Merge pull request #599 from Abhiram824/docs_update

update robots section and env task images
ARISE-Initiative · Dec 20, 2024 · 154491f · 154491f
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diff --git a/docs/modules/robots.md b/docs/modules/robots.md
@@ -2,11 +2,11 @@
 
 ![robot_overview_diagram](../images/robot_module.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)-based classes, with support for both fixed-base and mobile-base (which includes legged and wheeled robots) variations. In turn, the Robot class is centrally defined by a [RobotModel](../modeling/robot_model), [RobotBaseModel](../modeling/robot_model.html#base-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).
+**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#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 20 commercially-available robots (including the humanoid GR1 Robot), 15 grippers (including the inspire dexterous hand model), 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), 10 grippers (including the inspire dexterous hand model), 5 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, 9 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.