dir, env_info):
 
     # collect demonstrations
     while True:
-        collect_human_trajectory(env, device, args.arm)
+        collect_human_trajectory(env, device, args.arm, args.max_fr)
         gather_demonstrations_as_hdf5(tmp_directory, new_dir, env_info)

From 885a2a5c4a6d5b64c0b032ff300c17f5233e5360 Mon Sep 17 00:00:00 2001
From: Abhiram824 <abhisuhaas1@gmail.com>
Date: Tue, 5 Nov 2024 20:59:59 -0600
Subject: [PATCH 16/17] cleanup demo fixes

---
 .gitignore                                         |  2 +-
 .../composite/composite_controller_factory.py      | 14 +++++++-------
 .../config/{ => default}/parts/ik_pose.json        |  0
 .../config/{ => default}/parts/joint_position.json |  0
 .../config/{ => default}/parts/joint_torque.json   |  0
 .../config/{ => default}/parts/joint_velocity.json |  0
 .../config/{ => default}/parts/osc_pose.json       |  0
 .../config/{ => default}/parts/osc_position.json   |  0
 robosuite/controllers/parts/controller_factory.py  |  2 +-
 robosuite/demos/demo_collect_and_playback_data.py  | 11 +++++++++--
 robosuite/demos/demo_device_control.py             |  2 +-
 11 files changed, 19 insertions(+), 12 deletions(-)
 rename robosuite/controllers/config/{ => default}/parts/ik_pose.json (100%)
 rename robosuite/controllers/config/{ => default}/parts/joint_position.json (100%)
 rename robosuite/controllers/config/{ => default}/parts/joint_torque.json (100%)
 rename robosuite/controllers/config/{ => default}/parts/joint_velocity.json (100%)
 rename robosuite/controllers/config/{ => default}/parts/osc_pose.json (100%)
 rename robosuite/controllers/config/{ => default}/parts/osc_position.json (100%)

diff --git a/.gitignore b/.gitignore
index da7750031b..17b247decf 100644
--- a/.gitignore
+++ b/.gitignore
@@ -18,7 +18,7 @@ eggs/
 lib/
 lib64/
 parts/
-!robosuite/controllers/config/parts
+!robosuite/controllers/config/default/parts
 !robosuite/controllers/parts
 sdist/
 var/
diff --git a/robosuite/controllers/composite/composite_controller_factory.py b/robosuite/controllers/composite/composite_controller_factory.py
index 14e5c60b2e..53975a7083 100644
--- a/robosuite/controllers/composite/composite_controller_factory.py
+++ b/robosuite/controllers/composite/composite_controller_factory.py
@@ -19,21 +19,21 @@ def validate_composite_controller_config(config: dict):
             raise ValueError
 
 
-def is_stale_controller_config(config: Dict):
+def is_arm_controller_config(config: Dict):
     """
-    Checks if a controller config is in the format from robosuite versions <= 1.4.1.
-    Does not check for config validity, only the format type.
+    Checks if a controller config is an arm part config as a opposed to a composite
+    controller config.
 
     Args:
         config (dict): Controller configuration
 
     Returns:
-        bool: True if the config is in the old format, False otherwise
+        bool: True if the config is in the for the arm-only, False otherwise
     """
 
-    OLD_CONTROLLER_TYPES = ["JOINT_VELOCITY", "JOINT_TORQUE", "JOINT_POSITION", "OSC_POSITION", "OSC_POSE", "IK_POSE"]
+    ARM_CONTROLLER_TYPES = ["JOINT_VELOCITY", "JOINT_TORQUE", "JOINT_POSITION", "OSC_POSITION", "OSC_POSE", "IK_POSE"]
     if "body_parts_controller_configs" not in config and "type" in config:
-        return config["type"] in OLD_CONTROLLER_TYPES
+        return config["type"] in ARM_CONTROLLER_TYPES
     return False
 
 
@@ -51,7 +51,7 @@ def refactor_composite_controller_config(controller_config, robot_type, arms):
     Returns:
         dict: New controller config
     """
-    if not is_stale_controller_config(controller_config):
+    if not is_arm_controller_config(controller_config):
         return controller_config
 
     config_dir = pathlib.Path(robosuite.__file__).parent / "controllers/config/robots/"
diff --git a/robosuite/controllers/config/parts/ik_pose.json b/robosuite/controllers/config/default/parts/ik_pose.json
similarity index 100%
rename from robosuite/controllers/config/parts/ik_pose.json
rename to robosuite/controllers/config/default/parts/ik_pose.json
diff --git a/robosuite/controllers/config/parts/joint_position.json b/robosuite/controllers/config/default/parts/joint_position.json
similarity index 100%
rename from robosuite/controllers/config/parts/joint_position.json
rename to robosuite/controllers/config/default/parts/joint_position.json
diff --git a/robosuite/controllers/config/parts/joint_torque.json b/robosuite/controllers/config/default/parts/joint_torque.json
similarity index 100%
rename from robosuite/controllers/config/parts/joint_torque.json
rename to robosuite/controllers/config/default/parts/joint_torque.json
diff --git a/robosuite/controllers/config/parts/joint_velocity.json b/robosuite/controllers/config/default/parts/joint_velocity.json
similarity index 100%
rename from robosuite/controllers/config/parts/joint_velocity.json
rename to robosuite/controllers/config/default/parts/joint_velocity.json
diff --git a/robosuite/controllers/config/parts/osc_pose.json b/robosuite/controllers/config/default/parts/osc_pose.json
similarity index 100%
rename from robosuite/controllers/config/parts/osc_pose.json
rename to robosuite/controllers/config/default/parts/osc_pose.json
diff --git a/robosuite/controllers/config/parts/osc_position.json b/robosuite/controllers/config/default/parts/osc_position.json
similarity index 100%
rename from robosuite/controllers/config/parts/osc_position.json
rename to robosuite/controllers/config/default/parts/osc_position.json
diff --git a/robosuite/controllers/parts/controller_factory.py b/robosuite/controllers/parts/controller_factory.py
index 48be504e0b..8c780f8d48 100644
--- a/robosuite/controllers/parts/controller_factory.py
+++ b/robosuite/controllers/parts/controller_factory.py
@@ -52,7 +52,7 @@ def load_part_controller_config(custom_fpath=None, default_controller=None):
 
         # Store the default controller config fpath associated with the requested controller
         custom_fpath = os.path.join(
-            os.path.dirname(__file__), "..", "config/parts/{}.json".format(default_controller.lower())
+            os.path.dirname(__file__), "..", "config/default/parts/{}.json".format(default_controller.lower())
         )
 
     # Assert that the fpath to load the controller is not empty
diff --git a/robosuite/demos/demo_collect_and_playback_data.py b/robosuite/demos/demo_collect_and_playback_data.py
index b7aaaff17a..36a6a998d4 100644
--- a/robosuite/demos/demo_collect_and_playback_data.py
+++ b/robosuite/demos/demo_collect_and_playback_data.py
@@ -47,7 +47,7 @@ def collect_random_trajectory(env, timesteps=1000, max_fr=None):
                 time.sleep(diff)
 
 
-def playback_trajectory(env, ep_dir):
+def playback_trajectory(env, ep_dir, max_fr=None):
     """Playback data from an episode.
 
     Args:
@@ -69,6 +69,7 @@ def playback_trajectory(env, ep_dir):
         dic = np.load(state_file)
         states = dic["states"]
         for state in states:
+            start = time.time()
             env.sim.set_state_from_flattened(state)
             env.sim.forward()
             env.viewer.update()
@@ -76,6 +77,12 @@ def playback_trajectory(env, ep_dir):
             t += 1
             if t % 100 == 0:
                 print(t)
+
+            if max_fr is not None:
+                elapsed = time.time() - start
+                diff = 1 / max_fr - elapsed
+                if diff > 0:
+                    time.sleep(diff)
     env.close()
 
 
@@ -119,4 +126,4 @@ def playback_trajectory(env, ep_dir):
     _ = input("Press any key to begin the playback...")
     print("Playing back the data...")
     data_directory = env.ep_directory
-    playback_trajectory(env, data_directory)
+    playback_trajectory(env, data_directory, args.max_fr)
diff --git a/robosuite/demos/demo_device_control.py b/robosuite/demos/demo_device_control.py
index 2629633ad5..2fbd2a7a62 100644
--- a/robosuite/demos/demo_device_control.py
+++ b/robosuite/demos/demo_device_control.py
@@ -113,7 +113,7 @@
         "--controller",
         type=str,
         default=None,
-        help="Choice of controller. Can be generic (eg. 'BASIC' or 'WHOLE_BODY_MINK_IK') or json file (see robosuite/controllers/config for examples)",
+        help="Choice of controller. Can be generic (eg. 'BASIC' or 'WHOLE_BODY_MINK_IK') or json file (see robosuite/controllers/config for examples) or None to get the robot's default controller if it exists",
     )
     parser.add_argument("--device", type=str, default="keyboard")
     parser.add_argument("--pos-sensitivity", type=float, default=1.0, help="How much to scale position user inputs")

From b35473125d9b1ce28a48531fff6567f7a304f30e Mon Sep 17 00:00:00 2001
From: Abhiram824 <abhisuhaas1@gmail.com>
Date: Tue, 5 Nov 2024 21:19:25 -0600
Subject: [PATCH 17/17] renaming

---
 .../composite/composite_controller_factory.py          | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/robosuite/controllers/composite/composite_controller_factory.py b/robosuite/controllers/composite/composite_controller_factory.py
index 53975a7083..a531c1e5d2 100644
--- a/robosuite/controllers/composite/composite_controller_factory.py
+++ b/robosuite/controllers/composite/composite_controller_factory.py
@@ -19,9 +19,9 @@ def validate_composite_controller_config(config: dict):
             raise ValueError
 
 
-def is_arm_controller_config(config: Dict):
+def is_part_controller_config(config: Dict):
     """
-    Checks if a controller config is an arm part config as a opposed to a composite
+    Checks if a controller config is a part config as a opposed to a composite
     controller config.
 
     Args:
@@ -31,9 +31,9 @@ def is_arm_controller_config(config: Dict):
         bool: True if the config is in the for the arm-only, False otherwise
     """
 
-    ARM_CONTROLLER_TYPES = ["JOINT_VELOCITY", "JOINT_TORQUE", "JOINT_POSITION", "OSC_POSITION", "OSC_POSE", "IK_POSE"]
+    PART_CONTROLLER_TYPES = ["JOINT_VELOCITY", "JOINT_TORQUE", "JOINT_POSITION", "OSC_POSITION", "OSC_POSE", "IK_POSE"]
     if "body_parts_controller_configs" not in config and "type" in config:
-        return config["type"] in ARM_CONTROLLER_TYPES
+        return config["type"] in PART_CONTROLLER_TYPES
     return False
 
 
@@ -51,7 +51,7 @@ def refactor_composite_controller_config(controller_config, robot_type, arms):
     Returns:
         dict: New controller config
     """
-    if not is_arm_controller_config(controller_config):
+    if not is_part_controller_config(controller_config):
         return controller_config
 
     config_dir = pathlib.Path(robosuite.__file__).parent / "controllers/config/robots/"