# 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)


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## 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