From 02cbc0057154b1ba9ebc56240ff86e06a09ab4d8 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 7 Nov 2020 10:59:38 -0800
Subject: [PATCH 01/46] add new papers (#118)

---
 docs/references.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/docs/references.md b/docs/references.md
index e5dd9fe06a..9d2e60c453 100644
--- a/docs/references.md
+++ b/docs/references.md
@@ -13,6 +13,7 @@ A list of references of projects and papers that use **robosuite**. If you would
 - [Long-Horizon Visual Planning with Goal-Conditioned Hierarchical Predictors](https://arxiv.org/abs/2006.13205). Karl Pertsch, Oleh Rybkin, Frederik Ebert, Chelsea Finn, Dinesh Jayaraman, Sergey Levine
 - [Balance Between Efficient and Effective Learning: Dense2Sparse Reward Shaping for Robot Manipulation with Environment Uncertainty](https://arxiv.org/abs/2003.02740). Yongle Luo, Kun Dong, Lili Zhao, Zhiyong Sun, Chao Zhou, Bo Song
 - [Hierarchical 6-DoF Grasping with Approaching Direction Selection](http://rllab.snu.ac.kr/publications/papers/2020_icra_gads.pdf). Yunho Choi, Hogun Kee, Kyungjae Lee, JaeGoo Choy, Junhong Min, Sohee Lee, and Songhwai Oh
+- [Conservative Safety Critics for Exploration](https://arxiv.org/abs/2010.14497). Homanga Bharadhwaj, Aviral Kumar, Nicholas Rhinehart, Sergey Levine, Florian Shkurti, Animesh Garg
 
 ## Imitation Learning and Batch (Offline) Reinforcement Learning
 
@@ -21,6 +22,8 @@ A list of references of projects and papers that use **robosuite**. If you would
 - [To Follow or not to Follow: Selective Imitation Learning from Observations](https://arxiv.org/abs/1912.07670). Youngwoon Lee, Edward S. Hu, Zhengyu Yang, Joseph J. Lim
 - [Learning Robot Skills with Temporal Variational Inference](https://arxiv.org/abs/2006.16232). Tanmay Shankar, Abhinav Gupta
 - [Residual Learning from Demonstration](https://arxiv.org/abs/2008.07682). Todor Davchev, Kevin Sebastian Luck, Michael Burke, Franziska Meier, Stefan Schaal, Subramanian Ramamoorthy
+- [Variational Imitation Learning with Diverse-quality Demonstrations](https://proceedings.icml.cc/static/paper_files/icml/2020/577-Paper.pdf). Voot Tangkaratt, Bo Han, Mohammad Emtiyaz Khan, Masashi Sugiyama
+
 
 ## Benchmarks
 

From 81011ac3f93c21c4771c2462a5c67639b503fcd2 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 7 Nov 2020 11:13:03 -0800
Subject: [PATCH 02/46] fix env.model.get_xml() --> env.sim.model.get_xml() so
 saved xml is up-to-date

---
 robosuite/scripts/collect_human_demonstrations.py | 2 +-
 robosuite/scripts/tune_camera.py                  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/robosuite/scripts/collect_human_demonstrations.py b/robosuite/scripts/collect_human_demonstrations.py
index 8e44917735..b954f4b7cf 100644
--- a/robosuite/scripts/collect_human_demonstrations.py
+++ b/robosuite/scripts/collect_human_demonstrations.py
@@ -75,7 +75,7 @@ def collect_human_trajectory(env, device, arm, env_configuration):
             # applied because the data collector wrapper only starts recording
             # after the first action has been played.
             initial_mjstate = env.sim.get_state().flatten()
-            xml_str = env.model.get_xml()
+            xml_str = env.sim.model.get_xml()
             env.reset_from_xml_string(xml_str)
             env.sim.reset()
             env.sim.set_state_from_flattened(initial_mjstate)
diff --git a/robosuite/scripts/tune_camera.py b/robosuite/scripts/tune_camera.py
index 41e6e556ce..4acd1c6caa 100644
--- a/robosuite/scripts/tune_camera.py
+++ b/robosuite/scripts/tune_camera.py
@@ -249,7 +249,7 @@ def print_command(char, info):
     )
     env.reset()
     initial_mjstate = env.sim.get_state().flatten()
-    xml = env.model.get_xml()
+    xml = env.sim.model.get_xml()
 
     # add mocap body to camera to be able to move it around
     xml = modify_xml_for_camera_movement(xml, camera_name=CAMERA_NAME)

From 1045ee4d134b8fbdab72a90a4f1902fc252e895f Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 7 Nov 2020 11:22:07 -0800
Subject: [PATCH 03/46] remove redundant proprioceptive obs from object obs in
 handover and two arm lift tasks

---
 robosuite/environments/two_arm_handover.py | 4 ----
 robosuite/environments/two_arm_lift.py     | 4 ----
 2 files changed, 8 deletions(-)

diff --git a/robosuite/environments/two_arm_handover.py b/robosuite/environments/two_arm_handover.py
index 1bae2d8d78..c776aeb298 100644
--- a/robosuite/environments/two_arm_handover.py
+++ b/robosuite/environments/two_arm_handover.py
@@ -526,8 +526,6 @@ def _get_observation(self):
             di["hammer_quat"] = np.array(self._hammer_quat)
             di["handle_xpos"] = np.array(self._handle_xpos)
 
-            di[pr0 + "eef_xpos"] = np.array(self._eef0_xpos)
-            di[pr1 + "eef_xpos"] = np.array(self._eef1_xpos)
             di[pr0 + "gripper_to_handle"] = np.array(self._gripper_0_to_handle)
             di[pr1 + "gripper_to_handle"] = np.array(self._gripper_1_to_handle)
 
@@ -536,8 +534,6 @@ def _get_observation(self):
                     di["hammer_pos"],
                     di["hammer_quat"],
                     di["handle_xpos"],
-                    di[pr0 + "eef_xpos"],
-                    di[pr1 + "eef_xpos"],
                     di[pr0 + "gripper_to_handle"],
                     di[pr1 + "gripper_to_handle"],
                 ]
diff --git a/robosuite/environments/two_arm_lift.py b/robosuite/environments/two_arm_lift.py
index 8e73e79d89..1ae9002cde 100644
--- a/robosuite/environments/two_arm_lift.py
+++ b/robosuite/environments/two_arm_lift.py
@@ -449,8 +449,6 @@ def _get_observation(self):
             di["cube_pos"] = cube_pos
             di["cube_quat"] = cube_quat
 
-            di[pr0 + "eef_xpos"] = self._eef0_xpos
-            di[pr1 + "eef_xpos"] = self._eef1_xpos
             di["handle_0_xpos"] = np.array(self._handle_0_xpos)
             di["handle_1_xpos"] = np.array(self._handle_1_xpos)
             di[pr0 + "gripper_to_handle"] = np.array(self._gripper_0_to_handle)
@@ -460,8 +458,6 @@ def _get_observation(self):
                 [
                     di["cube_pos"],
                     di["cube_quat"],
-                    di[pr0 + "eef_xpos"],
-                    di[pr1 + "eef_xpos"],
                     di["handle_0_xpos"],
                     di["handle_1_xpos"],
                     di[pr0 + "gripper_to_handle"],

From 4a7e250a15c3728e8b2a406772b437ce281ba4d6 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sun, 8 Nov 2020 11:52:22 -0800
Subject: [PATCH 04/46] update find_contacts to take in str or list of str

---
 robosuite/environments/base.py | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/robosuite/environments/base.py b/robosuite/environments/base.py
index 71628e1ba9..1378c2f0d4 100644
--- a/robosuite/environments/base.py
+++ b/robosuite/environments/base.py
@@ -398,12 +398,17 @@ def find_contacts(self, geoms_1, geoms_2):
         Finds contact between two geom groups.
 
         Args:
-            geoms_1 (list of str): a list of geom names
-            geoms_2 (list of str): another list of geom names
+            geoms_1 (str or list of str): an individual geom name or list of geom names
+            geoms_2 (str or list of str): another individual geom name or list of geom names
 
         Returns:
             generator: iterator of all contacts between @geoms_1 and @geoms_2
         """
+        # Check if either geoms_1 or geoms_2 is a string, convert to list if so
+        if type(geoms_1) is str:
+            geoms_1 = [geoms_1]
+        if type(geoms_2) is str:
+            geoms_2 = [geoms_2]
         for contact in self.sim.data.contact[0 : self.sim.data.ncon]:
             # check contact geom in geoms
             c1_in_g1 = self.sim.model.geom_id2name(contact.geom1) in geoms_1

From 40cc21500dc01c34a72ec206484c9542a9140632 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sun, 8 Nov 2020 12:05:36 -0800
Subject: [PATCH 05/46] fix _check_gripper_contact (#119), add more accurate
 checks for bimanual case

---
 robosuite/environments/robot_env.py | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

diff --git a/robosuite/environments/robot_env.py b/robosuite/environments/robot_env.py
index 6e79fa4630..b5f7274ec5 100644
--- a/robosuite/environments/robot_env.py
+++ b/robosuite/environments/robot_env.py
@@ -418,16 +418,18 @@ def _get_observation(self):
 
     def _check_gripper_contact(self):
         """
-        Checks whether each gripper is in contact with an object.
+        Checks whether each gripper is in contact with an object. Note that each entry in the return list corresponds
+        to each robot in the env.robots list. This means that a bimanual robot will have its own nested list within the
+        return list at the corresponding entry.
 
         Returns:
-            list of bool: True if the specific gripper is in contact with an object
+            list of bool: True if the specific gripper is in contact with an object.
         """
         collisions = [False] * self.num_robots
         for idx, robot in enumerate(self.robots):
             for contact in self.sim.data.contact[: self.sim.data.ncon]:
                 # Single arm case
-                if robot.arm_type == "single":
+                if robot.robot_model.arm_type == "single":
                     if (
                         self.sim.model.geom_id2name(contact.geom1)
                         in robot.gripper.contact_geoms
@@ -438,15 +440,17 @@ def _check_gripper_contact(self):
                         break
                 # Bimanual case
                 else:
-                    for arm in robot.arms:
+                    # Set this list entry to be its own list of bools
+                    collisions[idx] = [False, False]
+                    for i, arm in enumerate(robot.arms):
                         if (
                                 self.sim.model.geom_id2name(contact.geom1)
                                 in robot.gripper[arm].contact_geoms
                                 or self.sim.model.geom_id2name(contact.geom2)
                                 in robot.gripper[arm].contact_geoms
                         ):
-                            collisions[idx] = True
-                            break
+                            collisions[idx][i] = True
+                            continue
         return collisions
 
     def _check_arm_contact(self):

From 9c5efeb66d0b874c207b55db79b6b823d9c4d25a Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Wed, 18 Nov 2020 19:58:59 -0800
Subject: [PATCH 06/46] fix controller limits bug

---
 robosuite/controllers/joint_pos.py | 2 +-
 robosuite/controllers/joint_tor.py | 2 +-
 robosuite/controllers/joint_vel.py | 2 +-
 robosuite/controllers/osc.py       | 4 ++--
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/robosuite/controllers/joint_pos.py b/robosuite/controllers/joint_pos.py
index 51d59e59b5..e0a2a52c75 100644
--- a/robosuite/controllers/joint_pos.py
+++ b/robosuite/controllers/joint_pos.py
@@ -120,7 +120,7 @@ def __init__(self,
         self.output_min = self.nums2array(output_min, self.control_dim)
 
         # limits
-        self.position_limits = qpos_limits
+        self.position_limits = np.array(qpos_limits) if qpos_limits is not None else qpos_limits
 
         # kp kd
         self.kp = self.nums2array(kp, self.control_dim)
diff --git a/robosuite/controllers/joint_tor.py b/robosuite/controllers/joint_tor.py
index bf2c90046d..cf1e9fc998 100644
--- a/robosuite/controllers/joint_tor.py
+++ b/robosuite/controllers/joint_tor.py
@@ -87,7 +87,7 @@ def __init__(self,
         self.output_min = self.nums2array(output_min, self.control_dim)
 
         # limits (if not specified, set them to actuator limits by default)
-        self.torque_limits = torque_limits if torque_limits is not None else self.actuator_limits
+        self.torque_limits = np.array(torque_limits) if torque_limits is not None else self.actuator_limits
 
         # control frequency
         self.control_freq = policy_freq
diff --git a/robosuite/controllers/joint_vel.py b/robosuite/controllers/joint_vel.py
index b8f440ec39..9598bb329d 100644
--- a/robosuite/controllers/joint_vel.py
+++ b/robosuite/controllers/joint_vel.py
@@ -104,7 +104,7 @@ def __init__(self,
         self.last_joint_vel = np.zeros(self.joint_dim)
 
         # limits
-        self.velocity_limits = velocity_limits
+        self.velocity_limits = np.array(velocity_limits) if velocity_limits is not None else None
 
         # control frequency
         self.control_freq = policy_freq
diff --git a/robosuite/controllers/osc.py b/robosuite/controllers/osc.py
index 7b5c5c69fd..b7831db4f1 100644
--- a/robosuite/controllers/osc.py
+++ b/robosuite/controllers/osc.py
@@ -173,8 +173,8 @@ def __init__(self,
             self.control_dim += 6
 
         # limits
-        self.position_limits = position_limits
-        self.orientation_limits = orientation_limits
+        self.position_limits = np.array(position_limits) if position_limits is not None else position_limits
+        self.orientation_limits = np.array(orientation_limits) if orientation_limits is not None else orientation_limits
 
         # control frequency
         self.control_freq = policy_freq

From 5b63732bd82130528b669baa43c3fc25e91ba048 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Wed, 18 Nov 2020 22:18:19 -0800
Subject: [PATCH 07/46] standardize groups for collision / visual geoms,
 standardize group colors for collision geoms, refactor generated / xml object
 parsing, fix naming conventions in two_arm_lift

---
 robosuite/environments/door.py                |   3 +-
 robosuite/environments/lift.py                |   3 +-
 robosuite/environments/nut_assembly.py        |   5 +-
 robosuite/environments/pick_place.py          |  19 +-
 robosuite/environments/stack.py               |   6 +-
 robosuite/environments/two_arm_handover.py    |   3 +-
 robosuite/environments/two_arm_lift.py        |  72 +-
 robosuite/environments/two_arm_peg_in_hole.py |   4 +-
 robosuite/environments/wipe.py                |  12 +-
 robosuite/models/arenas/arena.py              |   8 +-
 robosuite/models/arenas/bins_arena.py         |   2 -
 robosuite/models/arenas/wipe_arena.py         |   5 +-
 robosuite/models/assets/arenas/bins_arena.xml |  24 +-
 robosuite/models/assets/arenas/pegs_arena.xml |   6 +-
 .../models/assets/arenas/table_arena.xml      |   2 +-
 .../grippers/jaco_three_finger_gripper.xml    |  20 +-
 .../models/assets/grippers/panda_gripper.xml  |   8 +-
 .../assets/grippers/rethink_gripper.xml       |  16 +-
 .../assets/grippers/robotiq_gripper_140.xml   |  22 +-
 .../assets/grippers/robotiq_gripper_85.xml    |  22 +-
 .../assets/grippers/robotiq_gripper_s.xml     |   8 +-
 .../models/assets/grippers/wiping_gripper.xml |  70 +-
 robosuite/models/assets/objects/bottle.xml    |   4 +-
 .../models/assets/objects/bread-visual.xml    |  11 +-
 robosuite/models/assets/objects/bread.xml     |   8 +-
 .../models/assets/objects/can-visual.xml      |   9 +-
 robosuite/models/assets/objects/can.xml       |   8 +-
 .../models/assets/objects/cereal-visual.xml   |  15 +-
 robosuite/models/assets/objects/cereal.xml    |  16 +-
 robosuite/models/assets/objects/door.xml      |   2 +-
 robosuite/models/assets/objects/door_lock.xml |  16 +-
 robosuite/models/assets/objects/lemon.xml     |   8 +-
 .../models/assets/objects/milk-visual.xml     |  11 +-
 robosuite/models/assets/objects/milk.xml      |   8 +-
 .../models/assets/objects/plate-with-hole.xml |  16 +-
 robosuite/models/assets/objects/round-nut.xml |  20 +-
 .../models/assets/objects/square-nut.xml      |  12 +-
 robosuite/models/base.py                      |  25 +
 robosuite/models/grippers/gripper_model.py    |   4 +
 robosuite/models/objects/generated_objects.py | 945 ++++++++++--------
 robosuite/models/objects/objects.py           | 297 ++++--
 robosuite/models/objects/xml_objects.py       |  50 +-
 robosuite/models/robots/robot_model.py        |   5 +-
 robosuite/models/tasks/manipulation_task.py   |  38 +-
 robosuite/utils/mjcf_utils.py                 |  35 +-
 45 files changed, 1077 insertions(+), 826 deletions(-)

diff --git a/robosuite/environments/door.py b/robosuite/environments/door.py
index 44588be062..585570f57f 100644
--- a/robosuite/environments/door.py
+++ b/robosuite/environments/door.py
@@ -283,8 +283,7 @@ def _load_model(self):
         self.model = ManipulationTask(
             mujoco_arena=self.mujoco_arena, 
             mujoco_robots=[robot.robot_model for robot in self.robots], 
-            mujoco_objects=self.mujoco_objects, 
-            visual_objects=None, 
+            mujoco_objects=self.mujoco_objects,
             initializer=self.placement_initializer,
         )
         self.model.place_objects()
diff --git a/robosuite/environments/lift.py b/robosuite/environments/lift.py
index bb5d1b52e0..62acec0516 100644
--- a/robosuite/environments/lift.py
+++ b/robosuite/environments/lift.py
@@ -318,8 +318,7 @@ def _load_model(self):
         self.model = ManipulationTask(
             mujoco_arena=self.mujoco_arena, 
             mujoco_robots=[robot.robot_model for robot in self.robots], 
-            mujoco_objects=self.mujoco_objects, 
-            visual_objects=None, 
+            mujoco_objects=self.mujoco_objects,
             initializer=self.placement_initializer,
         )
         self.model.place_objects()
diff --git a/robosuite/environments/nut_assembly.py b/robosuite/environments/nut_assembly.py
index 5628f6c260..0c1c4aa3de 100644
--- a/robosuite/environments/nut_assembly.py
+++ b/robosuite/environments/nut_assembly.py
@@ -466,8 +466,7 @@ def _load_model(self):
         self.model = ManipulationTask(
             mujoco_arena=self.mujoco_arena, 
             mujoco_robots=[robot.robot_model for robot in self.robots], 
-            mujoco_objects=self.mujoco_objects, 
-            visual_objects=None, 
+            mujoco_objects=self.mujoco_objects,
             initializer=self.placement_initializer,
         )
 
@@ -495,7 +494,7 @@ def _get_reference(self):
             self.obj_body_id[obj_str] = self.sim.model.body_name2id(obj_str)
             geom_ids = []
             for j in range(self.ngeoms[i]):
-                geom_ids.append(self.sim.model.geom_name2id(obj_str + "-{}".format(j)))
+                geom_ids.append(self.sim.model.geom_name2id(obj_str + "_{}".format(j)))
             self.obj_geom_id[obj_str] = geom_ids
 
         # information of objects
diff --git a/robosuite/environments/pick_place.py b/robosuite/environments/pick_place.py
index 35d960c672..163b497cf8 100644
--- a/robosuite/environments/pick_place.py
+++ b/robosuite/environments/pick_place.py
@@ -430,7 +430,7 @@ def _get_placement_initializer(self):
         bin_y_half = self.mujoco_arena.table_full_size[1] / 2 - 0.05
 
         # each object should just be sampled in the bounds of the bin (with some tolerance)
-        for obj_name in self.mujoco_objects:
+        for obj_name in self.collision_objects:
 
             self.placement_initializer.sample_on_top(
                 obj_name,
@@ -523,7 +523,7 @@ def _load_model(self):
             visual_ob_name = ("Visual" + self.item_names[j] + "0")
             visual_ob = self.vis_inits[j](
                 name=visual_ob_name,
-                joints=[], # no free joint for visual objects
+                joints=[],  # no free joint for visual objects
             )
             lst.append((visual_ob_name, visual_ob))
         self.visual_objects = OrderedDict(lst)
@@ -537,7 +537,8 @@ def _load_model(self):
             )
             lst.append((ob_name, ob))
 
-        self.mujoco_objects = OrderedDict(lst)
+        self.collision_objects = OrderedDict(lst)
+        self.mujoco_objects = OrderedDict(**self.visual_objects, **self.collision_objects)
         self.n_objects = len(self.mujoco_objects)
 
         # task includes arena, robot, and objects of interest
@@ -545,8 +546,7 @@ def _load_model(self):
         self.model = ManipulationTask(
             mujoco_arena=self.mujoco_arena, 
             mujoco_robots=[robot.robot_model for robot in self.robots], 
-            mujoco_objects=self.mujoco_objects, 
-            visual_objects=self.visual_objects, 
+            mujoco_objects=self.mujoco_objects,
             initializer=self.placement_initializer,
         )
 
@@ -579,7 +579,7 @@ def _get_reference(self):
         for i in range(len(self.ob_inits)):
             obj_str = str(self.item_names[i]) + "0"
             self.obj_body_id[obj_str] = self.sim.model.body_name2id(obj_str)
-            self.obj_geom_id[obj_str] = self.sim.model.geom_name2id(obj_str)
+            self.obj_geom_id[obj_str] = self.sim.model.geom_name2id(obj_str + "_0")
 
         # for checking distance to / contact with objects we want to pick up
         self.target_object_body_ids = list(map(int, self.obj_body_id.values()))
@@ -616,10 +616,11 @@ def _reset_internal(self):
 
             # Loop through all objects and reset their positions
             for i, (obj_name, _) in enumerate(self.mujoco_objects.items()):
-                self.sim.data.set_joint_qpos(obj_name + "_jnt0", np.concatenate([np.array(obj_pos[i]), np.array(obj_quat[i])]))
+                if "visual" not in obj_name.lower():
+                    self.sim.data.set_joint_qpos(obj_name + "_jnt0", np.concatenate([np.array(obj_pos[i]), np.array(obj_quat[i])]))
 
-        # information of objects
-        self.object_names = list(self.mujoco_objects.keys())
+        # information of (collision) objects
+        self.object_names = list(self.collision_objects.keys())
         self.object_site_ids = [
             self.sim.model.site_name2id(ob_name) for ob_name in self.object_names
         ]
diff --git a/robosuite/environments/stack.py b/robosuite/environments/stack.py
index 8950bf925c..f40e2f84ee 100644
--- a/robosuite/environments/stack.py
+++ b/robosuite/environments/stack.py
@@ -378,9 +378,9 @@ def _load_model(self):
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
-            self.mujoco_arena,
-            [robot.robot_model for robot in self.robots],
-            self.mujoco_objects,
+            mujoco_arena=self.mujoco_arena,
+            mujoco_robots=[robot.robot_model for robot in self.robots],
+            mujoco_objects=self.mujoco_objects,
             initializer=self.placement_initializer,
         )
         self.model.place_objects()
diff --git a/robosuite/environments/two_arm_handover.py b/robosuite/environments/two_arm_handover.py
index c776aeb298..6d57f6a10c 100644
--- a/robosuite/environments/two_arm_handover.py
+++ b/robosuite/environments/two_arm_handover.py
@@ -349,8 +349,7 @@ def _load_model(self):
         self.model = ManipulationTask(
             mujoco_arena=self.mujoco_arena, 
             mujoco_robots=[robot.robot_model for robot in self.robots], 
-            mujoco_objects=self.mujoco_objects, 
-            visual_objects=None, 
+            mujoco_objects=self.mujoco_objects,
             initializer=self.placement_initializer,
         )
         self.model.place_objects()
diff --git a/robosuite/environments/two_arm_lift.py b/robosuite/environments/two_arm_lift.py
index 1ae9002cde..a152c7fdc9 100644
--- a/robosuite/environments/two_arm_lift.py
+++ b/robosuite/environments/two_arm_lift.py
@@ -258,8 +258,8 @@ def reward(self, action=None):
             r_lift = min(max(elevation - 0.05, 0), 0.15)
             reward += 10. * direction_coef * r_lift
 
-            _gripper_0_to_handle = self._gripper_0_to_handle
-            _gripper_1_to_handle = self._gripper_1_to_handle
+            _gripper0_to_handle0 = self._gripper0_to_handle0
+            _gripper1_to_handle1 = self._gripper1_to_handle1
 
             # gh stands for gripper-handle
             # When grippers are far away, tell them to be closer
@@ -268,48 +268,48 @@ def reward(self, action=None):
             if self.env_configuration == "bimanual":
                 _contacts_0_lf = len(list(
                     self.find_contacts(
-                        self.robots[0].gripper["left"].important_geoms["left_finger"], self.pot.handle_2_geoms()
+                        self.robots[0].gripper["left"].important_geoms["left_finger"], self.pot.handle1_geoms
                     )
                 )) > 0
                 _contacts_0_rf = len(list(
                     self.find_contacts(
-                        self.robots[0].gripper["left"].important_geoms["right_finger"], self.pot.handle_2_geoms()
+                        self.robots[0].gripper["left"].important_geoms["right_finger"], self.pot.handle1_geoms
                     )
                 )) > 0
                 _contacts_1_lf = len(list(
                     self.find_contacts(
-                        self.robots[0].gripper["right"].important_geoms["left_finger"], self.pot.handle_1_geoms()
+                        self.robots[0].gripper["right"].important_geoms["left_finger"], self.pot.handle0_geoms
                     )
                 )) > 0
                 _contacts_1_rf = len(list(
                     self.find_contacts(
-                        self.robots[0].gripper["right"].important_geoms["right_finger"], self.pot.handle_1_geoms()
+                        self.robots[0].gripper["right"].important_geoms["right_finger"], self.pot.handle0_geoms
                     )
                 )) > 0
             # Multi single arm setting
             else:
                 _contacts_0_lf = len(list(
                     self.find_contacts(
-                        self.robots[0].gripper.important_geoms["left_finger"], self.pot.handle_2_geoms()
+                        self.robots[0].gripper.important_geoms["left_finger"], self.pot.handle1_geoms
                     )
                 )) > 0
                 _contacts_0_rf = len(list(
                     self.find_contacts(
-                        self.robots[0].gripper.important_geoms["right_finger"], self.pot.handle_2_geoms()
+                        self.robots[0].gripper.important_geoms["right_finger"], self.pot.handle1_geoms
                     )
                 )) > 0
                 _contacts_1_lf = len(list(
                     self.find_contacts(
-                        self.robots[1].gripper.important_geoms["left_finger"], self.pot.handle_1_geoms()
+                        self.robots[1].gripper.important_geoms["left_finger"], self.pot.handle0_geoms
                     )
                 )) > 0
                 _contacts_1_rf = len(list(
                     self.find_contacts(
-                        self.robots[1].gripper.important_geoms["right_finger"], self.pot.handle_1_geoms()
+                        self.robots[1].gripper.important_geoms["right_finger"], self.pot.handle0_geoms
                     )
                 )) > 0
-            _g0h_dist = np.linalg.norm(_gripper_0_to_handle)
-            _g1h_dist = np.linalg.norm(_gripper_1_to_handle)
+            _g0h_dist = np.linalg.norm(_gripper0_to_handle0)
+            _g1h_dist = np.linalg.norm(_gripper1_to_handle1)
 
             # Grasping reward
             if _contacts_0_lf and _contacts_0_rf:
@@ -367,15 +367,15 @@ def _load_model(self):
         self.mujoco_arena.set_origin([0, 0, 0])
 
         # initialize objects of interest
-        self.pot = PotWithHandlesObject(name="pot")
-        self.mujoco_objects = OrderedDict([("pot", self.pot)])
+        self.pot_name = "pot"
+        self.pot = PotWithHandlesObject(name=self.pot_name)
+        self.mujoco_objects = OrderedDict([(self.pot_name, self.pot)])
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
             mujoco_arena=self.mujoco_arena, 
             mujoco_robots=[robot.robot_model for robot in self.robots], 
-            mujoco_objects=self.mujoco_objects, 
-            visual_objects=None, 
+            mujoco_objects=self.mujoco_objects,
             initializer=self.placement_initializer,
         )
         self.model.place_objects()
@@ -389,11 +389,11 @@ def _get_reference(self):
         super()._get_reference()
 
         # Additional object references from this env
-        self.pot_body_id = self.sim.model.body_name2id("pot")
-        self.handle_1_site_id = self.sim.model.site_name2id("pot_handle_1")
-        self.handle_0_site_id = self.sim.model.site_name2id("pot_handle_2")
+        self.pot_body_id = self.sim.model.body_name2id(self.pot_name)
+        self.handle1_site_id = self.sim.model.site_name2id(f"{self.pot_name}_handle0")
+        self.handle0_site_id = self.sim.model.site_name2id(f"{self.pot_name}_handle1")
         self.table_top_id = self.sim.model.site_name2id("table_top")
-        self.pot_center_id = self.sim.model.site_name2id("pot_center")
+        self.pot_center_id = self.sim.model.site_name2id(f"{self.pot_name}_center")
 
     def _reset_internal(self):
         """
@@ -449,19 +449,19 @@ def _get_observation(self):
             di["cube_pos"] = cube_pos
             di["cube_quat"] = cube_quat
 
-            di["handle_0_xpos"] = np.array(self._handle_0_xpos)
-            di["handle_1_xpos"] = np.array(self._handle_1_xpos)
-            di[pr0 + "gripper_to_handle"] = np.array(self._gripper_0_to_handle)
-            di[pr1 + "gripper_to_handle"] = np.array(self._gripper_1_to_handle)
+            di["handle0_xpos"] = np.array(self._handle0_xpos)
+            di["handle1_xpos"] = np.array(self._handle1_xpos)
+            di[pr0 + "gripper_to_handle0"] = np.array(self._gripper0_to_handle0)
+            di[pr1 + "gripper_to_handle1"] = np.array(self._gripper1_to_handle1)
 
             di["object-state"] = np.concatenate(
                 [
                     di["cube_pos"],
                     di["cube_quat"],
-                    di["handle_0_xpos"],
-                    di["handle_1_xpos"],
-                    di[pr0 + "gripper_to_handle"],
-                    di[pr1 + "gripper_to_handle"],
+                    di["handle0_xpos"],
+                    di["handle1_xpos"],
+                    di[pr0 + "gripper_to_handle0"],
+                    di[pr1 + "gripper_to_handle1"],
                 ]
             )
 
@@ -513,24 +513,24 @@ def _check_robot_configuration(self, robots):
                                  "instead, got {}.".format(self.env_configuration, is_bimanual, check_bimanual(robot)))
 
     @property
-    def _handle_0_xpos(self):
+    def _handle0_xpos(self):
         """
         Grab the position of the left (blue) hammer handle.
 
         Returns:
             np.array: (x,y,z) position of handle
         """
-        return self.sim.data.site_xpos[self.handle_0_site_id]
+        return self.sim.data.site_xpos[self.handle0_site_id]
 
     @property
-    def _handle_1_xpos(self):
+    def _handle1_xpos(self):
         """
         Grab the position of the right (green) hammer handle.
 
         Returns:
             np.array: (x,y,z) position of handle
         """
-        return self.sim.data.site_xpos[self.handle_1_site_id]
+        return self.sim.data.site_xpos[self.handle1_site_id]
 
     @property
     def _pot_quat(self):
@@ -579,21 +579,21 @@ def _eef1_xpos(self):
             return np.array(self.sim.data.site_xpos[self.robots[1].eef_site_id])
 
     @property
-    def _gripper_0_to_handle(self):
+    def _gripper0_to_handle0(self):
         """
         Calculate vector from the left gripper to the left pot handle.
 
         Returns:
             np.array: (dx,dy,dz) distance vector between handle and EEF0
         """
-        return self._handle_0_xpos - self._eef0_xpos
+        return self._handle0_xpos - self._eef0_xpos
 
     @property
-    def _gripper_1_to_handle(self):
+    def _gripper1_to_handle1(self):
         """
         Calculate vector from the right gripper to the right pot handle.
 
         Returns:
             np.array: (dx,dy,dz) distance vector between handle and EEF0
         """
-        return self._handle_1_xpos - self._eef1_xpos
+        return self._handle1_xpos - self._eef1_xpos
diff --git a/robosuite/environments/two_arm_peg_in_hole.py b/robosuite/environments/two_arm_peg_in_hole.py
index 9cf25454f2..ebd344452c 100644
--- a/robosuite/environments/two_arm_peg_in_hole.py
+++ b/robosuite/environments/two_arm_peg_in_hole.py
@@ -314,13 +314,13 @@ def _load_model(self):
         )
 
         # Load hole object
-        self.hole_obj = self.hole.get_collision(site=True)
+        self.hole_obj = self.hole.get_object_subtree(site=True)
         self.hole_obj.set("quat", "0 0 0.707 0.707")
         self.hole_obj.set("pos", "0.11 0 0.17")
         self.model.merge_asset(self.hole)
 
         # Load peg object
-        self.peg_obj = self.peg.get_collision(site=True)
+        self.peg_obj = self.peg.get_object_subtree(site=True)
         self.peg_obj.set("pos", array_to_string((0, 0, self.peg_length)))
         self.model.merge_asset(self.peg)
 
diff --git a/robosuite/environments/wipe.py b/robosuite/environments/wipe.py
index 8e4e0c7715..1b8e631b1e 100644
--- a/robosuite/environments/wipe.py
+++ b/robosuite/environments/wipe.py
@@ -422,7 +422,7 @@ def PointInRectangle(X, Y, Z, W, P):
             for new_sensor_active_id in new_sensors_active_ids:
                 # Grab relevant sensor id info
                 sensor_name = self.model.arena.sensor_site_names['contact_' + str(new_sensor_active_id) + '_sensor']
-                new_sensor_active_geom_id = self.sim.model.geom_name2id(sensor_name)
+                new_sensor_active_geom_id = self.sim.model.geom_name2id(sensor_name + "_vis")
                 # Make this sensor transparent since we wiped it (alpha = 0)
                 self.sim.model.geom_rgba[new_sensor_active_geom_id] = [0, 0, 0, 0]
                 # Add this sensor the wiped list
@@ -526,10 +526,12 @@ def _load_model(self):
         self.mujoco_objects = OrderedDict()
 
         # task includes arena, robot, and objects of interest
-        self.model = ManipulationTask(self.mujoco_arena,
-                                   [robot.robot_model for robot in self.robots],
-                                   self.mujoco_objects,
-                                   initializer=self.placement_initializer)
+        self.model = ManipulationTask(
+            mujoco_arena=self.mujoco_arena,
+            mujoco_robots=[robot.robot_model for robot in self.robots],
+            mujoco_objects=self.mujoco_objects,
+            initializer=self.placement_initializer
+        )
         self.model.place_objects()
 
     def _reset_internal(self):
diff --git a/robosuite/models/arenas/arena.py b/robosuite/models/arenas/arena.py
index 8bb94d367a..5a68643ddb 100644
--- a/robosuite/models/arenas/arena.py
+++ b/robosuite/models/arenas/arena.py
@@ -1,13 +1,17 @@
 import numpy as np
 
 from robosuite.models.base import MujocoXML
-from robosuite.utils.mjcf_utils import array_to_string, string_to_array
-from robosuite.utils.mjcf_utils import new_geom, new_body, new_joint
+from robosuite.utils.mjcf_utils import array_to_string, string_to_array, \
+    new_geom, new_body, new_joint, ENVIRONMENT_COLLISION_COLOR
 
 
 class Arena(MujocoXML):
     """Base arena class."""
 
+    def __init__(self, fname):
+        super().__init__(fname)
+        self.recolor_collision_geoms(ENVIRONMENT_COLLISION_COLOR)
+
     def set_origin(self, offset):
         """
         Applies a constant offset to all objects.
diff --git a/robosuite/models/arenas/bins_arena.py b/robosuite/models/arenas/bins_arena.py
index 3b3f1f5ad1..cfa57af188 100644
--- a/robosuite/models/arenas/bins_arena.py
+++ b/robosuite/models/arenas/bins_arena.py
@@ -17,8 +17,6 @@ class BinsArena(Arena):
     def __init__(
         self, bin1_pos=(0.1, -0.5, 0.8), table_full_size=(0.39, 0.49, 0.82), table_friction=(1, 0.005, 0.0001)
     ):
-        """
-        """
         super().__init__(xml_path_completion("arenas/bins_arena.xml"))
 
         self.table_full_size = np.array(table_full_size)
diff --git a/robosuite/models/arenas/wipe_arena.py b/robosuite/models/arenas/wipe_arena.py
index 7e03862b55..92b65f227b 100644
--- a/robosuite/models/arenas/wipe_arena.py
+++ b/robosuite/models/arenas/wipe_arena.py
@@ -94,9 +94,10 @@ def configure_location(self):
                 density=1,
                 material=dirt,
                 friction=friction,
+                obj_type="visual",
             )
             self.merge_asset(square2)
-            visual_c = square2.get_visual(site=True)
+            visual_c = square2.get_object_subtree(site=True)
             visual_c.set("pos", array_to_string([pos[0], pos[1], self.table_half_size[2]]))
             visual_c.find("site").set("pos", [0, 0, 0.005])
             visual_c.find("site").set("rgba", array_to_string([0, 0, 0, 0]))
@@ -128,7 +129,7 @@ def reset_arena(self, sim):
                 pos = self.sample_start_pos()
             # Get IDs to the body, geom, and site of each sensor
             body_id = sim.model.body_name2id(sensor_name)
-            geom_id = sim.model.geom_name2id(sensor_name)
+            geom_id = sim.model.geom_name2id(sensor_name + "_vis")
             # Determine new position for this sensor
             position = np.array([pos[0], pos[1], self.table_half_size[2]])
             # Set the current sensor (body) to this new position
diff --git a/robosuite/models/assets/arenas/bins_arena.xml b/robosuite/models/assets/arenas/bins_arena.xml
index d26ed7f1f7..31d0d7c8b0 100644
--- a/robosuite/models/assets/arenas/bins_arena.xml
+++ b/robosuite/models/assets/arenas/bins_arena.xml
@@ -26,15 +26,15 @@
     <geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/>
     <!-- bins -->
     <body name="bin1" pos="0.1 -0.25 0.8">
-      <geom pos="0 0 0" size="0.2 0.25 0.02" type="box" friction="1 0.005 0.0001"/>
+      <geom pos="0 0 0" size="0.2 0.25 0.02" type="box" group="0" friction="1 0.005 0.0001"/>
       <geom pos="0 0 0" material="light-wood" size="0.2 0.25 0.02" type="box" conaffinity="0" contype="0" group="1"/>
-        <geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
+        <geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" group="0" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
         <geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="light-wood"/>
-        <geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
+        <geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" group="0" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
         <geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="light-wood"/>
-        <geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
+        <geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" group="0" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
         <geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="light-wood"/>
-        <geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
+        <geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" group="0" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
         <geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="light-wood"/>
         <!-- Legs (visual only) -->
         <geom pos="0.15 0.2 -0.4" size="0.01 0.4" type="cylinder" conaffinity="0" contype="0" group="1" name="bin1_leg1_visual" material="table_legs_metal"/>
@@ -43,19 +43,19 @@
         <geom pos="0.15 -0.2 -0.4" size="0.01 0.4" type="cylinder" conaffinity="0" contype="0" group="1" name="bin1_leg4_visual" material="table_legs_metal"/>
     </body>
     <body name="bin2" pos="0.1 0.28 0.8">
-      <geom pos="0 0 0" size="0.2 0.25 0.02" type="box" friction="1 0.005 0.0001"/>
+      <geom pos="0 0 0" size="0.2 0.25 0.02" type="box" group="0" friction="1 0.005 0.0001"/>
       <geom pos="0 0 0" size="0.2 0.25 0.02" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
-        <geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
+        <geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" group="0" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
         <geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
-        <geom pos="0 0 0.05" size="0.2 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
+        <geom pos="0 0 0.05" size="0.2 0.01 0.05" type="box" group="0" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
         <geom pos="0 0 0.05" size="0.2 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
-        <geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
+        <geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" group="0" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
         <geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
-        <geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
+        <geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" group="0" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
         <geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
-        <geom pos="0 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
+        <geom pos="0 0 0.05" size="0.01 0.25 0.05" type="box" group="0" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
         <geom pos="0 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
-        <geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
+        <geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" group="0" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
         <geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
         <!-- Legs (visual only) -->
         <geom pos="0.15 0.2 -0.4" size="0.01 0.4" type="cylinder" conaffinity="0" contype="0" group="1" name="bin2_leg1_visual" material="table_legs_metal"/>
diff --git a/robosuite/models/assets/arenas/pegs_arena.xml b/robosuite/models/assets/arenas/pegs_arena.xml
index 5abcce09f0..dcde695c6c 100644
--- a/robosuite/models/assets/arenas/pegs_arena.xml
+++ b/robosuite/models/assets/arenas/pegs_arena.xml
@@ -33,7 +33,7 @@
     <geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/>
     <!-- Table body -->
     <body name="table" pos="0 0 0.4">
-      <geom pos="0 0 0" size="0.4 0.4 0.4" type="box" name="table_collision" friction="1 0.005 0.0001"/>
+      <geom pos="0 0 0" size="0.4 0.4 0.4" type="box" group="0" name="table_collision" friction="1 0.005 0.0001"/>
       <geom pos="0 0 0" size="0.4 0.4 0.4" type="box" conaffinity="0" contype="0" group="1" name="table_visual" material="table_ceramic"/>
       <site pos="0 0 0.4" name="table_top" size="0.001 0.001 0.001" rgba="0 0 0 0"/>
       <!-- Legs (visual only) -->
@@ -43,11 +43,11 @@
       <geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg4_visual" material="table_legs_metal"/>
     </body>
     <body name="peg1" pos="0.23 0.1 0.85">
-      <geom pos="0 0 0" size="0.016 0.016 0.1" type="box" friction="1 0.005 0.0001"/>
+      <geom pos="0 0 0" size="0.016 0.016 0.1" type="box" group="0" friction="1 0.005 0.0001"/>
       <geom pos="0 0 0" size="0.016 0.016 0.1" type="box" conaffinity="0" contype="0" group="1" material="bmetal" />
     </body>
     <body name="peg2" pos="0.23 -0.1 0.85">
-      <geom pos="0 0 0" size="0.02 0.1" type="cylinder" friction="1 0.005 0.0001"/>
+      <geom pos="0 0 0" size="0.02 0.1" type="cylinder" group="0" friction="1 0.005 0.0001"/>
       <geom pos="0 0 0" size="0.02 0.1" type="cylinder" conaffinity="0" contype="0" group="1" material="smetal" />
     </body>
 
diff --git a/robosuite/models/assets/arenas/table_arena.xml b/robosuite/models/assets/arenas/table_arena.xml
index 1433d1f2d5..1810ded344 100644
--- a/robosuite/models/assets/arenas/table_arena.xml
+++ b/robosuite/models/assets/arenas/table_arena.xml
@@ -29,7 +29,7 @@
     <geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/>
     <!-- Table body -->
     <body name="table" pos="0 0 0.4">
-      <geom pos="0 0 0" size="0.4 0.4 0.4" type="box" name="table_collision" friction="1 0.005 0.0001"/>
+      <geom pos="0 0 0" size="0.4 0.4 0.4" type="box" group="0" name="table_collision" friction="1 0.005 0.0001"/>
       <geom pos="0 0 0" size="0.4 0.4 0.4" type="box" conaffinity="0" contype="0" group="1" name="table_visual" material="table_ceramic"/>
       <site pos="0 0 0.4" name="table_top" size="0.001 0.001 0.001" rgba="0 0 0 0"/>
       <!-- Legs (visual only) -->
diff --git a/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml b/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml
index 88c0a62c07..ad4aa3dc12 100644
--- a/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml
+++ b/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml
@@ -53,7 +53,7 @@
                 <inertial pos="0 0 -0.06" quat="0.5 0.5 -0.5 0.5" mass="0.99" diaginertia="0.0005816 0.000345324 0.000345324" />
                 <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_hand" mesh="hand_3finger" />
                 <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_hand" mesh="ring_small" />
-                <geom type="mesh" material="carbon_hand" mesh="hand_3finger" name="hand_collision"/>
+                <geom type="mesh" group="0" material="carbon_hand" mesh="hand_3finger" name="hand_collision"/>
 
                 <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />
 
@@ -67,14 +67,14 @@
                 <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                 <joint name="joint_thumb" pos="0 0 0" axis="1 0 0" ref="1.1" limited="true" range="0 1.51" damping="0.15"/>
                 <geom type="mesh" contype="0" conaffinity="0" group="1" euler="0 -1.5707 0" material="grey_plastic_hand" mesh="finger_proximal" />
-                <geom name="thumb_proximal_collision" type="mesh" mesh="finger_proximal" euler="0 -1.5707 0" friction="1 0.5 0.01" />
+                <geom name="thumb_proximal_collision" type="mesh" group="0" mesh="finger_proximal" euler="0 -1.5707 0" friction="1 0.5 0.01" />
 
                 <body name="thumb_distal" pos="0 -0.003 0.044">
                     <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                     <joint name="joint_thumb_distal" pos="0 0 0" axis="-1 0 0" ref="-0.5" limited="true" range="0 2" damping="0.1" />
                     <geom type="mesh" contype="0" conaffinity="0" group="1" euler="0 -1.5707 0" material="grey_plastic_hand" mesh="finger_distal" />
-                    <geom name="thumb_distal_collision" type="mesh" mesh="finger_distal" euler="0 -1.5707 0" friction="1 0.5 0.01" />
-                    <geom type="box" pos="0 -0.003 0.021" quat="0.9914449 0.1305262 0 0" size="0.01 0.005 0.02" name="thumb_pad_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
+                    <geom name="thumb_distal_collision" type="mesh" group="0" mesh="finger_distal" euler="0 -1.5707 0" friction="1 0.5 0.01" />
+                    <geom type="box" group="0" pos="0 -0.003 0.021" quat="0.9914449 0.1305262 0 0" size="0.01 0.005 0.02" name="thumb_pad_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
                 </body>
             </body>
 
@@ -82,14 +82,14 @@
                 <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                 <joint name="joint_index" pos="0 0 0" axis="-1 0 0" ref="1.1" limited="true" range="0 1.51" damping="0.15"/>
                 <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_proximal" />
-                <geom name="index_proximal_collision" type="mesh" mesh="finger_proximal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
+                <geom name="index_proximal_collision" type="mesh" group="0" mesh="finger_proximal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
 
                 <body name="index_distal" pos="0 0.003 0.044">
                     <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                     <joint name="joint_index_distal" pos="0 0 0" axis="1 0 0" ref="-0.5" limited="true" range="0 2" damping="0.1" />
                     <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_distal" />
-                    <geom name="index_distal_collision" type="mesh" mesh="finger_distal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
-                    <geom type="box" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" size="0.01 0.005 0.02" name="index_pad_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
+                    <geom name="index_distal_collision" type="mesh" group="0" mesh="finger_distal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
+                    <geom type="box" group="0" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" size="0.01 0.005 0.02" name="index_pad_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
                 </body>
             </body>
 
@@ -97,14 +97,14 @@
                 <joint name="joint_pinky" pos="0 0 0" axis="-1 0 0" ref="1.1" limited="true" range="0 1.51" damping="0.15"/>
                 <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                 <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_proximal" />
-                <geom name="pinky_proximal_collision" type="mesh" mesh="finger_proximal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
+                <geom name="pinky_proximal_collision" type="mesh" group="0" mesh="finger_proximal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
 
                 <body name="pinky_distal" pos="0 0.003 0.044">
                     <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                     <joint name="joint_pinky_distal" pos="0 0 0" axis="1 0 0" ref="-0.5" limited="true" range="0 2" damping="0.1" />
                     <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_distal" />
-                    <geom name="pinky_distal_collision" type="mesh" mesh="finger_distal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
-                    <geom type="box" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" size="0.01 0.005 0.02" name="pinky_pad_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
+                    <geom name="pinky_distal_collision" type="mesh" group="0" mesh="finger_distal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
+                    <geom type="box" group="0" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" size="0.01 0.005 0.02" name="pinky_pad_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
                 </body>
             </body>
         </body>
diff --git a/robosuite/models/assets/grippers/panda_gripper.xml b/robosuite/models/assets/grippers/panda_gripper.xml
index c9cf8becc5..5a1e508f4c 100644
--- a/robosuite/models/assets/grippers/panda_gripper.xml
+++ b/robosuite/models/assets/grippers/panda_gripper.xml
@@ -32,20 +32,20 @@
                 <inertial pos="0 0 0.05" mass="0.1" diaginertia="0.01 0.01 0.005" />
                 <joint name="finger_joint1" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.0 0.04" damping="100"/>
                 <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="finger_vis" name="finger1_visual" material="finger_mat"/>
-                <geom type="mesh" conaffinity="1" contype="0" solref="0.02 1" friction="1 0.005 0.0001" condim="4" mesh="finger" name="finger1_collision"/>
+                <geom type="mesh" group="0" conaffinity="1" contype="0" solref="0.02 1" friction="1 0.005 0.0001" condim="4" mesh="finger" name="finger1_collision"/>
                 <body name="finger_joint1_tip" pos="0 0.0085 0.056">
                     <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
-                    <geom size="0.008 0.004 0.008" pos="0 -0.005 -0.015" quat="0 0 0 1" type="box" solref="0.01 0.5" friction = "2 0.05 0.0001" conaffinity="1" contype="1" name="finger1_tip_collision"/>
+                    <geom size="0.008 0.004 0.008" pos="0 -0.005 -0.015" quat="0 0 0 1" type="box" group="0" solref="0.01 0.5" friction = "2 0.05 0.0001" conaffinity="1" contype="1" name="finger1_pad_collision"/>
                 </body>
             </body>
             <body name="rightfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
                 <inertial pos="0 0 0.05" mass="0.1" diaginertia="0.01 0.01 0.005" />
                 <joint name="finger_joint2" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.04 0.0" damping="100"/>
                 <geom quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="finger_vis" name="finger2_visual" material="finger_mat"/>
-                <geom quat="0 0 0 1" type="mesh" conaffinity="1" contype="0" solref="0.02 1" friction="1 0.005 0.0001" condim="4" mesh="finger" name="finger2_collision"/>
+                <geom quat="0 0 0 1" type="mesh" group="0" conaffinity="1" contype="0" solref="0.02 1" friction="1 0.005 0.0001" condim="4" mesh="finger" name="finger2_collision"/>
                 <body name="finger_joint2_tip" pos="0 -0.0085 0.056">
                     <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
-                    <geom size="0.008 0.004 0.008" pos="0 0.005 -0.015" quat="0 0 0 1" type="box" solref="0.01 0.5" friction = "2 0.05 0.0001" conaffinity="1" contype="1" name="finger2_tip_collision"/>
+                    <geom size="0.008 0.004 0.008" pos="0 0.005 -0.015" quat="0 0 0 1" type="box" group="0" solref="0.01 0.5" friction = "2 0.05 0.0001" conaffinity="1" contype="1" name="finger2_pad_collision"/>
                 </body>
             </body>
         </body>
diff --git a/robosuite/models/assets/grippers/rethink_gripper.xml b/robosuite/models/assets/grippers/rethink_gripper.xml
index b6835dde59..3d1c6cd082 100644
--- a/robosuite/models/assets/grippers/rethink_gripper.xml
+++ b/robosuite/models/assets/grippers/rethink_gripper.xml
@@ -28,7 +28,7 @@
             <inertial pos="0 0 0" quat="-0.5 0.5 0.5 0.5" mass="0.3" diaginertia="3e-08 2e-08 2e-08" />
             <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="connector_plate" name="connector_plate" pos="0 0 0.0018" material="connector_plate_mat"/>
             <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="electric_gripper_base" name="electric_gripper_base" pos="0 0 0.0194" material="electric_gripper_base_mat"/>
-            <geom size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" pos="0.004 0.0 0.04"/>
+            <geom size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" group="0" pos="0.004 0.0 0.04"/>
             <!-- This site was added for visualization. -->
             <site name="grip_site" pos="0 0 0.109" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
             <!-- This site was added for visualization. -->
@@ -37,24 +37,26 @@
                 <inertial pos="0 0 0" quat="0 0 0 -1" mass="0.02" diaginertia="0.01 0.01 0.01" />
                 <joint name="l_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.0115 0.020833" damping="100"/>
                 <geom name="l_finger" quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" mesh="standard_narrow" material="finger_mat"/>
-                <geom size="0.005 0.00675 0.0375" pos="0 0.01725 0.04" quat="0 0 0 -1" type="box" conaffinity="1" contype="0" name="l_finger_g0" friction="0 0 0"/>
-                <geom size="0.005 0.025 0.0085" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" type="box" conaffinity="1" contype="0" name="l_finger_g1" friction="0 0 0"/>
+                <geom size="0.005 0.00675 0.0375" pos="0 0.01725 0.04" quat="0 0 0 -1" type="box" group="0" conaffinity="1" contype="0" name="l_finger_g0" friction="0 0 0"/>
+                <geom size="0.005 0.025 0.0085" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" type="box" group="0" conaffinity="1" contype="0" name="l_finger_g1" friction="0 0 0"/>
                 <body name="l_finger_tip" pos="0 0.01725 0.075">
                     <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
                     <geom name="l_fingertip_g0_vis" quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="half_round_tip" material="tip_mat"/>
-                    <geom size="0.004 0.004 0.0185" pos="0 -0.0045 -0.015" quat="0 0 0 -1" type="box"  conaffinity="1" contype="0" name="l_fingertip_g0" friction="0 0 0"/>
+                    <geom size="0.004 0.004 0.0185" pos="0 -0.0045 -0.015" quat="0 0 0 -1" type="box" group="0"  conaffinity="1" contype="0" name="l_fingertip_g0" friction="0 0 0"/>
+                    <geom size="0.0035 0.004 0.0165" pos="0 -0.0047 -0.017" type="box"  conaffinity="1" contype="0" name="l_fingerpad_g0" friction="0 0 0"/>
                 </body>
             </body>
             <body name="r_finger" pos="0 -0.01 0.0444">
                 <inertial pos="0 0 0" mass="0.02" diaginertia="0.01 0.01 0.01" />
                 <joint name="r_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.020833 0.0115" damping="100"/>
                 <geom name="r_finger" type="mesh" contype="0" conaffinity="0" group="1" mesh="standard_narrow" material="finger_mat"/>
-                <geom size="0.005 0.00675 0.0375" pos="0 -0.01725 0.04" type="box" conaffinity="1" contype="0" name="r_finger_g0" friction="0 0 0"/>
-                <geom size="0.005 0.025 0.0085" pos="0.005 0.003 0.0083" type="box" conaffinity="1" contype="0" name="r_finger_g1" friction="0 0 0"/>
+                <geom size="0.005 0.00675 0.0375" pos="0 -0.01725 0.04" type="box" group="0" conaffinity="1" contype="0" name="r_finger_g0" friction="0 0 0"/>
+                <geom size="0.005 0.025 0.0085" pos="0.005 0.003 0.0083" type="box" group="0" conaffinity="1" contype="0" name="r_finger_g1" friction="0 0 0"/>
                 <body name="r_finger_tip" pos="0 -0.01725 0.075">
                     <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
                     <geom name="r_fingertip_g0_vis" type="mesh" contype="0" conaffinity="0" group="1" mesh="half_round_tip" material="tip_mat"/>
-                    <geom size="0.004 0.004 0.0185" pos="0 0.0045 -0.015" type="box"  conaffinity="1" contype="0" name="r_fingertip_g0" friction="0 0 0"/>
+                    <geom size="0.004 0.004 0.0185" pos="0 0.0045 -0.015" type="box" group="0" conaffinity="1" contype="0" name="r_fingertip_g0" friction="0 0 0"/>
+                    <geom size="0.0035 0.004 0.0165" pos="0 0.0047 -0.017" type="box"  conaffinity="1" contype="0" name="r_fingerpad_g0" friction="0 0 0"/>
                 </body>
             </body>
         </body>
diff --git a/robosuite/models/assets/grippers/robotiq_gripper_140.xml b/robosuite/models/assets/grippers/robotiq_gripper_140.xml
index 379b597ac6..40520351a1 100644
--- a/robosuite/models/assets/grippers/robotiq_gripper_140.xml
+++ b/robosuite/models/assets/grippers/robotiq_gripper_140.xml
@@ -50,7 +50,7 @@
     <worldbody>
         <body name="right_gripper" pos="0 0 -0.0625" quat="0 -0.707105 0.707108 0 ">
             <geom pos="0 0 -0.061525" quat="0 0.707388 -0.706825 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_base_link_vis" />
-            <geom pos="0 0 -0.061525" quat="0 0.707388 -0.706825 0" type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_base_link" name="hand_collision"/>
+            <geom pos="0 0 -0.061525" quat="0 0.707388 -0.706825 0" type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_base_link" name="hand_collision"/>
 
             <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />
 
@@ -63,45 +63,45 @@
                 <inertial pos="0.000163875 0.0458404 0.0117804" quat="0.881368 0.472423 -0.0024451 -0.000996122" mass="0.0311462" diaginertia="2.96023e-05 2.79814e-05 4.39017e-06" />
                 <joint name="finger_joint" pos="0 0 0" axis="-1 0 0" limited="true" range="0 0.7" />
                 <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_140_outer_knuckle_vis" />
-                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_140_outer_knuckle" name="left_outer_knuckle_collision"/>
+                <geom type="mesh" group="0" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_140_outer_knuckle" name="left_outer_knuckle_collision"/>
                 <geom pos="0 0.01822 0.0260018" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_outer_finger_vis" />
-                <geom pos="0 0.01822 0.0260018" type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_outer_finger" name="left_outer_finger_collision"/>
+                <geom pos="0 0.01822 0.0260018" type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_outer_finger" name="left_outer_finger_collision"/>
                 <body name="left_inner_finger" pos="0 0.0999754 -0.00221853" quat="0.935013 -0.354613 0 0">
                     <inertial pos="0.000119314 0.0339244 -0.021841" quat="0.545437 0.430197 -0.442938 0.566776" mass="0.0261503" diaginertia="1.62408e-05 1.59131e-05 2.38936e-06" />
                     <joint name="left_inner_finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
                     <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger_vis" />
-                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger" name="left_inner_finger_collision"/>
+                    <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger" name="left_inner_finger_collision"/>
                     <geom size="0.0135 0.0325 0.00375" pos="0 0.0457554 -0.0272203" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
-                    <geom size="0.015 0.035 0.00375" pos="0 0.0457554 -0.0272203" type="box" rgba="0.9 0.9 0.9 1" name="left_fingertip_collision" solref="0.01 0.25"/>
+                    <geom size="0.015 0.035 0.00375" pos="0 0.0457554 -0.0272203" type="box" group="0" rgba="0.9 0.9 0.9 1" name="left_fingertip_collision" solref="0.01 0.25"/>
                 </body>
             </body>
             <body name="left_inner_knuckle" pos="0.0127 1.01133e-05 -0.122945" quat="-0.64507 0.290316 -0.290085 0.644556">
                 <inertial pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221" mass="0.0271177" diaginertia="2.83809e-05 2.61936e-05 2.81319e-06" />
                 <joint name="left_inner_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
                 <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_knuckle_vis" />
-                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_knuckle" name="left_inner_knuckle_collision"/>
+                <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_knuckle" name="left_inner_knuckle_collision"/>
             </body>
             <body name="right_outer_knuckle" pos="-0.030601 -2.43684e-05 -0.11643" quat="0.644556 -0.290085 -0.290316 0.64507">
                 <inertial pos="0.000163875 0.0458404 0.0117804" quat="0.881368 0.472423 -0.0024451 -0.000996122" mass="0.0311462" diaginertia="2.96023e-05 2.79814e-05 4.39017e-06" />
                 <joint name="right_outer_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.725 0.725" />
                 <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_140_outer_knuckle_vis" />
-                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_140_outer_knuckle" name="right_outer_knuckle_collision"/>
+                <geom type="mesh" group="0" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_140_outer_knuckle" name="right_outer_knuckle_collision"/>
                 <geom pos="0 0.01822 0.0260018" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_outer_finger_vis" />
-                <geom pos="0 0.01822 0.0260018" type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_outer_finger" name="right_outer_finger_collision"/>
+                <geom pos="0 0.01822 0.0260018" type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_outer_finger" name="right_outer_finger_collision"/>
                 <body name="right_inner_finger" pos="0 0.0999754 -0.00221853" quat="0.935013 -0.354613 0 0">
                     <inertial pos="0.000119314 0.0339244 -0.021841" quat="0.545437 0.430197 -0.442938 0.566776" mass="0.0261503" diaginertia="1.62408e-05 1.59131e-05 2.38936e-06" />
                     <joint name="right_inner_finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
                     <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger_vis" />
-                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger" name="right_inner_finger_collision"/>
+                    <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger" name="right_inner_finger_collision"/>
                     <geom size="0.0135 0.0325 0.00375" pos="0 0.0457554 -0.0272203" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
-                    <geom size="0.015 0.035 0.00375" pos="0 0.0457554 -0.0272203" type="box" rgba="0.9 0.9 0.9 1" name="right_fingertip_collision" solref="0.01 0.25"/>
+                    <geom size="0.015 0.035 0.00375" pos="0 0.0457554 -0.0272203" type="box" group="0" rgba="0.9 0.9 0.9 1" name="right_fingertip_collision" solref="0.01 0.25"/>
                 </body>
             </body>
             <body name="right_inner_knuckle" pos="-0.0127 -1.01133e-05 -0.122945" quat="-0.644556 0.290085 0.290316 -0.64507">
                 <inertial pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221" mass="0.0271177" diaginertia="2.83809e-05 2.61936e-05 2.81319e-06" />
                 <joint name="right_inner_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
                 <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_knuckle_vis" />
-                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_knuckle" name="right_inner_knuckle_collision"/>
+                <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_knuckle" name="right_inner_knuckle_collision"/>
             </body>
         </body>
     </worldbody>
diff --git a/robosuite/models/assets/grippers/robotiq_gripper_85.xml b/robosuite/models/assets/grippers/robotiq_gripper_85.xml
index 665b98d293..1e1bab659a 100644
--- a/robosuite/models/assets/grippers/robotiq_gripper_85.xml
+++ b/robosuite/models/assets/grippers/robotiq_gripper_85.xml
@@ -45,50 +45,50 @@
 
             <inertial pos="0 0 0" mass="0.01" diaginertia="0.001 0.001 0.001" />
             <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_base_link" />
-            <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_base_link" name="hand_collision" />
+            <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_base_link" name="hand_collision" />
             <body name="left_outer_knuckle" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
                 <inertial pos="0.000163875 0.0554825 -0.0100755" quat="0.920541 0.390623 -0.00362953 0.00231744" mass="0.0311462" diaginertia="5.11372e-05 4.89464e-05 4.95906e-06" />
                 <joint name="finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.8" />
                 <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle_vis" />
-                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle" name="left_outer_knuckle_collision" solref="0.01 0.25" />
+                <geom type="mesh" group="0" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle" name="left_outer_knuckle_collision" solref="0.01 0.25" />
                 <geom pos="0 0.0315 -0.0041" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger_vis" />
-                <geom pos="0 0.0315 -0.0041" type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger" name="left_outer_finger_collision" solref="0.01 0.25" />
+                <geom pos="0 0.0315 -0.0041" type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger" name="left_outer_finger_collision" solref="0.01 0.25" />
                 <body name="left_inner_finger" pos="0 0.0376 0.043">
                     <inertial pos="0.000199506 0.0032692 0.00175282" quat="0.933621 0.35825 -0.00273441 0.00104851" mass="0.0156391" diaginertia="1.57977e-05 1.51089e-05 1.4647e-06" />
                     <joint name="left_inner_finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
                     <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger_vis" />
-                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger" name="left_inner_finger_collision" solref="0.01 0.25" />
+                    <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger" name="left_inner_finger_collision" solref="0.01 0.25" />
                     <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
-                    <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" rgba="0.9 0.9 0.9 1" name="left_fingertip_collision" solref="0.01 0.25" />
+                    <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" group="0" rgba="0.9 0.9 0.9 1" name="left_fingertip_collision" solref="0.01 0.25" />
                 </body>
             </body>
             <body name="left_inner_knuckle" pos="0 -0.0127 0.06142" quat="0 0 0 1">
                 <inertial pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221" mass="0.0271177" diaginertia="2.83809e-05 2.61936e-05 2.81319e-06" />
                 <joint name="left_inner_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.8757" />
                 <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle_vis" />
-                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle" name="left_inner_knuckle_collision" />
+                <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle" name="left_inner_knuckle_collision" />
             </body>
             <body name="right_outer_knuckle" pos="0 0.0306011 0.054904">
                 <inertial pos="0.000163875 0.0554825 -0.0100755" quat="0.920541 0.390623 -0.00362953 0.00231744" mass="0.0311462" diaginertia="5.11372e-05 4.89464e-05 4.95906e-06" />
                 <joint name="right_outer_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.8" />
                 <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle_vis" />
-                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle" name="right_outer_knuckle_collision" solref="0.01 0.25" />
+                <geom type="mesh" group="0" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle" name="right_outer_knuckle_collision" solref="0.01 0.25" />
                 <geom pos="0 0.0315 -0.0041" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger_vis" />
-                <geom pos="0 0.0315 -0.0041" type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger" name="right_outer_finger_collision" solref="0.01 0.25" />
+                <geom pos="0 0.0315 -0.0041" type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger" name="right_outer_finger_collision" solref="0.01 0.25" />
                 <body name="right_inner_finger" pos="0 0.0376 0.043">
                     <inertial pos="0.000199506 0.0032692 0.00175282" quat="0.933621 0.35825 -0.00273441 0.00104851" mass="0.0156391" diaginertia="1.57977e-05 1.51089e-05 1.4647e-06" />
                     <joint name="right_inner_finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
                     <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger_vis" />
-                    <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger" name="right_inner_finger_collision" solref="0.01 0.25" />
+                    <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger" name="right_inner_finger_collision" solref="0.01 0.25" />
                     <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
-                    <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" rgba="0.9 0.9 0.9 1" name="right_fingertip_collision" solref="0.01 0.25" />
+                    <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" group="0" rgba="0.9 0.9 0.9 1" name="right_fingertip_collision" solref="0.01 0.25" />
                 </body>
             </body>
             <body name="right_inner_knuckle" pos="0 0.0127 0.06142">
                 <inertial pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221" mass="0.0271177" diaginertia="2.83809e-05 2.61936e-05 2.81319e-06" />
                 <joint name="right_inner_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.8757" />
                 <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle_vis" />
-                <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle" name="right_inner_knuckle_collision" />
+                <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle" name="right_inner_knuckle_collision" />
             </body>
         </body>
     </worldbody>
diff --git a/robosuite/models/assets/grippers/robotiq_gripper_s.xml b/robosuite/models/assets/grippers/robotiq_gripper_s.xml
index 9bca33fe95..ae124bf920 100644
--- a/robosuite/models/assets/grippers/robotiq_gripper_s.xml
+++ b/robosuite/models/assets/grippers/robotiq_gripper_s.xml
@@ -85,7 +85,7 @@
             <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
             <inertial pos="-0.00134236 0.00263073 -1.01672e-08" quat="0.489887 0.489849 0.509908 0.509954" mass="1.20044" diaginertia="0.00263541 0.00218876 0.00210987" />
             <geom name="palm_visual" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="palm_vis" />
-            <geom name="palm" contype="0" type="mesh" rgba="0 0 0 1" group="0" mesh="palm" />
+            <geom name="palm" contype="0" type="mesh"  group="0"rgba="0 0 0 1" mesh="palm" />
             <site name="grip_site" pos="0 0.1 0" size="0.01" rgba="1 0 0 1" type="sphere" group="1"/>
             <site name="grip_site_cylinder" quat="0 0 0.707 0.707" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
             <body name="finger_1_link_0" pos="-0.0455 0.0214 0.036" quat="-2.59838e-06 0.706825 0.707388 2.59631e-06">
@@ -109,7 +109,7 @@
                             <joint damping="0.03" name="finger_1_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
                             <geom name="f1_l3_vis" quat="0.96639 0 0 0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link_3_vis" />
                             <geom name="f1_l3" quat="0.96639 0 0 0.257081" type="mesh" rgba="1 1 1 1" group="0" mesh="link_3" />
-                            <geom type="box" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="f1_pad_collision" />
+                            <geom type="box" group="0" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="f1_pad_collision" />
                         </body>
                     </body>
                 </body>
@@ -135,7 +135,7 @@
                             <joint damping="0.03" name="finger_2_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
                             <geom quat="0.96639 0 0 0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link_3_vis" />
                             <geom name="f2_l3" quat="0.96639 0 0 0.257081" type="mesh" rgba="1 1 1 1" group="0" mesh="link_3" />
-                            <geom type="box" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="f2_pad_collision" />
+                            <geom type="box" group="0" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="f2_pad_collision" />
                         </body>
                     </body>
                 </body>
@@ -160,7 +160,7 @@
                             <joint damping="0.03" name="finger_middle_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
                             <geom quat="0.96639 0 0 0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link_3_vis" />
                             <geom  name="f3_l3" quat="0.96639 0 0 0.257081" type="mesh" rgba="1 1 1 1" group="0" mesh="link_3" />
-                            <geom type="box" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="finger_middle_pad_collision" />
+                            <geom type="box" group="0" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="finger_middle_pad_collision" />
                         </body>
                     </body>
                 </body>
diff --git a/robosuite/models/assets/grippers/wiping_gripper.xml b/robosuite/models/assets/grippers/wiping_gripper.xml
index 51a51c7ef3..65a098082d 100644
--- a/robosuite/models/assets/grippers/wiping_gripper.xml
+++ b/robosuite/models/assets/grippers/wiping_gripper.xml
@@ -6,50 +6,50 @@
 
             <geom type="box" pos="0 0 0.0" size="0.06 0.025 0.015" name="wiping_surface_vis" contype="0" conaffinity="0" group="1" rgba="0.25 0.25 0.25 1" />
 
-            <geom type="box" pos="0.055 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1a" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="0.04 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1b" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="0.02 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1c" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="0.0 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1d" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="-0.02 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1e" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="-0.04 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1f" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="-0.055 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1g" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="0.055 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1a" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="0.04 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1b" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="0.02 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1c" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="0.0 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1d" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="-0.02 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1e" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="-0.04 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1f" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="-0.055 0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface1g" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
 
-            <geom type="sphere" pos="0.06 0.025 0.015" size="0.001" name="wiping_corner1" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="0.06 0.025 0.015" size="0.001" name="wiping_corner1" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
             
             <site type="sphere" pos="0.06 0.025 0.015" size="0.001" name="wiping_corner1_site"/>
-            <geom type="sphere" pos="0.04 0.025 0.015" size="0.001" name="wiping_surface1br" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="sphere" pos="0.02 0.025 0.015" size="0.001" name="wiping_surface1cr" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="sphere" pos="0.0 0.025 0.015" size="0.001" name="wiping_surface1dr" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="sphere" pos="-0.02 0.025 0.015" size="0.001" name="wiping_surface1er" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="sphere" pos="-0.04 0.025 0.015" size="0.001" name="wiping_surface1fr" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="sphere" pos="-0.06 0.025 0.015" size="0.001" name="wiping_corner2" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="0.04 0.025 0.015" size="0.001" name="wiping_surface1br" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="0.02 0.025 0.015" size="0.001" name="wiping_surface1cr" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="0.0 0.025 0.015" size="0.001" name="wiping_surface1dr" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="-0.02 0.025 0.015" size="0.001" name="wiping_surface1er" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="-0.04 0.025 0.015" size="0.001" name="wiping_surface1fr" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="-0.06 0.025 0.015" size="0.001" name="wiping_corner2" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
             <site type="sphere" pos="-0.06 0.025 0.015" size="0.001" name="wiping_corner2_site"/>
 
-            <geom type="box" pos="0.055 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2a" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="0.04 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2b" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="0.02 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2c" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="0.0 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2d" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="-0.02 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2e" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="-0.04 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2f" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="-0.055 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2g" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="0.055 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2a" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="0.04 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2b" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="0.02 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2c" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="0.0 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2d" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="-0.02 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2e" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="-0.04 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2f" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="-0.055 -0.02 0.0" size="0.005 0.01 0.015" name="wiping_surface2g" solimp="0.2 0.9 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
 
-            <geom type="sphere" pos="0.06 -0.025 0.015" size="0.001" name="wiping_corner3" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="0.06 -0.025 0.015" size="0.001" name="wiping_corner3" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
             <site type="sphere" pos="0.06 -0.025 0.015" size="0.001" name="wiping_corner3_site"/>
-            <geom type="sphere" pos="0.04 -0.025 0.015" size="0.001" name="wiping_surface2br" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="sphere" pos="0.02 -0.025 0.015" size="0.001" name="wiping_surface2cr" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="sphere" pos="0.0 -0.025 0.015" size="0.001" name="wiping_surface2dr" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="sphere" pos="-0.02 -0.025 0.015" size="0.001" name="wiping_surface2er" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="sphere" pos="-0.04 -0.025 0.015" size="0.001" name="wiping_surface2fr" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="sphere" pos="-0.06 -0.025 0.015" size="0.001" name="wiping_corner4" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="0.04 -0.025 0.015" size="0.001" name="wiping_surface2br" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="0.02 -0.025 0.015" size="0.001" name="wiping_surface2cr" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="0.0 -0.025 0.015" size="0.001" name="wiping_surface2dr" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="-0.02 -0.025 0.015" size="0.001" name="wiping_surface2er" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="-0.04 -0.025 0.015" size="0.001" name="wiping_surface2fr" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="sphere" group="0" pos="-0.06 -0.025 0.015" size="0.001" name="wiping_corner4" solimp="0.0 0.1 0.01" solmix="10000" solref="1 2" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
             <site type="sphere" pos="-0.06 -0.025 0.015" size="0.001" name="wiping_corner4_site"/>
 
-            <geom type="box" pos="0.055 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1ax" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="0.04 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1bx" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="0.02 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1cx" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="0.0 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1dx" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="-0.02 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1ex" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="-0.04 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1fx" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
-            <geom type="box" pos="-0.055 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1gx" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="0.055 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1ax" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="0.04 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1bx" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="0.02 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1cx" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="0.0 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1dx" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="-0.02 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1ex" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="-0.04 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1fx" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
+            <geom type="box" group="0" pos="-0.055 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1gx" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
 
             <!-- This site was added for visualization. -->
             <site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0" type="sphere" group="0"/>
diff --git a/robosuite/models/assets/objects/bottle.xml b/robosuite/models/assets/objects/bottle.xml
index 7882543c4f..5b83fb2f0d 100644
--- a/robosuite/models/assets/objects/bottle.xml
+++ b/robosuite/models/assets/objects/bottle.xml
@@ -6,8 +6,8 @@
   </asset>
   <worldbody>
     <body>
-      <body name="collision">
-        <geom pos="0 0 0" mesh="bottle_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1" material="glass" group="1"/>
+      <body name="object">
+        <geom pos="0 0 0" mesh="bottle_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1" material="glass" contype="0" conaffinity="0" group="1"/>
         <geom pos="0 0 0" mesh="bottle_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1" material="glass" group="0"/>
       </body>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.082" name="bottom_site"/>
diff --git a/robosuite/models/assets/objects/bread-visual.xml b/robosuite/models/assets/objects/bread-visual.xml
index b33041f12a..cfc2a21ad9 100644
--- a/robosuite/models/assets/objects/bread-visual.xml
+++ b/robosuite/models/assets/objects/bread-visual.xml
@@ -1,13 +1,8 @@
-<mujoco model="bread">
-  <asset>
-    <mesh file="meshes/bread.stl" name="bread_mesh" scale="0.8 0.8 0.8"/>
-    <texture file="../textures/bread.png" type="2d" name="tex-bread" />
-    <material name="bread" reflectance="0.7" texrepeat="15 15" texture="tex-bread" texuniform="true"/>
-  </asset>
+<mujoco model="bread-visual">
+  <!-- note: the mesh needed for this object is defined in bread.xml -->
   <worldbody>
     <body>
-      <body name="visual">
-        <geom pos="0 0 0" mesh="bread_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3"  conaffinity="0" contype="0"  group="0" mass="0.0001"/>
+      <body name="object">
         <geom pos="0 0 0" mesh="bread_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3"  conaffinity="0" contype="0"  group="1" mass="0.0001"/>
       </body>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.045" name="bottom_site"/>
diff --git a/robosuite/models/assets/objects/bread.xml b/robosuite/models/assets/objects/bread.xml
index 46c5e71438..a5796c20d2 100644
--- a/robosuite/models/assets/objects/bread.xml
+++ b/robosuite/models/assets/objects/bread.xml
@@ -6,12 +6,8 @@
   </asset>
   <worldbody>
     <body>
-      <body name="collision">
-        <geom pos="0 0 0" mesh="bread_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1"  material="bread" group="1" condim="4"/>
-      </body>
-      <body name="visual">
-        <geom pos="0 0 0" mesh="bread_mesh" type="mesh" material="bread"  conaffinity="0" contype="0"  group="0" mass="0.0001"/>
-        <geom pos="0 0 0" mesh="bread_mesh" type="mesh" material="bread"  conaffinity="0" contype="0"  group="1" mass="0.0001"/>
+      <body name="object">
+        <geom pos="0 0 0" mesh="bread_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1"  material="bread" group="0" condim="4"/>
       </body>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.045" name="bottom_site"/>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 0.03" name="top_site"/>
diff --git a/robosuite/models/assets/objects/can-visual.xml b/robosuite/models/assets/objects/can-visual.xml
index 4acfc27711..49665439d2 100644
--- a/robosuite/models/assets/objects/can-visual.xml
+++ b/robosuite/models/assets/objects/can-visual.xml
@@ -1,11 +1,8 @@
-<mujoco model="can">
-  <asset>
-    <mesh file="meshes/can.stl" name="can_mesh"/>
-  </asset>
+<mujoco model="can-visual">
+  <!-- note: the mesh needed for this object is defined in can.xml -->
   <worldbody>
     <body>
-      <body name="visual">
-        <geom pos="0 0 0" mesh="can_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3"  conaffinity="0" contype="0" group="0" mass="0.0001"/>
+      <body name="object">
         <geom pos="0 0 0" mesh="can_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3"  conaffinity="0" contype="0" group="1" mass="0.0001"/>
       </body>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site"/>
diff --git a/robosuite/models/assets/objects/can.xml b/robosuite/models/assets/objects/can.xml
index aa192841ae..4628509951 100644
--- a/robosuite/models/assets/objects/can.xml
+++ b/robosuite/models/assets/objects/can.xml
@@ -6,12 +6,8 @@
   </asset>
   <worldbody>
     <body>
-      <body name="collision">
-        <geom pos="0 0 0" mesh="can_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="coke" group="1" condim="4"/>
-      </body>
-      <body name="visual">
-        <geom pos="0 0 0" mesh="can_mesh" type="mesh" material="coke"  conaffinity="0" contype="0" group="0" mass="0.0001"/>
-        <geom pos="0 0 0" mesh="can_mesh" type="mesh" material="coke"  conaffinity="0" contype="0" group="1" mass="0.0001"/>
+      <body name="object">
+        <geom pos="0 0 0" mesh="can_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="coke" group="0" condim="4"/>
       </body>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site"/>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site"/>
diff --git a/robosuite/models/assets/objects/cereal-visual.xml b/robosuite/models/assets/objects/cereal-visual.xml
index 97275ea7e6..db8e7d9977 100644
--- a/robosuite/models/assets/objects/cereal-visual.xml
+++ b/robosuite/models/assets/objects/cereal-visual.xml
@@ -1,18 +1,13 @@
-<mujoco model="cereal">
-  <asset>
-    <mesh file="meshes/cereal.stl" name="cereal_mesh"/>
-    <texture file="../textures/cereal.png" rgb1="1 1 1" name="tex-cereal"/>
-    <material name="cereal" reflectance="0.5" texrepeat="2 2" texture="tex-cereal" texuniform="true"/>
-  </asset>
+<mujoco model="cereal-visual">
+  <!-- note: the mesh needed for this object is defined in cereal.xml -->
   <worldbody>
     <body>
-      <body name="visual">
-        <geom pos="0 0 0" mesh="cereal_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3"  conaffinity="0" contype="0"  group="0" mass="0.0001"/>
+      <body name="object">
         <geom pos="0 0 0" mesh="cereal_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3"  conaffinity="0" contype="0"  group="1" mass="0.0001"/>
       </body>
-      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.05" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.10" name="bottom_site"/>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 0.03" name="top_site"/>
-      <site rgba="0 0 0 0" size="0.005" pos="0.02 0.015 0" name="horizontal_radius_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04 0.03 0" name="horizontal_radius_site"/>
     </body>
   </worldbody>
 </mujoco>
diff --git a/robosuite/models/assets/objects/cereal.xml b/robosuite/models/assets/objects/cereal.xml
index 03db569923..4a2107800d 100644
--- a/robosuite/models/assets/objects/cereal.xml
+++ b/robosuite/models/assets/objects/cereal.xml
@@ -1,21 +1,17 @@
 <mujoco model="cereal">
   <asset>
-    <mesh file="meshes/cereal.stl" name="cereal_mesh" scale="0.4 1.0 0.4"/>
+    <mesh file="meshes/cereal.stl" name="cereal_mesh"/>
     <texture type="cube" file="../textures/cereal.png" rgb1="1 1 1" name="tex-cereal"/>
-    <material name="cereal" reflectance="0.5" texrepeat="3 3" texture="tex-cereal" texuniform="false"/>
+    <material name="cereal" reflectance="0.5" texrepeat="1 1" texture="tex-cereal" texuniform="false"/>
   </asset>
   <worldbody>
     <body>
-      <body name="collision">
-        <geom pos="0 0 0" mesh="cereal_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="150" friction="0.95 0.3 0.1" material="cereal" group="1" condim="4"/>
+      <body name="object">
+        <geom pos="0 0 0" mesh="cereal_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="150" friction="0.95 0.3 0.1" material="cereal" group="0" condim="4"/>
       </body>
-      <body name="visual">
-        <geom pos="0 0 0" mesh="cereal_mesh" type="mesh" material="cereal"  conaffinity="0" contype="0"  group="0" mass="0.0001"/>
-        <geom pos="0 0 0" mesh="cereal_mesh" type="mesh" material="cereal"  conaffinity="0" contype="0"  group="1" mass="0.0001"/>
-      </body>
-      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.05" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.10" name="bottom_site"/>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 0.03" name="top_site"/>
-      <site rgba="0 0 0 0" size="0.005" pos="0.02 0.015 0" name="horizontal_radius_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04 0.03 0" name="horizontal_radius_site"/>
     </body>
   </worldbody>
 </mujoco>
diff --git a/robosuite/models/assets/objects/door.xml b/robosuite/models/assets/objects/door.xml
index 886b43610a..2041c63b49 100644
--- a/robosuite/models/assets/objects/door.xml
+++ b/robosuite/models/assets/objects/door.xml
@@ -13,7 +13,7 @@
   </asset>
     <worldbody>
       <body name="door_body">
-        <body name="collision">
+        <body name="object">
           <body name="frame" pos="0 0.22 0" quat="0.707388 0 0 -0.706825">
               <inertial pos="0.3 0 0" quat="0.5 0.5 0.5 0.5" mass="7.85398" diaginertia="0.923301 0.764585 0.168533" />
               <geom size="0.03 0.3" pos="0.555 0 0" type="cylinder" rgba="1 1 1 1" group="1" name="r_frame"/>
diff --git a/robosuite/models/assets/objects/door_lock.xml b/robosuite/models/assets/objects/door_lock.xml
index 5096f78c33..7f9a2ade7d 100644
--- a/robosuite/models/assets/objects/door_lock.xml
+++ b/robosuite/models/assets/objects/door_lock.xml
@@ -13,22 +13,22 @@
   </asset>
     <worldbody>
       <body name="door_body">
-        <body name="collision">
+        <body name="object">
           <body name="frame" pos="0 0.22 0" quat="0.707388 0 0 -0.706825">
               <inertial pos="0.3 0 0" quat="0.5 0.5 0.5 0.5" mass="7.85398" diaginertia="0.923301 0.764585 0.168533" />
-              <geom size="0.03 0.3" pos="0.555 0 0" type="cylinder" rgba="1 1 1 1" group="1" name="r_frame"/>
-              <geom size="0.03 0.3" pos="0.045 0 0" type="cylinder" rgba="1 1 1 1" group="1" name="l_frame"/>
+              <geom size="0.03 0.3" pos="0.555 0 0" type="cylinder" rgba="1 1 1 1" group="0" name="r_frame"/>
+              <geom size="0.03 0.3" pos="0.045 0 0" type="cylinder" rgba="1 1 1 1" group="0" name="l_frame"/>
               <body name="door" pos="0.3 0 0">
                   <inertial pos="0.0296816 -0.00152345 0" quat="0.701072 0 0 0.713091" mass="2.43455" diaginertia="0.0913751 0.0521615 0.043714" />
                   <joint name="door_hinge" pos="0.255 0 0" axis="0 0 1" range="0.0 0.4" damping="1" frictionloss="1" limited="true"/>
-                  <geom size="0.22 0.02 .29" type="box" friction="1 1 1" group="1" name="door_box" material="MatDarkWood"/>
+                  <geom size="0.22 0.02 .29" type="box" friction="1 1 1" group="0" name="door_box" material="MatDarkWood"/>
                   <body name="latch" pos="-0.175 0 -0.025">
                       <inertial pos="-0.017762 0.0138544 0" quat="0.365653 0.605347 -0.36522 0.605365" mass="0.1" diaginertia="0.0483771 0.0410001 0.0111013" />
                       <joint name="latch_joint" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" frictionloss="0.1" damping="0" limited="true" springref="0" stiffness="1" />
-                      <geom fromto="0 0.0625 0 0 -0.125 0" size="0.025" type="cylinder" group="1" name="handle_base" material="MatMetal"/>
-                      <geom size="0.075 0.015 0.02" pos="0.075 -0.10 0" type="box" group="1" name="handle" material="MatMetal"/>
-                      <geom size="0.025 0.0125 0.03125" pos="-0.03125 0.05 0" quat="0.707388 0 0.706825 0" type="box" group="1" name="latch" material="MatMetal"/>
-                      <geom size="0.025 0.0125" pos="-0.0625 0.05 0" quat="0.707388 0.706825 0 0" type="cylinder" group="1" name="latch_tip" material="MatMetal"/>
+                      <geom fromto="0 0.0625 0 0 -0.125 0" size="0.025" type="cylinder" group="0" name="handle_base" material="MatMetal"/>
+                      <geom size="0.075 0.015 0.02" pos="0.075 -0.10 0" type="box" group="0" name="handle" material="MatMetal"/>
+                      <geom size="0.025 0.0125 0.03125" pos="-0.03125 0.05 0" quat="0.707388 0 0.706825 0" type="box" group="0" name="latch" material="MatMetal"/>
+                      <geom size="0.025 0.0125" pos="-0.0625 0.05 0" quat="0.707388 0.706825 0 0" type="cylinder" group="0" name="latch_tip" material="MatMetal"/>
                       <!-- Don't render the door handle site by default -->
                       <site name="door_handle" pos="0.125 -0.10 0" size="0.02" rgba="0 0 1 0" />
                   </body>
diff --git a/robosuite/models/assets/objects/lemon.xml b/robosuite/models/assets/objects/lemon.xml
index a045d5caf9..9874d8cc6c 100644
--- a/robosuite/models/assets/objects/lemon.xml
+++ b/robosuite/models/assets/objects/lemon.xml
@@ -6,12 +6,8 @@
   </asset>
   <worldbody>
     <body>
-      <body name="collision">
-        <geom pos="0 0 0" mesh="lemon_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1"  material="lemon" group="1" condim="4"/>
-      </body>
-      <body name="visual">
-        <geom pos="0 0 0" mesh="lemon_mesh" type="mesh" material="lemon"  conaffinity="0" contype="0"  group="0" mass="0.0001"/>
-        <geom pos="0 0 0" mesh="lemon_mesh" type="mesh" material="lemon" conaffinity="0" contype="0"  group="1" mass="0.0001"/>
+      <body name="object">
+        <geom pos="0 0 0" mesh="lemon_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1"  material="lemon" group="0" condim="4"/>
       </body>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.035" name="bottom_site"/>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 0.02" name="top_site"/>
diff --git a/robosuite/models/assets/objects/milk-visual.xml b/robosuite/models/assets/objects/milk-visual.xml
index 66eb125853..1670572737 100644
--- a/robosuite/models/assets/objects/milk-visual.xml
+++ b/robosuite/models/assets/objects/milk-visual.xml
@@ -1,13 +1,8 @@
-<mujoco model="milk">
-  <asset>
-    <mesh file="meshes/milk.stl" name="milk_mesh" scale="0.9 0.9 0.9"/>
-    <texture file="../textures/ceramic.png" name="tex-ceramic"/>
-    <material name="ceramic" reflectance="0.5" texrepeat="1 1" texture="tex-ceramic" texuniform="true"/>
-  </asset>
+<mujoco model="milk-visual">
+  <!-- note: the mesh needed for this object is defined in milk.xml -->
   <worldbody>
     <body>
-      <body name="visual">
-        <geom pos="0 0 0" mesh="milk_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3" conaffinity="0" contype="0" group="0" mass="0.0001"/>
+      <body name="object">
         <geom pos="0 0 0" mesh="milk_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3" conaffinity="0" contype="0" group="1" mass="0.0001"/>
       </body>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.085" name="bottom_site"/>
diff --git a/robosuite/models/assets/objects/milk.xml b/robosuite/models/assets/objects/milk.xml
index 56373fee20..15d66d93b1 100644
--- a/robosuite/models/assets/objects/milk.xml
+++ b/robosuite/models/assets/objects/milk.xml
@@ -6,12 +6,8 @@
   </asset>
   <worldbody>
     <body>
-      <body name="collision">
-        <geom pos="0 0 0" mesh="milk_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4"/>
-      </body>
-      <body name="visual">
-        <geom pos="0 0 0" mesh="milk_mesh" type="mesh" material="ceramic"  conaffinity="0" contype="0"  group="0" mass="0.0001"/>
-        <geom pos="0 0 0" mesh="milk_mesh" type="mesh" material="ceramic"  conaffinity="0" contype="0"  group="1" mass="0.0001"/>
+      <body name="object">
+        <geom pos="0 0 0" mesh="milk_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="ceramic" group="0" condim="4"/>
       </body>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.085" name="bottom_site"/>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 0.075" name="top_site"/>
diff --git a/robosuite/models/assets/objects/plate-with-hole.xml b/robosuite/models/assets/objects/plate-with-hole.xml
index 2f02e82664..29ff23acd5 100644
--- a/robosuite/models/assets/objects/plate-with-hole.xml
+++ b/robosuite/models/assets/objects/plate-with-hole.xml
@@ -5,17 +5,11 @@
   </asset>
   <worldbody>
     <body>
-      <body name="collision">
-        <geom pos="0 0 0" size="0.06 0.17 0.01" type="box" group="1" material="plate_mat" />
-        <geom pos="0.22 0 0" size="0.06 0.17 0.01" type="box" group="1" material="plate_mat" />
-        <geom pos="0.11 0.11 0" size="0.05 0.06 0.01" type="box" group="1" material="plate_mat" />
-        <geom pos="0.11 -0.11 0" size="0.05 0.06 0.01" type="box" group="1" material="plate_mat" />
-      </body>
-      <body name="visual">
-        <!--  <geom pos="0 0 0" size="0.1 0.25 0.02" type="box" rgba="1 0 0 1"/>
-        <geom pos="0.3 0 0" size="0.1 0.25 0.02" type="box" rgba="1 0 0 1"/>
-        <geom pos="0.15 0.15 0" size="0.05 0.1 0.02" type="box" rgba="1 0 0 1"/>
-        <geom pos="0.15 -0.15 0" size="0.05 0.1 0.02" type="box" rgba="1 0 0 1"/>-->
+      <body name="object">
+        <geom pos="0 0 0" size="0.06 0.17 0.01" type="box" group="0" material="plate_mat" />
+        <geom pos="0.22 0 0" size="0.06 0.17 0.01" type="box" group="0" material="plate_mat" />
+        <geom pos="0.11 0.11 0" size="0.05 0.06 0.01" type="box" group="0" material="plate_mat" />
+        <geom pos="0.11 -0.11 0" size="0.05 0.06 0.01" type="box" group="0" material="plate_mat" />
       </body>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.02" name="bottom_site"/>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 0.02" name="top_site"/>
diff --git a/robosuite/models/assets/objects/round-nut.xml b/robosuite/models/assets/objects/round-nut.xml
index dc92805347..f7984049e9 100644
--- a/robosuite/models/assets/objects/round-nut.xml
+++ b/robosuite/models/assets/objects/round-nut.xml
@@ -2,16 +2,16 @@
   <!-- Note: Texture / material is defined in the PegsArena xml file! -->
   <worldbody>
     <body>
-      <body name="collision">
-        <geom pos="-0.04245 0 0.0" size="0.01125 0.0225 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="1" condim="4" material="smetal" />
-        <geom pos="0.04245 0 0.0" size="0.01125 0.0225 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="1" condim="4" material="smetal" />
-        <geom pos="0 -0.04245 0.0" size="0.0225 0.01125 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="1" condim="4" material="smetal" />
-        <geom pos="0 0.04245 0.0" size="0.0225 0.01125 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="1" condim="4" material="smetal" />
-        <geom pos="-0.03 -0.03 0.0" size="0.01125 0.0225 0.01" axisangle='0 0 1 0.785398' type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="1" condim="4" material="smetal" />
-        <geom pos="0.03 0.03 0.0" size="0.01125 0.0225 0.01" axisangle='0 0 1 0.785398' type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="1" condim="4" material="smetal" />
-        <geom pos="0.03 -0.03 0.0" size="0.0225 0.01125 0.01" axisangle='0 0 1 0.785398' type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="1" condim="4" material="smetal" />
-        <geom pos="-0.03 0.03 0.0" size="0.0225 0.01125 0.01" axisangle='0 0 1 0.785398' type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="1" condim="4" material="smetal" />
-        <geom pos="0.06 0 0.0" size="0.02525 0.015875 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="1" condim="4" material="smetal" />
+      <body name="object">
+        <geom pos="-0.04245 0 0.0" size="0.01125 0.0225 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
+        <geom pos="0.04245 0 0.0" size="0.01125 0.0225 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
+        <geom pos="0 -0.04245 0.0" size="0.0225 0.01125 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
+        <geom pos="0 0.04245 0.0" size="0.0225 0.01125 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
+        <geom pos="-0.03 -0.03 0.0" size="0.01125 0.0225 0.01" axisangle='0 0 1 0.785398' type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
+        <geom pos="0.03 0.03 0.0" size="0.01125 0.0225 0.01" axisangle='0 0 1 0.785398' type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
+        <geom pos="0.03 -0.03 0.0" size="0.0225 0.01125 0.01" axisangle='0 0 1 0.785398' type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
+        <geom pos="-0.03 0.03 0.0" size="0.0225 0.01125 0.01" axisangle='0 0 1 0.785398' type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
+        <geom pos="0.06 0 0.0" size="0.02525 0.015875 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
       </body>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.05" name="bottom_site"/>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 0.025" name="top_site"/>
diff --git a/robosuite/models/assets/objects/square-nut.xml b/robosuite/models/assets/objects/square-nut.xml
index 036c7fc5e3..721c551cf5 100644
--- a/robosuite/models/assets/objects/square-nut.xml
+++ b/robosuite/models/assets/objects/square-nut.xml
@@ -2,12 +2,12 @@
   <!-- Note: Texture / material is defined in the PegsArena xml file! -->
   <worldbody>
     <body>
-      <body name="collision">
-        <geom pos="-0.03325 0 0" size="0.0105 0.04375 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.2" group="1" condim="4" material="bmetal" />
-        <geom pos="0.0 0.03325 0" size="0.03125 0.0105 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="1" condim="4" material="bmetal" />
-        <geom pos="0.0 -0.03325 0" size="0.03125 0.0105 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="1" condim="4" material="bmetal" />
-        <geom pos="0.03325 0 0" size="0.0105 0.04375 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="1" condim="4" material="bmetal" />
-        <geom pos="0.054 0 0" size="0.02525 0.015875 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="1" condim="4" material="bmetal" />
+      <body name="object">
+        <geom pos="-0.03325 0 0" size="0.0105 0.04375 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.2" group="0" condim="4" material="bmetal" />
+        <geom pos="0.0 0.03325 0" size="0.03125 0.0105 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />
+        <geom pos="0.0 -0.03325 0" size="0.03125 0.0105 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />
+        <geom pos="0.03325 0 0" size="0.0105 0.04375 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />
+        <geom pos="0.054 0 0" size="0.02525 0.015875 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />
       </body>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.05" name="bottom_site"/>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 0.01" name="top_site"/>
diff --git a/robosuite/models/base.py b/robosuite/models/base.py
index ab951086b2..4adff3528e 100644
--- a/robosuite/models/base.py
+++ b/robosuite/models/base.py
@@ -5,6 +5,7 @@
 import numpy as np
 
 from robosuite.utils import XMLError
+from robosuite.utils.mjcf_utils import array_to_string
 
 
 class MujocoXML(object):
@@ -279,3 +280,27 @@ def _add_prefix_recursively(self, root, tags, prefix):
         for child in root:
             if child.tag in tags:
                 self._add_prefix_recursively(child, tags, prefix)
+
+    def recolor_collision_geoms(self, rgba):
+        """
+        Utility method to recolor all collision geoms (where collision geoms are defined as being part of group 0).
+
+        Args:
+            rgba (4-array): (R, G, B, A) values to assign to all geoms with this group.
+        """
+        for body in self.worldbody:
+            self._recolor_collision_geoms_recursively(body, rgba)
+
+    def _recolor_collision_geoms_recursively(self, root, rgba):
+        """
+        Iteratively searches through all children nodes in "root" element to find all geoms belonging to group 0 and set
+        the corresponding rgba value to the specified @rgba argument.
+
+        Args:
+            root (ET.Element): Root of the xml element tree to start recursively searching through
+            rgba (4-array): (R, G, B, A) values to assign to all geoms with this group.
+        """
+        for child in root:
+            if child.tag == "geom" and child.get("group") in {None, "0"}:
+                child.set("rgba", array_to_string(rgba))
+            self._recolor_collision_geoms_recursively(child, rgba)
\ No newline at end of file
diff --git a/robosuite/models/grippers/gripper_model.py b/robosuite/models/grippers/gripper_model.py
index d6455fb87a..10139f711e 100644
--- a/robosuite/models/grippers/gripper_model.py
+++ b/robosuite/models/grippers/gripper_model.py
@@ -2,6 +2,7 @@
 Defines the base class of all grippers
 """
 from robosuite.models.base import MujocoXML
+from robosuite.utils.mjcf_utils import GRIPPER_COLLISION_COLOR
 import numpy as np
 
 
@@ -26,6 +27,9 @@ def __init__(self, fname, idn=0):
         # Update all xml element prefixes
         self.add_prefix(self.naming_prefix)
 
+        # Update collision geom colors
+        self.recolor_collision_geoms(GRIPPER_COLLISION_COLOR)
+
         # Set public attributes with prefixes appended to values
         self.joints = [self.naming_prefix + joint for joint in self._joints]
         self.actuators = [self.naming_prefix + actuator for actuator in self._actuators]
diff --git a/robosuite/models/objects/generated_objects.py b/robosuite/models/objects/generated_objects.py
index 735ca4e90b..3ee8546a81 100644
--- a/robosuite/models/objects/generated_objects.py
+++ b/robosuite/models/objects/generated_objects.py
@@ -1,16 +1,263 @@
 import numpy as np
 
 from robosuite.models.objects import MujocoGeneratedObject
-from robosuite.utils.mjcf_utils import new_body, new_geom, new_site, array_to_string
-from robosuite.utils.mjcf_utils import RED, GREEN, BLUE, CustomMaterial
+from robosuite.utils.mjcf_utils import new_body, new_geom, new_site, array_to_string, add_to_dict
+from robosuite.utils.mjcf_utils import RED, GREEN, BLUE, CYAN, OBJECT_COLLISION_COLOR, CustomMaterial
+import robosuite.utils.transform_utils as T
 
 from collections.abc import Iterable
 
-# Define custom colors
-CYAN = [0, 1, 1, 1]
+from copy import deepcopy
+import xml.etree.ElementTree as ET
 
 
-class HammerObject(MujocoGeneratedObject):
+class CompositeObject(MujocoGeneratedObject):
+    """
+    An object constructed out of basic geoms to make more intricate shapes.
+
+    Note that by default, specifying None for a specific geom element will usually set a value to the mujoco defaults.
+
+    Args:
+        total_size (list): (x, y, z) half-size in each dimension for the bounding box for
+            this Composite object
+
+        object_name (str): Name of overall object
+
+        geom_types (list): list of geom types in the composite. Must correspond
+            to MuJoCo geom primitives, such as "box" or "capsule".
+
+        geom_locations (list): list of geom locations in the composite. Each
+            location should be a list or tuple of 3 elements and all
+            locations are relative to the lower left corner of the total box
+            (e.g. (0, 0, 0) corresponds to this corner).
+
+        geom_sizes (list): list of geom sizes ordered the same as @geom_locations
+
+        geom_names (list): list of geom names ordered the same as @geom_locations. The
+            names will get appended with an underscore to the passed name in @get_collision
+            and @get_visual
+
+        geom_rgbas (list): list of geom colors ordered the same as @geom_locations. If
+            passed as an argument, @rgba is ignored.
+
+        geom_materials (list of CustomTexture): list of custom textures to use for this object material
+
+        geom_frictions (list): list of geom frictions to use for each geom.
+
+        geom_quats (list): list of (w, x, y, z) quaternions for each geom.
+
+        joints (list): list of joints to use for each geom. Note that each entry should be its own list of dictionaries,
+            where each dictionary specifies the specific joint attributes necessary.
+            See http://www.mujoco.org/book/XMLreference.html#joint for reference.
+
+        rgba (list): (r, g, b, a) default values to use if geom-specific @geom_rgbas isn't specified for a given element
+
+        density (float or list of float): either single value to use for all geom densities or geom-specific values
+
+        solref (list or list of list): parameters used for the mujoco contact solver. Can be single set of values or
+            element-specific values. See http://www.mujoco.org/book/modeling.html#CSolver for details.
+
+        solimp (list or list of list): parameters used for the mujoco contact solver. Can be single set of values or
+            element-specific values. See http://www.mujoco.org/book/modeling.html#CSolver for details.
+
+        locations_relative_to_center (bool): If true, @geom_locations will be considered relative to the center of the
+            overall object bounding box defined by @total_size. Else, the corner of this bounding box is considered the
+            origin.
+
+        sites (list of dict): list of sites to add to this object. Each dict should specify the appropriate attributes
+            for the given site. See http://www.mujoco.org/book/XMLreference.html#site for reference.
+
+        obj_types (str or list of str): either single obj_type for all geoms or geom-specific type. Choices are
+            {"collision", "visual", "all"}
+    """
+
+    def __init__(
+        self,
+        total_size,
+        object_name,
+        geom_types,
+        geom_locations,
+        geom_sizes,
+        geom_names=None,
+        geom_rgbas=None,
+        geom_materials=None,
+        geom_frictions=None,
+        geom_quats=None,
+        joints="default",
+        rgba=None,
+        density=100.,
+        solref=(0.02, 1.),
+        solimp=(0.9, 0.95, 0.001),
+        locations_relative_to_center=False,
+        sites=None,
+        obj_types="all",
+        duplicate_collision_geoms=True,
+    ):
+        super().__init__(
+            name=object_name,
+            joints=joints,
+            rgba=rgba,
+            duplicate_collision_geoms=duplicate_collision_geoms,
+        )
+
+        n_geoms = len(geom_types)
+        self.total_size = np.array(total_size)
+        self.geom_types = np.array(geom_types)
+        self.geom_locations = np.array(geom_locations)
+        self.geom_sizes = deepcopy(geom_sizes)
+        self.geom_names = list(geom_names) if geom_names is not None else None
+        self.geom_rgbas = list(geom_rgbas) if geom_rgbas is not None else None
+        self.geom_materials = list(geom_materials) if geom_materials is not None else None
+        self.geom_frictions = list(geom_frictions) if geom_frictions is not None else None
+        self.density = [density] * n_geoms if density is None or type(density) in {float, int} else list(density)
+        self.solref = [solref] * n_geoms if solref is None or type(solref[0]) in {float, int} else list(solref)
+        self.solimp = [solimp] * n_geoms if obj_types is None or type(solimp[0]) in {float, int} else list(solimp)
+        self.rgba = rgba        # override superclass setting of this variable
+        self.locations_relative_to_center = locations_relative_to_center
+        self.geom_quats = deepcopy(geom_quats) if geom_quats is not None else None
+        self.sites = sites
+        self.obj_types = [obj_types] * n_geoms if obj_types is None or type(obj_types) is str else list(obj_types)
+
+    def get_bottom_offset(self):
+        return np.array([0., 0., -self.total_size[2]])
+
+    def get_top_offset(self):
+        return np.array([0., 0., self.total_size[2]])
+
+    def get_horizontal_radius(self):
+        return np.linalg.norm(self.total_size[:2], 2)
+
+    def _size_to_cartesian_half_lengths(self, geom_type, geom_size):
+        """
+        converts from geom size specification to x, y, and z half-length bounding box
+        """
+        if geom_type in ['box', 'ellipsoid']:
+            return geom_size
+        if geom_type == 'sphere':
+            # size is radius
+            return [geom_size[0], geom_size[0], geom_size[0]]
+        if geom_type == 'capsule':
+            # size is radius, half-length of cylinder part
+            return [geom_size[0], geom_size[0], geom_size[0] + geom_size[1]]
+        if geom_type == 'cylinder':
+            # size is radius, half-length
+            return [geom_size[0], geom_size[0], geom_size[1]]
+        raise Exception("unsupported geom type!")
+
+    def get_object_subtree(self, site=None):
+        obj = new_body()
+        obj.set("name", self.name)
+
+        for i in range(self.geom_locations.shape[0]):
+            # geom type
+            geom_type = self.geom_types[i]
+            # get cartesian size from size spec
+            size = self.geom_sizes[i]
+            cartesian_size = self._size_to_cartesian_half_lengths(geom_type, size)
+            if self.locations_relative_to_center:
+                # no need to convert
+                pos = self.geom_locations[i]
+            else:
+                # use geom location to convert to position coordinate (the origin is the
+                # center of the composite object)
+                loc = self.geom_locations[i]
+                pos = [
+                    (-self.total_size[0] + cartesian_size[0]) + loc[0],
+                    (-self.total_size[1] + cartesian_size[1]) + loc[1],
+                    (-self.total_size[2] + cartesian_size[2]) + loc[2],
+                ]
+
+            # geom name
+            if self.geom_names is not None:
+                geom_name = "{}_{}".format(self.name, self.geom_names[i])
+            else:
+                geom_name = "{}_{}".format(self.name, i)
+
+            # geom rgba
+            if self.geom_rgbas is not None and self.geom_rgbas[i] is not None:
+                geom_rgba = self.geom_rgbas[i]
+            else:
+                geom_rgba = self.rgba
+
+            # geom friction
+            if self.geom_frictions is not None and self.geom_frictions[i] is not None:
+                geom_friction = array_to_string(self.geom_frictions[i])
+            else:
+                geom_friction = array_to_string(np.array([1., 0.005, 0.0001])) # mujoco default
+
+            # Define base geom attributes
+            geom_attr = {
+                "size": size,
+                "pos": pos,
+                "name": geom_name,
+                "geom_type": geom_type,
+            }
+
+            # Optionally define quat if specified
+            if self.geom_quats is not None:
+                geom_attr['quat'] = array_to_string(self.geom_quats[i])
+
+            # Add collision geom if necessary
+            if self.obj_types[i] in {"collision", "all"}:
+                col_geom_attr = deepcopy(geom_attr)
+                col_geom_attr.update(self.get_collision_attrib_template())
+                if self.density[i] is not None:
+                    col_geom_attr['density'] = str(self.density[i])
+                col_geom_attr['friction'] = geom_friction
+                col_geom_attr['solref'] = array_to_string(self.solref[i])
+                col_geom_attr['solimp'] = array_to_string(self.solimp[i])
+                col_geom_attr['rgba'] = OBJECT_COLLISION_COLOR
+                obj.append(new_geom(**col_geom_attr))
+
+            # Add visual geom if necessary
+            if self.obj_types[i] in {"visual", "all"}:
+                vis_geom_attr = deepcopy(geom_attr)
+                vis_geom_attr.update(self.get_visual_attrib_template())
+                vis_geom_attr["name"] += "_vis"
+                if self.geom_materials is not None:
+                    vis_geom_attr['material'] = self.geom_materials[i]
+                vis_geom_attr["rgba"] = geom_rgba
+                obj.append(new_geom(**vis_geom_attr))
+
+        # add top level site if requested
+        if site:
+            # add a site as well
+            site_element_attr = self.get_site_attrib_template()
+            site_element_attr["rgba"] = "1 0 0 0"
+            site_element_attr["name"] = self.name
+            obj.append(ET.Element("site", attrib=site_element_attr))
+
+        # Also create specific sites requested
+        if self.sites is not None:
+            # add relevant sites
+            for s in self.sites:
+                obj.append(ET.Element("site", attrib=s))
+
+        return obj
+
+    def get_bounding_box_size(self):
+        return np.array(self.total_size)
+
+    def in_box(self, position, object_position):
+        """
+        Checks whether the object is contained within this CompositeObject.
+        Useful for when the CompositeObject has holes and the object should
+        be within one of the holes. Makes an approximation by treating the
+        object as a point, and the CompositeBoxObject as an axis-aligned grid.
+        Args:
+            position: 3D body position of CompositeObject
+            object_position: 3D position of object to test for insertion
+        """
+        ub = position + self.total_size
+        lb = position - self.total_size
+
+        # fudge factor for the z-check, since after insertion the object falls to table
+        lb[2] -= 0.01
+
+        return np.all(object_position > lb) and np.all(object_position < ub)
+
+
+class HammerObject(CompositeObject):
     """
     Generates a Hammer object with a cylindrical or box-shaped handle, cubic head, cylindrical face and triangular claw
     (used in Handover task)
@@ -44,10 +291,6 @@ class HammerObject(MujocoGeneratedObject):
 
         rgba_claw (4-array or None): If specified, sets handle rgba values
 
-        joints (list of dict): array of dictionaries, where each dictionary corresponds to a joint that will be created
-            for this object. The dictionary should specify the joint attributes (type, pos, etc.) according to
-            the MuJoCo xml specification.
-
     Raises:
         ValueError: [Invalid handle shape]
     """
@@ -66,10 +309,9 @@ def __init__(
         rgba_head=None,
         rgba_face=None,
         rgba_claw=None,
-        joints=None,
     ):
-        # Run super() init
-        super().__init__(name=name, joints=joints)
+        # Set name
+        self.name = name
 
         # Set handle type and density ratio
         self.handle_shape = handle_shape
@@ -95,6 +337,9 @@ def __init__(
         self.rgba_face = rgba_face if rgba_face is not None else BLUE
         self.rgba_claw = rgba_claw if rgba_claw is not None else GREEN
 
+        # Create dictionary of values to create geoms for composite object and run super init
+        super().__init__(**self._get_geom_attrs())
+
         # Define materials we want to use for this object
         tex_attrib = {
             "type": "cube",
@@ -132,117 +377,101 @@ def get_top_offset(self):
     def get_horizontal_radius(self):
         return self.head_halfsize + 0.5 * self.handle_length
 
-    @property
-    def handle_distance(self):
+    def _get_geom_attrs(self):
         """
-        Calculates how wide the handle is
+        Creates geom elements that will be passed to superclass CompositeObject constructor
 
         Returns:
-            float: handle diameter
-        """
-        return 2.0 * self.handle_radius
-
-    def get_collision(self, site=None):
-        # Create new body
-        main_body = new_body()
-        main_body.set("name", self.name)
-
-        # Define handle and append to the main body
-        if self.handle_shape == "cylinder":
-            main_body.append(
-                new_geom(
-                    geom_type="cylinder",
-                    name="hammer_handle",
-                    size=[self.handle_radius, self.handle_length / 2.0],
-                    pos=(0, 0, 0),
-                    rgba=None if self.use_texture else self.rgba_handle,
-                    group=1,
-                    density=str(self.handle_density),
-                    friction=array_to_string((self.handle_friction, 0.005, 0.0001)),
-                    material="wood_mat" if self.use_texture else None,
-                )
-            )
-        elif self.handle_shape == "box":
-            main_body.append(
-                new_geom(
-                    geom_type="box",
-                    name="hammer_handle",
-                    size=[self.handle_radius, self.handle_radius, self.handle_length / 2.0],
-                    pos=(0, 0, 0),
-                    rgba=None if self.use_texture else self.rgba_handle,
-                    group=1,
-                    density=str(self.handle_density),
-                    friction=array_to_string((self.handle_friction, 0.005, 0.0001)),
-                    material="wood_mat" if self.use_texture else None,
-                )
-            )
-        else:
-            # Raise error
-            raise ValueError("Error loading hammer: Handle type must either be 'box' or 'cylinder', got {}.".format(
-                self.handle_shape
-            ))
-
-        # Define head and append to the main body
-        main_body.append(
-            new_geom(
-                geom_type="box",
-                name="hammer_head",
-                size=[self.head_halfsize * 2, self.head_halfsize, self.head_halfsize],
-                pos=(0, 0, self.handle_length / 2.0 + self.head_halfsize),
-                rgba=None if self.use_texture else self.rgba_head,
-                group=1,
-                density=str(self.handle_density * self.head_density_ratio),
-                material="metal_mat" if self.use_texture else None,
-            )
+            dict: args to be used by CompositeObject to generate geoms
+        """
+        full_size = np.array((
+            3.2 * self.head_halfsize,
+            self.head_halfsize,
+            self.handle_length + 2 * self.head_halfsize
+        ))
+        # Initialize dict of obj args that we'll pass to the CompositeObject constructor
+        obj_args = {
+            "total_size": full_size / 2.0,
+            "object_name": self.name,
+            "locations_relative_to_center": True,
+            "obj_types": "all",
+        }
+
+        # Add handle component
+        assert self.handle_shape in {"cylinder", "box"},\
+            "Error loading hammer: Handle type must either be 'box' or 'cylinder', got {}.".format(self.handle_shape)
+        add_to_dict(
+            dic=obj_args,
+            geom_types="cylinder" if self.handle_shape == "cylinder" else "box",
+            geom_locations=(0, 0, 0),
+            geom_quats=(1, 0, 0, 0),
+            geom_sizes=np.array([self.handle_radius, self.handle_length / 2.0]) if self.handle_shape == "cylinder" else\
+                       np.array([self.handle_radius, self.handle_radius, self.handle_length / 2.0]),
+            geom_names="handle",
+            geom_rgbas=None if self.use_texture else self.rgba_handle,
+            geom_materials="wood_mat" if self.use_texture else None,
+            geom_frictions=(self.handle_friction, 0.005, 0.0001),
+            density=self.handle_density,
         )
 
-        # Define face (and neck) and append to the main body
-        main_body.append(
-            new_geom(
-                geom_type="cylinder",
-                name="hammer_neck",
-                size=[self.head_halfsize * 0.8, self.head_halfsize * 0.2],
-                pos=(self.head_halfsize * 2.2, 0, self.handle_length / 2.0 + self.head_halfsize),
-                quat=array_to_string([0.707106, 0, 0.707106, 0]),
-                rgba=None if self.use_texture else self.rgba_face,
-                group=1,
-                density=str(self.handle_density * self.head_density_ratio),
-                material="metal_mat" if self.use_texture else None,
-            )
+        # Add head component
+        add_to_dict(
+            dic=obj_args,
+            geom_types="box",
+            geom_locations=(0, 0, self.handle_length / 2.0 + self.head_halfsize),
+            geom_quats=(1, 0, 0, 0),
+            geom_sizes=np.array([self.head_halfsize * 2, self.head_halfsize, self.head_halfsize]),
+            geom_names="head",
+            geom_rgbas=None if self.use_texture else self.rgba_head,
+            geom_materials="metal_mat" if self.use_texture else None,
+            geom_frictions=None,
+            density=self.handle_density * self.head_density_ratio,
         )
-        main_body.append(
-            new_geom(
-                geom_type="cylinder",
-                name="hammer_face",
-                size=[self.head_halfsize, self.head_halfsize * 0.4],
-                pos=(self.head_halfsize * 2.8, 0, self.handle_length / 2.0 + self.head_halfsize),
-                quat=array_to_string([0.707106, 0, 0.707106, 0]),
-                rgba=None if self.use_texture else self.rgba_face,
-                group=1,
-                density=str(self.handle_density * self.head_density_ratio),
-                material="metal_mat" if self.use_texture else None,
-            )
+
+        # Add neck component
+        add_to_dict(
+            dic=obj_args,
+            geom_types="cylinder",
+            geom_locations=(self.head_halfsize * 2.2, 0, self.handle_length / 2.0 + self.head_halfsize),
+            geom_quats=(0.707106, 0, 0.707106, 0),
+            geom_sizes=np.array([self.head_halfsize * 0.8, self.head_halfsize * 0.2]),
+            geom_names="neck",
+            geom_rgbas=None if self.use_texture else self.rgba_face,
+            geom_materials="metal_mat" if self.use_texture else None,
+            geom_frictions=None,
+            density=self.handle_density * self.head_density_ratio,
         )
 
-        # Define claw and append to the main body
-        main_body.append(
-            new_geom(
-                geom_type="box",
-                name="hammer_claw",
-                size=[self.head_halfsize * 0.7072, self.head_halfsize * 0.95, self.head_halfsize * 0.7072],
-                pos=(-self.head_halfsize * 2, 0, self.handle_length / 2.0 + self.head_halfsize),
-                quat=array_to_string([0.9238795, 0, 0.3826834, 0]),
-                rgba=None if self.use_texture else self.rgba_claw,
-                group=1,
-                density=str(self.handle_density * self.head_density_ratio),
-                material="metal_mat" if self.use_texture else None,
-            )
+        # Add face component
+        add_to_dict(
+            dic=obj_args,
+            geom_types="cylinder",
+            geom_locations=(self.head_halfsize * 2.8, 0, self.handle_length / 2.0 + self.head_halfsize),
+            geom_quats=(0.707106, 0, 0.707106, 0),
+            geom_sizes=np.array([self.head_halfsize, self.head_halfsize * 0.4]),
+            geom_names="face",
+            geom_rgbas=None if self.use_texture else self.rgba_face,
+            geom_materials="metal_mat" if self.use_texture else None,
+            geom_frictions=None,
+            density=self.handle_density * self.head_density_ratio,
         )
 
-        return main_body
+        # Add claw component
+        add_to_dict(
+            dic=obj_args,
+            geom_types="box",
+            geom_locations=(-self.head_halfsize * 2, 0, self.handle_length / 2.0 + self.head_halfsize),
+            geom_quats=(0.9238795, 0, 0.3826834, 0),
+            geom_sizes=np.array([self.head_halfsize * 0.7072, self.head_halfsize * 0.95, self.head_halfsize * 0.7072]),
+            geom_names="claw",
+            geom_rgbas=None if self.use_texture else self.rgba_claw,
+            geom_materials="metal_mat" if self.use_texture else None,
+            geom_frictions=None,
+            density=self.handle_density * self.head_density_ratio,
+        )
 
-    def get_visual(self, site=None):
-        return self.get_collision(site)
+        # Return this dict
+        return obj_args
 
     @property
     def init_quat(self):
@@ -296,14 +525,14 @@ def all_geoms(self):
         return self.handle_geoms + self.head_geoms + self.face_geoms + self.claw_geoms
 
 
-class PotWithHandlesObject(MujocoGeneratedObject):
+class PotWithHandlesObject(CompositeObject):
     """
     Generates the Pot object with side handles (used in TwoArmLift)
 
     Args:
         name (str): Name of this Pot object
 
-        body_half_size (None or 3-array of float): If specified, defines the (x,y,z) half-dimensions of the main pot
+        body_half_size (3-array of float): If specified, defines the (x,y,z) half-dimensions of the main pot
             body. Otherwise, defaults to [0.07, 0.07, 0.07]
 
         handle_radius (float): Determines the pot handle radius
@@ -312,53 +541,64 @@ class PotWithHandlesObject(MujocoGeneratedObject):
 
         handle_width (float): Determines the pot handle width
 
+        handle_friction (float): Friction value to use for pot handles. Defauls to 1.0
+
+        density (float): Density value to use for all geoms. Defaults to 1000
+
         use_texture (bool): If true, geoms will be defined by realistic textures and rgba values will be ignored
 
         rgba_body (4-array or None): If specified, sets pot body rgba values
 
-        rgba_handle_1 (4-array or None): If specified, sets handle 1 rgba values
+        rgba_handle_0 (4-array or None): If specified, sets handle 0 rgba values
 
-        rgba_handle_2 (4-array or None): If specified, sets handle 2 rgba values
+        rgba_handle_1 (4-array or None): If specified, sets handle 1 rgba values
 
         solid_handle (bool): If true, uses a single geom to represent the handle
 
         thickness (float): How thick to make the pot body walls
-
-        joints (list of dict): array of dictionaries, where each dictionary corresponds to a joint that will be created
-            for this object. The dictionary should specify the joint attributes (type, pos, etc.) according to
-            the MuJoCo xml specification.
     """
 
     def __init__(
         self,
         name,
-        body_half_size=None,
+        body_half_size=(0.07, 0.07, 0.07),
         handle_radius=0.01,
         handle_length=0.09,
         handle_width=0.09,
+        handle_friction=1.0,
+        density=1000,
         use_texture=True,
         rgba_body=None,
+        rgba_handle_0=None,
         rgba_handle_1=None,
-        rgba_handle_2=None,
         solid_handle=False,
         thickness=0.01,  # For body
-        joints=None,
     ):
-        super().__init__(name=name, joints=joints)
-        if body_half_size:
-            self.body_half_size = body_half_size
-        else:
-            self.body_half_size = np.array([0.07, 0.07, 0.07])
+        # Set name
+        self.name = name
+
+        # Set object attributes
+        self.body_half_size = np.array(body_half_size)
         self.thickness = thickness
         self.handle_radius = handle_radius
         self.handle_length = handle_length
         self.handle_width = handle_width
+        self.handle_friction = handle_friction
+        self.density = density
         self.use_texture = use_texture
         self.rgba_body = np.array(rgba_body) if rgba_body else RED
-        self.rgba_handle_1 = np.array(rgba_handle_1) if rgba_handle_1 else GREEN
-        self.rgba_handle_2 = np.array(rgba_handle_2) if rgba_handle_2 else BLUE
+        self.rgba_handle_0 = np.array(rgba_handle_0) if rgba_handle_0 else GREEN
+        self.rgba_handle_1 = np.array(rgba_handle_1) if rgba_handle_1 else BLUE
         self.solid_handle = solid_handle
 
+        # Geoms to be filled when generated
+        self.handle0_geoms = None
+        self.handle1_geoms = None
+        self.pot_base = None
+
+        # Create dictionary of values to create geoms for composite object and run super init
+        super().__init__(**self._get_geom_attrs())
+
         # Define materials we want to use for this object
         tex_attrib = {
             "type": "cube",
@@ -378,14 +618,14 @@ def __init__(
         greenwood = CustomMaterial(
             texture="WoodGreen",
             tex_name="greenwood",
-            mat_name="handle1_mat",
+            mat_name="handle0_mat",
             tex_attrib=tex_attrib,
             mat_attrib=mat_attrib,
         )
         bluewood = CustomMaterial(
             texture="WoodBlue",
             tex_name="bluewood",
-            mat_name="handle2_mat",
+            mat_name="handle1_mat",
             tex_attrib=tex_attrib,
             mat_attrib=mat_attrib,
         )
@@ -413,252 +653,163 @@ def handle_distance(self):
         """
         return self.body_half_size[1] * 2 + self.handle_length * 2
 
-    def get_collision(self, site=None):
-        main_body = new_body()
-        main_body.set("name", self.name)
-
-        for geom in five_sided_box(
-            size=self.body_half_size,
-            rgba=None if self.use_texture else self.rgba_body,
-            group=1,
-            thickness=self.thickness,
-            material="pot_mat" if self.use_texture else None,
-        ):
-            main_body.append(geom)
-        handle_z = self.body_half_size[2] - self.handle_radius
-        handle_1_center = [0, self.body_half_size[1] + self.handle_length, handle_z]
-        handle_2_center = [
-            0,
-            -1 * (self.body_half_size[1] + self.handle_length),
-            handle_z,
-        ]
-        # the bar on handle horizontal to body
-        main_bar_size = [
-            self.handle_width / 2 + self.handle_radius,
-            self.handle_radius,
-            self.handle_radius,
-        ]
-        side_bar_size = [self.handle_radius, self.handle_length / 2, self.handle_radius]
-        handle_1 = new_body(name="handle_1")
-        if self.solid_handle:
-            handle_1.append(
-                new_geom(
-                    geom_type="box",
-                    name="handle_1",
-                    pos=[0, self.body_half_size[1] + self.handle_length / 2, handle_z],
-                    size=[
-                        self.handle_width / 2,
-                        self.handle_length / 2,
-                        self.handle_radius,
-                    ],
-                    rgba=None if self.use_texture else self.rgba_handle_1,
-                    group=1,
-                    material="handle1_mat" if self.use_texture else None,
-                )
-            )
-        else:
-            handle_1.append(
-                new_geom(
-                    geom_type="box",
-                    name="handle_1_c",
-                    pos=handle_1_center,
-                    size=main_bar_size,
-                    rgba=None if self.use_texture else self.rgba_handle_1,
-                    group=1,
-                    material="handle1_mat" if self.use_texture else None,
-                )
-            )
-            handle_1.append(
-                new_geom(
-                    geom_type="box",
-                    name="handle_1_+",  # + for positive x
-                    pos=[
-                        self.handle_width / 2,
-                        self.body_half_size[1] + self.handle_length / 2,
-                        handle_z,
-                    ],
-                    size=side_bar_size,
-                    rgba=None if self.use_texture else self.rgba_handle_1,
-                    group=1,
-                    material="handle1_mat" if self.use_texture else None,
-                )
-            )
-            handle_1.append(
-                new_geom(
-                    geom_type="box",
-                    name="handle_1_-",
-                    pos=[
-                        -self.handle_width / 2,
-                        self.body_half_size[1] + self.handle_length / 2,
-                        handle_z,
-                    ],
-                    size=side_bar_size,
-                    rgba=None if self.use_texture else self.rgba_handle_1,
-                    group=1,
-                    material="handle1_mat" if self.use_texture else None,
-                )
-            )
+    def _get_geom_attrs(self):
+        """
+        Creates geom elements that will be passed to superclass CompositeObject constructor
 
-        handle_2 = new_body(name="handle_2")
-        if self.solid_handle:
-            handle_2.append(
-                new_geom(
-                    geom_type="box",
-                    name="handle_2",
-                    pos=[0, -self.body_half_size[1] - self.handle_length / 2, handle_z],
-                    size=[
-                        self.handle_width / 2,
-                        self.handle_length / 2,
-                        self.handle_radius,
-                    ],
-                    rgba=None if self.use_texture else self.rgba_handle_2,
-                    group=1,
-                    material="handle2_mat" if self.use_texture else None,
-                )
-            )
-        else:
-            handle_2.append(
-                new_geom(
-                    geom_type="box",
-                    name="handle_2_c",
-                    pos=handle_2_center,
-                    size=main_bar_size,
-                    rgba=None if self.use_texture else self.rgba_handle_2,
-                    group=1,
-                    material="handle2_mat" if self.use_texture else None,
-                )
-            )
-            handle_2.append(
-                new_geom(
-                    geom_type="box",
-                    name="handle_2_+",  # + for positive x
-                    pos=[
-                        self.handle_width / 2,
-                        -self.body_half_size[1] - self.handle_length / 2,
-                        handle_z,
-                    ],
-                    size=side_bar_size,
-                    rgba=None if self.use_texture else self.rgba_handle_2,
-                    group=1,
-                    material="handle2_mat" if self.use_texture else None,
-                )
-            )
-            handle_2.append(
-                new_geom(
-                    geom_type="box",
-                    name="handle_2_-",
-                    pos=[
-                        -self.handle_width / 2,
-                        -self.body_half_size[1] - self.handle_length / 2,
-                        handle_z,
-                    ],
-                    size=side_bar_size,
-                    rgba=None if self.use_texture else self.rgba_handle_2,
-                    group=1,
-                    material="handle2_mat" if self.use_texture else None,
-                )
-            )
+        Returns:
+            dict: args to be used by CompositeObject to generate geoms
+        """
+        full_size = np.array((
+            self.body_half_size,
+            self.body_half_size + self.handle_length * 2,
+            self.body_half_size,
+        ))
+        # Initialize dict of obj args that we'll pass to the CompositeObject constructor
+        obj_args = {
+            "total_size": full_size / 2.0,
+            "object_name": self.name,
+            "locations_relative_to_center": True,
+            "obj_types": "all",
+            "sites": [],
+        }
 
-        main_body.append(handle_1)
-        main_body.append(handle_2)
-        main_body.append(
-            new_site(
-                name="pot_handle_1",
-                rgba=self.rgba_handle_1,
-                pos=handle_1_center - np.array([0, 0.005, 0]),
-                size=[0.005],
-            )
-        )
-        main_body.append(
-            new_site(
-                name="pot_handle_2",
-                rgba=self.rgba_handle_2,
-                pos=handle_2_center + np.array([0, 0.005, 0]),
-                size=[0.005],
-            )
+        # Initialize geom lists
+        self.handle0_geoms = []
+        self.handle1_geoms = []
+
+        # Add main pot body
+        # Base geom
+        name = f"base"
+        self.pot_base = [f"{self.name}_{name}"]
+        add_to_dict(
+            dic=obj_args,
+            geom_types="box",
+            geom_locations=(0, 0, -self.body_half_size[2] + self.thickness / 2),
+            geom_quats=(1, 0, 0, 0),
+            geom_sizes=np.array([self.body_half_size[0], self.body_half_size[1], self.thickness / 2]),
+            geom_names=name,
+            geom_rgbas=None if self.use_texture else self.rgba_body,
+            geom_materials="pot_mat" if self.use_texture else None,
+            geom_frictions=None,
+            density=self.density,
         )
-        main_body.append(
-            new_site(
-                name="pot_center",
-                pos=[0, 0, 0],
-                rgba=[1, 0, 0, 0],
+
+        # Walls
+        x_off = np.array([0, -(self.body_half_size[0] - self.thickness / 2),
+                          0, self.body_half_size[0] - self.thickness / 2])
+        y_off = np.array([-(self.body_half_size[1] - self.thickness / 2),
+                          0, self.body_half_size[1] - self.thickness / 2, 0])
+        w_vals = np.array([self.body_half_size[1], self.body_half_size[0],
+                           self.body_half_size[1], self.body_half_size[0]])
+        r_vals = np.array([np.pi / 2, 0, -np.pi / 2, np.pi])
+        for i, (x, y, w, r) in enumerate(zip(x_off, y_off, w_vals, r_vals)):
+            add_to_dict(
+                dic=obj_args,
+                geom_types="box",
+                geom_locations=(x, y, 0),
+                geom_quats=T.convert_quat(T.axisangle2quat(np.array([0, 0, r])), to="wxyz"),
+                geom_sizes=np.array([self.thickness / 2, w, self.body_half_size[2]]),
+                geom_names=f"body{i}",
+                geom_rgbas=None if self.use_texture else self.rgba_body,
+                geom_materials="pot_mat" if self.use_texture else None,
+                geom_frictions=None,
+                density=self.density,
             )
-        )
 
-        return main_body
+        # Add handles
+        main_bar_size = np.array([
+            self.handle_width / 2 + self.handle_radius,
+            self.handle_radius,
+            self.handle_radius,
+        ])
+        side_bar_size = np.array([self.handle_radius, self.handle_length / 2, self.handle_radius])
+        handle_z = self.body_half_size[2] - self.handle_radius
+        for i, (handle_side, rgba) in enumerate(zip([1.0, -1.0], [self.rgba_handle_0, self.rgba_handle_1])):
+            handle_center = np.array((0, handle_side * (self.body_half_size[1] + self.handle_length), handle_z))
+            # Get reference to relevant geom list
+            g_list = getattr(self, f"handle{i}_geoms")
+            # Solid handle case
+            name = f"handle{i}"
+            g_list.append(f"{self.name}_{name}")
+            if self.solid_handle:
+                add_to_dict(
+                    dic=obj_args,
+                    geom_types="box",
+                    geom_locations=handle_center,
+                    geom_quats=(1, 0, 0, 0),
+                    geom_sizes=np.array([self.handle_width / 2, self.handle_length / 2, self.handle_radius]),
+                    geom_names=name,
+                    geom_rgbas=None if self.use_texture else rgba,
+                    geom_materials=f"handle{i}_mat" if self.use_texture else None,
+                    geom_frictions=(self.handle_friction, 0.005, 0.0001),
+                    density=self.density,
+                )
+            # Hollow handle case
+            else:
+                # Center bar
+                name = f"handle{i}_c"
+                g_list.append(f"{self.name}_{name}")
+                add_to_dict(
+                    dic=obj_args,
+                    geom_types="box",
+                    geom_locations=handle_center,
+                    geom_quats=(1, 0, 0, 0),
+                    geom_sizes=main_bar_size,
+                    geom_names=name,
+                    geom_rgbas=None if self.use_texture else rgba,
+                    geom_materials=f"handle{i}_mat" if self.use_texture else None,
+                    geom_frictions=(self.handle_friction, 0.005, 0.0001),
+                    density=self.density,
+                )
+                # Side bars
+                for bar_side, suffix in zip([-1., 1.], ["-", "+"]):
+                    name = f"handle{i}_{suffix}"
+                    g_list.append(f"{self.name}_{name}")
+                    add_to_dict(
+                        dic=obj_args,
+                        geom_types="box",
+                        geom_locations=(
+                            bar_side * self.handle_width / 2,
+                            handle_side * (self.body_half_size[1] + self.handle_length / 2),
+                            handle_z
+                        ),
+                        geom_quats=(1, 0, 0, 0),
+                        geom_sizes=side_bar_size,
+                        geom_names=name,
+                        geom_rgbas=None if self.use_texture else rgba,
+                        geom_materials=f"handle{i}_mat" if self.use_texture else None,
+                        geom_frictions=(self.handle_friction, 0.005, 0.0001),
+                        density=self.density,
+                    )
+            # Add relevant site
+            handle_site = self.get_site_attrib_template()
+            handle_site.update({
+                "name": f"{self.name}_handle{i}",
+                "pos": array_to_string(handle_center - handle_side * np.array([0, 0.005, 0])),
+                "size": "0.005",
+                "rgba": rgba,
+            })
+            obj_args["sites"].append(handle_site)
+
+        # Add pot body site
+        pot_site = self.get_site_attrib_template()
+        pot_site.update({
+            "name": f"{self.name}_center",
+            "size": "0.005",
+        })
+        obj_args["sites"].append(pot_site)
+
+        # Return this dict
+        return obj_args
 
+    @property
     def handle_geoms(self):
         """
         Returns:
             list of str: geom names corresponding to both handles
         """
-        return self.handle_1_geoms() + self.handle_2_geoms()
-
-    def handle_1_geoms(self):
-        """
-        Returns:
-            list of str: geom names corresponding to handle 1
-        """
-        if self.solid_handle:
-            return ["handle_1"]
-        return ["handle_1_c", "handle_1_+", "handle_1_-"]
-
-    def handle_2_geoms(self):
-        """
-        Returns:
-            list of str: geom names corresponding to handle 2
-        """
-        if self.solid_handle:
-            return ["handle_2"]
-        return ["handle_2_c", "handle_2_+", "handle_2_-"]
-
-    def get_visual(self, site=None):
-        return self.get_collision(site)
-
-
-def five_sided_box(size, rgba, group, thickness, material):
-    """
-    Procedurally generates a five-sided (open) box
-
-    Args:
-        size (3-array of float): the (x,y,z) half-size desired for the box
-        rgba (4-array of float): rgba color for this box
-        group (int): Mujoco group to assign these geoms
-        thickness (float): wall thickness
-        material (str): material for this box
-
-    Returns:
-        list: array of geoms corresponding to the 5 sides of the generated box
-    """
-    geoms = []
-    x, y, z = size
-    r = thickness / 2
-    geoms.append(
-        new_geom(
-            geom_type="box", size=[x, y, r], pos=[0, 0, -z + r], rgba=rgba, group=group, material=material
-        )
-    )
-    geoms.append(
-        new_geom(
-            geom_type="box", size=[x, r, z], pos=[0, -y + r, 0], rgba=rgba, group=group, material=material
-        )
-    )
-    geoms.append(
-        new_geom(
-            geom_type="box", size=[x, r, z], pos=[0, y - r, 0], rgba=rgba, group=group, material=material
-        )
-    )
-    geoms.append(
-        new_geom(
-            geom_type="box", size=[r, y, z], pos=[x - r, 0, 0], rgba=rgba, group=group, material=material
-        )
-    )
-    geoms.append(
-        new_geom(
-            geom_type="box", size=[r, y, z], pos=[-x + r, 0, 0], rgba=rgba, group=group, material=material
-        )
-    )
-    return geoms
+        return self.handle0_geoms() + self.handle1_geoms()
 
 
 def _get_size(size,
@@ -720,7 +871,9 @@ def __init__(
         solref=None,
         solimp=None,
         material=None,
-        joints=None,
+        joints="default",
+        obj_type="all",
+        duplicate_collision_geoms=True,
     ):
         size = _get_size(size,
                          size_max,
@@ -737,6 +890,8 @@ def __init__(
             solimp=solimp,
             material=material,
             joints=joints,
+            obj_type=obj_type,
+            duplicate_collision_geoms=duplicate_collision_geoms,
         )
 
     def sanity_check(self):
@@ -757,13 +912,8 @@ def get_top_offset(self):
     def get_horizontal_radius(self):
         return np.linalg.norm(self.size[0:2], 2)
 
-    # returns a copy, Returns xml body node
-    def get_collision(self, site=False):
-        return self._get_collision(site=site, ob_type="box")
-
-    # returns a copy, Returns xml body node
-    def get_visual(self, site=False):
-        return self._get_visual(site=site, ob_type="box")
+    def get_object_subtree(self, site=False):
+        return self._get_object_subtree(site=site, ob_type="box")
 
 
 class CylinderObject(MujocoGeneratedObject):
@@ -786,7 +936,9 @@ def __init__(
         solref=None,
         solimp=None,
         material=None,
-        joints=None,
+        joints="default",
+        obj_type="all",
+        duplicate_collision_geoms=True,
     ):
         size = _get_size(size,
                          size_max,
@@ -803,6 +955,8 @@ def __init__(
             solimp=solimp,
             material=material,
             joints=joints,
+            obj_type=obj_type,
+            duplicate_collision_geoms=duplicate_collision_geoms,
         )
 
     def sanity_check(self):
@@ -823,13 +977,8 @@ def get_top_offset(self):
     def get_horizontal_radius(self):
         return self.size[0]
 
-    # returns a copy, Returns xml body node
-    def get_collision(self, site=False):
-        return self._get_collision(site=site, ob_type="cylinder")
-
-    # returns a copy, Returns xml body node
-    def get_visual(self, site=False):
-        return self._get_visual(site=site, ob_type="cylinder")
+    def get_object_subtree(self, site=False):
+        return self._get_object_subtree(site=site, ob_type="cylinder")
 
 
 class BallObject(MujocoGeneratedObject):
@@ -852,7 +1001,9 @@ def __init__(
         solref=None,
         solimp=None,
         material=None,
-        joints=None,
+        joints="default",
+        obj_type="all",
+        duplicate_collision_geoms=True,
     ):
         size = _get_size(size,
                          size_max,
@@ -869,6 +1020,8 @@ def __init__(
             solimp=solimp,
             material=material,
             joints=joints,
+            obj_type=obj_type,
+            duplicate_collision_geoms=duplicate_collision_geoms,
         )
 
     def sanity_check(self):
@@ -889,13 +1042,8 @@ def get_top_offset(self):
     def get_horizontal_radius(self):
         return self.size[0]
 
-    # returns a copy, Returns xml body node
-    def get_collision(self, site=False):
-        return self._get_collision(site=site, ob_type="sphere")
-
-    # returns a copy, Returns xml body node
-    def get_visual(self, site=False):
-        return self._get_visual(site=site, ob_type="sphere")
+    def get_object_subtree(self, site=False):
+        return self._get_object_subtree(site=site, ob_type="sphere")
 
 
 class CapsuleObject(MujocoGeneratedObject):
@@ -918,7 +1066,9 @@ def __init__(
         solref=None,
         solimp=None,
         material=None,
-        joints=None,
+        joints="default",
+        obj_type="all",
+        duplicate_collision_geoms=True,
     ):
         size = _get_size(size,
                          size_max,
@@ -935,6 +1085,8 @@ def __init__(
             solimp=solimp,
             material=material,
             joints=joints,
+            obj_type=obj_type,
+            duplicate_collision_geoms=duplicate_collision_geoms,
         )
 
     def sanity_check(self):
@@ -955,10 +1107,5 @@ def get_top_offset(self):
     def get_horizontal_radius(self):
         return self.size[0]
 
-    # returns a copy, Returns xml body node
-    def get_collision(self, site=False):
-        return self._get_collision(site=site, ob_type="capsule")
-
-    # returns a copy, Returns xml body node
-    def get_visual(self, site=False):
-        return self._get_visual(site=site, ob_type="capsule")
+    def get_object_subtree(self, site=False):
+        return self._get_object_subtree(site=site, ob_type="capsule")
diff --git a/robosuite/models/objects/objects.py b/robosuite/models/objects/objects.py
index 28ac086688..38136172a7 100644
--- a/robosuite/models/objects/objects.py
+++ b/robosuite/models/objects/objects.py
@@ -1,8 +1,19 @@
 import copy
+from copy import deepcopy
 import xml.etree.ElementTree as ET
 
 from robosuite.models.base import MujocoXML
-from robosuite.utils.mjcf_utils import string_to_array, array_to_string, CustomMaterial
+from robosuite.utils.mjcf_utils import string_to_array, array_to_string, CustomMaterial, OBJECT_COLLISION_COLOR
+
+
+# Dict mapping geom type string keywords to group number
+GEOMTYPE2GROUP = {
+    "collision": {0},                 # If we want to use a geom for physics, but NOT visualize
+    "visual": {1},                    # If we want to use a geom for visualization, but NOT physics
+    "all": {0, 1},                    # If we want to use a geom for BOTH physics + visualization
+}
+
+GEOM_GROUPS = GEOMTYPE2GROUP.keys()
 
 
 class MujocoObject:
@@ -15,10 +26,24 @@ class MujocoObject:
         2) can be swapped between different tasks
 
     Typical methods return copy so the caller can all joints/attributes as wanted
+
+    Args:
+        obj_type (str): Geom elements to generate / extract for this object. Must be one of:
+
+            :`'collision'`: Only collision geoms are returned (this corresponds to group 0 geoms)
+            :`'visual'`: Only visual geoms are returned (this corresponds to group 1 geoms)
+            :`'all'`: All geoms are returned
+
+        duplicate_collision_geoms (bool): If set, will guarantee that each collision geom has a
+            visual geom copy
+
     """
 
-    def __init__(self):
+    def __init__(self, obj_type="all", duplicate_collision_geoms=True):
         self.asset = ET.Element("asset")
+        assert obj_type in GEOM_GROUPS, "object type must be one in {}, got: {} instead.".format(GEOM_GROUPS, obj_type)
+        self.obj_type = obj_type
+        self.duplicate_collision_geoms = duplicate_collision_geoms
 
     def get_bottom_offset(self):
         """
@@ -56,34 +81,18 @@ def get_horizontal_radius(self):
             float: radius
         """
         raise NotImplementedError
-        # return 2
-
-    def get_collision(self, site=False):
-        """
-        Returns a ET.Element
-        It is a <body/> subtree that defines all collision related fields
-        of this object.
-        Return should be a copy.
-        Must be defined by subclass.
-
-        Args:
-            site (bool): Add a site (with name @name when applicable) to the returned body
 
-        Returns:
-            ET.Element: body
-        """
-        raise NotImplementedError
+    def get_object_subtree(self, site=False):
 
-    def get_visual(self, site=False):
         """
         Returns a ET.Element
-        It is a <body/> subtree that defines all visualization related fields
+        It is a <body/> subtree that defines all collision and / or visualization related fields
         of this object.
         Return should be a copy.
         Must be defined by subclass.
 
         Args:
-            site (bool): Add a site (with name @name when applicable) to the returned body
+            site (bool): If set, add a site (with name @name when applicable) to the returned body
 
         Returns:
             ET.Element: body
@@ -103,6 +112,7 @@ def get_site_attrib_template():
             "size": "0.002 0.002 0.002",
             "rgba": "1 0 0 1",
             "type": "sphere",
+            "group": "0",
         }
 
 
@@ -112,14 +122,30 @@ class MujocoXMLObject(MujocoXML, MujocoObject):
 
     Args:
         fname (str): XML File path
-        name (None or str): Name of this MujocoXMLObject
+
+        name (str): Name of this MujocoXMLObject
+
         joints (list of dict): each dictionary corresponds to a joint that will be created for this object. The
             dictionary should specify the joint attributes (type, pos, etc.) according to the MuJoCo xml specification.
+
+        obj_type (str): Geom elements to generate / extract for this object. Must be one of:
+
+            :`'collision'`: Only collision geoms are returned (this corresponds to group 0 geoms)
+            :`'visual'`: Only visual geoms are returned (this corresponds to group 1 geoms)
+            :`'all'`: All geoms are returned
+
+        duplicate_collision_geoms (bool): If set, will guarantee that each collision geom has a
+            visual geom copy
     """
 
-    def __init__(self, fname, name=None, joints=None):
+    def __init__(self, fname, name, joints=None, obj_type="all",  duplicate_collision_geoms=True):
         MujocoXML.__init__(self, fname)
+        # Set obj type and duplicate args
+        assert obj_type in GEOM_GROUPS, "object type must be one in {}, got: {} instead.".format(GEOM_GROUPS, obj_type)
+        self.obj_type = obj_type
+        self.duplicate_collision_geoms = duplicate_collision_geoms
 
+        # Set name
         self.name = name
 
         # joints for this object
@@ -142,41 +168,92 @@ def get_horizontal_radius(self):
         )
         return string_to_array(horizontal_radius_site.get("pos"))[0]
 
-    def get_collision(self, site=False):
-
-        collision = copy.deepcopy(self.worldbody.find("./body/body[@name='collision']"))
-        collision.attrib.pop("name")
-        if self.name is not None:
-            collision.attrib["name"] = self.name
-            geoms = collision.findall("geom")
-            if len(geoms) == 1:
-                geoms[0].set("name", self.name)
+    def get_object_subtree(self, site=False):
+        # Parse object
+        obj = copy.deepcopy(self.worldbody.find("./body/body[@name='object']"))
+        # Rename this top level object body
+        obj.attrib.pop("name")
+        obj.attrib["name"] = self.name
+        # Get all geom_pairs in this tree
+        geom_pairs = self._get_geoms(obj)
+
+        # Define a temp function so we don't duplicate so much code
+        obj_type = self.obj_type
+
+        def _should_keep(el):
+            return int(el.get("group")) in GEOMTYPE2GROUP[obj_type]
+
+        # Loop through each of these pairs and modify them according to @elements arg
+        for i, (parent, element) in enumerate(geom_pairs):
+            # Delete non-relevant geoms and rename remaining ones
+            if not _should_keep(element):
+                parent.remove(element)
             else:
-                for i in range(len(geoms)):
-                    geoms[i].set("name", "{}-{}".format(self.name, i))
+                g_name = element.get("name")
+                modded_name = f"{self.name}_{g_name}" if g_name is not None else f"{self.name}_{i}"
+                element.set("name", modded_name)
+                # Also optionally duplicate collision geoms if requested (and this is a collision geom)
+                if self.duplicate_collision_geoms and int(element.get("group")) in {None, 0}:
+                    parent.append(self._duplicate_visual_from_collision(element))
+                    # Also manually set the visual appearances to the original collision model
+                    element.set("rgba", array_to_string(OBJECT_COLLISION_COLOR))
+                    if element.get("material") is not None:
+                        del element.attrib["material"]
+        # Lastly, add the site if requested
         if site:
             # add a site as well
             template = self.get_site_attrib_template()
             template["rgba"] = "1 0 0 0"
-            if self.name is not None:
-                template["name"] = self.name
-            collision.append(ET.Element("site", attrib=template))
-        return collision
+            template["name"] = self.name
+            obj.append(ET.Element("site", attrib=template))
 
-    def get_visual(self, site=False):
+        return obj
 
-        visual = copy.deepcopy(self.worldbody.find("./body/body[@name='visual']"))
-        visual.attrib.pop("name")
-        if self.name is not None:
-            visual.attrib["name"] = self.name
-        if site:
-            # add a site as well
-            template = self.get_site_attrib_template()
-            template["rgba"] = "1 0 0 0"
-            if self.name is not None:
-                template["name"] = self.name
-            visual.append(ET.Element("site", attrib=template))
-        return visual
+    @staticmethod
+    def _duplicate_visual_from_collision(element):
+        """
+        Helper function to duplicate a geom element to be a visual element. Namely, this corresponds to the
+        following attribute requirements: group=1, conaffinity/contype=0, no mass, name appended with "_visual"
+
+        Args:
+            element (ET.Element): element to duplicate as a visual geom
+
+        Returns:
+            element (ET.Element): duplicated element
+        """
+        # Copy element
+        vis_element = deepcopy(element)
+        # Modify for visual-specific attributes (group=1, conaffinity/contype=0, no mass, update name)
+        vis_element.set("group", "1")
+        vis_element.set("conaffinity", "0")
+        vis_element.set("contype", "0")
+        vis_element.set("mass", "1e-8")
+        vis_element.set("name", vis_element.get("name") + "_visual")
+        return vis_element
+
+    def _get_geoms(self, root, parent=None):
+        """
+        Helper function to recursively search through element tree starting at @root and returns
+        a list of (parent, child) tuples where the child is a geom element
+
+        Args:
+            root (ET.Element): Root of xml element tree to start recursively searching through
+            parent (ET.Element): Parent of the root element tree. Should not be used externally; only set
+                during the recursive call
+
+        Returns:
+            list: array of (parent, child) tuples where the child element is a geom type
+        """
+        # Initialize return array
+        geom_pairs = []
+        # If the parent exists and this is a geom element, we add this current (parent, element) combo to the output
+        if parent is not None and root.tag == "geom":
+            geom_pairs.append((parent, root))
+        # Loop through all children elements recursively and add to pairs
+        for child in root:
+            geom_pairs += self._get_geoms(child, parent=root)
+        # Return all found pairs
+        return geom_pairs
 
 
 class MujocoGeneratedObject(MujocoObject):
@@ -212,8 +289,19 @@ class MujocoGeneratedObject(MujocoObject):
 
             Note that specifying a custom texture in this way automatically overrides any rgba values set
 
-        joints (list of dict): each dictionary corresponds to a joint that will be created for this object. The
-            dictionary should specify the joint attributes (type, pos, etc.) according to the MuJoCo xml specification.
+        joints (None or str or list of dict): Joints for this object. If None, no joint will be created. If "default",
+            a single joint will be crated. Else, should be a list of dict, where each dictionary corresponds to a joint
+            that will be created for this object. The dictionary should specify the joint attributes (type, pos, etc.)
+            according to the MuJoCo xml specification.
+
+        obj_type (str): Geom elements to generate / extract for this object. Must be one of:
+
+            :`'collision'`: Only collision geoms are returned (this corresponds to group 0 geoms)
+            :`'visual'`: Only visual geoms are returned (this corresponds to group 1 geoms)
+            :`'all'`: All geoms are returned
+
+        duplicate_collision_geoms (bool): If set, will guarantee that each collision geom has a
+            visual geom copy
     """
 
     def __init__(
@@ -226,9 +314,11 @@ def __init__(
         solref=None,
         solimp=None,
         material=None,
-        joints=None,
+        joints="default",
+        obj_type="all",
+        duplicate_collision_geoms=True,
     ):
-        super().__init__()
+        super().__init__(obj_type=obj_type, duplicate_collision_geoms=duplicate_collision_geoms)
 
         self.name = name
 
@@ -276,8 +366,10 @@ def __init__(
             self.append_material(material)
 
         # joints for this object
-        if joints is None:
+        if joints == "default":
             self.joints = [{'type': 'free'}]  # default free joint
+        elif joints is None:
+            self.joints = []
         else:
             self.joints = joints
 
@@ -299,8 +391,7 @@ def get_collision_attrib_template():
         Returns:
             dict: Initial template with `'pos'` and `'group'` already specified
         """
-        # TODO: collision group should be 0, but this removes the generated obj like the cube when we only render visual meshes
-        return {"pos": "0 0 0", "group": "1"}
+        return {"group": "0", "rgba": array_to_string(OBJECT_COLLISION_COLOR)}
 
     @staticmethod
     def get_visual_attrib_template():
@@ -310,7 +401,7 @@ def get_visual_attrib_template():
         Returns:
             dict: Initial template with `'conaffinity'`, `'contype'`, and `'group'` already specified
         """
-        return {"conaffinity": "0", "contype": "0", "group": "1"}
+        return {"conaffinity": "0", "contype": "0", "mass": "1e-8", "group": "1"}
 
     def append_material(self, material):
         """
@@ -333,50 +424,48 @@ def append_material(self, material):
         self.asset.append(ET.Element("texture", attrib=material.tex_attrib))
         self.asset.append(ET.Element("material", attrib=material.mat_attrib))
 
-    def _get_collision(self, site=False, ob_type="box"):
-        main_body = ET.Element("body")
-        main_body.set("name", self.name)
-        template = self.get_collision_attrib_template()
-        template["name"] = self.name
-        template["type"] = ob_type
-        if self.material == "default":
-            template["rgba"] = "0.5 0.5 0.5 1" # mujoco default
-            template["material"] = "{}_mat".format(self.name)
-        elif self.material is not None:
-            template["material"] = self.material.mat_attrib["name"]
-        else:
-            template["rgba"] = array_to_string(self.rgba)
-        template["size"] = array_to_string(self.size)
-        template["density"] = str(self.density)
-        template["friction"] = array_to_string(self.friction)
-        template["solref"] = array_to_string(self.solref)
-        template["solimp"] = array_to_string(self.solimp)
-        main_body.append(ET.Element("geom", attrib=template))
-        if site:
-            # add a site as well
-            template = self.get_site_attrib_template()
-            template["name"] = self.name
-            main_body.append(ET.Element("site", attrib=template))
-        return main_body
-
-    def _get_visual(self, site=False, ob_type="box"):
-        main_body = ET.Element("body")
-        main_body.set("name", self.name)
-        template = self.get_visual_attrib_template()
-        template["name"] = self.name
-        template["type"] = ob_type
-        if self.material == "default":
-            template["rgba"] = "0.5 0.5 0.5 1"  # mujoco default
-            template["material"] = "{}_mat".format(self.name)
-        elif self.material is not None:
-            template["material"] = self.material.mat_attrib["name"]
-        else:
-            template["rgba"] = array_to_string(self.rgba)
-        template["size"] = array_to_string(self.size)
-        main_body.append(ET.Element("geom", attrib=template))
+    def get_object_subtree(self, site=False):
+        raise NotImplementedError
+
+    def _get_object_subtree(self, site=False, ob_type="box"):
+        # Create element tree
+        obj = ET.Element("body")
+        obj.set("name", self.name)
+
+        # Get base element attributes
+        element_attr = {
+            "name": self.name,
+            "type": ob_type,
+            "size": array_to_string(self.size)
+        }
+
+        # Add collision geom if necessary
+        if self.obj_type in {"collision", "all"}:
+            col_element_attr = deepcopy(element_attr)
+            col_element_attr.update(self.get_collision_attrib_template())
+            # col_element_attr["name"] += "_col"
+            col_element_attr["density"] = str(self.density)
+            col_element_attr["friction"] = array_to_string(self.friction)
+            col_element_attr["solref"] = array_to_string(self.solref)
+            col_element_attr["solimp"] = array_to_string(self.solimp)
+            obj.append(ET.Element("geom", attrib=col_element_attr))
+        # Add visual geom if necessary
+        if self.obj_type in {"visual", "all"}:
+            vis_element_attr = deepcopy(element_attr)
+            vis_element_attr.update(self.get_visual_attrib_template())
+            vis_element_attr["name"] += "_vis"
+            if self.material == "default":
+                vis_element_attr["rgba"] = "0.5 0.5 0.5 1"  # mujoco default
+                vis_element_attr["material"] = "{}_mat".format(self.name)
+            elif self.material is not None:
+                vis_element_attr["material"] = self.material.mat_attrib["name"]
+            else:
+                vis_element_attr["rgba"] = array_to_string(self.rgba)
+            obj.append(ET.Element("geom", attrib=vis_element_attr))
+        # Lastly, add site as well if requested
         if site:
             # add a site as well
-            template = self.get_site_attrib_template()
-            template["name"] = self.name
-            main_body.append(ET.Element("site", attrib=template))
-        return main_body
+            site_element_attr = self.get_site_attrib_template()
+            site_element_attr["name"] = self.name
+            obj.append(ET.Element("site", attrib=site_element_attr))
+        return obj
diff --git a/robosuite/models/objects/xml_objects.py b/robosuite/models/objects/xml_objects.py
index f424f899d6..c3d470adde 100644
--- a/robosuite/models/objects/xml_objects.py
+++ b/robosuite/models/objects/xml_objects.py
@@ -9,7 +9,8 @@ class BottleObject(MujocoXMLObject):
     """
 
     def __init__(self, name=None, joints=None):
-        super().__init__(xml_path_completion("objects/bottle.xml"), name=name, joints=joints)
+        super().__init__(xml_path_completion("objects/bottle.xml"),
+                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
 
 
 class CanObject(MujocoXMLObject):
@@ -18,7 +19,8 @@ class CanObject(MujocoXMLObject):
     """
 
     def __init__(self, name=None, joints=None):
-        super().__init__(xml_path_completion("objects/can.xml"), name=name, joints=joints)
+        super().__init__(xml_path_completion("objects/can.xml"),
+                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
 
 
 class LemonObject(MujocoXMLObject):
@@ -27,7 +29,8 @@ class LemonObject(MujocoXMLObject):
     """
 
     def __init__(self, name=None, joints=None):
-        super().__init__(xml_path_completion("objects/lemon.xml"), name=name, joints=joints)
+        super().__init__(xml_path_completion("objects/lemon.xml"),
+                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
 
 
 class MilkObject(MujocoXMLObject):
@@ -36,7 +39,8 @@ class MilkObject(MujocoXMLObject):
     """
 
     def __init__(self, name=None, joints=None):
-        super().__init__(xml_path_completion("objects/milk.xml"), name=name, joints=joints)
+        super().__init__(xml_path_completion("objects/milk.xml"),
+                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
 
 
 class BreadObject(MujocoXMLObject):
@@ -45,7 +49,8 @@ class BreadObject(MujocoXMLObject):
     """
 
     def __init__(self, name=None, joints=None):
-        super().__init__(xml_path_completion("objects/bread.xml"), name=name, joints=joints)
+        super().__init__(xml_path_completion("objects/bread.xml"),
+                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
 
 
 class CerealObject(MujocoXMLObject):
@@ -54,7 +59,8 @@ class CerealObject(MujocoXMLObject):
     """
 
     def __init__(self, name=None, joints=None):
-        super().__init__(xml_path_completion("objects/cereal.xml"), name=name, joints=joints)
+        super().__init__(xml_path_completion("objects/cereal.xml"),
+                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
 
 
 class SquareNutObject(MujocoXMLObject):
@@ -63,7 +69,8 @@ class SquareNutObject(MujocoXMLObject):
     """
 
     def __init__(self, name=None, joints=None):
-        super().__init__(xml_path_completion("objects/square-nut.xml"), name=name, joints=joints)
+        super().__init__(xml_path_completion("objects/square-nut.xml"),
+                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
 
 
 class RoundNutObject(MujocoXMLObject):
@@ -72,7 +79,8 @@ class RoundNutObject(MujocoXMLObject):
     """
 
     def __init__(self, name=None, joints=None):
-        super().__init__(xml_path_completion("objects/round-nut.xml"), name=name, joints=joints)
+        super().__init__(xml_path_completion("objects/round-nut.xml"),
+                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
 
 
 class MilkVisualObject(MujocoXMLObject):
@@ -84,7 +92,8 @@ class MilkVisualObject(MujocoXMLObject):
     """
 
     def __init__(self, name=None, joints=None):
-        super().__init__(xml_path_completion("objects/milk-visual.xml"), name=name, joints=joints)
+        super().__init__(xml_path_completion("objects/milk-visual.xml"),
+                         name=name, joints=joints, obj_type="visual", duplicate_collision_geoms=True)
 
 
 class BreadVisualObject(MujocoXMLObject):
@@ -96,7 +105,8 @@ class BreadVisualObject(MujocoXMLObject):
     """
 
     def __init__(self, name=None, joints=None):
-        super().__init__(xml_path_completion("objects/bread-visual.xml"), name=name, joints=joints)
+        super().__init__(xml_path_completion("objects/bread-visual.xml"),
+                         name=name, joints=joints, obj_type="visual", duplicate_collision_geoms=True)
 
 
 class CerealVisualObject(MujocoXMLObject):
@@ -108,7 +118,8 @@ class CerealVisualObject(MujocoXMLObject):
     """
 
     def __init__(self, name=None, joints=None):
-        super().__init__(xml_path_completion("objects/cereal-visual.xml"), name=name, joints=joints)
+        super().__init__(xml_path_completion("objects/cereal-visual.xml"),
+                         name=name, joints=joints, obj_type="visual", duplicate_collision_geoms=True)
 
 
 class CanVisualObject(MujocoXMLObject):
@@ -120,7 +131,8 @@ class CanVisualObject(MujocoXMLObject):
     """
 
     def __init__(self, name=None, joints=None):
-        super().__init__(xml_path_completion("objects/can-visual.xml"), name=name, joints=joints)
+        super().__init__(xml_path_completion("objects/can-visual.xml"),
+                         name=name, joints=joints, obj_type="visual", duplicate_collision_geoms=True)
 
 
 class PlateWithHoleObject(MujocoXMLObject):
@@ -129,7 +141,8 @@ class PlateWithHoleObject(MujocoXMLObject):
     """
 
     def __init__(self, name=None, joints=None):
-        super().__init__(xml_path_completion("objects/plate-with-hole.xml"), name=name, joints=joints)
+        super().__init__(xml_path_completion("objects/plate-with-hole.xml"),
+                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
 
 
 class DoorObject(MujocoXMLObject):
@@ -145,7 +158,8 @@ def __init__(self, name=None, joints=None, friction=None, damping=None, lock=Fal
         xml_path = "objects/door.xml"
         if lock:
             xml_path = "objects/door_lock.xml"
-        super().__init__(xml_path_completion(xml_path), name=name, joints=joints)
+        super().__init__(xml_path_completion(xml_path),
+            name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
         self.lock = lock
         self.friction = friction
         self.damping = damping
@@ -161,8 +175,8 @@ def _set_door_friction(self, friction):
         Args:
             friction (3-tuple of float): friction parameters to override the ones specified in the XML
         """
-        collision = self.worldbody.find("./body/body[@name='collision']")
-        node = collision.find("./body[@name='frame']")
+        obj = self.worldbody.find("./body/body[@name='object']")
+        node = obj.find("./body[@name='frame']")
         node = node.find("./body[@name='door']")
         hinge = node.find("./joint[@name='door_hinge']")
         hinge.set("frictionloss", array_to_string(np.array([friction])))
@@ -174,8 +188,8 @@ def _set_door_damping(self, damping):
         Args:
             damping (float): damping parameter to override the ones specified in the XML
         """
-        collision = self.worldbody.find("./body/body[@name='collision']")
-        node = collision.find("./body[@name='frame']")
+        obj = self.worldbody.find("./body/body[@name='object']")
+        node = obj.find("./body[@name='frame']")
         node = node.find("./body[@name='door']")
         hinge = node.find("./joint[@name='door_hinge']")
         hinge.set("damping", array_to_string(np.array([damping])))
diff --git a/robosuite/models/robots/robot_model.py b/robosuite/models/robots/robot_model.py
index 9524f969ef..202ad69b5c 100644
--- a/robosuite/models/robots/robot_model.py
+++ b/robosuite/models/robots/robot_model.py
@@ -2,7 +2,7 @@
 
 from robosuite.models.base import MujocoXML
 from robosuite.utils import XMLError
-from robosuite.utils.mjcf_utils import array_to_string
+from robosuite.utils.mjcf_utils import array_to_string, ROBOT_COLLISION_COLOR
 from robosuite.utils.transform_utils import euler2mat, mat2quat
 
 import numpy as np
@@ -90,6 +90,9 @@ def __init__(self, fname, idn=0, bottom_offset=(0, 0, 0)):
         # Update all xml element prefixes
         self.add_prefix(self.naming_prefix)
 
+        # Recolor all collision geoms appropriately
+        self.recolor_collision_geoms(ROBOT_COLLISION_COLOR)
+
         # key: gripper name and value: gripper model
         self.grippers = OrderedDict()
 
diff --git a/robosuite/models/tasks/manipulation_task.py b/robosuite/models/tasks/manipulation_task.py
index 1a7f0ef946..fb318f5662 100644
--- a/robosuite/models/tasks/manipulation_task.py
+++ b/robosuite/models/tasks/manipulation_task.py
@@ -3,7 +3,7 @@
 
 from robosuite.models.world import MujocoWorldBase
 from robosuite.models.tasks import UniformRandomSampler
-from robosuite.models.objects import MujocoGeneratedObject, MujocoXMLObject
+from robosuite.models.objects import MujocoObject
 from robosuite.utils.mjcf_utils import new_joint, array_to_string
 
 
@@ -22,9 +22,6 @@ class ManipulationTask(MujocoWorldBase):
 
         mujoco_objects (OrderedDict of MujocoObject): a list of MJCF models of physical objects
 
-        visual_objects (OrderedDict of MujocoObject): a list of MJCF models of visual-only objects that do not
-            participate in collisions
-
         initializer (ObjectPositionSampler): placement sampler to initialize object positions.
 
     Raises:
@@ -35,8 +32,7 @@ def __init__(
         self, 
         mujoco_arena, 
         mujoco_robots, 
-        mujoco_objects, 
-        visual_objects=None, 
+        mujoco_objects,
         initializer=None,
     ):
         super().__init__()
@@ -48,23 +44,16 @@ def __init__(
         if initializer is None:
             initializer = UniformRandomSampler()
 
-        if visual_objects is None:
-            visual_objects = collections.OrderedDict()
-
         assert isinstance(mujoco_objects, collections.OrderedDict)
-        assert isinstance(visual_objects, collections.OrderedDict)
 
         mujoco_objects = deepcopy(mujoco_objects)
-        visual_objects = deepcopy(visual_objects)
 
         # xml manifestations of all objects
         self.objects = []
         self.merge_objects(mujoco_objects)
-        self.merge_objects(visual_objects, is_visual=True)
 
-        merged_objects = collections.OrderedDict(**mujoco_objects, **visual_objects)
+        merged_objects = collections.OrderedDict(**mujoco_objects)
         self.mujoco_objects = mujoco_objects
-        self.visual_objects = visual_objects
 
         self.initializer = initializer
         self.initializer.setup(merged_objects, self.table_top_offset, self.table_size)
@@ -90,32 +79,29 @@ def merge_arena(self, mujoco_arena):
         self.table_size = mujoco_arena.table_full_size
         self.merge(mujoco_arena)
 
-    def merge_objects(self, mujoco_objects, is_visual=False):
+    def merge_objects(self, mujoco_objects):
         """
         Adds object models to the MJCF model.
 
         Args:
-            mujoco_objects (OrderedDict or MujocoObject): objects to merge into this MJCF model
-            is_visual (bool): Whether the object is a visual object or not
+            mujoco_objects (OrderedDict of MujocoObject): objects to merge into this MJCF model
         """
-        if not is_visual:
-            self.max_horizontal_radius = 0
+        self.max_horizontal_radius = 0
 
         for obj_name, obj_mjcf in mujoco_objects.items():
-            assert(isinstance(obj_mjcf, MujocoGeneratedObject) or isinstance(obj_mjcf, MujocoXMLObject))
+            assert(isinstance(obj_mjcf, MujocoObject))
             self.merge_asset(obj_mjcf)
             # Load object
-            if is_visual:
-                obj = obj_mjcf.get_visual(site=False)
-            else:
-                obj = obj_mjcf.get_collision(site=True)
+            obj = obj_mjcf.get_object_subtree(site=(obj_mjcf.obj_type != "visual"))
 
             for i, joint in enumerate(obj_mjcf.joints):
-                obj.append(new_joint(name="{}_jnt{}".format(obj_name, i), **joint))
+                if "name" not in joint:
+                    joint["name"] = "{}_jnt{}".format(obj_name, i)
+                obj.append(new_joint(**joint))
             self.objects.append(obj)
             self.worldbody.append(obj)
 
-            if not is_visual:
+            if obj_mjcf.obj_type != "visual":
                 self.max_horizontal_radius = max(
                     self.max_horizontal_radius, obj_mjcf.get_horizontal_radius()
                 )
diff --git a/robosuite/utils/mjcf_utils.py b/robosuite/utils/mjcf_utils.py
index 369fa166fe..5f2fbf6407 100644
--- a/robosuite/utils/mjcf_utils.py
+++ b/robosuite/utils/mjcf_utils.py
@@ -12,6 +12,11 @@
 RED = [1, 0, 0, 1]
 GREEN = [0, 1, 0, 1]
 BLUE = [0, 0, 1, 1]
+CYAN = [0, 1, 1, 1]
+ROBOT_COLLISION_COLOR = [0, 0.5, 0, 1]
+GRIPPER_COLLISION_COLOR = [0, 0, 0.5, 1]
+OBJECT_COLLISION_COLOR = [0.5, 0, 0, 1]
+ENVIRONMENT_COLLISION_COLOR = [0.5, 0.5, 0, 1]
 
 TEXTURES = {
     "WoodRed": "red-wood.png",
@@ -111,7 +116,7 @@ def new_joint(**kwargs):
     Creates a joint tag with attributes specified by @**kwargs.
 
     Args:
-        **kwargs (dict): Specified attributes for the new joint
+        **kwargs: Specified attributes for the new joint
 
     Returns:
         ET.Element: new joint xml element
@@ -128,7 +133,7 @@ def new_actuator(joint, act_type="actuator", **kwargs):
         joint (str): type of actuator transmission.
             see all types here: http://mujoco.org/book/modeling.html#actuator
         act_type (str): actuator type. Defaults to "actuator"
-        **kwargs (dict): Any additional specified attributes for the new joint
+        **kwargs: Any additional specified attributes for the new joint
 
     Returns:
         ET.Element: new actuator xml element
@@ -151,7 +156,7 @@ def new_site(name, rgba=RED, pos=(0, 0, 0), size=(0.005,), **kwargs):
         rgba (4-array): (r,g,b,a) color and transparency. Defaults to solid red.
         pos (3-array): (x,y,z) 3d position of the site.
         size (array of float): site size (sites are spherical by default).
-        **kwargs (dict): Any additional specified attributes for the new site
+        **kwargs: Any additional specified attributes for the new site
 
     Returns:
         ET.Element: new site xml element
@@ -184,7 +189,7 @@ def new_geom(geom_type, size, pos=(0, 0, 0), rgba=RED, group=0, **kwargs):
         rgba (4-array): (r,g,b,a) color and transparency. Defaults to solid red.
         group (int): the integrer group that the geom belongs to. useful for
             separating visual and physical elements.
-        **kwargs (dict): Any additional specified attributes for the new geom
+        **kwargs: Any additional specified attributes for the new geom
 
     Returns:
         ET.Element: new geom xml element
@@ -209,7 +214,7 @@ def new_body(name=None, pos=None, **kwargs):
     Args:
         name (str): body name.
         pos (3-array): (x,y,z) 3d position of the body frame.
-        **kwargs (dict): Any additional specified attributes for the new body
+        **kwargs: Any additional specified attributes for the new body
 
     Returns:
         ET.Element: new body xml element
@@ -230,7 +235,7 @@ def new_inertial(name=None, pos=(0, 0, 0), mass=None, **kwargs):
         name (str): [NOT USED]
         pos (3-array): (x,y,z) 3d position of the inertial frame.
         mass (float): The mass of inertial
-        **kwargs (dict): Any additional specified attributes for the new inertial element
+        **kwargs: Any additional specified attributes for the new inertial element
 
     Returns:
         ET.Element: new inertial xml element
@@ -280,6 +285,24 @@ def postprocess_model_xml(xml_str):
     return ET.tostring(root, encoding="utf8").decode("utf8")
 
 
+def add_to_dict(dic, **kwargs):
+    """
+    Helper function to add key-values to dictionary @dic where each entry is its own array (list).
+    Args:
+        dic (dict): Dictionary to which new key / value pairs will be added. If the key already exists,
+            will append the value to that key entry
+
+    Returns:
+        dict: Modified dictionary
+    """
+    for k, v in kwargs.items():
+        if k in dic:
+            dic[k].append(v)
+        else:
+            dic[k] = [v]
+    return dic
+
+
 class CustomMaterial(object):
     """
     Simple class to instantiate the necessary parameters to define an appropriate texture / material combo

From 6b3798e80b7ae031e91e2875e0b878225a15739f Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Thu, 3 Dec 2020 11:00:43 -0800
Subject: [PATCH 08/46] fix ringbuffer so it is accurate even during warmstart

---
 robosuite/utils/control_utils.py | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/robosuite/utils/control_utils.py b/robosuite/utils/control_utils.py
index 70378d278e..234dfa5cbb 100644
--- a/robosuite/utils/control_utils.py
+++ b/robosuite/utils/control_utils.py
@@ -290,6 +290,9 @@ def __init__(self, dim, length):
         self.dim = dim
         self.length = length
 
+        # Variable so that initial average values are accurate
+        self._size = 0
+
         # Save pointer to current place in the buffer
         self.ptr = 0
 
@@ -303,9 +306,11 @@ def push(self, value):
         Args:
             value (int or float or array): Value(s) to push into the array (taken as a single new element)
         """
-        # Add value, then increment pointer
+        # Add value, then increment pointer (and size if necessary)
         self.buf[self.ptr] = np.array(value)
         self.ptr = (self.ptr + 1) % self.length
+        if self._size < self.length:
+            self._size += 1
 
     def clear(self):
         """
@@ -313,6 +318,7 @@ def clear(self):
         """
         self.buf = np.zeros((self.length, self.dim))
         self.ptr = 0
+        self._size = 0
 
     @property
     def average(self):
@@ -322,7 +328,7 @@ def average(self):
         Returns:
             float or np.array: Averaged value of all elements in buffer
         """
-        return np.mean(self.buf, axis=0)
+        return np.mean(self.buf[:self._size], axis=0)
 
 
 class DeltaBuffer(Buffer):

From de99886c31076d9cf6b1caf12d9bbbf2b152464d Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Thu, 3 Dec 2020 12:30:20 -0800
Subject: [PATCH 09/46] overhaul all (robot, gripper, object) model classes /
 hierarchy, remove redundancies, fix misc. bugs, standardize all envs and
 class hierarchy

---
 robosuite/__init__.py                         |  19 +-
 robosuite/environments/base.py                | 119 ++-
 .../environments/{ => manipulation}/door.py   | 130 ++--
 .../environments/{ => manipulation}/lift.py   | 134 ++--
 .../manipulation/manipulation_env.py          | 308 ++++++++
 .../{ => manipulation}/nut_assembly.py        | 365 ++++-----
 .../{ => manipulation}/pick_place.py          | 375 ++++------
 .../manipulation/single_arm_env.py            |  69 ++
 .../environments/{ => manipulation}/stack.py  | 164 ++--
 .../environments/manipulation/two_arm_env.py  | 130 ++++
 .../{ => manipulation}/two_arm_handover.py    | 261 ++-----
 .../{ => manipulation}/two_arm_lift.py        | 207 ++----
 .../{ => manipulation}/two_arm_peg_in_hole.py | 143 ++--
 .../environments/{ => manipulation}/wipe.py   | 242 +++---
 robosuite/environments/robot_env.py           | 211 ++----
 robosuite/models/arenas/wipe_arena.py         |  81 +-
 robosuite/models/assets/base.xml              |   2 +-
 .../grippers/jaco_three_finger_gripper.xml    |  11 +-
 .../models/assets/grippers/null_gripper.xml   |   2 +-
 .../models/assets/grippers/panda_gripper.xml  |   2 +-
 .../assets/grippers/rethink_gripper.xml       |   4 +-
 .../assets/grippers/robotiq_gripper_140.xml   |   4 +-
 .../assets/grippers/robotiq_gripper_85.xml    |   4 +-
 .../assets/grippers/robotiq_gripper_s.xml     |  28 +-
 .../models/assets/grippers/wiping_gripper.xml |   2 +-
 .../models/assets/objects/bread-visual.xml    |   4 +-
 .../models/assets/objects/can-visual.xml      |   4 +-
 .../models/assets/objects/cereal-visual.xml   |   4 +-
 robosuite/models/assets/objects/door.xml      |   8 +-
 robosuite/models/assets/objects/door_lock.xml |   8 +-
 .../models/assets/objects/milk-visual.xml     |   4 +-
 robosuite/models/assets/objects/round-nut.xml |   7 +-
 .../models/assets/objects/square-nut.xml      |   7 +-
 .../models/assets/robots/baxter/robot.xml     |   3 +-
 .../models/assets/robots/panda/robot.xml      | 147 ++--
 robosuite/models/base.py                      | 238 +++++-
 robosuite/models/grippers/gripper_model.py    | 162 ++--
 .../grippers/jaco_three_finger_gripper.py     |  39 +-
 robosuite/models/grippers/null_gripper.py     |  16 -
 robosuite/models/grippers/panda_gripper.py    |  28 +-
 robosuite/models/grippers/rethink_gripper.py  |  29 +-
 .../models/grippers/robotiq_140_gripper.py    |  42 +-
 .../models/grippers/robotiq_85_gripper.py     |  46 +-
 .../grippers/robotiq_three_finger_gripper.py  |  56 +-
 robosuite/models/grippers/wiping_gripper.py   |  18 +-
 robosuite/models/objects/generated_objects.py | 702 ++++++++++++------
 robosuite/models/objects/objects.py           | 375 +++++-----
 robosuite/models/objects/xml_objects.py       | 127 +++-
 robosuite/models/robots/__init__.py           |  10 +-
 robosuite/models/robots/baxter_robot.py       | 147 ----
 robosuite/models/robots/iiwa_robot.py         |  80 --
 robosuite/models/robots/jaco_robot.py         |  80 --
 robosuite/models/robots/kinova3_robot.py      |  80 --
 .../models/robots/manipulators/__init__.py    |   8 +
 .../robots/manipulators/baxter_robot.py       |  79 ++
 .../models/robots/manipulators/iiwa_robot.py  |  40 +
 .../models/robots/manipulators/jaco_robot.py  |  40 +
 .../robots/manipulators/kinova3_robot.py      |  40 +
 .../robots/manipulators/manipulator_model.py  | 159 ++++
 .../robots/{ => manipulators}/panda_robot.py  |  43 +-
 .../robots/manipulators/sawyer_robot.py       |  40 +
 .../models/robots/manipulators/ur5e_robot.py  |  40 +
 robosuite/models/robots/robot_model.py        | 325 ++------
 robosuite/models/robots/sawyer_robot.py       |  80 --
 robosuite/models/robots/ur5e_robot.py         |  80 --
 robosuite/models/tasks/__init__.py            |   1 +
 robosuite/models/tasks/manipulation_task.py   | 117 +--
 robosuite/models/tasks/placement_sampler.py   | 463 +++++-------
 robosuite/models/tasks/task.py                |  78 ++
 robosuite/robots/__init__.py                  |  18 +-
 robosuite/robots/bimanual.py                  | 147 +---
 robosuite/robots/manipulator.py               | 143 ++++
 robosuite/robots/robot.py                     | 135 +++-
 robosuite/robots/single_arm.py                | 151 +---
 robosuite/utils/mjcf_utils.py                 | 351 +++++++--
 robosuite/utils/robot_utils.py                |  16 +
 76 files changed, 4097 insertions(+), 3985 deletions(-)
 rename robosuite/environments/{ => manipulation}/door.py (83%)
 rename robosuite/environments/{ => manipulation}/lift.py (79%)
 create mode 100644 robosuite/environments/manipulation/manipulation_env.py
 rename robosuite/environments/{ => manipulation}/nut_assembly.py (67%)
 rename robosuite/environments/{ => manipulation}/pick_place.py (69%)
 create mode 100644 robosuite/environments/manipulation/single_arm_env.py
 rename robosuite/environments/{ => manipulation}/stack.py (77%)
 create mode 100644 robosuite/environments/manipulation/two_arm_env.py
 rename robosuite/environments/{ => manipulation}/two_arm_handover.py (72%)
 rename robosuite/environments/{ => manipulation}/two_arm_lift.py (74%)
 rename robosuite/environments/{ => manipulation}/two_arm_peg_in_hole.py (80%)
 rename robosuite/environments/{ => manipulation}/wipe.py (78%)
 delete mode 100644 robosuite/models/robots/baxter_robot.py
 delete mode 100644 robosuite/models/robots/iiwa_robot.py
 delete mode 100644 robosuite/models/robots/jaco_robot.py
 delete mode 100644 robosuite/models/robots/kinova3_robot.py
 create mode 100644 robosuite/models/robots/manipulators/__init__.py
 create mode 100644 robosuite/models/robots/manipulators/baxter_robot.py
 create mode 100644 robosuite/models/robots/manipulators/iiwa_robot.py
 create mode 100644 robosuite/models/robots/manipulators/jaco_robot.py
 create mode 100644 robosuite/models/robots/manipulators/kinova3_robot.py
 create mode 100644 robosuite/models/robots/manipulators/manipulator_model.py
 rename robosuite/models/robots/{ => manipulators}/panda_robot.py (53%)
 create mode 100644 robosuite/models/robots/manipulators/sawyer_robot.py
 create mode 100644 robosuite/models/robots/manipulators/ur5e_robot.py
 delete mode 100644 robosuite/models/robots/sawyer_robot.py
 delete mode 100644 robosuite/models/robots/ur5e_robot.py
 create mode 100644 robosuite/models/tasks/task.py
 create mode 100644 robosuite/robots/manipulator.py
 create mode 100644 robosuite/utils/robot_utils.py

diff --git a/robosuite/__init__.py b/robosuite/__init__.py
index cec6df6a44..e68e8f3556 100644
--- a/robosuite/__init__.py
+++ b/robosuite/__init__.py
@@ -1,14 +1,15 @@
 from robosuite.environments.base import make
 
-from robosuite.environments.lift import Lift
-from robosuite.environments.stack import Stack
-from robosuite.environments.nut_assembly import NutAssembly
-from robosuite.environments.pick_place import PickPlace
-from robosuite.environments.door import Door
-from robosuite.environments.wipe import Wipe
-from robosuite.environments.two_arm_lift import TwoArmLift
-from robosuite.environments.two_arm_peg_in_hole import TwoArmPegInHole
-from robosuite.environments.two_arm_handover import TwoArmHandover
+# Manipulation environments
+from robosuite.environments.manipulation.lift import Lift
+from robosuite.environments.manipulation.stack import Stack
+from robosuite.environments.manipulation.nut_assembly import NutAssembly
+from robosuite.environments.manipulation.pick_place import PickPlace
+from robosuite.environments.manipulation.door import Door
+from robosuite.environments.manipulation.wipe import Wipe
+from robosuite.environments.manipulation.two_arm_lift import TwoArmLift
+from robosuite.environments.manipulation.two_arm_peg_in_hole import TwoArmPegInHole
+from robosuite.environments.manipulation.two_arm_handover import TwoArmHandover
 
 from robosuite.environments import ALL_ENVIRONMENTS
 from robosuite.controllers import ALL_CONTROLLERS, load_controller_config
diff --git a/robosuite/environments/base.py b/robosuite/environments/base.py
index 1378c2f0d4..d55c76684b 100644
--- a/robosuite/environments/base.py
+++ b/robosuite/environments/base.py
@@ -3,6 +3,9 @@
 from mujoco_py import load_model_from_xml
 
 from robosuite.utils import SimulationError, XMLError, MujocoPyRenderer
+from robosuite.models.base import MujocoModel
+
+import numpy as np
 
 REGISTERED_ENVS = {}
 
@@ -44,7 +47,7 @@ def __new__(meta, name, bases, class_dict):
         cls = super().__new__(meta, name, bases, class_dict)
 
         # List all environments that should not be registered here.
-        _unregistered_envs = ["MujocoEnv", "RobotEnv"]
+        _unregistered_envs = ["MujocoEnv", "RobotEnv", "ManipulationEnv"]
 
         if cls.__name__ not in _unregistered_envs:
             register_env(cls)
@@ -56,6 +59,12 @@ class MujocoEnv(metaclass=EnvMeta):
     Initializes a Mujoco Environment.
 
     Args:
+        use_indicator_object (bool): if True, sets up an indicator object that
+            is useful for debugging.
+
+        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
+            teleoperation.
+
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -88,6 +97,8 @@ class MujocoEnv(metaclass=EnvMeta):
 
     def __init__(
         self,
+        use_indicator_object=False,
+        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -110,6 +121,12 @@ def __init__(
         self.render_visual_mesh = render_visual_mesh
         self.viewer = None
 
+        # whether to use indicator object or not
+        self.use_indicator_object = use_indicator_object
+
+        # Whether to render visual sites in this env
+        self.env_visualization = env_visualization
+
         # Simulation-specific attributes
         self.control_freq = control_freq
         self.horizon = horizon
@@ -158,7 +175,15 @@ def _get_reference(self):
         index or a list of indices that point to the corresponding elements
         in a flatten array, which is how MuJoCo stores physical simulation data.
         """
-        pass
+        # Indicator object references
+        if self.use_indicator_object:
+            ind_qpos = self.sim.model.get_joint_qpos_addr("pos_indicator")
+            self._ref_indicator_pos_low, self._ref_indicator_pos_high = ind_qpos
+
+            ind_qvel = self.sim.model.get_joint_qvel_addr("pos_indicator")
+            self._ref_indicator_vel_low, self._ref_indicator_vel_high = ind_qvel
+
+            self.indicator_id = self.sim.model.body_name2id("pos_indicator")
 
     def _initialize_sim(self, xml_string=None):
         """
@@ -226,6 +251,10 @@ def _reset_internal(self):
             self.sim._render_context_offscreen.vopt.geomgroup[0] = (1 if self.render_collision_mesh else 0)
             self.sim._render_context_offscreen.vopt.geomgroup[1] = (1 if self.render_visual_mesh else 0)
 
+        # Set visuals for objects
+        for obj in self.model.mujoco_objects:
+            obj.set_sites_visibility(sim=self.sim, visible=self.env_visualization)
+
         # additional housekeeping
         self.sim_state_initial = self.sim.get_state()
         self._get_reference()
@@ -316,6 +345,10 @@ def _post_action(self, action):
 
         # done if number of elapsed timesteps is greater than horizon
         self.done = (self.timestep >= self.horizon) and not self.ignore_done
+
+        # Run any necessary visualization
+        self._visualization()
+
         return reward, self.done, {}
 
     def reward(self, action):
@@ -351,6 +384,37 @@ def observation_spec(self):
         observation = self._get_observation()
         return observation
 
+    def move_indicator(self, pos):
+        """
+        Sets 3d position of indicator object to @pos.
+
+        Args:
+            pos (3-tuple): (x,y,z) values to place the indicator within the env
+        """
+        if self.use_indicator_object:
+            index = self._ref_indicator_pos_low
+            self.sim.data.qpos[index:index + 3] = pos
+
+    def clear_objects(self, object_names):
+        """
+        Clears objects with the name @object_names out of the task space. This is useful
+        for supporting task modes with single types of objects, as in
+        @self.single_object_mode without changing the model definition.
+
+        Args:
+            object_names (str or list of str): Name of object(s) to remove from the task workspace
+        """
+        object_names = {object_names} if type(object_names) is str else set(object_names)
+        for obj in self.model.mujoco_objects:
+            if obj.name in object_names:
+                self.sim.data.set_joint_qpos(obj.joints[0], np.array((10, 10, 10, 1, 0, 0, 0)))
+
+    def _visualization(self):
+        """
+        Do any needed visualization here
+        """
+        pass
+
     @property
     def action_spec(self):
         """
@@ -393,31 +457,66 @@ def reset_from_xml_string(self, xml_string):
         # Turn off deterministic reset
         self.deterministic_reset = False
 
-    def find_contacts(self, geoms_1, geoms_2):
+    def check_contact(self, geoms_1, geoms_2=None):
         """
         Finds contact between two geom groups.
 
         Args:
-            geoms_1 (str or list of str): an individual geom name or list of geom names
-            geoms_2 (str or list of str): another individual geom name or list of geom names
+            geoms_1 (str or list of str or MujocoModel): an individual geom name or list of geom names or a model. If
+                a MujocoModel is specified, the geoms checked will be its contact_geoms
+            geoms_2 (str or list of str or MujocoModel or None): another individual geom name or list of geom names.
+                If a MujocoModel is specified, the geoms checked will be its contact_geoms. If None, will check
+                any collision with @geoms_1 to any other geom in the environment
 
         Returns:
-            generator: iterator of all contacts between @geoms_1 and @geoms_2
+            bool: True if any geom in @geoms_1 is in contact with any geom in @geoms_2.
         """
         # Check if either geoms_1 or geoms_2 is a string, convert to list if so
         if type(geoms_1) is str:
             geoms_1 = [geoms_1]
+        elif isinstance(geoms_1, MujocoModel):
+            geoms_1 = geoms_1.contact_geoms
         if type(geoms_2) is str:
             geoms_2 = [geoms_2]
-        for contact in self.sim.data.contact[0 : self.sim.data.ncon]:
+        elif isinstance(geoms_2, MujocoModel):
+            geoms_2 = geoms_2.contact_geoms
+        for contact in self.sim.data.contact[: self.sim.data.ncon]:
             # check contact geom in geoms
             c1_in_g1 = self.sim.model.geom_id2name(contact.geom1) in geoms_1
-            c2_in_g2 = self.sim.model.geom_id2name(contact.geom2) in geoms_2
+            c2_in_g2 = self.sim.model.geom_id2name(contact.geom2) in geoms_2 if geoms_2 is not None else True
             # check contact geom in geoms (flipped)
             c2_in_g1 = self.sim.model.geom_id2name(contact.geom2) in geoms_1
-            c1_in_g2 = self.sim.model.geom_id2name(contact.geom1) in geoms_2
+            c1_in_g2 = self.sim.model.geom_id2name(contact.geom1) in geoms_2 if geoms_2 is not None else True
             if (c1_in_g1 and c2_in_g2) or (c1_in_g2 and c2_in_g1):
-                yield contact
+                return True
+        return False
+
+    def get_contacts(self, model):
+        """
+        Checks for any contacts with @model (as defined by @model's contact_geoms) and returns the set of
+        geom names currently in contact with that model (excluding the geoms that are part of the model itself).
+
+        Args:
+            model (MujocoModel): Model to check contacts for.
+
+        Returns:
+            set: Unique geoms that are actively in contact with this model.
+
+        Raises:
+            AssertionError: [Invalid input type]
+        """
+        # Make sure model is MujocoModel type
+        assert isinstance(model, MujocoModel), \
+            "Inputted model must be of type MujocoModel; got type {} instead!".format(type(model))
+        contact_set = set()
+        for contact in self.sim.data.contact[: self.sim.data.ncon]:
+            # check contact geom in geoms; add to contact set if match is found
+            g1, g2 = self.sim.model.geom_id2name(contact.geom1), self.sim.model.geom_id2name(contact.geom2)
+            if g1 in model.contact_geoms and g2 not in model.contact_geoms:
+                contact_set.add(g2)
+            elif g2 in model.contact_geoms and g1 not in model.contact_geoms:
+                contact_set.add(g1)
+        return contact_set
 
     def _check_success(self):
         """
diff --git a/robosuite/environments/door.py b/robosuite/environments/manipulation/door.py
similarity index 83%
rename from robosuite/environments/door.py
rename to robosuite/environments/manipulation/door.py
index 585570f57f..13a158cdae 100644
--- a/robosuite/environments/door.py
+++ b/robosuite/environments/manipulation/door.py
@@ -1,15 +1,14 @@
 from collections import OrderedDict
 import numpy as np
 
-from robosuite.environments.robot_env import RobotEnv
-from robosuite.robots import SingleArm
+from robosuite.environments.manipulation.single_arm_env import SingleArmEnv
 
 from robosuite.models.arenas import TableArena
 from robosuite.models.objects import DoorObject
 from robosuite.models.tasks import ManipulationTask, UniformRandomSampler
 
 
-class Door(RobotEnv):
+class Door(SingleArmEnv):
     """
     This class corresponds to the door opening task for a single robot arm.
 
@@ -18,6 +17,9 @@ class Door(RobotEnv):
             (e.g: "Sawyer" would generate one arm; ["Panda", "Panda", "Sawyer"] would generate three robot arms)
             Note: Must be a single single-arm robot!
 
+        env_configuration (str): Specifies how to position the robots within the environment (default is "default").
+            For most single arm environments, this argument has no impact on the robot setup.
+
         controller_configs (str or list of dict): If set, contains relevant controller parameters for creating a
             custom controller. Else, uses the default controller for this specific task. Should either be single
             dict if same controller is to be used for all robots or else it should be a list of the same length as
@@ -61,13 +63,20 @@ class Door(RobotEnv):
 
         reward_shaping (bool): if True, use dense rewards.
 
-        placement_initializer (ObjectPositionSampler instance): if provided, will
+        placement_initializer (ObjectPositionSampler): if provided, will
             be used to place objects on every reset, else a UniformRandomSampler
             is used by default.
 
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
+        robot_visualizations (bool or list of bool): True if using robot visualization.
+            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
+            robots or else it should be a list of the same length as "robots" param
+
+        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
+            teleoperation.
+
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -119,6 +128,7 @@ class Door(RobotEnv):
     def __init__(
         self,
         robots,
+        env_configuration="default",
         controller_configs=None,
         gripper_types="default",
         gripper_visualizations=False,
@@ -130,6 +140,8 @@ def __init__(
         reward_shaping=False,
         placement_initializer=None,
         use_indicator_object=False,
+        robot_visualizations=False,
+        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -144,9 +156,6 @@ def __init__(
         camera_widths=256,
         camera_depths=False,
     ):
-        # First, verify that only one robot is being inputted
-        self._check_robot_configuration(robots)
-
         # settings for table top (hardcoded since it's not an essential part of the environment)
         self.table_full_size = (0.8, 0.3, 0.05)
         self.table_offset = (-0.2, -0.35, 0.8)
@@ -166,19 +175,24 @@ def __init__(
             self.placement_initializer = UniformRandomSampler(
                 x_range=[0.07, 0.09],
                 y_range=[-0.01, 0.01],
-                ensure_object_boundary_in_range=False,
                 rotation=(-np.pi / 2. - 0.25, -np.pi / 2.),
                 rotation_axis='z',
+                ensure_object_boundary_in_range=False,
+                ensure_valid_placement=True,
+                reference_pos=self.table_offset,
             )
 
         super().__init__(
             robots=robots,
+            env_configuration=env_configuration,
             controller_configs=controller_configs,
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
+            robot_visualizations=robot_visualizations,
+            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -249,44 +263,38 @@ def _load_model(self):
         """
         super()._load_model()
 
-        # Verify the correct robot has been loaded
-        assert isinstance(self.robots[0], SingleArm), \
-            "Error: Expected one single-armed robot! Got {} type instead.".format(type(self.robots[0]))
-
         # Adjust base pose accordingly
         xpos = self.robots[0].robot_model.base_xpos_offset["table"](self.table_full_size[0])
         self.robots[0].robot_model.set_base_xpos(xpos)
 
         # load model for table top workspace
-        self.mujoco_arena = TableArena(
+        mujoco_arena = TableArena(
             table_full_size=self.table_full_size,
             table_offset=self.table_offset,
         )
         if self.use_indicator_object:
-            self.mujoco_arena.add_pos_indicator()
+            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
-        self.mujoco_arena.set_origin([0, 0, 0])
+        mujoco_arena.set_origin([0, 0, 0])
 
         # initialize objects of interest
-        door = DoorObject(
+        self.door = DoorObject(
             name="Door",
             friction=0.0,
             damping=0.1,
             lock=self.use_latch,
-            joints=[],  # ensures that door object does not have a free joint
         )
-        self.mujoco_objects = OrderedDict([("Door", door)])
-        self.n_objects = len(self.mujoco_objects)
+
+        # Add door to initializer
+        self.placement_initializer.add_objects(self.door)
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
-            mujoco_arena=self.mujoco_arena, 
+            mujoco_arena=mujoco_arena,
             mujoco_robots=[robot.robot_model for robot in self.robots], 
-            mujoco_objects=self.mujoco_objects,
-            initializer=self.placement_initializer,
+            mujoco_objects=self.door,
         )
-        self.model.place_objects()
 
     def _get_reference(self):
         """
@@ -298,20 +306,13 @@ def _get_reference(self):
 
         # Additional object references from this env
         self.object_body_ids = dict()
-        self.object_body_ids["door"] = self.sim.model.body_name2id("door")
-        self.object_body_ids["frame"] = self.sim.model.body_name2id("frame")
-        self.object_body_ids["latch"] = self.sim.model.body_name2id("latch")
-        self.door_handle_site_id = self.sim.model.site_name2id("door_handle")
-        self.hinge_qpos_addr = self.sim.model.get_joint_qpos_addr("door_hinge")
+        self.object_body_ids["door"] = self.sim.model.body_name2id(self.door.door_body)
+        self.object_body_ids["frame"] = self.sim.model.body_name2id(self.door.frame_body)
+        self.object_body_ids["latch"] = self.sim.model.body_name2id(self.door.latch_body)
+        self.door_handle_site_id = self.sim.model.site_name2id(self.door.important_sites["handle"])
+        self.hinge_qpos_addr = self.sim.model.get_joint_qpos_addr(self.door.joints[0])
         if self.use_latch:
-            self.handle_qpos_addr = self.sim.model.get_joint_qpos_addr("latch_joint")
-
-        self.l_finger_geom_ids = [
-            self.sim.model.geom_name2id(x) for x in self.robots[0].gripper.important_geoms["left_finger"]
-        ]
-        self.r_finger_geom_ids = [
-            self.sim.model.geom_name2id(x) for x in self.robots[0].gripper.important_geoms["right_finger"]
-        ]
+            self.handle_qpos_addr = self.sim.model.get_joint_qpos_addr(self.door.joints[1])
 
     def _reset_internal(self):
         """
@@ -322,11 +323,14 @@ def _reset_internal(self):
         # Reset all object positions using initializer sampler if we're not directly loading from an xml
         if not self.deterministic_reset:
 
-            # Sample from the placement initializer for the Door object
-            door_pos, door_quat = self.model.place_objects()
-            door_body_id = self.sim.model.body_name2id("Door")
-            self.sim.model.body_pos[door_body_id] = door_pos[0]
-            self.sim.model.body_quat[door_body_id] = door_quat[0]
+            # Sample from the placement initializer for all objects
+            object_placements = self.placement_initializer.sample()
+
+            # We know we're only setting a single object (the door), so specifically set its pose
+            door_pos, door_quat, _ = object_placements[self.door.name]
+            door_body_id = self.sim.model.body_name2id(self.door.root_body)
+            self.sim.model.body_pos[door_body_id] = door_pos
+            self.sim.model.body_quat[door_body_id] = door_quat
 
     def _get_observation(self):
         """
@@ -394,47 +398,17 @@ def _visualization(self):
         """
         Do any needed visualization here. Overrides superclass implementations.
         """
+        # Run super call first
+        super()._visualization()
 
-        # color the gripper site appropriately based on distance to door handle
+        # Color the gripper visualization site according to its distance to the cube
         if self.robots[0].gripper_visualization:
-            # get distance to door handle
-            dist = np.sum(
-                np.square(
-                    self._handle_xpos
-                    - self.sim.data.get_site_xpos(self.robots[0].gripper.visualization_sites["grip_site"])
-                )
+            self._visualize_gripper_to_target(
+                gripper=self.robots[0].gripper,
+                target=self.door.important_sites["handle"],
+                target_type="site"
             )
 
-            # set RGBA for the EEF site here
-            max_dist = 0.1
-            scaled = (1.0 - min(dist / max_dist, 1.)) ** 15
-            rgba = np.zeros(4)
-            rgba[0] = 1 - scaled
-            rgba[1] = scaled
-            rgba[3] = 0.5
-
-            self.sim.model.site_rgba[self.robots[0].eef_site_id] = rgba
-
-    def _check_robot_configuration(self, robots):
-        """
-        Sanity check to make sure the inputted robots and configuration is acceptable
-
-        Args:
-            robots (str or list of str): Robots to instantiate within this env
-        """
-        if type(robots) is list:
-            assert len(robots) == 1, "Error: Only one robot should be inputted for this task!"
-
-    @property
-    def _eef_xpos(self):
-        """
-        Grabs End Effector position
-
-        Returns:
-            np.array: End effector(x,y,z)
-        """
-        return np.array(self.sim.data.site_xpos[self.robots[0].eef_site_id])
-
     @property
     def _handle_xpos(self):
         """
diff --git a/robosuite/environments/lift.py b/robosuite/environments/manipulation/lift.py
similarity index 79%
rename from robosuite/environments/lift.py
rename to robosuite/environments/manipulation/lift.py
index 62acec0516..1db37591b7 100644
--- a/robosuite/environments/lift.py
+++ b/robosuite/environments/manipulation/lift.py
@@ -4,15 +4,14 @@
 from robosuite.utils.transform_utils import convert_quat
 from robosuite.utils.mjcf_utils import CustomMaterial
 
-from robosuite.environments.robot_env import RobotEnv
-from robosuite.robots import SingleArm
+from robosuite.environments.manipulation.single_arm_env import SingleArmEnv
 
 from robosuite.models.arenas import TableArena
 from robosuite.models.objects import BoxObject
 from robosuite.models.tasks import ManipulationTask, UniformRandomSampler
 
 
-class Lift(RobotEnv):
+class Lift(SingleArmEnv):
     """
     This class corresponds to the lifting task for a single robot arm.
 
@@ -21,6 +20,9 @@ class Lift(RobotEnv):
             (e.g: "Sawyer" would generate one arm; ["Panda", "Panda", "Sawyer"] would generate three robot arms)
             Note: Must be a single single-arm robot!
 
+        env_configuration (str): Specifies how to position the robots within the environment (default is "default").
+            For most single arm environments, this argument has no impact on the robot setup.
+
         controller_configs (str or list of dict): If set, contains relevant controller parameters for creating a
             custom controller. Else, uses the default controller for this specific task. Should either be single
             dict if same controller is to be used for all robots or else it should be a list of the same length as
@@ -66,13 +68,20 @@ class Lift(RobotEnv):
 
         reward_shaping (bool): if True, use dense rewards.
 
-        placement_initializer (ObjectPositionSampler instance): if provided, will
+        placement_initializer (ObjectPositionSampler): if provided, will
             be used to place objects on every reset, else a UniformRandomSampler
             is used by default.
 
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
+        robot_visualizations (bool or list of bool): True if using robot visualization.
+            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
+            robots or else it should be a list of the same length as "robots" param
+
+        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
+            teleoperation.
+
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -124,6 +133,7 @@ class Lift(RobotEnv):
     def __init__(
         self,
         robots,
+        env_configuration="default",
         controller_configs=None,
         gripper_types="default",
         gripper_visualizations=False,
@@ -136,6 +146,8 @@ def __init__(
         reward_shaping=False,
         placement_initializer=None,
         use_indicator_object=False,
+        robot_visualizations=False,
+        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -150,12 +162,10 @@ def __init__(
         camera_widths=256,
         camera_depths=False,
     ):
-        # First, verify that only one robot is being inputted
-        self._check_robot_configuration(robots)
-
         # settings for table top
         self.table_full_size = table_full_size
         self.table_friction = table_friction
+        self.table_offset = np.array((0, 0, 0.8))
 
         # reward configuration
         self.reward_scale = reward_scale
@@ -171,19 +181,24 @@ def __init__(
             self.placement_initializer = UniformRandomSampler(
                 x_range=[-0.03, 0.03],
                 y_range=[-0.03, 0.03],
-                ensure_object_boundary_in_range=False,
                 rotation=None,
+                ensure_object_boundary_in_range=False,
+                ensure_valid_placement=True,
+                reference_pos=self.table_offset,
                 z_offset=0.01,
             )
 
         super().__init__(
             robots=robots,
+            env_configuration=env_configuration,
             controller_configs=controller_configs,
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
+            robot_visualizations=robot_visualizations,
+            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -241,19 +256,7 @@ def reward(self, action=None):
             reward += reaching_reward
 
             # grasping reward
-            touch_left_finger = False
-            touch_right_finger = False
-            for i in range(self.sim.data.ncon):
-                c = self.sim.data.contact[i]
-                if c.geom1 in self.l_finger_geom_ids and c.geom2 == self.cube_geom_id:
-                    touch_left_finger = True
-                if c.geom1 == self.cube_geom_id and c.geom2 in self.l_finger_geom_ids:
-                    touch_left_finger = True
-                if c.geom1 in self.r_finger_geom_ids and c.geom2 == self.cube_geom_id:
-                    touch_right_finger = True
-                if c.geom1 == self.cube_geom_id and c.geom2 in self.r_finger_geom_ids:
-                    touch_right_finger = True
-            if touch_left_finger and touch_right_finger:
+            if self._check_grasp(gripper=self.robots[0].gripper, object_geoms=self.cube):
                 reward += 0.25
 
         # Scale reward if requested
@@ -268,25 +271,21 @@ def _load_model(self):
         """
         super()._load_model()
 
-        # Verify the correct robot has been loaded
-        assert isinstance(self.robots[0], SingleArm), \
-            "Error: Expected one single-armed robot! Got {} type instead.".format(type(self.robots[0]))
-
         # Adjust base pose accordingly
         xpos = self.robots[0].robot_model.base_xpos_offset["table"](self.table_full_size[0])
         self.robots[0].robot_model.set_base_xpos(xpos)
 
         # load model for table top workspace
-        self.mujoco_arena = TableArena(
+        mujoco_arena = TableArena(
             table_full_size=self.table_full_size,
             table_friction=self.table_friction,
-            table_offset=(0, 0, 0.8),
+            table_offset=self.table_offset,
         )
         if self.use_indicator_object:
-            self.mujoco_arena.add_pos_indicator()
+            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
-        self.mujoco_arena.set_origin([0, 0, 0])
+        mujoco_arena.set_origin([0, 0, 0])
 
         # initialize objects of interest
         tex_attrib = {
@@ -304,24 +303,23 @@ def _load_model(self):
             tex_attrib=tex_attrib,
             mat_attrib=mat_attrib,
         )
-        cube = BoxObject(
+        self.cube = BoxObject(
             name="cube",
             size_min=[0.020, 0.020, 0.020],  # [0.015, 0.015, 0.015],
             size_max=[0.022, 0.022, 0.022],  # [0.018, 0.018, 0.018])
             rgba=[1, 0, 0, 1],
             material=redwood,
         )
-        self.mujoco_objects = OrderedDict([("cube", cube)])
-        self.n_objects = len(self.mujoco_objects)
+
+        # Add cube to initializer
+        self.placement_initializer.add_objects(self.cube)
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
-            mujoco_arena=self.mujoco_arena, 
+            mujoco_arena=mujoco_arena,
             mujoco_robots=[robot.robot_model for robot in self.robots], 
-            mujoco_objects=self.mujoco_objects,
-            initializer=self.placement_initializer,
+            mujoco_objects=self.cube,
         )
-        self.model.place_objects()
 
     def _get_reference(self):
         """
@@ -332,14 +330,7 @@ def _get_reference(self):
         super()._get_reference()
 
         # Additional object references from this env
-        self.cube_body_id = self.sim.model.body_name2id("cube")
-        self.l_finger_geom_ids = [
-            self.sim.model.geom_name2id(x) for x in self.robots[0].gripper.important_geoms["left_finger"]
-        ]
-        self.r_finger_geom_ids = [
-            self.sim.model.geom_name2id(x) for x in self.robots[0].gripper.important_geoms["right_finger"]
-        ]
-        self.cube_geom_id = self.sim.model.geom_name2id("cube")
+        self.cube_body_id = self.sim.model.body_name2id(self.cube.root_body)
 
     def _reset_internal(self):
         """
@@ -351,11 +342,11 @@ def _reset_internal(self):
         if not self.deterministic_reset:
 
             # Sample from the placement initializer for all objects
-            obj_pos, obj_quat = self.model.place_objects()
+            object_placements = self.placement_initializer.sample()
 
             # Loop through all objects and reset their positions
-            for i, (obj_name, _) in enumerate(self.mujoco_objects.items()):
-                self.sim.data.set_joint_qpos(obj_name + "_jnt0", np.concatenate([np.array(obj_pos[i]), np.array(obj_quat[i])]))
+            for obj_pos, obj_quat, obj in object_placements.values():
+                self.sim.data.set_joint_qpos(obj.joints[0], np.concatenate([np.array(obj_pos), np.array(obj_quat)]))
 
     def _get_observation(self):
         """
@@ -399,6 +390,17 @@ def _get_observation(self):
 
         return di
 
+    def _visualization(self):
+        """
+        Visualize the gripper site proportional to the distance to the cube
+        """
+        # Run super call first
+        super()._visualization()
+
+        # Color the gripper visualization site according to its distance to the cube
+        if self.robots[0].gripper_visualization:
+            self._visualize_gripper_to_target(gripper=self.robots[0].gripper, target=self.cube)
+
     def _check_success(self):
         """
         Check if cube has been lifted.
@@ -407,43 +409,7 @@ def _check_success(self):
             bool: True if cube has been lifted
         """
         cube_height = self.sim.data.body_xpos[self.cube_body_id][2]
-        table_height = self.mujoco_arena.table_offset[2]
+        table_height = self.model.mujoco_arena.table_offset[2]
 
         # cube is higher than the table top above a margin
         return cube_height > table_height + 0.04
-
-    def _visualization(self):
-        """
-        Do any needed visualization here. Overrides superclass implementations.
-        """
-
-        # color the gripper site appropriately based on distance to cube
-        if self.robots[0].gripper_visualization:
-            # get distance to cube
-            cube_site_id = self.sim.model.site_name2id("cube")
-            dist = np.sum(
-                np.square(
-                    self.sim.data.site_xpos[cube_site_id]
-                    - self.sim.data.get_site_xpos(self.robots[0].gripper.visualization_sites["grip_site"])
-                )
-            )
-
-            # set RGBA for the EEF site here
-            max_dist = 0.1
-            scaled = (1.0 - min(dist / max_dist, 1.)) ** 15
-            rgba = np.zeros(4)
-            rgba[0] = 1 - scaled
-            rgba[1] = scaled
-            rgba[3] = 0.5
-
-            self.sim.model.site_rgba[self.robots[0].eef_site_id] = rgba
-
-    def _check_robot_configuration(self, robots):
-        """
-        Sanity check to make sure the inputted robots and configuration is acceptable
-
-        Args:
-            robots (str or list of str): Robots to instantiate within this env
-        """
-        if type(robots) is list:
-            assert len(robots) == 1, "Error: Only one robot should be inputted for this task!"
diff --git a/robosuite/environments/manipulation/manipulation_env.py b/robosuite/environments/manipulation/manipulation_env.py
new file mode 100644
index 0000000000..6df3fbfe00
--- /dev/null
+++ b/robosuite/environments/manipulation/manipulation_env.py
@@ -0,0 +1,308 @@
+import numpy as np
+
+from robosuite.environments.robot_env import RobotEnv
+from robosuite.models.grippers import GripperModel
+from robosuite.models.base import MujocoModel
+from robosuite.robots import Manipulator, ROBOT_CLASS_MAPPING
+
+
+class ManipulationEnv(RobotEnv):
+    """
+    Initializes a manipulation-specific robot environment in Mujoco.
+
+    Args:
+        robots: Specification for specific robot arm(s) to be instantiated within this env
+            (e.g: "Sawyer" would generate one arm; ["Panda", "Panda", "Sawyer"] would generate three robot arms)
+
+        env_configuration (str): Specifies how to position the robot(s) within the environment. Default is "default",
+            which should be interpreted accordingly by any subclasses.
+
+        controller_configs (str or list of dict): If set, contains relevant controller parameters for creating a
+            custom controller. Else, uses the default controller for this specific task. Should either be single
+            dict if same controller is to be used for all robots or else it should be a list of the same length as
+            "robots" param
+
+        gripper_types (None or str or list of str): type of gripper, used to instantiate
+            gripper models from gripper factory. Default is "default", which is the default grippers(s) associated
+            with the robot(s) the 'robots' specification. None removes the gripper, and any other (valid) model
+            overrides the default gripper. Should either be single str if same gripper type is to be used for all
+            robots or else it should be a list of the same length as "robots" param
+
+        gripper_visualizations (bool or list of bool): True if using gripper visualization.
+            Useful for teleoperation. Should either be single bool if gripper visualization is to be used for all
+            robots or else it should be a list of the same length as "robots" param
+
+        initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
+            The expected keys and corresponding value types are specified below:
+
+            :`'magnitude'`: The scale factor of uni-variate random noise applied to each of a robot's given initial
+                joint positions. Setting this value to `None` or 0.0 results in no noise being applied.
+                If "gaussian" type of noise is applied then this magnitude scales the standard deviation applied,
+                If "uniform" type of noise is applied then this magnitude sets the bounds of the sampling range
+            :`'type'`: Type of noise to apply. Can either specify "gaussian" or "uniform"
+
+            Should either be single dict if same noise value is to be used for all robots or else it should be a
+            list of the same length as "robots" param
+
+            :Note: Specifying "default" will automatically use the default noise settings.
+                Specifying None will automatically create the required dict with "magnitude" set to 0.0.
+
+        use_camera_obs (bool): if True, every observation includes rendered image(s)
+
+        use_indicator_object (bool): if True, sets up an indicator object that
+            is useful for debugging.
+
+        robot_visualizations (bool or list of bool): True if using robot visualization.
+            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
+            robots or else it should be a list of the same length as "robots" param
+
+        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
+            teleoperation.
+
+        has_renderer (bool): If true, render the simulation state in
+            a viewer instead of headless mode.
+
+        has_offscreen_renderer (bool): True if using off-screen rendering
+
+        render_camera (str): Name of camera to render if `has_renderer` is True. Setting this value to 'None'
+            will result in the default angle being applied, which is useful as it can be dragged / panned by
+            the user using the mouse
+
+        render_collision_mesh (bool): True if rendering collision meshes in camera. False otherwise.
+
+        render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
+
+        control_freq (float): how many control signals to receive in every second. This sets the amount of
+            simulation time that passes between every action input.
+
+        horizon (int): Every episode lasts for exactly @horizon timesteps.
+
+        ignore_done (bool): True if never terminating the environment (ignore @horizon).
+
+        hard_reset (bool): If True, re-loads model, sim, and render object upon a reset call, else,
+            only calls sim.reset and resets all robosuite-internal variables
+
+        camera_names (str or list of str): name of camera to be rendered. Should either be single str if
+            same name is to be used for all cameras' rendering or else it should be a list of cameras to render.
+
+            :Note: At least one camera must be specified if @use_camera_obs is True.
+
+            :Note: To render all robots' cameras of a certain type (e.g.: "robotview" or "eye_in_hand"), use the
+                convention "all-{name}" (e.g.: "all-robotview") to automatically render all camera images from each
+                robot's camera list).
+
+        camera_heights (int or list of int): height of camera frame. Should either be single int if
+            same height is to be used for all cameras' frames or else it should be a list of the same length as
+            "camera names" param.
+
+        camera_widths (int or list of int): width of camera frame. Should either be single int if
+            same width is to be used for all cameras' frames or else it should be a list of the same length as
+            "camera names" param.
+
+        camera_depths (bool or list of bool): True if rendering RGB-D, and RGB otherwise. Should either be single
+            bool if same depth setting is to be used for all cameras or else it should be a list of the same length as
+            "camera names" param.
+
+    Raises:
+        ValueError: [Camera obs require offscreen renderer]
+        ValueError: [Camera name must be specified to use camera obs]
+    """
+
+    def __init__(
+        self,
+        robots,
+        env_configuration="default",
+        controller_configs=None,
+        gripper_types="default",
+        gripper_visualizations=False,
+        initialization_noise=None,
+        use_camera_obs=True,
+        use_indicator_object=False,
+        robot_visualizations=False,
+        env_visualization=False,
+        has_renderer=False,
+        has_offscreen_renderer=True,
+        render_camera="frontview",
+        render_collision_mesh=False,
+        render_visual_mesh=True,
+        control_freq=10,
+        horizon=1000,
+        ignore_done=False,
+        hard_reset=True,
+        camera_names="agentview",
+        camera_heights=256,
+        camera_widths=256,
+        camera_depths=False,
+    ):
+        # Robot info
+        robots = list(robots) if type(robots) is list or type(robots) is tuple else [robots]
+        num_robots = len(robots)
+
+        # Gripper
+        gripper_types = self._input2list(gripper_types, num_robots)
+        gripper_visualizations = self._input2list(gripper_visualizations, num_robots)
+
+        # Robot configurations to pass to super call
+        robot_configs = [
+            {
+                "gripper_type": gripper_types[idx],
+                "gripper_visualization": gripper_visualizations[idx],
+            }
+            for idx in range(num_robots)
+        ]
+
+        # Run superclass init
+        super().__init__(
+            robots=robots,
+            env_configuration=env_configuration,
+            controller_configs=controller_configs,
+            initialization_noise=initialization_noise,
+            use_camera_obs=use_camera_obs,
+            use_indicator_object=use_indicator_object,
+            robot_visualizations=robot_visualizations,
+            env_visualization=env_visualization,
+            has_renderer=has_renderer,
+            has_offscreen_renderer=has_offscreen_renderer,
+            render_camera=render_camera,
+            render_collision_mesh=render_collision_mesh,
+            render_visual_mesh=render_visual_mesh,
+            control_freq=control_freq,
+            horizon=horizon,
+            ignore_done=ignore_done,
+            hard_reset=hard_reset,
+            camera_names=camera_names,
+            camera_heights=camera_heights,
+            camera_widths=camera_widths,
+            camera_depths=camera_depths,
+            robot_configs=robot_configs,
+        )
+
+    def _visualization(self):
+        """
+        Do any needed visualization here
+        """
+        # Run superclass method first
+        super()._visualization()
+        # Loop over robot grippers to visualize them independently
+        for robot in self.robots:
+            robot.visualize_gripper()
+
+    def _check_grasp(self, gripper, object_geoms):
+        """
+        Checks whether the specified gripper as defined by @gripper is grasping the specified object in the environment.
+
+        By default, this will return True if at least one geom in both the "left_fingerpad" and "right_fingerpad" geom
+        groups are in contact with any geom specified by @object_geoms. Custom gripper geom groups can be
+        specified with @gripper as well.
+
+        Args:
+            gripper (GripperModel or str or list of str or list of list of str): If a MujocoModel, this is specific
+            gripper to check for grasping (as defined by "left_fingerpad" and "right_fingerpad" geom groups). Otherwise,
+                this sets custom gripper geom groups which together define a grasp. This can be a string
+                (one group of single gripper geom), a list of string (multiple groups of single gripper geoms) or a
+                list of list of string (multiple groups of multiple gripper geoms). At least one geom from each group
+                must be in contact with any geom in @object_geoms for this method to return True.
+            object_geoms (str or list of str or MujocoModel): If a MujocoModel is inputted, will check for any
+                collisions with the model's contact_geoms. Otherwise, this should be specific geom name(s) composing
+                the object to check for contact.
+
+        Returns:
+            bool: True if the gripper is grasping the given object
+        """
+        # Convert object, gripper geoms into standardized form
+        if isinstance(object_geoms, MujocoModel):
+            o_geoms = object_geoms.contact_geoms
+        else:
+            o_geoms = [object_geoms] if type(object_geoms) is str else object_geoms
+        if isinstance(gripper, GripperModel):
+            g_geoms = [gripper.important_geoms["left_fingerpad"], gripper.important_geoms["right_fingerpad"]]
+        elif type(gripper) is str:
+            g_geoms = [[gripper]]
+        else:
+            # Parse each element in the gripper_geoms list accordingly
+            g_geoms = [[g_group] if type(g_group) is str else g_group for g_group in gripper]
+
+        # Search for collisions between each gripper geom group and the object geoms group
+        for g_group in g_geoms:
+            if not self.check_contact(g_group, o_geoms):
+                return False
+        return True
+
+    def _gripper_to_target(self, gripper, target, target_type="body", return_distance=False):
+        """
+        Calculates the (x,y,z) Cartesian distance (target_pos - gripper_pos) from the specified @gripper to the
+        specified @target. If @return_distance is set, will return the Euclidean (scalar) distance instead.
+
+        Args:
+            gripper (MujocoModel): Gripper model to update grip site rgb
+            target (MujocoModel or str): Either a site / geom / body name, or a model that serves as the target.
+                If a model is given, then the root body will be used as the target.
+            target_type (str): One of {"body", "geom", or "site"}, corresponding to the type of element @target
+                refers to.
+            return_distance (bool): If set, will return Euclidean distance instead of Cartesian distance
+
+        Returns:
+            np.array or float: (Cartesian or Euclidean) distance from gripper to target
+        """
+        # Get gripper and target positions
+        gripper_pos = self.sim.data.get_site_xpos(gripper.important_sites["grip_site"])
+        # If target is MujocoModel, grab the correct body as the target and find the target position
+        if isinstance(target, MujocoModel):
+            target_pos = self.sim.data.get_body_xpos(target.root_body)
+        elif target_type == "body":
+            target_pos = self.sim.data.get_body_xpos(target)
+        elif target_type == "site":
+            target_pos = self.sim.data.get_site_xpos(target)
+        else:
+            target_pos = self.sim.data.get_geom_xpos(target)
+        # Calculate distance
+        diff = target_pos - gripper_pos
+        # Return appropriate value
+        return np.linalg.norm(diff) if return_distance else diff
+
+    def _visualize_gripper_to_target(self, gripper, target, target_type="body"):
+        """
+        Colors the grip visualization site proportional to the Euclidean distance to the specified @target.
+        Colors go from red --> green as the gripper gets closer.
+
+        Args:
+            gripper (MujocoModel): Gripper model to update grip site rgb
+            target (MujocoModel or str): Either a site / geom / body name, or a model that serves as the target.
+                If a model is given, then the root body will be used as the target.
+            target_type (str): One of {"body", "geom", or "site"}, corresponding to the type of element @target
+                refers to.
+        """
+        # Get gripper and target positions
+        gripper_pos = self.sim.data.get_site_xpos(gripper.important_sites["grip_site"])
+        # If target is MujocoModel, grab the correct body as the target and find the target position
+        if isinstance(target, MujocoModel):
+            target_pos = self.sim.data.get_body_xpos(target.root_body)
+        elif target_type == "body":
+            target_pos = self.sim.data.get_body_xpos(target)
+        elif target_type == "site":
+            target_pos = self.sim.data.get_site_xpos(target)
+        else:
+            target_pos = self.sim.data.get_geom_xpos(target)
+        # color the gripper site appropriately based on (squared) distance to target
+        dist = np.sum(np.square((target_pos - gripper_pos)))
+        max_dist = 0.1
+        scaled = (1.0 - min(dist / max_dist, 1.)) ** 15
+        rgba = np.zeros(3)
+        rgba[0] = 1 - scaled
+        rgba[1] = scaled
+        self.sim.model.site_rgba[self.sim.model.site_name2id(gripper.important_sites["grip_site"])][:3] = rgba
+
+    def _check_robot_configuration(self, robots):
+        """
+        Sanity check to make sure inputted robots and the corresponding requested task/configuration combo is legal.
+        Should be implemented in every specific task module
+
+        Args:
+            robots (str or list of str): Inputted requested robots at the task-level environment
+        """
+        # Make sure all inputted robots are a manipulation robot
+        if type(robots) is str:
+            robots = [robots]
+        for robot in robots:
+            assert issubclass(ROBOT_CLASS_MAPPING[robot], Manipulator),\
+                "Only manipulator robots supported for manipulation environment!"
diff --git a/robosuite/environments/nut_assembly.py b/robosuite/environments/manipulation/nut_assembly.py
similarity index 67%
rename from robosuite/environments/nut_assembly.py
rename to robosuite/environments/manipulation/nut_assembly.py
index 0c1c4aa3de..7cf620a606 100644
--- a/robosuite/environments/nut_assembly.py
+++ b/robosuite/environments/manipulation/nut_assembly.py
@@ -3,15 +3,14 @@
 import numpy as np
 
 import robosuite.utils.transform_utils as T
-from robosuite.environments.robot_env import RobotEnv
-from robosuite.robots import SingleArm
+from robosuite.environments.manipulation.single_arm_env import SingleArmEnv
 
 from robosuite.models.arenas import PegsArena
 from robosuite.models.objects import SquareNutObject, RoundNutObject
-from robosuite.models.tasks import ManipulationTask, SequentialCompositeSampler
+from robosuite.models.tasks import ManipulationTask, SequentialCompositeSampler, UniformRandomSampler
 
 
-class NutAssembly(RobotEnv):
+class NutAssembly(SingleArmEnv):
     """
     This class corresponds to the nut assembly task for a single robot arm.
 
@@ -20,6 +19,9 @@ class NutAssembly(RobotEnv):
             (e.g: "Sawyer" would generate one arm; ["Panda", "Panda", "Sawyer"] would generate three robot arms)
             Note: Must be a single single-arm robot!
 
+        env_configuration (str): Specifies how to position the robots within the environment (default is "default").
+            For most single arm environments, this argument has no impact on the robot setup.
+
         controller_configs (str or list of dict): If set, contains relevant controller parameters for creating a
             custom controller. Else, uses the default controller for this specific task. Should either be single
             dict if same controller is to be used for all robots or else it should be a list of the same length as
@@ -65,7 +67,7 @@ class NutAssembly(RobotEnv):
 
         reward_shaping (bool): if True, use dense rewards.
 
-        placement_initializer (ObjectPositionSampler instance): if provided, will
+        placement_initializer (ObjectPositionSampler): if provided, will
             be used to place objects on every reset, else a UniformRandomSampler
             is used by default.
 
@@ -88,6 +90,13 @@ class NutAssembly(RobotEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
+        robot_visualizations (bool or list of bool): True if using robot visualization.
+            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
+            robots or else it should be a list of the same length as "robots" param
+
+        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
+            teleoperation.
+
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -140,6 +149,7 @@ class NutAssembly(RobotEnv):
     def __init__(
         self,
         robots,
+        env_configuration="default",
         controller_configs=None,
         gripper_types="default",
         gripper_visualizations=False,
@@ -154,6 +164,8 @@ def __init__(
         single_object_mode=0,
         nut_type=None,
         use_indicator_object=False,
+        robot_visualizations=False,
+        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -168,9 +180,6 @@ def __init__(
         camera_widths=256,
         camera_depths=False,
     ):
-        # First, verify that only one robot is being inputted
-        self._check_robot_configuration(robots)
-
         # task settings
         self.single_object_mode = single_object_mode
         self.nut_to_id = {"square": 0, "round": 1}
@@ -186,6 +195,7 @@ def __init__(
         # settings for table top
         self.table_full_size = table_full_size
         self.table_friction = table_friction
+        self.table_offset = np.array((0, 0, 0.82))
 
         # reward configuration
         self.reward_scale = reward_scale
@@ -198,38 +208,20 @@ def __init__(
         if placement_initializer:
             self.placement_initializer = placement_initializer
         else:
-            # treat sampling of each type of nut differently since we require different
-            # sampling ranges for each
+            # treat sampling of each type of nut differently since we require different sampling ranges for each
             self.placement_initializer = SequentialCompositeSampler()
-            self.placement_initializer.sample_on_top(
-                "SquareNut0",
-                surface_name="table",
-                x_range=[-0.115, -0.11],
-                y_range=[0.11, 0.225],
-                rotation=None,
-                rotation_axis='z',
-                z_offset=0.02,
-                ensure_object_boundary_in_range=False,
-            )
-            self.placement_initializer.sample_on_top(
-                "RoundNut0",
-                surface_name="table",
-                x_range=[-0.115, -0.11],
-                y_range=[-0.225, -0.11],
-                rotation=None,
-                rotation_axis='z',
-                z_offset=0.02,
-                ensure_object_boundary_in_range=False,
-            )
 
         super().__init__(
             robots=robots,
+            env_configuration=env_configuration,
             controller_configs=controller_configs,
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
+            robot_visualizations=robot_visualizations,
+            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -306,75 +298,60 @@ def staged_rewards(self):
         hover_mult = 0.7
 
         # filter out objects that are already on the correct pegs
-        names_to_reach = []
-        objs_to_reach = []
-        geoms_to_grasp = []
-        geoms_by_array = []
-
-        for i in range(len(self.ob_inits)):
+        active_nuts = []
+        for i, nut in enumerate(self.nuts):
             if self.objects_on_pegs[i]:
                 continue
-            obj_str = str(self.item_names[i]) + "0"
-            names_to_reach.append(obj_str)
-            objs_to_reach.append(self.obj_body_id[obj_str])
-            geoms_to_grasp.extend(self.obj_geom_id[obj_str])
-            geoms_by_array.append(self.obj_geom_id[obj_str])
+            active_nuts.append(nut)
 
-        ### reaching reward governed by distance to closest object ###
+        # reaching reward governed by distance to closest object
         r_reach = 0.
-        if len(objs_to_reach):
-            # reaching reward via minimum distance to the handles of the objects (the last geom of each nut)
-            geom_ids = [elem[-1] for elem in geoms_by_array]
-            target_geom_pos = self.sim.data.geom_xpos[geom_ids]
-            gripper_site_pos = self.sim.data.site_xpos[self.robots[0].eef_site_id]
-            dists = np.linalg.norm(
-                target_geom_pos - gripper_site_pos.reshape(1, -1), axis=1
-            )
+        if active_nuts:
+            # reaching reward via minimum distance to the handles of the objects
+            dists = [
+                self._gripper_to_target(
+                    gripper=self.robots[0].gripper,
+                    target=active_nut.important_sites["handle"],
+                    target_type="site",
+                    return_distance=True,
+                ) for active_nut in active_nuts
+            ]
             r_reach = (1 - np.tanh(10.0 * min(dists))) * reach_mult
 
-        ### grasping reward for touching any objects of interest ###
-        touch_left_finger = False
-        touch_right_finger = False
-        for i in range(self.sim.data.ncon):
-            c = self.sim.data.contact[i]
-            if c.geom1 in geoms_to_grasp:
-                if c.geom2 in self.l_finger_geom_ids:
-                    touch_left_finger = True
-                if c.geom2 in self.r_finger_geom_ids:
-                    touch_right_finger = True
-            elif c.geom2 in geoms_to_grasp:
-                if c.geom1 in self.l_finger_geom_ids:
-                    touch_left_finger = True
-                if c.geom1 in self.r_finger_geom_ids:
-                    touch_right_finger = True
-        has_grasp = touch_left_finger and touch_right_finger
-        r_grasp = int(has_grasp) * grasp_mult
-
-        ### lifting reward for picking up an object ###
+        # grasping reward for touching any objects of interest
+        r_grasp = int(self._check_grasp(
+            gripper=self.robots[0].gripper,
+            object_geoms=[g for active_nut in active_nuts for g in active_nut.contact_geoms])
+        ) * grasp_mult
+
+        # lifting reward for picking up an object
         r_lift = 0.
         table_pos = np.array(self.sim.data.body_xpos[self.table_body_id])
-        if len(objs_to_reach) and r_grasp > 0.:
+        if active_nuts and r_grasp > 0.:
             z_target = table_pos[2] + 0.2
-            object_z_locs = self.sim.data.body_xpos[objs_to_reach][:, 2]
+            object_z_locs = self.sim.data.body_xpos[[self.obj_body_id[active_nut.name]
+                                                     for active_nut in active_nuts]][:, 2]
             z_dists = np.maximum(z_target - object_z_locs, 0.)
             r_lift = grasp_mult + (1 - np.tanh(15.0 * min(z_dists))) * (
                     lift_mult - grasp_mult
             )
 
-        ### hover reward for getting object above peg ###
+        # hover reward for getting object above peg
         r_hover = 0.
-        if len(objs_to_reach):
-            r_hovers = np.zeros(len(objs_to_reach))
-            for i in range(len(objs_to_reach)):
-                if names_to_reach[i].startswith(self.item_names[0]):
-                    peg_pos = np.array(self.sim.data.body_xpos[self.peg1_body_id])[:2]
-                elif names_to_reach[i].startswith(self.item_names[1]):
-                    peg_pos = np.array(self.sim.data.body_xpos[self.peg2_body_id])[:2]
-                else:
-                    raise Exception(
-                        "Got invalid object to reach: {}".format(names_to_reach[i])
-                    )
-                ob_xy = self.sim.data.body_xpos[objs_to_reach[i]][:2]
+        if active_nuts:
+            r_hovers = np.zeros(len(active_nuts))
+            peg_body_ids = [self.peg1_body_id, self.peg2_body_id]
+            for i, nut in enumerate(active_nuts):
+                valid_obj = False
+                peg_pos = None
+                for nut_name, idn in self.nut_to_id.items():
+                    if nut_name in nut.name.lower():
+                        peg_pos = np.array(self.sim.data.body_xpos[peg_body_ids[idn]])[:2]
+                        valid_obj = True
+                        break
+                if not valid_obj:
+                    raise Exception("Got invalid object to reach: {}".format(nut.name))
+                ob_xy = self.sim.data.body_xpos[self.obj_body_id[nut.name]][:2]
                 dist = np.linalg.norm(peg_pos - ob_xy)
                 r_hovers[i] = r_lift + (1 - np.tanh(10.0 * dist)) * (
                         hover_mult - lift_mult
@@ -393,86 +370,79 @@ def on_peg(self, obj_pos, peg_id):
         if (
                 abs(obj_pos[0] - peg_pos[0]) < 0.03
                 and abs(obj_pos[1] - peg_pos[1]) < 0.03
-                and obj_pos[2] < self.mujoco_arena.table_offset[2] + 0.05
+                and obj_pos[2] < self.table_offset[2] + 0.05
         ):
             res = True
         return res
 
-    def clear_objects(self, obj):
-        """
-        Clears objects without the name @obj out of the task space. This is useful
-        for supporting task modes with single types of objects, as in
-        @self.single_object_mode without changing the model definition.
-
-        Args:
-            obj (str): Name of object to keep in the task space
-        """
-        for obj_name, obj_mjcf in self.mujoco_objects.items():
-            if obj_name == obj:
-                continue
-            else:
-                sim_state = self.sim.get_state()
-                # print(self.sim.model.get_joint_qpos_addr(obj_name))
-                sim_state.qpos[self.sim.model.get_joint_qpos_addr(obj_name + "_jnt0")[0]] = 10
-                self.sim.set_state(sim_state)
-                self.sim.forward()
-
     def _load_model(self):
         """
         Loads an xml model, puts it in self.model
         """
         super()._load_model()
 
-        # Verify the correct robot has been loaded
-        assert isinstance(self.robots[0], SingleArm), \
-            "Error: Expected one single-armed robot! Got {} type instead.".format(type(self.robots[0]))
-
         # Adjust base pose accordingly
         xpos = self.robots[0].robot_model.base_xpos_offset["table"](self.table_full_size[0])
         self.robots[0].robot_model.set_base_xpos(xpos)
 
         # load model for table top workspace
-        self.mujoco_arena = PegsArena(
+        mujoco_arena = PegsArena(
             table_full_size=self.table_full_size,
             table_friction=self.table_friction,
-            table_offset=(0, 0, 0.82)
+            table_offset=self.table_offset,
         )
         if self.use_indicator_object:
-            self.mujoco_arena.add_pos_indicator()
+            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
-        self.mujoco_arena.set_origin([0, 0, 0])
-
-        # define mujoco objects
-        self.ob_inits = [SquareNutObject, RoundNutObject]
-        self.item_names = ["SquareNut", "RoundNut"]
-        self.item_names_org = list(self.item_names)
-        self.obj_to_use = (self.item_names[1] + "{}").format(0)
-        self.ngeoms = [5, 9]
-
-        lst = []
-        for i in range(len(self.ob_inits)):
-            ob_name = (self.item_names[i] + "0")
-            ob = self.ob_inits[i](
-                name=ob_name,
-                joints=[dict(type="free", damping="0.0005")], # damp the free joint for each object
-            )
-            lst.append((ob_name, ob))
-
-        self.mujoco_objects = OrderedDict(lst)
-        self.n_objects = len(self.mujoco_objects)
+        mujoco_arena.set_origin([0, 0, 0])
+
+        # define nuts
+        self.nuts = []
+
+        # We need to check if custom placement initializer has been specified. This is true if the sampler is either
+        # NOT a SequentialCompsiteSampler OR if the sampler already has sub-samplers in it
+        is_custom_sampler = not isinstance(self.placement_initializer, SequentialCompositeSampler) or \
+            len(self.placement_initializer.samplers) > 0
+
+        for i, (nut_cls, nut_name, default_y_range) in enumerate(zip(
+                (SquareNutObject, RoundNutObject),
+                ("SquareNut", "RoundNut"),
+                ([0.11, 0.225], [-0.225, -0.11]),
+        )):
+            nut = nut_cls(name=nut_name)
+            self.nuts.append(nut)
+            # Add this nut to the placement initializer
+            if is_custom_sampler:
+                if isinstance(self.placement_initializer, SequentialCompositeSampler):
+                    # assumes user has already specified two samplers so we add nuts to them
+                    self.placement_initializer.samplers[i].add_objects(nut)
+                else:
+                    # This is assumed to be a flat sampler, so we just add all nuts to this sampler
+                    self.placement_initializer.add_objects(nut)
+            else:
+                # Default sampler; must define sub-samplers
+                self.placement_initializer.append_sampler(
+                    sampler=UniformRandomSampler(
+                        mujoco_objects=nut,
+                        x_range=[-0.115, -0.11],
+                        y_range=default_y_range,
+                        rotation=None,
+                        rotation_axis='z',
+                        ensure_object_boundary_in_range=False,
+                        ensure_valid_placement=True,
+                        reference_pos=self.table_offset,
+                        z_offset=0.02,
+                    )
+                )
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
-            mujoco_arena=self.mujoco_arena, 
+            mujoco_arena=mujoco_arena,
             mujoco_robots=[robot.robot_model for robot in self.robots], 
-            mujoco_objects=self.mujoco_objects,
-            initializer=self.placement_initializer,
+            mujoco_objects=self.nuts,
         )
 
-        # set positions of objects
-        self.model.place_objects()
-
     def _get_reference(self):
         """
         Sets up references to important components. A reference is typically an
@@ -489,35 +459,15 @@ def _get_reference(self):
         self.peg1_body_id = self.sim.model.body_name2id("peg1")
         self.peg2_body_id = self.sim.model.body_name2id("peg2")
 
-        for i in range(len(self.ob_inits)):
-            obj_str = str(self.item_names[i]) + "0"
-            self.obj_body_id[obj_str] = self.sim.model.body_name2id(obj_str)
-            geom_ids = []
-            for j in range(self.ngeoms[i]):
-                geom_ids.append(self.sim.model.geom_name2id(obj_str + "_{}".format(j)))
-            self.obj_geom_id[obj_str] = geom_ids
+        for nut in self.nuts:
+            self.obj_body_id[nut.name] = self.sim.model.body_name2id(nut.root_body)
+            self.obj_geom_id[nut.name] = [self.sim.model.geom_name2id(g) for g in nut.contact_geoms]
 
         # information of objects
-        self.object_names = list(self.mujoco_objects.keys())
-        self.object_site_ids = [
-            self.sim.model.site_name2id(ob_name) for ob_name in self.object_names
-        ]
-
-        # id of grippers for contact checking
-        self.l_finger_geom_ids = [
-            self.sim.model.geom_name2id(x) for x in self.robots[0].gripper.important_geoms["left_finger"]
-        ]
-        self.r_finger_geom_ids = [
-            self.sim.model.geom_name2id(x) for x in self.robots[0].gripper.important_geoms["right_finger"]
-        ]
-        # self.sim.data.contact # list, geom1, geom2
-        self.collision_check_geom_names = self.sim.model._geom_name2id.keys()
-        self.collision_check_geom_ids = [
-            self.sim.model._geom_name2id[k] for k in self.collision_check_geom_names
-        ]
+        self.object_site_ids = [self.sim.model.site_name2id(nut.important_sites["handle"]) for nut in self.nuts]
 
         # keep track of which objects are on their corresponding pegs
-        self.objects_on_pegs = np.zeros(len(self.ob_inits))
+        self.objects_on_pegs = np.zeros(len(self.nuts))
 
     def _reset_internal(self):
         """
@@ -529,25 +479,21 @@ def _reset_internal(self):
         if not self.deterministic_reset:
 
             # Sample from the placement initializer for all objects
-            obj_pos, obj_quat = self.model.place_objects()
+            object_placements = self.placement_initializer.sample()
 
             # Loop through all objects and reset their positions
-            for i, (obj_name, _) in enumerate(self.mujoco_objects.items()):
-                self.sim.data.set_joint_qpos(obj_name + "_jnt0", np.concatenate([np.array(obj_pos[i]), np.array(obj_quat[i])]))
-
-        # information of objects
-        self.object_names = list(self.mujoco_objects.keys())
-        self.object_site_ids = [
-            self.sim.model.site_name2id(ob_name) for ob_name in self.object_names
-        ]
+            for obj_pos, obj_quat, obj in object_placements.values():
+                self.sim.data.set_joint_qpos(obj.joints[0], np.concatenate([np.array(obj_pos), np.array(obj_quat)]))
 
         # Move objects out of the scene depending on the mode
+        nut_names = {nut.name for nut in self.nuts}
         if self.single_object_mode == 1:
-            self.obj_to_use = (random.choice(self.item_names) + "{}").format(0)
-            self.clear_objects(self.obj_to_use)
+            self.obj_to_use = random.choice(list(nut_names))
         elif self.single_object_mode == 2:
-            self.obj_to_use = (self.item_names[self.nut_id] + "{}").format(0)
-            self.clear_objects(self.obj_to_use)
+            self.obj_to_use = self.nuts[self.nut_id].name
+        if self.single_object_mode in {1, 2}:
+            nut_names.remove(self.obj_to_use)
+            self.clear_objects(list(nut_names))
 
     def _get_observation(self):
         """
@@ -581,13 +527,13 @@ def _get_observation(self):
             gripper_pose = T.pose2mat((di[pr + "eef_pos"], di[pr + "eef_quat"]))
             world_pose_in_gripper = T.pose_inv(gripper_pose)
 
-            for i in range(len(self.item_names_org)):
+            for i, nut in enumerate(self.nuts):
 
                 if self.single_object_mode == 2 and self.nut_id != i:
                     # skip observations
                     continue
 
-                obj_str = str(self.item_names_org[i]) + "0"
+                obj_str = nut.name
                 obj_pos = np.array(self.sim.data.body_xpos[self.obj_body_id[obj_str]])
                 obj_quat = T.convert_quat(
                     self.sim.data.body_xquat[self.obj_body_id[obj_str]], to="xyzw"
@@ -608,14 +554,14 @@ def _get_observation(self):
 
             if self.single_object_mode == 1:
                 # zero out other objs
-                for obj_str, obj_mjcf in self.mujoco_objects.items():
-                    if obj_str == self.obj_to_use:
+                for obj in self.model.mujoco_objects:
+                    if obj.name == self.obj_to_use:
                         continue
                     else:
-                        di["{}_pos".format(obj_str)] *= 0.0
-                        di["{}_quat".format(obj_str)] *= 0.0
-                        di["{}_to_{}eef_pos".format(obj_str, pr)] *= 0.0
-                        di["{}_to_{}eef_quat".format(obj_str, pr)] *= 0.0
+                        di["{}_pos".format(obj.name)] *= 0.0
+                        di["{}_quat".format(obj.name)] *= 0.0
+                        di["{}_to_{}eef_pos".format(obj.name, pr)] *= 0.0
+                        di["{}_to_{}eef_quat".format(obj.name, pr)] *= 0.0
 
             di["object-state"] = np.concatenate([di[k] for k in object_state_keys])
 
@@ -630,8 +576,8 @@ def _check_success(self):
         """
         # remember objects that are on the correct pegs
         gripper_site_pos = self.sim.data.site_xpos[self.robots[0].eef_site_id]
-        for i in range(len(self.ob_inits)):
-            obj_str = str(self.item_names[i]) + "0"
+        for i, nut in enumerate(self.nuts):
+            obj_str = nut.name
             obj_pos = self.sim.data.body_xpos[self.obj_body_id[obj_str]]
             dist = np.linalg.norm(gripper_site_pos - obj_pos)
             r_reach = 1 - np.tanh(10.0 * dist)
@@ -641,47 +587,30 @@ def _check_success(self):
             return np.sum(self.objects_on_pegs) > 0  # need one object on peg
 
         # returns True if all objects are on correct pegs
-        return np.sum(self.objects_on_pegs) == len(self.ob_inits)
+        return np.sum(self.objects_on_pegs) == len(self.nuts)
 
     def _visualization(self):
         """
         Do any needed visualization here. Overrides superclass implementations.
         """
-
-        # color the gripper site appropriately based on distance to cube
+        # color the gripper site appropriately based on distance to closest nut
         if self.robots[0].gripper_visualization:
             # find closest object
-            square_dist = lambda x: np.sum(
-                np.square(x - self.sim.data.get_site_xpos(self.robots[0].gripper.visualization_sites["grip_site"]))
+            dists = [
+                self._gripper_to_target(
+                    gripper=self.robots[0].gripper,
+                    target=nut.important_sites["handle"],
+                    target_type="site",
+                    return_distance=True,
+                ) for nut in self.nuts
+            ]
+            closest_nut_id = np.argmin(dists)
+            # Visualize the distance to this target
+            self._visualize_gripper_to_target(
+                gripper=self.robots[0].gripper,
+                target=self.nuts[closest_nut_id].important_sites["handle"],
+                target_type="site",
             )
-            dists = np.array(list(map(square_dist, self.sim.data.site_xpos)))
-            dists[self.robots[0].eef_site_id] = np.inf  # make sure we don't pick the same site
-            dists[self.robots[0].eef_cylinder_id] = np.inf
-            ob_dists = dists[
-                self.object_site_ids
-            ]  # filter out object sites we care about
-            min_dist = np.min(ob_dists)
-            ob_id = np.argmin(ob_dists)
-
-            # set RGBA for the EEF site here
-            max_dist = 0.1
-            scaled = (1.0 - min(min_dist / max_dist, 1.)) ** 15
-            rgba = np.zeros(4)
-            rgba[0] = 1 - scaled
-            rgba[1] = scaled
-            rgba[3] = 0.5
-
-            self.sim.model.site_rgba[self.robots[0].eef_site_id] = rgba
-
-    def _check_robot_configuration(self, robots):
-        """
-        Sanity check to make sure the inputted robots and configuration is acceptable
-
-        Args:
-            robots (str or list of str): Robots to instantiate within this env
-        """
-        if type(robots) is list:
-            assert len(robots) == 1, "Error: Only one robot should be inputted for this task!"
 
 
 class NutAssemblySingle(NutAssembly):
diff --git a/robosuite/environments/pick_place.py b/robosuite/environments/manipulation/pick_place.py
similarity index 69%
rename from robosuite/environments/pick_place.py
rename to robosuite/environments/manipulation/pick_place.py
index 163b497cf8..519b52607b 100644
--- a/robosuite/environments/pick_place.py
+++ b/robosuite/environments/manipulation/pick_place.py
@@ -3,8 +3,7 @@
 import numpy as np
 
 import robosuite.utils.transform_utils as T
-from robosuite.environments.robot_env import RobotEnv
-from robosuite.robots import SingleArm
+from robosuite.environments.manipulation.single_arm_env import SingleArmEnv
 
 from robosuite.models.arenas import BinsArena
 from robosuite.models.objects import (
@@ -19,10 +18,10 @@
     CerealVisualObject,
     CanVisualObject,
 )
-from robosuite.models.tasks import ManipulationTask, SequentialCompositeSampler
+from robosuite.models.tasks import ManipulationTask, SequentialCompositeSampler, UniformRandomSampler
 
 
-class PickPlace(RobotEnv):
+class PickPlace(SingleArmEnv):
     """
     This class corresponds to the pick place task for a single robot arm.
 
@@ -31,6 +30,9 @@ class PickPlace(RobotEnv):
             (e.g: "Sawyer" would generate one arm; ["Panda", "Panda", "Sawyer"] would generate three robot arms)
             Note: Must be a single single-arm robot!
 
+        env_configuration (str): Specifies how to position the robots within the environment (default is "default").
+            For most single arm environments, this argument has no impact on the robot setup.
+
         controller_configs (str or list of dict): If set, contains relevant controller parameters for creating a
             custom controller. Else, uses the default controller for this specific task. Should either be single
             dict if same controller is to be used for all robots or else it should be a list of the same length as
@@ -99,6 +101,13 @@ class PickPlace(RobotEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
+        robot_visualizations (bool or list of bool): True if using robot visualization.
+            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
+            robots or else it should be a list of the same length as "robots" param
+
+        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
+            teleoperation.
+
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -151,6 +160,7 @@ class PickPlace(RobotEnv):
     def __init__(
         self,
         robots,
+        env_configuration="default",
         controller_configs=None,
         gripper_types="default",
         gripper_visualizations=False,
@@ -166,6 +176,8 @@ def __init__(
         single_object_mode=0,
         object_type=None,
         use_indicator_object=False,
+        robot_visualizations=False,
+        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -180,12 +192,10 @@ def __init__(
         camera_widths=256,
         camera_depths=False,
     ):
-        # First, verify that only one robot is being inputted
-        self._check_robot_configuration(robots)
-
         # task settings
         self.single_object_mode = single_object_mode
         self.object_to_id = {"milk": 0, "bread": 1, "cereal": 2, "can": 3}
+        self.obj_names = ["Milk", "Bread", "Cereal", "Can"]
         if object_type is not None:
             assert (
                     object_type in self.object_to_id.keys()
@@ -214,12 +224,15 @@ def __init__(
 
         super().__init__(
             robots=robots,
+            env_configuration=env_configuration,
             controller_configs=controller_configs,
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
+            robot_visualizations=robot_visualizations,
+            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -296,79 +309,66 @@ def staged_rewards(self):
         hover_mult = 0.7
 
         # filter out objects that are already in the correct bins
-        objs_to_reach = []
-        geoms_to_grasp = []
-        target_bin_placements = []
-        for i in range(len(self.ob_inits)):
+        active_objs = []
+        for i, obj in enumerate(self.objects):
             if self.objects_in_bins[i]:
                 continue
-            obj_str = str(self.item_names[i]) + "0"
-            objs_to_reach.append(self.obj_body_id[obj_str])
-            geoms_to_grasp.append(self.obj_geom_id[obj_str])
-            target_bin_placements.append(self.target_bin_placements[i])
-        target_bin_placements = np.array(target_bin_placements)
+            active_objs.append(obj)
 
-        ### reaching reward governed by distance to closest object ###
+        # reaching reward governed by distance to closest object
         r_reach = 0.
-        if len(objs_to_reach):
+        if active_objs:
             # get reaching reward via minimum distance to a target object
-            target_object_pos = self.sim.data.body_xpos[objs_to_reach]
-            gripper_site_pos = self.sim.data.site_xpos[self.robots[0].eef_site_id]
-            dists = np.linalg.norm(
-                target_object_pos - gripper_site_pos.reshape(1, -1), axis=1
-            )
+            dists = [
+                self._gripper_to_target(
+                    gripper=self.robots[0].gripper,
+                    target=active_obj.root_body,
+                    target_type="body",
+                    return_distance=True,
+                ) for active_obj in active_objs
+            ]
             r_reach = (1 - np.tanh(10.0 * min(dists))) * reach_mult
 
-        ### grasping reward for touching any objects of interest ###
-        touch_left_finger = False
-        touch_right_finger = False
-        for i in range(self.sim.data.ncon):
-            c = self.sim.data.contact[i]
-            if c.geom1 in geoms_to_grasp:
-                bin_id = geoms_to_grasp.index(c.geom1)
-                if c.geom2 in self.l_finger_geom_ids:
-                    touch_left_finger = True
-                if c.geom2 in self.r_finger_geom_ids:
-                    touch_right_finger = True
-            elif c.geom2 in geoms_to_grasp:
-                bin_id = geoms_to_grasp.index(c.geom2)
-                if c.geom1 in self.l_finger_geom_ids:
-                    touch_left_finger = True
-                if c.geom1 in self.r_finger_geom_ids:
-                    touch_right_finger = True
-        has_grasp = touch_left_finger and touch_right_finger
-        r_grasp = int(has_grasp) * grasp_mult
-
-        ### lifting reward for picking up an object ###
+        # grasping reward for touching any objects of interest
+        r_grasp = int(self._check_grasp(
+            gripper=self.robots[0].gripper,
+            object_geoms=[g for active_obj in active_objs for g in active_obj.contact_geoms])
+        ) * grasp_mult
+
+        # lifting reward for picking up an object
         r_lift = 0.
-        if len(objs_to_reach) and r_grasp > 0.:
+        if active_objs and r_grasp > 0.:
             z_target = self.bin2_pos[2] + 0.25
-            object_z_locs = self.sim.data.body_xpos[objs_to_reach][:, 2]
+            object_z_locs = self.sim.data.body_xpos[[self.obj_body_id[active_obj.name]
+                                                     for active_obj in active_objs]][:, 2]
             z_dists = np.maximum(z_target - object_z_locs, 0.)
             r_lift = grasp_mult + (1 - np.tanh(15.0 * min(z_dists))) * (
                     lift_mult - grasp_mult
             )
 
-        ### hover reward for getting object above bin ###
+        # hover reward for getting object above bin
         r_hover = 0.
-        if len(objs_to_reach):
+        if active_objs:
+            target_bin_ids = [self.object_to_id[active_obj.name.lower()] for active_obj in active_objs]
             # segment objects into left of the bins and above the bins
-            object_xy_locs = self.sim.data.body_xpos[objs_to_reach][:, :2]
+            object_xy_locs = self.sim.data.body_xpos[[self.obj_body_id[active_obj.name]
+                                                     for active_obj in active_objs]][:, :2]
             y_check = (
-                    np.abs(object_xy_locs[:, 1] - target_bin_placements[:, 1])
+                    np.abs(object_xy_locs[:, 1] - self.target_bin_placements[target_bin_ids, 1])
                     < self.bin_size[1] / 4.
             )
             x_check = (
-                    np.abs(object_xy_locs[:, 0] - target_bin_placements[:, 0])
+                    np.abs(object_xy_locs[:, 0] - self.target_bin_placements[target_bin_ids, 0])
                     < self.bin_size[0] / 4.
             )
             objects_above_bins = np.logical_and(x_check, y_check)
             objects_not_above_bins = np.logical_not(objects_above_bins)
             dists = np.linalg.norm(
-                target_bin_placements[:, :2] - object_xy_locs, axis=1
+                self.target_bin_placements[target_bin_ids, :2] - object_xy_locs, axis=1
             )
-            # objects to the left get r_lift added to hover reward, those on the right get max(r_lift) added (to encourage dropping)
-            r_hover_all = np.zeros(len(objs_to_reach))
+            # objects to the left get r_lift added to hover reward,
+            # those on the right get max(r_lift) added (to encourage dropping)
+            r_hover_all = np.zeros(len(active_objs))
             r_hover_all[objects_above_bins] = lift_mult + (
                     1 - np.tanh(10.0 * dists[objects_above_bins])
             ) * (hover_mult - lift_mult)
@@ -400,25 +400,6 @@ def not_in_bin(self, obj_pos, bin_id):
             res = False
         return res
 
-    def clear_objects(self, obj):
-        """
-        Clears objects without the name @obj out of the task space. This is useful
-        for supporting task modes with single types of objects, as in
-        @self.single_object_mode without changing the model definition.
-
-        Args:
-            obj (str): Name of object to keep in the task space
-        """
-        for obj_name, obj_mjcf in self.mujoco_objects.items():
-            if obj_name == obj:
-                continue
-            else:
-                sim_state = self.sim.get_state()
-                # print(self.sim.model.get_joint_qpos_addr(obj_name))
-                sim_state.qpos[self.sim.model.get_joint_qpos_addr(obj_name + "_jnt0")[0]] = 10
-                self.sim.set_state(sim_state)
-                self.sim.forward()
-
     def _get_placement_initializer(self):
         """
         Helper function for defining placement initializer and object sampling bounds.
@@ -426,26 +407,27 @@ def _get_placement_initializer(self):
         self.placement_initializer = SequentialCompositeSampler()
 
         # can sample anywhere in bin
-        bin_x_half = self.mujoco_arena.table_full_size[0] / 2 - 0.05
-        bin_y_half = self.mujoco_arena.table_full_size[1] / 2 - 0.05
+        bin_x_half = self.model.mujoco_arena.table_full_size[0] / 2 - 0.05
+        bin_y_half = self.model.mujoco_arena.table_full_size[1] / 2 - 0.05
 
         # each object should just be sampled in the bounds of the bin (with some tolerance)
-        for obj_name in self.collision_objects:
-
-            self.placement_initializer.sample_on_top(
-                obj_name,
-                surface_name="table",
+        self.placement_initializer.append_sampler(
+            sampler=UniformRandomSampler(
+                mujoco_objects=self.objects,
                 x_range=[-bin_x_half, bin_x_half],
                 y_range=[-bin_y_half, bin_y_half],
                 rotation=None,
                 rotation_axis='z',
-                z_offset=0.,
                 ensure_object_boundary_in_range=True,
+                ensure_valid_placement=True,
+                reference_pos=self.bin1_pos,
+                z_offset=0.,
             )
+        )
 
         # each visual object should just be at the center of each target bin
         index = 0
-        for obj_name in self.visual_objects:
+        for vis_obj in self.visual_objects:
 
             # get center of target bin
             bin_x_low = self.bin2_pos[0]
@@ -464,17 +446,19 @@ def _get_placement_initializer(self):
             # placement is relative to object bin, so compute difference and send to placement initializer
             rel_center = bin_center - self.bin1_pos[:2]
 
-            self.placement_initializer.sample_on_top(
-                obj_name,
-                surface_name="table",
-                x_range=[rel_center[0], rel_center[0]],
-                y_range=[rel_center[1], rel_center[1]],
-                rotation=0.,
-                rotation_axis='z',
-                z_offset=self.bin2_pos[2] - self.bin1_pos[2],
-                ensure_object_boundary_in_range=False,
+            self.placement_initializer.append_sampler(
+                sampler=UniformRandomSampler(
+                    mujoco_objects=vis_obj,
+                    x_range=[rel_center[0], rel_center[0]],
+                    y_range=[rel_center[1], rel_center[1]],
+                    rotation=0.,
+                    rotation_axis='z',
+                    ensure_object_boundary_in_range=False,
+                    ensure_valid_placement=False,
+                    reference_pos=self.bin1_pos,
+                    z_offset=self.bin2_pos[2] - self.bin1_pos[2],
+                )
             )
-
             index += 1
 
     def _load_model(self):
@@ -483,77 +467,51 @@ def _load_model(self):
         """
         super()._load_model()
 
-        # Verify the correct robot has been loaded
-        assert isinstance(self.robots[0], SingleArm), \
-            "Error: Expected one single-armed robot! Got {} type instead.".format(type(self.robots[0]))
-
         # Adjust base pose accordingly
         xpos = self.robots[0].robot_model.base_xpos_offset["bins"]
         self.robots[0].robot_model.set_base_xpos(xpos)
 
         # load model for table top workspace
-        self.mujoco_arena = BinsArena(
+        mujoco_arena = BinsArena(
             bin1_pos=self.bin1_pos,
             table_full_size=self.table_full_size,
             table_friction=self.table_friction
         )
         if self.use_indicator_object:
-            self.mujoco_arena.add_pos_indicator()
+            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
-        self.mujoco_arena.set_origin([0, 0, 0])
+        mujoco_arena.set_origin([0, 0, 0])
 
         # store some arena attributes
-        self.bin_size = self.mujoco_arena.table_full_size
-
-        # define mujoco objects
-        self.ob_inits = [MilkObject, BreadObject, CerealObject, CanObject]
-        self.vis_inits = [
-            MilkVisualObject,
-            BreadVisualObject,
-            CerealVisualObject,
-            CanVisualObject,
-        ]
-        self.item_names = ["Milk", "Bread", "Cereal", "Can"]
-        self.item_names_org = list(self.item_names)
-        self.obj_to_use = (self.item_names[0] + "{}").format(0)
-
-        lst = []
-        for j in range(len(self.vis_inits)):
-            visual_ob_name = ("Visual" + self.item_names[j] + "0")
-            visual_ob = self.vis_inits[j](
-                name=visual_ob_name,
-                joints=[],  # no free joint for visual objects
-            )
-            lst.append((visual_ob_name, visual_ob))
-        self.visual_objects = OrderedDict(lst)
-
-        lst = []
-        for i in range(len(self.ob_inits)):
-            ob_name = (self.item_names[i] + "0")
-            ob = self.ob_inits[i](
-                name=ob_name,
-                joints=[dict(type="free", damping="0.0005")], # damp the free joint for each object
-            )
-            lst.append((ob_name, ob))
+        self.bin_size = mujoco_arena.table_full_size
+
+        self.objects = []
+        self.visual_objects = []
+        for vis_obj_cls, obj_name in zip(
+                (MilkVisualObject, BreadVisualObject, CerealVisualObject, CanVisualObject),
+                self.obj_names,
+        ):
+            vis_name = "Visual" + obj_name
+            vis_obj = vis_obj_cls(name=vis_name)
+            self.visual_objects.append(vis_obj)
 
-        self.collision_objects = OrderedDict(lst)
-        self.mujoco_objects = OrderedDict(**self.visual_objects, **self.collision_objects)
-        self.n_objects = len(self.mujoco_objects)
+        for obj_cls, obj_name in zip(
+                (MilkObject, BreadObject, CerealObject, CanObject),
+                self.obj_names,
+        ):
+            obj = obj_cls(name=obj_name)
+            self.objects.append(obj)
 
         # task includes arena, robot, and objects of interest
-        self._get_placement_initializer()
         self.model = ManipulationTask(
-            mujoco_arena=self.mujoco_arena, 
+            mujoco_arena=mujoco_arena,
             mujoco_robots=[robot.robot_model for robot in self.robots], 
-            mujoco_objects=self.mujoco_objects,
-            initializer=self.placement_initializer,
+            mujoco_objects=self.visual_objects + self.objects,
         )
 
-        # set positions of objects
-        self.model.place_objects()
-
-        # self.model.place_visual()
+        # Generate placement initializer
+        self._get_placement_initializer()
 
     def _get_reference(self):
         """
@@ -567,31 +525,18 @@ def _get_reference(self):
         self.obj_body_id = {}
         self.obj_geom_id = {}
 
-        # id of grippers for contact checking
-        self.l_finger_geom_ids = [
-            self.sim.model.geom_name2id(x) for x in self.robots[0].gripper.important_geoms["left_finger"]
-        ]
-        self.r_finger_geom_ids = [
-            self.sim.model.geom_name2id(x) for x in self.robots[0].gripper.important_geoms["right_finger"]
-        ]
-
         # object-specific ids
-        for i in range(len(self.ob_inits)):
-            obj_str = str(self.item_names[i]) + "0"
-            self.obj_body_id[obj_str] = self.sim.model.body_name2id(obj_str)
-            self.obj_geom_id[obj_str] = self.sim.model.geom_name2id(obj_str + "_0")
-
-        # for checking distance to / contact with objects we want to pick up
-        self.target_object_body_ids = list(map(int, self.obj_body_id.values()))
-        self.contact_with_object_geom_ids = list(map(int, self.obj_geom_id.values()))
+        for obj in (self.visual_objects + self.objects):
+            self.obj_body_id[obj.name] = self.sim.model.body_name2id(obj.root_body)
+            self.obj_geom_id[obj.name] = [self.sim.model.geom_name2id(g) for g in obj.contact_geoms]
 
         # keep track of which objects are in their corresponding bins
-        self.objects_in_bins = np.zeros(len(self.ob_inits))
+        self.objects_in_bins = np.zeros(len(self.objects))
 
         # target locations in bin for each object type
-        self.target_bin_placements = np.zeros((len(self.ob_inits), 3))
-        for j in range(len(self.ob_inits)):
-            bin_id = j
+        self.target_bin_placements = np.zeros((len(self.objects), 3))
+        for i, obj in enumerate(self.objects):
+            bin_id = i
             bin_x_low = self.bin2_pos[0]
             bin_y_low = self.bin2_pos[1]
             if bin_id == 0 or bin_id == 2:
@@ -600,7 +545,7 @@ def _get_reference(self):
                 bin_y_low -= self.bin_size[1] / 2.
             bin_x_low += self.bin_size[0] / 4.
             bin_y_low += self.bin_size[1] / 4.
-            self.target_bin_placements[j, :] = [bin_x_low, bin_y_low, self.bin2_pos[2]]
+            self.target_bin_placements[i, :] = [bin_x_low, bin_y_low, self.bin2_pos[2]]
 
     def _reset_internal(self):
         """
@@ -612,30 +557,31 @@ def _reset_internal(self):
         if not self.deterministic_reset:
 
             # Sample from the placement initializer for all objects
-            obj_pos, obj_quat = self.model.place_objects()
+            object_placements = self.placement_initializer.sample()
 
             # Loop through all objects and reset their positions
-            for i, (obj_name, _) in enumerate(self.mujoco_objects.items()):
-                if "visual" not in obj_name.lower():
-                    self.sim.data.set_joint_qpos(obj_name + "_jnt0", np.concatenate([np.array(obj_pos[i]), np.array(obj_quat[i])]))
-
-        # information of (collision) objects
-        self.object_names = list(self.collision_objects.keys())
-        self.object_site_ids = [
-            self.sim.model.site_name2id(ob_name) for ob_name in self.object_names
-        ]
+            for obj_pos, obj_quat, obj in object_placements.values():
+                # Set the visual object body locations
+                if "visual" in obj.name.lower():
+                    self.sim.model.body_pos[self.obj_body_id[obj.name]] = obj_pos
+                    self.sim.model.body_quat[self.obj_body_id[obj.name]] = obj_quat
+                else:
+                    # Set the collision object joints
+                    self.sim.data.set_joint_qpos(obj.joints[0], np.concatenate([np.array(obj_pos), np.array(obj_quat)]))
 
         # Set the bins to the desired position
         self.sim.model.body_pos[self.sim.model.body_name2id("bin1")] = self.bin1_pos
         self.sim.model.body_pos[self.sim.model.body_name2id("bin2")] = self.bin2_pos
 
         # Move objects out of the scene depending on the mode
+        obj_names = {obj.name for obj in self.objects}
         if self.single_object_mode == 1:
-            self.obj_to_use = (random.choice(self.item_names) + "{}").format(0)
-            self.clear_objects(self.obj_to_use)
+            self.obj_to_use = random.choice(list(obj_names))
         elif self.single_object_mode == 2:
-            self.obj_to_use = (self.item_names[self.object_id] + "{}").format(0)
-            self.clear_objects(self.obj_to_use)
+            self.obj_to_use = self.objects[self.object_id].name
+        if self.single_object_mode in {1, 2}:
+            obj_names.remove(self.obj_to_use)
+            self.clear_objects(list(obj_names))
 
     def _get_observation(self):
         """
@@ -669,13 +615,13 @@ def _get_observation(self):
             gripper_pose = T.pose2mat((di[pr + "eef_pos"], di[pr + "eef_quat"]))
             world_pose_in_gripper = T.pose_inv(gripper_pose)
 
-            for i in range(len(self.item_names_org)):
+            for i, obj in enumerate(self.objects):
 
                 if self.single_object_mode == 2 and self.object_id != i:
                     # Skip adding to observations
                     continue
 
-                obj_str = str(self.item_names_org[i]) + "0"
+                obj_str = obj.name
                 obj_pos = np.array(self.sim.data.body_xpos[self.obj_body_id[obj_str]])
                 obj_quat = T.convert_quat(
                     self.sim.data.body_xquat[self.obj_body_id[obj_str]], to="xyzw"
@@ -697,14 +643,14 @@ def _get_observation(self):
 
             if self.single_object_mode == 1:
                 # Zero out other objects observations
-                for obj_str, obj_mjcf in self.mujoco_objects.items():
-                    if obj_str == self.obj_to_use:
+                for obj in self.objects:
+                    if obj.name == self.obj_to_use:
                         continue
                     else:
-                        di["{}_pos".format(obj_str)] *= 0.0
-                        di["{}_quat".format(obj_str)] *= 0.0
-                        di["{}_to_{}eef_pos".format(obj_str, pr)] *= 0.0
-                        di["{}_to_{}eef_quat".format(obj_str, pr)] *= 0.0
+                        di["{}_pos".format(obj.name)] *= 0.0
+                        di["{}_quat".format(obj.name)] *= 0.0
+                        di["{}_to_{}eef_pos".format(obj.name, pr)] *= 0.0
+                        di["{}_to_{}eef_quat".format(obj.name, pr)] *= 0.0
 
             di["object-state"] = np.concatenate([di[k] for k in object_state_keys])
 
@@ -719,61 +665,42 @@ def _check_success(self):
         """
         # remember objects that are in the correct bins
         gripper_site_pos = self.sim.data.site_xpos[self.robots[0].eef_site_id]
-        for i in range(len(self.ob_inits)):
-            obj_str = str(self.item_names[i]) + "0"
+        for i, obj in enumerate(self.objects):
+            obj_str = obj.name
             obj_pos = self.sim.data.body_xpos[self.obj_body_id[obj_str]]
             dist = np.linalg.norm(gripper_site_pos - obj_pos)
             r_reach = 1 - np.tanh(10.0 * dist)
-            self.objects_in_bins[i] = int(
-                (not self.not_in_bin(obj_pos, i)) and r_reach < 0.6
-            )
+            self.objects_in_bins[i] = int((not self.not_in_bin(obj_pos, i)) and r_reach < 0.6)
 
         # returns True if a single object is in the correct bin
-        if self.single_object_mode == 1 or self.single_object_mode == 2:
+        if self.single_object_mode in {1, 2}:
             return np.sum(self.objects_in_bins) > 0
 
         # returns True if all objects are in correct bins
-        return np.sum(self.objects_in_bins) == len(self.ob_inits)
+        return np.sum(self.objects_in_bins) == len(self.objects)
 
     def _visualization(self):
         """
         Do any needed visualization here. Overrides superclass implementations.
         """
-
-        # color the gripper site appropriately based on distance to cube
+        # color the gripper site appropriately based on distance to closest nut
         if self.robots[0].gripper_visualization:
             # find closest object
-            square_dist = lambda x: np.sum(
-                np.square(x - self.sim.data.get_site_xpos(self.robots[0].gripper.visualization_sites["grip_site"]))
+            dists = [
+                self._gripper_to_target(
+                    gripper=self.robots[0].gripper,
+                    target=obj.root_body,
+                    target_type="body",
+                    return_distance=True,
+                ) for obj in self.objects
+            ]
+            closest_obj_id = np.argmin(dists)
+            # Visualize the distance to this target
+            self._visualize_gripper_to_target(
+                gripper=self.robots[0].gripper,
+                target=self.objects[closest_obj_id].root_body,
+                target_type="body",
             )
-            dists = np.array(list(map(square_dist, self.sim.data.site_xpos)))
-            dists[self.robots[0].eef_site_id] = np.inf  # make sure we don't pick the same site
-            dists[self.robots[0].eef_cylinder_id] = np.inf
-            ob_dists = dists[
-                self.object_site_ids
-            ]  # filter out object sites we care about
-            min_dist = np.min(ob_dists)
-            ob_id = np.argmin(ob_dists)
-
-            # set RGBA for the EEF site here
-            max_dist = 0.1
-            scaled = (1.0 - min(min_dist / max_dist, 1.)) ** 15
-            rgba = np.zeros(4)
-            rgba[0] = 1 - scaled
-            rgba[1] = scaled
-            rgba[3] = 0.5
-
-            self.sim.model.site_rgba[self.robots[0].eef_site_id] = rgba
-
-    def _check_robot_configuration(self, robots):
-        """
-        Sanity check to make sure the inputted robots and configuration is acceptable
-
-        Args:
-            robots (str or list of str): Robots to instantiate within this env
-        """
-        if type(robots) is list:
-            assert len(robots) == 1, "Error: Only one robot should be inputted for this task!"
 
 
 class PickPlaceSingle(PickPlace):
diff --git a/robosuite/environments/manipulation/single_arm_env.py b/robosuite/environments/manipulation/single_arm_env.py
new file mode 100644
index 0000000000..5d11f8703f
--- /dev/null
+++ b/robosuite/environments/manipulation/single_arm_env.py
@@ -0,0 +1,69 @@
+import numpy as np
+
+from robosuite.environments.manipulation.manipulation_env import ManipulationEnv
+from robosuite.robots import SingleArm
+from robosuite.utils.transform_utils import mat2quat
+
+
+class SingleArmEnv(ManipulationEnv):
+    """
+    A manipulation environment intended for a single robot arm.
+    """
+    def _load_model(self):
+        """
+        Verifies correct robot model is loaded
+        """
+        super()._load_model()
+
+        # Verify the correct robot has been loaded
+        assert isinstance(self.robots[0], SingleArm), \
+            "Error: Expected one single-armed robot! Got {} type instead.".format(type(self.robots[0]))
+
+    def _check_robot_configuration(self, robots):
+        """
+        Sanity check to make sure the inputted robots and configuration is acceptable
+
+        Args:
+            robots (str or list of str): Robots to instantiate within this env
+        """
+        super()._check_robot_configuration(robots)
+        if type(robots) is list:
+            assert len(robots) == 1, "Error: Only one robot should be inputted for this task!"
+
+    @property
+    def _eef_xpos(self):
+        """
+        Grabs End Effector position
+
+        Returns:
+            np.array: End effector(x,y,z)
+        """
+        return np.array(self.sim.data.site_xpos[self.robots[0].eef_site_id])
+
+    @property
+    def _eef_xmat(self):
+        """
+        End Effector orientation as a rotation matrix
+        Note that this draws the orientation from the "ee" site, NOT the gripper site, since the gripper
+        orientations are inconsistent!
+
+        Returns:
+            np.array: (3,3) End Effector orientation matrix
+        """
+        pf = self.robots[0].robot_model.naming_prefix
+        if self.env_configuration == "bimanual":
+            return np.array(self.sim.data.site_xmat[self.sim.model.site_name2id(pf + "right_ee")]).reshape(3, 3)
+        else:
+            return np.array(self.sim.data.site_xmat[self.sim.model.site_name2id(pf + "ee")]).reshape(3, 3)
+
+    @property
+    def _eef_xquat(self):
+        """
+        End Effector orientation as a (x,y,z,w) quaternion
+        Note that this draws the orientation from the "ee" site, NOT the gripper site, since the gripper
+        orientations are inconsistent!
+
+        Returns:
+            np.array: (x,y,z,w) End Effector quaternion
+        """
+        return mat2quat(self._eef_xmat)
diff --git a/robosuite/environments/stack.py b/robosuite/environments/manipulation/stack.py
similarity index 77%
rename from robosuite/environments/stack.py
rename to robosuite/environments/manipulation/stack.py
index f40e2f84ee..f338d9b78d 100644
--- a/robosuite/environments/stack.py
+++ b/robosuite/environments/manipulation/stack.py
@@ -4,15 +4,14 @@
 from robosuite.utils.transform_utils import convert_quat
 from robosuite.utils.mjcf_utils import CustomMaterial
 
-from robosuite.environments.robot_env import RobotEnv
-from robosuite.robots import SingleArm
+from robosuite.environments.manipulation.single_arm_env import SingleArmEnv
 
 from robosuite.models.arenas import TableArena
 from robosuite.models.objects import BoxObject
 from robosuite.models.tasks import ManipulationTask, UniformRandomSampler
 
 
-class Stack(RobotEnv):
+class Stack(SingleArmEnv):
     """
     This class corresponds to the stacking task for a single robot arm.
 
@@ -21,6 +20,9 @@ class Stack(RobotEnv):
             (e.g: "Sawyer" would generate one arm; ["Panda", "Panda", "Sawyer"] would generate three robot arms)
             Note: Must be a single single-arm robot!
 
+        env_configuration (str): Specifies how to position the robots within the environment (default is "default").
+            For most single arm environments, this argument has no impact on the robot setup.
+
         controller_configs (str or list of dict): If set, contains relevant controller parameters for creating a
             custom controller. Else, uses the default controller for this specific task. Should either be single
             dict if same controller is to be used for all robots or else it should be a list of the same length as
@@ -66,13 +68,20 @@ class Stack(RobotEnv):
 
         reward_shaping (bool): if True, use dense rewards.
 
-        placement_initializer (ObjectPositionSampler instance): if provided, will
+        placement_initializer (ObjectPositionSampler): if provided, will
             be used to place objects on every reset, else a UniformRandomSampler
             is used by default.
 
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
+        robot_visualizations (bool or list of bool): True if using robot visualization.
+            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
+            robots or else it should be a list of the same length as "robots" param
+
+        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
+            teleoperation.
+
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -124,6 +133,7 @@ class Stack(RobotEnv):
     def __init__(
         self,
         robots,
+        env_configuration="default",
         controller_configs=None,
         gripper_types="default",
         gripper_visualizations=False,
@@ -136,6 +146,8 @@ def __init__(
         reward_shaping=False,
         placement_initializer=None,
         use_indicator_object=False,
+        robot_visualizations=False,
+        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -150,15 +162,10 @@ def __init__(
         camera_widths=256,
         camera_depths=False,
     ):
-        """
-
-        """
-        # First, verify that only one robot is being inputted
-        self._check_robot_configuration(robots)
-
         # settings for table top
         self.table_full_size = table_full_size
         self.table_friction = table_friction
+        self.table_offset = np.array((0, 0, 0.8))
 
         # reward configuration
         self.reward_scale = reward_scale
@@ -174,18 +181,24 @@ def __init__(
             self.placement_initializer = UniformRandomSampler(
                 x_range=[-0.08, 0.08],
                 y_range=[-0.08, 0.08],
-                ensure_object_boundary_in_range=False,
                 rotation=None,
+                ensure_object_boundary_in_range=False,
+                ensure_valid_placement=True,
+                reference_pos=self.table_offset,
+                z_offset=0.01,
             )
 
         super().__init__(
             robots=robots,
+            env_configuration=env_configuration,
             controller_configs=controller_configs,
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
+            robot_visualizations=robot_visualizations,
+            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -256,42 +269,21 @@ def staged_rewards(self):
                 - (float): reward for lifting and aligning
                 - (float): reward for stacking
         """
-        # reaching is successful when the gripper site is close to
-        # the center of the cube
+        # reaching is successful when the gripper site is close to the center of the cube
         cubeA_pos = self.sim.data.body_xpos[self.cubeA_body_id]
         cubeB_pos = self.sim.data.body_xpos[self.cubeB_body_id]
         gripper_site_pos = self.sim.data.site_xpos[self.robots[0].eef_site_id]
         dist = np.linalg.norm(gripper_site_pos - cubeA_pos)
         r_reach = (1 - np.tanh(10.0 * dist)) * 0.25
 
-        # collision checking
-        touch_left_finger = False
-        touch_right_finger = False
-        touch_cubeA_cubeB = False
-
-        for i in range(self.sim.data.ncon):
-            c = self.sim.data.contact[i]
-            if c.geom1 in self.l_finger_geom_ids and c.geom2 == self.cubeA_geom_id:
-                touch_left_finger = True
-            if c.geom1 == self.cubeA_geom_id and c.geom2 in self.l_finger_geom_ids:
-                touch_left_finger = True
-            if c.geom1 in self.r_finger_geom_ids and c.geom2 == self.cubeA_geom_id:
-                touch_right_finger = True
-            if c.geom1 == self.cubeA_geom_id and c.geom2 in self.r_finger_geom_ids:
-                touch_right_finger = True
-            if c.geom1 == self.cubeA_geom_id and c.geom2 == self.cubeB_geom_id:
-                touch_cubeA_cubeB = True
-            if c.geom1 == self.cubeB_geom_id and c.geom2 == self.cubeA_geom_id:
-                touch_cubeA_cubeB = True
-
-        # additional grasping reward
-        if touch_left_finger and touch_right_finger:
+        # grasping reward
+        grasping_cubeA = self._check_grasp(gripper=self.robots[0].gripper, object_geoms=self.cubeA)
+        if grasping_cubeA:
             r_reach += 0.25
 
-        # lifting is successful when the cube is above the table top
-        # by a margin
+        # lifting is successful when the cube is above the table top by a margin
         cubeA_height = cubeA_pos[2]
-        table_height = self.mujoco_arena.table_offset[2]
+        table_height = self.table_offset[2]
         cubeA_lifted = cubeA_height > table_height + 0.04
         r_lift = 1.0 if cubeA_lifted else 0.0
 
@@ -302,11 +294,10 @@ def staged_rewards(self):
             )
             r_lift += 0.5 * (1 - np.tanh(horiz_dist))
 
-        # stacking is successful when the block is lifted and
-        # the gripper is not holding the object
+        # stacking is successful when the block is lifted and the gripper is not holding the object
         r_stack = 0
-        not_touching = not touch_left_finger and not touch_right_finger
-        if not_touching and r_lift > 0 and touch_cubeA_cubeB:
+        cubeA_touching_cubeB = self.check_contact(self.cubeA, self.cubeB)
+        if not grasping_cubeA and r_lift > 0 and cubeA_touching_cubeB:
             r_stack = 2.0
 
         return r_reach, r_lift, r_stack
@@ -317,25 +308,21 @@ def _load_model(self):
         """
         super()._load_model()
 
-        # Verify the correct robot has been loaded
-        assert isinstance(self.robots[0], SingleArm), \
-            "Error: Expected one single-armed robot! Got {} type instead.".format(type(self.robots[0]))
-
         # Adjust base pose accordingly
         xpos = self.robots[0].robot_model.base_xpos_offset["table"](self.table_full_size[0])
         self.robots[0].robot_model.set_base_xpos(xpos)
 
         # load model for table top workspace
-        self.mujoco_arena = TableArena(
+        mujoco_arena = TableArena(
             table_full_size=self.table_full_size,
             table_friction=self.table_friction,
-            table_offset=(0, 0, 0.8),
+            table_offset=self.table_offset,
         )
         if self.use_indicator_object:
-            self.mujoco_arena.add_pos_indicator()
+            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
-        self.mujoco_arena.set_origin([0, 0, 0])
+        mujoco_arena.set_origin([0, 0, 0])
 
         # initialize objects of interest
         tex_attrib = {
@@ -360,30 +347,30 @@ def _load_model(self):
             tex_attrib=tex_attrib,
             mat_attrib=mat_attrib,
         )
-        cubeA = BoxObject(
+        self.cubeA = BoxObject(
             name="cubeA",
             size_min=[0.02, 0.02, 0.02], 
             size_max=[0.02, 0.02, 0.02], 
             rgba=[1, 0, 0, 1],
             material=redwood,
         )
-        cubeB = BoxObject(
+        self.cubeB = BoxObject(
             name="cubeB",
             size_min=[0.025, 0.025, 0.025],
             size_max=[0.025, 0.025, 0.025],
             rgba=[0, 1, 0, 1],
             material=greenwood,
         )
-        self.mujoco_objects = OrderedDict([("cubeA", cubeA), ("cubeB", cubeB)])
+
+        # Add cubes to initializer
+        self.placement_initializer.add_objects([self.cubeA, self.cubeB])
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
-            mujoco_arena=self.mujoco_arena,
+            mujoco_arena=mujoco_arena,
             mujoco_robots=[robot.robot_model for robot in self.robots],
-            mujoco_objects=self.mujoco_objects,
-            initializer=self.placement_initializer,
+            mujoco_objects=[self.cubeA, self.cubeB],
         )
-        self.model.place_objects()
 
     def _get_reference(self):
         """
@@ -394,24 +381,8 @@ def _get_reference(self):
         super()._get_reference()
 
         # Additional object references from this env
-        self.cubeA_body_id = self.sim.model.body_name2id("cubeA")
-        self.cubeB_body_id = self.sim.model.body_name2id("cubeB")
-
-        # information of objects
-        self.object_names = list(self.mujoco_objects.keys())
-        self.object_site_ids = [
-            self.sim.model.site_name2id(ob_name) for ob_name in self.object_names
-        ]
-
-        # id of grippers for contact checking
-        self.l_finger_geom_ids = [
-            self.sim.model.geom_name2id(x) for x in self.robots[0].gripper.important_geoms["left_finger"]
-        ]
-        self.r_finger_geom_ids = [
-            self.sim.model.geom_name2id(x) for x in self.robots[0].gripper.important_geoms["right_finger"]
-        ]
-        self.cubeA_geom_id = self.sim.model.geom_name2id("cubeA")
-        self.cubeB_geom_id = self.sim.model.geom_name2id("cubeB")
+        self.cubeA_body_id = self.sim.model.body_name2id(self.cubeA.root_body)
+        self.cubeB_body_id = self.sim.model.body_name2id(self.cubeB.root_body)
 
     def _reset_internal(self):
         """
@@ -423,11 +394,11 @@ def _reset_internal(self):
         if not self.deterministic_reset:
 
             # Sample from the placement initializer for all objects
-            obj_pos, obj_quat = self.model.place_objects()
+            object_placements = self.placement_initializer.sample()
 
             # Loop through all objects and reset their positions
-            for i, (obj_name, _) in enumerate(self.mujoco_objects.items()):
-                self.sim.data.set_joint_qpos(obj_name + "_jnt0", np.concatenate([np.array(obj_pos[i]), np.array(obj_quat[i])]))
+            for obj_pos, obj_quat, obj in object_placements.values():
+                self.sim.data.set_joint_qpos(obj.joints[0], np.concatenate([np.array(obj_pos), np.array(obj_quat)]))
 
     def _get_observation(self):
         """
@@ -504,38 +475,9 @@ def _visualization(self):
         """
         Do any needed visualization here. Overrides superclass implementations.
         """
+        # Run super call first
+        super()._visualization()
 
-        # color the gripper site appropriately based on distance to cube
+        # Color the gripper visualization site according to its distance to cubeA
         if self.robots[0].gripper_visualization:
-            # find closest object
-            square_dist = lambda x: np.sum(
-                np.square(x - self.sim.data.get_site_xpos(self.robots[0].gripper.visualization_sites["grip_site"]))
-            )
-            dists = np.array(list(map(square_dist, self.sim.data.site_xpos)))
-            dists[self.robots[0].eef_site_id] = np.inf  # make sure we don't pick the same site
-            dists[self.robots[0].eef_cylinder_id] = np.inf
-            ob_dists = dists[
-                self.object_site_ids
-            ]  # filter out object sites we care about
-            min_dist = np.min(ob_dists)
-
-            # set RGBA for the EEF site here
-            max_dist = 0.1
-            scaled = (1.0 - min(min_dist / max_dist, 1.)) ** 15
-            rgba = np.zeros(4)
-            rgba[0] = 1 - scaled
-            rgba[1] = scaled
-            rgba[3] = 0.5
-
-            self.sim.model.site_rgba[self.robots[0].eef_site_id] = rgba
-
-    def _check_robot_configuration(self, robots):
-        """
-        Sanity check to make sure the inputted robots and configuration is acceptable
-
-        Args:
-            robots (str or list of str): Robots to instantiate within this env
-        """
-        if type(robots) is list:
-            assert len(robots) == 1, "Error: Only one robot should be inputted for this task!"
-
+            self._visualize_gripper_to_target(gripper=self.robots[0].gripper, target=self.cubeA)
diff --git a/robosuite/environments/manipulation/two_arm_env.py b/robosuite/environments/manipulation/two_arm_env.py
new file mode 100644
index 0000000000..1b2cb79a3d
--- /dev/null
+++ b/robosuite/environments/manipulation/two_arm_env.py
@@ -0,0 +1,130 @@
+import numpy as np
+
+from robosuite.environments.manipulation.manipulation_env import ManipulationEnv
+from robosuite.utils.robot_utils import check_bimanual
+from robosuite.utils.transform_utils import mat2quat
+
+
+class TwoArmEnv(ManipulationEnv):
+    """
+    A manipulation environment intended for two robot arms.
+    """
+    def _check_robot_configuration(self, robots):
+        """
+        Sanity check to make sure the inputted robots and configuration is acceptable
+
+        Args:
+            robots (str or list of str): Robots to instantiate within this env
+        """
+        super()._check_robot_configuration(robots)
+        robots = robots if type(robots) == list or type(robots) == tuple else [robots]
+        # If default config is used, set env_configuration accordingly
+        if self.env_configuration == "default":
+            self.env_configuration = "bimanual" if check_bimanual(robots[0]) else "single-arm-opposed"
+
+        if self.env_configuration == "single-arm-opposed" or self.env_configuration == "single-arm-parallel":
+            # Specifically two robots should be inputted!
+            is_bimanual = False
+            if type(robots) is not list or len(robots) != 2:
+                raise ValueError("Error: Exactly two single-armed robots should be inputted "
+                                 "for this task configuration!")
+        elif self.env_configuration == "bimanual":
+            is_bimanual = True
+            # Specifically one robot should be inputted!
+            if type(robots) is list and len(robots) != 1:
+                raise ValueError("Error: Exactly one bimanual robot should be inputted "
+                                 "for this task configuration!")
+        else:
+            # This is an unknown env configuration, print error
+            raise ValueError("Error: Unknown environment configuration received. Only 'bimanual',"
+                             "'single-arm-parallel', and 'single-arm-opposed' are supported. Got: {}"
+                             .format(self.env_configuration))
+
+        # Lastly, check to make sure all inputted robot names are of their correct type (bimanual / not bimanual)
+        for robot in robots:
+            if check_bimanual(robot) != is_bimanual:
+                raise ValueError("Error: For {} configuration, expected bimanual check to return {}; "
+                                 "instead, got {}.".format(self.env_configuration, is_bimanual, check_bimanual(robot)))
+
+    @property
+    def _eef0_xpos(self):
+        """
+        Grab the position of Robot 0's end effector.
+
+        Returns:
+            np.array: (x,y,z) position of EEF0
+        """
+        if self.env_configuration == "bimanual":
+            return np.array(self.sim.data.site_xpos[self.robots[0].eef_site_id["right"]])
+        else:
+            return np.array(self.sim.data.site_xpos[self.robots[0].eef_site_id])
+
+    @property
+    def _eef1_xpos(self):
+        """
+        Grab the position of Robot 1's end effector.
+
+        Returns:
+            np.array: (x,y,z) position of EEF1
+        """
+        if self.env_configuration == "bimanual":
+            return np.array(self.sim.data.site_xpos[self.robots[0].eef_site_id["left"]])
+        else:
+            return np.array(self.sim.data.site_xpos[self.robots[1].eef_site_id])
+
+    @property
+    def _eef0_xmat(self):
+        """
+        End Effector 0 orientation as a rotation matrix
+        Note that this draws the orientation from the "ee" site, NOT the gripper site, since the gripper
+        orientations are inconsistent!
+
+        Returns:
+            np.array: (3,3) orientation matrix for EEF0
+        """
+        pf = self.robots[0].robot_model.naming_prefix
+        if self.env_configuration == "bimanual":
+            return np.array(self.sim.data.site_xmat[self.sim.model.site_name2id(pf + "right_ee")]).reshape(3, 3)
+        else:
+            return np.array(self.sim.data.site_xmat[self.sim.model.site_name2id(pf + "ee")]).reshape(3, 3)
+
+    @property
+    def _eef1_xmat(self):
+        """
+        End Effector 1 orientation as a rotation matrix
+        Note that this draws the orientation from the "ee" site, NOT the gripper site, since the gripper
+        orientations are inconsistent!
+
+        Returns:
+            np.array: (3,3) orientation matrix for EEF1
+        """
+        if self.env_configuration == "bimanual":
+            pf = self.robots[0].robot_model.naming_prefix
+            return np.array(self.sim.data.site_xmat[self.sim.model.site_name2id(pf + "left_ee")]).reshape(3, 3)
+        else:
+            pf = self.robots[1].robot_model.naming_prefix
+            return np.array(self.sim.data.site_xmat[self.sim.model.site_name2id(pf + "ee")]).reshape(3, 3)
+
+    @property
+    def _eef0_xquat(self):
+        """
+        End Effector 0 orientation as a (x,y,z,w) quaternion
+        Note that this draws the orientation from the "ee" site, NOT the gripper site, since the gripper
+        orientations are inconsistent!
+
+        Returns:
+            np.array: (x,y,z,w) quaternion for EEF0
+        """
+        return mat2quat(self._eef0_xmat)
+
+    @property
+    def _eef1_xquat(self):
+        """
+        End Effector 1 orientation as a (x,y,z,w) quaternion
+        Note that this draws the orientation from the "ee" site, NOT the gripper site, since the gripper
+        orientations are inconsistent!
+
+        Returns:
+            np.array: (x,y,z,w) quaternion for EEF1
+        """
+        return mat2quat(self._eef1_xmat)
diff --git a/robosuite/environments/two_arm_handover.py b/robosuite/environments/manipulation/two_arm_handover.py
similarity index 72%
rename from robosuite/environments/two_arm_handover.py
rename to robosuite/environments/manipulation/two_arm_handover.py
index 6d57f6a10c..a401aa93c7 100644
--- a/robosuite/environments/two_arm_handover.py
+++ b/robosuite/environments/manipulation/two_arm_handover.py
@@ -1,17 +1,16 @@
 from collections import OrderedDict
 import numpy as np
 
-from robosuite.environments.robot_env import RobotEnv
+from robosuite.environments.manipulation.two_arm_env import TwoArmEnv
 
 from robosuite.models.arenas import TableArena
 from robosuite.models.objects import HammerObject
 from robosuite.models.tasks import ManipulationTask, UniformRandomSampler
-from robosuite.models.robots import check_bimanual
 
 import robosuite.utils.transform_utils as T
 
 
-class TwoArmHandover(RobotEnv):
+class TwoArmHandover(TwoArmEnv):
     """
     This class corresponds to the handover task for two robot arms.
 
@@ -27,7 +26,10 @@ class TwoArmHandover(RobotEnv):
             :`'single-arm-parallel'`: Only applicable for multi single arm setups. Sets up the (two) single armed
                 robots next to each other on the -x side of the table
             :`'single-arm-opposed'`: Only applicable for multi single arm setups. Sets up the (two) single armed
-                robots opposed from each others on the opposite +/-y sides of the table (Default option)
+                robots opposed from each others on the opposite +/-y sides of the table.
+
+        Note that "default" corresponds to either "bimanual" if a bimanual robot is used or "single-arm-opposed" if two
+        single-arm robots are used.
 
         controller_configs (str or list of dict): If set, contains relevant controller parameters for creating a
             custom controller. Else, uses the default controller for this specific task. Should either be single
@@ -76,13 +78,20 @@ class TwoArmHandover(RobotEnv):
 
         reward_shaping (bool): if True, use dense rewards.
 
-        placement_initializer (ObjectPositionSampler instance): if provided, will
+        placement_initializer (ObjectPositionSampler): if provided, will
             be used to place objects on every reset, else a UniformRandomSampler
             is used by default.
 
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
+        robot_visualizations (bool or list of bool): True if using robot visualization.
+            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
+            robots or else it should be a list of the same length as "robots" param
+
+        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
+            teleoperation.
+
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -150,6 +159,8 @@ def __init__(
         reward_shaping=False,
         placement_initializer=None,
         use_indicator_object=False,
+        robot_visualizations=False,
+        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -164,10 +175,6 @@ def __init__(
         camera_widths=256,
         camera_depths=False,
     ):
-        # First, verify that correct number of robots are being inputted
-        self.env_configuration = env_configuration
-        self._check_robot_configuration(robots)
-
         # Task settings
         self.prehensile = prehensile
 
@@ -195,19 +202,24 @@ def __init__(
             self.placement_initializer = UniformRandomSampler(
                 x_range=[-0.1, 0.1],
                 y_range=[-0.05, 0.05],
-                ensure_object_boundary_in_range=False,
                 rotation=None,
                 rotation_axis=rotation_axis,
+                ensure_object_boundary_in_range=False,
+                ensure_valid_placement=True,
+                reference_pos=self.table_offset,
             )
 
         super().__init__(
             robots=robots,
+            env_configuration=env_configuration,
             controller_configs=controller_configs,
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
+            robot_visualizations=robot_visualizations,
+            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -330,29 +342,29 @@ def _load_model(self):
                     robot.robot_model.set_base_xpos(xpos)
 
         # load model for table top workspace
-        self.mujoco_arena = TableArena(
+        mujoco_arena = TableArena(
             table_full_size=self.table_true_size,
             table_friction=self.table_friction,
             table_offset=self.table_offset
         )
         if self.use_indicator_object:
-            self.mujoco_arena.add_pos_indicator()
+            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
-        self.mujoco_arena.set_origin([0, 0, 0])
+        mujoco_arena.set_origin([0, 0, 0])
 
         # initialize objects of interest
         self.hammer = HammerObject(name="hammer")
-        self.mujoco_objects = OrderedDict([("hammer", self.hammer)])
+
+        # Add hammer to initializer
+        self.placement_initializer.add_objects(self.hammer)
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
-            mujoco_arena=self.mujoco_arena, 
+            mujoco_arena=mujoco_arena,
             mujoco_robots=[robot.robot_model for robot in self.robots], 
-            mujoco_objects=self.mujoco_objects,
-            initializer=self.placement_initializer,
+            mujoco_objects=self.hammer,
         )
-        self.model.place_objects()
 
     def _get_reference(self):
         """
@@ -363,11 +375,8 @@ def _get_reference(self):
         super()._get_reference()
 
         # Hammer object references from this env
-        self.hammer_body_id = self.sim.model.body_name2id("hammer")
-        self.hammer_handle_geom_id = self.sim.model.geom_name2id("hammer_handle")
-        self.hammer_head_geom_id = self.sim.model.geom_name2id("hammer_head")
-        self.hammer_face_geom_id = self.sim.model.geom_name2id("hammer_face")
-        self.hammer_claw_geom_id = self.sim.model.geom_name2id("hammer_claw")
+        self.hammer_body_id = self.sim.model.body_name2id(self.hammer.root_body)
+        self.hammer_handle_geom_id = self.sim.model.geom_name2id(self.hammer.handle_geoms[0])
 
         # General env references
         self.table_top_id = self.sim.model.site_name2id("table_top")
@@ -382,39 +391,38 @@ def _reset_internal(self):
         if not self.deterministic_reset:
 
             # Sample from the placement initializer for all objects
-            obj_pos, obj_quat = self.model.place_objects()
+            object_placements = self.placement_initializer.sample()
 
             # Loop through all objects and reset their positions
-            for i, (obj_name, _) in enumerate(self.mujoco_objects.items()):
+            for obj_pos, obj_quat, obj in object_placements.values():
                 # If prehensile, set the object normally
                 if self.prehensile:
-                    self.sim.data.set_joint_qpos(obj_name + "_jnt0",
-                                                 np.concatenate([np.array(obj_pos[i]), np.array(obj_quat[i])]))
+                    self.sim.data.set_joint_qpos(obj.joints[0], np.concatenate([np.array(obj_pos), np.array(obj_quat)]))
                 # Else, set the object in the hand of the robot and loop a few steps to guarantee the robot is grasping
                 #   the object initially
                 else:
                     eef_rot_quat = T.mat2quat(T.euler2mat([np.pi - T.mat2euler(self._eef0_xmat)[2], 0, 0]))
-                    obj_quat[i] = T.quat_multiply(obj_quat[i], eef_rot_quat)
+                    obj_quat = T.quat_multiply(obj_quat, eef_rot_quat)
                     for j in range(100):
                         # Set object in hand
-                        self.sim.data.set_joint_qpos(obj_name + "_jnt0",
-                                                     np.concatenate([self._eef0_xpos, np.array(obj_quat[i])]))
+                        self.sim.data.set_joint_qpos(obj.joints[0],
+                                                     np.concatenate([self._eef0_xpos, np.array(obj_quat)]))
                         # Close gripper (action = 1) and prevent arm from moving
                         if self.env_configuration == 'bimanual':
                             # Execute no-op action with gravity compensation
                             torques = np.concatenate([self.robots[0].controller["right"].torque_compensation,
                                                       self.robots[0].controller["left"].torque_compensation])
-                            self.sim.data.ctrl[self.robots[0]._ref_joint_torq_actuator_indexes] = torques
+                            self.sim.data.ctrl[self.robots[0]._ref_joint_actuator_indexes] = torques
                             # Execute gripper action
-                            self.robots[0].grip_action([1], "right")
+                            self.robots[0].grip_action(gripper=self.robots[0].gripper["right"], gripper_action=[1])
                         else:
                             # Execute no-op action with gravity compensation
-                            self.sim.data.ctrl[self.robots[0]._ref_joint_torq_actuator_indexes] =\
+                            self.sim.data.ctrl[self.robots[0]._ref_joint_actuator_indexes] =\
                                 self.robots[0].controller.torque_compensation
-                            self.sim.data.ctrl[self.robots[1]._ref_joint_torq_actuator_indexes] = \
+                            self.sim.data.ctrl[self.robots[1]._ref_joint_actuator_indexes] = \
                                 self.robots[1].controller.torque_compensation
                             # Execute gripper action
-                            self.robots[0].grip_action([1])
+                            self.robots[0].grip_action(gripper=self.robots[0].gripper, gripper_action=[1])
                         # Take forward step
                         self.sim.step()
 
@@ -438,54 +446,10 @@ def _get_task_info(self):
         table_height = self.sim.data.site_xpos[self.table_top_id][2]
 
         # Check if any Arm's gripper is grasping the hammer handle
-
-        # Single bimanual robot setting
-        if self.env_configuration == "bimanual":
-            _contacts_0_lf = len(list(
-                self.find_contacts(
-                    self.robots[0].gripper["left"].important_geoms["left_finger"], self.hammer.all_geoms
-                )
-            )) > 0
-            _contacts_0_rf = len(list(
-                self.find_contacts(
-                    self.robots[0].gripper["left"].important_geoms["right_finger"], self.hammer.all_geoms
-                )
-            )) > 0
-            _contacts_1_lf = len(list(
-                self.find_contacts(
-                    self.robots[0].gripper["right"].important_geoms["left_finger"], self.hammer.handle_geoms
-                )
-            )) > 0
-            _contacts_1_rf = len(list(
-                self.find_contacts(
-                    self.robots[0].gripper["right"].important_geoms["right_finger"], self.hammer.handle_geoms
-                )
-            )) > 0
-        # Multi single arm setting
-        else:
-            _contacts_0_lf = len(list(
-                self.find_contacts(
-                    self.robots[0].gripper.important_geoms["left_finger"], self.hammer.all_geoms
-                )
-            )) > 0
-            _contacts_0_rf = len(list(
-                self.find_contacts(
-                    self.robots[0].gripper.important_geoms["right_finger"], self.hammer.all_geoms
-                )
-            )) > 0
-            _contacts_1_lf = len(list(
-                self.find_contacts(
-                    self.robots[1].gripper.important_geoms["left_finger"], self.hammer.handle_geoms
-                )
-            )) > 0
-            _contacts_1_rf = len(list(
-                self.find_contacts(
-                    self.robots[1].gripper.important_geoms["right_finger"], self.hammer.handle_geoms
-                )
-            )) > 0
-
-        arm0_grasp_any = True if _contacts_0_lf and _contacts_0_rf else False
-        arm1_grasp_handle = True if _contacts_1_lf and _contacts_1_rf else False
+        (g0, g1) = (self.robots[0].gripper["right"], self.robots[0].gripper["left"]) if \
+            self.env_configuration == "bimanual" else (self.robots[0].gripper, self.robots[1].gripper)
+        arm0_grasp_any = self._check_grasp(gripper=g0, object_geoms=self.hammer)
+        arm1_grasp_handle = self._check_grasp(gripper=g1, object_geoms=self.hammer.handle_geoms)
 
         # Return all relevant values
         return arm0_grasp_any, arm1_grasp_handle, hammer_height, table_height
@@ -556,38 +520,6 @@ def _check_success(self):
             hammer_height - table_height > self.height_threshold \
             else False
 
-    def _check_robot_configuration(self, robots):
-        """
-        Sanity check to make sure the inputted robots and configuration is acceptable
-
-        Args:
-            robots (str or list of str): Robots to instantiate within this env
-        """
-        robots = robots if type(robots) == list or type(robots) == tuple else [robots]
-        if self.env_configuration == "single-arm-opposed" or self.env_configuration == "single-arm-parallel":
-            # Specifically two robots should be inputted!
-            is_bimanual = False
-            if type(robots) is not list or len(robots) != 2:
-                raise ValueError("Error: Exactly two single-armed robots should be inputted "
-                                 "for this task configuration!")
-        elif self.env_configuration == "bimanual":
-            is_bimanual = True
-            # Specifically one robot should be inputted!
-            if type(robots) is list and len(robots) != 1:
-                raise ValueError("Error: Exactly one bimanual robot should be inputted "
-                                 "for this task configuration!")
-        else:
-            # This is an unknown env configuration, print error
-            raise ValueError("Error: Unknown environment configuration received. Only 'bimanual',"
-                             "'single-arm-parallel', and 'single-arm-opposed' are supported. Got: {}"
-                             .format(self.env_configuration))
-
-        # Lastly, check to make sure all inputted robot names are of their correct type (bimanual / not bimanual)
-        for robot in robots:
-            if check_bimanual(robot) != is_bimanual:
-                raise ValueError("Error: For {} configuration, expected bimanual check to return {}; "
-                                 "instead, got {}.".format(self.env_configuration, is_bimanual, check_bimanual(robot)))
-
     @property
     def _handle_xpos(self):
         """
@@ -598,36 +530,6 @@ def _handle_xpos(self):
         """
         return self.sim.data.geom_xpos[self.hammer_handle_geom_id]
 
-    @property
-    def _head_xpos(self):
-        """
-        Grab the position of the hammer head.
-
-        Returns:
-            np.array: (x,y,z) position of head
-        """
-        return self.sim.data.geom_xpos[self.hammer_head_geom_id]
-
-    @property
-    def _face_xpos(self):
-        """
-        Grab the position of the hammer face.
-
-        Returns:
-            np.array: (x,y,z) position of face
-        """
-        return self.sim.data.geom_xpos[self.hammer_face_geom_id]
-
-    @property
-    def _claw_xpos(self):
-        """
-        Grab the position of the hammer claw.
-
-        Returns:
-            np.array: (x,y,z) position of claw
-        """
-        return self.sim.data.geom_xpos[self.hammer_claw_geom_id]
-
     @property
     def _hammer_pos(self):
         """
@@ -661,75 +563,6 @@ def _hammer_angle(self):
         z_rotated = np.matmul(mat, z_unit)
         return np.pi/2 - np.arccos(np.dot(z_unit, z_rotated))
 
-    @property
-    def _world_quat(self):
-        """
-        Grab the world orientation
-
-        Returns:
-            np.array: (x,y,z,w) world quaternion
-        """
-        return T.convert_quat(np.array([1, 0, 0, 0]), to="xyzw")
-
-    @property
-    def _eef0_xpos(self):
-        """
-        Grab the position of Robot 0's end effector.
-
-        Returns:
-            np.array: (x,y,z) position of EEF0
-        """
-        if self.env_configuration == "bimanual":
-            return np.array(self.sim.data.site_xpos[self.robots[0].eef_site_id["right"]])
-        else:
-            return np.array(self.sim.data.site_xpos[self.robots[0].eef_site_id])
-
-    @property
-    def _eef1_xpos(self):
-        """
-        Grab the position of Robot 1's end effector.
-
-        Returns:
-            np.array: (x,y,z) position of EEF1
-        """
-        if self.env_configuration == "bimanual":
-            return np.array(self.sim.data.site_xpos[self.robots[0].eef_site_id["left"]])
-        else:
-            return np.array(self.sim.data.site_xpos[self.robots[1].eef_site_id])
-
-    @property
-    def _eef0_xmat(self):
-        """
-        End Effector 0 orientation as a rotation matrix
-        Note that this draws the orientation from the "ee" site, NOT the gripper site, since the gripper
-        orientations are inconsistent!
-
-        Returns:
-            np.array: (3,3) orientation matrix for EEF0
-        """
-        pf = self.robots[0].robot_model.naming_prefix
-        if self.env_configuration == "bimanual":
-            return np.array(self.sim.data.site_xmat[self.sim.model.site_name2id(pf + "right_ee")]).reshape(3, 3)
-        else:
-            return np.array(self.sim.data.site_xmat[self.sim.model.site_name2id(pf + "ee")]).reshape(3, 3)
-
-    @property
-    def _eef1_xmat(self):
-        """
-        End Effector 1 orientation as a rotation matrix
-        Note that this draws the orientation from the "right_/left_hand" body, NOT the gripper site, since the gripper
-        orientations are inconsistent!
-
-        Returns:
-            np.array: (3,3) orientation matrix for EEF1
-        """
-        if self.env_configuration == "bimanual":
-            pf = self.robots[0].robot_model.naming_prefix
-            return np.array(self.sim.data.site_xmat[self.sim.model.site_name2id(pf + "left_ee")]).reshape(3, 3)
-        else:
-            pf = self.robots[1].robot_model.naming_prefix
-            return np.array(self.sim.data.site_xmat[self.sim.model.site_name2id(pf + "ee")]).reshape(3, 3)
-
     @property
     def _gripper_0_to_handle(self):
         """
diff --git a/robosuite/environments/two_arm_lift.py b/robosuite/environments/manipulation/two_arm_lift.py
similarity index 74%
rename from robosuite/environments/two_arm_lift.py
rename to robosuite/environments/manipulation/two_arm_lift.py
index a152c7fdc9..5aed546de5 100644
--- a/robosuite/environments/two_arm_lift.py
+++ b/robosuite/environments/manipulation/two_arm_lift.py
@@ -1,17 +1,16 @@
 from collections import OrderedDict
 import numpy as np
 
-from robosuite.environments.robot_env import RobotEnv
+from robosuite.environments.manipulation.two_arm_env import TwoArmEnv
 
 from robosuite.models.arenas import TableArena
 from robosuite.models.objects import PotWithHandlesObject
 from robosuite.models.tasks import ManipulationTask, UniformRandomSampler
-from robosuite.models.robots import check_bimanual
 
 import robosuite.utils.transform_utils as T
 
 
-class TwoArmLift(RobotEnv):
+class TwoArmLift(TwoArmEnv):
     """
     This class corresponds to the lifting task for two robot arms.
 
@@ -27,7 +26,10 @@ class TwoArmLift(RobotEnv):
             :`'single-arm-parallel'`: Only applicable for multi single arm setups. Sets up the (two) single armed
                 robots next to each other on the -x side of the table
             :`'single-arm-opposed'`: Only applicable for multi single arm setups. Sets up the (two) single armed
-                robots opposed from each others on the opposite +/-y sides of the table (Default option)
+                robots opposed from each others on the opposite +/-y sides of the table.
+
+        Note that "default" corresponds to either "bimanual" if a bimanual robot is used or "single-arm-opposed" if two
+        single-arm robots are used.
 
         controller_configs (str or list of dict): If set, contains relevant controller parameters for creating a
             custom controller. Else, uses the default controller for this specific task. Should either be single
@@ -74,13 +76,20 @@ class TwoArmLift(RobotEnv):
 
         reward_shaping (bool): if True, use dense rewards.
 
-        placement_initializer (ObjectPositionSampler instance): if provided, will
+        placement_initializer (ObjectPositionSampler): if provided, will
             be used to place objects on every reset, else a UniformRandomSampler
             is used by default.
 
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
+        robot_visualizations (bool or list of bool): True if using robot visualization.
+            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
+            robots or else it should be a list of the same length as "robots" param
+
+        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
+            teleoperation.
+
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -147,6 +156,8 @@ def __init__(
         reward_shaping=False,
         placement_initializer=None,
         use_indicator_object=False,
+        robot_visualizations=False,
+        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -161,13 +172,10 @@ def __init__(
         camera_widths=256,
         camera_depths=False,
     ):
-        # First, verify that correct number of robots are being inputted
-        self.env_configuration = env_configuration
-        self._check_robot_configuration(robots)
-
         # settings for table top
         self.table_full_size = table_full_size
         self.table_friction = table_friction
+        self.table_offset = np.array((0, 0, 0.8))
 
         # reward configuration
         self.reward_scale = reward_scale
@@ -184,17 +192,22 @@ def __init__(
                 x_range=[-0.03, 0.03],
                 y_range=[-0.03, 0.03],
                 ensure_object_boundary_in_range=False,
-                rotation=(-np.pi / 3, np.pi / 3),
+                ensure_valid_placement=True,
+                reference_pos=self.table_offset,
+                rotation=(np.pi + -np.pi / 3, np.pi + np.pi / 3),
             )
 
         super().__init__(
             robots=robots,
+            env_configuration=env_configuration,
             controller_configs=controller_configs,
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
+            robot_visualizations=robot_visualizations,
+            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -264,61 +277,21 @@ def reward(self, action=None):
             # gh stands for gripper-handle
             # When grippers are far away, tell them to be closer
 
-            # Single bimanual robot setting
-            if self.env_configuration == "bimanual":
-                _contacts_0_lf = len(list(
-                    self.find_contacts(
-                        self.robots[0].gripper["left"].important_geoms["left_finger"], self.pot.handle1_geoms
-                    )
-                )) > 0
-                _contacts_0_rf = len(list(
-                    self.find_contacts(
-                        self.robots[0].gripper["left"].important_geoms["right_finger"], self.pot.handle1_geoms
-                    )
-                )) > 0
-                _contacts_1_lf = len(list(
-                    self.find_contacts(
-                        self.robots[0].gripper["right"].important_geoms["left_finger"], self.pot.handle0_geoms
-                    )
-                )) > 0
-                _contacts_1_rf = len(list(
-                    self.find_contacts(
-                        self.robots[0].gripper["right"].important_geoms["right_finger"], self.pot.handle0_geoms
-                    )
-                )) > 0
-            # Multi single arm setting
-            else:
-                _contacts_0_lf = len(list(
-                    self.find_contacts(
-                        self.robots[0].gripper.important_geoms["left_finger"], self.pot.handle1_geoms
-                    )
-                )) > 0
-                _contacts_0_rf = len(list(
-                    self.find_contacts(
-                        self.robots[0].gripper.important_geoms["right_finger"], self.pot.handle1_geoms
-                    )
-                )) > 0
-                _contacts_1_lf = len(list(
-                    self.find_contacts(
-                        self.robots[1].gripper.important_geoms["left_finger"], self.pot.handle0_geoms
-                    )
-                )) > 0
-                _contacts_1_rf = len(list(
-                    self.find_contacts(
-                        self.robots[1].gripper.important_geoms["right_finger"], self.pot.handle0_geoms
-                    )
-                )) > 0
+            # Get contacts
+            (g0, g1) = (self.robots[0].gripper["right"], self.robots[0].gripper["left"]) if \
+                self.env_configuration == "bimanual" else (self.robots[0].gripper, self.robots[1].gripper)
+
             _g0h_dist = np.linalg.norm(_gripper0_to_handle0)
             _g1h_dist = np.linalg.norm(_gripper1_to_handle1)
 
             # Grasping reward
-            if _contacts_0_lf and _contacts_0_rf:
+            if self._check_grasp(gripper=g0, object_geoms=self.pot.handle0_geoms):
                 reward += 0.25
             # Reaching reward
             reward += 0.5 * (1 - np.tanh(10.0 * _g0h_dist))
 
             # Grasping reward
-            if _contacts_1_lf and _contacts_1_rf:
+            if self._check_grasp(gripper=g1, object_geoms=self.pot.handle1_geoms):
                 reward += 0.25
             # Reaching reward
             reward += 0.5 * (1 - np.tanh(10.0 * _g1h_dist))
@@ -355,30 +328,29 @@ def _load_model(self):
                     robot.robot_model.set_base_xpos(xpos)
 
         # load model for table top workspace
-        self.mujoco_arena = TableArena(
+        mujoco_arena = TableArena(
             table_full_size=self.table_full_size,
             table_friction=self.table_friction,
-            table_offset=(0, 0, 0.8),
+            table_offset=self.table_offset,
         )
         if self.use_indicator_object:
-            self.mujoco_arena.add_pos_indicator()
+            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
-        self.mujoco_arena.set_origin([0, 0, 0])
+        mujoco_arena.set_origin([0, 0, 0])
 
         # initialize objects of interest
-        self.pot_name = "pot"
-        self.pot = PotWithHandlesObject(name=self.pot_name)
-        self.mujoco_objects = OrderedDict([(self.pot_name, self.pot)])
+        self.pot = PotWithHandlesObject(name="pot")
+
+        # Add pot to initializer
+        self.placement_initializer.add_objects(self.pot)
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
-            mujoco_arena=self.mujoco_arena, 
+            mujoco_arena=mujoco_arena,
             mujoco_robots=[robot.robot_model for robot in self.robots], 
-            mujoco_objects=self.mujoco_objects,
-            initializer=self.placement_initializer,
+            mujoco_objects=self.pot,
         )
-        self.model.place_objects()
 
     def _get_reference(self):
         """
@@ -389,11 +361,11 @@ def _get_reference(self):
         super()._get_reference()
 
         # Additional object references from this env
-        self.pot_body_id = self.sim.model.body_name2id(self.pot_name)
-        self.handle1_site_id = self.sim.model.site_name2id(f"{self.pot_name}_handle0")
-        self.handle0_site_id = self.sim.model.site_name2id(f"{self.pot_name}_handle1")
+        self.pot_body_id = self.sim.model.body_name2id(self.pot.root_body)
+        self.handle0_site_id = self.sim.model.site_name2id(self.pot.important_sites["handle0"])
+        self.handle1_site_id = self.sim.model.site_name2id(self.pot.important_sites["handle1"])
         self.table_top_id = self.sim.model.site_name2id("table_top")
-        self.pot_center_id = self.sim.model.site_name2id(f"{self.pot_name}_center")
+        self.pot_center_id = self.sim.model.site_name2id(self.pot.important_sites["center"])
 
     def _reset_internal(self):
         """
@@ -405,11 +377,11 @@ def _reset_internal(self):
         if not self.deterministic_reset:
 
             # Sample from the placement initializer for all objects
-            obj_pos, obj_quat = self.model.place_objects()
+            object_placements = self.placement_initializer.sample()
 
             # Loop through all objects and reset their positions
-            for i, (obj_name, _) in enumerate(self.mujoco_objects.items()):
-                self.sim.data.set_joint_qpos(obj_name + "_jnt0", np.concatenate([np.array(obj_pos[i]), np.array(obj_quat[i])]))
+            for obj_pos, obj_quat, obj in object_placements.values():
+                self.sim.data.set_joint_qpos(obj.joints[0], np.concatenate([np.array(obj_pos), np.array(obj_quat)]))
 
     def _get_observation(self):
         """
@@ -467,6 +439,25 @@ def _get_observation(self):
 
         return di
 
+    def _visualization(self):
+        """
+        Visualize each gripper site proportional to the distance to their respective handles
+        """
+        # Run super call first
+        super()._visualization()
+
+        # Color the gripper visualization site according to its distance to the cube
+        handles = [self.pot.important_sites[f"handle{i}"] for i in range(2)]
+        if self.env_configuration == "bimanual":
+            visualizations = [self.robots[0].gripper_visualization[arm] for arm in self.robots[0].arms]
+            grippers = [self.robots[0].gripper[arm] for arm in self.robots[0].arms]
+        else:
+            visualizations = [robot.gripper_visualization for robot in self.robots]
+            grippers = [robot.gripper for robot in self.robots]
+        for vis, gripper, handle in zip(visualizations, grippers, handles):
+            if vis:
+                self._visualize_gripper_to_target(gripper=gripper, target=handle, target_type="site")
+
     def _check_success(self):
         """
         Check if pot is successfully lifted
@@ -480,38 +471,6 @@ def _check_success(self):
         # cube is higher than the table top above a margin
         return pot_bottom_height > table_height + 0.10
 
-    def _check_robot_configuration(self, robots):
-        """
-        Sanity check to make sure the inputted robots and configuration is acceptable
-
-        Args:
-            robots (str or list of str): Robots to instantiate within this env
-        """
-        robots = robots if type(robots) == list or type(robots) == tuple else [robots]
-        if self.env_configuration == "single-arm-opposed" or self.env_configuration == "single-arm-parallel":
-            # Specifically two robots should be inputted!
-            is_bimanual = False
-            if type(robots) is not list or len(robots) != 2:
-                raise ValueError("Error: Exactly two single-armed robots should be inputted "
-                                 "for this task configuration!")
-        elif self.env_configuration == "bimanual":
-            is_bimanual = True
-            # Specifically one robot should be inputted!
-            if type(robots) is list and len(robots) != 1:
-                raise ValueError("Error: Exactly one bimanual robot should be inputted "
-                                 "for this task configuration!")
-        else:
-            # This is an unknown env configuration, print error
-            raise ValueError("Error: Unknown environment configuration received. Only 'bimanual',"
-                             "'single-arm-parallel', and 'single-arm-opposed' are supported. Got: {}"
-                             .format(self.env_configuration))
-
-        # Lastly, check to make sure all inputted robot names are of their correct type (bimanual / not bimanual)
-        for robot in robots:
-            if check_bimanual(robot) != is_bimanual:
-                raise ValueError("Error: For {} configuration, expected bimanual check to return {}; "
-                                 "instead, got {}.".format(self.env_configuration, is_bimanual, check_bimanual(robot)))
-
     @property
     def _handle0_xpos(self):
         """
@@ -542,42 +501,6 @@ def _pot_quat(self):
         """
         return T.convert_quat(self.sim.data.body_xquat[self.pot_body_id], to="xyzw")
 
-    @property
-    def _world_quat(self):
-        """
-        Grab the world orientation
-
-        Returns:
-            np.array: (x,y,z,w) world quaternion
-        """
-        return T.convert_quat(np.array([1, 0, 0, 0]), to="xyzw")
-
-    @property
-    def _eef0_xpos(self):
-        """
-        Grab the position of Robot 0's end effector.
-
-        Returns:
-            np.array: (x,y,z) position of EEF0
-        """
-        if self.env_configuration == "bimanual":
-            return np.array(self.sim.data.site_xpos[self.robots[0].eef_site_id["left"]])
-        else:
-            return np.array(self.sim.data.site_xpos[self.robots[0].eef_site_id])
-
-    @property
-    def _eef1_xpos(self):
-        """
-        Grab the position of Robot 1's end effector.
-
-        Returns:
-            np.array: (x,y,z) position of EEF1
-        """
-        if self.env_configuration == "bimanual":
-            return np.array(self.sim.data.site_xpos[self.robots[0].eef_site_id["right"]])
-        else:
-            return np.array(self.sim.data.site_xpos[self.robots[1].eef_site_id])
-
     @property
     def _gripper0_to_handle0(self):
         """
diff --git a/robosuite/environments/two_arm_peg_in_hole.py b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
similarity index 80%
rename from robosuite/environments/two_arm_peg_in_hole.py
rename to robosuite/environments/manipulation/two_arm_peg_in_hole.py
index ebd344452c..e1ce1a9f00 100644
--- a/robosuite/environments/two_arm_peg_in_hole.py
+++ b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
@@ -1,16 +1,15 @@
 import numpy as np
 
 import robosuite.utils.transform_utils as T
-from robosuite.environments.robot_env import RobotEnv
-from robosuite.utils.mjcf_utils import CustomMaterial, array_to_string
+from robosuite.environments.manipulation.two_arm_env import TwoArmEnv
+from robosuite.utils.mjcf_utils import CustomMaterial, array_to_string, find_elements
 
 from robosuite.models.objects import CylinderObject, PlateWithHoleObject
 from robosuite.models.arenas import EmptyArena
-from robosuite.models import MujocoWorldBase
-from robosuite.models.robots import check_bimanual
+from robosuite.models.tasks import ManipulationTask
 
 
-class TwoArmPegInHole(RobotEnv):
+class TwoArmPegInHole(TwoArmEnv):
     """
     This class corresponds to the peg-in-hole task for two robot arms.
 
@@ -26,15 +25,17 @@ class TwoArmPegInHole(RobotEnv):
             :`'single-arm-parallel'`: Only applicable for multi single arm setups. Sets up the (two) single armed
                 robots next to each other on the -x side of the table
             :`'single-arm-opposed'`: Only applicable for multi single arm setups. Sets up the (two) single armed
-                robots opposed from each others on the opposite +/-y sides of the table (Default option)
+                robots opposed from each others on the opposite +/-y sides of the table.
+
+        Note that "default" corresponds to either "bimanual" if a bimanual robot is used or "single-arm-opposed" if two
+        single-arm robots are used.
 
         controller_configs (str or list of dict): If set, contains relevant controller parameters for creating a
             custom controller. Else, uses the default controller for this specific task. Should either be single
             dict if same controller is to be used for all robots or else it should be a list of the same length as
             "robots" param
 
-        gripper_types (str or list of str): type of gripper, used to instantiate
-            gripper models from gripper factory.
+        gripper_types (str or list of str): type of gripper, used to instantiate gripper models from gripper factory.
             For this environment, setting a value other than the default (None) will raise an AssertionError, as
             this environment is not meant to be used with any gripper at all.
 
@@ -77,6 +78,13 @@ class TwoArmPegInHole(RobotEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
+        robot_visualizations (bool or list of bool): True if using robot visualization.
+            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
+            robots or else it should be a list of the same length as "robots" param
+
+        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
+            teleoperation.
+
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -143,6 +151,8 @@ def __init__(
         peg_radius=(0.015, 0.03),
         peg_length=0.13,
         use_indicator_object=False,
+        robot_visualizations=False,
+        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -157,10 +167,6 @@ def __init__(
         camera_widths=256,
         camera_depths=False,
     ):
-        # First, verify that correct number of robots are being inputted
-        self.env_configuration = env_configuration
-        self._check_robot_configuration(robots)
-
         # Assert that the gripper type is None
         assert gripper_types is None, "Tried to specify gripper other than None in TwoArmPegInHole environment!"
 
@@ -177,12 +183,15 @@ def __init__(
 
         super().__init__(
             robots=robots,
+            env_configuration=env_configuration,
             controller_configs=controller_configs,
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
+            robot_visualizations=robot_visualizations,
+            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -198,7 +207,7 @@ def __init__(
             camera_depths=camera_depths,
         )
 
-    def reward(self, action):
+    def reward(self, action=None):
         """
         Reward function for the task.
 
@@ -241,8 +250,7 @@ def reward(self, action):
             reward += 1 - np.tanh(np.abs(t))
             reward += cos
 
-        # if we're not reward shaping, we need to scale our sparse reward so that the max reward is identical
-        # to its dense version
+        # if we're not reward shaping, scale sparse reward so that the max reward is identical to its dense version
         else:
             reward *= 5.0
 
@@ -278,18 +286,15 @@ def _load_model(self):
                     robot.robot_model.set_base_xpos(xpos)
 
         # Add arena and robot
-        self.model = MujocoWorldBase()
-        self.mujoco_arena = EmptyArena()
+        mujoco_arena = EmptyArena()
         if self.use_indicator_object:
-            self.mujoco_arena.add_pos_indicator()
-        self.model.merge(self.mujoco_arena)
-        for robot in self.robots:
-            self.model.merge(robot.robot_model)
+            mujoco_arena.add_pos_indicator()
+
+        # Arena always gets set to zero origin
+        mujoco_arena.set_origin([0, 0, 0])
 
         # initialize objects of interest
-        self.hole = PlateWithHoleObject(
-            name="hole",
-        )
+        self.hole = PlateWithHoleObject(name="hole")
         tex_attrib = {
             "type": "cube",
         }
@@ -311,30 +316,40 @@ def _load_model(self):
             size_max=(self.peg_radius[1], self.peg_length),
             material=greenwood,
             rgba=[0, 1, 0, 1],
+            joints=None,
         )
 
         # Load hole object
-        self.hole_obj = self.hole.get_object_subtree(site=True)
-        self.hole_obj.set("quat", "0 0 0.707 0.707")
-        self.hole_obj.set("pos", "0.11 0 0.17")
-        self.model.merge_asset(self.hole)
+        hole_obj = self.hole.get_obj()
+        hole_obj.set("quat", "0 0 0.707 0.707")
+        hole_obj.set("pos", "0.11 0 0.17")
 
         # Load peg object
-        self.peg_obj = self.peg.get_object_subtree(site=True)
-        self.peg_obj.set("pos", array_to_string((0, 0, self.peg_length)))
-        self.model.merge_asset(self.peg)
+        peg_obj = self.peg.get_obj()
+        peg_obj.set("pos", array_to_string((0, 0, self.peg_length)))
 
-        # Depending on env configuration, append appropriate objects to arms
+        # Append appropriate objects to arms
         if self.env_configuration == "bimanual":
-            self.model.worldbody.find(".//body[@name='{}']"
-                                      .format(self.robots[0].robot_model.eef_name["left"])).append(self.hole_obj)
-            self.model.worldbody.find(".//body[@name='{}']"
-                                      .format(self.robots[0].robot_model.eef_name["right"])).append(self.peg_obj)
+            r_eef, l_eef = [self.robots[0].robot_model.eef_name[arm] for arm in self.robots[0].arms]
+            r_model, l_model = [self.robots[0].robot_model, self.robots[0].robot_model]
         else:
-            self.model.worldbody.find(".//body[@name='{}']"
-                                      .format(self.robots[1].robot_model.eef_name)).append(self.hole_obj)
-            self.model.worldbody.find(".//body[@name='{}']"
-                                      .format(self.robots[0].robot_model.eef_name)).append(self.peg_obj)
+            r_eef, l_eef = [robot.robot_model.eef_name for robot in self.robots]
+            r_model, l_model = [self.robots[0].robot_model, self.robots[1].robot_model]
+        r_body = find_elements(root=r_model.worldbody, tags="body", attribs={"name": r_eef}, return_first=True)
+        l_body = find_elements(root=l_model.worldbody, tags="body", attribs={"name": l_eef}, return_first=True)
+        r_body.append(peg_obj)
+        l_body.append(hole_obj)
+
+        # task includes arena, robot, and objects of interest
+        # We don't add peg and hole directly since they were already appended to the robots
+        self.model = ManipulationTask(
+            mujoco_arena=mujoco_arena,
+            mujoco_robots=[robot.robot_model for robot in self.robots],
+        )
+
+        # Make sure to add relevant assets from peg and hole objects
+        self.model.merge_asset(self.hole)
+        self.model.merge_asset(self.peg)
 
     def _get_reference(self):
         """
@@ -345,8 +360,8 @@ def _get_reference(self):
         super()._get_reference()
 
         # Additional object references from this env
-        self.hole_body_id = self.sim.model.body_name2id("hole")
-        self.peg_body_id = self.sim.model.body_name2id("peg")
+        self.hole_body_id = self.sim.model.body_name2id(self.hole.root_body)
+        self.peg_body_id = self.sim.model.body_name2id(self.peg.root_body)
 
     def _reset_internal(self):
         """
@@ -463,9 +478,7 @@ def _compute_orientation(self):
         return (
             t,
             d,
-            abs(
-                np.dot(hole_normal, v) / np.linalg.norm(hole_normal) / np.linalg.norm(v)
-            ),
+            abs(np.dot(hole_normal, v) / np.linalg.norm(hole_normal) / np.linalg.norm(v)),
         )
 
     def _peg_pose_in_hole_frame(self):
@@ -477,13 +490,13 @@ def _peg_pose_in_hole_frame(self):
             np.array: (4,4) matrix corresponding to the pose of the peg in the hole frame
         """
         # World frame
-        peg_pos_in_world = self.sim.data.get_body_xpos("peg")
-        peg_rot_in_world = self.sim.data.get_body_xmat("peg").reshape((3, 3))
+        peg_pos_in_world = self.sim.data.get_body_xpos(self.peg.root_body)
+        peg_rot_in_world = self.sim.data.get_body_xmat(self.peg.root_body).reshape((3, 3))
         peg_pose_in_world = T.make_pose(peg_pos_in_world, peg_rot_in_world)
 
         # World frame
-        hole_pos_in_world = self.sim.data.get_body_xpos("hole")
-        hole_rot_in_world = self.sim.data.get_body_xmat("hole").reshape((3, 3))
+        hole_pos_in_world = self.sim.data.get_body_xpos(self.hole.root_body)
+        hole_rot_in_world = self.sim.data.get_body_xmat(self.hole.root_body).reshape((3, 3))
         hole_pose_in_world = T.make_pose(hole_pos_in_world, hole_rot_in_world)
 
         world_pose_in_hole = T.pose_inv(hole_pose_in_world)
@@ -492,35 +505,3 @@ def _peg_pose_in_hole_frame(self):
             peg_pose_in_world, world_pose_in_hole
         )
         return peg_pose_in_hole
-
-    def _check_robot_configuration(self, robots):
-        """
-        Sanity check to make sure the inputted robots and configuration is acceptable
-
-        Args:
-            robots (str or list of str): Robots to instantiate within this env
-        """
-        robots = robots if type(robots) == list or type(robots) == tuple else [robots]
-        if self.env_configuration == "single-arm-opposed" or self.env_configuration == "single-arm-parallel":
-            # Specifically two robots should be inputted!
-            is_bimanual = False
-            if type(robots) is not list or len(robots) != 2:
-                raise ValueError("Error: Exactly two single-armed robots should be inputted "
-                                 "for this task configuration!")
-        elif self.env_configuration == "bimanual":
-            is_bimanual = True
-            # Specifically one robot should be inputted!
-            if type(robots) is list and len(robots) != 1:
-                raise ValueError("Error: Exactly one bimanual robot should be inputted "
-                                 "for this task configuration!")
-        else:
-            # This is an unknown env configuration, print error
-            raise ValueError("Error: Unknown environment configuration received. Only 'bimanual',"
-                             "'single-arm-parallel', and 'single-arm-opposed' are supported. Got: {}"
-                             .format(self.env_configuration))
-
-        # Lastly, check to make sure all inputted robot names are of their correct type (bimanual / not bimanual)
-        for robot in robots:
-            if check_bimanual(robot) != is_bimanual:
-                raise ValueError("Error: For {} configuration, expected bimanual check to return {}; "
-                                 "instead, got {}.".format(self.env_configuration, is_bimanual, check_bimanual(robot)))
diff --git a/robosuite/environments/wipe.py b/robosuite/environments/manipulation/wipe.py
similarity index 78%
rename from robosuite/environments/wipe.py
rename to robosuite/environments/manipulation/wipe.py
index 1b8e631b1e..5a39fb2d8f 100644
--- a/robosuite/environments/wipe.py
+++ b/robosuite/environments/manipulation/wipe.py
@@ -1,8 +1,7 @@
 from collections import OrderedDict
 import numpy as np
 
-from robosuite.environments.robot_env import RobotEnv
-from robosuite.robots import SingleArm
+from robosuite.environments.manipulation.single_arm_env import SingleArmEnv
 
 from robosuite.models.arenas import WipeArena
 from robosuite.models.tasks import ManipulationTask, UniformRandomSampler
@@ -30,11 +29,11 @@
     "line_width": 0.04,                             # Width of the line to wipe (diameter of the pegs)
     "two_clusters": False,                          # if the dirt to wipe is one continuous line or two
     "coverage_factor": 0.6,                         # how much of the table surface we cover
-    "num_sensors": 50,                              # How many particles of dirt to generate in the environment
+    "num_markers": 50,                              # How many particles of dirt to generate in the environment
 
     # settings for thresholds
     "contact_threshold": 3,                         # Minimum eef force to qualify as contact [N]
-    "touch_threshold": 5,                           # force threshold (N) to overcome to change the color of the sensor (wipe the peg)
+    "touch_threshold": 5,                           # force threshold (N) to overcome to change the color of the marker (wipe the peg)
     "pressure_threshold_max": 70,                   # maximum force allowed (N)
 
     # misc settings
@@ -45,7 +44,7 @@
 }
 
 
-class Wipe(RobotEnv):
+class Wipe(SingleArmEnv):
     """
     This class corresponds to the Wiping task for a single robot arm
 
@@ -54,6 +53,9 @@ class Wipe(RobotEnv):
             (e.g: "Sawyer" would generate one arm; ["Panda", "Panda", "Sawyer"] would generate three robot arms)
             Note: Must be a single single-arm robot!
 
+        env_configuration (str): Specifies how to position the robots within the environment (default is "default").
+            For most single arm environments, this argument has no impact on the robot setup.
+
         controller_configs (str or list of dict): If set, contains relevant controller parameters for creating a
             custom controller. Else, uses the default controller for this specific task. Should either be single
             dict if same controller is to be used for all robots or else it should be a list of the same length as
@@ -93,13 +95,16 @@ class Wipe(RobotEnv):
 
         reward_shaping (bool): if True, use dense rewards.
 
-        placement_initializer (ObjectPositionSampler instance): if provided, will
-            be used to place objects on every reset, else a UniformRandomSampler
-            is used by default.
-
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
+        robot_visualizations (bool or list of bool): True if using robot visualization.
+            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
+            robots or else it should be a list of the same length as "robots" param
+
+        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
+            teleoperation.
+
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -157,6 +162,7 @@ class Wipe(RobotEnv):
     def __init__(
         self,
         robots,
+        env_configuration="default",
         controller_configs=None,
         gripper_types="WipingGripper",
         gripper_visualizations=False,
@@ -165,8 +171,9 @@ def __init__(
         use_object_obs=True,
         reward_scale=1.0,
         reward_shaping=True,
-        placement_initializer=None,
         use_indicator_object=False,
+        robot_visualizations=False,
+        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -182,9 +189,6 @@ def __init__(
         camera_depths=False,
         task_config=None,
     ):
-        # First, verify that only one robot is being inputted
-        self._check_robot_configuration(robots)
-
         # Assert that the gripper type is None
         assert gripper_types == "WipingGripper",\
             "Tried to specify gripper other than WipingGripper in Wipe environment!"
@@ -214,15 +218,16 @@ def __init__(
 
         # settings for table top
         self.table_full_size = self.task_config['table_full_size']
-        self.table_offset = self.task_config['table_offset']
-        self.table_friction = self.task_config['table_friction']
-        self.table_friction_std = self.task_config['table_friction_std']
         self.table_height = self.task_config['table_height']
         self.table_height_std = self.task_config['table_height_std']
+        delta_height = min(0, np.random.normal(self.table_height, self.table_height_std))  # sample variation in height
+        self.table_offset = np.array(self.task_config['table_offset']) + np.array((0, 0, delta_height))
+        self.table_friction = self.task_config['table_friction']
+        self.table_friction_std = self.task_config['table_friction_std']
         self.line_width = self.task_config['line_width']
         self.two_clusters = self.task_config['two_clusters']
         self.coverage_factor = self.task_config['coverage_factor']
-        self.num_sensors = self.task_config['num_sensors']
+        self.num_markers = self.task_config['num_markers']
 
         # settings for thresholds
         self.contact_threshold = self.task_config['contact_threshold']
@@ -238,7 +243,7 @@ def __init__(
 
         # Scale reward if desired (see reward method for details)
         self.reward_normalization_factor = horizon / \
-            (self.num_sensors * self.unit_wiped_reward +
+            (self.num_markers * self.unit_wiped_reward +
              horizon * (self.wipe_contact_reward + self.task_complete_reward))
 
         # ee resets
@@ -246,7 +251,7 @@ def __init__(
         self.ee_torque_bias = np.zeros(3)
 
         # set other wipe-specific attributes
-        self.wiped_sensors = []
+        self.wiped_markers = []
         self.collisions = 0
         self.f_excess = 0
         self.metadata = []
@@ -255,24 +260,17 @@ def __init__(
         # whether to include and use ground-truth object states
         self.use_object_obs = use_object_obs
 
-        # object placement initializer
-        if placement_initializer:
-            self.placement_initializer = placement_initializer
-        else:
-            self.placement_initializer = UniformRandomSampler(
-                x_range=[0, 0.2],
-                y_range=[0, 0.2],
-                ensure_object_boundary_in_range=False,
-                rotation=None)
-
         super().__init__(
             robots=robots,
+            env_configuration=env_configuration,
             controller_configs=controller_configs,
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
+            robot_visualizations=robot_visualizations,
+            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -288,7 +286,7 @@ def __init__(
             camera_depths=camera_depths,
         )
 
-    def reward(self, action):
+    def reward(self, action=None):
         """
         Reward function for the task.
 
@@ -316,7 +314,7 @@ def reward(self, action):
 
         Note that the final per-step reward is normalized given the theoretical best episode return and then scaled:
         reward_scale * (horizon /
-        (num_sensors * unit_wiped_reward + horizon * (wipe_contact_reward + task_complete_reward)))
+        (num_markers * unit_wiped_reward + horizon * (wipe_contact_reward + task_complete_reward)))
 
         Args:
             action (np array): [NOT USED]
@@ -329,18 +327,18 @@ def reward(self, action):
         total_force_ee = np.linalg.norm(np.array(self.robots[0].recent_ee_forcetorques.current[:3]))
 
         # Neg Reward from collisions of the arm with the table
-        if self._check_arm_contact()[0]:
+        if self.check_contact(self.robots[0].robot_model):
             if self.reward_shaping:
                 reward = self.arm_limit_collision_penalty
             self.collisions += 1
-        elif self._check_q_limits()[0]:
+        elif self.robots[0].check_q_limits():
             if self.reward_shaping:
                 reward = self.arm_limit_collision_penalty
             self.collisions += 1
         else:
             # If the arm is not colliding or in joint limits, we check if we are wiping
             # (we don't want to reward wiping if there are unsafe situations)
-            sensors_active_ids = []
+            active_markers = []
 
             # Current 3D location of the corners of the wiping tool in world frame
             c_geoms = self.robots[0].gripper.important_geoms["corners"]
@@ -380,75 +378,65 @@ def PointInRectangle(X, Y, Z, W, P):
             # Only go into this computation if there are contact points
             if self.sim.data.ncon != 0:
 
-                # Check each sensor that is still active
-                for sensor_name in self.model.arena.sensor_names:
+                # Check each marker that is still active
+                for marker in self.model.mujoco_arena.markers:
 
-                    # Current sensor 3D location in world frame
-                    # sensor_pos = np.array(
-                    #     self.sim.data.body_xpos[self.sim.model.site_bodyid[self.sim.model.site_name2id(self.model.arena.sensor_site_names[sensor_name])]])
-                    sensor_pos = np.array(
-                        self.sim.data.site_xpos[
-                            self.sim.model.site_name2id(self.model.arena.sensor_site_names[sensor_name])])
+                    # Current marker 3D location in world frame
+                    marker_pos = np.array(self.sim.data.body_xpos[self.sim.model.body_name2id(marker.root_body)])
 
                     # We use the second tool corner as point on the plane and define the vector connecting
-                    # the sensor position to that point
-                    v = sensor_pos - corner2_pos
+                    # the marker position to that point
+                    v = marker_pos - corner2_pos
 
-                    # Shortest distance between the center of the sensor and the plane
+                    # Shortest distance between the center of the marker and the plane
                     dist = np.dot(v, n)
 
-                    # Projection of the center of the sensor onto the plane
-                    projected_point = np.array(sensor_pos) - dist * n
+                    # Projection of the center of the marker onto the plane
+                    projected_point = np.array(marker_pos) - dist * n
 
-                    # Positive distances means the center of the sensor is over the plane
-                    # The plane is aligned with the bottom of the wiper and pointing up, so the sensor would be over it
+                    # Positive distances means the center of the marker is over the plane
+                    # The plane is aligned with the bottom of the wiper and pointing up, so the marker would be over it
                     if dist > 0.0:
                         # Distance smaller than this threshold means we are close to the plane on the upper part
                         if dist < 0.02:
                             # Write touching points and projected point in coordinates of the plane
                             pp_2 = np.array(
                                 [np.dot(projected_point - corner2_pos, v1), np.dot(projected_point - corner2_pos, v2)])
-                            # Check if sensor is within the tool center:
+                            # Check if marker is within the tool center:
                             if PointInRectangle(pp[0], pp[1], pp[2], pp[3], pp_2):
-                                parts = sensor_name.split('_')
-                                sensors_active_ids += [int(parts[1])]
-
-            # Obtain the list of currently active (wiped) sensors that where not wiped before
-            # These are the sensors we are wiping at this step
-            lall = np.where(np.isin(sensors_active_ids, self.wiped_sensors, invert=True))
-            new_sensors_active_ids = np.array(sensors_active_ids)[lall]
-
-            # Loop through all new sensors we are wiping at this step
-            for new_sensor_active_id in new_sensors_active_ids:
-                # Grab relevant sensor id info
-                sensor_name = self.model.arena.sensor_site_names['contact_' + str(new_sensor_active_id) + '_sensor']
-                new_sensor_active_geom_id = self.sim.model.geom_name2id(sensor_name + "_vis")
-                # Make this sensor transparent since we wiped it (alpha = 0)
-                self.sim.model.geom_rgba[new_sensor_active_geom_id] = [0, 0, 0, 0]
-                # Add this sensor the wiped list
-                self.wiped_sensors += [new_sensor_active_id]
+                                active_markers.append(marker)
+
+            # Obtain the list of currently active (wiped) markers that where not wiped before
+            # These are the markers we are wiping at this step
+            lall = np.where(np.isin(active_markers, self.wiped_markers, invert=True))
+            new_active_markers = np.array(active_markers)[lall]
+
+            # Loop through all new markers we are wiping at this step
+            for new_active_marker in new_active_markers:
+                # Grab relevant marker id info
+                new_active_marker_geom_id = self.sim.model.geom_name2id(new_active_marker.visual_geoms[0])
+                # Make this marker transparent since we wiped it (alpha = 0)
+                self.sim.model.geom_rgba[new_active_marker_geom_id][3] = 0
+                # Add this marker the wiped list
+                self.wiped_markers.append(new_active_marker)
                 # Add reward if we're using the dense reward
                 if self.reward_shaping:
                     reward += self.unit_wiped_reward
 
             # Additional reward components if using dense rewards
             if self.reward_shaping:
-                # If we haven't wiped all the sensors yet, add a smooth reward for getting closer
+                # If we haven't wiped all the markers yet, add a smooth reward for getting closer
                 # to the centroid of the dirt to wipe
-                if len(self.wiped_sensors) < len(self.model.arena.sensor_names):
+                if len(self.wiped_markers) < self.num_markers:
                     mean_distance_to_things_to_wipe = 0
-                    num_non_wiped_sensors = 0
-                    for sensor_name in self.model.arena.sensor_names:
-                        parts = sensor_name.split('_')
-                        sensor_id = int(parts[1])
-                        if sensor_id not in self.wiped_sensors:
-                            sensor_pos = np.array(
-                                self.sim.data.site_xpos[
-                                    self.sim.model.site_name2id(self.model.arena.sensor_site_names[sensor_name])])
-                            gripper_position = np.array(self.sim.data.site_xpos[self.robots[0].eef_site_id])
-                            mean_distance_to_things_to_wipe += np.linalg.norm(gripper_position - sensor_pos)
-                            num_non_wiped_sensors += 1
-                    mean_distance_to_things_to_wipe /= max(1, num_non_wiped_sensors)
+                    num_non_wiped_markers = 0
+                    for marker in self.model.mujoco_arena.markers:
+                        if marker not in self.wiped_markers:
+                            marker_pos = np.array(
+                                self.sim.data.body_xpos[self.sim.model.body_name2id(marker.root_body)])
+                            mean_distance_to_things_to_wipe += np.linalg.norm(marker_pos - self._eef_xpos)
+                            num_non_wiped_markers += 1
+                    mean_distance_to_things_to_wipe /= max(1, num_non_wiped_markers)
                     reward += self.distance_multiplier * (
                             1 - np.tanh(self.distance_th_multiplier * mean_distance_to_things_to_wipe))
 
@@ -465,24 +453,25 @@ def PointInRectangle(X, Y, Z, W, P):
                 reward -= self.ee_accel_penalty * np.mean(abs(self.robots[0].recent_ee_acc.current))
 
             # Final reward if all wiped
-            if len(self.wiped_sensors) == len(self.model.arena.sensor_names):
+            if len(self.wiped_markers) == self.num_markers:
                 reward += self.task_complete_reward
 
         # Printing results
         if self.print_results:
-            string_to_print = 'Process {pid}, timestep {ts:>4}: reward: {rw:8.4f} wiped sensors: {ws:>3} collisions: {sc:>3} f-excess: {fe:>3}'.format(
-                pid=id(multiprocessing.current_process()),
-                ts=self.timestep,
-                rw=reward,
-                ws=len(self.wiped_sensors),
-                sc=self.collisions,
-                fe=self.f_excess)
+            string_to_print = 'Process {pid}, timestep {ts:>4}: reward: {rw:8.4f}' \
+                              'wiped markers: {ws:>3} collisions: {sc:>3} f-excess: {fe:>3}'.format(
+                                pid=id(multiprocessing.current_process()),
+                                ts=self.timestep,
+                                rw=reward,
+                                ws=len(self.wiped_markers),
+                                sc=self.collisions,
+                                fe=self.f_excess)
             print(string_to_print)
 
         # If we're scaling our reward, we normalize the per-step rewards given the theoretical best episode return
         # This is equivalent to scaling the reward by:
         #   reward_scale * (horizon /
-        #       (num_sensors * unit_wiped_reward + horizon * (wipe_contact_reward + task_complete_reward)))
+        #       (num_markers * unit_wiped_reward + horizon * (wipe_contact_reward + task_complete_reward)))
         if self.reward_scale:
             reward *= self.reward_scale * self.reward_normalization_factor
         return reward
@@ -493,10 +482,6 @@ def _load_model(self):
         """
         super()._load_model()
 
-        # Verify the correct robot has been loaded
-        assert isinstance(self.robots[0], SingleArm), \
-            "Error: Expected one single-armed robot! Got {} type instead.".format(type(self.robots[0]))
-
         # Adjust base pose accordingly
         xpos = self.robots[0].robot_model.base_xpos_offset["table"](self.table_full_size[0])
         self.robots[0].robot_model.set_base_xpos(xpos)
@@ -504,47 +489,38 @@ def _load_model(self):
         # Get robot's contact geoms
         self.robot_contact_geoms = self.robots[0].robot_model.contact_geoms
 
-        # Delta goes down
-        delta_height = min(0, np.random.normal(self.table_height, self.table_height_std))
-
-        self.mujoco_arena = WipeArena(
+        mujoco_arena = WipeArena(
             table_full_size=self.table_full_size,
             table_friction=self.table_friction,
-            table_offset=np.array(self.table_offset) + np.array((0, 0, delta_height)),
+            table_offset=self.table_offset,
             table_friction_std=self.table_friction_std,
             coverage_factor=self.coverage_factor,
-            num_sensors=self.num_sensors,
+            num_markers=self.num_markers,
             line_width=self.line_width,
             two_clusters=self.two_clusters
         )
         if self.use_indicator_object:
-            self.mujoco_arena.add_pos_indicator()
+            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
-        self.mujoco_arena.set_origin([0, 0, 0])
-
-        self.mujoco_objects = OrderedDict()
+        mujoco_arena.set_origin([0, 0, 0])
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
-            mujoco_arena=self.mujoco_arena,
+            mujoco_arena=mujoco_arena,
             mujoco_robots=[robot.robot_model for robot in self.robots],
-            mujoco_objects=self.mujoco_objects,
-            initializer=self.placement_initializer
         )
-        self.model.place_objects()
 
     def _reset_internal(self):
         super()._reset_internal()
 
         # inherited class should reset positions of objects (only if we're not using a deterministic reset)
         if not self.deterministic_reset:
-            self.model.place_objects()
-            self.mujoco_arena.reset_arena(self.sim)
+            self.model.mujoco_arena.reset_arena(self.sim)
 
         # Reset all internal vars for this wipe task
         self.timestep = 0
-        self.wiped_sensors = []
+        self.wiped_markers = []
         self.collisions = 0
         self.f_excess = 0
 
@@ -581,23 +557,19 @@ def _get_observation(self):
 
         # object information in the observation
         if self.use_object_obs:
-            gripper_site_pos = np.array(self.sim.data.site_xpos[self.robots[0].eef_site_id])
+            gripper_site_pos = self._eef_xpos
             # position of objects to wipe
             acc = np.array([])
-            for sensor_name in self.model.arena.sensor_names:
-                parts = sensor_name.split('_')
-                sensor_id = int(parts[1])
-                sensor_pos = np.array(
-                    self.sim.data.site_xpos[
-                        self.sim.model.site_name2id(self.model.arena.sensor_site_names[sensor_name])])
-                di['sensor' + str(sensor_id) + '_pos'] = sensor_pos
-                acc = np.concatenate([acc, di['sensor' + str(sensor_id) + '_pos']])
-                di['sensor' + str(sensor_id) + '_wiped'] = [0, 1][sensor_id in self.wiped_sensors]
-                acc = np.concatenate([acc, [di['sensor' + str(sensor_id) + '_wiped']]])
+            for i, marker in enumerate(self.model.mujoco_arena.markers):
+                marker_pos = np.array(self.sim.data.body_xpos[self.sim.model.body_name2id(marker.root_body)])
+                di[f'marker{i}_pos'] = marker_pos
+                acc = np.concatenate([acc, di[f'marker{i}_pos']])
+                di[f'marker{i}_wiped'] = [0, 1][marker in self.wiped_markers]
+                acc = np.concatenate([acc, [di[f'marker{i}_wiped']]])
                 # proprioception
                 if self.use_robot_obs:
-                    di['gripper_to_sensor' + str(sensor_id)] = gripper_site_pos - sensor_pos
-                    acc = np.concatenate([acc, di['gripper_to_sensor' + str(sensor_id)]])
+                    di[f'gripper_to_marker{i}'] = gripper_site_pos - marker_pos
+                    acc = np.concatenate([acc, di[f'gripper_to_marker{i}']])
             di['object-state'] = acc
 
         return di
@@ -609,7 +581,7 @@ def _check_success(self):
         Returns:
             bool: True if completed task
         """
-        return True if len(self.wiped_sensors) == len(self.model.arena.sensor_names) else False
+        return True if len(self.wiped_markers) == self.num_markers else False
 
     def _check_terminated(self):
         """
@@ -626,7 +598,7 @@ def _check_terminated(self):
         terminated = False
 
         # Prematurely terminate if contacting the table with the arm
-        if self._check_arm_contact()[0]:
+        if self.check_contact(self.robots[0].robot_model):
             if self.print_results:
                 print(40 * '-' + " COLLIDED " + 40 * '-')
             terminated = True
@@ -638,7 +610,7 @@ def _check_terminated(self):
             terminated = True
 
         # Prematurely terminate if contacting the table with the arm
-        if self._check_q_limits()[0]:
+        if self.robots[0].check_q_limits():
             if self.print_results:
                 print(40 * '-' + " JOINT LIMIT " + 40 * '-')
             terminated = True
@@ -662,10 +634,10 @@ def _post_action(self, action):
         reward, done, info = super()._post_action(action)
 
         if self.get_info:
-            info['add_vals'] = ['nwipedsensors', 'colls', 'percent_viapoints_', 'f_excess']
-            info['nwipedsensors'] = len(self.wiped_sensors)
+            info['add_vals'] = ['nwipedmarkers', 'colls', 'percent_viapoints_', 'f_excess']
+            info['nwipedmarkers'] = len(self.wiped_markers)
             info['colls'] = self.collisions
-            info['percent_viapoints_'] = len(self.wiped_sensors) / len(self.model.arena.sensor_names)
+            info['percent_viapoints_'] = len(self.wiped_markers) / self.num_markers
             info['f_excess'] = self.f_excess
 
         # allow episode to finish early if allowed
@@ -674,16 +646,6 @@ def _post_action(self, action):
 
         return reward, done, info
 
-    def _check_robot_configuration(self, robots):
-        """
-        Sanity check to make sure the inputted robots and configuration is acceptable
-
-        Args:
-            robots (str or list of str): Robots to instantiate within this env
-        """
-        if type(robots) is list:
-            assert len(robots) == 1, "Error: Only one robot should be inputted for this task!"
-
     @property
     def _has_gripper_contact(self):
         """
diff --git a/robosuite/environments/robot_env.py b/robosuite/environments/robot_env.py
index b5f7274ec5..7b2d07a42f 100644
--- a/robosuite/environments/robot_env.py
+++ b/robosuite/environments/robot_env.py
@@ -2,10 +2,7 @@
 
 from robosuite.environments.base import MujocoEnv
 
-from robosuite.robots.single_arm import SingleArm
-from robosuite.robots.bimanual import Bimanual
-from robosuite.models.robots import check_bimanual
-
+from robosuite.robots import ROBOT_CLASS_MAPPING
 from robosuite.controllers import reset_controllers
 
 
@@ -14,24 +11,16 @@ class RobotEnv(MujocoEnv):
     Initializes a robot environment in Mujoco.
 
     Args:
-        robots: Specification for specific robot arm(s) to be instantiated within this env
-            (e.g: "Sawyer" would generate one arm; ["Panda", "Panda", "Sawyer"] would generate three robot arms)
+        robots: Specification for specific robot(s) to be instantiated within this env
+
+        env_configuration (str): Specifies how to position the robot(s) within the environment. Default is "default",
+            which should be interpreted accordingly by any subclasses.
 
         controller_configs (str or list of dict): If set, contains relevant controller parameters for creating a
             custom controller. Else, uses the default controller for this specific task. Should either be single
             dict if same controller is to be used for all robots or else it should be a list of the same length as
             "robots" param
 
-        gripper_types (None or str or list of str): type of gripper, used to instantiate
-            gripper models from gripper factory. Default is "default", which is the default grippers(s) associated
-            with the robot(s) the 'robots' specification. None removes the gripper, and any other (valid) model
-            overrides the default gripper. Should either be single str if same gripper type is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
-        gripper_visualizations (bool or list of bool): True if using gripper visualization.
-            Useful for teleoperation. Should either be single bool if gripper visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
         initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
             The expected keys and corresponding value types are specified below:
 
@@ -52,6 +41,13 @@ class RobotEnv(MujocoEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
+        robot_visualizations (bool or list of bool): True if using robot visualization.
+            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
+            robots or else it should be a list of the same length as "robots" param
+
+        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
+            teleoperation.
+
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -96,6 +92,8 @@ class RobotEnv(MujocoEnv):
             bool if same depth setting is to be used for all cameras or else it should be a list of the same length as
             "camera names" param.
 
+        robot_configs (list of dict): Per-robot configurations set from any subclass initializers.
+
     Raises:
         ValueError: [Camera obs require offscreen renderer]
         ValueError: [Camera name must be specified to use camera obs]
@@ -104,12 +102,13 @@ class RobotEnv(MujocoEnv):
     def __init__(
         self,
         robots,
+        env_configuration="default",
         controller_configs=None,
-        gripper_types="default",
-        gripper_visualizations=False,
         initialization_noise=None,
         use_camera_obs=True,
         use_indicator_object=False,
+        robot_visualizations=False,
+        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -123,7 +122,12 @@ def __init__(
         camera_heights=256,
         camera_widths=256,
         camera_depths=False,
+        robot_configs=None,
     ):
+        # First, verify that correct number of robots are being inputted
+        self.env_configuration = env_configuration
+        self._check_robot_configuration(robots)
+
         # Robot
         robots = list(robots) if type(robots) is list or type(robots) is tuple else [robots]
         self.num_robots = len(robots)
@@ -137,9 +141,8 @@ def __init__(
         # Initialization Noise
         initialization_noise = self._input2list(initialization_noise, self.num_robots)
 
-        # Gripper
-        gripper_types = self._input2list(gripper_types, self.num_robots)
-        gripper_visualizations = self._input2list(gripper_visualizations, self.num_robots)
+        # Visualization
+        robot_visualizations = self._input2list(robot_visualizations, self.num_robots)
 
         # Observations -- Ground truth = object_obs, Image data = camera_obs
         self.use_camera_obs = use_camera_obs
@@ -160,23 +163,26 @@ def __init__(
         if self.use_camera_obs and self.camera_names is None:
             raise ValueError("Must specify at least one camera name when using camera obs")
 
-        # Robot configurations
+        # Robot configurations -- update from subclass configs
+        if robot_configs is None:
+            robot_configs = [{} for _ in range(self.num_robots)]
         self.robot_configs = [
-            {
-                "controller_config": controller_configs[idx],
-                "initialization_noise": initialization_noise[idx],
-                "gripper_type": gripper_types[idx],
-                "gripper_visualization": gripper_visualizations[idx],
-                "control_freq": control_freq
-            }
-            for idx in range(self.num_robots)
+            dict(
+                **{
+                    "controller_config": controller_configs[idx],
+                    "initialization_noise": initialization_noise[idx],
+                    "robot_visualization": robot_visualizations[idx],
+                    "control_freq": control_freq
+                },
+                **robot_config,
+            )
+            for idx, robot_config in enumerate(robot_configs)
         ]
 
-        # whether to use indicator object or not
-        self.use_indicator_object = use_indicator_object
-
         # Run superclass init
         super().__init__(
+            use_indicator_object=use_indicator_object,
+            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=self.has_offscreen_renderer,
             render_camera=render_camera,
@@ -215,17 +221,6 @@ def action_dim(self):
         """
         return self._action_dim
 
-    def move_indicator(self, pos):
-        """
-        Sets 3d position of indicator object to @pos.
-
-        Args:
-            pos (3-tuple): (x,y,z) values to place the indicator within the env
-        """
-        if self.use_indicator_object:
-            index = self._ref_indicator_pos_low
-            self.sim.data.qpos[index : index + 3] = pos
-
     @staticmethod
     def _input2list(inp, length):
         """
@@ -263,16 +258,6 @@ def _get_reference(self):
             robot.reset_sim(self.sim)
             robot.setup_references()
 
-        # Indicator object references
-        if self.use_indicator_object:
-            ind_qpos = self.sim.model.get_joint_qpos_addr("pos_indicator")
-            self._ref_indicator_pos_low, self._ref_indicator_pos_high = ind_qpos
-
-            ind_qvel = self.sim.model.get_joint_qvel_addr("pos_indicator")
-            self._ref_indicator_vel_low, self._ref_indicator_vel_high = ind_qvel
-
-            self.indicator_id = self.sim.model.body_name2id("pos_indicator")
-
     def _reset_internal(self):
         """
         Resets simulation internal configurations.
@@ -356,25 +341,6 @@ def _pre_action(self, action, policy_step=False):
                 ] = self.sim.data.qfrc_bias[
                     self._ref_indicator_vel_low: self._ref_indicator_vel_high]
 
-    def _post_action(self, action):
-        """
-        Run any necessary visualization after running the action
-
-        Args:
-            action (np.array): Action being passed during this timestep
-
-        Returns:
-            3-tuple:
-
-                - (float) reward from the environment
-                - (bool) whether the current episode is completed or not
-                - (dict) empty dict to be filled with information by subclassed method
-
-        """
-        ret = super()._post_action(action)
-        self._visualization()
-        return ret
-
     def _get_observation(self):
         """
         Returns an OrderedDict containing observations [(name_string, np.array), ...].
@@ -416,92 +382,15 @@ def _get_observation(self):
 
         return di
 
-    def _check_gripper_contact(self):
-        """
-        Checks whether each gripper is in contact with an object. Note that each entry in the return list corresponds
-        to each robot in the env.robots list. This means that a bimanual robot will have its own nested list within the
-        return list at the corresponding entry.
-
-        Returns:
-            list of bool: True if the specific gripper is in contact with an object.
-        """
-        collisions = [False] * self.num_robots
-        for idx, robot in enumerate(self.robots):
-            for contact in self.sim.data.contact[: self.sim.data.ncon]:
-                # Single arm case
-                if robot.robot_model.arm_type == "single":
-                    if (
-                        self.sim.model.geom_id2name(contact.geom1)
-                        in robot.gripper.contact_geoms
-                        or self.sim.model.geom_id2name(contact.geom2)
-                        in robot.gripper.contact_geoms
-                    ):
-                        collisions[idx] = True
-                        break
-                # Bimanual case
-                else:
-                    # Set this list entry to be its own list of bools
-                    collisions[idx] = [False, False]
-                    for i, arm in enumerate(robot.arms):
-                        if (
-                                self.sim.model.geom_id2name(contact.geom1)
-                                in robot.gripper[arm].contact_geoms
-                                or self.sim.model.geom_id2name(contact.geom2)
-                                in robot.gripper[arm].contact_geoms
-                        ):
-                            collisions[idx][i] = True
-                            continue
-        return collisions
-
-    def _check_arm_contact(self):
-        """
-        Checks whether each robot arm is in contact with an object.
-
-        Returns:
-            list of bool: True if the specific gripper is in contact with an object
-        """
-        collisions = [False] * self.num_robots
-        for idx, robot in enumerate(self.robots):
-            for contact in self.sim.data.contact[: self.sim.data.ncon]:
-                # Single arm case and Bimanual case are the same
-                if (
-                    self.sim.model.geom_id2name(contact.geom1)
-                    in robot.robot_model.contact_geoms
-                    or self.sim.model.geom_id2name(contact.geom2)
-                    in robot.robot_model.contact_geoms
-                ):
-                    collisions[idx] = True
-                    break
-        return collisions
-
-    def _check_q_limits(self):
-        """
-        Check if each robot arm is either very close or at the joint limits
-
-        Returns:
-            list of bool: True if the specific arm is near its joint limits
-        """
-        joint_limits = [False] * self.num_robots
-        tolerance = 0.1
-        for idx, robot in enumerate(self.robots):
-            for (qidx, (q, q_limits)) in enumerate(
-                    zip(
-                        self.sim.data.qpos[robot._ref_joint_pos_indexes],
-                        self.sim.model.jnt_range[robot._ref_joint_indexes]
-                    )
-            ):
-                if q_limits[0] != q_limits[1] and not (q_limits[0] + tolerance < q < q_limits[1] - tolerance):
-                    print("Joint limit reached in joint " + str(qidx))
-                    joint_limits[idx] = True
-        return joint_limits
-
     def _visualization(self):
         """
         Do any needed visualization here
         """
-        # Loop over robot grippers to visualize them independently
+        # Run superclass method first
+        super()._visualization()
+        # Loop over robots to visualize them independently
         for robot in self.robots:
-            robot.visualize_gripper()
+            robot.visualize()
 
     def _load_robots(self):
         """
@@ -510,19 +399,7 @@ def _load_robots(self):
         # Loop through robots and instantiate Robot object for each
         for idx, (name, config) in enumerate(zip(self.robot_names, self.robot_configs)):
             # Create the robot instance
-            if not check_bimanual(name):
-                self.robots[idx] = SingleArm(
-                    robot_type=name,
-                    idn=idx,
-                    **config
-                )
-            else:
-                self.robots[idx] = Bimanual(
-                    robot_type=name,
-                    idn=idx,
-                    **config
-                )
-
+            self.robots[idx] = ROBOT_CLASS_MAPPING[name](robot_type=name, idn=idx, **config)
             # Now, load the robot models
             self.robots[idx].load_model()
 
diff --git a/robosuite/models/arenas/wipe_arena.py b/robosuite/models/arenas/wipe_arena.py
index 92b65f227b..61f63271e2 100644
--- a/robosuite/models/arenas/wipe_arena.py
+++ b/robosuite/models/arenas/wipe_arena.py
@@ -1,12 +1,12 @@
 import numpy as np
 from robosuite.models.arenas import TableArena
-from robosuite.utils.mjcf_utils import array_to_string, CustomMaterial
+from robosuite.utils.mjcf_utils import CustomMaterial, find_elements
 from robosuite.models.objects import CylinderObject
 
 
 class WipeArena(TableArena):
     """
-    Workspace that contains an empty table with tactile sensors on its surface.
+    Workspace that contains an empty table with visual markers on its surface.
 
     Args:
         table_full_size (3-tuple): (L,W,H) full dimensions of the table
@@ -14,7 +14,7 @@ class WipeArena(TableArena):
         table_offset (3-tuple): (x,y,z) offset from center of arena when placing table.
             Note that the z value sets the upper limit of the table
         coverage_factor (float): Fraction of table that will be sampled for dirt placement
-        num_sensors (int): Number of dirt (peg) particles to generate in a path on the table
+        num_markers (int): Number of dirt (peg) particles to generate in a path on the table
         table_friction_std (float): Standard deviation to sample for the peg friction
         line_width (float): Diameter of dirt path trace
         two_clusters (bool): If set, will generate two separate dirt paths with half the number of sensors in each
@@ -26,7 +26,7 @@ def __init__(
         table_friction=(0.01, 0.005, 0.0001),
         table_offset=(0, 0, 0.8),
         coverage_factor=0.9,
-        num_sensors=10,
+        num_markers=10,
         table_friction_std=0,
         line_width=0.02,
         two_clusters=False
@@ -34,10 +34,9 @@ def __init__(
         # Tactile table-specific features
         self.table_friction_std = table_friction_std
         self.line_width = line_width
-        self.sensor_names = []
-        self.sensor_site_names = {}
+        self.markers = []
         self.coverage_factor = coverage_factor
-        self.num_sensors = num_sensors
+        self.num_markers = num_markers
         self.two_clusters = two_clusters
 
         # Attribute to hold current direction of sampled dirt path
@@ -55,12 +54,6 @@ def configure_location(self):
         # Run superclass first
         super().configure_location()
 
-        # Determine peg friction
-        friction = max(0.001, np.random.normal(self.table_friction[0], self.table_friction_std))
-
-        # Grab reference to the table body in the xml
-        table_subtree = self.worldbody.find(".//body[@name='{}']".format("table"))
-
         # Define start position for drawing the line
         pos = self.sample_start_pos()
 
@@ -82,61 +75,59 @@ def configure_location(self):
         )
 
         # Define line(s) drawn on table
-        for i in range(self.num_sensors):
+        for i in range(self.num_markers):
             # If we're using two clusters, we resample the starting position and direction at the halfway point
-            if self.two_clusters and i == int(np.floor(self.num_sensors / 2)):
+            if self.two_clusters and i == int(np.floor(self.num_markers / 2)):
                 pos = self.sample_start_pos()
-            square_name2 = 'contact_'+str(i)
-            square2 = CylinderObject(
-                name=square_name2,
+            marker_name = f'contact{i}'
+            marker = CylinderObject(
+                name=marker_name,
                 size=[self.line_width / 2, 0.001],
                 rgba=[1, 1, 1, 1],
-                density=1,
                 material=dirt,
-                friction=friction,
                 obj_type="visual",
+                joints=None,
             )
-            self.merge_asset(square2)
-            visual_c = square2.get_object_subtree(site=True)
-            visual_c.set("pos", array_to_string([pos[0], pos[1], self.table_half_size[2]]))
-            visual_c.find("site").set("pos", [0, 0, 0.005])
-            visual_c.find("site").set("rgba", array_to_string([0, 0, 0, 0]))
-            table_subtree.append(visual_c)
-
-            sensor_name = square_name2 + "_sensor"
-            sensor_site_name = square_name2
-            self.sensor_names += [sensor_name]
-            self.sensor_site_names[sensor_name] = sensor_site_name
+            # Manually add this object to the arena xml
+            self.merge_asset(marker)
+            table = find_elements(root=self.worldbody, tags="body", attribs={"name": "table"}, return_first=True)
+            table.append(marker.get_obj())
+
+            # Add this marker to our saved list of all markers
+            self.markers.append(marker)
 
             # Add to the current dirt path
             pos = self.sample_path_pos(pos)
 
     def reset_arena(self, sim):
         """
-        Reset the tactile sensor locations in the environment. Requires @sim (MjSim) reference to be passed in so that
+        Reset the visual marker locations in the environment. Requires @sim (MjSim) reference to be passed in so that
         the Mujoco sim can be directly modified
 
         Args:
-            sim (MjSim): Simulation instance containing this arena and tactile sensors
+            sim (MjSim): Simulation instance containing this arena and visual markers
         """
-        # Sample new initial position and direction for generated sensor paths
+        # Sample new initial position and direction for generated marker paths
         pos = self.sample_start_pos()
 
-        # Loop through all sensor collision body / site pairs
-        for i, (_, sensor_name) in enumerate(self.sensor_site_names.items()):
+        # Loop through all visual markers
+        for i, marker in enumerate(self.markers):
             # If we're using two clusters, we resample the starting position and direction at the halfway point
-            if self.two_clusters and i == int(np.floor(self.num_sensors / 2)):
+            if self.two_clusters and i == int(np.floor(self.num_markers / 2)):
                 pos = self.sample_start_pos()
-            # Get IDs to the body, geom, and site of each sensor
-            body_id = sim.model.body_name2id(sensor_name)
-            geom_id = sim.model.geom_name2id(sensor_name + "_vis")
-            # Determine new position for this sensor
+            # Get IDs to the body, geom, and site of each marker
+            body_id = sim.model.body_name2id(marker.root_body)
+            geom_id = sim.model.geom_name2id(marker.visual_geoms[0])
+            site_id = sim.model.site_name2id(marker.sites[0])
+            # Determine new position for this marker
             position = np.array([pos[0], pos[1], self.table_half_size[2]])
-            # Set the current sensor (body) to this new position
+            # Set the current marker (body) to this new position
             sim.model.body_pos[body_id] = position
-            # Reset the sensor visualization -- setting geom rgba to all 1's
-            sim.model.geom_rgba[geom_id] = [1, 1, 1, 1]
-            # Sample next values in local sensor trajectory
+            # Reset the marker visualization -- setting geom rgba alpha value to 1
+            sim.model.geom_rgba[geom_id][3] = 1
+            # Hide the default visualization site
+            sim.model.site_rgba[site_id][3] = 0
+            # Sample next values in local marker trajectory
             pos = self.sample_path_pos(pos)
 
     def sample_start_pos(self):
diff --git a/robosuite/models/assets/base.xml b/robosuite/models/assets/base.xml
index 7f863e6062..3de7de2565 100644
--- a/robosuite/models/assets/base.xml
+++ b/robosuite/models/assets/base.xml
@@ -1,6 +1,6 @@
 <!-- This is the base xml for all physics simulations. Set global configs here. -->
 <mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/"/>
+  <compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0"/>
   <option impratio="20" cone="elliptic"/>
   <size nconmax="5000" njmax="5000"/>
 
diff --git a/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml b/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml
index ad4aa3dc12..f3bd30f45d 100644
--- a/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml
+++ b/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml
@@ -58,7 +58,7 @@
                 <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />
 
                 <!-- This site was added for visualization. -->
-                <site name="grip_site" pos="0 0 -0.1775" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
+                <site name="grip_site" pos="0 0 -0.1775" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
                 <!-- This site was added for visualization. -->
                 <site name="grip_site_cylinder" pos="0 0 0.1399" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
             </body>
@@ -74,7 +74,8 @@
                     <joint name="joint_thumb_distal" pos="0 0 0" axis="-1 0 0" ref="-0.5" limited="true" range="0 2" damping="0.1" />
                     <geom type="mesh" contype="0" conaffinity="0" group="1" euler="0 -1.5707 0" material="grey_plastic_hand" mesh="finger_distal" />
                     <geom name="thumb_distal_collision" type="mesh" group="0" mesh="finger_distal" euler="0 -1.5707 0" friction="1 0.5 0.01" />
-                    <geom type="box" group="0" pos="0 -0.003 0.021" quat="0.9914449 0.1305262 0 0" size="0.01 0.005 0.02" name="thumb_pad_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
+                    <geom type="box" group="0" pos="0 -0.003 0.021" quat="0.9914449 0.1305262 0 0" size="0.01 0.005 0.02" name="thumb_tip_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
+                    <geom type="box" group="0" pos="0 0.0015 0.023" quat="0.9914449 0.1305262 0 0" size="0.008 0.001 0.018" name="thumb_pad_collision" />
                 </body>
             </body>
 
@@ -89,7 +90,8 @@
                     <joint name="joint_index_distal" pos="0 0 0" axis="1 0 0" ref="-0.5" limited="true" range="0 2" damping="0.1" />
                     <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_distal" />
                     <geom name="index_distal_collision" type="mesh" group="0" mesh="finger_distal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
-                    <geom type="box" group="0" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" size="0.01 0.005 0.02" name="index_pad_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
+                    <geom type="box" group="0" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" size="0.01 0.005 0.02" name="index_tip_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
+                    <geom type="box" group="0" pos="0 -0.0015 0.023" quat="0.9914449 -0.1305262 0 0" size="0.008 0.001 0.018" name="index_pad_collision" />
                 </body>
             </body>
 
@@ -104,7 +106,8 @@
                     <joint name="joint_pinky_distal" pos="0 0 0" axis="1 0 0" ref="-0.5" limited="true" range="0 2" damping="0.1" />
                     <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_distal" />
                     <geom name="pinky_distal_collision" type="mesh" group="0" mesh="finger_distal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
-                    <geom type="box" group="0" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" size="0.01 0.005 0.02" name="pinky_pad_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
+                    <geom type="box" group="0" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" size="0.01 0.005 0.02" name="pinky_tip_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
+                    <geom type="box" group="0" pos="0 -0.0015 0.023" quat="0.9914449 -0.1305262 0 0" size="0.008 0.001 0.018" name="pinky_pad_collision" />
                 </body>
             </body>
         </body>
diff --git a/robosuite/models/assets/grippers/null_gripper.xml b/robosuite/models/assets/grippers/null_gripper.xml
index 129d5e4d41..b8b43de858 100644
--- a/robosuite/models/assets/grippers/null_gripper.xml
+++ b/robosuite/models/assets/grippers/null_gripper.xml
@@ -4,7 +4,7 @@
             <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
             <inertial pos="0 0 0" mass="3e-1" diaginertia="1e-2 1e-2 1e-2" />
             <!-- This site was added for visualization. -->
-            <site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
+            <site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
             <!-- This site was added for visualization. -->
             <site name="grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
         </body>
diff --git a/robosuite/models/assets/grippers/panda_gripper.xml b/robosuite/models/assets/grippers/panda_gripper.xml
index 5a1e508f4c..2afd3109af 100644
--- a/robosuite/models/assets/grippers/panda_gripper.xml
+++ b/robosuite/models/assets/grippers/panda_gripper.xml
@@ -25,7 +25,7 @@
             <geom pos="0 0 0." quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" mesh="hand_vis" name="hand_visual" material="hand_mat"/>
             <geom pos="0 0 0." quat="0.707107 0 0 0.707107" type="mesh" mesh="hand"  group="0" name="hand_collision"/>
             <!-- This site was added for visualization. -->
-            <site name="grip_site" pos="0 0 0.097" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
+            <site name="grip_site" pos="0 0 0.097" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
             <!-- This site was added for visualization. -->
             <site name="grip_site_cylinder" pos="0 0 0.1399" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
             <body name="leftfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
diff --git a/robosuite/models/assets/grippers/rethink_gripper.xml b/robosuite/models/assets/grippers/rethink_gripper.xml
index 3d1c6cd082..c646bd7f0a 100644
--- a/robosuite/models/assets/grippers/rethink_gripper.xml
+++ b/robosuite/models/assets/grippers/rethink_gripper.xml
@@ -28,9 +28,9 @@
             <inertial pos="0 0 0" quat="-0.5 0.5 0.5 0.5" mass="0.3" diaginertia="3e-08 2e-08 2e-08" />
             <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="connector_plate" name="connector_plate" pos="0 0 0.0018" material="connector_plate_mat"/>
             <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="electric_gripper_base" name="electric_gripper_base" pos="0 0 0.0194" material="electric_gripper_base_mat"/>
-            <geom size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" group="0" pos="0.004 0.0 0.04"/>
+            <geom size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" group="0" name="gripper_base_col" pos="0.004 0.0 0.04"/>
             <!-- This site was added for visualization. -->
-            <site name="grip_site" pos="0 0 0.109" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
+            <site name="grip_site" pos="0 0 0.109" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
             <!-- This site was added for visualization. -->
             <site name="grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
             <body name="l_finger" pos="0 0.01 0.0444">
diff --git a/robosuite/models/assets/grippers/robotiq_gripper_140.xml b/robosuite/models/assets/grippers/robotiq_gripper_140.xml
index 40520351a1..f3d8640137 100644
--- a/robosuite/models/assets/grippers/robotiq_gripper_140.xml
+++ b/robosuite/models/assets/grippers/robotiq_gripper_140.xml
@@ -55,7 +55,7 @@
             <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />
 
             <!-- This site was added for visualization. -->
-            <site name="grip_site" pos="0 0 -0.27" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
+            <site name="grip_site" pos="0 0 -0.27" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
             <!-- This site was added for visualization. -->
             <site name="grip_site_cylinder" pos="0 0 0.1399" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
 
@@ -73,6 +73,7 @@
                     <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger" name="left_inner_finger_collision"/>
                     <geom size="0.0135 0.0325 0.00375" pos="0 0.0457554 -0.0272203" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
                     <geom size="0.015 0.035 0.00375" pos="0 0.0457554 -0.0272203" type="box" group="0" rgba="0.9 0.9 0.9 1" name="left_fingertip_collision" solref="0.01 0.25"/>
+                    <geom size="0.014 0.033 0.001" pos="0 0.045 -0.031" type="box" group="0" name="left_fingerpad_collision" />
                 </body>
             </body>
             <body name="left_inner_knuckle" pos="0.0127 1.01133e-05 -0.122945" quat="-0.64507 0.290316 -0.290085 0.644556">
@@ -95,6 +96,7 @@
                     <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger" name="right_inner_finger_collision"/>
                     <geom size="0.0135 0.0325 0.00375" pos="0 0.0457554 -0.0272203" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
                     <geom size="0.015 0.035 0.00375" pos="0 0.0457554 -0.0272203" type="box" group="0" rgba="0.9 0.9 0.9 1" name="right_fingertip_collision" solref="0.01 0.25"/>
+                    <geom size="0.014 0.033 0.001" pos="0 0.045 -0.031" type="box" group="0" name="right_fingerpad_collision" />
                 </body>
             </body>
             <body name="right_inner_knuckle" pos="-0.0127 -1.01133e-05 -0.122945" quat="-0.644556 0.290085 0.290316 -0.64507">
diff --git a/robosuite/models/assets/grippers/robotiq_gripper_85.xml b/robosuite/models/assets/grippers/robotiq_gripper_85.xml
index 1e1bab659a..35daf132f2 100644
--- a/robosuite/models/assets/grippers/robotiq_gripper_85.xml
+++ b/robosuite/models/assets/grippers/robotiq_gripper_85.xml
@@ -39,7 +39,7 @@
             <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />
 
             <!-- This site was added for visualization. -->
-            <site name="grip_site" pos="0 0 0.145" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
+            <site name="grip_site" pos="0 0 0.145" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
             <!-- This site was added for visualization. -->
             <site name="grip_site_cylinder" pos="0 0 0.145" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
 
@@ -60,6 +60,7 @@
                     <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger" name="left_inner_finger_collision" solref="0.01 0.25" />
                     <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
                     <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" group="0" rgba="0.9 0.9 0.9 1" name="left_fingertip_collision" solref="0.01 0.25" />
+                    <geom size="0.010 0.001 0.01675" pos="0 -0.0245203 0.03242" type="box" group="0" name="left_fingerpad_collision" />
                 </body>
             </body>
             <body name="left_inner_knuckle" pos="0 -0.0127 0.06142" quat="0 0 0 1">
@@ -82,6 +83,7 @@
                     <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger" name="right_inner_finger_collision" solref="0.01 0.25" />
                     <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
                     <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" group="0" rgba="0.9 0.9 0.9 1" name="right_fingertip_collision" solref="0.01 0.25" />
+                    <geom size="0.010 0.001 0.01675" pos="0 -0.0245203 0.03242" type="box" group="0" name="right_fingerpad_collision" />
                 </body>
             </body>
             <body name="right_inner_knuckle" pos="0 0.0127 0.06142">
diff --git a/robosuite/models/assets/grippers/robotiq_gripper_s.xml b/robosuite/models/assets/grippers/robotiq_gripper_s.xml
index ae124bf920..61020240d3 100644
--- a/robosuite/models/assets/grippers/robotiq_gripper_s.xml
+++ b/robosuite/models/assets/grippers/robotiq_gripper_s.xml
@@ -65,28 +65,13 @@
         <position name='middle_finger'  ctrllimited="true" kp="20" joint='finger_middle_joint_1' ctrlrange='0 1.2217'  />
         <position name='finger_scissor' ctrllimited="true" kp="20" joint='palm_finger_1_joint' ctrlrange="-0.29 0.29"  />
     </actuator>
-    <!--
-    <actuator>
-        <position ctrllimited="true" ctrlrange="-0.16 0.25" joint="palm_finger_1_joint" kp="20" name="palm_finger_1_joint" forcelimited="true" forcerange="-500 500"/>
-        <position ctrllimited="true" ctrlrange="0 3.1416" joint="finger_1_joint_1" kp="2" name="finger_1_joint_1" forcelimited="true" forcerange="-20 20"/>
-        <position ctrllimited="true" ctrlrange="0 3.1416" joint="finger_1_joint_2" kp="2" name="finger_1_joint_2" forcelimited="true" forcerange="-20 20"/>
-        <position ctrllimited="true" ctrlrange="0 3.1416" joint="finger_1_joint_3" kp="2" name="finger_1_joint_3" forcelimited="true" forcerange="-20 20"/>
-        <position ctrllimited="true" ctrlrange="-0.16 0.25" joint="palm_finger_2_joint" kp="20" name="palm_finger_2_joint" forcelimited="true" forcerange="-500 500"/>
-        <position ctrllimited="true" ctrlrange="0 3.1416" joint="finger_2_joint_1" kp="2" name="finger_2_joint_1" forcelimited="true" forcerange="-20 20"/>
-        <position ctrllimited="true" ctrlrange="0 3.1416" joint="finger_2_joint_2" kp="2" name="finger_2_joint_2" forcelimited="true" forcerange="-20 20"/>
-        <position ctrllimited="true" ctrlrange="0 3.1416" joint="finger_2_joint_3" kp="2" name="finger_2_joint_3" forcelimited="true" forcerange="-20 20"/>
-        <position ctrllimited="true" ctrlrange="0 3.1416" joint="finger_middle_joint_1" kp="2" name="finger_middle_joint_1" forcelimited="true" forcerange="-20 20"/>
-        <position ctrllimited="true" ctrlrange="0 3.1416" joint="finger_middle_joint_2" kp="2" name="finger_middle_joint_2" forcelimited="true" forcerange="-20 20"/>
-        <position ctrllimited="true" ctrlrange="0 3.1416" joint="finger_middle_joint_3" kp="2" name="finger_middle_joint_3" forcelimited="true" forcerange="-20 20"/>
-    </actuator>
-    -->
     <worldbody>
         <body name="palm" pos="0 0 0.045" quat="0.49921826 0.50133955 0.50133955 0.49921826" >
             <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
             <inertial pos="-0.00134236 0.00263073 -1.01672e-08" quat="0.489887 0.489849 0.509908 0.509954" mass="1.20044" diaginertia="0.00263541 0.00218876 0.00210987" />
             <geom name="palm_visual" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="palm_vis" />
-            <geom name="palm" contype="0" type="mesh"  group="0"rgba="0 0 0 1" mesh="palm" />
-            <site name="grip_site" pos="0 0.1 0" size="0.01" rgba="1 0 0 1" type="sphere" group="1"/>
+            <geom name="palm" contype="0" type="mesh"  group="0" rgba="0 0 0 1" mesh="palm" />
+            <site name="grip_site" pos="0 0.15 0" size="0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
             <site name="grip_site_cylinder" quat="0 0 0.707 0.707" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
             <body name="finger_1_link_0" pos="-0.0455 0.0214 0.036" quat="-2.59838e-06 0.706825 0.707388 2.59631e-06">
                 <inertial pos="-0.0381134 0.026928 0.0359997" quat="0.0835458 0.702169 -0.0835699 0.702136" mass="0.0494545" diaginertia="1.39633e-05 1.10443e-05 9.98401e-06" />
@@ -109,7 +94,8 @@
                             <joint damping="0.03" name="finger_1_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
                             <geom name="f1_l3_vis" quat="0.96639 0 0 0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link_3_vis" />
                             <geom name="f1_l3" quat="0.96639 0 0 0.257081" type="mesh" rgba="1 1 1 1" group="0" mesh="link_3" />
-                            <geom type="box" group="0" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="f1_pad_collision" />
+                            <geom type="box" group="0" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="f1_tip_collision" />
+                            <geom type="box" group="0" pos="0.017 0.019 0" quat="0.9659258 0 0 0.258819" size="0.011 0.001 0.012" name="f1_pad_collision" />
                         </body>
                     </body>
                 </body>
@@ -135,7 +121,8 @@
                             <joint damping="0.03" name="finger_2_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
                             <geom quat="0.96639 0 0 0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link_3_vis" />
                             <geom name="f2_l3" quat="0.96639 0 0 0.257081" type="mesh" rgba="1 1 1 1" group="0" mesh="link_3" />
-                            <geom type="box" group="0" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="f2_pad_collision" />
+                            <geom type="box" group="0" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="f2_tip_collision" />
+                            <geom type="box" group="0" pos="0.017 0.019 0" quat="0.9659258 0 0 0.258819" size="0.011 0.001 0.012" name="f2_pad_collision" />
                         </body>
                     </body>
                 </body>
@@ -160,7 +147,8 @@
                             <joint damping="0.03" name="finger_middle_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
                             <geom quat="0.96639 0 0 0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link_3_vis" />
                             <geom  name="f3_l3" quat="0.96639 0 0 0.257081" type="mesh" rgba="1 1 1 1" group="0" mesh="link_3" />
-                            <geom type="box" group="0" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="finger_middle_pad_collision" />
+                            <geom type="box" group="0" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="finger_middle_tip_collision" />
+                            <geom type="box" group="0" pos="0.017 0.019 0" quat="0.9659258 0 0 0.258819" size="0.011 0.001 0.012" name="finger_middle_pad_collision" />
                         </body>
                     </body>
                 </body>
diff --git a/robosuite/models/assets/grippers/wiping_gripper.xml b/robosuite/models/assets/grippers/wiping_gripper.xml
index 65a098082d..e9363ebc19 100644
--- a/robosuite/models/assets/grippers/wiping_gripper.xml
+++ b/robosuite/models/assets/grippers/wiping_gripper.xml
@@ -52,7 +52,7 @@
             <geom type="box" group="0" pos="-0.055 0.0 0.0" size="0.005 0.03 0.005" name="wiping_surface1gx" solimp="0.001 0.3 0.01" solmix="10000" solref="0.05 1" rgba="0.25 0.25 0.25 1" friction="0.001 0.005 0.0001"/>
 
             <!-- This site was added for visualization. -->
-            <site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0" type="sphere" group="0"/>
+            <site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="0"/>
             <!-- This site was added for visualization. -->
             <site name="grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0" type="cylinder" group="0"/>
         </body>
diff --git a/robosuite/models/assets/objects/bread-visual.xml b/robosuite/models/assets/objects/bread-visual.xml
index cfc2a21ad9..ff20060006 100644
--- a/robosuite/models/assets/objects/bread-visual.xml
+++ b/robosuite/models/assets/objects/bread-visual.xml
@@ -1,5 +1,7 @@
 <mujoco model="bread-visual">
-  <!-- note: the mesh needed for this object is defined in bread.xml -->
+  <asset>
+    <mesh file="meshes/bread.stl" name="bread_mesh" scale="0.8 0.8 0.8"/>
+  </asset>
   <worldbody>
     <body>
       <body name="object">
diff --git a/robosuite/models/assets/objects/can-visual.xml b/robosuite/models/assets/objects/can-visual.xml
index 49665439d2..5c9d905ae8 100644
--- a/robosuite/models/assets/objects/can-visual.xml
+++ b/robosuite/models/assets/objects/can-visual.xml
@@ -1,5 +1,7 @@
 <mujoco model="can-visual">
-  <!-- note: the mesh needed for this object is defined in can.xml -->
+  <asset>
+    <mesh file="meshes/can.stl" name="can_mesh"/>
+  </asset>
   <worldbody>
     <body>
       <body name="object">
diff --git a/robosuite/models/assets/objects/cereal-visual.xml b/robosuite/models/assets/objects/cereal-visual.xml
index db8e7d9977..eb399031e2 100644
--- a/robosuite/models/assets/objects/cereal-visual.xml
+++ b/robosuite/models/assets/objects/cereal-visual.xml
@@ -1,5 +1,7 @@
 <mujoco model="cereal-visual">
-  <!-- note: the mesh needed for this object is defined in cereal.xml -->
+  <asset>
+    <mesh file="meshes/cereal.stl" name="cereal_mesh"/>
+  </asset>
   <worldbody>
     <body>
       <body name="object">
diff --git a/robosuite/models/assets/objects/door.xml b/robosuite/models/assets/objects/door.xml
index 2041c63b49..5ef1c5a685 100644
--- a/robosuite/models/assets/objects/door.xml
+++ b/robosuite/models/assets/objects/door.xml
@@ -12,7 +12,7 @@
     <material name="MatLightWood" texture="light-wood" texrepeat="3 3" specular="0.4" shininess="0.1" />
   </asset>
     <worldbody>
-      <body name="door_body">
+      <body>
         <body name="object">
           <body name="frame" pos="0 0.22 0" quat="0.707388 0 0 -0.706825">
               <inertial pos="0.3 0 0" quat="0.5 0.5 0.5 0.5" mass="7.85398" diaginertia="0.923301 0.764585 0.168533" />
@@ -20,14 +20,14 @@
               <geom size="0.03 0.3" pos="0.045 0 0" type="cylinder" rgba="1 1 1 1" group="1" name="l_frame"/>
               <body name="door" pos="0.3 0 0">
                   <inertial pos="0.0296816 -0.00152345 0" quat="0.701072 0 0 0.713091" mass="2.43455" diaginertia="0.0913751 0.0521615 0.043714" />
-                  <joint name="door_hinge" pos="0.255 0 0" axis="0 0 1" range="0.0 0.4" damping="1" frictionloss="1" limited="true"/>
-                  <geom size="0.22 0.02 .29" type="box" friction="1 1 1" group="1" name="door_box" material="MatDarkWood"/>
+                  <joint name="hinge" pos="0.255 0 0" axis="0 0 1" range="0.0 0.4" damping="1" frictionloss="1" limited="true"/>
+                  <geom size="0.22 0.02 .29" type="box" friction="1 1 1" group="1" name="panel" material="MatDarkWood"/>
                   <body name="latch" pos="-0.175 0 -0.025">
                       <inertial pos="-0.017762 0.0138544 0" quat="0.365653 0.605347 -0.36522 0.605365" mass="0.1" diaginertia="0.0483771 0.0410001 0.0111013" />
                       <geom fromto="0 0 0 0 -0.125 0" size="0.025" type="cylinder" group="1" name="handle_base" material="MatMetal"/>
                       <geom size="0.075 0.015 0.02" pos="0.075 -0.10 0" type="box" group="1" name="handle" material="MatMetal"/>
                       <!-- Don't render the door handle site by default -->
-                      <site name="door_handle" pos="0.125 -0.10 0" size="0.02" rgba="0 0 1 0" />
+                      <site name="handle" pos="0.125 -0.10 0" size="0.02" rgba="0 0 1 0" />
                   </body>
               </body>
           </body>
diff --git a/robosuite/models/assets/objects/door_lock.xml b/robosuite/models/assets/objects/door_lock.xml
index 7f9a2ade7d..5337073f3c 100644
--- a/robosuite/models/assets/objects/door_lock.xml
+++ b/robosuite/models/assets/objects/door_lock.xml
@@ -12,7 +12,7 @@
     <material name="MatLightWood" texture="light-wood" texrepeat="3 3" specular="0.4" shininess="0.1" />
   </asset>
     <worldbody>
-      <body name="door_body">
+      <body>
         <body name="object">
           <body name="frame" pos="0 0.22 0" quat="0.707388 0 0 -0.706825">
               <inertial pos="0.3 0 0" quat="0.5 0.5 0.5 0.5" mass="7.85398" diaginertia="0.923301 0.764585 0.168533" />
@@ -20,8 +20,8 @@
               <geom size="0.03 0.3" pos="0.045 0 0" type="cylinder" rgba="1 1 1 1" group="0" name="l_frame"/>
               <body name="door" pos="0.3 0 0">
                   <inertial pos="0.0296816 -0.00152345 0" quat="0.701072 0 0 0.713091" mass="2.43455" diaginertia="0.0913751 0.0521615 0.043714" />
-                  <joint name="door_hinge" pos="0.255 0 0" axis="0 0 1" range="0.0 0.4" damping="1" frictionloss="1" limited="true"/>
-                  <geom size="0.22 0.02 .29" type="box" friction="1 1 1" group="0" name="door_box" material="MatDarkWood"/>
+                  <joint name="hinge" pos="0.255 0 0" axis="0 0 1" range="0.0 0.4" damping="1" frictionloss="1" limited="true"/>
+                  <geom size="0.22 0.02 .29" type="box" friction="1 1 1" group="0" name="panel" material="MatDarkWood"/>
                   <body name="latch" pos="-0.175 0 -0.025">
                       <inertial pos="-0.017762 0.0138544 0" quat="0.365653 0.605347 -0.36522 0.605365" mass="0.1" diaginertia="0.0483771 0.0410001 0.0111013" />
                       <joint name="latch_joint" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" frictionloss="0.1" damping="0" limited="true" springref="0" stiffness="1" />
@@ -30,7 +30,7 @@
                       <geom size="0.025 0.0125 0.03125" pos="-0.03125 0.05 0" quat="0.707388 0 0.706825 0" type="box" group="0" name="latch" material="MatMetal"/>
                       <geom size="0.025 0.0125" pos="-0.0625 0.05 0" quat="0.707388 0.706825 0 0" type="cylinder" group="0" name="latch_tip" material="MatMetal"/>
                       <!-- Don't render the door handle site by default -->
-                      <site name="door_handle" pos="0.125 -0.10 0" size="0.02" rgba="0 0 1 0" />
+                      <site name="handle" pos="0.125 -0.10 0" size="0.02" rgba="0 0 1 0" />
                   </body>
               </body>
           </body>
diff --git a/robosuite/models/assets/objects/milk-visual.xml b/robosuite/models/assets/objects/milk-visual.xml
index 1670572737..0b92a03fd6 100644
--- a/robosuite/models/assets/objects/milk-visual.xml
+++ b/robosuite/models/assets/objects/milk-visual.xml
@@ -1,5 +1,7 @@
 <mujoco model="milk-visual">
-  <!-- note: the mesh needed for this object is defined in milk.xml -->
+  <asset>
+    <mesh file="meshes/milk.stl" name="milk_mesh" scale="0.9 0.9 0.9"/>
+  </asset>
   <worldbody>
     <body>
       <body name="object">
diff --git a/robosuite/models/assets/objects/round-nut.xml b/robosuite/models/assets/objects/round-nut.xml
index f7984049e9..894547e5d7 100644
--- a/robosuite/models/assets/objects/round-nut.xml
+++ b/robosuite/models/assets/objects/round-nut.xml
@@ -1,5 +1,8 @@
 <mujoco model="round-nut">
-  <!-- Note: Texture / material is defined in the PegsArena xml file! -->
+  <asset>
+    <texture file="../textures/steel-scratched.png" type="cube" name="steel-metal"/>
+    <material name="smetal" reflectance="1.0" shininess="1.0" specular="1.0" texrepeat="1 1" texture="steel-metal" texuniform="true"/>
+  </asset>
   <worldbody>
     <body>
       <body name="object">
@@ -12,6 +15,8 @@
         <geom pos="0.03 -0.03 0.0" size="0.0225 0.01125 0.01" axisangle='0 0 1 0.785398' type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
         <geom pos="-0.03 0.03 0.0" size="0.0225 0.01125 0.01" axisangle='0 0 1 0.785398' type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
         <geom pos="0.06 0 0.0" size="0.02525 0.015875 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="smetal" />
+        <site rgba="1 0 0 1" size="0.005" pos="0.06 0 0.0" name="handle_site"/>
+        <site rgba="1 0 0 1" size="0.003" pos="0 0 0" name="center_site"/>
       </body>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.05" name="bottom_site"/>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 0.025" name="top_site"/>
diff --git a/robosuite/models/assets/objects/square-nut.xml b/robosuite/models/assets/objects/square-nut.xml
index 721c551cf5..b33db2e805 100644
--- a/robosuite/models/assets/objects/square-nut.xml
+++ b/robosuite/models/assets/objects/square-nut.xml
@@ -1,5 +1,8 @@
 <mujoco model="square-nut">
-  <!-- Note: Texture / material is defined in the PegsArena xml file! -->
+  <asset>
+    <texture file="../textures/brass-ambra.png" type="cube" name="brass-metal"/>
+    <material name="bmetal"  reflectance="1.0" shininess="1.0" specular="1.0" texrepeat="1 1" texture="brass-metal" texuniform="true"/>
+  </asset>
   <worldbody>
     <body>
       <body name="object">
@@ -8,6 +11,8 @@
         <geom pos="0.0 -0.03325 0" size="0.03125 0.0105 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />
         <geom pos="0.03325 0 0" size="0.0105 0.04375 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />
         <geom pos="0.054 0 0" size="0.02525 0.015875 0.01" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4" material="bmetal" />
+        <site rgba="1 0 0 1" size="0.005" pos="0.054 0 0" name="handle_site"/>
+        <site rgba="1 0 0 1" size="0.003" pos="0 0 0" name="center_site"/>
       </body>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.05" name="bottom_site"/>
       <site rgba="0 0 0 0" size="0.005" pos="0 0 0.01" name="top_site"/>
diff --git a/robosuite/models/assets/robots/baxter/robot.xml b/robosuite/models/assets/robots/baxter/robot.xml
index d6cf46a9ef..fcb8aad549 100644
--- a/robosuite/models/assets/robots/baxter/robot.xml
+++ b/robosuite/models/assets/robots/baxter/robot.xml
@@ -87,7 +87,8 @@
         </body>
         <body name="head" pos="0.06 0 0.686">
           <inertial pos="0 0 0" quat="0.339345 0.850736 -0.347392 0.201027" mass="0.547767" diaginertia="0.00474065 0.00461087 0.00199949" />
-          <joint limited="true" damping="0" armature=".01" name="head_pan" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" />
+          <!-- Don't use head joint -->
+          <!-- <joint limited="true" damping="0" armature=".01" name="head_pan" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" /> -->
           <geom name="head_vis" margin="0.001" class="viz" material="head_mat" mesh="H0" />
           <body name="screen" pos="0.1227 0 0" quat="0.453099 0.542864 0.542864 0.453099">
             <inertial pos="0 0 0" quat="0.995785 0.0113501 -0.000390852 0.0910132" mass="0.440171" diaginertia="0.0040484 0.00275826 0.00150834" />
diff --git a/robosuite/models/assets/robots/panda/robot.xml b/robosuite/models/assets/robots/panda/robot.xml
index 25039f4754..8c1a24c0a1 100644
--- a/robosuite/models/assets/robots/panda/robot.xml
+++ b/robosuite/models/assets/robots/panda/robot.xml
@@ -39,81 +39,80 @@
         <material name="arm_mat" texture="arm_tex"/>
     </asset>
     <worldbody>
-        <body name="link0" pos="0 0 0">
-            <body name="base" pos="0 0 0">
-
-                <!-- robot view -->
-                <camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
-                <inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
-                <body name="controller_box" pos="0 0 0">
-                    <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38"/>
-                    <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="controller_box_col"/>
-                </body>
-                <body name="pedestal_feet" pos="0 0 0">
-                    <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758"/>
-                    <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="pedestal_feet_col"/>
-                </body>
-                <body name="torso" pos="0 0 0">
-                    <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
-                    <geom conaffinity="0" contype="0" group="1" pos="0 0 -0.05" size="0.05 0.05 0.05" type="box" name="torso_col" material="torso_mat"/>
-                </body>
-                <body name="pedestal" pos="0 0 0">
-                    <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692"/>
-                    <geom conaffinity="0" contype="0" group="1" mesh="pedestal" type="mesh" name="pedestal_col1" material="pedestal_mat" />
-                    <geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" name="pedestal_col2"/>
-                </body>
+        <body name="base" pos="0 0 0">
+            <!-- robot view -->
+            <camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
+            <inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
+            <body name="controller_box" pos="0 0 0">
+                <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38"/>
+                <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="controller_box_col"/>
+            </body>
+            <body name="pedestal_feet" pos="0 0 0">
+                <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758"/>
+                <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="pedestal_feet_col"/>
+            </body>
+            <body name="torso" pos="0 0 0">
+                <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
+                <geom conaffinity="0" contype="0" group="1" pos="0 0 -0.05" size="0.05 0.05 0.05" type="box" name="torso_col" material="torso_mat"/>
+            </body>
+            <body name="pedestal" pos="0 0 0">
+                <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692"/>
+                <geom conaffinity="0" contype="0" group="1" mesh="pedestal" type="mesh" name="pedestal_col1" material="pedestal_mat" />
+                <geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" name="pedestal_col2"/>
             </body>
-            <inertial pos="0 0 0.05" mass="4" diaginertia="0.4 0.4 0.4" />
-            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link0_vis" name="link0_visual" material="arm_mat"/>
-            <geom type="mesh" group="0" mesh="link0" name="link0_collision"/>
-            <body name="link1" pos="0 0 0.333">
-                <inertial pos="0 0 -0.07" mass="3" diaginertia="0.3 0.3 0.3" />
-                <joint name="joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
-                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link1_vis" name="link1_visual" material="arm_mat"/>
-                <geom type="mesh" group="0" mesh="link1" name="link1_collision"/>
-                <body name="link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
-                    <inertial pos="0 -0.1 0" mass="3" diaginertia="0.3 0.3 0.3" />
-                    <joint name="joint2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.7628 1.7628" damping="0.1"/>
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link2_vis" name="link2_visual" material="arm_mat"/>
-                    <geom type="mesh" group="0" mesh="link2" name="link2_collision"/>
-                    <body name="link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
-                        <inertial pos="0.04 0 -0.05" mass="2" diaginertia="0.2 0.2 0.2" />
-                        <joint name="joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
-                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link3_vis" name="link3_visual" material="arm_mat"/>
-                        <geom type="mesh" group="0" mesh="link3" name="link3_collision"/>
-                        <body name="link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
-                            <inertial pos="-0.04 0.05 0" mass="2" diaginertia="0.2 0.2 0.2" />
-                            <joint name="joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0718 -0.0698" damping="0.1"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link4_vis" name="link4_visual" material="arm_mat"/>
-                            <geom type="mesh" group="0" mesh="link4" name="link4_collision"/>
-                            <body name="link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
-                                <inertial pos="0 0 -0.15" mass="2" diaginertia="0.2 0.2 0.2" />
-                                <joint name="joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link5_vis" name="link5_visual" material="arm_mat"/>
-                                <geom type="mesh" group="0" mesh="link5" name="link5_collision"/>
-                                <body name="link6" pos="0 0 0" quat="0.707107 0.707107 0 0">
-                                    <inertial pos="0.06 0 0" mass="1.5" diaginertia="0.1 0.1 0.1" />
-                                    <joint name="joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-0.0175 3.7525" damping="0.01"/>
-                                    <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link6_vis" name="link6_visual" material="arm_mat"/>
-                                    <geom type="mesh" group="0" mesh="link6" name="link6_collision"/>
-                                    <body name="link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
-                                        <inertial pos="0 0 0.08" mass="0.5" diaginertia="0.05 0.05 0.05" />
-                                        <joint name="joint7" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.01"/>
-                                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link7_vis" name="link7_visual" material="arm_mat"/>
-                                        <geom type="mesh" group="0" mesh="link7" name="link7_collision"/>
-                                        <!-- rotate 135deg to align physically to the tool-->
-                                        <body name="right_hand" pos="0 0 0.1065" quat="0.924 0 0 -0.383">
-                                            <inertial pos="0 0 0" mass="0.5" diaginertia="0.05 0.05 0.05" />
-                                            <!-- This sites were added for visualization. They are all standardized between models-->
-                                            <!-- Position mimics the gripper attachment point (right_hand) -->
-                                            <!--  Y-axis should be perpendicular to grasping motion, and Z-axis should point out of the robot eef -->
-                                            <site name="ee" pos="0 0 0" size="0.01 0.01 0.01" rgba="0 0 1 1" type="sphere" group="1"/>
-                                            <site name="ee_x" pos="0 0 0" size="0.005 .1"  quat="0.707105 0.707108 0 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
-                                            <site name="ee_z" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0 0.707108" rgba="0 0 1 0" type="cylinder" group="1"/>
-                                            <site name="ee_y" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="0 1 0 0" type="cylinder" group="1"/>
-                                            <!-- This camera points out from the eef. -->
-                                            <camera mode="fixed" name="eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75"/>
-                                            <!-- to add gripper -->
+            <body name="link0" pos="0 0 0">
+                <inertial pos="0 0 0.05" mass="4" diaginertia="0.4 0.4 0.4" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link0_vis" name="link0_visual" material="arm_mat"/>
+                <geom type="mesh" group="0" mesh="link0" name="link0_collision"/>
+                <body name="link1" pos="0 0 0.333">
+                    <inertial pos="0 0 -0.07" mass="3" diaginertia="0.3 0.3 0.3" />
+                    <joint name="joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link1_vis" name="link1_visual" material="arm_mat"/>
+                    <geom type="mesh" group="0" mesh="link1" name="link1_collision"/>
+                    <body name="link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
+                        <inertial pos="0 -0.1 0" mass="3" diaginertia="0.3 0.3 0.3" />
+                        <joint name="joint2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.7628 1.7628" damping="0.1"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link2_vis" name="link2_visual" material="arm_mat"/>
+                        <geom type="mesh" group="0" mesh="link2" name="link2_collision"/>
+                        <body name="link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
+                            <inertial pos="0.04 0 -0.05" mass="2" diaginertia="0.2 0.2 0.2" />
+                            <joint name="joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link3_vis" name="link3_visual" material="arm_mat"/>
+                            <geom type="mesh" group="0" mesh="link3" name="link3_collision"/>
+                            <body name="link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
+                                <inertial pos="-0.04 0.05 0" mass="2" diaginertia="0.2 0.2 0.2" />
+                                <joint name="joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0718 -0.0698" damping="0.1"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link4_vis" name="link4_visual" material="arm_mat"/>
+                                <geom type="mesh" group="0" mesh="link4" name="link4_collision"/>
+                                <body name="link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
+                                    <inertial pos="0 0 -0.15" mass="2" diaginertia="0.2 0.2 0.2" />
+                                    <joint name="joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
+                                    <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link5_vis" name="link5_visual" material="arm_mat"/>
+                                    <geom type="mesh" group="0" mesh="link5" name="link5_collision"/>
+                                    <body name="link6" pos="0 0 0" quat="0.707107 0.707107 0 0">
+                                        <inertial pos="0.06 0 0" mass="1.5" diaginertia="0.1 0.1 0.1" />
+                                        <joint name="joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-0.0175 3.7525" damping="0.01"/>
+                                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link6_vis" name="link6_visual" material="arm_mat"/>
+                                        <geom type="mesh" group="0" mesh="link6" name="link6_collision"/>
+                                        <body name="link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
+                                            <inertial pos="0 0 0.08" mass="0.5" diaginertia="0.05 0.05 0.05" />
+                                            <joint name="joint7" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.01"/>
+                                            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link7_vis" name="link7_visual" material="arm_mat"/>
+                                            <geom type="mesh" group="0" mesh="link7" name="link7_collision"/>
+                                            <!-- rotate 135deg to align physically to the tool-->
+                                            <body name="right_hand" pos="0 0 0.1065" quat="0.924 0 0 -0.383">
+                                                <inertial pos="0 0 0" mass="0.5" diaginertia="0.05 0.05 0.05" />
+                                                <!-- This sites were added for visualization. They are all standardized between models-->
+                                                <!-- Position mimics the gripper attachment point (right_hand) -->
+                                                <!--  Y-axis should be perpendicular to grasping motion, and Z-axis should point out of the robot eef -->
+                                                <site name="ee" pos="0 0 0" size="0.01 0.01 0.01" rgba="0 0 1 1" type="sphere" group="1"/>
+                                                <site name="ee_x" pos="0 0 0" size="0.005 .1"  quat="0.707105 0.707108 0 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
+                                                <site name="ee_z" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0 0.707108" rgba="0 0 1 0" type="cylinder" group="1"/>
+                                                <site name="ee_y" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="0 1 0 0" type="cylinder" group="1"/>
+                                                <!-- This camera points out from the eef. -->
+                                                <camera mode="fixed" name="eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75"/>
+                                                <!-- to add gripper -->
+                                            </body>
                                         </body>
                                     </body>
                                 </body>
diff --git a/robosuite/models/base.py b/robosuite/models/base.py
index 4adff3528e..e9c8885d6f 100644
--- a/robosuite/models/base.py
+++ b/robosuite/models/base.py
@@ -2,10 +2,9 @@
 import xml.dom.minidom
 import xml.etree.ElementTree as ET
 import io
-import numpy as np
 
 from robosuite.utils import XMLError
-from robosuite.utils.mjcf_utils import array_to_string
+from robosuite.utils.mjcf_utils import array_to_string, find_elements
 
 
 class MujocoXML(object):
@@ -33,7 +32,12 @@ def __init__(self, fname):
         self.tendon = self.create_default_element("tendon")
         self.equality = self.create_default_element("equality")
         self.contact = self.create_default_element("contact")
-        self.default = self.create_default_element("default")
+
+        # Parse any default classes and replace them inline
+        default = self.create_default_element("default")
+        default_classes = self._get_default_classes(default)
+        self._replace_defaults_inline(default_dic=default_classes)
+
         self.resolve_asset_dependency()
 
     def resolve_asset_dependency(self):
@@ -65,7 +69,7 @@ def create_default_element(self, name):
         self.root.append(ele)
         return ele
 
-    def merge(self, others, merge_body=True):
+    def merge(self, others, merge_body="default"):
         """
         Default merge method.
 
@@ -73,7 +77,9 @@ def merge(self, others, merge_body=True):
             others (MujocoXML or list of MujocoXML): other xmls to merge into this one
                 raises XML error if @others is not a MujocoXML instance.
                 merges <worldbody/>, <actuator/> and <asset/> of @others into @self
-            merge_body (bool): True if merging child bodies of @others
+            merge_body (None or str): If set, will merge child bodies of @others. Default is "default", which
+                corresponds to the root worldbody for this XML. Otherwise, should be an existing body name
+                that exists in this XML.
 
         Raises:
             XMLError: [Invalid XML instance]
@@ -83,9 +89,11 @@ def merge(self, others, merge_body=True):
         for idx, other in enumerate(others):
             if not isinstance(other, MujocoXML):
                 raise XMLError("{} is not a MujocoXML instance.".format(type(other)))
-            if merge_body:
+            if merge_body is not None:
+                root = self.worldbody if merge_body == "default" else \
+                    find_elements(root=self.worldbody, tags="body", attribs={"name": merge_body}, return_first=True)
                 for body in other.worldbody:
-                    self.worldbody.append(body)
+                    root.append(body)
             self.merge_asset(other)
             for one_actuator in other.actuator:
                 self.actuator.append(one_actuator)
@@ -97,8 +105,6 @@ def merge(self, others, merge_body=True):
                 self.equality.append(one_equality)
             for one_contact in other.contact:
                 self.contact.append(one_contact)
-            for one_default in other.default:
-                self.default.append(one_default)
 
     def get_model(self, mode="mujoco_py"):
         """
@@ -159,7 +165,7 @@ def merge_asset(self, other):
         Merges other files in a custom logic.
 
         Args:
-            other (MujocoXML): other xml file whose assets will be merged into this one
+            other (MujocoXML or MujocoObject): other xml file whose assets will be merged into this one
         """
         for asset in other.asset:
             asset_name = asset.get("name")
@@ -196,8 +202,8 @@ def add_prefix(self,
 
         Args:
             prefix (str): Prefix to be appended to all requested elements in this XML
-            tags (list or tuple): Tags to be searched in the XML. All elements with specified tags will have "prefix"
-                prepended to it
+            tags (list or tuple or set): Tags to be searched in the XML. All elements with specified tags will have
+                "prefix" prepended to it
         """
         # Define tags as a set
         tags = set(tags)
@@ -263,8 +269,8 @@ def _add_prefix_recursively(self, root, tags, prefix):
         Args:
             root (ET.Element): Root of the xml element tree to start recursively searching through
                 (e.g.: `self.worldbody`)
-            tags (list or tuple): Tags to be searched in the XML. All elements with specified tags will have "prefix"
-                prepended to it
+            tags (list or tuple or set): Tags to be searched in the XML. All elements with specified tags will have
+                "prefix" prepended to it
             prefix (str): Prefix to be appended to all requested elements in this XML
         """
         # First re-name this element
@@ -294,7 +300,8 @@ def recolor_collision_geoms(self, rgba):
     def _recolor_collision_geoms_recursively(self, root, rgba):
         """
         Iteratively searches through all children nodes in "root" element to find all geoms belonging to group 0 and set
-        the corresponding rgba value to the specified @rgba argument.
+        the corresponding rgba value to the specified @rgba argument. Note: also removes any material values for this
+        model.
 
         Args:
             root (ET.Element): Root of the xml element tree to start recursively searching through
@@ -303,4 +310,203 @@ def _recolor_collision_geoms_recursively(self, root, rgba):
         for child in root:
             if child.tag == "geom" and child.get("group") in {None, "0"}:
                 child.set("rgba", array_to_string(rgba))
-            self._recolor_collision_geoms_recursively(child, rgba)
\ No newline at end of file
+                child.attrib.pop("material", None)
+
+            self._recolor_collision_geoms_recursively(child, rgba)
+
+    @staticmethod
+    def _get_default_classes(default):
+        """
+        Utility method to convert all default tags into a nested dictionary of values -- this will be used to replace
+        all elements' class tags inline with the appropriate defaults if not specified.
+
+        Args:
+            default (ET.Element): Nested default tag XML root.
+
+        Returns:
+            dict: Nested dictionary, where each default class name is mapped to its own dict mapping element tag names
+                (e.g.: geom, site, etc.) to the set of default attributes for that tag type
+        """
+        # Create nested dict to return
+        default_dic = {}
+        # Parse the default tag accordingly
+        for cls in default:
+            default_dic[cls.get("class")] = {child.tag: child for child in cls}
+        return default_dic
+
+    def _replace_defaults_inline(self, default_dic, root=None):
+        """
+        Utility method to replace all default class attributes recursively in the XML tree starting from @root
+        with the corresponding defaults in @default_dic if they are not explicitly specified for ta given element.
+
+        Args:
+            root (ET.Element): Root of the xml element tree to start recursively replacing defaults. Only is used by
+                recursive calls
+            default_dic (dict): Nested dictionary, where each default class name is mapped to its own dict mapping
+                element tag names (e.g.: geom, site, etc.) to the set of default attributes for that tag type
+        """
+        # If root is None, this is the top level call -- replace root with self.root
+        if root is None:
+            root = self.root
+        # Check this current element if it contains any class elements
+        cls_name = root.attrib.pop("class", None)
+        if cls_name is not None:
+            # If the tag for this element is contained in our default dic, we add any defaults that are not
+            # explicitly specified in this
+            tag_attrs = default_dic[cls_name].get(root.tag, None)
+            if tag_attrs is not None:
+                for k, v in tag_attrs.items():
+                    if root.get(k, None) is None:
+                        root.set(k, v)
+        # Loop through all child elements
+        for child in root:
+            self._replace_defaults_inline(default_dic=default_dic, root=child)
+
+
+class MujocoModel(object):
+    """
+    Base class for all simulation models used in mujoco.
+
+    Standardizes core API for accessing models' relevant geoms, names, etc.
+    """
+    def correct_naming(self, names):
+        """
+        Corrects all strings in @names by adding the naming prefix to it and returns the name-corrected values
+
+        Args:
+            names (str, list, or dict): Name(s) to be corrected
+
+        Raises:
+            TypeError: [Invalid input type]
+        """
+        if type(names) is str:
+            return self.naming_prefix + names
+        elif type(names) is list:
+            return [self.naming_prefix + name for name in names]
+        elif type(names) is dict:
+            names = names.copy()
+            for key, val in names.items():
+                names[key] = self.correct_naming(val)
+            return names
+        else:
+            # Assumed to be type error
+            raise TypeError("Error: type of 'names' must be str, list, or dict!")
+
+    def set_sites_visibility(self, sim, visible):
+        """
+        Set all site visual states for this model.
+
+        Args:
+            sim (MjSim): Current active mujoco simulation instance
+            visible (bool): If True, will visualize model sites. Else, will hide the sites.
+        """
+        # Loop through all visualization geoms and set their alpha values appropriately
+        for vis_g in self.sites:
+            vis_g_id = sim.model.site_name2id(vis_g)
+            if (visible and sim.model.site_rgba[vis_g_id][3] < 0) or \
+                    (not visible and sim.model.site_rgba[vis_g_id][3] > 0):
+                # We toggle the alpha value
+                sim.model.site_rgba[vis_g_id][3] = -sim.model.site_rgba[vis_g_id][3]
+
+    @property
+    def naming_prefix(self):
+        """
+        Generates a standardized prefix to prevent naming collisions
+
+        Returns:
+            str: Prefix unique to this model.
+        """
+        raise NotImplementedError
+
+    @property
+    def root_body(self):
+        """
+        Root body name for this model. This should correspond to the top-level body element in the equivalent mujoco xml
+        tree for this object.
+        """
+        raise NotImplementedError
+
+    @property
+    def bodies(self):
+        """
+        Returns:
+            list: Body names for this model
+        """
+        raise NotImplementedError
+
+    @property
+    def joints(self):
+        """
+        Returns:
+            list: Joint names for this model
+        """
+        raise NotImplementedError
+
+    @property
+    def actuators(self):
+        """
+        Returns:
+            list: Actuator names for this model
+        """
+        raise NotImplementedError
+
+    @property
+    def sites(self):
+        """
+        Returns:
+             list: Site names for this model
+        """
+        raise NotImplementedError
+
+    @property
+    def contact_geoms(self):
+        """
+        List of names corresponding to the geoms used to determine contact with this model.
+
+        Returns:
+            list: relevant contact geoms for this model
+        """
+        raise NotImplementedError
+
+    @property
+    def visual_geoms(self):
+        """
+        List of names corresponding to the geoms used for visual rendering of this model.
+
+        Returns:
+            list: relevant visual geoms for this model
+        """
+        raise NotImplementedError
+
+    @property
+    def important_geoms(self):
+        """
+        Geoms corresponding to important components of this model. String keywords should be mapped to lists of geoms.
+
+        Returns:
+            dict of list: Important set of geoms, where each set of geoms are grouped as a list and are
+            organized by keyword string entries into a dict
+        """
+        raise NotImplementedError
+
+    @property
+    def important_sites(self):
+        """
+        Dict of sites corresponding to the important site geoms (e.g.: used to aid visualization during sim).
+
+        Returns:
+            dict: Important site geoms, where each specific geom name is mapped from keyword string entries
+                in the dict
+        """
+        raise NotImplementedError
+
+    @property
+    def sensors(self):
+        """
+        Dict of sensors enabled for this model.
+
+        Returns:
+            dict: Sensors for this model, where each specific sensor name is mapped from keyword string entries
+                in the dict
+        """
+        raise NotImplementedError
diff --git a/robosuite/models/grippers/gripper_model.py b/robosuite/models/grippers/gripper_model.py
index 10139f711e..7bce77f998 100644
--- a/robosuite/models/grippers/gripper_model.py
+++ b/robosuite/models/grippers/gripper_model.py
@@ -1,12 +1,12 @@
 """
 Defines the base class of all grippers
 """
-from robosuite.models.base import MujocoXML
-from robosuite.utils.mjcf_utils import GRIPPER_COLLISION_COLOR
+from robosuite.models.base import MujocoXML, MujocoModel
+from robosuite.utils.mjcf_utils import GRIPPER_COLLISION_COLOR, sort_elements
 import numpy as np
 
 
-class GripperModel(MujocoXML):
+class GripperModel(MujocoXML, MujocoModel):
     """
     Base class for grippers
 
@@ -21,6 +21,21 @@ def __init__(self, fname, idn=0):
         # Set id number and add prefixes to all body names to prevent naming clashes
         self.idn = idn
 
+        # Parse element tree to get all relevant bodies, joints, actuators, and geom groups
+        self._elements = sort_elements(root=self.root)
+        assert len(self._elements["root_body"]) == 1, "Invalid number of root bodies found for robot model. Expected 1," \
+                                                      "got {}".format(len(self._elements["root_body"]))
+        self._elements["root_body"] = self._elements["root_body"][0]
+        self._elements["bodies"] = [self._elements["root_body"]] + self._elements["bodies"] if \
+            "bodies" in self._elements else [self._elements["root_body"]]
+        self._root_body = self._elements["root_body"].get("name")
+        self._bodies = [e.get("name") for e in self._elements.get("bodies", [])]
+        self._joints = [e.get("name") for e in self._elements.get("joints", [])]
+        self._actuators = [e.get("name") for e in self._elements.get("actuators", [])]
+        self._sites = [e.get("name") for e in self._elements.get("sites", [])]
+        self._contact_geoms = [e.get("name") for e in self._elements.get("contact_geoms", [])]
+        self._visual_geoms = [e.get("name") for e in self._elements.get("visual_geoms", [])]
+
         # Set variable to hold current action being outputted
         self.current_action = np.zeros(self.dof)
 
@@ -30,33 +45,10 @@ def __init__(self, fname, idn=0):
         # Update collision geom colors
         self.recolor_collision_geoms(GRIPPER_COLLISION_COLOR)
 
-        # Set public attributes with prefixes appended to values
-        self.joints = [self.naming_prefix + joint for joint in self._joints]
-        self.actuators = [self.naming_prefix + actuator for actuator in self._actuators]
-        self.contact_geoms = [self.naming_prefix + geom for geom in self._contact_geoms]
-        self.visualization_geoms = [self.naming_prefix + geom for geom in self._visualization_geoms]
-
         # Grab gripper offset (string -> np.array -> elements [1, 2, 3, 0] (x, y, z, w))
         self.rotation_offset = np.fromstring(self.worldbody[0].attrib.get("quat", "1 0 0 0"),
                                              dtype=np.float64, sep=" ")[[1, 2, 3, 0]]
 
-        # Loop through dict of remaining miscellaneous geoms
-        self.important_geoms = {}
-        for k, v in self._important_geoms.items():
-            self.important_geoms[k] = [self.naming_prefix + vv for vv in v]
-
-    def hide_visualization(self):
-        """
-        Hides all visualization geoms and sites.
-        This should be called before rendering to agents
-        """
-        for site_name in self.visualization_sites.values():
-            site = self.worldbody.find(".//site[@name='{}']".format(site_name))
-            site.set("rgba", "0 0 0 0")
-        for geom_name in self.visualization_geoms:
-            geom = self.worldbody.find(".//geom[@name='{}']".format(geom_name))
-            geom.set("rgba", "0 0 0 0")
-
     def format_action(self, action):
         """
         Given (-1,1) abstract control as np-array
@@ -71,26 +63,51 @@ def format_action(self, action):
     # -------------------------------------------------------------------------------------- #
     @property
     def naming_prefix(self):
-        """
-        Generates a standardized prefix to append to all xml names to prevent naming collisions
-
-        Returns:
-            str: Prefix unique to this gripper based on its ID
-        """
         return "gripper{}_".format(self.idn)
 
     @property
-    def visualization_sites(self):
+    def root_body(self):
+        return self.correct_naming(self._root_body)
+
+    @property
+    def bodies(self):
+        return self.correct_naming(self._bodies)
+
+    @property
+    def joints(self):
+        return self.correct_naming(self._joints)
+
+    @property
+    def actuators(self):
+        return self.correct_naming(self._actuators)
+
+    @property
+    def sites(self):
+        return self.correct_naming(self._sites)
+
+    @property
+    def contact_geoms(self):
+        return self.correct_naming(self._contact_geoms)
+
+    @property
+    def visual_geoms(self):
+        return self.correct_naming(self._visual_geoms)
+
+    @property
+    def important_geoms(self):
+        return self.correct_naming(self._important_geoms)
+
+    @property
+    def important_sites(self):
         """
-        Grabs a dict of sites corresponding to the geoms
-        used to aid visualization by human. (usually "site" and "cylinder")
+        Sites used to aid visualization by human. (usually "grip_site" and "grip_cylinder")
         (and should be hidden from robots)
 
         Returns:
             dict:
 
-                :`'grip_site' (str)`: Name of grip actuation intersection location site
-                :`'grip_cylinder' (str)`: Name of grip actuation z-axis location site
+                :`'grip_site'`: Name of grip actuation intersection location site
+                :`'grip_cylinder'`: Name of grip actuation z-axis location site
         """
         return {"grip_site": self.naming_prefix + "grip_site",
                 "grip_cylinder": self.naming_prefix + "grip_site_cylinder"}
@@ -98,13 +115,13 @@ def visualization_sites(self):
     @property
     def sensors(self):
         """
-        Grabs a dict of sensor names for each gripper (usually "force_ee" and "torque_ee")
+        Sensor names for each gripper (usually "force_ee" and "torque_ee")
 
         Returns:
             dict:
 
-                :`'force_ee' (str)`: Name of force eef sensor for this gripper
-                :`'torque_ee' (str)`: Name of torque eef sensor for this gripper
+                :`'force_ee'`: Name of force eef sensor for this gripper
+                :`'torque_ee'`: Name of torque eef sensor for this gripper
         """
         return {"force_ee": self.naming_prefix + "force_ee",
                 "torque_ee": self.naming_prefix + "torque_ee"}
@@ -119,11 +136,6 @@ def speed(self):
         """
         return 0.0
 
-    # -------------------------------------------------------------------------------------- #
-    # All subclasses must implement the following properties based on their respective xml's #
-    # (note: only if they exist)                                                             #
-    # -------------------------------------------------------------------------------------- #
-
     @property
     def dof(self):
         """
@@ -132,7 +144,11 @@ def dof(self):
         Returns:
             int: gripper DOF
         """
-        raise NotImplementedError
+        return len(self._actuators)
+
+    # -------------------------------------------------------------------------------------- #
+    # All subclasses must implement the following properties                                 #
+    # -------------------------------------------------------------------------------------- #
 
     @property
     def init_qpos(self):
@@ -144,56 +160,11 @@ def init_qpos(self):
         """
         raise NotImplementedError
 
-    @property
-    def _joints(self):
-        """
-        List of joint names of the gripper. Note that these are the raw string names directly pulled from
-        a gripper's corresponding XML file, NOT the adjusted name with an auto-generated naming prefix
-
-        Returns:
-            list: Raw XML joint names for this gripper
-        """
-        raise NotImplementedError
-
-    @property
-    def _actuators(self):
-        """
-        List of actuator names of the gripper. Note that these are the raw string names directly pulled from
-        a gripper's corresponding XML file, NOT the adjusted name with an auto-generated naming prefix
-
-        Returns:
-            list: Raw XML actuator names for this gripper
-        """
-        raise NotImplementedError
-
-    @property
-    def _contact_geoms(self):
-        """
-        List of names corresponding to the geoms used to determine contact with the gripper. Note that these
-        are the raw string names directly pulled from a gripper's corresponding XML file, NOT the adjusted name with
-        an auto-generated naming prefix
-
-        Returns:
-            list: Raw XML relevant contact geoms for this gripper
-        """
-        return []
-
-    @property
-    def _visualization_geoms(self):
-        """
-        List of sites corresponding to the geoms used to aid visualization by human (and should be
-        hidden from robots). Note that these are the raw string names directly pulled from a gripper's corresponding
-        XML file, NOT the adjusted name with an auto-generated naming prefix
-
-        Returns:
-            list: Raw XML relevant visualization geoms for this gripper
-        """
-        return []
-
     @property
     def _important_geoms(self):
         """
-        Geoms corresponding to important components of the gripper (by default, left_finger and right_finger).
+        Geoms corresponding to important components of the gripper (by default, left_finger, right_finger,
+        left_fingerpad, right_fingerpad).
         Note that these are the raw string names directly pulled from a gripper's corresponding XML file,
         NOT the adjusted name with an auto-generated naming prefix
 
@@ -205,6 +176,7 @@ def _important_geoms(self):
         """
         return {
             "left_finger": [],
-            "right_finger": []
+            "right_finger": [],
+            "left_fingerpad": [],
+            "right_fingerpad": [],
         }
-
diff --git a/robosuite/models/grippers/jaco_three_finger_gripper.py b/robosuite/models/grippers/jaco_three_finger_gripper.py
index 69755ccae1..afa2e6481a 100644
--- a/robosuite/models/grippers/jaco_three_finger_gripper.py
+++ b/robosuite/models/grippers/jaco_three_finger_gripper.py
@@ -20,45 +20,20 @@ def __init__(self, idn=0):
     def format_action(self, action):
         return action
 
-    @property
-    def dof(self):
-        return 3
-
     @property
     def init_qpos(self):
         return np.array([0.5, 0, 0.5, 0, 0.5, 0])
 
-    @property
-    def _joints(self):
-        return [
-            "joint_thumb", "joint_thumb_distal",
-            "joint_index", "joint_index_distal",
-            "joint_pinky", "joint_pinky_distal",
-        ]
-
-    @property
-    def _actuators(self):
-        return [
-            "thumb",
-            "index",
-            "pinky",
-        ]
-
-    @property
-    def _contact_geoms(self):
-        return [
-            "hand_collision",
-            "thumb_proximal_collision", "thumb_distal_collision", "thumb_pad_collision",
-            "index_proximal_collision", "index_distal_collision", "index_pad_collision",
-            "pinky_proximal_collision", "pinky_distal_collision", "pinky_pad_collision",
-        ]
-
     @property
     def _important_geoms(self):
         return {
-            "left_finger": ["index_proximal_collision", "index_distal_collision", "index_pad_collision",
-                            "pinky_proximal_collision", "pinky_distal_collision", "pinky_pad_collision"],
-            "right_finger": ["thumb_proximal_collision", "thumb_distal_collision", "thumb_pad_collision"]
+            "left_finger": ["index_proximal_collision", "index_distal_collision", "index_tip_collision",
+                            "pinky_proximal_collision", "pinky_distal_collision", "pinky_tip_collision",
+                            "index_tip_collision", "pinky_pad_collision"],
+            "right_finger": ["thumb_proximal_collision", "thumb_distal_collision", "thumb_tip_collision",
+                             "thumb_pad_collision"],
+            "left_fingerpad": ["index_pad_collision", "pinky_pad_collision"],
+            "right_fingerpad": ["thumb_pad_collision"]
         }
 
 
diff --git a/robosuite/models/grippers/null_gripper.py b/robosuite/models/grippers/null_gripper.py
index 58643a73c9..65b8b5037a 100644
--- a/robosuite/models/grippers/null_gripper.py
+++ b/robosuite/models/grippers/null_gripper.py
@@ -19,22 +19,6 @@ def __init__(self, idn=0):
     def format_action(self, action):
         return action
 
-    @property
-    def dof(self):
-        return 0
-
     @property
     def init_qpos(self):
         return None
-
-    @property
-    def _joints(self):
-        return []
-
-    @property
-    def _actuators(self):
-        return []
-
-    @property
-    def _contact_geoms(self):
-        return []
diff --git a/robosuite/models/grippers/panda_gripper.py b/robosuite/models/grippers/panda_gripper.py
index 26c7fe8aa9..520ed2368a 100644
--- a/robosuite/models/grippers/panda_gripper.py
+++ b/robosuite/models/grippers/panda_gripper.py
@@ -20,37 +20,17 @@ def __init__(self, idn=0):
     def format_action(self, action):
         return action
 
-    @property
-    def dof(self):
-        return 2
-
     @property
     def init_qpos(self):
         return np.array([0.020833, -0.020833])
 
-    @property
-    def _joints(self):
-        return ["finger_joint1", "finger_joint2"]
-
-    @property
-    def _actuators(self):
-        return ["gripper_finger_joint1", "gripper_finger_joint2"]
-
-    @property
-    def _contact_geoms(self):
-        return [
-            "hand_collision",
-            "finger1_collision",
-            "finger2_collision",
-            "finger1_tip_collision",
-            "finger2_tip_collision",
-        ]
-
     @property
     def _important_geoms(self):
         return {
-            "left_finger": ["finger1_tip_collision"],
-            "right_finger": ["finger2_tip_collision"],
+            "left_finger": ["finger1_collision", "finger1_pad_collision"],
+            "right_finger": ["finger2_collision", "finger2_pad_collision"],
+            "left_fingerpad": ["finger1_pad_collision"],
+            "right_fingerpad": ["finger2_pad_collision"],
         }
 
 
diff --git a/robosuite/models/grippers/rethink_gripper.py b/robosuite/models/grippers/rethink_gripper.py
index cf9f554620..739923dc82 100644
--- a/robosuite/models/grippers/rethink_gripper.py
+++ b/robosuite/models/grippers/rethink_gripper.py
@@ -20,38 +20,17 @@ def __init__(self, idn=0):
     def format_action(self, action):
         return action
 
-    @property
-    def dof(self):
-        return 2
-
     @property
     def init_qpos(self):
         return np.array([0.020833, -0.020833])
 
-    @property
-    def _joints(self):
-        return ["r_finger_joint", "l_finger_joint"]
-
-    @property
-    def _actuators(self):
-        return ["gripper_r_finger_joint", "gripper_l_finger_joint"]
-
-    @property
-    def _contact_geoms(self):
-        return [
-            "r_finger_g0",
-            "r_finger_g1",
-            "l_finger_g0",
-            "l_finger_g1",
-            "r_fingertip_g0",
-            "l_fingertip_g0",
-        ]
-
     @property
     def _important_geoms(self):
         return {
-            "left_finger": ["l_finger_g0", "l_finger_g1", "l_fingertip_g0"],
-            "right_finger": ["r_finger_g0", "r_finger_g1", "r_fingertip_g0"],
+            "left_finger": ["l_finger_g0", "l_finger_g1", "l_fingertip_g0", "l_fingerpad_g0"],
+            "right_finger": ["r_finger_g0", "r_finger_g1", "r_fingertip_g0", "r_fingerpad_g0"],
+            "left_fingerpad": ["l_fingerpad_g0"],
+            "right_fingerpad": ["r_fingerpad_g0"],
         }
 
 
diff --git a/robosuite/models/grippers/robotiq_140_gripper.py b/robosuite/models/grippers/robotiq_140_gripper.py
index 262835a777..a3f6778552 100644
--- a/robosuite/models/grippers/robotiq_140_gripper.py
+++ b/robosuite/models/grippers/robotiq_140_gripper.py
@@ -21,57 +21,27 @@ def __init__(self, idn=0):
     def format_action(self, action):
         return action
 
-    @property
-    def dof(self):
-        return 2
-
     @property
     def init_qpos(self):
         return np.array([0.012, 0.065, 0.065, -0.012, 0.065, 0.065])
 
-    @property
-    def _joints(self):
-        return ["finger_joint", "left_inner_finger_joint",
-                "left_inner_knuckle_joint", "right_outer_knuckle_joint",
-                "right_inner_finger_joint", "right_inner_knuckle_joint"]
-
-    @property
-    def _actuators(self):
-        return [
-            "finger_1",
-            "finger_2",
-        ]
-
-    @property
-    def _contact_geoms(self):
-        return [
-            "hand_collision",
-            "left_outer_knuckle_collision",
-            "left_outer_finger_collision",
-            "left_inner_finger_collision",
-            "left_fingertip_collision",
-            "left_inner_knuckle_collision",
-            "right_outer_knuckle_collision",
-            "right_outer_finger_collision",
-            "right_inner_finger_collision",
-            "right_fingertip_collision",
-            "right_inner_knuckle_collision",
-
-        ]
-
     @property
     def _important_geoms(self):
         return {
             "left_finger": [
                 "left_outer_finger_collision",
                 "left_inner_finger_collision",
-                "left_fingertip_collision"
+                "left_fingertip_collision",
+                "left_fingerpad_collision",
             ],
             "right_finger": [
                 "right_outer_finger_collision",
                 "right_inner_finger_collision",
-                "right_fingertip_collision"
+                "right_fingertip_collision",
+                "right_fingerpad_collision",
             ],
+            "left_fingerpad": ["left_fingerpad_collision"],
+            "right_fingerpad": ["right_fingerpad_collision"],
         }
 
 
diff --git a/robosuite/models/grippers/robotiq_85_gripper.py b/robosuite/models/grippers/robotiq_85_gripper.py
index bee54f3cb8..74dc14618b 100644
--- a/robosuite/models/grippers/robotiq_85_gripper.py
+++ b/robosuite/models/grippers/robotiq_85_gripper.py
@@ -20,56 +20,30 @@ def __init__(self, idn=0):
     def format_action(self, action):
         return action
 
-    @property
-    def dof(self):
-        return 2
-
     @property
     def init_qpos(self):
         return np.array([-0.026, -0.267, -0.200, -0.026, -0.267, -0.200])
 
-    @property
-    def _joints(self):
-        return ["finger_joint", "left_inner_finger_joint",
-                "left_inner_knuckle_joint", "right_outer_knuckle_joint",
-                "right_inner_finger_joint", "right_inner_knuckle_joint"]
-
-    @property
-    def _actuators(self):
-        return [
-            "finger_1",
-            "finger_2",
-        ]
-
-    @property
-    def _contact_geoms(self):
-        return [
-            "hand_collision",
-            "left_outer_knuckle_collision",
-            "left_outer_finger_collision",
-            "left_inner_finger_collision",
-            "left_fingertip_collision",
-            "left_inner_knuckle_collision",
-            "right_outer_knuckle_collision",
-            "right_outer_finger_collision",
-            "right_inner_finger_collision",
-            "right_fingertip_collision",
-            "right_inner_knuckle_collision",
-
-        ]
-
     @property
     def _important_geoms(self):
         return {
             "left_finger": [
                 "left_outer_finger_collision",
                 "left_inner_finger_collision",
-                "left_fingertip_collision"
+                "left_fingertip_collision",
+                "left_fingerpad_collision"
             ],
             "right_finger": [
                 "right_outer_finger_collision",
                 "right_inner_finger_collision",
-                "right_fingertip_collision"
+                "right_fingertip_collision",
+                "right_fingerpad_collision"
+            ],
+            "left_fingerpad": [
+                "left_fingerpad_collision"
+            ],
+            "right_fingerpad": [
+                "right_fingerpad_collision"
             ],
         }
 
diff --git a/robosuite/models/grippers/robotiq_three_finger_gripper.py b/robosuite/models/grippers/robotiq_three_finger_gripper.py
index 0f864e4209..a623f1137c 100644
--- a/robosuite/models/grippers/robotiq_three_finger_gripper.py
+++ b/robosuite/models/grippers/robotiq_three_finger_gripper.py
@@ -20,66 +20,20 @@ def __init__(self, idn=0):
     def format_action(self, action):
         return action
 
-    @property
-    def dof(self):
-        return 4
-
     @property
     def init_qpos(self):
         return np.zeros(11)
 
-    @property
-    def _joints(self):
-        return [
-            "palm_finger_1_joint",
-            "finger_1_joint_1",
-            "finger_1_joint_2",
-            "finger_1_joint_3",
-            "palm_finger_2_joint",
-            "finger_2_joint_1",
-            "finger_2_joint_2",
-            "finger_2_joint_3",
-            "finger_middle_joint_1",
-            "finger_middle_joint_2",
-            "finger_middle_joint_3"
-        ]
-
-    @property
-    def _actuators(self):
-        return [
-            "finger_1",
-            "finger_2",
-            "middle_finger",
-            "finger_scissor"
-        ]
-
-    @property
-    def _contact_geoms(self):
-        return [
-            "f1_l0",
-            "f1_l1",
-            "f1_l2",
-            "f1_l3",
-            "f2_l0",
-            "f2_l1",
-            "f2_l2",
-            "f2_l3",
-            "f3_l0",
-            "f3_l1",
-            "f3_l2",
-            "f3_l3",
-            "f1_pad_collision",
-            "f2_pad_collision",
-            "finger_middle_pad_collision"
-        ]
-
     @property
     def _important_geoms(self):
         return {
             "left_finger": ["f1_l0", "f1_l1", "f1_l2", "f1_l3",
                             "f2_l0", "f2_l1", "f2_l2", "f2_l3",
-                            "f1_pad_collision", "f2_pad_collision"],
-            "right_finger": ["f3_l0", "f3_l1", "f3_l2", "f3_l3", "finger_middle_pad_collision"]
+                            "f1_tip_collision", "f2_tip_collision", "f1_pad_collision", "f2_pad_collision"],
+            "right_finger": ["f3_l0", "f3_l1", "f3_l2", "f3_l3",
+                             "finger_middle_tip_collision", "finger_middle_pad_collision"],
+            "left_fingerpad": ["f1_pad_collision", "f2_pad_collision"],
+            "right_fingerpad": ["finger_middle_pad_collision"],
         }
 
 
diff --git a/robosuite/models/grippers/wiping_gripper.py b/robosuite/models/grippers/wiping_gripper.py
index c0214304a4..45e79aa5f5 100644
--- a/robosuite/models/grippers/wiping_gripper.py
+++ b/robosuite/models/grippers/wiping_gripper.py
@@ -19,30 +19,16 @@ def __init__(self, idn=0):
     def format_action(self, action):
         return action
 
-    @property
-    def dof(self):
-        return 0
-
     @property
     def init_qpos(self):
         return None
 
-    @property
-    def _joints(self):
-        return []
-
-    @property
-    def _actuators(self):
-        return []
-
-    @property
-    def _contact_geoms(self):
-        return ["wiping_surface", "wiper_col1", "wiper_col2"]
-
     @property
     def _important_geoms(self):
         return {
             "left_finger": [],
             "right_finger": [],
+            "left_fingerpad": [],
+            "right_fingerpad": [],
             "corners": ["wiping_corner1", "wiping_corner2", "wiping_corner3", "wiping_corner4"]
         }
diff --git a/robosuite/models/objects/generated_objects.py b/robosuite/models/objects/generated_objects.py
index 3ee8546a81..e8a6677cd0 100644
--- a/robosuite/models/objects/generated_objects.py
+++ b/robosuite/models/objects/generated_objects.py
@@ -1,14 +1,13 @@
 import numpy as np
 
 from robosuite.models.objects import MujocoGeneratedObject
-from robosuite.utils.mjcf_utils import new_body, new_geom, new_site, array_to_string, add_to_dict
+from robosuite.utils.mjcf_utils import new_body, new_geom, new_site, new_joint, array_to_string, add_to_dict, get_size
 from robosuite.utils.mjcf_utils import RED, GREEN, BLUE, CYAN, OBJECT_COLLISION_COLOR, CustomMaterial
 import robosuite.utils.transform_utils as T
 
 from collections.abc import Iterable
 
 from copy import deepcopy
-import xml.etree.ElementTree as ET
 
 
 class CompositeObject(MujocoGeneratedObject):
@@ -18,11 +17,11 @@ class CompositeObject(MujocoGeneratedObject):
     Note that by default, specifying None for a specific geom element will usually set a value to the mujoco defaults.
 
     Args:
+        name (str): Name of overall object
+
         total_size (list): (x, y, z) half-size in each dimension for the bounding box for
             this Composite object
 
-        object_name (str): Name of overall object
-
         geom_types (list): list of geom types in the composite. Must correspond
             to MuJoCo geom primitives, such as "box" or "capsule".
 
@@ -46,10 +45,6 @@ class CompositeObject(MujocoGeneratedObject):
 
         geom_quats (list): list of (w, x, y, z) quaternions for each geom.
 
-        joints (list): list of joints to use for each geom. Note that each entry should be its own list of dictionaries,
-            where each dictionary specifies the specific joint attributes necessary.
-            See http://www.mujoco.org/book/XMLreference.html#joint for reference.
-
         rgba (list): (r, g, b, a) default values to use if geom-specific @geom_rgbas isn't specified for a given element
 
         density (float or list of float): either single value to use for all geom densities or geom-specific values
@@ -64,7 +59,22 @@ class CompositeObject(MujocoGeneratedObject):
             overall object bounding box defined by @total_size. Else, the corner of this bounding box is considered the
             origin.
 
-        sites (list of dict): list of sites to add to this object. Each dict should specify the appropriate attributes
+        body_mapping (None or dict): If specified, defines a multi-body object, where each entry in the dict maps a
+            geom_name to a new sub-body definition. This allows for multi-bodied objects with nested geoms. When the
+            keyword-specified geom_name is encountered during procedural generation, the corresponding body
+            specification will be used to generate a new body element, which will be appended to the current XML Tree.
+            All subsequent geoms will then be appended to this new child body. Default is None, which corresponds
+            to the single-body case
+
+        joints (None or str or list): Joints to use for each body. If None, no joints will be used for this entire
+            object. If "default", a single free joint will be added to the top-level body of this object. Otherwise,
+            should be a list equal to length to the number of entries in body_mapping + 1, where each entry should
+            either be None or its own list of dictionaries. Each dictionary should specify the specific joint
+            attributes necessary. See http://www.mujoco.org/book/XMLreference.html#joint for reference.
+
+        sites (None or list): list of sites to add to each body. If None, only the default top-level object site will
+            be used. Otherwise, should be a list equal to number of entries in body_mapping + 1, where each entry should
+            either be None or its own list of dictionaries. Each dictionary should specify the appropriate attributes
             for the given site. See http://www.mujoco.org/book/XMLreference.html#site for reference.
 
         obj_types (str or list of str): either single obj_type for all geoms or geom-specific type. Choices are
@@ -73,8 +83,8 @@ class CompositeObject(MujocoGeneratedObject):
 
     def __init__(
         self,
+        name,
         total_size,
-        object_name,
         geom_types,
         geom_locations,
         geom_sizes,
@@ -83,41 +93,104 @@ def __init__(
         geom_materials=None,
         geom_frictions=None,
         geom_quats=None,
-        joints="default",
         rgba=None,
         density=100.,
         solref=(0.02, 1.),
         solimp=(0.9, 0.95, 0.001),
         locations_relative_to_center=False,
+        body_mapping=None,
+        joints="default",
         sites=None,
         obj_types="all",
         duplicate_collision_geoms=True,
     ):
-        super().__init__(
-            name=object_name,
-            joints=joints,
-            rgba=rgba,
-            duplicate_collision_geoms=duplicate_collision_geoms,
-        )
+        # Always call superclass first
+        super().__init__(duplicate_collision_geoms=duplicate_collision_geoms)
+
+        self.name = name
+
+        # Create bodies
+        self.body_mapping = {"root": {"name": "main"}}
+        if body_mapping is not None:
+            self.body_mapping.update(body_mapping)
+        n_bodies = len(self.body_mapping.keys())
+
+        # Set joints
+        if joints is None:
+            self.body_joint_specs = [None] * n_bodies
+        elif joints == "default":
+            self.body_joint_specs = [[self.get_joint_attrib_template()]] + [None] * (n_bodies - 1)
+        else:
+            self.body_joint_specs = joints
+
+        # Make sure all joints are named appropriately
+        j_num = 0
+        for joint_spec in self.body_joint_specs:
+            if type(joint_spec) in {tuple, list}:
+                for j_spec in joint_spec:
+                    if "name" not in j_spec:
+                        j_spec["name"] = "joint{}".format(j_num)
+                        j_num += 1
+
+        # Set sites
+        self.body_site_specs = sites if sites is not None else [None] * n_bodies
+
+        # Make sure all sites are named appropriately
+        s_num = 0
+        for site_spec in self.body_site_specs:
+            if type(site_spec) in {tuple, list}:
+                for s_spec in site_spec:
+                    if "name" not in s_spec:
+                        s_spec["name"] = "site{}".format(s_num)
+                        s_num += 1
 
         n_geoms = len(geom_types)
         self.total_size = np.array(total_size)
         self.geom_types = np.array(geom_types)
         self.geom_locations = np.array(geom_locations)
         self.geom_sizes = deepcopy(geom_sizes)
-        self.geom_names = list(geom_names) if geom_names is not None else None
-        self.geom_rgbas = list(geom_rgbas) if geom_rgbas is not None else None
-        self.geom_materials = list(geom_materials) if geom_materials is not None else None
-        self.geom_frictions = list(geom_frictions) if geom_frictions is not None else None
+        self.geom_names = list(geom_names) if geom_names is not None else [None] * n_geoms
+        self.geom_rgbas = list(geom_rgbas) if geom_rgbas is not None else [None] * n_geoms
+        self.geom_materials = list(geom_materials) if geom_materials is not None else [None] * n_geoms
+        self.geom_frictions = list(geom_frictions) if geom_frictions is not None else [None] * n_geoms
         self.density = [density] * n_geoms if density is None or type(density) in {float, int} else list(density)
         self.solref = [solref] * n_geoms if solref is None or type(solref[0]) in {float, int} else list(solref)
         self.solimp = [solimp] * n_geoms if obj_types is None or type(solimp[0]) in {float, int} else list(solimp)
         self.rgba = rgba        # override superclass setting of this variable
         self.locations_relative_to_center = locations_relative_to_center
-        self.geom_quats = deepcopy(geom_quats) if geom_quats is not None else None
-        self.sites = sites
+        self.geom_quats = deepcopy(geom_quats) if geom_quats is not None else [None] * n_geoms
         self.obj_types = [obj_types] * n_geoms if obj_types is None or type(obj_types) is str else list(obj_types)
 
+        # Always run sanity check
+        self.sanity_check()
+
+        # Lastly, parse XML tree appropriately
+        self._obj = self._get_object_subtree()
+
+        # Extract the appropriate private attributes for this
+        self._get_object_properties()
+
+    def get_bounding_box_size(self):
+        return np.array(self.total_size)
+
+    def in_box(self, position, object_position):
+        """
+        Checks whether the object is contained within this CompositeObject.
+        Useful for when the CompositeObject has holes and the object should
+        be within one of the holes. Makes an approximation by treating the
+        object as a point, and the CompositeBoxObject as an axis-aligned grid.
+        Args:
+            position: 3D body position of CompositeObject
+            object_position: 3D position of object to test for insertion
+        """
+        ub = position + self.total_size
+        lb = position - self.total_size
+
+        # fudge factor for the z-check, since after insertion the object falls to table
+        lb[2] -= 0.01
+
+        return np.all(object_position > lb) and np.all(object_position < ub)
+
     def get_bottom_offset(self):
         return np.array([0., 0., -self.total_size[2]])
 
@@ -127,134 +200,139 @@ def get_top_offset(self):
     def get_horizontal_radius(self):
         return np.linalg.norm(self.total_size[:2], 2)
 
-    def _size_to_cartesian_half_lengths(self, geom_type, geom_size):
-        """
-        converts from geom size specification to x, y, and z half-length bounding box
-        """
-        if geom_type in ['box', 'ellipsoid']:
-            return geom_size
-        if geom_type == 'sphere':
-            # size is radius
-            return [geom_size[0], geom_size[0], geom_size[0]]
-        if geom_type == 'capsule':
-            # size is radius, half-length of cylinder part
-            return [geom_size[0], geom_size[0], geom_size[0] + geom_size[1]]
-        if geom_type == 'cylinder':
-            # size is radius, half-length
-            return [geom_size[0], geom_size[0], geom_size[1]]
-        raise Exception("unsupported geom type!")
-
-    def get_object_subtree(self, site=None):
-        obj = new_body()
-        obj.set("name", self.name)
-
-        for i in range(self.geom_locations.shape[0]):
+    def _get_object_subtree(self):
+        # Initialize top-level body
+        obj = new_body(**self.body_mapping["root"])
+        cur_obj = obj
+        body_num = 0
+
+        # Add top level joint(s)
+        if self.body_joint_specs[0] is not None:
+            for j_spec in self.body_joint_specs[0]:
+                obj.append(new_joint(**j_spec))
+
+        # Add top level site(s)
+        if self.body_site_specs[0] is not None:
+            for s_spec in self.body_site_specs[0]:
+                obj.append(new_site(**s_spec))
+
+        # Add default object top-level site
+        site_element_attr = self.get_site_attrib_template()
+        site_element_attr["rgba"] = "1 0 0 0"
+        site_element_attr["name"] = "default_site"
+        obj.append(new_site(**site_element_attr))
+
+        # Loop through all geoms and generate the composite object
+        for i, (obj_type, g_type, g_size, g_loc, g_name, g_rgba, g_friction,
+                g_quat, g_material, g_density, g_solref, g_solimp) in enumerate(zip(
+                self.obj_types,
+                self.geom_types,
+                self.geom_sizes,
+                self.geom_locations,
+                self.geom_names,
+                self.geom_rgbas,
+                self.geom_frictions,
+                self.geom_quats,
+                self.geom_materials,
+                self.density,
+                self.solref,
+                self.solimp,
+        )):
             # geom type
-            geom_type = self.geom_types[i]
+            geom_type = g_type
             # get cartesian size from size spec
-            size = self.geom_sizes[i]
+            size = g_size
             cartesian_size = self._size_to_cartesian_half_lengths(geom_type, size)
             if self.locations_relative_to_center:
                 # no need to convert
-                pos = self.geom_locations[i]
+                pos = g_loc
             else:
                 # use geom location to convert to position coordinate (the origin is the
                 # center of the composite object)
-                loc = self.geom_locations[i]
                 pos = [
-                    (-self.total_size[0] + cartesian_size[0]) + loc[0],
-                    (-self.total_size[1] + cartesian_size[1]) + loc[1],
-                    (-self.total_size[2] + cartesian_size[2]) + loc[2],
+                    (-self.total_size[0] + cartesian_size[0]) + g_loc[0],
+                    (-self.total_size[1] + cartesian_size[1]) + g_loc[1],
+                    (-self.total_size[2] + cartesian_size[2]) + g_loc[2],
                 ]
 
             # geom name
-            if self.geom_names is not None:
-                geom_name = "{}_{}".format(self.name, self.geom_names[i])
-            else:
-                geom_name = "{}_{}".format(self.name, i)
+            geom_name = g_name if g_name is not None else f"g{i}"
 
             # geom rgba
-            if self.geom_rgbas is not None and self.geom_rgbas[i] is not None:
-                geom_rgba = self.geom_rgbas[i]
-            else:
-                geom_rgba = self.rgba
+            geom_rgba = g_rgba if g_rgba is not None else self.rgba
 
             # geom friction
-            if self.geom_frictions is not None and self.geom_frictions[i] is not None:
-                geom_friction = array_to_string(self.geom_frictions[i])
-            else:
-                geom_friction = array_to_string(np.array([1., 0.005, 0.0001])) # mujoco default
+            geom_friction = array_to_string(g_friction) if g_friction is not None else \
+                            array_to_string(np.array([1., 0.005, 0.0001]))  # mujoco default
 
             # Define base geom attributes
             geom_attr = {
                 "size": size,
                 "pos": pos,
                 "name": geom_name,
-                "geom_type": geom_type,
+                "type": geom_type,
             }
 
             # Optionally define quat if specified
-            if self.geom_quats is not None:
-                geom_attr['quat'] = array_to_string(self.geom_quats[i])
+            if g_quat is not None:
+                geom_attr['quat'] = array_to_string(g_quat)
 
             # Add collision geom if necessary
-            if self.obj_types[i] in {"collision", "all"}:
+            if obj_type in {"collision", "all"}:
                 col_geom_attr = deepcopy(geom_attr)
                 col_geom_attr.update(self.get_collision_attrib_template())
-                if self.density[i] is not None:
-                    col_geom_attr['density'] = str(self.density[i])
+                if g_density is not None:
+                    col_geom_attr['density'] = str(g_density)
                 col_geom_attr['friction'] = geom_friction
-                col_geom_attr['solref'] = array_to_string(self.solref[i])
-                col_geom_attr['solimp'] = array_to_string(self.solimp[i])
+                col_geom_attr['solref'] = array_to_string(g_solref)
+                col_geom_attr['solimp'] = array_to_string(g_solimp)
                 col_geom_attr['rgba'] = OBJECT_COLLISION_COLOR
-                obj.append(new_geom(**col_geom_attr))
+                cur_obj.append(new_geom(**col_geom_attr))
 
             # Add visual geom if necessary
-            if self.obj_types[i] in {"visual", "all"}:
+            if obj_type in {"visual", "all"}:
                 vis_geom_attr = deepcopy(geom_attr)
                 vis_geom_attr.update(self.get_visual_attrib_template())
                 vis_geom_attr["name"] += "_vis"
-                if self.geom_materials is not None:
-                    vis_geom_attr['material'] = self.geom_materials[i]
+                if g_material is not None:
+                    vis_geom_attr['material'] = g_material
                 vis_geom_attr["rgba"] = geom_rgba
-                obj.append(new_geom(**vis_geom_attr))
-
-        # add top level site if requested
-        if site:
-            # add a site as well
-            site_element_attr = self.get_site_attrib_template()
-            site_element_attr["rgba"] = "1 0 0 0"
-            site_element_attr["name"] = self.name
-            obj.append(ET.Element("site", attrib=site_element_attr))
-
-        # Also create specific sites requested
-        if self.sites is not None:
-            # add relevant sites
-            for s in self.sites:
-                obj.append(ET.Element("site", attrib=s))
+                cur_obj.append(new_geom(**vis_geom_attr))
+
+            # If the current geom is in our body_mapping, then we need to create a new nested body to append to
+            if g_name in self.body_mapping:
+                # Increment body count
+                body_num += 1
+                child_body = new_body(**self.body_mapping[g_name])
+                # Set the current body to be this new body
+                cur_obj = child_body
+                # Add appropriate joint(s) and site(s)
+                if self.body_joint_specs[body_num] is not None:
+                    for j_spec in self.body_joint_specs[body_num]:
+                        cur_obj.append(new_joint(**j_spec))
+                if self.body_site_specs[body_num] is not None:
+                    for s_spec in self.body_site_specs[body_num]:
+                        cur_obj.append(new_site(**s_spec))
 
         return obj
 
-    def get_bounding_box_size(self):
-        return np.array(self.total_size)
-
-    def in_box(self, position, object_position):
+    @staticmethod
+    def _size_to_cartesian_half_lengths(geom_type, geom_size):
         """
-        Checks whether the object is contained within this CompositeObject.
-        Useful for when the CompositeObject has holes and the object should
-        be within one of the holes. Makes an approximation by treating the
-        object as a point, and the CompositeBoxObject as an axis-aligned grid.
-        Args:
-            position: 3D body position of CompositeObject
-            object_position: 3D position of object to test for insertion
+        converts from geom size specification to x, y, and z half-length bounding box
         """
-        ub = position + self.total_size
-        lb = position - self.total_size
-
-        # fudge factor for the z-check, since after insertion the object falls to table
-        lb[2] -= 0.01
-
-        return np.all(object_position > lb) and np.all(object_position < ub)
+        if geom_type in ['box', 'ellipsoid']:
+            return geom_size
+        if geom_type == 'sphere':
+            # size is radius
+            return [geom_size[0], geom_size[0], geom_size[0]]
+        if geom_type == 'capsule':
+            # size is radius, half-length of cylinder part
+            return [geom_size[0], geom_size[0], geom_size[0] + geom_size[1]]
+        if geom_type == 'cylinder':
+            # size is radius, half-length
+            return [geom_size[0], geom_size[0], geom_size[1]]
+        raise Exception("unsupported geom type!")
 
 
 class HammerObject(CompositeObject):
@@ -390,12 +468,13 @@ def _get_geom_attrs(self):
             self.handle_length + 2 * self.head_halfsize
         ))
         # Initialize dict of obj args that we'll pass to the CompositeObject constructor
-        obj_args = {
+        base_args = {
             "total_size": full_size / 2.0,
-            "object_name": self.name,
+            "name": self.name,
             "locations_relative_to_center": True,
             "obj_types": "all",
         }
+        obj_args = {}
 
         # Add handle component
         assert self.handle_shape in {"cylinder", "box"},\
@@ -470,6 +549,9 @@ def _get_geom_attrs(self):
             density=self.handle_density * self.head_density_ratio,
         )
 
+        # Add back in base args
+        obj_args.update(base_args)
+
         # Return this dict
         return obj_args
 
@@ -490,7 +572,7 @@ def handle_geoms(self):
         Returns:
             list of str: geom names corresponding to hammer handle
         """
-        return ["hammer_handle"]
+        return self.correct_naming(["handle"])
 
     @property
     def head_geoms(self):
@@ -498,7 +580,7 @@ def head_geoms(self):
         Returns:
             list of str: geom names corresponding to hammer head
         """
-        return ["hammer_head"]
+        return self.correct_naming(["head"])
 
     @property
     def face_geoms(self):
@@ -506,7 +588,7 @@ def face_geoms(self):
         Returns:
             list of str: geom names corresponding to hammer face
         """
-        return ["hammer_neck", "hammer_face"]
+        return self.correct_naming(["neck", "face"])
 
     @property
     def claw_geoms(self):
@@ -514,7 +596,7 @@ def claw_geoms(self):
         Returns:
             list of str: geom names corresponding to hammer claw
         """
-        return ["hammer_claw"]
+        return self.correct_naming(["claw"])
 
     @property
     def all_geoms(self):
@@ -591,11 +673,14 @@ def __init__(
         self.rgba_handle_1 = np.array(rgba_handle_1) if rgba_handle_1 else BLUE
         self.solid_handle = solid_handle
 
-        # Geoms to be filled when generated
-        self.handle0_geoms = None
-        self.handle1_geoms = None
+        # Element references to be filled when generated
+        self._handle0_geoms = None
+        self._handle1_geoms = None
         self.pot_base = None
 
+        # Other private attributes
+        self._important_sites = {}
+
         # Create dictionary of values to create geoms for composite object and run super init
         super().__init__(**self._get_geom_attrs())
 
@@ -642,17 +727,6 @@ def get_top_offset(self):
     def get_horizontal_radius(self):
         return np.sqrt(2) * (max(self.body_half_size) + self.handle_length)
 
-    @property
-    def handle_distance(self):
-
-        """
-        Calculates how far apart the handles are
-
-        Returns:
-            float: handle distance
-        """
-        return self.body_half_size[1] * 2 + self.handle_length * 2
-
     def _get_geom_attrs(self):
         """
         Creates geom elements that will be passed to superclass CompositeObject constructor
@@ -666,22 +740,23 @@ def _get_geom_attrs(self):
             self.body_half_size,
         ))
         # Initialize dict of obj args that we'll pass to the CompositeObject constructor
-        obj_args = {
+        base_args = {
             "total_size": full_size / 2.0,
-            "object_name": self.name,
+            "name": self.name,
             "locations_relative_to_center": True,
             "obj_types": "all",
-            "sites": [],
         }
+        site_attrs = []
+        obj_args = {}
 
         # Initialize geom lists
-        self.handle0_geoms = []
-        self.handle1_geoms = []
+        self._handle0_geoms = []
+        self._handle1_geoms = []
 
         # Add main pot body
         # Base geom
         name = f"base"
-        self.pot_base = [f"{self.name}_{name}"]
+        self.pot_base = [name]
         add_to_dict(
             dic=obj_args,
             geom_types="box",
@@ -725,14 +800,16 @@ def _get_geom_attrs(self):
         ])
         side_bar_size = np.array([self.handle_radius, self.handle_length / 2, self.handle_radius])
         handle_z = self.body_half_size[2] - self.handle_radius
-        for i, (handle_side, rgba) in enumerate(zip([1.0, -1.0], [self.rgba_handle_0, self.rgba_handle_1])):
+        for i, (g_list, handle_side, rgba) in enumerate(zip(
+                [self._handle0_geoms, self._handle1_geoms],
+                [1.0, -1.0],
+                [self.rgba_handle_0, self.rgba_handle_1]
+        )):
             handle_center = np.array((0, handle_side * (self.body_half_size[1] + self.handle_length), handle_z))
-            # Get reference to relevant geom list
-            g_list = getattr(self, f"handle{i}_geoms")
             # Solid handle case
-            name = f"handle{i}"
-            g_list.append(f"{self.name}_{name}")
             if self.solid_handle:
+                name = f"handle{i}"
+                g_list.append(name)
                 add_to_dict(
                     dic=obj_args,
                     geom_types="box",
@@ -749,7 +826,7 @@ def _get_geom_attrs(self):
             else:
                 # Center bar
                 name = f"handle{i}_c"
-                g_list.append(f"{self.name}_{name}")
+                g_list.append(name)
                 add_to_dict(
                     dic=obj_args,
                     geom_types="box",
@@ -765,7 +842,7 @@ def _get_geom_attrs(self):
                 # Side bars
                 for bar_side, suffix in zip([-1., 1.], ["-", "+"]):
                     name = f"handle{i}_{suffix}"
-                    g_list.append(f"{self.name}_{name}")
+                    g_list.append(name)
                     add_to_dict(
                         dic=obj_args,
                         geom_types="box",
@@ -784,74 +861,275 @@ def _get_geom_attrs(self):
                     )
             # Add relevant site
             handle_site = self.get_site_attrib_template()
+            handle_name = f"handle{i}"
             handle_site.update({
-                "name": f"{self.name}_handle{i}",
+                "name": handle_name,
                 "pos": array_to_string(handle_center - handle_side * np.array([0, 0.005, 0])),
                 "size": "0.005",
                 "rgba": rgba,
             })
-            obj_args["sites"].append(handle_site)
+            site_attrs.append(handle_site)
+            # Add to important sites
+            self._important_sites[f"handle{i}"] = self.naming_prefix + handle_name
 
         # Add pot body site
         pot_site = self.get_site_attrib_template()
+        center_name = "center"
         pot_site.update({
-            "name": f"{self.name}_center",
+            "name": center_name,
             "size": "0.005",
         })
-        obj_args["sites"].append(pot_site)
+        site_attrs.append(pot_site)
+        # Add to important sites
+        self._important_sites["center"] = self.naming_prefix + center_name
+
+        # Add back in base args and site args
+        obj_args.update(base_args)
+        obj_args["sites"] = [site_attrs]        # All sites are part of main (top) body
 
         # Return this dict
         return obj_args
 
+    @property
+    def handle_distance(self):
+
+        """
+        Calculates how far apart the handles are
+
+        Returns:
+            float: handle distance
+        """
+        return self.body_half_size[1] * 2 + self.handle_length * 2
+
+    @property
+    def handle0_geoms(self):
+        """
+        Returns:
+            list of str: geom names corresponding to handle0 (green handle)
+        """
+        return self.correct_naming(self._handle0_geoms)
+
+    @property
+    def handle1_geoms(self):
+        """
+        Returns:
+            list of str: geom names corresponding to handle1 (blue handle)
+        """
+        return self.correct_naming(self._handle1_geoms)
+
     @property
     def handle_geoms(self):
         """
         Returns:
             list of str: geom names corresponding to both handles
         """
-        return self.handle0_geoms() + self.handle1_geoms()
+        return self.handle0_geoms + self.handle1_geoms
+
+    @property
+    def important_sites(self):
+        """
+        Returns:
+            dict: In addition to any default sites for this object, also provides the following entries
+
+                :`'handle0'`: Name of handle0 location site
+                :`'handle1'`: Name of handle1 location site
+        """
+        # Get dict from super call and add to it
+        dic = super().important_sites
+        dic.update(self._important_sites)
+        return dic
 
 
-def _get_size(size,
-              size_max,
-              size_min,
-              default_max,
-              default_min):
+class PrimitiveObject(MujocoGeneratedObject):
     """
-    Helper method for providing a size, or a range to randomize from
+    Base class for all programmatically generated mujoco object
+    i.e., every MujocoObject that does not have an corresponding xml file
 
     Args:
-        size (n-array): Array of numbers that explicitly define the size
-        size_max (n-array): Array of numbers that define the custom max size from which to randomly sample
-        size_min (n-array): Array of numbers that define the custom min size from which to randomly sample
-        default_max (n-array): Array of numbers that define the default max size from which to randomly sample
-        default_min (n-array): Array of numbers that define the default min size from which to randomly sample
+        name (str): (unique) name to identify this generated object
 
-    Returns:
-        np.array: size generated
+        size (n-tuple of float): relevant size parameters for the object, should be of size 1 - 3
 
-    Raises:
-        ValueError: [Inconsistent array sizes]
+        rgba (4-tuple of float): Color
+
+        density (float): Density
+
+        friction (3-tuple of float): (sliding friction, torsional friction, and rolling friction).
+            A single float can also be specified, in order to set the sliding friction (the other values) will
+            be set to the MuJoCo default. See http://www.mujoco.org/book/modeling.html#geom for details.
+
+        solref (2-tuple of float): MuJoCo solver parameters that handle contact.
+            See http://www.mujoco.org/book/XMLreference.html for more details.
+
+        solimp (3-tuple of float): MuJoCo solver parameters that handle contact.
+            See http://www.mujoco.org/book/XMLreference.html for more details.
+
+        material (CustomMaterial or `'default'` or None): if "default", add a template material and texture for this
+            object that is used to color the geom(s).
+            Otherwise, input is expected to be a CustomMaterial object
+
+            See http://www.mujoco.org/book/XMLreference.html#asset for specific details on attributes expected for
+            Mujoco texture / material tags, respectively
+
+            Note that specifying a custom texture in this way automatically overrides any rgba values set
+
+        joints (None or str or list of dict): Joints for this object. If None, no joint will be created. If "default",
+            a single (free) joint will be crated. Else, should be a list of dict, where each dictionary corresponds to
+            a joint that will be created for this object. The dictionary should specify the joint attributes
+            (type, pos, etc.) according to the MuJoCo xml specification.
+
+        obj_type (str): Geom elements to generate / extract for this object. Must be one of:
+
+            :`'collision'`: Only collision geoms are returned (this corresponds to group 0 geoms)
+            :`'visual'`: Only visual geoms are returned (this corresponds to group 1 geoms)
+            :`'all'`: All geoms are returned
+
+        duplicate_collision_geoms (bool): If set, will guarantee that each collision geom has a
+            visual geom copy
     """
-    if len(default_max) != len(default_min):
-        raise ValueError('default_max = {} and default_min = {}'
-                         .format(str(default_max), str(default_min)) +
-                         ' have different lengths')
-    if size is not None:
-        if (size_max is not None) or (size_min is not None):
-            raise ValueError('size = {} overrides size_max = {}, size_min = {}'
-                             .format(size, size_max, size_min))
-    else:
-        if size_max is None:
-            size_max = default_max
-        if size_min is None:
-            size_min = default_min
-        size = np.array([np.random.uniform(size_min[i], size_max[i])
-                         for i in range(len(default_max))])
-    return np.array(size)
-
-
-class BoxObject(MujocoGeneratedObject):
+
+    def __init__(
+        self,
+        name,
+        size=None,
+        rgba=None,
+        density=None,
+        friction=None,
+        solref=None,
+        solimp=None,
+        material=None,
+        joints="default",
+        obj_type="all",
+        duplicate_collision_geoms=True,
+    ):
+        # Always call superclass first
+        super().__init__(obj_type=obj_type, duplicate_collision_geoms=duplicate_collision_geoms)
+
+        # Set name
+        self.name = name
+
+        if size is None:
+            size = [0.05, 0.05, 0.05]
+        self.size = list(size)
+
+        if rgba is None:
+            rgba = [1, 0, 0, 1]
+        assert len(rgba) == 4, "rgba must be a length 4 array"
+        self.rgba = list(rgba)
+
+        if density is None:
+            density = 1000  # water
+        self.density = density
+
+        if friction is None:
+            friction = [1, 0.005, 0.0001]  # MuJoCo default
+        elif isinstance(friction, float) or isinstance(friction, int):
+            friction = [friction, 0.005, 0.0001]
+        assert len(friction) == 3, "friction must be a length 3 array or a single number"
+        self.friction = list(friction)
+
+        if solref is None:
+            self.solref = [0.02, 1.]  # MuJoCo default
+        else:
+            self.solref = solref
+
+        if solimp is None:
+            self.solimp = [0.9, 0.95, 0.001]  # MuJoCo default
+        else:
+            self.solimp = solimp
+
+        self.material = material
+        if material == "default":
+            # add in default texture and material for this object (for domain randomization)
+            default_tex = CustomMaterial(
+                texture=self.rgba,
+                tex_name="tex",
+                mat_name="mat",
+            )
+            self.append_material(default_tex)
+        elif material is not None:
+            # add in custom texture and material
+            self.append_material(material)
+
+        # joints for this object
+        if joints == "default":
+            self.joint_specs = [self.get_joint_attrib_template()]  # default free joint
+        elif joints is None:
+            self.joint_specs = []
+        else:
+            self.joint_specs = joints
+
+        # Make sure all joints have names!
+        for i, joint_spec in enumerate(self.joint_specs):
+            if "name" not in joint_spec:
+                joint_spec["name"] = "joint{}".format(i)
+
+        # Always run sanity check
+        self.sanity_check()
+
+        # Lastly, parse XML tree appropriately
+        self._obj = self._get_object_subtree()
+
+        # Extract the appropriate private attributes for this
+        self._get_object_properties()
+
+    def _get_object_subtree_(self, ob_type="box"):
+        # Create element tree
+        obj = new_body(name="main")
+
+        # Get base element attributes
+        element_attr = {
+            "name": "g0",
+            "type": ob_type,
+            "size": array_to_string(self.size)
+        }
+
+        # Add collision geom if necessary
+        if self.obj_type in {"collision", "all"}:
+            col_element_attr = deepcopy(element_attr)
+            col_element_attr.update(self.get_collision_attrib_template())
+            col_element_attr["density"] = str(self.density)
+            col_element_attr["friction"] = array_to_string(self.friction)
+            col_element_attr["solref"] = array_to_string(self.solref)
+            col_element_attr["solimp"] = array_to_string(self.solimp)
+            obj.append(new_geom(**col_element_attr))
+        # Add visual geom if necessary
+        if self.obj_type in {"visual", "all"}:
+            vis_element_attr = deepcopy(element_attr)
+            vis_element_attr.update(self.get_visual_attrib_template())
+            vis_element_attr["name"] += "_vis"
+            if self.material == "default":
+                vis_element_attr["rgba"] = "0.5 0.5 0.5 1"  # mujoco default
+                vis_element_attr["material"] = "mat"
+            elif self.material is not None:
+                vis_element_attr["material"] = self.material.mat_attrib["name"]
+            else:
+                vis_element_attr["rgba"] = array_to_string(self.rgba)
+            obj.append(new_geom(**vis_element_attr))
+        # add joint(s)
+        for joint_spec in self.joint_specs:
+            obj.append(new_joint(**joint_spec))
+        # add a site as well
+        site_element_attr = self.get_site_attrib_template()
+        site_element_attr["name"] = "default_site"
+        obj.append(new_site(**site_element_attr))
+        return obj
+
+    # Methods that still need to be defined by subclass
+    def _get_object_subtree(self):
+        raise NotImplementedError
+
+    def get_bottom_offset(self):
+        raise NotImplementedError
+
+    def get_top_offset(self):
+        raise NotImplementedError
+
+    def get_horizontal_radius(self):
+        raise NotImplementedError
+
+
+class BoxObject(PrimitiveObject):
     """
     A box object.
 
@@ -875,11 +1153,11 @@ def __init__(
         obj_type="all",
         duplicate_collision_geoms=True,
     ):
-        size = _get_size(size,
-                         size_max,
-                         size_min,
-                         [0.07, 0.07, 0.07],
-                         [0.03, 0.03, 0.03])
+        size = get_size(size,
+                        size_max,
+                        size_min,
+                        [0.07, 0.07, 0.07],
+                        [0.03, 0.03, 0.03])
         super().__init__(
             name=name,
             size=size,
@@ -912,11 +1190,11 @@ def get_top_offset(self):
     def get_horizontal_radius(self):
         return np.linalg.norm(self.size[0:2], 2)
 
-    def get_object_subtree(self, site=False):
-        return self._get_object_subtree(site=site, ob_type="box")
+    def _get_object_subtree(self):
+        return self._get_object_subtree_(ob_type="box")
 
 
-class CylinderObject(MujocoGeneratedObject):
+class CylinderObject(PrimitiveObject):
     """
     A cylinder object.
 
@@ -940,11 +1218,11 @@ def __init__(
         obj_type="all",
         duplicate_collision_geoms=True,
     ):
-        size = _get_size(size,
-                         size_max,
-                         size_min,
-                         [0.07, 0.07],
-                         [0.03, 0.03])
+        size = get_size(size,
+                        size_max,
+                        size_min,
+                        [0.07, 0.07],
+                        [0.03, 0.03])
         super().__init__(
             name=name,
             size=size,
@@ -977,11 +1255,11 @@ def get_top_offset(self):
     def get_horizontal_radius(self):
         return self.size[0]
 
-    def get_object_subtree(self, site=False):
-        return self._get_object_subtree(site=site, ob_type="cylinder")
+    def _get_object_subtree(self):
+        return self._get_object_subtree_(ob_type="cylinder")
 
 
-class BallObject(MujocoGeneratedObject):
+class BallObject(PrimitiveObject):
     """
     A ball (sphere) object.
 
@@ -1005,11 +1283,11 @@ def __init__(
         obj_type="all",
         duplicate_collision_geoms=True,
     ):
-        size = _get_size(size,
-                         size_max,
-                         size_min,
-                         [0.07],
-                         [0.03])
+        size = get_size(size,
+                        size_max,
+                        size_min,
+                        [0.07],
+                        [0.03])
         super().__init__(
             name=name,
             size=size,
@@ -1042,11 +1320,11 @@ def get_top_offset(self):
     def get_horizontal_radius(self):
         return self.size[0]
 
-    def get_object_subtree(self, site=False):
-        return self._get_object_subtree(site=site, ob_type="sphere")
+    def _get_object_subtree(self):
+        return self._get_object_subtree_(ob_type="sphere")
 
 
-class CapsuleObject(MujocoGeneratedObject):
+class CapsuleObject(PrimitiveObject):
     """
     A capsule object.
 
@@ -1070,11 +1348,11 @@ def __init__(
         obj_type="all",
         duplicate_collision_geoms=True,
     ):
-        size = _get_size(size,
-                         size_max,
-                         size_min,
-                         [0.07, 0.07],
-                         [0.03, 0.03])
+        size = get_size(size,
+                        size_max,
+                        size_min,
+                        [0.07, 0.07],
+                        [0.03, 0.03])
         super().__init__(
             name=name,
             size=size,
@@ -1107,5 +1385,5 @@ def get_top_offset(self):
     def get_horizontal_radius(self):
         return self.size[0]
 
-    def get_object_subtree(self, site=False):
-        return self._get_object_subtree(site=site, ob_type="capsule")
+    def _get_object_subtree(self):
+        return self._get_object_subtree_(ob_type="capsule")
diff --git a/robosuite/models/objects/objects.py b/robosuite/models/objects/objects.py
index 38136172a7..7fd291e86b 100644
--- a/robosuite/models/objects/objects.py
+++ b/robosuite/models/objects/objects.py
@@ -2,8 +2,9 @@
 from copy import deepcopy
 import xml.etree.ElementTree as ET
 
-from robosuite.models.base import MujocoXML
-from robosuite.utils.mjcf_utils import string_to_array, array_to_string, CustomMaterial, OBJECT_COLLISION_COLOR
+from robosuite.models.base import MujocoXML, MujocoModel
+from robosuite.utils.mjcf_utils import string_to_array, array_to_string, CustomMaterial, OBJECT_COLLISION_COLOR,\
+                                       sort_elements, new_joint, add_prefix
 
 
 # Dict mapping geom type string keywords to group number
@@ -16,7 +17,7 @@
 GEOM_GROUPS = GEOMTYPE2GROUP.keys()
 
 
-class MujocoObject:
+class MujocoObject(MujocoModel):
     """
     Base class for all objects.
 
@@ -40,11 +41,93 @@ class MujocoObject:
     """
 
     def __init__(self, obj_type="all", duplicate_collision_geoms=True):
+        super().__init__()
         self.asset = ET.Element("asset")
         assert obj_type in GEOM_GROUPS, "object type must be one in {}, got: {} instead.".format(GEOM_GROUPS, obj_type)
         self.obj_type = obj_type
         self.duplicate_collision_geoms = duplicate_collision_geoms
 
+        # Attributes that should be filled in within the subclass
+        self.name = None
+        self._obj = None
+
+        # Attributes that are auto-filled by _get_object_properties call
+        self._root_body = None
+        self._bodies = None
+        self._joints = None
+        self._actuators = None
+        self._sites = None
+        self._contact_geoms = None
+        self._visual_geoms = None
+
+    @property
+    def naming_prefix(self):
+        return "{}_".format(self.name)
+
+    @property
+    def root_body(self):
+        return self.correct_naming(self._root_body)
+
+    @property
+    def bodies(self):
+        return self.correct_naming(self._bodies)
+
+    @property
+    def joints(self):
+        return self.correct_naming(self._joints)
+
+    @property
+    def actuators(self):
+        return self.correct_naming(self._actuators)
+
+    @property
+    def sites(self):
+        return self.correct_naming(self._sites)
+
+    @property
+    def contact_geoms(self):
+        return self.correct_naming(self._contact_geoms)
+
+    @property
+    def visual_geoms(self):
+        return self.correct_naming(self._visual_geoms)
+
+    @property
+    def important_geoms(self):
+        """
+        Returns:
+             dict: (Default is no important geoms; i.e.: empty dict)
+        """
+        return {}
+
+    @property
+    def important_sites(self):
+        """
+        Returns:
+            dict:
+
+                :`obj`: Object default site
+        """
+        return {"obj": self.naming_prefix + "default_site"}
+
+    @property
+    def sensors(self):
+        """
+        Returns:
+            dict: (Default is no sensors; i.e.: empty dict)
+        """
+        return {}
+
+    def get_obj(self):
+        """
+        Returns the generated / extracted object, in XML ElementTree form.
+
+        Returns:
+            ET.Element: Object in XML form.
+        """
+        assert self._obj is not None, "Object XML tree has not been generated yet!"
+        return self._obj
+
     def get_bottom_offset(self):
         """
         Returns vector from object center to object bottom.
@@ -82,7 +165,7 @@ def get_horizontal_radius(self):
         """
         raise NotImplementedError
 
-    def get_object_subtree(self, site=False):
+    def _get_object_subtree(self):
 
         """
         Returns a ET.Element
@@ -91,14 +174,34 @@ def get_object_subtree(self, site=False):
         Return should be a copy.
         Must be defined by subclass.
 
-        Args:
-            site (bool): If set, add a site (with name @name when applicable) to the returned body
-
         Returns:
             ET.Element: body
         """
         raise NotImplementedError
 
+    def _get_object_properties(self):
+        """
+        Helper function to extract relevant object properties (bodies, joints, contact/visual geoms, etc...) from this
+        object's XML tree. Assumes the self._obj attribute has already been filled.
+        """
+        # Parse element tree to get all relevant bodies, joints, actuators, and geom groups
+        _elements = sort_elements(root=self.get_obj())
+        assert len(_elements["root_body"]) == 1, "Invalid number of root bodies found for robot model. Expected 1," \
+                                                 "got {}".format(len(_elements["root_body"]))
+        _elements["root_body"] = _elements["root_body"][0]
+        _elements["bodies"] = [_elements["root_body"]] + _elements["bodies"] if "bodies" in _elements else \
+                              [_elements["root_body"]]
+        self._root_body = _elements["root_body"].get("name")
+        self._bodies = [e.get("name") for e in _elements.get("bodies", [])]
+        self._joints = [e.get("name") for e in _elements.get("joints", [])]
+        self._actuators = [e.get("name") for e in _elements.get("actuators", [])]
+        self._sites = [e.get("name") for e in _elements.get("sites", [])]
+        self._contact_geoms = [e.get("name") for e in _elements.get("contact_geoms", [])]
+        self._visual_geoms = [e.get("name") for e in _elements.get("visual_geoms", [])]
+
+        # Add prefix to all elements
+        add_prefix(root=self.get_obj(), prefix=self.naming_prefix)
+
     @staticmethod
     def get_site_attrib_template():
         """
@@ -115,6 +218,18 @@ def get_site_attrib_template():
             "group": "0",
         }
 
+    @staticmethod
+    def get_joint_attrib_template():
+        """
+        Returns attribs of free joint
+
+        Returns:
+            dict: Dictionary of default joint attributes
+        """
+        return {
+            "type": "free",
+        }
+
 
 class MujocoXMLObject(MujocoXML, MujocoObject):
     """
@@ -125,8 +240,10 @@ class MujocoXMLObject(MujocoXML, MujocoObject):
 
         name (str): Name of this MujocoXMLObject
 
-        joints (list of dict): each dictionary corresponds to a joint that will be created for this object. The
-            dictionary should specify the joint attributes (type, pos, etc.) according to the MuJoCo xml specification.
+        joints (None or str or list of dict): each dictionary corresponds to a joint that will be created for this
+            object. The dictionary should specify the joint attributes (type, pos, etc.) according to the MuJoCo xml
+            specification. If "default", a single free-joint will be automatically generated. If None, no joints will
+            be created.
 
         obj_type (str): Geom elements to generate / extract for this object. Must be one of:
 
@@ -138,7 +255,7 @@ class MujocoXMLObject(MujocoXML, MujocoObject):
             visual geom copy
     """
 
-    def __init__(self, fname, name, joints=None, obj_type="all",  duplicate_collision_geoms=True):
+    def __init__(self, fname, name, joints="default", obj_type="all", duplicate_collision_geoms=True):
         MujocoXML.__init__(self, fname)
         # Set obj type and duplicate args
         assert obj_type in GEOM_GROUPS, "object type must be one in {}, got: {} instead.".format(GEOM_GROUPS, obj_type)
@@ -149,31 +266,43 @@ def __init__(self, fname, name, joints=None, obj_type="all",  duplicate_collisio
         self.name = name
 
         # joints for this object
-        if joints is None:
-            self.joints = [{'type': 'free'}]  # default free joint
+        if joints == "default":
+            self.joint_specs = [self.get_joint_attrib_template()]  # default free joint
+        elif joints is None:
+            self.joint_specs = []
         else:
-            self.joints = joints
+            self.joint_specs = joints
+
+        # Make sure all joints have names!
+        for i, joint_spec in enumerate(self.joint_specs):
+            if "name" not in joint_spec:
+                joint_spec["name"] = "joint{}".format(i)
+
+        # Lastly, parse XML tree appropriately
+        self._obj = self._get_object_subtree()
+
+        # Extract the appropriate private attributes for this
+        self._get_object_properties()
 
     def get_bottom_offset(self):
-        bottom_site = self.worldbody.find("./body/site[@name='bottom_site']")
+        bottom_site = self.worldbody.find("./body/site[@name='{}bottom_site']".format(self.naming_prefix))
         return string_to_array(bottom_site.get("pos"))
 
     def get_top_offset(self):
-        top_site = self.worldbody.find("./body/site[@name='top_site']")
+        top_site = self.worldbody.find("./body/site[@name='{}top_site']".format(self.naming_prefix))
         return string_to_array(top_site.get("pos"))
 
     def get_horizontal_radius(self):
         horizontal_radius_site = self.worldbody.find(
-            "./body/site[@name='horizontal_radius_site']"
+            "./body/site[@name='{}horizontal_radius_site']".format(self.naming_prefix)
         )
         return string_to_array(horizontal_radius_site.get("pos"))[0]
 
-    def get_object_subtree(self, site=False):
+    def _get_object_subtree(self):
         # Parse object
         obj = copy.deepcopy(self.worldbody.find("./body/body[@name='object']"))
-        # Rename this top level object body
-        obj.attrib.pop("name")
-        obj.attrib["name"] = self.name
+        # Rename this top level object body (will have self.naming_prefix added later)
+        obj.attrib["name"] = "main"
         # Get all geom_pairs in this tree
         geom_pairs = self._get_geoms(obj)
 
@@ -190,25 +319,33 @@ def _should_keep(el):
                 parent.remove(element)
             else:
                 g_name = element.get("name")
-                modded_name = f"{self.name}_{g_name}" if g_name is not None else f"{self.name}_{i}"
-                element.set("name", modded_name)
+                g_name = g_name if g_name is not None else f"g{i}"
+                element.set("name", g_name)
                 # Also optionally duplicate collision geoms if requested (and this is a collision geom)
-                if self.duplicate_collision_geoms and int(element.get("group")) in {None, 0}:
+                if self.duplicate_collision_geoms and element.get("group") in {None, "0"}:
                     parent.append(self._duplicate_visual_from_collision(element))
                     # Also manually set the visual appearances to the original collision model
                     element.set("rgba", array_to_string(OBJECT_COLLISION_COLOR))
                     if element.get("material") is not None:
                         del element.attrib["material"]
-        # Lastly, add the site if requested
-        if site:
-            # add a site as well
-            template = self.get_site_attrib_template()
-            template["rgba"] = "1 0 0 0"
-            template["name"] = self.name
-            obj.append(ET.Element("site", attrib=template))
+        # add joint(s)
+        for joint_spec in self.joint_specs:
+            obj.append(new_joint(**joint_spec))
+        # Lastly, add a site for this object
+        template = self.get_site_attrib_template()
+        template["rgba"] = "1 0 0 0"
+        template["name"] = "default_site"
+        obj.append(ET.Element("site", attrib=template))
 
         return obj
 
+    def _get_object_properties(self):
+        """
+        Extends the base class method to also add prefixes to all bodies in this object
+        """
+        super()._get_object_properties()
+        add_prefix(root=self.root, prefix=self.naming_prefix)
+
     @staticmethod
     def _duplicate_visual_from_collision(element):
         """
@@ -231,14 +368,14 @@ def _duplicate_visual_from_collision(element):
         vis_element.set("name", vis_element.get("name") + "_visual")
         return vis_element
 
-    def _get_geoms(self, root, parent=None):
+    def _get_geoms(self, root, _parent=None):
         """
         Helper function to recursively search through element tree starting at @root and returns
         a list of (parent, child) tuples where the child is a geom element
 
         Args:
             root (ET.Element): Root of xml element tree to start recursively searching through
-            parent (ET.Element): Parent of the root element tree. Should not be used externally; only set
+            _parent (ET.Element): Parent of the root element tree. Should not be used externally; only set
                 during the recursive call
 
         Returns:
@@ -247,133 +384,16 @@ def _get_geoms(self, root, parent=None):
         # Initialize return array
         geom_pairs = []
         # If the parent exists and this is a geom element, we add this current (parent, element) combo to the output
-        if parent is not None and root.tag == "geom":
-            geom_pairs.append((parent, root))
+        if _parent is not None and root.tag == "geom":
+            geom_pairs.append((_parent, root))
         # Loop through all children elements recursively and add to pairs
         for child in root:
-            geom_pairs += self._get_geoms(child, parent=root)
+            geom_pairs += self._get_geoms(child, _parent=root)
         # Return all found pairs
         return geom_pairs
 
 
 class MujocoGeneratedObject(MujocoObject):
-    """
-    Base class for all programmatically generated mujoco object
-    i.e., every MujocoObject that does not have an corresponding xml file
-
-    Args:
-        name (str): (unique) name to identify this generated object
-
-        size (n-tuple of float): relevant size parameters for the object, should be of size 1 - 3
-
-        rgba (4-tuple of float): Color
-
-        density (float): Density
-
-        friction (3-tuple of float): (sliding friction, torsional friction, and rolling friction).
-            A single float can also be specified, in order to set the sliding friction (the other values) will
-            be set to the MuJoCo default. See http://www.mujoco.org/book/modeling.html#geom for details.
-
-        solref (2-tuple of float): MuJoCo solver parameters that handle contact.
-            See http://www.mujoco.org/book/XMLreference.html for more details.
-
-        solimp (3-tuple of float): MuJoCo solver parameters that handle contact.
-            See http://www.mujoco.org/book/XMLreference.html for more details.
-
-        material (CustomMaterial or `'default'` or None): if "default", add a template material and texture for this
-            object that is used to color the geom(s).
-            Otherwise, input is expected to be a CustomMaterial object
-
-            See http://www.mujoco.org/book/XMLreference.html#asset for specific details on attributes expected for
-            Mujoco texture / material tags, respectively
-
-            Note that specifying a custom texture in this way automatically overrides any rgba values set
-
-        joints (None or str or list of dict): Joints for this object. If None, no joint will be created. If "default",
-            a single joint will be crated. Else, should be a list of dict, where each dictionary corresponds to a joint
-            that will be created for this object. The dictionary should specify the joint attributes (type, pos, etc.)
-            according to the MuJoCo xml specification.
-
-        obj_type (str): Geom elements to generate / extract for this object. Must be one of:
-
-            :`'collision'`: Only collision geoms are returned (this corresponds to group 0 geoms)
-            :`'visual'`: Only visual geoms are returned (this corresponds to group 1 geoms)
-            :`'all'`: All geoms are returned
-
-        duplicate_collision_geoms (bool): If set, will guarantee that each collision geom has a
-            visual geom copy
-    """
-
-    def __init__(
-        self,
-        name,
-        size=None,
-        rgba=None,
-        density=None,
-        friction=None,
-        solref=None,
-        solimp=None,
-        material=None,
-        joints="default",
-        obj_type="all",
-        duplicate_collision_geoms=True,
-    ):
-        super().__init__(obj_type=obj_type, duplicate_collision_geoms=duplicate_collision_geoms)
-
-        self.name = name
-
-        if size is None:
-            size = [0.05, 0.05, 0.05]
-        self.size = list(size)
-
-        if rgba is None:
-            rgba = [1, 0, 0, 1]
-        assert len(rgba) == 4, "rgba must be a length 4 array"
-        self.rgba = list(rgba)
-
-        if density is None:
-            density = 1000  # water
-        self.density = density
-
-        if friction is None:
-            friction = [1, 0.005, 0.0001]  # MuJoCo default
-        elif isinstance(friction, float) or isinstance(friction, int):
-            friction = [friction, 0.005, 0.0001]
-        assert len(friction) == 3, "friction must be a length 3 array or a single number"
-        self.friction = list(friction)
-
-        if solref is None:
-            self.solref = [0.02, 1.]  # MuJoCo default
-        else:
-            self.solref = solref
-
-        if solimp is None:
-            self.solimp = [0.9, 0.95, 0.001]  # MuJoCo default
-        else:
-            self.solimp = solimp
-
-        self.material = material
-        if material == "default":
-            # add in default texture and material for this object (for domain randomization)
-            default_tex = CustomMaterial(
-                texture=self.rgba,
-                tex_name="{}_tex".format(self.name),
-                mat_name="{}_mat".format(self.name),
-            )
-            self.append_material(default_tex)
-        elif material is not None:
-            # add in custom texture and material
-            self.append_material(material)
-
-        # joints for this object
-        if joints == "default":
-            self.joints = [{'type': 'free'}]  # default free joint
-        elif joints is None:
-            self.joints = []
-        else:
-            self.joints = joints
-
-        self.sanity_check()
 
     def sanity_check(self):
         """
@@ -423,49 +443,18 @@ def append_material(self, material):
         # Add texture and material inputs to asset
         self.asset.append(ET.Element("texture", attrib=material.tex_attrib))
         self.asset.append(ET.Element("material", attrib=material.mat_attrib))
+        # Update prefix for assets
+        add_prefix(root=self.asset, prefix=self.naming_prefix)
 
-    def get_object_subtree(self, site=False):
+    # Methods that still need to be defined by subclass
+    def _get_object_subtree(self):
         raise NotImplementedError
 
-    def _get_object_subtree(self, site=False, ob_type="box"):
-        # Create element tree
-        obj = ET.Element("body")
-        obj.set("name", self.name)
+    def get_bottom_offset(self):
+        raise NotImplementedError
 
-        # Get base element attributes
-        element_attr = {
-            "name": self.name,
-            "type": ob_type,
-            "size": array_to_string(self.size)
-        }
+    def get_top_offset(self):
+        raise NotImplementedError
 
-        # Add collision geom if necessary
-        if self.obj_type in {"collision", "all"}:
-            col_element_attr = deepcopy(element_attr)
-            col_element_attr.update(self.get_collision_attrib_template())
-            # col_element_attr["name"] += "_col"
-            col_element_attr["density"] = str(self.density)
-            col_element_attr["friction"] = array_to_string(self.friction)
-            col_element_attr["solref"] = array_to_string(self.solref)
-            col_element_attr["solimp"] = array_to_string(self.solimp)
-            obj.append(ET.Element("geom", attrib=col_element_attr))
-        # Add visual geom if necessary
-        if self.obj_type in {"visual", "all"}:
-            vis_element_attr = deepcopy(element_attr)
-            vis_element_attr.update(self.get_visual_attrib_template())
-            vis_element_attr["name"] += "_vis"
-            if self.material == "default":
-                vis_element_attr["rgba"] = "0.5 0.5 0.5 1"  # mujoco default
-                vis_element_attr["material"] = "{}_mat".format(self.name)
-            elif self.material is not None:
-                vis_element_attr["material"] = self.material.mat_attrib["name"]
-            else:
-                vis_element_attr["rgba"] = array_to_string(self.rgba)
-            obj.append(ET.Element("geom", attrib=vis_element_attr))
-        # Lastly, add site as well if requested
-        if site:
-            # add a site as well
-            site_element_attr = self.get_site_attrib_template()
-            site_element_attr["name"] = self.name
-            obj.append(ET.Element("site", attrib=site_element_attr))
-        return obj
+    def get_horizontal_radius(self):
+        raise NotImplementedError
diff --git a/robosuite/models/objects/xml_objects.py b/robosuite/models/objects/xml_objects.py
index c3d470adde..c118415dfb 100644
--- a/robosuite/models/objects/xml_objects.py
+++ b/robosuite/models/objects/xml_objects.py
@@ -1,6 +1,6 @@
 import numpy as np
 from robosuite.models.objects import MujocoXMLObject
-from robosuite.utils.mjcf_utils import xml_path_completion, array_to_string
+from robosuite.utils.mjcf_utils import xml_path_completion, array_to_string, find_elements
 
 
 class BottleObject(MujocoXMLObject):
@@ -8,9 +8,10 @@ class BottleObject(MujocoXMLObject):
     Bottle object
     """
 
-    def __init__(self, name=None, joints=None):
+    def __init__(self, name):
         super().__init__(xml_path_completion("objects/bottle.xml"),
-                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
+                         name=name, joints=[dict(type="free", damping="0.0005")],
+                         obj_type="all", duplicate_collision_geoms=True)
 
 
 class CanObject(MujocoXMLObject):
@@ -18,9 +19,10 @@ class CanObject(MujocoXMLObject):
     Coke can object (used in PickPlace)
     """
 
-    def __init__(self, name=None, joints=None):
+    def __init__(self, name):
         super().__init__(xml_path_completion("objects/can.xml"),
-                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
+                         name=name, joints=[dict(type="free", damping="0.0005")],
+                         obj_type="all", duplicate_collision_geoms=True)
 
 
 class LemonObject(MujocoXMLObject):
@@ -28,9 +30,9 @@ class LemonObject(MujocoXMLObject):
     Lemon object
     """
 
-    def __init__(self, name=None, joints=None):
+    def __init__(self, name):
         super().__init__(xml_path_completion("objects/lemon.xml"),
-                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
+                         name=name, obj_type="all", duplicate_collision_geoms=True)
 
 
 class MilkObject(MujocoXMLObject):
@@ -38,9 +40,10 @@ class MilkObject(MujocoXMLObject):
     Milk carton object (used in PickPlace)
     """
 
-    def __init__(self, name=None, joints=None):
+    def __init__(self, name):
         super().__init__(xml_path_completion("objects/milk.xml"),
-                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
+                         name=name, joints=[dict(type="free", damping="0.0005")],
+                         obj_type="all", duplicate_collision_geoms=True)
 
 
 class BreadObject(MujocoXMLObject):
@@ -48,9 +51,10 @@ class BreadObject(MujocoXMLObject):
     Bread loaf object (used in PickPlace)
     """
 
-    def __init__(self, name=None, joints=None):
+    def __init__(self, name):
         super().__init__(xml_path_completion("objects/bread.xml"),
-                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
+                         name=name, joints=[dict(type="free", damping="0.0005")],
+                         obj_type="all", duplicate_collision_geoms=True)
 
 
 class CerealObject(MujocoXMLObject):
@@ -58,9 +62,10 @@ class CerealObject(MujocoXMLObject):
     Cereal box object (used in PickPlace)
     """
 
-    def __init__(self, name=None, joints=None):
+    def __init__(self, name):
         super().__init__(xml_path_completion("objects/cereal.xml"),
-                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
+                         name=name, joints=[dict(type="free", damping="0.0005")],
+                         obj_type="all", duplicate_collision_geoms=True)
 
 
 class SquareNutObject(MujocoXMLObject):
@@ -68,9 +73,25 @@ class SquareNutObject(MujocoXMLObject):
     Square nut object (used in NutAssembly)
     """
 
-    def __init__(self, name=None, joints=None):
+    def __init__(self, name):
         super().__init__(xml_path_completion("objects/square-nut.xml"),
-                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
+                         name=name, joints=[dict(type="free", damping="0.0005")],
+                         obj_type="all", duplicate_collision_geoms=True)
+
+    @property
+    def important_sites(self):
+        """
+        Returns:
+            dict: In addition to any default sites for this object, also provides the following entries
+
+                :`'handle'`: Name of nut handle location site
+        """
+        # Get dict from super call and add to it
+        dic = super().important_sites
+        dic.update({
+            "handle": self.naming_prefix + "handle_site"
+        })
+        return dic
 
 
 class RoundNutObject(MujocoXMLObject):
@@ -78,9 +99,25 @@ class RoundNutObject(MujocoXMLObject):
     Round nut (used in NutAssembly)
     """
 
-    def __init__(self, name=None, joints=None):
+    def __init__(self, name):
         super().__init__(xml_path_completion("objects/round-nut.xml"),
-                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
+                         name=name, joints=[dict(type="free", damping="0.0005")],
+                         obj_type="all", duplicate_collision_geoms=True)
+
+    @property
+    def important_sites(self):
+        """
+        Returns:
+            dict: In addition to any default sites for this object, also provides the following entries
+
+                :`'handle'`: Name of nut handle location site
+        """
+        # Get dict from super call and add to it
+        dic = super().important_sites
+        dic.update({
+            "handle": self.naming_prefix + "handle_site"
+        })
+        return dic
 
 
 class MilkVisualObject(MujocoXMLObject):
@@ -91,9 +128,9 @@ class MilkVisualObject(MujocoXMLObject):
     They provide a point of reference to indicate a position.
     """
 
-    def __init__(self, name=None, joints=None):
+    def __init__(self, name):
         super().__init__(xml_path_completion("objects/milk-visual.xml"),
-                         name=name, joints=joints, obj_type="visual", duplicate_collision_geoms=True)
+                         name=name, joints=None, obj_type="visual", duplicate_collision_geoms=True)
 
 
 class BreadVisualObject(MujocoXMLObject):
@@ -104,9 +141,9 @@ class BreadVisualObject(MujocoXMLObject):
     They provide a point of reference to indicate a position.
     """
 
-    def __init__(self, name=None, joints=None):
+    def __init__(self, name):
         super().__init__(xml_path_completion("objects/bread-visual.xml"),
-                         name=name, joints=joints, obj_type="visual", duplicate_collision_geoms=True)
+                         name=name, joints=None, obj_type="visual", duplicate_collision_geoms=True)
 
 
 class CerealVisualObject(MujocoXMLObject):
@@ -117,9 +154,9 @@ class CerealVisualObject(MujocoXMLObject):
     They provide a point of reference to indicate a position.
     """
 
-    def __init__(self, name=None, joints=None):
+    def __init__(self, name):
         super().__init__(xml_path_completion("objects/cereal-visual.xml"),
-                         name=name, joints=joints, obj_type="visual", duplicate_collision_geoms=True)
+                         name=name, joints=None, obj_type="visual", duplicate_collision_geoms=True)
 
 
 class CanVisualObject(MujocoXMLObject):
@@ -130,9 +167,9 @@ class CanVisualObject(MujocoXMLObject):
     They provide a point of reference to indicate a position.
     """
 
-    def __init__(self, name=None, joints=None):
+    def __init__(self, name):
         super().__init__(xml_path_completion("objects/can-visual.xml"),
-                         name=name, joints=joints, obj_type="visual", duplicate_collision_geoms=True)
+                         name=name, joints=None, obj_type="visual", duplicate_collision_geoms=True)
 
 
 class PlateWithHoleObject(MujocoXMLObject):
@@ -140,9 +177,9 @@ class PlateWithHoleObject(MujocoXMLObject):
     Square plate with a hole in the center (used in PegInHole)
     """
 
-    def __init__(self, name=None, joints=None):
+    def __init__(self, name):
         super().__init__(xml_path_completion("objects/plate-with-hole.xml"),
-                         name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
+                         name=name, joints=None, obj_type="all", duplicate_collision_geoms=True)
 
 
 class DoorObject(MujocoXMLObject):
@@ -154,12 +191,19 @@ class DoorObject(MujocoXMLObject):
         damping (float): damping parameter to override the ones specified in the XML
         lock (bool): Whether to use the locked door variation object or not
     """
-    def __init__(self, name=None, joints=None, friction=None, damping=None, lock=False):
+    def __init__(self, name, friction=None, damping=None, lock=False):
         xml_path = "objects/door.xml"
         if lock:
             xml_path = "objects/door_lock.xml"
         super().__init__(xml_path_completion(xml_path),
-            name=name, joints=joints, obj_type="all", duplicate_collision_geoms=True)
+                         name=name, joints=None, obj_type="all", duplicate_collision_geoms=True)
+
+        # Set relevant body names
+        self.door_body = self.naming_prefix + "door"
+        self.frame_body = self.naming_prefix + "frame"
+        self.latch_body = self.naming_prefix + "latch"
+        self.hinge_joint = self.naming_prefix + "hinge"
+
         self.lock = lock
         self.friction = friction
         self.damping = damping
@@ -175,10 +219,7 @@ def _set_door_friction(self, friction):
         Args:
             friction (3-tuple of float): friction parameters to override the ones specified in the XML
         """
-        obj = self.worldbody.find("./body/body[@name='object']")
-        node = obj.find("./body[@name='frame']")
-        node = node.find("./body[@name='door']")
-        hinge = node.find("./joint[@name='door_hinge']")
+        hinge = find_elements(root=self.worldbody, tags="joint", attribs={"name": self.hinge_joint}, return_first=True)
         hinge.set("frictionloss", array_to_string(np.array([friction])))
 
     def _set_door_damping(self, damping):
@@ -188,8 +229,20 @@ def _set_door_damping(self, damping):
         Args:
             damping (float): damping parameter to override the ones specified in the XML
         """
-        obj = self.worldbody.find("./body/body[@name='object']")
-        node = obj.find("./body[@name='frame']")
-        node = node.find("./body[@name='door']")
-        hinge = node.find("./joint[@name='door_hinge']")
+        hinge = find_elements(root=self.worldbody, tags="joint", attribs={"name": self.hinge_joint}, return_first=True)
         hinge.set("damping", array_to_string(np.array([damping])))
+
+    @property
+    def important_sites(self):
+        """
+        Returns:
+            dict: In addition to any default sites for this object, also provides the following entries
+
+                :`'handle'`: Name of door handle location site
+        """
+        # Get dict from super call and add to it
+        dic = super().important_sites
+        dic.update({
+            "handle": self.naming_prefix + "handle"
+        })
+        return dic
diff --git a/robosuite/models/robots/__init__.py b/robosuite/models/robots/__init__.py
index bfb7148608..79787df25e 100644
--- a/robosuite/models/robots/__init__.py
+++ b/robosuite/models/robots/__init__.py
@@ -1,8 +1,2 @@
-from .robot_model import RobotModel, create_robot, check_bimanual
-from .sawyer_robot import Sawyer
-from .baxter_robot import Baxter
-from .panda_robot import Panda
-from .jaco_robot import Jaco
-from .kinova3_robot import Kinova3
-from .iiwa_robot import IIWA
-from .ur5e_robot import UR5e
+from .robot_model import RobotModel, create_robot
+from .manipulators import *
diff --git a/robosuite/models/robots/baxter_robot.py b/robosuite/models/robots/baxter_robot.py
deleted file mode 100644
index 670685d66a..0000000000
--- a/robosuite/models/robots/baxter_robot.py
+++ /dev/null
@@ -1,147 +0,0 @@
-import numpy as np
-from robosuite.models.robots.robot_model import RobotModel
-from robosuite.utils.mjcf_utils import xml_path_completion
-
-
-class Baxter(RobotModel):
-    """
-    Baxter is a hunky bimanual robot designed by Rethink Robotics.
-
-    Args:
-        idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
-    """
-
-    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
-        super().__init__(xml_path_completion("robots/baxter/robot.xml"), idn=idn, bottom_offset=bottom_offset)
-
-    @property
-    def dof(self):
-        return 14
-
-    @property
-    def gripper(self):
-        """
-        Since this is bimanual robot, returns dict with `'right'`, `'left'` keywords corresponding to their respective
-        values
-
-        Returns:
-            dict: Dictionary containing arm-specific gripper names
-        """
-        return {"right": "RethinkGripper",
-                "left": "RethinkGripper"}
-
-    @property
-    def default_controller_config(self):
-        """
-        Since this is bimanual robot, returns dict with `'right'`, `'left'` keywords corresponding to their respective
-        values
-
-        Returns:
-            dict: Dictionary containing arm-specific default controller config names
-        """
-        return {"right": "default_baxter",
-                "left": "default_baxter"}
-
-    @property
-    def init_qpos(self):
-        """
-        Since this is bimanual robot, returns [right, left] array corresponding to respective values
-
-        Note that this is a pose such that the arms are half extended
-
-        Returns:
-            np.array: default initial qpos for the right, left arms
-        """
-        # [right, left]
-        # Arms half extended
-        return np.array([0.403, -0.636, 0.114, 1.432, 0.735, 1.205, -0.269,
-                        -0.403, -0.636, -0.114, 1.432, -0.735, 1.205, 0.269])
-
-    @property
-    def base_xpos_offset(self):
-        return {
-            "bins": (-0.5, -0.1, 0),
-            "empty": (-0.29, 0, 0),
-            "table": lambda table_length: (-0.26 - table_length / 2, 0, 0)
-        }
-
-    @property
-    def arm_type(self):
-        return "bimanual"
-
-    @property
-    def _joints(self):
-        """
-        Since this is bimanual robot, returns [right, left] array corresponding to respective values
-
-        Returns:
-            list: joint names for the right, left arms
-        """
-        return ["right_s0", "right_s1", "right_e0", "right_e1", "right_w0", "right_w1", "right_w2",
-                "left_s0", "left_s1", "left_e0", "left_e1", "left_w0", "left_w1", "left_w2"]
-
-    @property
-    def _eef_name(self):
-        """
-        Since this is bimanual robot, returns dict with `'right'`, `'left'` keywords corresponding to their respective
-        values
-
-        Returns:
-            dict: Dictionary containing arm-specific eef names
-        """
-        return {"right": "right_hand",
-                "left": "left_hand"}
-
-    @property
-    def _robot_base(self):
-        return "base"
-
-    @property
-    def _actuators(self):
-        """
-        Since this is bimanual robot, each dict entry contains the [right, left] array corresponding to
-        respective values
-
-        Returns:
-            dict: actuator name keyworded dictionary where each value corresponds to the list of respective
-                actuator names for the right, left arms
-        """
-        return {
-            "pos": [],  # No position actuators for baxter
-            "vel": [],  # No velocity actuators for baxter
-            "torq": ["torq_right_j0", "torq_right_j1", "torq_right_j2", "torq_right_j3",
-                     "torq_right_j4", "torq_right_j5", "torq_right_j6",
-                     "torq_left_j0", "torq_left_j1", "torq_left_j2", "torq_left_j3",
-                     "torq_left_j4", "torq_left_j5", "torq_left_j6"]
-        }
-
-    @property
-    def _contact_geoms(self):
-        """
-        Since this is bimanual robot, returns [right, left] array corresponding to respective values
-
-        Returns:
-            list: contact geom names for the right, left arms
-        """
-        return ["right_s0_collision", "right_s1_collision", "right_e0_collision", "right_e1_collision",
-                "right_w0_collision", "right_w1_collision", "right_w2_collision",
-                "left_s0_collision", "left_s1_collision", "left_e0_collision", "left_e1_collision",
-                "left_w0_collision", "left_w1_collision", "left_w2_collision"]
-
-    @property
-    def _root(self):
-        return "base"
-
-    @property
-    def _links(self):
-        """
-        Since this is bimanual robot, returns [right, left] array corresponding to respective values
-
-        Returns:
-            list: link names for the right, left arms
-        """
-        return ["right_upper_shoulder", "right_lower_shoulder", "right_upper_elbow", "right_lower_elbow",
-                "right_upper_forearm", "right_lower_forearm", "right_wrist",
-                "left_upper_shoulder", "left_lower_shoulder", "left_upper_elbow", "left_lower_elbow",
-                "left_upper_forearm", "left_lower_forearm", "left_wrist"]
\ No newline at end of file
diff --git a/robosuite/models/robots/iiwa_robot.py b/robosuite/models/robots/iiwa_robot.py
deleted file mode 100644
index 427b7b8f63..0000000000
--- a/robosuite/models/robots/iiwa_robot.py
+++ /dev/null
@@ -1,80 +0,0 @@
-import numpy as np
-from robosuite.models.robots.robot_model import RobotModel
-from robosuite.utils.mjcf_utils import xml_path_completion
-
-
-class IIWA(RobotModel):
-    """
-    IIWA is a bright and spunky robot created by KUKA
-
-    Args:
-        idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
-    """
-
-    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
-        super().__init__(xml_path_completion("robots/iiwa/robot.xml"), idn=idn, bottom_offset=bottom_offset)
-
-    @property
-    def dof(self):
-        return 7
-
-    @property
-    def gripper(self):
-        return "Robotiq140Gripper"
-
-    @property
-    def default_controller_config(self):
-        return "default_iiwa"
-
-    @property
-    def init_qpos(self):
-        return np.array([0.000, 0.650, 0.000, -1.890, 0.000, 0.600, 0.000])
-
-    @property
-    def base_xpos_offset(self):
-        return {
-            "bins": (-0.5, -0.1, 0),
-            "empty": (-0.6, 0, 0),
-            "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
-        }
-
-    @property
-    def arm_type(self):
-        return "single"
-
-    @property
-    def _joints(self):
-        return ["joint_1", "joint_2", "joint_3", "joint_4",
-                "joint_5", "joint_6", "joint_7"]
-
-    @property
-    def _eef_name(self):
-        return "right_hand"
-
-    @property
-    def _robot_base(self):
-        return "base"
-
-    @property
-    def _actuators(self):
-        return {
-            "pos": [],  # No position actuators for sawyer
-            "vel": [],  # No velocity actuators for sawyer
-            "torq": ["torq_j1", "torq_j2", "torq_j3",
-                     "torq_j4", "torq_j5", "torq_j6", "torq_j7"]
-        }
-
-    @property
-    def _contact_geoms(self):
-        return ["link_0_collision", "link_1_collision", "link_2_collision", "link_3_collision",
-                "link_4_collision", "link_5_collision", "link_6_collision", "link_7_collision"]
-
-    @property
-    def _root(self):
-        return 'base'
-
-    @property
-    def _links(self):
-        return ["link_0", "link_1", "link_2", "link_3", "link_4",
-                "link_5", "link_6", "link_7"]
diff --git a/robosuite/models/robots/jaco_robot.py b/robosuite/models/robots/jaco_robot.py
deleted file mode 100644
index a7db2f5457..0000000000
--- a/robosuite/models/robots/jaco_robot.py
+++ /dev/null
@@ -1,80 +0,0 @@
-import numpy as np
-from robosuite.models.robots.robot_model import RobotModel
-from robosuite.utils.mjcf_utils import xml_path_completion
-
-
-class Jaco(RobotModel):
-    """
-    Jaco is a kind and assistive robot created by Kinova
-
-    Args:
-        idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
-    """
-
-    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
-        super().__init__(xml_path_completion("robots/jaco/robot.xml"), idn=idn, bottom_offset=bottom_offset)
-
-    @property
-    def dof(self):
-        return 7
-
-    @property
-    def gripper(self):
-        return "JacoThreeFingerGripper"
-
-    @property
-    def default_controller_config(self):
-        return "default_jaco"
-
-    @property
-    def init_qpos(self):
-        return np.array([3.192, 3.680, -0.000, 1.170, 0.050, 3.760, -1.510])
-
-    @property
-    def base_xpos_offset(self):
-        return {
-            "bins": (-0.5, -0.1, 0),
-            "empty": (-0.6, 0, 0),
-            "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
-        }
-
-    @property
-    def arm_type(self):
-        return "single"
-
-    @property
-    def _joints(self):
-        return ["j2s7s300_joint_1", "j2s7s300_joint_2", "j2s7s300_joint_3", "j2s7s300_joint_4",
-                "j2s7s300_joint_5", "j2s7s300_joint_6", "j2s7s300_joint_7"]
-
-    @property
-    def _eef_name(self):
-        return "right_hand"
-
-    @property
-    def _robot_base(self):
-        return "base"
-
-    @property
-    def _actuators(self):
-        return {
-            "pos": [],  # No position actuators for sawyer
-            "vel": [],  # No velocity actuators for sawyer
-            "torq": ["torq_j1", "torq_j2", "torq_j3",
-                     "torq_j4", "torq_j5", "torq_j6", "torq_j7"]
-        }
-
-    @property
-    def _contact_geoms(self):
-        return ["s_collision", "ah1_collision", "ah2_collision", "f_collision",
-                "ws1_collision", "ws2_collision"]
-
-    @property
-    def _root(self):
-        return 'base'
-
-    @property
-    def _links(self):
-        return ["j2s7s300_link_1", "j2s7s300_link_2", "j2s7s300_link_3", "j2s7s300_link_4",
-                "j2s7s300_link_5", "j2s7s300_link_6", "j2s7s300_link_7"]
diff --git a/robosuite/models/robots/kinova3_robot.py b/robosuite/models/robots/kinova3_robot.py
deleted file mode 100644
index 306040770b..0000000000
--- a/robosuite/models/robots/kinova3_robot.py
+++ /dev/null
@@ -1,80 +0,0 @@
-import numpy as np
-from robosuite.models.robots.robot_model import RobotModel
-from robosuite.utils.mjcf_utils import xml_path_completion
-
-
-class Kinova3(RobotModel):
-    """
-    The Gen3 robot is sparkly newest addition to the Kinova line
-
-    Args:
-        idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
-    """
-
-    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
-        super().__init__(xml_path_completion("robots/kinova3/robot.xml"), idn=idn, bottom_offset=bottom_offset)
-
-    @property
-    def dof(self):
-        return 7
-
-    @property
-    def gripper(self):
-        return "Robotiq85Gripper"
-
-    @property
-    def default_controller_config(self):
-        return "default_kinova3"
-
-    @property
-    def init_qpos(self):
-        return np.array([0.000, 0.650, 0.000, 1.890, 0.000, 0.600, -np.pi / 2])
-
-    @property
-    def base_xpos_offset(self):
-        return {
-            "bins": (-0.5, -0.1, 0),
-            "empty": (-0.6, 0, 0),
-            "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
-        }
-
-    @property
-    def arm_type(self):
-        return "single"
-
-    @property
-    def _joints(self):
-        return ["Actuator1", "Actuator2", "Actuator3", "Actuator4",
-                "Actuator5", "Actuator6", "Actuator7"]
-
-    @property
-    def _eef_name(self):
-        return "right_hand"
-
-    @property
-    def _robot_base(self):
-        return "base"
-
-    @property
-    def _actuators(self):
-        return {
-            "pos": [],  # No position actuators for sawyer
-            "vel": [],  # No velocity actuators for sawyer
-            "torq": ["torq_j1", "torq_j2", "torq_j3",
-                     "torq_j4", "torq_j5", "torq_j6", "torq_j7"]
-        }
-
-    @property
-    def _contact_geoms(self):
-        return ["s_collision", "ha1_collision", "ha2_collision", "f_collision",
-                "w1_collision", "w2_collision", "b_collision"]
-
-    @property
-    def _root(self):
-        return 'base'
-
-    @property
-    def _links(self):
-        return ["Shoulder_Link", "HalfArm1_Link", "HalfArm2_Link", "ForeArm_Link",
-                "SphericalWrist1_Link", "SphericalWrist2_Link", "Bracelet_Link"]
diff --git a/robosuite/models/robots/manipulators/__init__.py b/robosuite/models/robots/manipulators/__init__.py
new file mode 100644
index 0000000000..b6d2c177d0
--- /dev/null
+++ b/robosuite/models/robots/manipulators/__init__.py
@@ -0,0 +1,8 @@
+from .manipulator_model import ManipulatorModel
+from .sawyer_robot import Sawyer
+from .baxter_robot import Baxter
+from .panda_robot import Panda
+from .jaco_robot import Jaco
+from .kinova3_robot import Kinova3
+from .iiwa_robot import IIWA
+from .ur5e_robot import UR5e
diff --git a/robosuite/models/robots/manipulators/baxter_robot.py b/robosuite/models/robots/manipulators/baxter_robot.py
new file mode 100644
index 0000000000..180d2c18c7
--- /dev/null
+++ b/robosuite/models/robots/manipulators/baxter_robot.py
@@ -0,0 +1,79 @@
+import numpy as np
+from robosuite.models.robots.manipulators.manipulator_model import ManipulatorModel
+from robosuite.utils.mjcf_utils import xml_path_completion
+
+
+class Baxter(ManipulatorModel):
+    """
+    Baxter is a hunky bimanual robot designed by Rethink Robotics.
+
+    Args:
+        idn (int or str): Number or some other unique identification string for this robot instance
+        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
+    """
+
+    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
+        super().__init__(xml_path_completion("robots/baxter/robot.xml"), idn=idn, bottom_offset=bottom_offset)
+
+    @property
+    def default_gripper(self):
+        """
+        Since this is bimanual robot, returns dict with `'right'`, `'left'` keywords corresponding to their respective
+        values
+
+        Returns:
+            dict: Dictionary containing arm-specific gripper names
+        """
+        return {"right": "RethinkGripper",
+                "left": "RethinkGripper"}
+
+    @property
+    def default_controller_config(self):
+        """
+        Since this is bimanual robot, returns dict with `'right'`, `'left'` keywords corresponding to their respective
+        values
+
+        Returns:
+            dict: Dictionary containing arm-specific default controller config names
+        """
+        return {"right": "default_baxter",
+                "left": "default_baxter"}
+
+    @property
+    def init_qpos(self):
+        """
+        Since this is bimanual robot, returns [right, left] array corresponding to respective values
+
+        Note that this is a pose such that the arms are half extended
+
+        Returns:
+            np.array: default initial qpos for the right, left arms
+        """
+        # [right, left]
+        # Arms half extended
+        return np.array([0.403, -0.636, 0.114, 1.432, 0.735, 1.205, -0.269,
+                        -0.403, -0.636, -0.114, 1.432, -0.735, 1.205, 0.269])
+
+    @property
+    def base_xpos_offset(self):
+        return {
+            "bins": (-0.5, -0.1, 0),
+            "empty": (-0.29, 0, 0),
+            "table": lambda table_length: (-0.26 - table_length / 2, 0, 0)
+        }
+
+    @property
+    def arm_type(self):
+        return "bimanual"
+
+    @property
+    def _eef_name(self):
+        """
+        Since this is bimanual robot, returns dict with `'right'`, `'left'` keywords corresponding to their respective
+        values
+
+        Returns:
+            dict: Dictionary containing arm-specific eef names
+        """
+        return {"right": "right_hand",
+                "left": "left_hand"}
diff --git a/robosuite/models/robots/manipulators/iiwa_robot.py b/robosuite/models/robots/manipulators/iiwa_robot.py
new file mode 100644
index 0000000000..782627dd83
--- /dev/null
+++ b/robosuite/models/robots/manipulators/iiwa_robot.py
@@ -0,0 +1,40 @@
+import numpy as np
+from robosuite.models.robots.manipulators.manipulator_model import ManipulatorModel
+from robosuite.utils.mjcf_utils import xml_path_completion
+
+
+class IIWA(ManipulatorModel):
+    """
+    IIWA is a bright and spunky robot created by KUKA
+
+    Args:
+        idn (int or str): Number or some other unique identification string for this robot instance
+        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
+    """
+
+    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
+        super().__init__(xml_path_completion("robots/iiwa/robot.xml"), idn=idn, bottom_offset=bottom_offset)
+
+    @property
+    def default_gripper(self):
+        return "Robotiq140Gripper"
+
+    @property
+    def default_controller_config(self):
+        return "default_iiwa"
+
+    @property
+    def init_qpos(self):
+        return np.array([0.000, 0.650, 0.000, -1.890, 0.000, 0.600, 0.000])
+
+    @property
+    def base_xpos_offset(self):
+        return {
+            "bins": (-0.5, -0.1, 0),
+            "empty": (-0.6, 0, 0),
+            "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
+        }
+
+    @property
+    def arm_type(self):
+        return "single"
diff --git a/robosuite/models/robots/manipulators/jaco_robot.py b/robosuite/models/robots/manipulators/jaco_robot.py
new file mode 100644
index 0000000000..42b5553f40
--- /dev/null
+++ b/robosuite/models/robots/manipulators/jaco_robot.py
@@ -0,0 +1,40 @@
+import numpy as np
+from robosuite.models.robots.manipulators.manipulator_model import ManipulatorModel
+from robosuite.utils.mjcf_utils import xml_path_completion
+
+
+class Jaco(ManipulatorModel):
+    """
+    Jaco is a kind and assistive robot created by Kinova
+
+    Args:
+        idn (int or str): Number or some other unique identification string for this robot instance
+        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
+    """
+
+    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
+        super().__init__(xml_path_completion("robots/jaco/robot.xml"), idn=idn, bottom_offset=bottom_offset)
+
+    @property
+    def default_gripper(self):
+        return "JacoThreeFingerGripper"
+
+    @property
+    def default_controller_config(self):
+        return "default_jaco"
+
+    @property
+    def init_qpos(self):
+        return np.array([3.192, 3.680, -0.000, 1.170, 0.050, 3.760, -1.510])
+
+    @property
+    def base_xpos_offset(self):
+        return {
+            "bins": (-0.5, -0.1, 0),
+            "empty": (-0.6, 0, 0),
+            "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
+        }
+
+    @property
+    def arm_type(self):
+        return "single"
diff --git a/robosuite/models/robots/manipulators/kinova3_robot.py b/robosuite/models/robots/manipulators/kinova3_robot.py
new file mode 100644
index 0000000000..d0fed3d8ed
--- /dev/null
+++ b/robosuite/models/robots/manipulators/kinova3_robot.py
@@ -0,0 +1,40 @@
+import numpy as np
+from robosuite.models.robots.manipulators.manipulator_model import ManipulatorModel
+from robosuite.utils.mjcf_utils import xml_path_completion
+
+
+class Kinova3(ManipulatorModel):
+    """
+    The Gen3 robot is the sparkly newest addition to the Kinova line
+
+    Args:
+        idn (int or str): Number or some other unique identification string for this robot instance
+        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
+    """
+
+    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
+        super().__init__(xml_path_completion("robots/kinova3/robot.xml"), idn=idn, bottom_offset=bottom_offset)
+
+    @property
+    def default_gripper(self):
+        return "Robotiq85Gripper"
+
+    @property
+    def default_controller_config(self):
+        return "default_kinova3"
+
+    @property
+    def init_qpos(self):
+        return np.array([0.000, 0.650, 0.000, 1.890, 0.000, 0.600, -np.pi / 2])
+
+    @property
+    def base_xpos_offset(self):
+        return {
+            "bins": (-0.5, -0.1, 0),
+            "empty": (-0.6, 0, 0),
+            "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
+        }
+
+    @property
+    def arm_type(self):
+        return "single"
diff --git a/robosuite/models/robots/manipulators/manipulator_model.py b/robosuite/models/robots/manipulators/manipulator_model.py
new file mode 100644
index 0000000000..eafcedf805
--- /dev/null
+++ b/robosuite/models/robots/manipulators/manipulator_model.py
@@ -0,0 +1,159 @@
+from collections import OrderedDict
+
+from robosuite.models.robots import RobotModel
+
+import numpy as np
+
+
+class ManipulatorModel(RobotModel):
+    """
+    Base class for all manipulator models (robot arm(s) with gripper(s)).
+
+    Args:
+        fname (str): Path to relevant xml file from which to create this robot instance
+        idn (int or str): Number or some other unique identification string for this robot instance
+        bottom_offset (3-array of float): x,y,z offset desired from initial coordinates
+    """
+
+    def __init__(self, fname, idn=0, bottom_offset=(0, 0, 0)):
+        # Always run super init first
+        super().__init__(fname, idn=idn, bottom_offset=bottom_offset)
+
+        # key: gripper name and value: gripper model
+        self.grippers = OrderedDict()
+
+        # Grab hand's offset from final robot link (string -> np.array -> elements [1, 2, 3, 0] (x, y, z, w))
+        # Different case based on whether we're dealing with single or bimanual armed robot
+        if self.arm_type == "single":
+            self.hand_rotation_offset = \
+                np.fromstring(self.worldbody.find(".//body[@name='{}']".format(self.eef_name))
+                              .attrib.get("quat", "1 0 0 0"),
+                              dtype=np.float64, sep=" ")[[1, 2, 3, 0]]
+        else:   # "bimanual" case
+            self.hand_rotation_offset = {}
+            for arm in ("right", "left"):
+                self.hand_rotation_offset[arm] = \
+                    np.fromstring(self.worldbody.find(".//body[@name='{}']".format(self.eef_name[arm]))
+                                  .attrib.get("quat", "1 0 0 0"),
+                                  dtype=np.float64, sep=" ")[[1, 2, 3, 0]]
+
+        # Get camera names for this robot
+        self.cameras = self.get_element_names(self.worldbody, "camera")
+
+    def add_gripper(self, gripper, arm_name=None):
+        """
+        Mounts gripper to arm.
+
+        Throws error if robot already has a gripper or gripper type is incorrect.
+
+        Args:
+            gripper (MujocoGripper): gripper MJCF model
+            arm_name (str): name of arm mount -- defaults to self.eef_name if not specified
+
+        Raises:
+            ValueError: [Multiple grippers]
+            XMLError: [No / invalid actuator]
+        """
+        if arm_name is None:
+            arm_name = self.eef_name
+        if arm_name in self.grippers:
+            raise ValueError("Attempts to add multiple grippers to one body")
+
+        self.merge(gripper, merge_body=arm_name)
+
+        self.grippers[arm_name] = gripper
+
+        # Update cameras in this model
+        self.cameras = self.get_element_names(self.worldbody, "camera")
+
+    # -------------------------------------------------------------------------------------- #
+    # Public Properties: In general, these are the name-adjusted versions from the private   #
+    #                    attributes pulled from their respective raw xml files               #
+    # -------------------------------------------------------------------------------------- #
+
+    @property
+    def important_sites(self):
+        """
+        Returns:
+            dict:
+
+                :`'ee'`: Name of end effector site
+                :`'ee_x'`: Name of end effector site (x-axis)
+                :`'ee_y'`: Name of end effector site (y-axis)
+                :`'ee_z'`: Name of end effector site (z-axis)
+        """
+        return {site: self.naming_prefix + site for site in ("ee", "ee_x", "ee_y", "ee_z")}
+
+    @property
+    def eef_name(self):
+        """
+        Returns:
+            str or dict of str: Prefix-adjusted eef name for this robot. If bimanual robot, returns {"left", "right"}
+                keyword-mapped eef names
+        """
+        return self.correct_naming(self._eef_name)
+
+    # -------------------------------------------------------------------------------------- #
+    # -------------------------- Private Properties ---------------------------------------- #
+    # -------------------------------------------------------------------------------------- #
+
+    @property
+    def _eef_name(self):
+        """
+        XML eef name for this robot to which grippers can be attached. Note that these should be the raw
+        string names directly pulled from a robot's corresponding XML file, NOT the adjusted name with an
+        auto-generated naming prefix
+
+        Returns:
+            str: Raw XML eef name for this robot (default is "right_hand")
+        """
+        return "right_hand"
+
+    # -------------------------------------------------------------------------------------- #
+    # All subclasses must implement the following properties                                 #
+    # -------------------------------------------------------------------------------------- #
+
+    @property
+    def default_gripper(self):
+        """
+        Defines the default gripper type for this robot that gets added to end effector
+
+        Returns:
+            str: Default gripper name to add to this robot
+        """
+        raise NotImplementedError
+
+    @property
+    def arm_type(self):
+        """
+        Type of robot arm. Should be either "bimanual" or "single" (or something else if it gets added in the future)
+
+        Returns:
+            str: Type of robot
+        """
+        raise NotImplementedError
+
+    @property
+    def base_xpos_offset(self):
+        """
+        Defines the dict of various (x,y,z) tuple offsets relative to specific arenas placed at (0,0,0)
+        Assumes robot is facing forwards (in the +x direction) when determining offset. Should have entries for each
+        manipulator arena case; i.e.: "bins", "empty", and "table")
+
+        Returns:
+            dict:
+
+                :`'bins'`: (x,y,z) robot offset if placed in bins arena
+                :`'empty'`: (x,y,z) robot offset if placed in the empty arena
+                :`'table'`: lambda function that takes in table_length and returns corresponding (x,y,z) offset
+                    if placed in the table arena
+        """
+        raise NotImplementedError
+
+    @property
+    def default_controller_config(self):
+        raise NotImplementedError
+
+    @property
+    def init_qpos(self):
+        raise NotImplementedError
diff --git a/robosuite/models/robots/panda_robot.py b/robosuite/models/robots/manipulators/panda_robot.py
similarity index 53%
rename from robosuite/models/robots/panda_robot.py
rename to robosuite/models/robots/manipulators/panda_robot.py
index 46dac2acd4..091c0f46fc 100644
--- a/robosuite/models/robots/panda_robot.py
+++ b/robosuite/models/robots/manipulators/panda_robot.py
@@ -1,9 +1,9 @@
 import numpy as np
-from robosuite.models.robots.robot_model import RobotModel
+from robosuite.models.robots.manipulators.manipulator_model import ManipulatorModel
 from robosuite.utils.mjcf_utils import xml_path_completion
 
 
-class Panda(RobotModel):
+class Panda(ManipulatorModel):
     """
     Panda is a sensitive single-arm robot designed by Franka.
 
@@ -19,11 +19,7 @@ def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
         self.set_joint_attribute(attrib="damping", values=np.array((0.1, 0.1, 0.1, 0.1, 0.1, 0.01, 0.01)))
 
     @property
-    def dof(self):
-        return 7
-
-    @property
-    def gripper(self):
+    def default_gripper(self):
         return "PandaGripper"
 
     @property
@@ -45,36 +41,3 @@ def base_xpos_offset(self):
     @property
     def arm_type(self):
         return "single"
-
-    @property
-    def _joints(self):
-        return ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"]
-
-    @property
-    def _eef_name(self):
-        return "right_hand"
-
-    @property
-    def _robot_base(self):
-        return "base"
-
-    @property
-    def _actuators(self):
-        return {
-            "pos": [],  # No position actuators for panda
-            "vel": [],  # No velocity actuators for panda
-            "torq": ["torq_j1", "torq_j2", "torq_j3", "torq_j4", "torq_j5", "torq_j6", "torq_j7"]
-        }
-
-    @property
-    def _contact_geoms(self):
-        return ["link1_collision", "link2_collision", "link3_collision", "link4_collision",
-                "link5_collision", "link6_collision", "link7_collision"]
-
-    @property
-    def _root(self):
-        return "link0"
-
-    @property
-    def _links(self):
-        return ["link1", "link2", "link3", "link4", "link5", "link6", "link7"]
diff --git a/robosuite/models/robots/manipulators/sawyer_robot.py b/robosuite/models/robots/manipulators/sawyer_robot.py
new file mode 100644
index 0000000000..22c07327fc
--- /dev/null
+++ b/robosuite/models/robots/manipulators/sawyer_robot.py
@@ -0,0 +1,40 @@
+import numpy as np
+from robosuite.models.robots.manipulators.manipulator_model import ManipulatorModel
+from robosuite.utils.mjcf_utils import xml_path_completion
+
+
+class Sawyer(ManipulatorModel):
+    """
+    Sawyer is a witty single-arm robot designed by Rethink Robotics.
+
+    Args:
+        idn (int or str): Number or some other unique identification string for this robot instance
+        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
+    """
+
+    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
+        super().__init__(xml_path_completion("robots/sawyer/robot.xml"), idn=idn, bottom_offset=bottom_offset)
+
+    @property
+    def default_gripper(self):
+        return "RethinkGripper"
+
+    @property
+    def default_controller_config(self):
+        return "default_sawyer"
+
+    @property
+    def init_qpos(self):
+        return np.array([0, -1.18, 0.00, 2.18, 0.00, 0.57, 3.3161])
+
+    @property
+    def base_xpos_offset(self):
+        return {
+            "bins": (-0.5, -0.1, 0),
+            "empty": (-0.6, 0, 0),
+            "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
+        }
+
+    @property
+    def arm_type(self):
+        return "single"
diff --git a/robosuite/models/robots/manipulators/ur5e_robot.py b/robosuite/models/robots/manipulators/ur5e_robot.py
new file mode 100644
index 0000000000..dc7dacb2de
--- /dev/null
+++ b/robosuite/models/robots/manipulators/ur5e_robot.py
@@ -0,0 +1,40 @@
+import numpy as np
+from robosuite.models.robots.manipulators.manipulator_model import ManipulatorModel
+from robosuite.utils.mjcf_utils import xml_path_completion
+
+
+class UR5e(ManipulatorModel):
+    """
+    UR5e is a sleek and elegant new robot created by Universal Robots
+
+    Args:
+        idn (int or str): Number or some other unique identification string for this robot instance
+        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
+    """
+
+    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
+        super().__init__(xml_path_completion("robots/ur5e/robot.xml"), idn=idn, bottom_offset=bottom_offset)
+
+    @property
+    def default_gripper(self):
+        return "Robotiq85Gripper"
+
+    @property
+    def default_controller_config(self):
+        return "default_ur5e"
+
+    @property
+    def init_qpos(self):
+        return np.array([-0.470, -1.735, 2.480, -2.275, -1.590, -0.420])
+
+    @property
+    def base_xpos_offset(self):
+        return {
+            "bins": (-0.5, -0.1, 0),
+            "empty": (-0.6, 0, 0),
+            "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
+        }
+
+    @property
+    def arm_type(self):
+        return "single"
diff --git a/robosuite/models/robots/robot_model.py b/robosuite/models/robots/robot_model.py
index 202ad69b5c..a94f1bf014 100644
--- a/robosuite/models/robots/robot_model.py
+++ b/robosuite/models/robots/robot_model.py
@@ -1,15 +1,9 @@
-from collections import OrderedDict
-
-from robosuite.models.base import MujocoXML
-from robosuite.utils import XMLError
-from robosuite.utils.mjcf_utils import array_to_string, ROBOT_COLLISION_COLOR
+from robosuite.models.base import MujocoXML, MujocoModel
+from robosuite.utils.mjcf_utils import array_to_string, ROBOT_COLLISION_COLOR, sort_elements
 from robosuite.utils.transform_utils import euler2mat, mat2quat
 
 import numpy as np
 
-# List of bimanaul robots -- must be maintained manually
-BIMANUAL_ROBOTS = {"Baxter"}
-
 REGISTERED_ROBOTS = {}
 
 
@@ -41,19 +35,6 @@ def create_robot(robot_name, *args, **kwargs):
     return REGISTERED_ROBOTS[robot_name](*args, **kwargs)
 
 
-def check_bimanual(robot_name):
-    """
-    Utility function that returns whether the inputted robot_name is a bimanual robot or not
-
-    Args:
-        robot_name (str): Name of the robot to check
-
-    Returns:
-        bool: True if the inputted robot is a bimanual robot
-    """
-    return robot_name in BIMANUAL_ROBOTS
-
-
 class RobotModelMeta(type):
     """Metaclass for registering robot arms"""
 
@@ -61,14 +42,14 @@ def __new__(meta, name, bases, class_dict):
         cls = super().__new__(meta, name, bases, class_dict)
 
         # List all environments that should not be registered here.
-        _unregistered_envs = ["RobotModel"]
+        _unregistered_envs = ["RobotModel", "ManipulatorModel"]
 
         if cls.__name__ not in _unregistered_envs:
             register_robot(cls)
         return cls
 
 
-class RobotModel(MujocoXML, metaclass=RobotModelMeta):
+class RobotModel(MujocoXML, MujocoModel, metaclass=RobotModelMeta):
     """
     Base class for all robot models.
 
@@ -87,75 +68,30 @@ def __init__(self, fname, idn=0, bottom_offset=(0, 0, 0)):
         # Set offset
         self.bottom_offset = np.array(bottom_offset)
 
+        # Parse element tree to get all relevant bodies, joints, actuators, and geom groups
+        self._elements = sort_elements(root=self.root)
+        assert len(self._elements["root_body"]) == 1, "Invalid number of root bodies found for robot model. Expected 1," \
+                                                      "got {}".format(len(self._elements["root_body"]))
+        self._elements["root_body"] = self._elements["root_body"][0]
+        self._elements["bodies"] = [self._elements["root_body"]] + self._elements["bodies"] if \
+            "bodies" in self._elements else [self._elements["root_body"]]
+        self._root_body = self._elements["root_body"].get("name")
+        self._bodies = [e.get("name") for e in self._elements.get("bodies", [])]
+        self._joints = [e.get("name") for e in self._elements.get("joints", [])]
+        self._actuators = [e.get("name") for e in self._elements.get("actuators", [])]
+        self._sites = [e.get("name") for e in self._elements.get("sites", [])]
+        self._contact_geoms = [e.get("name") for e in self._elements.get("contact_geoms", [])]
+        self._visual_geoms = [e.get("name") for e in self._elements.get("visual_geoms", [])]
+
         # Update all xml element prefixes
         self.add_prefix(self.naming_prefix)
 
         # Recolor all collision geoms appropriately
         self.recolor_collision_geoms(ROBOT_COLLISION_COLOR)
 
-        # key: gripper name and value: gripper model
-        self.grippers = OrderedDict()
-
-        # Grab hand's offset from final robot link (string -> np.array -> elements [1, 2, 3, 0] (x, y, z, w))
-        # Different case based on whether we're dealing with single or bimanual armed robot
-        if self.arm_type == "single":
-            self.hand_rotation_offset = \
-                np.fromstring(self.worldbody.find(".//body[@name='{}']".format(self.eef_name))
-                              .attrib.get("quat", "1 0 0 0"),
-                              dtype=np.float64, sep=" ")[[1, 2, 3, 0]]
-        else:   # "bimanual" case
-            self.hand_rotation_offset = {}
-            for arm in ("right", "left"):
-                self.hand_rotation_offset[arm] = \
-                    np.fromstring(self.worldbody.find(".//body[@name='{}']".format(self.eef_name[arm]))
-                                  .attrib.get("quat", "1 0 0 0"),
-                                  dtype=np.float64, sep=" ")[[1, 2, 3, 0]]
-
         # Get camera names for this robot
         self.cameras = self.get_element_names(self.worldbody, "camera")
 
-    def add_gripper(self, gripper, arm_name=None):
-        """
-        Mounts gripper to arm.
-
-        Throws error if robot already has a gripper or gripper type is incorrect.
-
-        Args:
-            gripper (MujocoGripper): gripper MJCF model
-            arm_name (str): name of arm mount -- defaults to self.eef_name if not specified
-
-        Raises:
-            ValueError: [Multiple grippers]
-            XMLError: [No / invalid actuator]
-        """
-        if arm_name is None:
-            arm_name = self.eef_name
-        if arm_name in self.grippers:
-            raise ValueError("Attempts to add multiple grippers to one body")
-
-        arm_subtree = self.worldbody.find(".//body[@name='{}']".format(arm_name))
-
-        for actuator in gripper.actuator:
-
-            if actuator.get("name") is None:
-                raise XMLError("Actuator has no name")
-
-            if not actuator.get("name").startswith("gripper"):
-                raise XMLError(
-                    "Actuator name {} does not have prefix 'gripper'".format(
-                        actuator.get("name")
-                    )
-                )
-
-        for body in gripper.worldbody:
-            arm_subtree.append(body)
-
-        self.merge(gripper, merge_body=False)
-        self.grippers[arm_name] = gripper
-
-        # Update cameras in this model
-        self.cameras = self.get_element_names(self.worldbody, "camera")
-
     def set_base_xpos(self, pos):
         """
         Places the robot on position @pos.
@@ -163,7 +99,7 @@ def set_base_xpos(self, pos):
         Args:
             pos (3-array): (x,y,z) position to place robot base
         """
-        node = self.worldbody.find("./body[@name='{}']".format(self._root_))
+        node = self.worldbody.find("./body[@name='{}']".format(self.root_body))
         node.set("pos", array_to_string(pos - self.bottom_offset))
 
     def set_base_ori(self, rot):
@@ -173,7 +109,7 @@ def set_base_ori(self, rot):
         Args:
             rot (3-array): (r,p,y) euler angles specifying the orientation for the robot base
         """
-        node = self.worldbody.find("./body[@name='{}']".format(self._root_))
+        node = self.worldbody.find("./body[@name='{}']".format(self.root_body))
         # xml quat assumes w,x,y,z so we need to convert to this format from outputted x,y,z,w format from fcn
         rot = mat2quat(euler2mat(rot))[[3,0,1,2]]
         node.set("quat", array_to_string(rot))
@@ -189,124 +125,67 @@ def set_joint_attribute(self, attrib, values):
         Raises:
             AssertionError: [Inconsistent dimension sizes]
         """
-        assert values.size == self.dof, "Error setting joint attributes: " + \
+        assert values.size == len(self._elements["joints"]), "Error setting joint attributes: " + \
             "Values must be same size as joint dimension. Got {}, expected {}!".format(values.size, self.dof)
-        body = self._root_body_
-        for i in range(len(self._links_)):
-            body = body.find("./body[@name='{}']".format(self._links_[i]))
-            joint = body.find("./joint[@name='{}']".format(self.joints[i]))
+        for i, joint in enumerate(self._elements["joints"]):
             joint.set(attrib, array_to_string(np.array([values[i]])))
 
-    def correct_naming(self, names):
-        """
-        Corrects all xml names by adding the naming prefix to it and returns the name-corrected values
-
-        Args:
-            names (str, list, or dict): Name(s) to be corrected
-
-        Raises:
-            TypeError: [Invalid input type]
-        """
-        if type(names) is str:
-            return self.naming_prefix + names
-        elif type(names) is list:
-            return [self.naming_prefix + name for name in names]
-        elif type(names) is dict:
-            names = names.copy()
-            for key, val in names.items():
-                names[key] = self.correct_naming(val)
-            return names
-        else:
-            # Assumed to be type error
-            raise TypeError("Error: type of 'names' must be str, list, or dict!")
-
     # -------------------------------------------------------------------------------------- #
     # Public Properties: In general, these are the name-adjusted versions from the private   #
-    #                    subclass implementations pulled from their respective raw xml files #
+    #                    attributes pulled from their respective raw xml files               #
     # -------------------------------------------------------------------------------------- #
 
     @property
     def naming_prefix(self):
-        """
-        Generates a standardized prefix to append to all xml names to prevent naming collisions
-
-        Returns:
-            str: Prefix unique to this robot based on its ID
-        """
         return "robot{}_".format(self.idn)
 
     @property
-    def joints(self):
-        """
-        Returns:
-            list: Prefix-adjusted joint names for this robot
-        """
-        return self.correct_naming(self._joints)
+    def root_body(self):
+        return self.correct_naming(self._root_body)
 
     @property
-    def eef_name(self):
-        """
-        Returns:
-            str: Prefix-adjusted eef name for this robot
-        """
-        return self.correct_naming(self._eef_name)
+    def bodies(self):
+        return self.correct_naming(self._bodies)
 
     @property
-    def robot_base(self):
-        """
-        Returns:
-            str: Prefix-adjusted base name for this robot
-        """
-        return self.correct_naming(self._robot_base)
+    def joints(self):
+        return self.correct_naming(self._joints)
 
     @property
     def actuators(self):
-        """
-        Returns:
-            list: Prefix-adjusted actuator names for this robot
-        """
         return self.correct_naming(self._actuators)
 
+    @property
+    def sites(self):
+        return self.correct_naming(self._sites)
+
     @property
     def contact_geoms(self):
-        """
-        Returns:
-            list: Prefix-adjusted contact geom names for this robot
-        """
         return self.correct_naming(self._contact_geoms)
 
-    # -------------------------------------------------------------------------------------- #
-    # -------------------------- Private Properties ---------------------------------------- #
-    # -------------------------------------------------------------------------------------- #
+    @property
+    def visual_geoms(self):
+        return self.correct_naming(self._visual_geoms)
 
     @property
-    def _root_body_(self):
-        """
-        Returns:
-            ET.Element: xml element of the root body for this robot
-        """
-        node = self.worldbody.find("./body[@name='{}']".format(self._root_))
-        return node
+    def important_geoms(self):
+        return self.correct_naming(self._important_geoms)
 
     @property
-    def _root_(self):
+    def important_sites(self):
         """
         Returns:
-            str: Prefix-adjusted root name of this robot
+            dict: (Default is no important sites; i.e.: empty dict)
         """
-        return self.correct_naming(self._root)
+        return {}
 
     @property
-    def _links_(self):
+    def sensors(self):
         """
         Returns:
-            list: Prefix-adjusted link names for this robot
+            dict: (Default is no sensors; i.e.: empty dict)
         """
-        return self.correct_naming(self._links)
-
-    # -------------------------------------------------------------------------------------- #
-    # All subclasses must implement the following properties based on their respective xml's #
-    # -------------------------------------------------------------------------------------- #
+        return {}
 
     @property
     def dof(self):
@@ -316,17 +195,11 @@ def dof(self):
         Returns:
             int: robot DOF
         """
-        raise NotImplementedError
+        return len(self._joints)
 
-    @property
-    def gripper(self):
-        """
-        Defines the default gripper type for this robot that gets added to end effector
-
-        Returns:
-            str: Default gripper name to add to this robot
-        """
-        raise NotImplementedError
+    # -------------------------------------------------------------------------------------- #
+    # All subclasses must implement the following properties                                 #
+    # -------------------------------------------------------------------------------------- #
 
     @property
     def default_controller_config(self):
@@ -356,105 +229,15 @@ def base_xpos_offset(self):
         arena case; i.e.: "bins", "empty", and "table")
 
         Returns:
-            dict:
-
-                :`'bins'`: (x,y,z) robot offset if placed in bins arena
-                :`'empty'`: (x,y,z) robot offset if placed in the empty arena
-                :`'table'`: lambda function that takes in table_length and returns corresponding (x,y,z) offset
-                    if placed in the table arena
+            dict: Dict mapping arena names to robot offsets from the global origin (dict entries may also be lambdas
+                for variable offsets)
         """
         raise NotImplementedError
 
     @property
-    def arm_type(self):
+    def _important_geoms(self):
         """
-        Type of robot arm. Should be either "bimanual" or "single" (or something else if it gets added in the future)
-
         Returns:
-            str: Type of robot
+             dict: (Default is no important geoms; i.e.: empty dict)
         """
-        raise NotImplementedError
-
-    @property
-    def _joints(self):
-        """
-        List of joint names of the robot. Note that these are the raw string names directly pulled from
-        a robot's corresponding XML file, NOT the adjusted name with an auto-generated naming prefix
-
-        Returns:
-            list: Raw XML joint names for this robot
-        """
-        raise NotImplementedError
-
-    @property
-    def _eef_name(self):
-        """
-        XML eef name for this robot to which grippers can be attached. Note that these are the raw
-        string names directly pulled from a robot's corresponding XML file, NOT the adjusted name with an
-        auto-generated naming prefix
-
-        Returns:
-            str: Raw XML eef name for this robot
-        """
-        raise NotImplementedError
-
-    @property
-    def _robot_base(self):
-        """
-        Base name of the physical base for this robot. Note that these are the raw string names directly
-        pulled from a robot's corresponding XML file, NOT the adjusted name with an auto-generated naming prefix
-
-        Returns:
-            str: Raw XML base name for this robot
-        """
-        raise NotImplementedError
-
-    @property
-    def _actuators(self):
-        """
-        Dict containing lists of XML names for the pos, vel, and torq actuators for this robot. Should be a dict with
-        entries for 'pos', 'vel', and 'torq'. Note that these are the raw string names directly pulled from a robot's
-        corresponding XML file, NOT the adjusted name with an auto-generated naming prefix
-
-        Returns:
-            dict:
-
-                :`'pos'`: List of raw XML position actuators for this robot
-                :`'vel'`: List of raw XML velocity actuators for this robot
-                :`'torq'`: List of raw XML torque actuators for this robot
-        """
-        raise NotImplementedError
-
-    @property
-    def _contact_geoms(self):
-        """
-        List of names corresponding to the geoms used to determine contact with this robot. Note that these
-        are the raw string names directly pulled from a robot's corresponding XML file, NOT the adjusted name with
-        an auto-generated naming prefix
-
-        Returns:
-            list: Raw XML relevant contact geoms for this robot
-        """
-        raise NotImplementedError
-
-    @property
-    def _root(self):
-        """
-        Root name of the mujoco xml body. Note that these are the raw string names directly pulled from a
-        robot's corresponding XML file, NOT the adjusted name with an auto-generated naming prefix
-
-        Returns:
-            str: Raw XML root name for this robot
-        """
-        raise NotImplementedError
-
-    @property
-    def _links(self):
-        """
-        List of xml link names for this robot. Note that these are the raw string names directly pulled from a
-        robot's corresponding XML file, NOT the adjusted name with an auto-generated naming prefix
-
-        Returns:
-            list: Raw XML link names for this robot
-        """
-        raise NotImplementedError
+        return {}
diff --git a/robosuite/models/robots/sawyer_robot.py b/robosuite/models/robots/sawyer_robot.py
deleted file mode 100644
index a6b395fbf8..0000000000
--- a/robosuite/models/robots/sawyer_robot.py
+++ /dev/null
@@ -1,80 +0,0 @@
-import numpy as np
-from robosuite.models.robots.robot_model import RobotModel
-from robosuite.utils.mjcf_utils import xml_path_completion
-
-
-class Sawyer(RobotModel):
-    """
-    Sawyer is a witty single-arm robot designed by Rethink Robotics.
-
-    Args:
-        idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
-    """
-
-    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
-        super().__init__(xml_path_completion("robots/sawyer/robot.xml"), idn=idn, bottom_offset=bottom_offset)
-
-    @property
-    def dof(self):
-        return 7
-
-    @property
-    def gripper(self):
-        return "RethinkGripper"
-
-    @property
-    def default_controller_config(self):
-        return "default_sawyer"
-
-    @property
-    def init_qpos(self):
-        # TODO: Determine which start is better
-        #return np.array([-0.5538, -0.8208, 0.4155, 1.8409, -0.4955, 0.6482, 1.9628])
-        return np.array([0, -1.18, 0.00, 2.18, 0.00, 0.57, 3.3161])
-
-    @property
-    def base_xpos_offset(self):
-        return {
-            "bins": (-0.5, -0.1, 0),
-            "empty": (-0.6, 0, 0),
-            "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
-        }
-
-    @property
-    def arm_type(self):
-        return "single"
-
-    @property
-    def _joints(self):
-        return ["right_j0", "right_j1", "right_j2", "right_j3", "right_j4", "right_j5", "right_j6"]
-
-    @property
-    def _eef_name(self):
-        return "right_hand"
-
-    @property
-    def _robot_base(self):
-        return "base"
-
-    @property
-    def _actuators(self):
-        return {
-            "pos": [],  # No position actuators for sawyer
-            "vel": [],  # No velocity actuators for sawyer
-            "torq": ["torq_right_j0", "torq_right_j1", "torq_right_j2", "torq_right_j3",
-                     "torq_right_j4", "torq_right_j5", "torq_right_j6"]
-        }
-
-    @property
-    def _contact_geoms(self):
-        return ["link0_collision", "link1_collision", "link2_collision", "link3_collision", "link4_collision",
-                "link5_collision", "link6_collision"]
-
-    @property
-    def _root(self):
-        return 'base'
-
-    @property
-    def _links(self):
-        return ["right_l0", "right_l1", "right_l2", "right_l3", "right_l4", "right_l5", "right_l6"]
diff --git a/robosuite/models/robots/ur5e_robot.py b/robosuite/models/robots/ur5e_robot.py
deleted file mode 100644
index 95cbe0fa04..0000000000
--- a/robosuite/models/robots/ur5e_robot.py
+++ /dev/null
@@ -1,80 +0,0 @@
-import numpy as np
-from robosuite.models.robots.robot_model import RobotModel
-from robosuite.utils.mjcf_utils import xml_path_completion
-
-
-class UR5e(RobotModel):
-    """
-    UR5e is a sleek and elegant new robot created by Universal Robots
-
-    Args:
-        idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
-    """
-
-    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
-        super().__init__(xml_path_completion("robots/ur5e/robot.xml"), idn=idn, bottom_offset=bottom_offset)
-
-    @property
-    def dof(self):
-        return 6
-
-    @property
-    def gripper(self):
-        return "Robotiq85Gripper"
-
-    @property
-    def default_controller_config(self):
-        return "default_ur5e"
-
-    @property
-    def init_qpos(self):
-        return np.array([-0.470, -1.735, 2.480, -2.275, -1.590, -0.420])
-
-    @property
-    def base_xpos_offset(self):
-        return {
-            "bins": (-0.5, -0.1, 0),
-            "empty": (-0.6, 0, 0),
-            "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
-        }
-
-    @property
-    def arm_type(self):
-        return "single"
-
-    @property
-    def _joints(self):
-        return ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint",
-                "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]
-
-    @property
-    def _eef_name(self):
-        return "right_hand"
-
-    @property
-    def _robot_base(self):
-        return "base"
-
-    @property
-    def _actuators(self):
-        return {
-            "pos": [],  # No position actuators for sawyer
-            "vel": [],  # No velocity actuators for sawyer
-            "torq": ["torq_j1", "torq_j2", "torq_j3",
-                     "torq_j4", "torq_j5", "torq_j6"]
-        }
-
-    @property
-    def _contact_geoms(self):
-        return ["shoulder_col", "upperarm_col", "forearm_col",
-                "wrist1_col", "wrist2_col", "wrist3_col"]
-
-    @property
-    def _root(self):
-        return 'base'
-
-    @property
-    def _links(self):
-        return ["shoulder_link", "upper_arm_link", "forearm_link",
-                "wrist_1_link", "wrist_2_link", "wrist_3_link"]
diff --git a/robosuite/models/tasks/__init__.py b/robosuite/models/tasks/__init__.py
index 8840ef776d..6ef64c9b53 100644
--- a/robosuite/models/tasks/__init__.py
+++ b/robosuite/models/tasks/__init__.py
@@ -4,4 +4,5 @@
     SequentialCompositeSampler,
 )
 
+from .task import Task
 from .manipulation_task import ManipulationTask
diff --git a/robosuite/models/tasks/manipulation_task.py b/robosuite/models/tasks/manipulation_task.py
index fb318f5662..98c116e5e2 100644
--- a/robosuite/models/tasks/manipulation_task.py
+++ b/robosuite/models/tasks/manipulation_task.py
@@ -1,117 +1,8 @@
-import collections
-from copy import deepcopy
 
-from robosuite.models.world import MujocoWorldBase
-from robosuite.models.tasks import UniformRandomSampler
-from robosuite.models.objects import MujocoObject
-from robosuite.utils.mjcf_utils import new_joint, array_to_string
+from robosuite.models.tasks.task import Task
 
 
-class ManipulationTask(MujocoWorldBase):
+class ManipulationTask(Task):
     """
-    Creates MJCF model for a manipulation task performed, usually on a table top (or similar surface).
-
-    A manipulation task consists of one or more robots interacting with a variable number of
-    objects placed on a table. This class combines the robot(s), the arena, and the objects 
-    into a single MJCF model.
-
-    Args:
-        mujoco_arena (Arena): MJCF model of robot workspace
-
-        mujoco_robots (list of RobotModel): MJCF model of robot model(s) (list)
-
-        mujoco_objects (OrderedDict of MujocoObject): a list of MJCF models of physical objects
-
-        initializer (ObjectPositionSampler): placement sampler to initialize object positions.
-
-    Raises:
-        AssertionError: [Invalid input object type]
-    """
-
-    def __init__(
-        self, 
-        mujoco_arena, 
-        mujoco_robots, 
-        mujoco_objects,
-        initializer=None,
-    ):
-        super().__init__()
-
-        self.merge_arena(mujoco_arena)
-        for mujoco_robot in mujoco_robots:
-            self.merge_robot(mujoco_robot)
-
-        if initializer is None:
-            initializer = UniformRandomSampler()
-
-        assert isinstance(mujoco_objects, collections.OrderedDict)
-
-        mujoco_objects = deepcopy(mujoco_objects)
-
-        # xml manifestations of all objects
-        self.objects = []
-        self.merge_objects(mujoco_objects)
-
-        merged_objects = collections.OrderedDict(**mujoco_objects)
-        self.mujoco_objects = mujoco_objects
-
-        self.initializer = initializer
-        self.initializer.setup(merged_objects, self.table_top_offset, self.table_size)
-
-    def merge_robot(self, mujoco_robot):
-        """
-        Adds robot model to the MJCF model.
-
-        Args:
-            mujoco_robot (RobotModel): robot to merge into this MJCF model
-        """
-        self.merge(mujoco_robot)
-
-    def merge_arena(self, mujoco_arena):
-        """
-        Adds arena model to the MJCF model.
-
-        Args:
-            mujoco_arena (Arena): arena to merge into this MJCF model
-        """
-        self.arena = mujoco_arena
-        self.table_top_offset = mujoco_arena.table_top_abs
-        self.table_size = mujoco_arena.table_full_size
-        self.merge(mujoco_arena)
-
-    def merge_objects(self, mujoco_objects):
-        """
-        Adds object models to the MJCF model.
-
-        Args:
-            mujoco_objects (OrderedDict of MujocoObject): objects to merge into this MJCF model
-        """
-        self.max_horizontal_radius = 0
-
-        for obj_name, obj_mjcf in mujoco_objects.items():
-            assert(isinstance(obj_mjcf, MujocoObject))
-            self.merge_asset(obj_mjcf)
-            # Load object
-            obj = obj_mjcf.get_object_subtree(site=(obj_mjcf.obj_type != "visual"))
-
-            for i, joint in enumerate(obj_mjcf.joints):
-                if "name" not in joint:
-                    joint["name"] = "{}_jnt{}".format(obj_name, i)
-                obj.append(new_joint(**joint))
-            self.objects.append(obj)
-            self.worldbody.append(obj)
-
-            if obj_mjcf.obj_type != "visual":
-                self.max_horizontal_radius = max(
-                    self.max_horizontal_radius, obj_mjcf.get_horizontal_radius()
-                )
-
-    def place_objects(self):
-        """
-        Places objects randomly until no collisions or max iterations hit.
-        """
-        pos_arr, quat_arr = self.initializer.sample()
-        for i in range(len(self.objects)):
-            self.objects[i].set("pos", array_to_string(pos_arr[i]))
-            self.objects[i].set("quat", array_to_string(quat_arr[i]))
-        return pos_arr, quat_arr
+    A manipulation-specific task. This is currently a future-proofing placeholder.
+    """
\ No newline at end of file
diff --git a/robosuite/models/tasks/placement_sampler.py b/robosuite/models/tasks/placement_sampler.py
index 6d0a55862d..5ee06f6227 100644
--- a/robosuite/models/tasks/placement_sampler.py
+++ b/robosuite/models/tasks/placement_sampler.py
@@ -1,38 +1,80 @@
 import collections
 import numpy as np
 
-from copy import deepcopy
+from copy import deepcopy, copy
 
 from robosuite.utils import RandomizationError
 from robosuite.utils.transform_utils import quat_multiply
+from robosuite.models.objects import MujocoObject
 
 
 class ObjectPositionSampler:
     """
     Base class of object placement sampler.
+
+    Args:
+        mujoco_objects (None or MujocoObject or list of MujocoObject): single model or list of MJCF object models
+
+        ensure_object_boundary_in_range (bool): If True, will ensure that the object is enclosed within a given boundary
+            (should be implemented by subclass)
+
+        ensure_valid_placement (bool): If True, will check for correct (valid) object placements
+
+        reference_pos (3-array): global (x,y,z) position relative to which sampling will occur
+
+        z_offset (float): Add a small z-offset to placements. This is useful for fixed objects
+            that do not move (i.e. no free joint) to place them above the table.
     """
 
-    def __init__(self):
-        pass
+    def __init__(
+        self,
+        mujoco_objects=None,
+        ensure_object_boundary_in_range=True,
+        ensure_valid_placement=True,
+        reference_pos=(0, 0, 0),
+        z_offset=0.,
+    ):
+        # Setup attributes
+        if mujoco_objects is None:
+            self.mujoco_objects = []
+        else:
+            # Shallow copy the list so we don't modify the inputted list but still keep the object references
+            self.mujoco_objects = [mujoco_objects] if isinstance(mujoco_objects, MujocoObject) else copy(mujoco_objects)
+        self.ensure_object_boundary_in_range = ensure_object_boundary_in_range
+        self.ensure_valid_placement = ensure_valid_placement
+        self.reference_pos = reference_pos
+        self.z_offset = z_offset
 
-    def setup(self, mujoco_objects, table_top_offset, table_size):
+    def add_objects(self, mujoco_objects):
         """
-        Required setup for this sampler
+        Add additional objects to this sampler. Checks to make sure there's no identical objects already stored.
 
         Args:
-            mujoco_objects (OrderedDict of MujocoObject): a list of MJCF models of physical objects
-            table_top_offset (3-array of float): (x,y,z) offset values for the table
-            table_size (3-array of float): (x,y,z) fullsize values for the table
+            mujoco_objects (MujocoObject or list of MujocoObject): single model or list of MJCF object models
         """
-        self.mujoco_objects = mujoco_objects
-        assert isinstance(self.mujoco_objects, collections.OrderedDict)
-        self.n_obj = len(self.mujoco_objects)
-        self.table_top_offset = table_top_offset
-        self.table_size = table_size
+        mujoco_objects = [mujoco_objects] if isinstance(mujoco_objects, MujocoObject) else mujoco_objects
+        for obj in mujoco_objects:
+            assert obj not in self.mujoco_objects, "Object '{}' already in sampler!".format(obj.name)
+            self.mujoco_objects.append(obj)
 
-    def sample(self):
+    def sample(self, fixtures=None, reference=None, on_top=True):
         """
-        Sampling function to place objects. Should be implemented by subclasses
+        Uniformly sample on a surface (not necessarily table surface).
+
+        Args:
+            fixtures (dict): dictionary of current object placements in the scene as well as any other relevant
+                obstacles that should not be in contact with newly sampled objects. Used to make sure newly
+                generated placements are valid. Should be object names mapped to (pos, quat, MujocoObject)
+
+            reference (str or 3-tuple or None): if provided, sample relative placement. Can either be a string, which
+                corresponds to an existing object found in @fixtures, or a direct (x,y,z) value. If None, will sample
+                relative to this sampler's `'reference_pos'` value.
+
+            on_top (bool): if True, sample placement on top of the reference object.
+
+        Return:
+            dict: dictionary of all object placements, mapping object_names to (pos, quat, obj), including the
+                placements specified in @fixtures. Note quat is in (w,x,y,z) form
         """
         raise NotImplementedError
 
@@ -42,17 +84,11 @@ class UniformRandomSampler(ObjectPositionSampler):
     Places all objects within the table uniformly random.
 
     Args:
-        x_range (2-array of float): override the x_range used to uniformly place objects
-            if None, default to x-range of table. Note that this is with respect to (0,0) = center of table.
+        mujoco_objects (None or MujocoObject or list of MujocoObject): single model or list of MJCF object models
 
-        y_range (2-array of float): override the y_range used to uniformly place objects
-            if None default to y-range of table. Note that this is with respect to (0,0) = center of table.
+        x_range (2-array of float): Specify the (min, max) relative x_range used to uniformly place objects
 
-        ensure_object_boundary_in_range (bool):
-            :`True`: The center of object is at position:
-                 [uniform(min x_range + radius, max x_range - radius)], [uniform(min x_range + radius, max x_range - radius)]
-            :`False`:
-                [uniform(min x_range, max x_range)], [uniform(min x_range, max x_range)]
+        y_range (2-array of float): Specify the (min, max) relative y_range used to uniformly place objects
 
         rotation (None or float or Iterable):
             :`None`: Add uniform random random rotation
@@ -61,27 +97,46 @@ class UniformRandomSampler(ObjectPositionSampler):
 
         rotation_axis (str): Can be 'x', 'y', or 'z'. Axis about which to apply the requested rotation
 
+        ensure_object_boundary_in_range (bool):
+            :`True`: The center of object is at position:
+                 [uniform(min x_range + radius, max x_range - radius)], [uniform(min x_range + radius, max x_range - radius)]
+            :`False`:
+                [uniform(min x_range, max x_range)], [uniform(min x_range, max x_range)]
+
+        ensure_valid_placement (bool): If True, will check for correct (valid) object placements
+
+        reference_pos (3-array): global (x,y,z) position relative to which sampling will occur
+
         z_offset (float): Add a small z-offset to placements. This is useful for fixed objects
             that do not move (i.e. no free joint) to place them above the table.
     """
 
     def __init__(
         self,
-        x_range=None,
-        y_range=None,
-        ensure_object_boundary_in_range=True,
+        mujoco_objects=None,
+        x_range=(0, 0),
+        y_range=(0, 0),
         rotation=None,
         rotation_axis='z',
+        ensure_object_boundary_in_range=True,
+        ensure_valid_placement=True,
+        reference_pos=(0, 0, 0),
         z_offset=0.,
     ):
         self.x_range = x_range
         self.y_range = y_range
-        self.ensure_object_boundary_in_range = ensure_object_boundary_in_range
         self.rotation = rotation
         self.rotation_axis = rotation_axis
-        self.z_offset = z_offset
 
-    def sample_x(self, object_horizontal_radius):
+        super().__init__(
+            mujoco_objects=mujoco_objects,
+            ensure_object_boundary_in_range=ensure_object_boundary_in_range,
+            ensure_valid_placement=ensure_valid_placement,
+            reference_pos=reference_pos,
+            z_offset=z_offset,
+        )
+
+    def _sample_x(self, object_horizontal_radius):
         """
         Samples the x location for a given object
 
@@ -91,17 +146,13 @@ def sample_x(self, object_horizontal_radius):
         Returns:
             float: sampled x position
         """
-        x_range = self.x_range
-        if x_range is None:
-            x_range = [-self.table_size[0] / 2, self.table_size[0] / 2]
-        minimum = min(x_range)
-        maximum = max(x_range)
+        minimum, maximum = self.x_range
         if self.ensure_object_boundary_in_range:
             minimum += object_horizontal_radius
             maximum -= object_horizontal_radius
         return np.random.uniform(high=maximum, low=minimum)
 
-    def sample_y(self, object_horizontal_radius):
+    def _sample_y(self, object_horizontal_radius):
         """
         Samples the y location for a given object
 
@@ -111,17 +162,13 @@ def sample_y(self, object_horizontal_radius):
         Returns:
             float: sampled y position
         """
-        y_range = self.y_range
-        if y_range is None:
-            y_range = [-self.table_size[0] / 2, self.table_size[0] / 2]
-        minimum = min(y_range)
-        maximum = max(y_range)
+        minimum, maximum = self.y_range
         if self.ensure_object_boundary_in_range:
             minimum += object_horizontal_radius
             maximum -= object_horizontal_radius
         return np.random.uniform(high=maximum, low=minimum)
 
-    def sample_quat(self):
+    def _sample_quat(self):
         """
         Samples the orientation for a given object
 
@@ -151,99 +198,93 @@ def sample_quat(self):
             # Invalid axis specified, raise error
             raise ValueError("Invalid rotation axis specified. Must be 'x', 'y', or 'z'. Got: {}".format(self.rotation_axis))
 
-    def sample(self, fixtures=None, return_placements=False, reference_object_name=None, sample_on_top=False):
+    def sample(self, fixtures=None, reference=None, on_top=True):
         """
-        Uniformly sample on a surface (not necessarily table surface).
+        Uniformly sample relative to this sampler's reference_pos or @reference (if specified).
 
         Args:
-            fixtures (dict): current dictionary of object placements in the scene. Used to make sure
-                generated placements are valid.
-
-            return_placements (bool): if True, return the updated dictionary
-                of object placements.
+            fixtures (dict): dictionary of current object placements in the scene as well as any other relevant
+                obstacles that should not be in contact with newly sampled objects. Used to make sure newly
+                generated placements are valid. Should be object names mapped to (pos, quat, MujocoObject)
 
-            reference_object_name (str): if provided, sample placement relative to this object's
-                placement (which must be provided in @fixtures).
+            reference (str or 3-tuple or None): if provided, sample relative placement. Can either be a string, which
+                corresponds to an existing object found in @fixtures, or a direct (x,y,z) value. If None, will sample
+                relative to this sampler's `'reference_pos'` value.
 
-            sample_on_top (bool): if True, sample placement on top of the reference object.
+            on_top (bool): if True, sample placement on top of the reference object. This corresponds to a sampled
+                z-offset of the current sampled object's bottom_offset + the reference object's top_offset
+                (if specified)
 
         Return:
-            2-tuple or 3-tuple:
-
-                - (list) list of placed object positions
-
-                - (list) list of placed object quaternions
-
-                - (dict) if @return_placements is True, returns a dictionary of all
-                    object placements, including the ones placed by this sampler.
+            dict: dictionary of all object placements, mapping object_names to (pos, quat, obj), including the
+                placements specified in @fixtures. Note quat is in (w,x,y,z) form
 
         Raises:
             RandomizationError: [Cannot place all objects]
-            AssertionError: [Reference object name does not exist]
+            AssertionError: [Reference object name does not exist, invalid inputs]
         """
-        pos_arr = []
-        quat_arr = []
-
-        if fixtures is None:
-            placed_objects = {}
+        # Standardize inputs
+        placed_objects = {} if fixtures is None else deepcopy(fixtures)
+        if reference is None:
+            base_offset = self.reference_pos
+        elif type(reference) is str:
+            assert reference in placed_objects, "Invalid reference received. Current options are: {}, requested: {}"\
+                .format(placed_objects.keys(), reference)
+            ref_pos, _, ref_obj = placed_objects[reference]
+            base_offset = np.array(ref_pos)
+            if on_top:
+                base_offset += np.array((0, 0, ref_obj.get_top_offset()[-1]))
         else:
-            placed_objects = deepcopy(fixtures)
-
-        # compute reference position
-        base_offset = self.table_top_offset
-        if reference_object_name is not None:
-            assert reference_object_name in placed_objects
-            reference_pos, reference_mjcf = placed_objects[reference_object_name]
-            base_offset[:2] = reference_pos[:2]
-            if sample_on_top:
-                base_offset[-1] = reference_pos[-1] + reference_mjcf.get_top_offset()[-1]  # set surface z
-
-        index = 0
-        for obj_name, obj_mjcf in self.mujoco_objects.items():
-            horizontal_radius = obj_mjcf.get_horizontal_radius()
-            bottom_offset = obj_mjcf.get_bottom_offset()
+            base_offset = np.array(reference)
+            assert base_offset.shape[0] == 3, "Invalid reference received. Should be (x,y,z) 3-tuple, but got: {}"\
+                .format(base_offset)
+
+        # Sample pos and quat for all objects assigned to this sampler
+        for obj in self.mujoco_objects:
+            # First make sure the currently sampled object hasn't already been sampled
+            assert obj.name not in placed_objects, "Object '{}' has already been sampled!".format(obj.name)
+
+            horizontal_radius = obj.get_horizontal_radius()
+            bottom_offset = obj.get_bottom_offset()
             success = False
             for i in range(5000):  # 5000 retries
-                object_x = self.sample_x(horizontal_radius) + base_offset[0]
-                object_y = self.sample_y(horizontal_radius) + base_offset[1]
-                object_z = base_offset[2] + self.z_offset - bottom_offset[-1]
+                object_x = self._sample_x(horizontal_radius) + base_offset[0]
+                object_y = self._sample_y(horizontal_radius) + base_offset[1]
+                object_z = self.z_offset + base_offset[2]
+                if on_top:
+                    object_z -= bottom_offset[-1]
 
                 # objects cannot overlap
                 location_valid = True
-                for (x, y, z), other_obj_mjcf in placed_objects.values():
-                    if (
-                        np.linalg.norm([object_x - x, object_y - y], 2)
-                        <= other_obj_mjcf.get_horizontal_radius() + horizontal_radius
-                    ) and (
-                        object_z - z <= other_obj_mjcf.get_top_offset()[-1] - bottom_offset[-1]
-                    ):
-                        location_valid = False
-                        break
+                if self.ensure_valid_placement:
+                    for (x, y, z), _, other_obj in placed_objects.values():
+                        if (
+                            np.linalg.norm((object_x - x, object_y - y))
+                            <= other_obj.get_horizontal_radius() + horizontal_radius
+                        ) and (
+                            object_z - z <= other_obj.get_top_offset()[-1] - bottom_offset[-1]
+                        ):
+                            location_valid = False
+                            break
 
                 if location_valid:
-                    # location is valid, put the object down
-                    pos = (object_x, object_y, object_z)
-                    placed_objects[obj_name] = (pos, obj_mjcf)
-
-                    # random z-rotation
-                    quat = self.sample_quat()
+                    # random rotation
+                    quat = self._sample_quat()
 
                     # multiply this quat by the object's initial rotation if it has the attribute specified
-                    if hasattr(obj_mjcf, "init_quat"):
-                        quat = quat_multiply(quat, obj_mjcf.init_quat)
+                    if hasattr(obj, "init_quat"):
+                        quat = quat_multiply(quat, obj.init_quat)
 
-                    quat_arr.append(quat)
-                    pos_arr.append(pos)
+                    # location is valid, put the object down
+                    pos = (object_x, object_y, object_z)
+                    placed_objects[obj.name] = (pos, quat, obj)
                     success = True
                     break
 
             if not success:
-                raise RandomizationError("Cannot place all objects on the desk")
-            index += 1
+                raise RandomizationError("Cannot place all objects ):")
 
-        if return_placements:
-            return pos_arr, quat_arr, placed_objects
-        return pos_arr, quat_arr
+        return placed_objects
 
 
 class SequentialCompositeSampler(ObjectPositionSampler):
@@ -253,189 +294,97 @@ class SequentialCompositeSampler(ObjectPositionSampler):
     be sampled on top of other objects or relative to other object placements.
     """
     def __init__(self):
-        self.mujoco_objects = None
-        self.samplers = collections.OrderedDict()
-        self.table_top_offset = None
-        self.table_size = None
-        self.n_obj = None
+        # Samplers / args will be filled in later
+        self.samplers = []
+        self.sample_args = []
 
-    def append_sampler(self, object_name, sampler, **kwargs):
+        super().__init__()
+
+    def append_sampler(self, sampler, sample_args=None):
         """
-        Adds a new placement initializer with corresponding objects and arguments
+        Adds a new placement initializer with corresponding @sampler and arguments
 
         Args:
-            object_name (str): Name of object to add
             sampler (ObjectPositionSampler): sampler to add
-            **kwargs: Additional arguments to pass to the sampler
+            sample_args (None or dict): If specified, should be additional arguments to pass to @sampler's sample()
+                call. Should map corresponding sampler's arguments to values (excluding @fixtures argument)
 
         Raises:
             AssertionError: [Object name in samplers]
         """
-        assert object_name not in self.samplers
-        self.samplers[object_name] = {'sampler': sampler, 'object_names': [object_name], 'sample_kwargs': kwargs}
-
-    def hide(self, object_name):
+        # Verify that all added mujoco objects haven't already been added, and add to this sampler's objects dict
+        for obj in sampler.mujoco_objects:
+            assert obj not in self.mujoco_objects, f"Object '{obj.name}' already has sampler associated with it!"
+            self.mujoco_objects.append(obj)
+        self.samplers.append(sampler)
+        self.sample_args.append(sample_args)
+
+    def hide(self, mujoco_objects):
         """
         Helper method to remove an object from the workspace.
 
         Args:
-            object_name (str): Name of object to hide
+            mujoco_objects (MujocoObject or list of MujocoObject): Object(s) to hide
         """
         sampler = UniformRandomSampler(
+            mujoco_objects=mujoco_objects,
             x_range=[-10, -20],
             y_range=[-10, -20],
             rotation=[0, 0],
             rotation_axis='z',
             z_offset=10,
-            ensure_object_boundary_in_range=False
+            ensure_object_boundary_in_range=False,
+            ensure_valid_placement=False,
         )
-        self.append_sampler(object_name=object_name, sampler=sampler)
-
-    def _sample_on_top(self, object_name, surface_name, sampler):
-        """
-        Samples @object_name's position relative to a given @surface_name using @sampler
-
-        Args:
-            object_name (str): Object whose position is being sampled
-            surface_name (str): Object name upon which the position will be sampled
-            sampler (ObjectPositionSampler): Sampler to use to sample position
-
-        Raises:
-            AssertionError: [surface name not in samplers]
-        """
-        if surface_name == 'table':
-            self.append_sampler(object_name=object_name, sampler=sampler)
-        else:
-            assert surface_name in self.samplers  # surface needs to be placed first
-            self.append_sampler(
-                object_name=object_name,
-                sampler=sampler,
-                reference_object_name=surface_name,
-                sample_on_top=True
-            )
-
-    def sample_on_top(
-        self,
-        object_name,
-        surface_name='table',
-        x_range=None,
-        y_range=None,
-        rotation=None,
-        rotation_axis='z',
-        z_offset=0.0,
-        ensure_object_boundary_in_range=True
-    ):
-        """
-        Sample placement on top of a surface object.
-
-        Args:
-            object_name (str): Name of object to sample for
-
-            surface_name (str): Name of object upon which the position will be sampled
-
-            x_range (2-array of float): override the x_range used to uniformly place objects
-                if None, default to x-range of table. Note that this is with respect to (0,0) = center of table.
-
-            y_range (2-array of float): override the y_range used to uniformly place objects
-                if None default to y-range of table. Note that this is with respect to (0,0) = center of table.
-
-            rotation (None or float or Iterable):
-                :`None`: Add uniform random random rotation
-                :`Iterable (a,b)`: Uniformly randomize rotation angle between a and b (in radians)
-                :`value`: Add fixed angle rotation
-
-            rotation_axis (str): Can be 'x', 'y', or 'z'. Axis about which to apply the requested rotation
-
-            z_offset (float): Add a small z-offset to placements. This is useful for fixed objects
-                that do not move (i.e. no free joint) to place them above the table.
+        self.append_sampler(sampler=sampler)
 
-            ensure_object_boundary_in_range (bool):
-                :`True`: The center of object is at position:
-                     [uniform(min x_range + radius, max x_range - radius)], [uniform(min x_range + radius, max x_range - radius)]
-                :`False`:
-                    [uniform(min x_range, max x_range)], [uniform(min x_range, max x_range)]
+    def add_objects(self, mujoco_objects):
         """
-        sampler = UniformRandomSampler(
-            x_range=x_range,
-            y_range=y_range,
-            rotation=rotation,
-            rotation_axis=rotation_axis,
-            z_offset=z_offset,
-            ensure_object_boundary_in_range=ensure_object_boundary_in_range
-        )
-        return self._sample_on_top(object_name, surface_name, sampler)
-
-    def setup(self, mujoco_objects, table_top_offset, table_size):
+        Override super method to make sure user doesn't call this (all objects should implicitly belong to sub-samplers)
         """
-        Overrides super implementation so that we can setup all placement
-        initializers we own.
-
-        Args:
-            mujoco_objects (OrderedDict of MujocoObject): a list of MJCF models of physical objects
-            table_top_offset (3-array of float): (x,y,z) offset values for the table
-            table_size (3-array of float): (x,y,z) fullsize values for the table
+        raise AttributeError("add_objects() should not be called for SequentialCompsiteSamplers!")
 
-        Raises:
-            AssertionError: [Mujoco Objects is not OrderedDict]
-        """
-        self.mujoco_objects = mujoco_objects
-        assert(isinstance(mujoco_objects, collections.OrderedDict))
-        self.table_top_offset = table_top_offset
-        self.table_size = table_size
-        self.n_obj = len(self.mujoco_objects)
-
-        for object_name, sampler_config in self.samplers.items():
-            object_names = sampler_config['object_names']
-            sampler = sampler_config['sampler']
-            objs = collections.OrderedDict((o, mujoco_objects[o]) for o in object_names)
-            sampler.setup(mujoco_objects=objs, table_top_offset=table_top_offset, table_size=table_size)
-
-    def sample(self, fixtures=None, return_placements=False):
+    def sample(self, fixtures=None, reference=None, on_top=True):
         """
         Sample from each placement initializer sequentially, in the order
         that they were appended.
 
         Args:
-            fixtures (dict): current dictionary of object placements in the scene. Used to make sure
-                generated placements are valid.
-
-            return_placements (bool): if True, return the updated dictionary
-                of object placements.
+            fixtures (dict): dictionary of current object placements in the scene as well as any other relevant
+                obstacles that should not be in contact with newly sampled objects. Used to make sure newly
+                generated placements are valid. Should be object names mapped to (pos, quat, MujocoObject)
 
-        Return:
-            2-tuple or 3-tuple:
-
-                - (list) list of placed object positions
+            reference (str or 3-tuple or None): if provided, sample relative placement. This will override each
+                sampler's @reference argument if not already specified. Can either be a string, which
+                corresponds to an existing object found in @fixtures, or a direct (x,y,z) value. If None, will sample
+                relative to this sampler's `'reference_pos'` value.
 
-                - (list) list of placed object quaternions
+            on_top (bool): if True, sample placement on top of the reference object. This will override each
+                sampler's @on_top argument if not already specified. This corresponds to a sampled
+                z-offset of the current sampled object's bottom_offset + the reference object's top_offset
+                (if specified)
 
-                - (dict) if @return_placements is True, returns a dictionary of all
-                    object placements, including the ones placed by this sampler.
+        Return:
+            dict: dictionary of all object placements, mapping object_names to (pos, quat, obj), including the
+                placements specified in @fixtures. Note quat is in (w,x,y,z) form
 
         Raises:
             RandomizationError: [Cannot place all objects]
         """
-        if fixtures is None:
-            placements = {}
-        else:
-            placements = deepcopy(fixtures)
-
-        # make sure all objects have samplers specified
-        named_samples = collections.OrderedDict()
-        for k in self.mujoco_objects:
-            assert k in self.samplers
-            named_samples[k] = None
-
-        for obj_name, sampler in self.samplers.items():
-            pos_arr, quat_arr, new_placements = \
-                sampler['sampler'].sample(fixtures=placements, return_placements=True, **sampler["sample_kwargs"])
-            named_samples[obj_name] = (pos_arr[0], quat_arr[0])
-            placements.update(new_placements)
-
-        all_pos_arr = [p[0] for p in named_samples.values()]
-        all_quat_arr = [p[1] for p in named_samples.values()]
-
-        if return_placements:
-            return all_pos_arr, all_quat_arr, placements
-        else:
-            return all_pos_arr, all_quat_arr
+        # Standardize inputs
+        placed_objects = {} if fixtures is None else deepcopy(fixtures)
+
+        # Iterate through all samplers to sample
+        for sampler, s_args in zip(self.samplers, self.sample_args):
+            # Pre-process sampler args
+            if s_args is None:
+                s_args = {}
+            for arg_name, arg in zip(("reference", "on_top"), (reference, on_top)):
+                if arg_name not in s_args:
+                    s_args[arg_name] = arg
+            # Run sampler
+            new_placements = sampler.sample(fixtures=placed_objects, **s_args)
+            # Update placements
+            placed_objects.update(new_placements)
+
+        return placed_objects
diff --git a/robosuite/models/tasks/task.py b/robosuite/models/tasks/task.py
new file mode 100644
index 0000000000..eb43273982
--- /dev/null
+++ b/robosuite/models/tasks/task.py
@@ -0,0 +1,78 @@
+from robosuite.models.world import MujocoWorldBase
+from robosuite.models.robots import RobotModel
+from robosuite.models.objects import MujocoObject
+
+
+class Task(MujocoWorldBase):
+    """
+    Creates MJCF model for a task performed.
+
+    A task consists of one or more robots interacting with a variable number of
+    objects. This class combines the robot(s), the arena, and the objects
+    into a single MJCF model.
+
+    Args:
+        mujoco_arena (Arena): MJCF model of robot workspace
+
+        mujoco_robots (RobotModel or list of RobotModel): MJCF model of robot model(s) (list)
+
+        mujoco_objects (None or MujocoObject or list of MujocoObject): a list of MJCF models of physical objects
+
+    Raises:
+        AssertionError: [Invalid input object type]
+    """
+
+    def __init__(
+        self, 
+        mujoco_arena, 
+        mujoco_robots, 
+        mujoco_objects=None,
+    ):
+        super().__init__()
+
+        # Store references to all models
+        self.mujoco_arena = mujoco_arena
+        self.mujoco_robots = [mujoco_robots] if isinstance(mujoco_robots, RobotModel) else mujoco_robots
+        if mujoco_objects is None:
+            self.mujoco_objects = []
+        else:
+            self.mujoco_objects = [mujoco_objects] if isinstance(mujoco_objects, MujocoObject) else mujoco_objects
+
+        # Merge all models
+        self.merge_arena(self.mujoco_arena)
+        for mujoco_robot in self.mujoco_robots:
+            self.merge_robot(mujoco_robot)
+        self.merge_objects(self.mujoco_objects)
+
+    def merge_robot(self, mujoco_robot):
+        """
+        Adds robot model to the MJCF model.
+
+        Args:
+            mujoco_robot (RobotModel): robot to merge into this MJCF model
+        """
+        self.merge(mujoco_robot)
+
+    def merge_arena(self, mujoco_arena):
+        """
+        Adds arena model to the MJCF model.
+
+        Args:
+            mujoco_arena (Arena): arena to merge into this MJCF model
+        """
+        self.merge(mujoco_arena)
+
+    def merge_objects(self, mujoco_objects):
+        """
+        Adds object models to the MJCF model.
+
+        Args:
+            mujoco_objects (list of MujocoObject): objects to merge into this MJCF model
+        """
+        for mujoco_obj in mujoco_objects:
+            # Make sure we actually got a MujocoObject
+            assert isinstance(mujoco_obj, MujocoObject), \
+                "Tried to merge non-MujocoObject! Got type: {}".format(type(mujoco_obj))
+            # Merge this object
+            self.merge_asset(mujoco_obj)
+            self.worldbody.append(mujoco_obj.get_obj())
diff --git a/robosuite/robots/__init__.py b/robosuite/robots/__init__.py
index c9b32d6f17..0c6296c86a 100644
--- a/robosuite/robots/__init__.py
+++ b/robosuite/robots/__init__.py
@@ -1,6 +1,20 @@
+from .manipulator import Manipulator
 from .single_arm import SingleArm
 from .bimanual import Bimanual
 
-from robosuite.models.robots.robot_model import REGISTERED_ROBOTS, BIMANUAL_ROBOTS
+from robosuite.models.robots.robot_model import REGISTERED_ROBOTS
 
-ALL_ROBOTS = REGISTERED_ROBOTS.keys()
\ No newline at end of file
+ALL_ROBOTS = REGISTERED_ROBOTS.keys()
+
+# Robot class mappings -- must be maintained manually
+ROBOT_CLASS_MAPPING = {
+    "Baxter": Bimanual,
+    "IIWA": SingleArm,
+    "Jaco": SingleArm,
+    "Kinova3": SingleArm,
+    "Panda": SingleArm,
+    "Sawyer": SingleArm,
+    "UR5e": SingleArm,
+}
+
+BIMANUAL_ROBOTS = {k.lower() for k, v in ROBOT_CLASS_MAPPING.items() if v == Bimanual}
diff --git a/robosuite/robots/bimanual.py b/robosuite/robots/bimanual.py
index 759626ee5e..7b6d1ca4d3 100644
--- a/robosuite/robots/bimanual.py
+++ b/robosuite/robots/bimanual.py
@@ -7,14 +7,14 @@
 from robosuite.models.grippers import gripper_factory
 from robosuite.controllers import controller_factory, load_controller_config
 
-from robosuite.robots.robot import Robot
+from robosuite.robots.manipulator import Manipulator
 from robosuite.utils.control_utils import DeltaBuffer, RingBuffer
 
 import os
 import copy
 
 
-class Bimanual(Robot):
+class Bimanual(Manipulator):
     """
     Initializes a bimanual robot simulation object.
 
@@ -57,6 +57,8 @@ class Bimanual(Robot):
 
             :NOTE: In the latter case, assumes convention of [right, left]
 
+        robot_visualization (bool): True if using robot visualization. Useful for teleoperation.
+
         control_freq (float): how many control signals to receive
             in every second. This sets the amount of simulation time
             that passes between every action input.
@@ -71,6 +73,7 @@ def __init__(
         initialization_noise=None,
         gripper_type="default",
         gripper_visualization=False,
+        robot_visualization=False,
         control_freq=10
     ):
 
@@ -80,7 +83,6 @@ def __init__(
         self.gripper_type = self._input2dict(gripper_type)
         self.has_gripper = self._input2dict([gripper_type is not None for _, gripper_type in self.gripper_type.items()])
         self.gripper_visualization = self._input2dict(gripper_visualization)
-        self.control_freq = control_freq
 
         self.gripper_joints = self._input2dict(None)                            # xml joint names for gripper
         self._ref_gripper_joint_pos_indexes = self._input2dict(None)            # xml gripper joint position indexes in mjsim
@@ -91,9 +93,6 @@ def __init__(
         self.eef_cylinder_id = self._input2dict(None)                           # xml element id for eef cylinder in mjsim
         self.torques = None                                                     # Current torques being applied
 
-        self.recent_qpos = None                                 # Current and last robot arm qpos
-        self.recent_actions = None                              # Current and last action applied
-        self.recent_torques = None                              # Current and last torques applied
         self.recent_ee_forcetorques = self._input2dict(None)    # Current and last forces / torques sensed at eef
         self.recent_ee_pose = self._input2dict(None)            # Current and last eef pose (pos + ori (quat))
         self.recent_ee_vel = self._input2dict(None)             # Current and last eef velocity
@@ -105,6 +104,8 @@ def __init__(
             idn=idn,
             initial_qpos=initial_qpos,
             initialization_noise=initialization_noise,
+            robot_visualization=robot_visualization,
+            control_freq=control_freq,
         )
 
     def _load_controller(self):
@@ -136,7 +137,7 @@ def _load_controller(self):
             #   policy (control) freq, and ndim (# joints)
             self.controller_config[arm]["robot_name"] = self.name
             self.controller_config[arm]["sim"] = self.sim
-            self.controller_config[arm]["eef_name"] = self.gripper[arm].visualization_sites["grip_site"]
+            self.controller_config[arm]["eef_name"] = self.gripper[arm].important_sites["grip_site"]
             self.controller_config[arm]["eef_rot_offset"] = self.eef_rot_offset[arm]
             self.controller_config[arm]["ndim"] = self._joint_split_idx
             self.controller_config[arm]["policy_freq"] = self.control_freq
@@ -174,7 +175,7 @@ def load_model(self):
             if self.has_gripper[arm]:
                 if self.gripper_type[arm] == 'default':
                     # Load the default gripper from the robot file
-                    self.gripper[arm] = gripper_factory(self.robot_model.gripper[arm],
+                    self.gripper[arm] = gripper_factory(self.robot_model.default_gripper[arm],
                                                         idn="_".join((str(self.idn), arm)))
                 else:
                     # Load user-specified gripper
@@ -186,9 +187,7 @@ def load_model(self):
             # Grab eef rotation offset
             self.eef_rot_offset[arm] = T.quat_multiply(self.robot_model.hand_rotation_offset[arm],
                                                        self.gripper[arm].rotation_offset)
-            # Use gripper visualization if necessary
-            if not self.gripper_visualization[arm]:
-                self.gripper[arm].hide_visualization()
+            # Add this gripper to the robot model
             self.robot_model.add_gripper(self.gripper[arm], self.robot_model.eef_name[arm])
 
     def reset(self, deterministic=False):
@@ -210,11 +209,6 @@ def reset(self, deterministic=False):
                         self._ref_gripper_joint_pos_indexes[arm]
                     ] = self.gripper[arm].init_qpos
 
-        # Setup buffers to hold recent values
-        self.recent_qpos = DeltaBuffer(dim=len(self.joint_indexes))
-        self.recent_actions = DeltaBuffer(dim=self.action_dim)
-        self.recent_torques = DeltaBuffer(dim=len(self.joint_indexes))
-
         # Setup arm-specific values
         for arm in self.arms:
             # Update base pos / ori references in controller (technically only needs to be called once)
@@ -253,9 +247,9 @@ def setup_references(self):
 
             # IDs of sites for eef visualization
             self.eef_site_id[arm] = self.sim.model.site_name2id(
-                self.gripper[arm].visualization_sites["grip_site"])
+                self.gripper[arm].important_sites["grip_site"])
             self.eef_cylinder_id[arm] = self.sim.model.site_name2id(
-                self.gripper[arm].visualization_sites["grip_cylinder"])
+                self.gripper[arm].important_sites["grip_cylinder"])
 
     def control(self, action, policy_step=False):
         """
@@ -275,7 +269,6 @@ def control(self, action, policy_step=False):
         Raises:
             AssertionError: [Invalid action dimension]
         """
-
         # clip actions into valid range
         assert len(action) == self.action_dim, \
             "environment got invalid action dimension -- expected {}, got {}".format(
@@ -303,14 +296,14 @@ def control(self, action, policy_step=False):
 
             # Get gripper action, if applicable
             if self.has_gripper[arm]:
-                self.grip_action(gripper_action, arm)
+                self.grip_action(gripper=self.gripper[arm], gripper_action=gripper_action)
 
         # Clip the torques
         low, high = self.torque_limits
         self.torques = np.clip(self.torques, low, high)
 
         # Apply joint torque control
-        self.sim.data.ctrl[self._ref_joint_torq_actuator_indexes] = self.torques
+        self.sim.data.ctrl[self._ref_joint_actuator_indexes] = self.torques
 
         # If this is a policy step, also update buffers holding recent values of interest
         if policy_step:
@@ -335,30 +328,12 @@ def control(self, action, policy_step=False):
                 ee_acc = np.array([np.convolve(col, np.ones(10) / 10., mode='valid')[0] for col in diffs.transpose()])
                 self.recent_ee_acc[arm].push(ee_acc)
 
-    def grip_action(self, gripper_action, arm):
-        """
-        Executes gripper @action for specified @arm
-
-        Args:
-            gripper_action (float): Value between [-1,1] to send to gripper
-            arm (str): "left" or "right"; arm to execute action
-        """
-        gripper_action_actual = self.gripper[arm].format_action(gripper_action)
-        # rescale normalized gripper action to control ranges
-        ctrl_range = self.sim.model.actuator_ctrlrange[self._ref_joint_gripper_actuator_indexes[arm]]
-        bias = 0.5 * (ctrl_range[:, 1] + ctrl_range[:, 0])
-        weight = 0.5 * (ctrl_range[:, 1] - ctrl_range[:, 0])
-        applied_gripper_action = bias + weight * gripper_action_actual
-        self.sim.data.ctrl[self._ref_joint_gripper_actuator_indexes[arm]] = applied_gripper_action
-
     def visualize_gripper(self):
         """
         Visualizes the gripper site(s) if applicable.
         """
         for arm in self.arms:
-            if self.gripper_visualization[arm]:
-                # By default, color the ball red
-                self.sim.model.site_rgba[self.eef_site_id[arm]] = [1., 0., 0., 1.]
+            self.gripper[arm].set_sites_visibility(sim=self.sim, visible=self.gripper_visualization[arm])
 
     def get_observations(self, di: OrderedDict):
         """
@@ -374,44 +349,34 @@ def get_observations(self, di: OrderedDict):
         Returns:
             OrderedDict: Augmented set of observations that include this robot's proprioceptive observations
         """
+        # Get general robot observations first
+        di = super().get_observations(di)
+
         # Get prefix from robot model to avoid naming clashes for multiple robots
         pf = self.robot_model.naming_prefix
 
-        # proprioceptive features
-        di[pf + "joint_pos"] = np.array(
-            [self.sim.data.qpos[x] for x in self._ref_joint_pos_indexes]
-        )
-        di[pf + "joint_vel"] = np.array(
-            [self.sim.data.qvel[x] for x in self._ref_joint_vel_indexes]
-        )
-
-        robot_states = [
-            np.sin(di[pf + "joint_pos"]),
-            np.cos(di[pf + "joint_pos"]),
-            di[pf + "joint_vel"],
-        ]
-
+        robot_states = []
         for arm in self.arms:
             # Add in eef info
-            di[pf + "_{}_".format(arm) + "eef_pos"] = np.array(self.sim.data.site_xpos[self.eef_site_id[arm]])
-            di[pf + "_{}_".format(arm) + "eef_quat"] = T.convert_quat(
+            di[pf + "{}_".format(arm) + "eef_pos"] = np.array(self.sim.data.site_xpos[self.eef_site_id[arm]])
+            di[pf + "{}_".format(arm) + "eef_quat"] = T.convert_quat(
                 self.sim.data.get_body_xquat(self.robot_model.eef_name[arm]), to="xyzw"
             )
-            robot_states.extend([di[pf + "_{}_".format(arm) + "eef_pos"],
-                                 di[pf + "_{}_".format(arm) + "eef_quat"]])
+            robot_states.extend([di[pf + "{}_".format(arm) + "eef_pos"],
+                                 di[pf + "{}_".format(arm) + "eef_quat"]])
 
             # add in gripper information
             if self.has_gripper[arm]:
-                di[pf + "_{}_".format(arm) + "gripper_qpos"] = np.array(
+                di[pf + "{}_".format(arm) + "gripper_qpos"] = np.array(
                     [self.sim.data.qpos[x] for x in self._ref_gripper_joint_pos_indexes[arm]]
                 )
-                di[pf + "_{}_".format(arm) + "gripper_qvel"] = np.array(
+                di[pf + "{}_".format(arm) + "gripper_qvel"] = np.array(
                     [self.sim.data.qvel[x] for x in self._ref_gripper_joint_vel_indexes[arm]]
                 )
-                robot_states.extend([di[pf + "_{}_".format(arm) + "gripper_qpos"],
-                                     di[pf + "_{}_".format(arm) + "gripper_qvel"]])
+                robot_states.extend([di[pf + "{}_".format(arm) + "gripper_qpos"],
+                                     di[pf + "{}_".format(arm) + "gripper_qvel"]])
 
-        di[pf + "robot-state"] = np.concatenate(robot_states)
+        di[pf + "robot-state"] = np.concatenate([di[pf + "robot-state"]] + robot_states)
         return di
 
     def _input2dict(self, inp):
@@ -464,62 +429,6 @@ def action_limits(self):
                 np.concatenate([high, high_c, high_g])
         return low, high
 
-    @property
-    def torque_limits(self):
-        """
-        Torque lower/upper limits per dimension.
-
-        Returns:
-            2-tuple:
-
-                - (np.array) minimum (low) torque values
-                - (np.array) maximum (high) torque values
-        """
-        # Torque limit values pulled from relevant robot.xml file
-        low = self.sim.model.actuator_ctrlrange[self._ref_joint_torq_actuator_indexes, 0]
-        high = self.sim.model.actuator_ctrlrange[self._ref_joint_torq_actuator_indexes, 1]
-
-        return low, high
-
-    @property
-    def action_dim(self):
-        """
-        Action space dimension for this robot (controller dimension + gripper dof)
-
-        Returns:
-            int: action dimension
-        """
-        dim = 0
-        for arm in self.arms:
-            dim += self.controller[arm].control_dim + self.gripper[arm].dof if \
-                self.has_gripper[arm] else self.controller[arm].control_dim
-        return dim
-
-    @property
-    def dof(self):
-        """
-        Returns:
-            int: degrees of freedom of the robot (with grippers).
-        """
-        # Get the dof of the base robot model
-        dof = super().dof
-        for arm in self.arms:
-            if self.has_gripper[arm]:
-                dof += self.gripper[arm].dof
-        return dof
-
-    @property
-    def js_energy(self):
-        """
-        Returns:
-            np.array: the energy consumed by each joint between previous and current steps
-        """
-        # We assume in the motors torque is proportional to current (and voltage is constant)
-        # In that case the amount of power scales proportional to the torque and the energy is the
-        # time integral of that
-        # Note that we use mean torque
-        return np.abs((1.0 / self.control_freq) * self.recent_torques.average)
-
     @property
     def ee_ft_integral(self):
         """
diff --git a/robosuite/robots/manipulator.py b/robosuite/robots/manipulator.py
new file mode 100644
index 0000000000..28f92ce08b
--- /dev/null
+++ b/robosuite/robots/manipulator.py
@@ -0,0 +1,143 @@
+from robosuite.robots.robot import Robot
+
+
+class Manipulator(Robot):
+    """
+    Initializes a manipulator robot simulation object, as defined by a single corresponding robot arm XML and
+    associated gripper XML
+    """
+
+    def _load_controller(self):
+        raise NotImplementedError
+
+    def control(self, action, policy_step=False):
+        raise NotImplementedError
+
+    def grip_action(self, gripper, gripper_action):
+        """
+        Executes @gripper_action for specified @gripper
+
+        Args:
+            gripper (GripperModel): Gripper to execute action for
+            gripper_action (float): Value between [-1,1] to send to gripper
+        """
+        actuator_idxs = [self.sim.model.actuator_name2id(actuator) for actuator in gripper.actuators]
+        gripper_action_actual = gripper.format_action(gripper_action)
+        # rescale normalized gripper action to control ranges
+        ctrl_range = self.sim.model.actuator_ctrlrange[actuator_idxs]
+        bias = 0.5 * (ctrl_range[:, 1] + ctrl_range[:, 0])
+        weight = 0.5 * (ctrl_range[:, 1] - ctrl_range[:, 0])
+        applied_gripper_action = bias + weight * gripper_action_actual
+        self.sim.data.ctrl[actuator_idxs] = applied_gripper_action
+
+    def visualize_gripper(self):
+        """
+        Visualizes the gripper site(s) if applicable.
+        """
+        raise NotImplementedError
+
+    @property
+    def action_limits(self):
+        raise NotImplementedError
+
+    @property
+    def dof(self):
+        """
+        Returns:
+            int: degrees of freedom of the robot (with grippers).
+        """
+        # Get the dof of the base robot model
+        dof = super().dof
+        for gripper in self.robot_model.grippers.values():
+            dof += gripper.dof
+        return dof
+
+    @property
+    def ee_ft_integral(self):
+        """
+        Returns:
+            float or dict: either single value or arm-specific entries specifying the integral over time of the applied
+                ee force-torque for that arm
+        """
+        raise NotImplementedError
+
+    @property
+    def ee_force(self):
+        """
+        Returns:
+            np.array or dict: either single value or arm-specific entries specifying the force applied at the force sensor
+                at the robot arm's eef
+        """
+        raise NotImplementedError
+
+    @property
+    def ee_torque(self):
+        """
+        Returns:
+            np.array or dict: either single value or arm-specific entries specifying the torque applied at the torque
+                sensor at the robot arm's eef
+        """
+        raise NotImplementedError
+
+    @property
+    def _hand_pose(self):
+        """
+        Returns:
+            np.array or dict: either single value or arm-specific entries specifying the eef pose in base frame of
+                robot.
+        """
+        raise NotImplementedError
+
+    @property
+    def _hand_quat(self):
+        """
+        Returns:
+            np.array or dict: either single value or arm-specific entries specifying the eef quaternion in base frame
+                of robot.
+        """
+        raise NotImplementedError
+
+    @property
+    def _hand_total_velocity(self):
+        """
+        Returns:
+            np.array or dict: either single value or arm-specific entries specifying the total eef velocity
+                (linear + angular) in the base frame as a numpy array of shape (6,)
+        """
+        raise NotImplementedError
+
+    @property
+    def _hand_pos(self):
+        """
+        Returns:
+            np.array or dict: either single value or arm-specific entries specifying the position of eef in base frame
+                of robot.
+        """
+        raise NotImplementedError
+
+    @property
+    def _hand_orn(self):
+        """
+        Returns:
+            np.array or dict: either single value or arm-specific entries specifying the orientation of eef in base
+                frame of robot as a rotation matrix.
+        """
+        raise NotImplementedError
+
+    @property
+    def _hand_vel(self):
+        """
+        Returns:
+            np.array or dict: either single value or arm-specific entries specifying the velocity of eef in base frame
+                of robot.
+        """
+        raise NotImplementedError
+
+    @property
+    def _hand_ang_vel(self):
+        """
+        Returns:
+            np.array or dict: either single value or arm-specific entries specifying the angular velocity of eef in
+                base frame of robot.
+        """
+        raise NotImplementedError
diff --git a/robosuite/robots/robot.py b/robosuite/robots/robot.py
index ddaa402027..0de85bd16b 100644
--- a/robosuite/robots/robot.py
+++ b/robosuite/robots/robot.py
@@ -2,6 +2,7 @@
 import numpy as np
 
 import robosuite.utils.transform_utils as T
+from robosuite.utils.control_utils import DeltaBuffer
 
 from mujoco_py import MjSim
 
@@ -10,7 +11,7 @@
 
 class Robot(object):
     """
-    Initializes a robot simulation object, as defined by a single corresponding robot arm XML and associated gripper XML
+    Initializes a robot simulation object, as defined by a single corresponding robot XML
 
     Args:
         robot_type (str): Specification for specific robot arm to be instantiated within this env (e.g: "Panda")
@@ -30,6 +31,12 @@ class Robot(object):
             :`'type'`: Type of noise to apply. Can either specify "gaussian" or "uniform"
 
             :Note: Specifying None will automatically create the required dict with "magnitude" set to 0.0
+
+        robot_visualization (bool): True if using robot visualization. Useful for teleoperation.
+
+        control_freq (float): how many control signals to receive
+            in every second. This sets the amount of simulation time
+            that passes between every action input.
     """
 
     def __init__(
@@ -38,12 +45,16 @@ def __init__(
         idn=0,
         initial_qpos=None,
         initialization_noise=None,
+        robot_visualization=False,
+        control_freq=10,
     ):
         # Set relevant attributes
         self.sim = None                                     # MjSim this robot is tied to
         self.name = robot_type                              # Specific robot to instantiate
         self.idn = idn                                      # Unique ID of this robot
         self.robot_model = None                             # object holding robot model-specific info
+        self.robot_visualization = robot_visualization      # Whether to visualize robot model sites or not
+        self.control_freq = control_freq                    # controller Hz
 
         # Scaling of Gaussian initial noise applied to robot joints
         self.initialization_noise = initialization_noise
@@ -62,9 +73,11 @@ def __init__(
         self._ref_joint_indexes = None                      # xml joint indexes for robot in mjsim
         self._ref_joint_pos_indexes = None                  # xml joint position indexes in mjsim
         self._ref_joint_vel_indexes = None                  # xml joint velocity indexes in mjsim
-        self._ref_joint_pos_actuator_indexes = None         # xml joint pos actuator indexes for robot in mjsim
-        self._ref_joint_vel_actuator_indexes = None         # xml joint vel actuator indexes for robot in mjsim
-        self._ref_joint_torq_actuator_indexes = None        # xml joint torq actuator indexes for robot in mjsim
+        self._ref_joint_actuator_indexes = None             # xml joint (torq) actuator indexes for robot in mjsim
+
+        self.recent_qpos = None                             # Current and last robot arm qpos
+        self.recent_actions = None                          # Current and last action applied
+        self.recent_torques = None                          # Current and last torques applied
 
     def _load_controller(self):
         """
@@ -120,8 +133,13 @@ def reset(self, deterministic=False):
         self._load_controller()
 
         # Update base pos / ori references
-        self.base_pos = self.sim.data.get_body_xpos(self.robot_model.robot_base)
-        self.base_ori = T.mat2quat(self.sim.data.get_body_xmat(self.robot_model.robot_base).reshape((3, 3)))
+        self.base_pos = self.sim.data.get_body_xpos(self.robot_model.root_body)
+        self.base_ori = T.mat2quat(self.sim.data.get_body_xmat(self.robot_model.root_body).reshape((3, 3)))
+
+        # Setup buffers to hold recent values
+        self.recent_qpos = DeltaBuffer(dim=len(self.joint_indexes))
+        self.recent_actions = DeltaBuffer(dim=self.action_dim)
+        self.recent_torques = DeltaBuffer(dim=len(self.joint_indexes))
 
     def setup_references(self):
         """
@@ -143,19 +161,9 @@ def setup_references(self):
         ]
 
         # indices for joint pos actuation, joint vel actuation, gripper actuation
-        self._ref_joint_pos_actuator_indexes = [
-            self.sim.model.actuator_name2id(actuator)
-            for actuator in self.robot_model.actuators["pos"]
-        ]
-
-        self._ref_joint_vel_actuator_indexes = [
-            self.sim.model.actuator_name2id(actuator)
-            for actuator in self.robot_model.actuators["vel"]
-        ]
-
-        self._ref_joint_torq_actuator_indexes = [
+        self._ref_joint_actuator_indexes = [
             self.sim.model.actuator_name2id(actuator)
-            for actuator in self.robot_model.actuators["torq"]
+            for actuator in self.robot_model.actuators
         ]
 
     def control(self, action, policy_step=False):
@@ -171,12 +179,6 @@ def control(self, action, policy_step=False):
         """
         raise NotImplementedError
 
-    def visualize_gripper(self):
-        """
-        Do any needed visualization here.
-        """
-        raise NotImplementedError
-
     def get_observations(self, di: OrderedDict):
         """
         Returns an OrderedDict containing robot observations [(name_string, np.array), ...].
@@ -185,28 +187,87 @@ def get_observations(self, di: OrderedDict):
 
             `'robot-state'`: contains robot-centric information.
         """
-        raise NotImplementedError
+        # Get prefix from robot model to avoid naming clashes for multiple robots
+        pf = self.robot_model.naming_prefix
+
+        # proprioceptive features
+        di[pf + "joint_pos"] = np.array(
+            [self.sim.data.qpos[x] for x in self._ref_joint_pos_indexes]
+        )
+        di[pf + "joint_vel"] = np.array(
+            [self.sim.data.qvel[x] for x in self._ref_joint_vel_indexes]
+        )
+
+        robot_states = [
+            np.sin(di[pf + "joint_pos"]),
+            np.cos(di[pf + "joint_pos"]),
+            di[pf + "joint_vel"],
+        ]
+
+        di[pf + "robot-state"] = np.concatenate(robot_states)
+        return di
+
+    def check_q_limits(self):
+        """
+        Check if this robot is either very close or at the joint limits
+
+        Returns:
+            bool: True if this arm is near its joint limits
+        """
+        tolerance = 0.1
+        for (qidx, (q, q_limits)) in enumerate(
+                zip(
+                    self.sim.data.qpos[self._ref_joint_pos_indexes],
+                    self.sim.model.jnt_range[self._ref_joint_indexes]
+                )
+        ):
+            if q_limits[0] != q_limits[1] and not (q_limits[0] + tolerance < q < q_limits[1] - tolerance):
+                print("Joint limit reached in joint " + str(qidx))
+                return True
+        return False
+
+    def visualize(self):
+        """
+        Do any necessary visualization for this robot
+        """
+        self.robot_model.set_sites_visibility(sim=self.sim, visible=self.robot_visualization)
 
     @property
     def action_limits(self):
         """
         Action lower/upper limits per dimension.
+
+        Returns:
+            2-tuple:
+
+                - (np.array) minimum (low) action values
+                - (np.array) maximum (high) action values
         """
         raise NotImplementedError
 
     @property
     def torque_limits(self):
         """
-        Action lower/upper limits per dimension.
+        Torque lower/upper limits per dimension.
+
+        Returns:
+            2-tuple:
+
+                - (np.array) minimum (low) torque values
+                - (np.array) maximum (high) torque values
         """
-        raise NotImplementedError
+        # Torque limit values pulled from relevant robot.xml file
+        low = self.sim.model.actuator_ctrlrange[self._ref_joint_actuator_indexes, 0]
+        high = self.sim.model.actuator_ctrlrange[self._ref_joint_actuator_indexes, 1]
+
+        return low, high
 
     @property
     def action_dim(self):
         """
-        Action space dimension for this robot (controller dimension + gripper dof)
+        Action space dimension for this robot
         """
-        raise NotImplementedError
+        return self.action_limits[0].shape[0]
 
     @property
     def dof(self):
@@ -233,8 +294,8 @@ def pose_in_base_from_name(self, name):
         rot_in_world = self.sim.data.get_body_xmat(name).reshape((3, 3))
         pose_in_world = T.make_pose(pos_in_world, rot_in_world)
 
-        base_pos_in_world = self.sim.data.get_body_xpos(self.robot_model.robot_base)
-        base_rot_in_world = self.sim.data.get_body_xmat(self.robot_model.robot_base).reshape((3, 3))
+        base_pos_in_world = self.sim.data.get_body_xpos(self.robot_model.root_body)
+        base_rot_in_world = self.sim.data.get_body_xmat(self.robot_model.root_body).reshape((3, 3))
         base_pose_in_world = T.make_pose(base_pos_in_world, base_rot_in_world)
         world_pose_in_base = T.pose_inv(base_pose_in_world)
 
@@ -251,6 +312,18 @@ def set_robot_joint_positions(self, jpos):
         self.sim.data.qpos[self._ref_joint_pos_indexes] = jpos
         self.sim.forward()
 
+    @property
+    def js_energy(self):
+        """
+        Returns:
+            np.array: the energy consumed by each joint between previous and current steps
+        """
+        # We assume in the motors torque is proportional to current (and voltage is constant)
+        # In that case the amount of power scales proportional to the torque and the energy is the
+        # time integral of that
+        # Note that we use mean torque
+        return np.abs((1.0 / self.control_freq) * self.recent_torques.average)
+
     @property
     def _joint_positions(self):
         """
diff --git a/robosuite/robots/single_arm.py b/robosuite/robots/single_arm.py
index 8ad9279558..eef7f52d31 100644
--- a/robosuite/robots/single_arm.py
+++ b/robosuite/robots/single_arm.py
@@ -7,14 +7,14 @@
 from robosuite.models.grippers import gripper_factory
 from robosuite.controllers import controller_factory, load_controller_config
 
-from robosuite.robots.robot import Robot
+from robosuite.robots.manipulator import Manipulator
 from robosuite.utils.control_utils import DeltaBuffer, RingBuffer
 
 import os
 import copy
 
 
-class SingleArm(Robot):
+class SingleArm(Manipulator):
     """
     Initializes a single-armed robot simulation object.
 
@@ -45,8 +45,9 @@ class SingleArm(Robot):
             within the 'robot' specification. None removes the gripper, and any other (valid) model overrides the
             default gripper
 
-        gripper_visualization (bool): True if using gripper visualization.
-            Useful for teleoperation.
+        gripper_visualization (bool): True if using gripper visualization. Useful for teleoperation.
+
+        robot_visualization (bool): True if using robot visualization. Useful for teleoperation.
 
         control_freq (float): how many control signals to receive
             in every second. This sets the amount of simulation time
@@ -62,6 +63,7 @@ def __init__(
         initialization_noise=None,
         gripper_type="default",
         gripper_visualization=False,
+        robot_visualization=False,
         control_freq=10
     ):
 
@@ -70,7 +72,6 @@ def __init__(
         self.gripper_type = gripper_type
         self.has_gripper = self.gripper_type is not None
         self.gripper_visualization = gripper_visualization
-        self.control_freq = control_freq
 
         self.gripper = None                                 # Gripper class
         self.gripper_joints = None                          # xml joint names for gripper
@@ -82,9 +83,6 @@ def __init__(
         self.eef_cylinder_id = None                         # xml element id for eef cylinder in mjsim
         self.torques = None                                 # Current torques being applied
 
-        self.recent_qpos = None                             # Current and last robot arm qpos
-        self.recent_actions = None                          # Current and last action applied
-        self.recent_torques = None                          # Current and last torques applied
         self.recent_ee_forcetorques = None                  # Current and last forces / torques sensed at eef
         self.recent_ee_pose = None                          # Current and last eef pose (pos + ori (quat))
         self.recent_ee_vel = None                           # Current and last eef velocity
@@ -96,6 +94,8 @@ def __init__(
             idn=idn,
             initial_qpos=initial_qpos,
             initialization_noise=initialization_noise,
+            robot_visualization=robot_visualization,
+            control_freq=control_freq,
         )
 
     def _load_controller(self):
@@ -121,7 +121,7 @@ def _load_controller(self):
         #   policy (control) freq, and ndim (# joints)
         self.controller_config["robot_name"] = self.name
         self.controller_config["sim"] = self.sim
-        self.controller_config["eef_name"] = self.gripper.visualization_sites["grip_site"]
+        self.controller_config["eef_name"] = self.gripper.important_sites["grip_site"]
         self.controller_config["eef_rot_offset"] = self.eef_rot_offset
         self.controller_config["joint_indexes"] = {
             "joints": self.joint_indexes,
@@ -152,7 +152,7 @@ def load_model(self):
         if self.has_gripper:
             if self.gripper_type == 'default':
                 # Load the default gripper from the robot file
-                self.gripper = gripper_factory(self.robot_model.gripper, idn=self.idn)
+                self.gripper = gripper_factory(self.robot_model.default_gripper, idn=self.idn)
             else:
                 # Load user-specified gripper
                 self.gripper = gripper_factory(self.gripper_type, idn=self.idn)
@@ -161,9 +161,7 @@ def load_model(self):
             self.gripper = gripper_factory(None, idn=self.idn)
         # Grab eef rotation offset
         self.eef_rot_offset = T.quat_multiply(self.robot_model.hand_rotation_offset, self.gripper.rotation_offset)
-        # Use gripper visualization if necessary
-        if not self.gripper_visualization:
-            self.gripper.hide_visualization()
+        # Add gripper to this robot model
         self.robot_model.add_gripper(self.gripper)
 
     def reset(self, deterministic=False):
@@ -187,10 +185,7 @@ def reset(self, deterministic=False):
         # Update base pos / ori references in controller
         self.controller.update_base_pose(self.base_pos, self.base_ori)
 
-        # Setup buffers to hold recent values
-        self.recent_qpos = DeltaBuffer(dim=len(self.joint_indexes))
-        self.recent_actions = DeltaBuffer(dim=self.action_dim)
-        self.recent_torques = DeltaBuffer(dim=len(self.joint_indexes))
+        # # Setup buffers to hold recent values
         self.recent_ee_forcetorques = DeltaBuffer(dim=6)
         self.recent_ee_pose = DeltaBuffer(dim=7)
         self.recent_ee_vel = DeltaBuffer(dim=6)
@@ -222,8 +217,8 @@ def setup_references(self):
             ]
 
         # IDs of sites for eef visualization
-        self.eef_site_id = self.sim.model.site_name2id(self.gripper.visualization_sites["grip_site"])
-        self.eef_cylinder_id = self.sim.model.site_name2id(self.gripper.visualization_sites["grip_cylinder"])
+        self.eef_site_id = self.sim.model.site_name2id(self.gripper.important_sites["grip_site"])
+        self.eef_cylinder_id = self.sim.model.site_name2id(self.gripper.important_sites["grip_cylinder"])
 
     def control(self, action, policy_step=False):
         """
@@ -265,10 +260,10 @@ def control(self, action, policy_step=False):
 
         # Get gripper action, if applicable
         if self.has_gripper:
-            self.grip_action(gripper_action)
+            self.grip_action(gripper=self.gripper, gripper_action=gripper_action)
 
         # Apply joint torque control
-        self.sim.data.ctrl[self._ref_joint_torq_actuator_indexes] = self.torques
+        self.sim.data.ctrl[self._ref_joint_actuator_indexes] = self.torques
 
         # If this is a policy step, also update buffers holding recent values of interest
         if policy_step:
@@ -287,28 +282,11 @@ def control(self, action, policy_step=False):
             ee_acc = np.array([np.convolve(col, np.ones(10) / 10., mode='valid')[0] for col in diffs.transpose()])
             self.recent_ee_acc.push(ee_acc)
 
-    def grip_action(self, gripper_action):
-        """
-        Executes gripper @action for specified @arm
-
-        Args:
-            gripper_action (float): Value between [-1,1] to send to gripper
-        """
-        gripper_action_actual = self.gripper.format_action(gripper_action)
-        # rescale normalized gripper action to control ranges
-        ctrl_range = self.sim.model.actuator_ctrlrange[self._ref_joint_gripper_actuator_indexes]
-        bias = 0.5 * (ctrl_range[:, 1] + ctrl_range[:, 0])
-        weight = 0.5 * (ctrl_range[:, 1] - ctrl_range[:, 0])
-        applied_gripper_action = bias + weight * gripper_action_actual
-        self.sim.data.ctrl[self._ref_joint_gripper_actuator_indexes] = applied_gripper_action
-
     def visualize_gripper(self):
         """
         Visualizes the gripper site(s) if applicable.
         """
-        if self.gripper_visualization:
-            # By default, color the ball red
-            self.sim.model.site_rgba[self.eef_site_id] = [1., 0., 0., 1.]
+        self.gripper.set_sites_visibility(sim=self.sim, visible=self.gripper_visualization)
 
     def get_observations(self, di: OrderedDict):
         """
@@ -324,23 +302,13 @@ def get_observations(self, di: OrderedDict):
         Returns:
             OrderedDict: Augmented set of observations that include this robot's proprioceptive observations
         """
+        # Get general robot observations first
+        di = super().get_observations(di)
+
         # Get prefix from robot model to avoid naming clashes for multiple robots
         pf = self.robot_model.naming_prefix
 
-        # proprioceptive features
-        di[pf + "joint_pos"] = np.array(
-            [self.sim.data.qpos[x] for x in self._ref_joint_pos_indexes]
-        )
-        di[pf + "joint_vel"] = np.array(
-            [self.sim.data.qvel[x] for x in self._ref_joint_vel_indexes]
-        )
-
-        robot_states = [
-            np.sin(di[pf + "joint_pos"]),
-            np.cos(di[pf + "joint_pos"]),
-            di[pf + "joint_vel"],
-        ]
-
+        robot_states = []
         # Add in eef pos / qpos
         di[pf + "eef_pos"] = np.array(self.sim.data.site_xpos[self.eef_site_id])
         di[pf + "eef_quat"] = T.convert_quat(
@@ -358,7 +326,7 @@ def get_observations(self, di: OrderedDict):
             )
             robot_states.extend([di[pf + "gripper_qpos"], di[pf + "gripper_qvel"]])
 
-        di[pf + "robot-state"] = np.concatenate(robot_states)
+        di[pf + "robot-state"] = np.concatenate([di[pf + "robot-state"], robot_states])
         return di
 
     @property
@@ -380,57 +348,6 @@ def action_limits(self):
 
         return low, high
 
-    @property
-    def torque_limits(self):
-        """
-        Torque lower/upper limits per dimension.
-
-        Returns:
-            2-tuple:
-
-                - (np.array) minimum (low) torque values
-                - (np.array) maximum (high) torque values
-        """
-        # Torque limit values pulled from relevant robot.xml file
-        low = self.sim.model.actuator_ctrlrange[self._ref_joint_torq_actuator_indexes, 0]
-        high = self.sim.model.actuator_ctrlrange[self._ref_joint_torq_actuator_indexes, 1]
-
-        return low, high
-
-    @property
-    def action_dim(self):
-        """
-        Action space dimension for this robot (controller dimension + gripper dof)
-
-        Returns:
-            int: action dimension
-        """
-        return self.controller.control_dim + self.gripper.dof if self.has_gripper else self.controller.control_dim
-
-    @property
-    def dof(self):
-        """
-        Returns:
-            int: degrees of freedom of the robot (with grippers).
-        """
-        # Get the dof of the base robot model
-        dof = super().dof
-        if self.has_gripper:
-            dof += self.gripper.dof
-        return dof
-
-    @property
-    def js_energy(self):
-        """
-        Returns:
-            np.array: the energy consumed by each joint between previous and current steps
-        """
-        # We assume in the motors torque is proportional to current (and voltage is constant)
-        # In that case the amount of power scales proportional to the torque and the energy is the
-        # time integral of that
-        # Note that we use mean torque
-        return np.abs((1.0 / self.control_freq) * self.recent_torques.average)
-
     @property
     def ee_ft_integral(self):
         """
@@ -455,7 +372,7 @@ def ee_torque(self):
         return self.get_sensor_measurement(self.gripper.sensors["torque_ee"])
 
     @property
-    def _right_hand_pose(self):
+    def _hand_pose(self):
         """
         Returns:
             np.array: (4,4) array corresponding to the eef pose in base frame of robot.
@@ -463,15 +380,15 @@ def _right_hand_pose(self):
         return self.pose_in_base_from_name(self.robot_model.eef_name)
 
     @property
-    def _right_hand_quat(self):
+    def _hand_quat(self):
         """
         Returns:
             np.array: (x,y,z,w) eef quaternion in base frame of robot.
         """
-        return T.mat2quat(self._right_hand_orn)
+        return T.mat2quat(self._hand_orn)
 
     @property
-    def _right_hand_total_velocity(self):
+    def _hand_total_velocity(self):
         """
         Returns:
             np.array: 6-array representing the total eef velocity (linear + angular) in the base frame
@@ -489,35 +406,35 @@ def _right_hand_total_velocity(self):
         return np.concatenate([eef_lin_vel, eef_rot_vel])
 
     @property
-    def _right_hand_pos(self):
+    def _hand_pos(self):
         """
         Returns:
             np.array: 3-array representing the position of eef in base frame of robot.
         """
-        eef_pose_in_base = self._right_hand_pose
+        eef_pose_in_base = self._hand_pose
         return eef_pose_in_base[:3, 3]
 
     @property
-    def _right_hand_orn(self):
+    def _hand_orn(self):
         """
         Returns:
             np.array: (3,3) array representing the orientation of eef in base frame of robot as a rotation matrix.
         """
-        eef_pose_in_base = self._right_hand_pose
+        eef_pose_in_base = self._hand_pose
         return eef_pose_in_base[:3, :3]
 
     @property
-    def _right_hand_vel(self):
+    def _hand_vel(self):
         """
         Returns:
             np.array: (x,y,z) velocity of eef in base frame of robot.
         """
-        return self._right_hand_total_velocity[:3]
+        return self._hand_total_velocity[:3]
 
     @property
-    def _right_hand_ang_vel(self):
+    def _hand_ang_vel(self):
         """
         Returns:
             np.array: (ax,ay,az) angular velocity of eef in base frame of robot.
         """
-        return self._right_hand_total_velocity[3:]
+        return self._hand_total_velocity[3:]
diff --git a/robosuite/utils/mjcf_utils.py b/robosuite/utils/mjcf_utils.py
index 5f2fbf6407..5672e3d425 100644
--- a/robosuite/utils/mjcf_utils.py
+++ b/robosuite/utils/mjcf_utils.py
@@ -76,6 +76,12 @@ def array_to_string(array):
 
     Examples:
         [0, 1, 2] => "0 1 2"
+
+    Args:
+        array (n-array): Array to convert to a string
+
+    Returns:
+        str: String equivalent of @array
     """
     return " ".join(["{}".format(x) for x in array])
 
@@ -96,6 +102,27 @@ def string_to_array(string):
     return np.array([float(x) for x in string.split(" ")])
 
 
+def convert_to_string(inp):
+    """
+    Converts any type of {bool, int, float, list, tuple, array, string, np.str_} into an mujoco-xml compatible string.
+        Note that an input string / np.str_ results in a no-op action.
+
+    Args:
+        inp: Input to convert to string
+
+    Returns:
+        str: String equivalent of @inp
+    """
+    if type(inp) in {list, tuple, np.ndarray}:
+        return array_to_string(inp)
+    elif type(inp) in {int, float, bool}:
+        return str(inp).lower()
+    elif type(inp) in {str, np.str_}:
+        return inp
+    else:
+        raise ValueError("Unsupported type received: got {}".format(type(inp)))
+
+
 def set_alpha(node, alpha=0.1):
     """
     Sets all a(lpha) field of the rgba attribute to be @alpha
@@ -111,25 +138,52 @@ def set_alpha(node, alpha=0.1):
         child_node.set("rgba", array_to_string(list(rgba_orig[0:3]) + [alpha]))
 
 
-def new_joint(**kwargs):
+def new_element(tag, name, **kwargs):
+    """
+    Creates a new @tag element with attributes specified by @**kwargs.
+
+    Args:
+        tag (str): Type of element to create
+        name (None or str): Name for this element. Should only be None for elements that do not have an explicit
+            name attribute (e.g.: inertial elements)
+        **kwargs: Specified attributes for the new joint
+
+    Returns:
+        ET.Element: new specified xml element
+    """
+    # Name will be set if it's not None
+    if name is not None:
+        kwargs["name"] = name
+    # Loop through all attributes and pop any that are None, otherwise convert them to strings
+    for k, v in kwargs.copy().items():
+        if v is None:
+            kwargs.pop(k)
+        else:
+            kwargs[k] = convert_to_string(v)
+    element = ET.Element(tag, attrib=kwargs)
+    return element
+
+
+def new_joint(name, **kwargs):
     """
     Creates a joint tag with attributes specified by @**kwargs.
 
     Args:
+        name (str): Name for this joint
         **kwargs: Specified attributes for the new joint
 
     Returns:
         ET.Element: new joint xml element
     """
-    element = ET.Element("joint", attrib=kwargs)
-    return element
+    return new_element(tag="joint", name=name, **kwargs)
 
 
-def new_actuator(joint, act_type="actuator", **kwargs):
+def new_actuator(name, joint, act_type="actuator", **kwargs):
     """
     Creates an actuator tag with attributes specified by @**kwargs.
 
     Args:
+        name (str): Name for this actuator
         joint (str): type of actuator transmission.
             see all types here: http://mujoco.org/book/modeling.html#actuator
         act_type (str): actuator type. Defaults to "actuator"
@@ -138,7 +192,7 @@ def new_actuator(joint, act_type="actuator", **kwargs):
     Returns:
         ET.Element: new actuator xml element
     """
-    element = ET.Element(act_type, attrib=kwargs)
+    element = new_element(tag=act_type, name=name, **kwargs)
     element.set("joint", joint)
     return element
 
@@ -152,7 +206,7 @@ def new_site(name, rgba=RED, pos=(0, 0, 0), size=(0.005,), **kwargs):
         to create the appropriate XML
 
     Args:
-        name (str): site name.
+        name (str): Name for this site
         rgba (4-array): (r,g,b,a) color and transparency. Defaults to solid red.
         pos (3-array): (x,y,z) 3d position of the site.
         size (array of float): site size (sites are spherical by default).
@@ -161,19 +215,13 @@ def new_site(name, rgba=RED, pos=(0, 0, 0), size=(0.005,), **kwargs):
     Returns:
         ET.Element: new site xml element
     """
-    kwargs["name"] = name
-    kwargs["pos"] = array_to_string(pos)
-    kwargs["size"] = array_to_string(size)
-    kwargs["rgba"] = array_to_string(rgba) if rgba is not None else None
-    # Loop through all remaining attributes and pop any that are None
-    for k, v in kwargs.copy().items():
-        if v is None:
-            kwargs.pop(k)
-    element = ET.Element("site", attrib=kwargs)
-    return element
+    kwargs["pos"] = pos
+    kwargs["size"] = size
+    kwargs["rgba"] = rgba if rgba is not None else None
+    return new_element(tag="site", name=name, **kwargs)
 
 
-def new_geom(geom_type, size, pos=(0, 0, 0), rgba=RED, group=0, **kwargs):
+def new_geom(name, type, size, pos=(0, 0, 0), group=0, **kwargs):
     """
     Creates a geom element with attributes specified by @**kwargs.
 
@@ -182,11 +230,11 @@ def new_geom(geom_type, size, pos=(0, 0, 0), rgba=RED, group=0, **kwargs):
         to create the appropriate XML
 
     Args:
-        geom_type (str): type of the geom.
+        name (str): Name for this geom
+        type (str): type of the geom.
             see all types here: http://mujoco.org/book/modeling.html#geom
         size (array of float): geom size parameters.
         pos (3-array): (x,y,z) 3d position of the site.
-        rgba (4-array): (r,g,b,a) color and transparency. Defaults to solid red.
         group (int): the integrer group that the geom belongs to. useful for
             separating visual and physical elements.
         **kwargs: Any additional specified attributes for the new geom
@@ -194,45 +242,34 @@ def new_geom(geom_type, size, pos=(0, 0, 0), rgba=RED, group=0, **kwargs):
     Returns:
         ET.Element: new geom xml element
     """
-    kwargs["type"] = str(geom_type)
-    kwargs["size"] = array_to_string(size)
-    kwargs["pos"] = array_to_string(pos)
-    kwargs["rgba"] = array_to_string(rgba) if rgba is not None else None
-    kwargs["group"] = str(group) if group is not None else None
-    # Loop through all remaining attributes and pop any that are None
-    for k, v in kwargs.copy().items():
-        if v is None:
-            kwargs.pop(k)
-    element = ET.Element("geom", attrib=kwargs)
-    return element
+    kwargs["type"] = type
+    kwargs["size"] = size
+    kwargs["pos"] = pos
+    kwargs["group"] = group if group is not None else None
+    return new_element(tag="geom", name=name, **kwargs)
 
 
-def new_body(name=None, pos=None, **kwargs):
+def new_body(name, pos=(0, 0, 0), **kwargs):
     """
     Creates a body element with attributes specified by @**kwargs.
 
     Args:
-        name (str): body name.
+        name (str): Name for this body
         pos (3-array): (x,y,z) 3d position of the body frame.
         **kwargs: Any additional specified attributes for the new body
 
     Returns:
         ET.Element: new body xml element
     """
-    if name is not None:
-        kwargs["name"] = name
-    if pos is not None:
-        kwargs["pos"] = array_to_string(pos)
-    element = ET.Element("body", attrib=kwargs)
-    return element
+    kwargs["pos"] = pos
+    return new_element(tag="body", name=name, **kwargs)
 
 
-def new_inertial(name=None, pos=(0, 0, 0), mass=None, **kwargs):
+def new_inertial(pos=(0, 0, 0), mass=None, **kwargs):
     """
     Creates a inertial element with attributes specified by @**kwargs.
 
     Args:
-        name (str): [NOT USED]
         pos (3-array): (x,y,z) 3d position of the inertial frame.
         mass (float): The mass of inertial
         **kwargs: Any additional specified attributes for the new inertial element
@@ -240,11 +277,48 @@ def new_inertial(name=None, pos=(0, 0, 0), mass=None, **kwargs):
     Returns:
         ET.Element: new inertial xml element
     """
-    if mass is not None:
-        kwargs["mass"] = str(mass)
-    kwargs["pos"] = array_to_string(pos)
-    element = ET.Element("inertial", attrib=kwargs)
-    return element
+    kwargs["mass"] = mass if mass is not None else None
+    kwargs["pos"] = pos
+    return new_element(tag="inertial", name=None, **kwargs)
+
+
+def get_size(size,
+             size_max,
+             size_min,
+             default_max,
+             default_min):
+    """
+    Helper method for providing a size, or a range to randomize from
+
+    Args:
+        size (n-array): Array of numbers that explicitly define the size
+        size_max (n-array): Array of numbers that define the custom max size from which to randomly sample
+        size_min (n-array): Array of numbers that define the custom min size from which to randomly sample
+        default_max (n-array): Array of numbers that define the default max size from which to randomly sample
+        default_min (n-array): Array of numbers that define the default min size from which to randomly sample
+
+    Returns:
+        np.array: size generated
+
+    Raises:
+        ValueError: [Inconsistent array sizes]
+    """
+    if len(default_max) != len(default_min):
+        raise ValueError('default_max = {} and default_min = {}'
+                         .format(str(default_max), str(default_min)) +
+                         ' have different lengths')
+    if size is not None:
+        if (size_max is not None) or (size_min is not None):
+            raise ValueError('size = {} overrides size_max = {}, size_min = {}'
+                             .format(size, size_max, size_min))
+    else:
+        if size_max is None:
+            size_max = default_max
+        if size_min is None:
+            size_min = default_min
+        size = np.array([np.random.uniform(size_min[i], size_max[i])
+                         for i in range(len(default_max))])
+    return np.array(size)
 
 
 def postprocess_model_xml(xml_str):
@@ -285,24 +359,207 @@ def postprocess_model_xml(xml_str):
     return ET.tostring(root, encoding="utf8").decode("utf8")
 
 
-def add_to_dict(dic, **kwargs):
+def add_to_dict(dic, fill_in_defaults=True, default_value=None, **kwargs):
     """
     Helper function to add key-values to dictionary @dic where each entry is its own array (list).
     Args:
         dic (dict): Dictionary to which new key / value pairs will be added. If the key already exists,
             will append the value to that key entry
+        fill_in_defaults (bool): If True, will automatically add @default_value to all dictionary entries that are
+            not explicitly specified in @kwargs
+        default_value (any): Default value to fill (None by default)
 
     Returns:
         dict: Modified dictionary
     """
+    # Get keys and length of array for a given entry in dic
+    keys = set(dic.keys())
+    n = len(list(keys)[0]) if keys else 0
     for k, v in kwargs.items():
         if k in dic:
             dic[k].append(v)
+            keys.remove(k)
         else:
-            dic[k] = [v]
+            dic[k] = [default_value] * n + [v] if fill_in_defaults else [v]
+    # If filling in defaults, fill in remaining default values
+    if fill_in_defaults:
+        for k in keys:
+            dic[k].append(default_value)
     return dic
 
 
+def add_prefix(
+        root,
+        prefix,
+        tags=("body", "joint", "sensor", "site", "geom", "camera",
+              "actuator", "tendon", "asset", "mesh", "texture", "material"),
+        attribs=("name", "material", "texture", "joint", "mesh")
+):
+    """
+    Find all element(s) matching the requested @tag, and appends @prefix to all @attributes if they exist.
+
+    Args:
+        root (ET.Element): Root of the xml element tree to start recursively searching through. Default is None
+            (use automatic top-level root in this XML object)
+        prefix (str): Prefix to add to all specified attributes
+        tags (str or list of str or set): Tag(s) to search for in this ElementTree.
+        attribs (str or ): Element attribute(s) to append prefix to.
+    """
+    # Make sure tags is list
+    tags = [tags] if type(tags) is str else tags
+    attribs = [attribs] if type(attribs) is str else attribs
+
+    # Check the current element for matching conditions
+    if root.tag in tags:
+        for attrib in attribs:
+            v = root.get(attrib, None)
+            # Only add prefix if it doesn't exist and the current attribute doesn't already begin with prefix
+            if v is not None and not v.startswith(prefix):
+                root.set(attrib, prefix + v)
+    # Continue recursively searching through the element tree
+    for r in root:
+        add_prefix(root=r, prefix=prefix, tags=tags, attribs=attribs)
+
+
+def _element_filter(element, parent):
+    """
+    Default element filter to be used in sort_elements. This will filter for the following groups:
+
+        :`'root_body'`: Top-level body element
+        :`'bodies'`: Any body elements
+        :`'joints'`: Any joint elements
+        :`'actuators'`: Any actuator elements
+        :`'sites'`: Any site elements
+        :`'contact_geoms'`: Any geoms used for collision (as specified by group 0 (default group) geoms)
+        :`'visual_geoms'`: Any geoms used for visual rendering (as specified by group 1 geoms)
+
+    Args:
+        element (ET.Element): Current XML element that we are filtering
+        parent (ET.Element): Parent XML element for the current element
+
+    Returns:
+        str or None: Assigned filter key for this element. None if no matching filter is found.
+    """
+    # Check for actuator first since this is dependent on the parent element
+    if parent is not None and parent.tag == "actuator":
+        return "actuators"
+    elif element.tag == "joint":
+        # Make sure this is not a tendon (this should not have a "joint", "joint1", or "joint2" attribute specified)
+        if element.get("joint") is None and element.get("joint1") is None:
+            return "joints"
+    elif element.tag == "body":
+        # If the parent of this does not have a tag "body", then this is the top-level body element
+        if parent is None or parent.tag != "body":
+            return "root_body"
+        return "bodies"
+    elif element.tag == "site":
+        return "sites"
+    elif element.tag == "geom":
+        # Only get collision and visual geoms (group 0 / None, or 1, respectively)
+        group = element.get("group")
+        if group in {None, "0", "1"}:
+            return "visual_geoms" if group == "1" else "contact_geoms"
+    else:
+        # If no condition met, return None
+        return None
+
+
+def sort_elements(root, parent=None, element_filter=None,_elements_dict=None):
+    """
+    Utility method to iteratively sort all elements based on @tags. This XML ElementTree will be parsed such that
+    all elements with the same key as returned by @element_filter will be grouped as a list entry in the returned
+    dictionary.
+
+    Args:
+        root (ET.Element): Root of the xml element tree to start recursively searching through
+        parent (ET.Element): Parent of the root node. Default is None (no parent node initially)
+        element_filter (None or function): Function used to filter the incoming elements. Should take in two
+            ET.Elements (current_element, parent_element) and return a string filter_key if the element
+            should be added to the list of values sorted by filter_key, and return None if no value should be added.
+            If no element_filter is specified, defaults to self._element_filter.
+        _elements_dict (dict): Dictionary that gets passed to recursive calls. Should not be modified externally by
+            top-level call.
+
+    Returns:
+        dict: Filtered key-specific lists of the corresponding elements
+    """
+    # Initialize dictionary and element filter if None is set
+    if _elements_dict is None:
+        _elements_dict = {}
+    if element_filter is None:
+        element_filter = _element_filter
+
+    # Parse this element
+    key = element_filter(root, parent)
+    if key is not None:
+        # Initialize new entry in the dict if this is the first time encountering this value, otherwise append
+        if key not in _elements_dict:
+            _elements_dict[key] = [root]
+        else:
+            _elements_dict[key].append(root)
+
+    # Loop through all possible subtrees for this XML recurisvely
+    for r in root:
+        _elements_dict = sort_elements(
+            root=r,
+            parent=root,
+            element_filter=element_filter,
+            _elements_dict=_elements_dict
+        )
+
+    return _elements_dict
+
+
+def find_elements(root, tags, attribs, return_first=True):
+    """
+    Find all element(s) matching the requested @tag and @attributes. If @return_first is True, then will return the
+    first element found matching the criteria specified. Otherwise, will return a list of elements that match the
+    criteria.
+
+    Args:
+        root (ET.Element): Root of the xml element tree to start recursively searching through. Default is None
+            (use automatic top-level root in this XML object)
+        tags (str or list of str or set): Tag(s) to search for in this ElementTree.
+        attribs (dict of str): Element attribute(s) to check against for a filtered element. A match is
+            considered found only if all attributes match. Each attribute key should have a corresponding value with
+            which to compare against.
+        return_first (bool): Whether to immediately return once the first matching element is found.
+
+    Returns:
+        None or ET.Element or list of ET.Element: Matching element(s) found. Returns None if there was no match.
+    """
+    # Initialize return value
+    elements = None if return_first else []
+
+    # Make sure tags is list
+    tags = [tags] if type(tags) is str else tags
+
+    # Check the current element for matching conditions
+    if root.tag in tags:
+        matching = True
+        for k, v in attribs.items():
+            if root.get(k) != v:
+                matching = False
+                break
+        # If all criteria were matched, add this to the solution (or return immediately if specified)
+        if matching:
+            if return_first:
+                return root
+            else:
+                elements += root
+    # Continue recursively searching through the element tree
+    for r in root:
+        if return_first:
+            elements = find_elements(tags=tags, attribs=attribs, root=r, return_first=return_first)
+            if elements is not None:
+                return elements
+        else:
+            found_elements = find_elements(tags=tags, attribs=attribs, root=r, return_first=return_first)
+            elements += found_elements if found_elements else []
+
+    return elements if elements else None
+
+
 class CustomMaterial(object):
     """
     Simple class to instantiate the necessary parameters to define an appropriate texture / material combo
diff --git a/robosuite/utils/robot_utils.py b/robosuite/utils/robot_utils.py
new file mode 100644
index 0000000000..53200dcd6d
--- /dev/null
+++ b/robosuite/utils/robot_utils.py
@@ -0,0 +1,16 @@
+# Utilities functions for working with robots
+
+from robosuite.robots import BIMANUAL_ROBOTS
+
+
+def check_bimanual(robot_name):
+    """
+    Utility function that returns whether the inputted robot_name is a bimanual robot or not
+
+    Args:
+        robot_name (str): Name of the robot to check
+
+    Returns:
+        bool: True if the inputted robot is a bimanual robot
+    """
+    return robot_name.lower() in BIMANUAL_ROBOTS

From 4d1873fca4251aa5367ad5af1bc6585898d45d7c Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Thu, 3 Dec 2020 13:22:09 -0800
Subject: [PATCH 10/46] fix spacemouse reset bug

---
 robosuite/devices/spacemouse.py | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/robosuite/devices/spacemouse.py b/robosuite/devices/spacemouse.py
index 4ca33b5d62..4bee4592c2 100644
--- a/robosuite/devices/spacemouse.py
+++ b/robosuite/devices/spacemouse.py
@@ -123,6 +123,10 @@ def __init__(self,
         print("Manufacturer: %s" % self.device.get_manufacturer_string())
         print("Product: %s" % self.device.get_product_string())
 
+        # 6-DOF variables
+        self.x, self.y, self.z = 0, 0, 0
+        self.roll, self.pitch, self.yaw = 0, 0, 0
+
         self._display_controls()
 
         self.single_click_and_hold = False
@@ -164,6 +168,13 @@ def _reset_internal_state(self):
         Resets internal state of controller, except for the reset signal.
         """
         self.rotation = np.array([[-1., 0., 0.], [0., 1., 0.], [0., 0., -1.]])
+        # Reset 6-DOF variables
+        self.x, self.y, self.z = 0, 0, 0
+        self.roll, self.pitch, self.yaw = 0, 0, 0
+        # Reset control
+        self._control = np.zeros(6)
+        # Reset grasp
+        self.single_click_and_hold = False
 
     def start_control(self):
         """
@@ -183,7 +194,6 @@ def get_controller_state(self):
         """
         dpos = self.control[:3] * 0.005 * self.pos_sensitivity
         roll, pitch, yaw = self.control[3:] * 0.005 * self.rot_sensitivity
-        self.grasp = self.control_gripper
 
         # convert RPY to an absolute orientation
         drot1 = rotation_matrix(angle=-pitch, direction=[1., 0, 0], point=None)[:3, :3]
@@ -196,7 +206,7 @@ def get_controller_state(self):
             dpos=dpos,
             rotation=self.rotation,
             raw_drotation=np.array([roll, pitch, yaw]),
-            grasp=self.grasp,
+            grasp=self.control_gripper,
             reset=self._reset_state
         )
 

From 117d0e3f6d2606ef5b86cc8dace52315348760d7 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Thu, 3 Dec 2020 14:49:44 -0800
Subject: [PATCH 11/46] fix sim resetting bug in base env

---
 robosuite/environments/base.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/robosuite/environments/base.py b/robosuite/environments/base.py
index d55c76684b..3679ceb32e 100644
--- a/robosuite/environments/base.py
+++ b/robosuite/environments/base.py
@@ -198,7 +198,7 @@ def _initialize_sim(self, xml_string=None):
 
         # Create the simulation instance and run a single step to make sure changes have propagated through sim state
         self.sim = MjSim(self.mjpy_model)
-        self.sim.step()
+        self.sim.forward()
 
         # Setup sim time based on control frequency
         self.initialize_time(self.control_freq)

From dc3a2a1211ca3092f703606e218a24a9d56e50f5 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Thu, 3 Dec 2020 14:50:32 -0800
Subject: [PATCH 12/46] fix sampler bug for hard resets

---
 robosuite/environments/manipulation/door.py   | 30 ++++++------
 robosuite/environments/manipulation/lift.py   | 30 ++++++------
 .../environments/manipulation/nut_assembly.py | 49 ++++++++-----------
 robosuite/environments/manipulation/stack.py  | 34 +++++++------
 .../manipulation/two_arm_handover.py          | 34 +++++++------
 .../environments/manipulation/two_arm_lift.py | 28 ++++++-----
 robosuite/models/tasks/placement_sampler.py   | 20 ++++++--
 7 files changed, 121 insertions(+), 104 deletions(-)

diff --git a/robosuite/environments/manipulation/door.py b/robosuite/environments/manipulation/door.py
index 13a158cdae..860c7e3bee 100644
--- a/robosuite/environments/manipulation/door.py
+++ b/robosuite/environments/manipulation/door.py
@@ -169,18 +169,7 @@ def __init__(
         self.use_object_obs = use_object_obs
 
         # object placement initializer
-        if placement_initializer:
-            self.placement_initializer = placement_initializer
-        else:
-            self.placement_initializer = UniformRandomSampler(
-                x_range=[0.07, 0.09],
-                y_range=[-0.01, 0.01],
-                rotation=(-np.pi / 2. - 0.25, -np.pi / 2.),
-                rotation_axis='z',
-                ensure_object_boundary_in_range=False,
-                ensure_valid_placement=True,
-                reference_pos=self.table_offset,
-            )
+        self.placement_initializer = placement_initializer
 
         super().__init__(
             robots=robots,
@@ -286,8 +275,21 @@ def _load_model(self):
             lock=self.use_latch,
         )
 
-        # Add door to initializer
-        self.placement_initializer.add_objects(self.door)
+        # Create placement initializer
+        if self.placement_initializer is not None:
+            self.placement_initializer.reset()
+            self.placement_initializer.add_objects(self.door)
+        else:
+            self.placement_initializer = UniformRandomSampler(
+                    mujoco_objects=self.door,
+                    x_range=[0.07, 0.09],
+                    y_range=[-0.01, 0.01],
+                    rotation=(-np.pi / 2. - 0.25, -np.pi / 2.),
+                    rotation_axis='z',
+                    ensure_object_boundary_in_range=False,
+                    ensure_valid_placement=True,
+                    reference_pos=self.table_offset,
+                )
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
diff --git a/robosuite/environments/manipulation/lift.py b/robosuite/environments/manipulation/lift.py
index 1db37591b7..00a9297e01 100644
--- a/robosuite/environments/manipulation/lift.py
+++ b/robosuite/environments/manipulation/lift.py
@@ -175,18 +175,7 @@ def __init__(
         self.use_object_obs = use_object_obs
 
         # object placement initializer
-        if placement_initializer:
-            self.placement_initializer = placement_initializer
-        else:
-            self.placement_initializer = UniformRandomSampler(
-                x_range=[-0.03, 0.03],
-                y_range=[-0.03, 0.03],
-                rotation=None,
-                ensure_object_boundary_in_range=False,
-                ensure_valid_placement=True,
-                reference_pos=self.table_offset,
-                z_offset=0.01,
-            )
+        self.placement_initializer = placement_initializer
 
         super().__init__(
             robots=robots,
@@ -311,8 +300,21 @@ def _load_model(self):
             material=redwood,
         )
 
-        # Add cube to initializer
-        self.placement_initializer.add_objects(self.cube)
+        # Create placement initializer
+        if self.placement_initializer is not None:
+            self.placement_initializer.reset()
+            self.placement_initializer.add_objects(self.cube)
+        else:
+            self.placement_initializer = UniformRandomSampler(
+                mujoco_objects=self.cube,
+                x_range=[-0.03, 0.03],
+                y_range=[-0.03, 0.03],
+                rotation=None,
+                ensure_object_boundary_in_range=False,
+                ensure_valid_placement=True,
+                reference_pos=self.table_offset,
+                z_offset=0.01,
+            )
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
diff --git a/robosuite/environments/manipulation/nut_assembly.py b/robosuite/environments/manipulation/nut_assembly.py
index 7cf620a606..170b661a78 100644
--- a/robosuite/environments/manipulation/nut_assembly.py
+++ b/robosuite/environments/manipulation/nut_assembly.py
@@ -205,11 +205,7 @@ def __init__(
         self.use_object_obs = use_object_obs
 
         # object placement initializer
-        if placement_initializer:
-            self.placement_initializer = placement_initializer
-        else:
-            # treat sampling of each type of nut differently since we require different sampling ranges for each
-            self.placement_initializer = SequentialCompositeSampler()
+        self.placement_initializer = placement_initializer
 
         super().__init__(
             robots=robots,
@@ -400,31 +396,12 @@ def _load_model(self):
         # define nuts
         self.nuts = []
 
-        # We need to check if custom placement initializer has been specified. This is true if the sampler is either
-        # NOT a SequentialCompsiteSampler OR if the sampler already has sub-samplers in it
-        is_custom_sampler = not isinstance(self.placement_initializer, SequentialCompositeSampler) or \
-            len(self.placement_initializer.samplers) > 0
-
-        for i, (nut_cls, nut_name, default_y_range) in enumerate(zip(
-                (SquareNutObject, RoundNutObject),
-                ("SquareNut", "RoundNut"),
-                ([0.11, 0.225], [-0.225, -0.11]),
-        )):
-            nut = nut_cls(name=nut_name)
-            self.nuts.append(nut)
-            # Add this nut to the placement initializer
-            if is_custom_sampler:
-                if isinstance(self.placement_initializer, SequentialCompositeSampler):
-                    # assumes user has already specified two samplers so we add nuts to them
-                    self.placement_initializer.samplers[i].add_objects(nut)
-                else:
-                    # This is assumed to be a flat sampler, so we just add all nuts to this sampler
-                    self.placement_initializer.add_objects(nut)
-            else:
-                # Default sampler; must define sub-samplers
+        # Create default (SequentialCompositeSampler) sampler if it has not already been specified
+        if self.placement_initializer is None:
+            self.placement_initializer = SequentialCompositeSampler()
+            for default_y_range in ([0.11, 0.225], [-0.225, -0.11]):
                 self.placement_initializer.append_sampler(
                     sampler=UniformRandomSampler(
-                        mujoco_objects=nut,
                         x_range=[-0.115, -0.11],
                         y_range=default_y_range,
                         rotation=None,
@@ -435,6 +412,22 @@ def _load_model(self):
                         z_offset=0.02,
                     )
                 )
+        # Reset sampler before adding any new samplers / objects
+        self.placement_initializer.reset()
+
+        for i, (nut_cls, nut_name) in enumerate(zip(
+                (SquareNutObject, RoundNutObject),
+                ("SquareNut", "RoundNut"),
+        )):
+            nut = nut_cls(name=nut_name)
+            self.nuts.append(nut)
+            # Add this nut to the placement initializer
+            if isinstance(self.placement_initializer, SequentialCompositeSampler):
+                # assumes we have two samplers so we add nuts to them
+                self.placement_initializer.samplers[i].add_objects(nut)
+            else:
+                # This is assumed to be a flat sampler, so we just add all nuts to this sampler
+                self.placement_initializer.add_objects(nut)
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
diff --git a/robosuite/environments/manipulation/stack.py b/robosuite/environments/manipulation/stack.py
index f338d9b78d..ae0f11c427 100644
--- a/robosuite/environments/manipulation/stack.py
+++ b/robosuite/environments/manipulation/stack.py
@@ -175,18 +175,7 @@ def __init__(
         self.use_object_obs = use_object_obs
 
         # object placement initializer
-        if placement_initializer:
-            self.placement_initializer = placement_initializer
-        else:
-            self.placement_initializer = UniformRandomSampler(
-                x_range=[-0.08, 0.08],
-                y_range=[-0.08, 0.08],
-                rotation=None,
-                ensure_object_boundary_in_range=False,
-                ensure_valid_placement=True,
-                reference_pos=self.table_offset,
-                z_offset=0.01,
-            )
+        self.placement_initializer = placement_initializer
 
         super().__init__(
             robots=robots,
@@ -361,15 +350,28 @@ def _load_model(self):
             rgba=[0, 1, 0, 1],
             material=greenwood,
         )
-
-        # Add cubes to initializer
-        self.placement_initializer.add_objects([self.cubeA, self.cubeB])
+        cubes = [self.cubeA, self.cubeB]
+        # Create placement initializer
+        if self.placement_initializer is not None:
+            self.placement_initializer.reset()
+            self.placement_initializer.add_objects(cubes)
+        else:
+            self.placement_initializer = UniformRandomSampler(
+                mujoco_objects=cubes,
+                x_range=[-0.08, 0.08],
+                y_range=[-0.08, 0.08],
+                rotation=None,
+                ensure_object_boundary_in_range=False,
+                ensure_valid_placement=True,
+                reference_pos=self.table_offset,
+                z_offset=0.01,
+            )
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
             mujoco_arena=mujoco_arena,
             mujoco_robots=[robot.robot_model for robot in self.robots],
-            mujoco_objects=[self.cubeA, self.cubeB],
+            mujoco_objects=cubes,
         )
 
     def _get_reference(self):
diff --git a/robosuite/environments/manipulation/two_arm_handover.py b/robosuite/environments/manipulation/two_arm_handover.py
index a401aa93c7..f03550a592 100644
--- a/robosuite/environments/manipulation/two_arm_handover.py
+++ b/robosuite/environments/manipulation/two_arm_handover.py
@@ -194,20 +194,7 @@ def __init__(
         self.use_object_obs = use_object_obs
 
         # object placement initializer
-        if placement_initializer:
-            self.placement_initializer = placement_initializer
-        else:
-            # Set rotation about y-axis if hammer starts on table else rotate about z if it starts in gripper
-            rotation_axis = 'y' if self.prehensile else 'z'
-            self.placement_initializer = UniformRandomSampler(
-                x_range=[-0.1, 0.1],
-                y_range=[-0.05, 0.05],
-                rotation=None,
-                rotation_axis=rotation_axis,
-                ensure_object_boundary_in_range=False,
-                ensure_valid_placement=True,
-                reference_pos=self.table_offset,
-            )
+        self.placement_initializer = placement_initializer
 
         super().__init__(
             robots=robots,
@@ -356,8 +343,23 @@ def _load_model(self):
         # initialize objects of interest
         self.hammer = HammerObject(name="hammer")
 
-        # Add hammer to initializer
-        self.placement_initializer.add_objects(self.hammer)
+        # Create placement initializer
+        if self.placement_initializer is not None:
+            self.placement_initializer.reset()
+            self.placement_initializer.add_objects(self.hammer)
+        else:
+            # Set rotation about y-axis if hammer starts on table else rotate about z if it starts in gripper
+            rotation_axis = 'y' if self.prehensile else 'z'
+            self.placement_initializer = UniformRandomSampler(
+                mujoco_objects=self.hammer,
+                x_range=[-0.1, 0.1],
+                y_range=[-0.05, 0.05],
+                rotation=None,
+                rotation_axis=rotation_axis,
+                ensure_object_boundary_in_range=False,
+                ensure_valid_placement=True,
+                reference_pos=self.table_offset,
+            )
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
diff --git a/robosuite/environments/manipulation/two_arm_lift.py b/robosuite/environments/manipulation/two_arm_lift.py
index 5aed546de5..55c0857a8d 100644
--- a/robosuite/environments/manipulation/two_arm_lift.py
+++ b/robosuite/environments/manipulation/two_arm_lift.py
@@ -185,17 +185,7 @@ def __init__(
         self.use_object_obs = use_object_obs
 
         # object placement initializer
-        if placement_initializer:
-            self.placement_initializer = placement_initializer
-        else:
-            self.placement_initializer = UniformRandomSampler(
-                x_range=[-0.03, 0.03],
-                y_range=[-0.03, 0.03],
-                ensure_object_boundary_in_range=False,
-                ensure_valid_placement=True,
-                reference_pos=self.table_offset,
-                rotation=(np.pi + -np.pi / 3, np.pi + np.pi / 3),
-            )
+        self.placement_initializer = placement_initializer
 
         super().__init__(
             robots=robots,
@@ -342,8 +332,20 @@ def _load_model(self):
         # initialize objects of interest
         self.pot = PotWithHandlesObject(name="pot")
 
-        # Add pot to initializer
-        self.placement_initializer.add_objects(self.pot)
+        # Create placement initializer
+        if self.placement_initializer is not None:
+            self.placement_initializer.reset()
+            self.placement_initializer.add_objects(self.pot)
+        else:
+            self.placement_initializer = UniformRandomSampler(
+                mujoco_objects=self.pot,
+                x_range=[-0.03, 0.03],
+                y_range=[-0.03, 0.03],
+                ensure_object_boundary_in_range=False,
+                ensure_valid_placement=True,
+                reference_pos=self.table_offset,
+                rotation=(np.pi + -np.pi / 3, np.pi + np.pi / 3),
+            )
 
         # task includes arena, robot, and objects of interest
         self.model = ManipulationTask(
diff --git a/robosuite/models/tasks/placement_sampler.py b/robosuite/models/tasks/placement_sampler.py
index 5ee06f6227..3c1419c390 100644
--- a/robosuite/models/tasks/placement_sampler.py
+++ b/robosuite/models/tasks/placement_sampler.py
@@ -1,7 +1,7 @@
 import collections
 import numpy as np
 
-from copy import deepcopy, copy
+from copy import copy
 
 from robosuite.utils import RandomizationError
 from robosuite.utils.transform_utils import quat_multiply
@@ -57,6 +57,12 @@ def add_objects(self, mujoco_objects):
             assert obj not in self.mujoco_objects, "Object '{}' already in sampler!".format(obj.name)
             self.mujoco_objects.append(obj)
 
+    def reset(self):
+        """
+        Resets this sampler. Removes all mujoco objects from this sampler.
+        """
+        self.mujoco_objects = []
+
     def sample(self, fixtures=None, reference=None, on_top=True):
         """
         Uniformly sample on a surface (not necessarily table surface).
@@ -224,7 +230,7 @@ def sample(self, fixtures=None, reference=None, on_top=True):
             AssertionError: [Reference object name does not exist, invalid inputs]
         """
         # Standardize inputs
-        placed_objects = {} if fixtures is None else deepcopy(fixtures)
+        placed_objects = {} if fixtures is None else copy(fixtures)
         if reference is None:
             base_offset = self.reference_pos
         elif type(reference) is str:
@@ -344,6 +350,14 @@ def add_objects(self, mujoco_objects):
         """
         raise AttributeError("add_objects() should not be called for SequentialCompsiteSamplers!")
 
+    def reset(self):
+        """
+        Resets this sampler. In addition to base method, iterates over all sub-samplers and resets them
+        """
+        super().reset()
+        for sampler in self.samplers:
+            sampler.reset()
+
     def sample(self, fixtures=None, reference=None, on_top=True):
         """
         Sample from each placement initializer sequentially, in the order
@@ -372,7 +386,7 @@ def sample(self, fixtures=None, reference=None, on_top=True):
             RandomizationError: [Cannot place all objects]
         """
         # Standardize inputs
-        placed_objects = {} if fixtures is None else deepcopy(fixtures)
+        placed_objects = {} if fixtures is None else copy(fixtures)
 
         # Iterate through all samplers to sample
         for sampler, s_args in zip(self.samplers, self.sample_args):

From 5bb6dc0704457f95aa29cebaa33d689f910dafa8 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Thu, 3 Dec 2020 15:07:29 -0800
Subject: [PATCH 13/46] fix sim model saving bug in demo collection wrapper

---
 robosuite/utils/mjcf_utils.py                 | 12 ++++++++++++
 robosuite/wrappers/data_collection_wrapper.py |  5 +++--
 2 files changed, 15 insertions(+), 2 deletions(-)

diff --git a/robosuite/utils/mjcf_utils.py b/robosuite/utils/mjcf_utils.py
index 5672e3d425..34f71904c6 100644
--- a/robosuite/utils/mjcf_utils.py
+++ b/robosuite/utils/mjcf_utils.py
@@ -560,6 +560,18 @@ def find_elements(root, tags, attribs, return_first=True):
     return elements if elements else None
 
 
+def save_sim_model(sim, fname):
+    """
+    Saves the current model xml from @sim at file location @fname.
+
+    Args:
+        sim (MjSim): XML file to save, in string form
+        fname (str): Absolute filepath to the location to save the file
+    """
+    with open(fname, "w") as f:
+        sim.save(file=f, format="xml")
+
+
 class CustomMaterial(object):
     """
     Simple class to instantiate the necessary parameters to define an appropriate texture / material combo
diff --git a/robosuite/wrappers/data_collection_wrapper.py b/robosuite/wrappers/data_collection_wrapper.py
index e0e7941b8e..4aa57eebd0 100644
--- a/robosuite/wrappers/data_collection_wrapper.py
+++ b/robosuite/wrappers/data_collection_wrapper.py
@@ -8,6 +8,7 @@
 import numpy as np
 
 from robosuite.wrappers import Wrapper
+from robosuite.utils.mjcf_utils import save_sim_model
 
 
 class DataCollectionWrapper(Wrapper):
@@ -81,7 +82,7 @@ def _on_first_interaction(self):
 
         # save the model xml
         xml_path = os.path.join(self.ep_directory, "model.xml")
-        self.env.model.save_model(xml_path)
+        save_sim_model(sim=self.sim, fname=xml_path)
 
     def _flush(self):
         """
@@ -155,4 +156,4 @@ def close(self):
         Override close method in order to flush left over data
         """
         self._start_new_episode()
-        self.env.close()
\ No newline at end of file
+        self.env.close()

From 1d6a6fd2c60b10a0a1db46bc4842d091fcaba85b Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Thu, 3 Dec 2020 15:09:43 -0800
Subject: [PATCH 14/46] update demo device control script

---
 robosuite/demos/demo_device_control.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/robosuite/demos/demo_device_control.py b/robosuite/demos/demo_device_control.py
index 2290b39365..e0775ce117 100644
--- a/robosuite/demos/demo_device_control.py
+++ b/robosuite/demos/demo_device_control.py
@@ -153,6 +153,8 @@
         ignore_done=True,
         use_camera_obs=False,
         gripper_visualizations=True,
+        robot_visualizations=True,
+        env_visualization=True,
         reward_shaping=True,
         control_freq=20,
         hard_reset=False,

From c32fc39de0f7b77de66b9dea9dc75fcc223900c0 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Fri, 4 Dec 2020 00:54:55 -0800
Subject: [PATCH 15/46] add MountModel class, fix modeling bugs in Baxter, add
 standardized MujocoXMLModel class, standardize default materials / textures,
 standardize model properties

---
 robosuite/environments/manipulation/door.py   |   1 +
 robosuite/environments/manipulation/lift.py   |   1 +
 .../manipulation/manipulation_env.py          |   8 +
 .../environments/manipulation/nut_assembly.py |   1 +
 .../environments/manipulation/pick_place.py   |   1 +
 robosuite/environments/manipulation/stack.py  |   1 +
 .../manipulation/two_arm_handover.py          |   3 +-
 .../environments/manipulation/two_arm_lift.py |   5 +-
 .../manipulation/two_arm_peg_in_hole.py       |   1 +
 robosuite/environments/manipulation/wipe.py   |   1 +
 robosuite/environments/robot_env.py           |  11 +
 .../grippers/jaco_three_finger_gripper.xml    |  18 +-
 .../models/assets/grippers/panda_gripper.xml  |  14 +-
 .../assets/grippers/rethink_gripper.xml       |  24 +-
 .../assets/grippers/robotiq_gripper_140.xml   |  22 +-
 .../assets/grippers/robotiq_gripper_85.xml    |  22 +-
 .../assets/grippers/robotiq_gripper_s.xml     |  18 +-
 .../pedestal_collision.stl}                   | Bin
 .../rethink_minimal_mount/pedestal_vis.stl}   | Bin
 .../meshes/rethink_mount}/pedestal.dae        |   0
 .../meshes/rethink_mount}/pedestal.mtl        |   0
 .../meshes/rethink_mount}/pedestal.obj        |   0
 .../meshes/rethink_mount}/pedestal.stl        | Bin
 robosuite/models/assets/mounts/null_mount.xml |   6 +
 .../assets/mounts/rethink_minimal_mount.xml   |  15 +
 .../models/assets/mounts/rethink_mount.xml    |  26 ++
 .../models/assets/robots/baxter/robot.xml     | 132 ++++-----
 robosuite/models/assets/robots/iiwa/robot.xml |  41 +--
 robosuite/models/assets/robots/jaco/robot.xml | 134 ++++-----
 .../models/assets/robots/kinova3/robot.xml    |  40 +--
 .../models/assets/robots/panda/robot.xml      |  45 +--
 .../models/assets/robots/sawyer/robot.xml     |  53 +---
 robosuite/models/assets/robots/ur5e/robot.xml |  39 +--
 robosuite/models/base.py                      | 251 +++++++++++++++-
 robosuite/models/grippers/gripper_model.py    | 140 ++++-----
 robosuite/models/mounts/__init__.py           |  15 +
 robosuite/models/mounts/mount_factory.py      |  24 ++
 robosuite/models/mounts/mount_model.py        |  90 ++++++
 robosuite/models/mounts/null_mount.py         |  26 ++
 .../models/mounts/rethink_minimal_mount.py    |  27 ++
 robosuite/models/mounts/rethink_mount.py      |  27 ++
 robosuite/models/objects/generated_objects.py | 137 +++++----
 robosuite/models/objects/objects.py           |  87 +++---
 .../robots/manipulators/baxter_robot.py       |  17 +-
 .../models/robots/manipulators/iiwa_robot.py  |  17 +-
 .../models/robots/manipulators/jaco_robot.py  |  17 +-
 .../robots/manipulators/kinova3_robot.py      |  17 +-
 .../robots/manipulators/manipulator_model.py  |  48 ++--
 .../models/robots/manipulators/panda_robot.py |  17 +-
 .../robots/manipulators/sawyer_robot.py       |  17 +-
 .../models/robots/manipulators/ur5e_robot.py  |  17 +-
 robosuite/models/robots/robot_model.py        | 181 +++++++-----
 robosuite/models/tasks/placement_sampler.py   |  10 +-
 robosuite/robots/bimanual.py                  |  10 +-
 robosuite/robots/robot.py                     |  13 +
 robosuite/robots/single_arm.py                |  10 +-
 robosuite/utils/mjcf_utils.py                 | 270 ++++++++++++------
 57 files changed, 1363 insertions(+), 805 deletions(-)
 rename robosuite/models/assets/{robots/baxter/meshes/base/pedestal_link_collision.stl => mounts/meshes/rethink_minimal_mount/pedestal_collision.stl} (100%)
 rename robosuite/models/assets/{robots/baxter/meshes/base/PEDESTAL.stl => mounts/meshes/rethink_minimal_mount/pedestal_vis.stl} (100%)
 rename robosuite/models/assets/{robots/common_meshes => mounts/meshes/rethink_mount}/pedestal.dae (100%)
 rename robosuite/models/assets/{robots/common_meshes => mounts/meshes/rethink_mount}/pedestal.mtl (100%)
 rename robosuite/models/assets/{robots/common_meshes => mounts/meshes/rethink_mount}/pedestal.obj (100%)
 rename robosuite/models/assets/{robots/common_meshes => mounts/meshes/rethink_mount}/pedestal.stl (100%)
 create mode 100644 robosuite/models/assets/mounts/null_mount.xml
 create mode 100644 robosuite/models/assets/mounts/rethink_minimal_mount.xml
 create mode 100644 robosuite/models/assets/mounts/rethink_mount.xml
 create mode 100644 robosuite/models/mounts/__init__.py
 create mode 100644 robosuite/models/mounts/mount_factory.py
 create mode 100644 robosuite/models/mounts/mount_model.py
 create mode 100644 robosuite/models/mounts/null_mount.py
 create mode 100644 robosuite/models/mounts/rethink_minimal_mount.py
 create mode 100644 robosuite/models/mounts/rethink_mount.py

diff --git a/robosuite/environments/manipulation/door.py b/robosuite/environments/manipulation/door.py
index 860c7e3bee..36d5be56a1 100644
--- a/robosuite/environments/manipulation/door.py
+++ b/robosuite/environments/manipulation/door.py
@@ -175,6 +175,7 @@ def __init__(
             robots=robots,
             env_configuration=env_configuration,
             controller_configs=controller_configs,
+            mount_types="default",
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
diff --git a/robosuite/environments/manipulation/lift.py b/robosuite/environments/manipulation/lift.py
index 00a9297e01..56e7a14d78 100644
--- a/robosuite/environments/manipulation/lift.py
+++ b/robosuite/environments/manipulation/lift.py
@@ -181,6 +181,7 @@ def __init__(
             robots=robots,
             env_configuration=env_configuration,
             controller_configs=controller_configs,
+            mount_types="default",
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
diff --git a/robosuite/environments/manipulation/manipulation_env.py b/robosuite/environments/manipulation/manipulation_env.py
index 6df3fbfe00..f5e91dd73e 100644
--- a/robosuite/environments/manipulation/manipulation_env.py
+++ b/robosuite/environments/manipulation/manipulation_env.py
@@ -22,6 +22,12 @@ class ManipulationEnv(RobotEnv):
             dict if same controller is to be used for all robots or else it should be a list of the same length as
             "robots" param
 
+        mount_types (None or str or list of str): type of mount, used to instantiate mount models from mount factory.
+            Default is "default", which is the default mount associated with the robot(s) the 'robots' specification.
+            None results in no mount, and any other (valid) model overrides the default mount. Should either be
+            single str if same mount type is to be used for all robots or else it should be a list of the same
+            length as "robots" param
+
         gripper_types (None or str or list of str): type of gripper, used to instantiate
             gripper models from gripper factory. Default is "default", which is the default grippers(s) associated
             with the robot(s) the 'robots' specification. None removes the gripper, and any other (valid) model
@@ -113,6 +119,7 @@ def __init__(
         robots,
         env_configuration="default",
         controller_configs=None,
+        mount_types="default",
         gripper_types="default",
         gripper_visualizations=False,
         initialization_noise=None,
@@ -156,6 +163,7 @@ def __init__(
             robots=robots,
             env_configuration=env_configuration,
             controller_configs=controller_configs,
+            mount_types=mount_types,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
diff --git a/robosuite/environments/manipulation/nut_assembly.py b/robosuite/environments/manipulation/nut_assembly.py
index 170b661a78..b870908979 100644
--- a/robosuite/environments/manipulation/nut_assembly.py
+++ b/robosuite/environments/manipulation/nut_assembly.py
@@ -211,6 +211,7 @@ def __init__(
             robots=robots,
             env_configuration=env_configuration,
             controller_configs=controller_configs,
+            mount_types="default",
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
diff --git a/robosuite/environments/manipulation/pick_place.py b/robosuite/environments/manipulation/pick_place.py
index 519b52607b..2390d2103e 100644
--- a/robosuite/environments/manipulation/pick_place.py
+++ b/robosuite/environments/manipulation/pick_place.py
@@ -226,6 +226,7 @@ def __init__(
             robots=robots,
             env_configuration=env_configuration,
             controller_configs=controller_configs,
+            mount_types="default",
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
diff --git a/robosuite/environments/manipulation/stack.py b/robosuite/environments/manipulation/stack.py
index ae0f11c427..a022c37207 100644
--- a/robosuite/environments/manipulation/stack.py
+++ b/robosuite/environments/manipulation/stack.py
@@ -181,6 +181,7 @@ def __init__(
             robots=robots,
             env_configuration=env_configuration,
             controller_configs=controller_configs,
+            mount_types="default",
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
diff --git a/robosuite/environments/manipulation/two_arm_handover.py b/robosuite/environments/manipulation/two_arm_handover.py
index f03550a592..501ed70c8f 100644
--- a/robosuite/environments/manipulation/two_arm_handover.py
+++ b/robosuite/environments/manipulation/two_arm_handover.py
@@ -200,6 +200,7 @@ def __init__(
             robots=robots,
             env_configuration=env_configuration,
             controller_configs=controller_configs,
+            mount_types="default",
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
@@ -443,7 +444,7 @@ def _get_task_info(self):
         # Get height of hammer and table and define height threshold
         hammer_angle_offset = (self.hammer.handle_length / 2 + 2*self.hammer.head_halfsize) * np.sin(self._hammer_angle)
         hammer_height = self.sim.data.geom_xpos[self.hammer_handle_geom_id][2]\
-            - self.hammer.get_top_offset()[2]\
+            - self.hammer.top_offset[2]\
             - hammer_angle_offset
         table_height = self.sim.data.site_xpos[self.table_top_id][2]
 
diff --git a/robosuite/environments/manipulation/two_arm_lift.py b/robosuite/environments/manipulation/two_arm_lift.py
index 55c0857a8d..233853753e 100644
--- a/robosuite/environments/manipulation/two_arm_lift.py
+++ b/robosuite/environments/manipulation/two_arm_lift.py
@@ -191,6 +191,7 @@ def __init__(
             robots=robots,
             env_configuration=env_configuration,
             controller_configs=controller_configs,
+            mount_types="default",
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
@@ -255,7 +256,7 @@ def reward(self, action=None):
         # use a shaping reward
         elif self.reward_shaping:
             # lifting reward
-            pot_bottom_height = self.sim.data.site_xpos[self.pot_center_id][2] - self.pot.get_top_offset()[2]
+            pot_bottom_height = self.sim.data.site_xpos[self.pot_center_id][2] - self.pot.top_offset[2]
             table_height = self.sim.data.site_xpos[self.table_top_id][2]
             elevation = pot_bottom_height - table_height
             r_lift = min(max(elevation - 0.05, 0), 0.15)
@@ -467,7 +468,7 @@ def _check_success(self):
         Returns:
             bool: True if pot is lifted
         """
-        pot_bottom_height = self.sim.data.site_xpos[self.pot_center_id][2] - self.pot.get_top_offset()[2]
+        pot_bottom_height = self.sim.data.site_xpos[self.pot_center_id][2] - self.pot.top_offset[2]
         table_height = self.sim.data.site_xpos[self.table_top_id][2]
 
         # cube is higher than the table top above a margin
diff --git a/robosuite/environments/manipulation/two_arm_peg_in_hole.py b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
index e1ce1a9f00..0c78e5a466 100644
--- a/robosuite/environments/manipulation/two_arm_peg_in_hole.py
+++ b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
@@ -185,6 +185,7 @@ def __init__(
             robots=robots,
             env_configuration=env_configuration,
             controller_configs=controller_configs,
+            mount_types="default",
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
diff --git a/robosuite/environments/manipulation/wipe.py b/robosuite/environments/manipulation/wipe.py
index 5a39fb2d8f..43c6f2cf8a 100644
--- a/robosuite/environments/manipulation/wipe.py
+++ b/robosuite/environments/manipulation/wipe.py
@@ -264,6 +264,7 @@ def __init__(
             robots=robots,
             env_configuration=env_configuration,
             controller_configs=controller_configs,
+            mount_types="default",
             gripper_types=gripper_types,
             gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
diff --git a/robosuite/environments/robot_env.py b/robosuite/environments/robot_env.py
index 7b2d07a42f..8aa94f6142 100644
--- a/robosuite/environments/robot_env.py
+++ b/robosuite/environments/robot_env.py
@@ -21,6 +21,12 @@ class RobotEnv(MujocoEnv):
             dict if same controller is to be used for all robots or else it should be a list of the same length as
             "robots" param
 
+        mount_types (None or str or list of str): type of mount, used to instantiate mount models from mount factory.
+            Default is "default", which is the default mount associated with the robot(s) the 'robots' specification.
+            None results in no mount, and any other (valid) model overrides the default mount. Should either be
+            single str if same mount type is to be used for all robots or else it should be a list of the same
+            length as "robots" param
+
         initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
             The expected keys and corresponding value types are specified below:
 
@@ -103,6 +109,7 @@ def __init__(
         self,
         robots,
         env_configuration="default",
+        mount_types="default",
         controller_configs=None,
         initialization_noise=None,
         use_camera_obs=True,
@@ -135,6 +142,9 @@ def __init__(
         self.robots = self._input2list(None, self.num_robots)
         self._action_dim = None
 
+        # Mount
+        mount_types = self._input2list(mount_types, self.num_robots)
+
         # Controller
         controller_configs = self._input2list(controller_configs, self.num_robots)
 
@@ -170,6 +180,7 @@ def __init__(
             dict(
                 **{
                     "controller_config": controller_configs[idx],
+                    "mount_type": mount_types[idx],
                     "initialization_noise": initialization_noise[idx],
                     "robot_visualization": robot_visualizations[idx],
                     "control_freq": control_freq
diff --git a/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml b/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml
index f3bd30f45d..d7628770db 100644
--- a/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml
+++ b/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml
@@ -51,9 +51,9 @@
             <inertial pos="0 0 0" mass="1e-6" diaginertia="1e-08 1e-08 1e-08" />
             <body name="palm" pos="0 0 0" quat="0 -1 0 0">
                 <inertial pos="0 0 -0.06" quat="0.5 0.5 -0.5 0.5" mass="0.99" diaginertia="0.0005816 0.000345324 0.000345324" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_hand" mesh="hand_3finger" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_hand" mesh="ring_small" />
-                <geom type="mesh" group="0" material="carbon_hand" mesh="hand_3finger" name="hand_collision"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_hand" name="hand_visual" mesh="hand_3finger" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_hand" name="hand_ring_visual" mesh="ring_small" />
+                <geom type="mesh" group="0" material="carbon_hand" mesh="hand_3finger" name="hand_collision" />
 
                 <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />
 
@@ -66,13 +66,13 @@
             <body name="thumb_proximal" pos="0.002786 -0.03126 0.114668" quat="0.95922726  0.262085 0.02762996 -0.10213274">
                 <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                 <joint name="joint_thumb" pos="0 0 0" axis="1 0 0" ref="1.1" limited="true" range="0 1.51" damping="0.15"/>
-                <geom type="mesh" contype="0" conaffinity="0" group="1" euler="0 -1.5707 0" material="grey_plastic_hand" mesh="finger_proximal" />
+                <geom name="thumb_proximal_visual" type="mesh" contype="0" conaffinity="0" group="1" euler="0 -1.5707 0" material="grey_plastic_hand" mesh="finger_proximal" />
                 <geom name="thumb_proximal_collision" type="mesh" group="0" mesh="finger_proximal" euler="0 -1.5707 0" friction="1 0.5 0.01" />
 
                 <body name="thumb_distal" pos="0 -0.003 0.044">
                     <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                     <joint name="joint_thumb_distal" pos="0 0 0" axis="-1 0 0" ref="-0.5" limited="true" range="0 2" damping="0.1" />
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" euler="0 -1.5707 0" material="grey_plastic_hand" mesh="finger_distal" />
+                    <geom name="thumb_distal_visual" type="mesh" contype="0" conaffinity="0" group="1" euler="0 -1.5707 0" material="grey_plastic_hand" mesh="finger_distal" />
                     <geom name="thumb_distal_collision" type="mesh" group="0" mesh="finger_distal" euler="0 -1.5707 0" friction="1 0.5 0.01" />
                     <geom type="box" group="0" pos="0 -0.003 0.021" quat="0.9914449 0.1305262 0 0" size="0.01 0.005 0.02" name="thumb_tip_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
                     <geom type="box" group="0" pos="0 0.0015 0.023" quat="0.9914449 0.1305262 0 0" size="0.008 0.001 0.018" name="thumb_pad_collision" />
@@ -82,13 +82,13 @@
             <body name="index_proximal" pos="0.022256 0.027073 0.114668" quat="0.96181018 -0.25771638 0.0238668 -0.08907205">
                 <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                 <joint name="joint_index" pos="0 0 0" axis="-1 0 0" ref="1.1" limited="true" range="0 1.51" damping="0.15"/>
-                <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_proximal" />
+                <geom name="index_proximal_visual" type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_proximal" />
                 <geom name="index_proximal_collision" type="mesh" group="0" mesh="finger_proximal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
 
                 <body name="index_distal" pos="0 0.003 0.044">
                     <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                     <joint name="joint_index_distal" pos="0 0 0" axis="1 0 0" ref="-0.5" limited="true" range="0 2" damping="0.1" />
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_distal" />
+                    <geom name="index_distal_visual" type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_distal" />
                     <geom name="index_distal_collision" type="mesh" group="0" mesh="finger_distal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
                     <geom type="box" group="0" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" size="0.01 0.005 0.02" name="index_tip_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
                     <geom type="box" group="0" pos="0 -0.0015 0.023" quat="0.9914449 -0.1305262 0 0" size="0.008 0.001 0.018" name="index_pad_collision" />
@@ -98,13 +98,13 @@
             <body name="pinky_proximal" pos="-0.022256 0.027073 0.114816" quat="0.96181018 -0.25771638 -0.0238668 0.08907205">
                 <joint name="joint_pinky" pos="0 0 0" axis="-1 0 0" ref="1.1" limited="true" range="0 1.51" damping="0.15"/>
                 <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_proximal" />
+                <geom name="pinky_proximal_visual" type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_proximal" />
                 <geom name="pinky_proximal_collision" type="mesh" group="0" mesh="finger_proximal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
 
                 <body name="pinky_distal" pos="0 0.003 0.044">
                     <inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
                     <joint name="joint_pinky_distal" pos="0 0 0" axis="1 0 0" ref="-0.5" limited="true" range="0 2" damping="0.1" />
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_distal" />
+                    <geom name="pinky_distal_visual" type="mesh" contype="0" conaffinity="0" group="1" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" material="grey_plastic_hand" mesh="finger_distal" />
                     <geom name="pinky_distal_collision" type="mesh" group="0" mesh="finger_distal" quat="5.63312174e-04  7.06824957e-01 -5.62863772e-04  7.07388045e-01" friction="1 0.5 0.01" />
                     <geom type="box" group="0" pos="0 0.003 0.021" quat="0.9914449 -0.1305262 0 0" size="0.01 0.005 0.02" name="pinky_tip_collision" solref="0.01 0.25" friction="2 0.05 0.001" />
                     <geom type="box" group="0" pos="0 -0.0015 0.023" quat="0.9914449 -0.1305262 0 0" size="0.008 0.001 0.018" name="pinky_pad_collision" />
diff --git a/robosuite/models/assets/grippers/panda_gripper.xml b/robosuite/models/assets/grippers/panda_gripper.xml
index 2afd3109af..dc668c786f 100644
--- a/robosuite/models/assets/grippers/panda_gripper.xml
+++ b/robosuite/models/assets/grippers/panda_gripper.xml
@@ -5,14 +5,6 @@
         <mesh name="finger" file="meshes/panda_gripper/finger.stl" />
         <mesh name="finger_vis" file="meshes/panda_gripper/finger_vis.stl" />
         <mesh name="finger_vis2" file="meshes/panda_gripper/finger_longer.stl" />
-
-        <!-- Custom textures based on body names for domain randomization -->
-        <texture type="cube" name="hand_tex" builtin="flat" width="100" height="100" rgb1="1 1 1" rgb2="1 1 1"/>
-        <texture type="cube" name="finger_tex" builtin="flat" width="100" height="100" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5"/>
-
-        <!-- Custom mats based on body names for domain randomization -->
-        <material name="hand_mat" texture="hand_tex"/>
-        <material name="finger_mat" texture="finger_tex"/>
     </asset>
     <actuator>
         <position ctrllimited="true" ctrlrange="0.0 0.04" joint="finger_joint1" kp="1000000" name="gripper_finger_joint1" forcelimited="true" forcerange="-20 20"/>
@@ -22,7 +14,7 @@
         <body name="right_gripper" pos="0 0 0" quat="0.707107 0 0 -0.707107">
             <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
             <inertial pos="0 0 0.17" quat="0.707107 0.707107 0 0" mass="0.3" diaginertia="0.09 0.07 0.05" />
-            <geom pos="0 0 0." quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" mesh="hand_vis" name="hand_visual" material="hand_mat"/>
+            <geom pos="0 0 0." quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" mesh="hand_vis" name="hand_visual" rgba="1 1 1 1" />
             <geom pos="0 0 0." quat="0.707107 0 0 0.707107" type="mesh" mesh="hand"  group="0" name="hand_collision"/>
             <!-- This site was added for visualization. -->
             <site name="grip_site" pos="0 0 0.097" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
@@ -31,7 +23,7 @@
             <body name="leftfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
                 <inertial pos="0 0 0.05" mass="0.1" diaginertia="0.01 0.01 0.005" />
                 <joint name="finger_joint1" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0.0 0.04" damping="100"/>
-                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="finger_vis" name="finger1_visual" material="finger_mat"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="finger_vis" name="finger1_visual" rgba="0.499 0.499 0.499 1" />
                 <geom type="mesh" group="0" conaffinity="1" contype="0" solref="0.02 1" friction="1 0.005 0.0001" condim="4" mesh="finger" name="finger1_collision"/>
                 <body name="finger_joint1_tip" pos="0 0.0085 0.056">
                     <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
@@ -41,7 +33,7 @@
             <body name="rightfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
                 <inertial pos="0 0 0.05" mass="0.1" diaginertia="0.01 0.01 0.005" />
                 <joint name="finger_joint2" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.04 0.0" damping="100"/>
-                <geom quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="finger_vis" name="finger2_visual" material="finger_mat"/>
+                <geom quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="finger_vis" name="finger2_visual" rgba="0.499 0.499 0.499 1" />
                 <geom quat="0 0 0 1" type="mesh" group="0" conaffinity="1" contype="0" solref="0.02 1" friction="1 0.005 0.0001" condim="4" mesh="finger" name="finger2_collision"/>
                 <body name="finger_joint2_tip" pos="0 -0.0085 0.056">
                     <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
diff --git a/robosuite/models/assets/grippers/rethink_gripper.xml b/robosuite/models/assets/grippers/rethink_gripper.xml
index c646bd7f0a..61aaed3527 100644
--- a/robosuite/models/assets/grippers/rethink_gripper.xml
+++ b/robosuite/models/assets/grippers/rethink_gripper.xml
@@ -4,18 +4,6 @@
         <mesh name="standard_narrow" file="meshes/rethink_gripper/standard_narrow.stl" />
         <mesh name="half_round_tip" file="meshes/rethink_gripper/half_round_tip.stl" />
         <mesh name="connector_plate" file="meshes/rethink_gripper/connector_plate.stl" />
-
-        <!-- Custom textures based on body names for domain randomization -->
-        <texture type="cube" name="connector_plate_tex" builtin="flat" width="100" height="100" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5"/>
-        <texture type="cube" name="electric_gripper_base_tex" builtin="flat" width="100" height="100" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5"/>
-        <texture type="cube" name="finger_tex" builtin="flat" width="100" height="100" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5"/>
-        <texture type="cube" name="tip_tex" builtin="flat" width="100" height="100" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5"/>
-
-        <!-- Custom mats based on body names for domain randomization -->
-        <material name="connector_plate_mat" texture="connector_plate_tex"/>
-        <material name="electric_gripper_base_mat" texture="electric_gripper_base_tex"/>
-        <material name="finger_mat" texture="finger_tex"/>
-        <material name="tip_mat" texture="tip_tex"/>
     </asset>
     <actuator>
         <position ctrllimited="true" ctrlrange="-0.0115 0.020833" joint="r_finger_joint" kp="10000" name="gripper_r_finger_joint" forcelimited="true" forcerange="-20 20"/>
@@ -26,8 +14,8 @@
         <body name="gripper_base" pos="0 0 0">
             <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
             <inertial pos="0 0 0" quat="-0.5 0.5 0.5 0.5" mass="0.3" diaginertia="3e-08 2e-08 2e-08" />
-            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="connector_plate" name="connector_plate" pos="0 0 0.0018" material="connector_plate_mat"/>
-            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="electric_gripper_base" name="electric_gripper_base" pos="0 0 0.0194" material="electric_gripper_base_mat"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="connector_plate" name="connector_plate" pos="0 0 0.0018" rgba="0.499 0.499 0.499 1"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="electric_gripper_base" name="electric_gripper_base" pos="0 0 0.0194" rgba="0.499 0.499 0.499 1"/>
             <geom size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" group="0" name="gripper_base_col" pos="0.004 0.0 0.04"/>
             <!-- This site was added for visualization. -->
             <site name="grip_site" pos="0 0 0.109" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
@@ -36,12 +24,12 @@
             <body name="l_finger" pos="0 0.01 0.0444">
                 <inertial pos="0 0 0" quat="0 0 0 -1" mass="0.02" diaginertia="0.01 0.01 0.01" />
                 <joint name="l_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.0115 0.020833" damping="100"/>
-                <geom name="l_finger" quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" mesh="standard_narrow" material="finger_mat"/>
+                <geom name="l_finger" quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" mesh="standard_narrow" rgba="0.499 0.499 0.499 1"/>
                 <geom size="0.005 0.00675 0.0375" pos="0 0.01725 0.04" quat="0 0 0 -1" type="box" group="0" conaffinity="1" contype="0" name="l_finger_g0" friction="0 0 0"/>
                 <geom size="0.005 0.025 0.0085" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" type="box" group="0" conaffinity="1" contype="0" name="l_finger_g1" friction="0 0 0"/>
                 <body name="l_finger_tip" pos="0 0.01725 0.075">
                     <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
-                    <geom name="l_fingertip_g0_vis" quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="half_round_tip" material="tip_mat"/>
+                    <geom name="l_fingertip_g0_vis" quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="half_round_tip" rgba="0.499 0.499 0.499 1"/>
                     <geom size="0.004 0.004 0.0185" pos="0 -0.0045 -0.015" quat="0 0 0 -1" type="box" group="0"  conaffinity="1" contype="0" name="l_fingertip_g0" friction="0 0 0"/>
                     <geom size="0.0035 0.004 0.0165" pos="0 -0.0047 -0.017" type="box"  conaffinity="1" contype="0" name="l_fingerpad_g0" friction="0 0 0"/>
                 </body>
@@ -49,12 +37,12 @@
             <body name="r_finger" pos="0 -0.01 0.0444">
                 <inertial pos="0 0 0" mass="0.02" diaginertia="0.01 0.01 0.01" />
                 <joint name="r_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.020833 0.0115" damping="100"/>
-                <geom name="r_finger" type="mesh" contype="0" conaffinity="0" group="1" mesh="standard_narrow" material="finger_mat"/>
+                <geom name="r_finger" type="mesh" contype="0" conaffinity="0" group="1" mesh="standard_narrow" rgba="0.499 0.499 0.499 1"/>
                 <geom size="0.005 0.00675 0.0375" pos="0 -0.01725 0.04" type="box" group="0" conaffinity="1" contype="0" name="r_finger_g0" friction="0 0 0"/>
                 <geom size="0.005 0.025 0.0085" pos="0.005 0.003 0.0083" type="box" group="0" conaffinity="1" contype="0" name="r_finger_g1" friction="0 0 0"/>
                 <body name="r_finger_tip" pos="0 -0.01725 0.075">
                     <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
-                    <geom name="r_fingertip_g0_vis" type="mesh" contype="0" conaffinity="0" group="1" mesh="half_round_tip" material="tip_mat"/>
+                    <geom name="r_fingertip_g0_vis" type="mesh" contype="0" conaffinity="0" group="1" mesh="half_round_tip" rgba="0.499 0.499 0.499 1"/>
                     <geom size="0.004 0.004 0.0185" pos="0 0.0045 -0.015" type="box" group="0" conaffinity="1" contype="0" name="r_fingertip_g0" friction="0 0 0"/>
                     <geom size="0.0035 0.004 0.0165" pos="0 0.0047 -0.017" type="box"  conaffinity="1" contype="0" name="r_fingerpad_g0" friction="0 0 0"/>
                 </body>
diff --git a/robosuite/models/assets/grippers/robotiq_gripper_140.xml b/robosuite/models/assets/grippers/robotiq_gripper_140.xml
index f3d8640137..406004855e 100644
--- a/robosuite/models/assets/grippers/robotiq_gripper_140.xml
+++ b/robosuite/models/assets/grippers/robotiq_gripper_140.xml
@@ -49,7 +49,7 @@
 
     <worldbody>
         <body name="right_gripper" pos="0 0 -0.0625" quat="0 -0.707105 0.707108 0 ">
-            <geom pos="0 0 -0.061525" quat="0 0.707388 -0.706825 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_base_link_vis" />
+            <geom pos="0 0 -0.061525" quat="0 0.707388 -0.706825 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="hand_visual" mesh="robotiq_arg2f_base_link_vis" />
             <geom pos="0 0 -0.061525" quat="0 0.707388 -0.706825 0" type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_base_link" name="hand_collision"/>
 
             <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />
@@ -62,16 +62,16 @@
             <body name="left_outer_knuckle" pos="0.030601 2.43684e-05 -0.11643" quat="-0.64507 0.290316 -0.290085 0.644556">
                 <inertial pos="0.000163875 0.0458404 0.0117804" quat="0.881368 0.472423 -0.0024451 -0.000996122" mass="0.0311462" diaginertia="2.96023e-05 2.79814e-05 4.39017e-06" />
                 <joint name="finger_joint" pos="0 0 0" axis="-1 0 0" limited="true" range="0 0.7" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_140_outer_knuckle_vis" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" name="left_outer_knuckle_visual" mesh="robotiq_arg2f_140_outer_knuckle_vis" />
                 <geom type="mesh" group="0" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_140_outer_knuckle" name="left_outer_knuckle_collision"/>
-                <geom pos="0 0.01822 0.0260018" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_outer_finger_vis" />
+                <geom pos="0 0.01822 0.0260018" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="left_outer_finger_visual" mesh="robotiq_arg2f_140_outer_finger_vis" />
                 <geom pos="0 0.01822 0.0260018" type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_outer_finger" name="left_outer_finger_collision"/>
                 <body name="left_inner_finger" pos="0 0.0999754 -0.00221853" quat="0.935013 -0.354613 0 0">
                     <inertial pos="0.000119314 0.0339244 -0.021841" quat="0.545437 0.430197 -0.442938 0.566776" mass="0.0261503" diaginertia="1.62408e-05 1.59131e-05 2.38936e-06" />
                     <joint name="left_inner_finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger_vis" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="left_inner_finger_visual" mesh="robotiq_arg2f_140_inner_finger_vis" />
                     <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger" name="left_inner_finger_collision"/>
-                    <geom size="0.0135 0.0325 0.00375" pos="0 0.0457554 -0.0272203" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
+                    <geom size="0.0135 0.0325 0.00375" pos="0 0.0457554 -0.0272203" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" name="left_fingertip_visual" />
                     <geom size="0.015 0.035 0.00375" pos="0 0.0457554 -0.0272203" type="box" group="0" rgba="0.9 0.9 0.9 1" name="left_fingertip_collision" solref="0.01 0.25"/>
                     <geom size="0.014 0.033 0.001" pos="0 0.045 -0.031" type="box" group="0" name="left_fingerpad_collision" />
                 </body>
@@ -79,22 +79,22 @@
             <body name="left_inner_knuckle" pos="0.0127 1.01133e-05 -0.122945" quat="-0.64507 0.290316 -0.290085 0.644556">
                 <inertial pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221" mass="0.0271177" diaginertia="2.83809e-05 2.61936e-05 2.81319e-06" />
                 <joint name="left_inner_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_knuckle_vis" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="left_inner_knuckle_visual" mesh="robotiq_arg2f_140_inner_knuckle_vis" />
                 <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_knuckle" name="left_inner_knuckle_collision"/>
             </body>
             <body name="right_outer_knuckle" pos="-0.030601 -2.43684e-05 -0.11643" quat="0.644556 -0.290085 -0.290316 0.64507">
                 <inertial pos="0.000163875 0.0458404 0.0117804" quat="0.881368 0.472423 -0.0024451 -0.000996122" mass="0.0311462" diaginertia="2.96023e-05 2.79814e-05 4.39017e-06" />
                 <joint name="right_outer_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.725 0.725" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_140_outer_knuckle_vis" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" name="right_outer_knuckle_visual" mesh="robotiq_arg2f_140_outer_knuckle_vis" />
                 <geom type="mesh" group="0" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_140_outer_knuckle" name="right_outer_knuckle_collision"/>
-                <geom pos="0 0.01822 0.0260018" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_outer_finger_vis" />
+                <geom pos="0 0.01822 0.0260018" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="right_outer_finger_visual" mesh="robotiq_arg2f_140_outer_finger_vis" />
                 <geom pos="0 0.01822 0.0260018" type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_outer_finger" name="right_outer_finger_collision"/>
                 <body name="right_inner_finger" pos="0 0.0999754 -0.00221853" quat="0.935013 -0.354613 0 0">
                     <inertial pos="0.000119314 0.0339244 -0.021841" quat="0.545437 0.430197 -0.442938 0.566776" mass="0.0261503" diaginertia="1.62408e-05 1.59131e-05 2.38936e-06" />
                     <joint name="right_inner_finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger_vis" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="right_inner_finger_visual" mesh="robotiq_arg2f_140_inner_finger_vis" />
                     <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_finger" name="right_inner_finger_collision"/>
-                    <geom size="0.0135 0.0325 0.00375" pos="0 0.0457554 -0.0272203" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
+                    <geom size="0.0135 0.0325 0.00375" pos="0 0.0457554 -0.0272203" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" name="right_fingertip_visual" />
                     <geom size="0.015 0.035 0.00375" pos="0 0.0457554 -0.0272203" type="box" group="0" rgba="0.9 0.9 0.9 1" name="right_fingertip_collision" solref="0.01 0.25"/>
                     <geom size="0.014 0.033 0.001" pos="0 0.045 -0.031" type="box" group="0" name="right_fingerpad_collision" />
                 </body>
@@ -102,7 +102,7 @@
             <body name="right_inner_knuckle" pos="-0.0127 -1.01133e-05 -0.122945" quat="-0.644556 0.290085 0.290316 -0.64507">
                 <inertial pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221" mass="0.0271177" diaginertia="2.83809e-05 2.61936e-05 2.81319e-06" />
                 <joint name="right_inner_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_knuckle_vis" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="right_inner_knuckle_visual" mesh="robotiq_arg2f_140_inner_knuckle_vis" />
                 <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_140_inner_knuckle" name="right_inner_knuckle_collision"/>
             </body>
         </body>
diff --git a/robosuite/models/assets/grippers/robotiq_gripper_85.xml b/robosuite/models/assets/grippers/robotiq_gripper_85.xml
index 35daf132f2..8a305bc7b3 100644
--- a/robosuite/models/assets/grippers/robotiq_gripper_85.xml
+++ b/robosuite/models/assets/grippers/robotiq_gripper_85.xml
@@ -44,21 +44,21 @@
             <site name="grip_site_cylinder" pos="0 0 0.145" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
 
             <inertial pos="0 0 0" mass="0.01" diaginertia="0.001 0.001 0.001" />
-            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_base_link" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="hand_visual" mesh="robotiq_arg2f_base_link" />
             <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_base_link" name="hand_collision" />
             <body name="left_outer_knuckle" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
                 <inertial pos="0.000163875 0.0554825 -0.0100755" quat="0.920541 0.390623 -0.00362953 0.00231744" mass="0.0311462" diaginertia="5.11372e-05 4.89464e-05 4.95906e-06" />
                 <joint name="finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.8" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle_vis" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" name="left_outer_knuckle_visual" mesh="robotiq_arg2f_85_outer_knuckle_vis" />
                 <geom type="mesh" group="0" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle" name="left_outer_knuckle_collision" solref="0.01 0.25" />
-                <geom pos="0 0.0315 -0.0041" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger_vis" />
+                <geom pos="0 0.0315 -0.0041" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="left_outer_finger_visual" mesh="robotiq_arg2f_85_outer_finger_vis" />
                 <geom pos="0 0.0315 -0.0041" type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger" name="left_outer_finger_collision" solref="0.01 0.25" />
                 <body name="left_inner_finger" pos="0 0.0376 0.043">
                     <inertial pos="0.000199506 0.0032692 0.00175282" quat="0.933621 0.35825 -0.00273441 0.00104851" mass="0.0156391" diaginertia="1.57977e-05 1.51089e-05 1.4647e-06" />
                     <joint name="left_inner_finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger_vis" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="left_inner_finger_visual" mesh="robotiq_arg2f_85_inner_finger_vis" />
                     <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger" name="left_inner_finger_collision" solref="0.01 0.25" />
-                    <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
+                    <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" name="left_fingertip_visual" />
                     <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" group="0" rgba="0.9 0.9 0.9 1" name="left_fingertip_collision" solref="0.01 0.25" />
                     <geom size="0.010 0.001 0.01675" pos="0 -0.0245203 0.03242" type="box" group="0" name="left_fingerpad_collision" />
                 </body>
@@ -66,22 +66,22 @@
             <body name="left_inner_knuckle" pos="0 -0.0127 0.06142" quat="0 0 0 1">
                 <inertial pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221" mass="0.0271177" diaginertia="2.83809e-05 2.61936e-05 2.81319e-06" />
                 <joint name="left_inner_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.8757" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle_vis" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="left_inner_knuckle_visual" mesh="robotiq_arg2f_85_inner_knuckle_vis" />
                 <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle" name="left_inner_knuckle_collision" />
             </body>
             <body name="right_outer_knuckle" pos="0 0.0306011 0.054904">
                 <inertial pos="0.000163875 0.0554825 -0.0100755" quat="0.920541 0.390623 -0.00362953 0.00231744" mass="0.0311462" diaginertia="5.11372e-05 4.89464e-05 4.95906e-06" />
                 <joint name="right_outer_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.8" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle_vis" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" name="right_outer_knuckle_visual" mesh="robotiq_arg2f_85_outer_knuckle_vis" />
                 <geom type="mesh" group="0" rgba="0.792157 0.819608 0.933333 1" mesh="robotiq_arg2f_85_outer_knuckle" name="right_outer_knuckle_collision" solref="0.01 0.25" />
-                <geom pos="0 0.0315 -0.0041" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger_vis" />
+                <geom pos="0 0.0315 -0.0041" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="right_outer_finger_visual" mesh="robotiq_arg2f_85_outer_finger_vis" />
                 <geom pos="0 0.0315 -0.0041" type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_outer_finger" name="right_outer_finger_collision" solref="0.01 0.25" />
                 <body name="right_inner_finger" pos="0 0.0376 0.043">
                     <inertial pos="0.000199506 0.0032692 0.00175282" quat="0.933621 0.35825 -0.00273441 0.00104851" mass="0.0156391" diaginertia="1.57977e-05 1.51089e-05 1.4647e-06" />
                     <joint name="right_inner_finger_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8757 0.8757" />
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger_vis" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="right_inner_finger_visual" mesh="robotiq_arg2f_85_inner_finger_vis" />
                     <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_finger" name="right_inner_finger_collision" solref="0.01 0.25" />
-                    <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" />
+                    <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" contype="0" conaffinity="0" group="1" rgba="0.9 0.9 0.9 1" name="right_fingertip_visual" />
                     <geom size="0.011 0.003175 0.01875" pos="0 -0.0220203 0.03242" type="box" group="0" rgba="0.9 0.9 0.9 1" name="right_fingertip_collision" solref="0.01 0.25" />
                     <geom size="0.010 0.001 0.01675" pos="0 -0.0245203 0.03242" type="box" group="0" name="right_fingerpad_collision" />
                 </body>
@@ -89,7 +89,7 @@
             <body name="right_inner_knuckle" pos="0 0.0127 0.06142">
                 <inertial pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221" mass="0.0271177" diaginertia="2.83809e-05 2.61936e-05 2.81319e-06" />
                 <joint name="right_inner_knuckle_joint" pos="0 0 0" axis="1 0 0" limited="true" range="0 0.8757" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle_vis" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.1 0.1 0.1 1" name="right_inner_knuckle_visual" mesh="robotiq_arg2f_85_inner_knuckle_vis" />
                 <geom type="mesh" group="0" rgba="0.1 0.1 0.1 1" mesh="robotiq_arg2f_85_inner_knuckle" name="right_inner_knuckle_collision" />
             </body>
         </body>
diff --git a/robosuite/models/assets/grippers/robotiq_gripper_s.xml b/robosuite/models/assets/grippers/robotiq_gripper_s.xml
index 61020240d3..36a47a0e21 100644
--- a/robosuite/models/assets/grippers/robotiq_gripper_s.xml
+++ b/robosuite/models/assets/grippers/robotiq_gripper_s.xml
@@ -103,23 +103,23 @@
             <body name="finger_2_link_0" pos="-0.0455 0.0214 -0.036" quat="-2.59838e-06 0.706825 0.707388 2.59631e-06">
                 <inertial pos="-0.0381134 0.026928 0.0359997" quat="0.0835458 0.702169 -0.0835699 0.702136" mass="0.0494545" diaginertia="1.39633e-05 1.10443e-05 9.98401e-06" />
                 <joint damping="0.1" name="palm_finger_2_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.29 0.29" ref="-0.29" />
-                <geom pos="0.02 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="link_0_vis" />
+                <geom name="f2_l0_vis" pos="0.02 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="link_0_vis" />
                 <geom name="f2_l0" contype="0" pos="0.02 0 0" type="mesh" rgba="0 0 0 1" group="0" mesh="link_0" />
                 <!-- pos="-0.0455 0.0414 0.036" quat="-2.59838e-06 0.706825 0.707388 2.59631e-06" type="mesh"  -->
                 <body name="finger_2_link_1" pos="0.02 0 0">
                     <inertial pos="0.0184407 -0.0219985 -5.83379e-12" quat="0.170512 0.68624 -0.170512 0.68624" mass="0.0859984" diaginertia="6.46024e-05 5.9524e-05 1.50124e-05" />
                     <joint damping="0.03" name="finger_2_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
-                    <geom pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="link_1_vis" />
+                    <geom name="f2_l1_vis" pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="link_1_vis" />
                     <geom name="f2_l1" pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081" type="mesh" rgba="0 0 0 1" group="0" mesh="link_1" />
                     <body name="finger_2_link_2" pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081">
                         <inertial pos="0.0147516 -0.00823285 -0.000546645" quat="-0.0619175 0.704391 0.0619175 0.704391" mass="0.0461767" diaginertia="1.70717e-05 1.67626e-05 5.90767e-06" />
                         <joint damping="0.03" name="finger_2_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
-                        <geom pos="0.039 0 0.0075" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="link_2_vis" />
+                        <geom name="f2_l2_vis" pos="0.039 0 0.0075" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="link_2_vis" />
                         <geom name="f2_l2" pos="0.039 0 0.0075" type="mesh" rgba="0 0 0 1" group="0" mesh="link_2" />
                         <body name="finger_2_link_3" pos="0.039 0 0">
                             <inertial pos="0.00866021 0.00239356 2.11103e-08" quat="0.653623 0.653626 -0.269769 -0.269767" mass="0.0227212" diaginertia="5.48529e-06 4.69221e-06 2.01594e-06" />
                             <joint damping="0.03" name="finger_2_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
-                            <geom quat="0.96639 0 0 0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link_3_vis" />
+                            <geom name="f2_l3_vis" quat="0.96639 0 0 0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link_3_vis" />
                             <geom name="f2_l3" quat="0.96639 0 0 0.257081" type="mesh" rgba="1 1 1 1" group="0" mesh="link_3" />
                             <geom type="box" group="0" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="f2_tip_collision" />
                             <geom type="box" group="0" pos="0.017 0.019 0" quat="0.9659258 0 0 0.258819" size="0.011 0.001 0.012" name="f2_pad_collision" />
@@ -129,24 +129,24 @@
             </body>
             <body name="finger_middle_link_0" pos="0.0455 0.0214 0" quat="0.707388 0 0 0.706825">
                 <inertial pos="-0.0381134 0.026928 0.0359997" quat="0.0835458 0.702169 -0.0835699 0.702136" mass="0.0494545" diaginertia="1.39633e-05 1.10443e-05 9.98401e-06" />
-                <geom pos="0.02 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="link_0_vis" />
+                <geom name="f3_l0_vis" pos="0.02 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="link_0_vis" />
                 <geom name="f3_l0" contype="0" pos="0.02 0 0" type="mesh" rgba="0 0 0 1" group="0" mesh="link_0" />
                 <!-- pos="-0.0455 0.0414 0.036" quat="-2.59838e-06 0.706825 0.707388 2.59631e-06"  -->
                 <body name="finger_middle_link_1" pos="0.02 0 0">
                     <inertial pos="0.0184407 -0.0219985 -5.83379e-12" quat="0.170512 0.68624 -0.170512 0.68624" mass="0.0859984" diaginertia="6.46024e-05 5.9524e-05 1.50124e-05" />
                     <joint damping="0.03" name="finger_middle_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
-                    <geom pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="link_1_vis" />
+                    <geom name="f3_l1_vis" pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="link_1_vis" />
                     <geom name="f3_l1" pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081" type="mesh" rgba="0 0 0 1" group="0" mesh="link_1" />
                     <body name="finger_middle_link_2" pos="0.05 -0.028 0" quat="0.96639 0 0 -0.257081">
                         <inertial pos="0.0147516 -0.00823285 -0.000546645" quat="-0.0619175 0.704391 0.0619175 0.704391" mass="0.0461767" diaginertia="1.70717e-05 1.67626e-05 5.90767e-06" />
                         <joint damping="0.03" name="finger_middle_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
-                        <geom pos="0.039 0 0.0075" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="link_2_vis" />
+                        <geom name="f3_l2_vis" pos="0.039 0 0.0075" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="link_2_vis" />
                         <geom name="f3_l2" pos="0.039 0 0.0075" type="mesh" rgba="0 0 0 1" group="0" mesh="link_2" />
                         <body name="finger_middle_link_3" pos="0.039 0 0">
                             <inertial pos="0.00866021 0.00239356 2.11103e-08" quat="0.653623 0.653626 -0.269769 -0.269767" mass="0.0227212" diaginertia="5.48529e-06 4.69221e-06 2.01594e-06" />
                             <joint damping="0.03" name="finger_middle_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
-                            <geom quat="0.96639 0 0 0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link_3_vis" />
-                            <geom  name="f3_l3" quat="0.96639 0 0 0.257081" type="mesh" rgba="1 1 1 1" group="0" mesh="link_3" />
+                            <geom name="f3_l3_vis" quat="0.96639 0 0 0.257081" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="link_3_vis" />
+                            <geom name="f3_l3" quat="0.96639 0 0 0.257081" type="mesh" rgba="1 1 1 1" group="0" mesh="link_3" />
                             <geom type="box" group="0" pos="0.018 0.018 0" quat="0.9659258 0 0 0.258819" size="0.013 0.002 0.013" name="finger_middle_tip_collision" />
                             <geom type="box" group="0" pos="0.017 0.019 0" quat="0.9659258 0 0 0.258819" size="0.011 0.001 0.012" name="finger_middle_pad_collision" />
                         </body>
diff --git a/robosuite/models/assets/robots/baxter/meshes/base/pedestal_link_collision.stl b/robosuite/models/assets/mounts/meshes/rethink_minimal_mount/pedestal_collision.stl
similarity index 100%
rename from robosuite/models/assets/robots/baxter/meshes/base/pedestal_link_collision.stl
rename to robosuite/models/assets/mounts/meshes/rethink_minimal_mount/pedestal_collision.stl
diff --git a/robosuite/models/assets/robots/baxter/meshes/base/PEDESTAL.stl b/robosuite/models/assets/mounts/meshes/rethink_minimal_mount/pedestal_vis.stl
similarity index 100%
rename from robosuite/models/assets/robots/baxter/meshes/base/PEDESTAL.stl
rename to robosuite/models/assets/mounts/meshes/rethink_minimal_mount/pedestal_vis.stl
diff --git a/robosuite/models/assets/robots/common_meshes/pedestal.dae b/robosuite/models/assets/mounts/meshes/rethink_mount/pedestal.dae
similarity index 100%
rename from robosuite/models/assets/robots/common_meshes/pedestal.dae
rename to robosuite/models/assets/mounts/meshes/rethink_mount/pedestal.dae
diff --git a/robosuite/models/assets/robots/common_meshes/pedestal.mtl b/robosuite/models/assets/mounts/meshes/rethink_mount/pedestal.mtl
similarity index 100%
rename from robosuite/models/assets/robots/common_meshes/pedestal.mtl
rename to robosuite/models/assets/mounts/meshes/rethink_mount/pedestal.mtl
diff --git a/robosuite/models/assets/robots/common_meshes/pedestal.obj b/robosuite/models/assets/mounts/meshes/rethink_mount/pedestal.obj
similarity index 100%
rename from robosuite/models/assets/robots/common_meshes/pedestal.obj
rename to robosuite/models/assets/mounts/meshes/rethink_mount/pedestal.obj
diff --git a/robosuite/models/assets/robots/common_meshes/pedestal.stl b/robosuite/models/assets/mounts/meshes/rethink_mount/pedestal.stl
similarity index 100%
rename from robosuite/models/assets/robots/common_meshes/pedestal.stl
rename to robosuite/models/assets/mounts/meshes/rethink_mount/pedestal.stl
diff --git a/robosuite/models/assets/mounts/null_mount.xml b/robosuite/models/assets/mounts/null_mount.xml
new file mode 100644
index 0000000000..7ef2cc3631
--- /dev/null
+++ b/robosuite/models/assets/mounts/null_mount.xml
@@ -0,0 +1,6 @@
+<mujoco model="null_mount">
+    <worldbody>
+        <body name="base" pos="0 0 0">
+        </body>
+    </worldbody>
+</mujoco>
diff --git a/robosuite/models/assets/mounts/rethink_minimal_mount.xml b/robosuite/models/assets/mounts/rethink_minimal_mount.xml
new file mode 100644
index 0000000000..b3c31886b5
--- /dev/null
+++ b/robosuite/models/assets/mounts/rethink_minimal_mount.xml
@@ -0,0 +1,15 @@
+<mujoco model="rethink_mount">
+    <asset>
+        <mesh name="pedestal" file="meshes/rethink_minimal_mount/pedestal_collision.stl" />
+        <mesh name="pedestal_vis" file="meshes/rethink_minimal_mount/pedestal_vis.stl" />
+    </asset>
+    <worldbody>
+        <body name="base" pos="0 0 -0.924">
+            <body name="pedestal" pos="0 0 0.0">
+              <inertial pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" mass="60.864" diaginertia="6.0869 5.81635 4.20915" />
+              <geom name="pedestal_visual" contype="0" conaffinity="0" group="1" type="mesh" rgba="0.2 0.2 0.2 1" mesh="pedestal_vis" />
+              <geom name="pedestal_collision" material="pedestal_mat" rgba="0.2 0.2 0.2 1" mesh="pedestal" />
+            </body>
+        </body>
+    </worldbody>
+</mujoco>
diff --git a/robosuite/models/assets/mounts/rethink_mount.xml b/robosuite/models/assets/mounts/rethink_mount.xml
new file mode 100644
index 0000000000..7fed3a8643
--- /dev/null
+++ b/robosuite/models/assets/mounts/rethink_mount.xml
@@ -0,0 +1,26 @@
+<mujoco model="rethink_mount">
+    <asset>
+        <mesh name="pedestal" file="meshes/rethink_mount/pedestal.stl" />
+    </asset>
+    <worldbody>
+        <body name="base" pos="0 0 -0.922">
+            <body name="controller_box" pos="0 0 0">
+                <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38"/>
+                <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="controller_box_col"/>
+            </body>
+            <body name="pedestal_feet" pos="0 0 0">
+                <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758"/>
+                <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="pedestal_feet_col"/>
+            </body>
+            <body name="torso" pos="0 0 0">
+                <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
+                <geom conaffinity="0" contype="0" group="1" pos="0 0 -0.05" size="0.05 0.05 0.05" type="box" name="torso_vis" rgba="0.2 0.2 0.2 1" />
+            </body>
+            <body name="pedestal" pos="0 0 0">
+                <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692"/>
+                <geom conaffinity="0" contype="0" group="1" mesh="pedestal" type="mesh" name="pedestal_vis" rgba="0.2 0.2 0.2 1" />
+                <geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" name="pedestal_col"/>
+            </body>
+        </body>
+    </worldbody>
+</mujoco>
diff --git a/robosuite/models/assets/robots/baxter/robot.xml b/robosuite/models/assets/robots/baxter/robot.xml
index fcb8aad549..fa7776a4ed 100644
--- a/robosuite/models/assets/robots/baxter/robot.xml
+++ b/robosuite/models/assets/robots/baxter/robot.xml
@@ -1,11 +1,7 @@
 <mujoco model="baxter">
-  <compiler coordinate="local" angle="radian" strippath="false" />
-  <size njmax="795" nconmax="250" nstack="631875" />
   <asset>
     <mesh name="base_link" file="meshes/torso/base_link.stl" />
     <mesh name="base_link_collision" file="meshes/torso/base_link_collision.stl" />
-    <mesh name="PEDESTAL" file="meshes/base/PEDESTAL.stl" />
-    <mesh name="pedestal_link_collision" file="meshes/base/pedestal_link_collision.stl" />
     <mesh name="H0" file="meshes/head/H0.stl" />
     <mesh name="H1" file="meshes/head/H1.stl" />
     <mesh name="S0" file="meshes/upper_shoulder/S0.stl" />
@@ -15,39 +11,16 @@
     <mesh name="W0" file="meshes/upper_forearm/W0.stl" />
     <mesh name="W1" file="meshes/lower_forearm/W1.stl" />
     <mesh name="W2" file="meshes/wrist/W2.stl" />
-
-    <!-- Custom textures based on body names for domain randomization -->
-
-    <!-- NOTE: ideally the alpha would be 0.3 here, but no way to set that in material -->
-    <texture type="cube" name="collision_head_link_1_tex" builtin="flat" width="100" height="100" rgb1="0.8 0.3 0.3" rgb2="0.8 0.3 0.3"/>
-    <texture type="cube" name="base_link_tex" builtin="flat" width="100" height="100" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5"/>
-    <texture type="cube" name="pedestal_tex" builtin="flat" width="100" height="100" rgb1="0.2 0.2 0.2" rgb2="0.2 0.2 0.2"/>
-    <texture type="cube" name="head_tex" builtin="flat" width="100" height="100" rgb1="0.2 0.2 0.2" rgb2="0.2 0.2 0.2"/>
-    <texture type="cube" name="screen1_tex" builtin="flat" width="100" height="100" rgb1="0.5 0.1 0.1" rgb2="0.5 0.1 0.1"/>
-    <texture type="cube" name="screen2_tex" builtin="flat" width="100" height="100" rgb1="0.9 0.9 0.9" rgb2="0.9 0.9 0.9"/>
-    <texture type="cube" name="arm_tex" builtin="flat" width="100" height="100" rgb1="0.5 0.1 0.1" rgb2="0.5 0.1 0.1"/>
-    <texture type="cube" name="elbow_tex" builtin="flat" width="100" height="100" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5"/>
-    <texture type="cube" name="wrist_tex" builtin="flat" width="100" height="100" rgb1="0.1 0.1 0.1" rgb2="0.1 0.1 0.1"/>
-
-    <!-- Custom mats based on body names for domain randomization -->
-    <material name="collision_head_link_1_mat" texture="collision_head_link_1_tex"/>
-    <material name="base_link_mat" texture="base_link_tex"/>
-    <material name="pedestal_mat" texture="pedestal_tex"/>
-    <material name="head_mat" texture="head_tex"/>
-    <material name="screen1_mat" texture="screen1_tex"/>
-    <material name="screen2_mat" texture="screen2_tex"/>
-    <material name="arm_mat" texture="arm_tex"/>
-    <material name="elbow_mat" texture="elbow_tex"/>
-    <material name="wrist_mat" texture="wrist_tex"/>
   </asset>
-
-  <visual>
-    <map fogstart="1.5" fogend="3" />
-    <quality shadowsize="2048" />
-  </visual>
   <default>
     <default class="viz">
-      <geom margin="0.001" contype="0" conaffinity="0" group="1" type="mesh" />
+      <geom contype="0" conaffinity="0" group="1" type="mesh" />
+    </default>
+    <default class="right_col">
+      <geom contype="4" conaffinity="3" group="0" />
+    </default>
+    <default class="left_col">
+      <geom contype="2" conaffinity="5" group="0" />
     </default>
   </default>
   <contact>
@@ -61,39 +34,34 @@
     <exclude body1="collision_head_link_2" body2="torso" />
   </contact>
   <worldbody>
-    <body name="base" pos="0 0 0">
+    <body name="base" pos="0 0 -0.062">
       <!-- robot view -->
       <camera mode="fixed" name="robotview" pos="1.3 0 0.4" quat="0.653 0.271 0.271 0.653"/>
       <inertial pos="0 0 0" mass="10" diaginertia="0.001 0.001 0.001" />
+      <!-- mount attached here -->
       <body name="collision_head_link_1" pos="0.11 0 0.75">
         <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
-        <geom name="collision_head_link_1_vis" margin="0.001" type="sphere" class="viz" size="0.001" material="collision_head_link_1_mat" pos="0 0 0" />
-        <geom margin="0.001" type="sphere" size="0.22" rgba="0.8 0.3 0.3 0.3" pos="-0.07 -0.04 0"/>
+        <geom name="collision_head_link_1_vis" margin="0.001" type="sphere" class="viz" size="0.001" rgba="0.8 0.3 0.3 1" pos="0 0 0" />
+        <geom name="collision_head_link_1_col" margin="0.001" type="sphere" size="0.22" rgba="0.8 0.3 0.3 0.3" pos="-0.07 -0.04 0"/>
       </body>
       <body name="collision_head_link_2" pos="0.11 0 0.75">
         <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-008 1e-008 1e-008" />
-        <geom margin="0.001" type="sphere" size="0.001" rgba="0.8 0.3 0.3 0.3" pos="0 0 0" />
-        <geom margin="0.001" type="sphere" size="0.22" rgba="0.8 0.3 0.3 0.3" pos="-0.07 0.04 0" />
+        <geom name="collision_head_link_2_col0" margin="0.001" type="sphere" size="0.001" rgba="0.8 0.3 0.3 0.3" pos="0 0 0" />
+        <geom name="collision_head_link_2_col1" margin="0.001" type="sphere" size="0.22" rgba="0.8 0.3 0.3 0.3" pos="-0.07 0.04 0" />
       </body>
       <body name="torso" pos="0 0 0">
         <inertial pos="0 0 0" quat="0.997433 0.00167178 0.0715546 -0.00209003" mass="35.3365" diaginertia="1.87139 1.66268 0.779991" />
-        <geom name="base_link_vis" margin="0.001" class="viz" mesh="base_link" material="base_link_mat"/>
-        <geom margin="0.001" type="mesh" mesh="base_link_collision" class="viz"/>
-        <body name="pedestal" pos="0 0 0">
-          <inertial pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" mass="60.864" diaginertia="6.0869 5.81635 4.20915" />
-          <geom name="pedestal_vis" margin="0.001" class="viz" material="pedestal_mat" mesh="PEDESTAL" />
-          <geom margin="0.001" pos="-.04 0 -.8" rgba="0.2 0.2 0.2 1" type="box" size=".46 .425 .16" />
-          <geom margin="0.001" pos="0 0 -.35" rgba="0.2 0.2 0.2 1" type="capsule" size=".165 .25" />
-        </body>
+        <geom name="base_link_vis" margin="0.001" class="viz" mesh="base_link" rgba="0.49 0.49 0.49 1"/>
+        <geom name="base_link_col" margin="0.001" type="mesh" mesh="base_link_collision"/>
         <body name="head" pos="0.06 0 0.686">
           <inertial pos="0 0 0" quat="0.339345 0.850736 -0.347392 0.201027" mass="0.547767" diaginertia="0.00474065 0.00461087 0.00199949" />
           <!-- Don't use head joint -->
           <!-- <joint limited="true" damping="0" armature=".01" name="head_pan" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" /> -->
-          <geom name="head_vis" margin="0.001" class="viz" material="head_mat" mesh="H0" />
+          <geom name="head_vis" margin="0.001" class="viz" rgba="0.2 0.2 0.2 1" mesh="H0" />
           <body name="screen" pos="0.1227 0 0" quat="0.453099 0.542864 0.542864 0.453099">
             <inertial pos="0 0 0" quat="0.995785 0.0113501 -0.000390852 0.0910132" mass="0.440171" diaginertia="0.0040484 0.00275826 0.00150834" />
-            <geom name="screen1_vis" margin="0.001" class="viz" material="screen1_mat" mesh="H1" pos="0 0 -.03" euler="0 -1.57 0" />
-            <geom name="screen2_vis" margin="0.001" class="viz" type="box" size="0.109 0.08 0.002" material="screen2_mat" pos="0 -0.016 0" quat="0.991445 0.130526 0 0" />
+            <geom name="screen1_vis" margin="0.001" class="viz" rgba="0.499 0.1 0.1 1" mesh="H1" pos="0 0 -.03" euler="0 -1.57 0" />
+            <geom name="screen2_vis" margin="0.001" class="viz" type="box" size="0.109 0.08 0.002" rgba="0.9 0.9 0.9 1" pos="0 -0.016 0" quat="0.991445 0.130526 0 0" />
           </body>
         </body>
         <body name="right_arm_mount" pos="0.024645 -0.219645 0.118588" quat="0.923879 0 0 -0.382684">
@@ -101,40 +69,40 @@
           <body name="right_upper_shoulder" pos="0.055695 0 0.011038">
             <inertial pos="0.01783 0.00086 0.19127" quat="0.975667 0.0673303 -0.206117 0.0325173" mass="5.70044" diaginertia="0.0498344 0.0377511 0.0331351" />
             <joint limited="true" damping="0" armature=".01" name="right_s0" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.70168 1.70168" />
-            <geom name="right_s0_vis" margin="0.001" class="viz" material="arm_mat" mesh="S0" />
-            <geom margin="0.001" type="cylinder" size="0.06 0.1361" rgba="0.5 0.1 0.1 1" pos="0 0 0.1361" name="right_s0_collision"/>
+            <geom name="right_s0_vis" margin="0.001" class="viz" rgba="0.499 0.1 0.1 1" mesh="S0" />
+            <geom margin="0.001" class="right_col" type="cylinder" size="0.06 0.1361" rgba="0.5 0.1 0.1 1" pos="0 0 0.1361" name="right_s0_collision"/>
             <body name="right_lower_shoulder" pos="0.069 0 0.27035" quat="0.707107 -0.707107 0 0">
               <inertial pos="0.06845 0.00269 -0.00529" quat="0.447487 0.536948 0.56425 0.439391" mass="3.22698" diaginertia="0.0278991 0.0212327 0.0112937" />
               <joint limited="true" damping="0" armature=".01" name="right_s1" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.147 1.047" />
-              <geom name="right_s1_vis" margin="0.001" class="viz" material="arm_mat" mesh="S1" />
-              <geom margin="0.001" type="cylinder" size="0.06 0.06" rgba="0.5 0.1 0.1 1" pos="0 0 0" name="right_s1_collision"/>
+              <geom name="right_s1_vis" margin="0.001" class="viz" rgba="0.499 0.1 0.1 1" mesh="S1" />
+              <geom margin="0.001" class="right_col" type="cylinder" size="0.06 0.06" rgba="0.5 0.1 0.1 1" pos="0 0 0" name="right_s1_collision"/>
               <body name="right_upper_elbow" pos="0.102 0 0" quat="0.5 0.5 0.5 0.5">
                 <inertial pos="-0.00276 0.00132 0.18086" quat="0.838995 -0.0423128 -0.121287 0.52876" mass="4.31272" diaginertia="0.0287695 0.0273625 0.011409" />
                 <joint limited="true" damping="0" armature=".01" name="right_e0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.05418 3.05418" />
-                <geom name="right_e0_vis" margin="0.001" class="viz" material="arm_mat" mesh="E0" />
-                <geom margin="0.001" type="cylinder" size="0.06 0.0535" rgba="0.5 0.1 0.1 1" pos="0 0 -0.0535" name="right_e0_collision"/>
-                <geom margin="0.001" name="right_upper_elbow_vis" type="cylinder" size="0.06 0.1365" pos="0 0 0.1365" class="viz" material="elbow_mat"/>
+                <geom name="right_e0_vis" margin="0.001" class="viz" rgba="0.499 0.1 0.1 1" mesh="E0" />
+                <geom margin="0.001" class="right_col" type="cylinder" size="0.06 0.0535" rgba="0.5 0.1 0.1 1" pos="0 0 -0.0535" name="right_e0_collision"/>
+                <geom margin="0.001" class="right_col" name="right_upper_elbow_col" type="cylinder" size="0.06 0.1365" pos="0 0 0.1365" rgba="0.499 0.499 0.499 1"/>
                 <body name="right_lower_elbow" pos="0.069 0 0.26242" quat="0.5 -0.5 -0.5 -0.5">
                   <inertial pos="0.02611 0.00159 -0.01117" quat="0.440433 0.577149 0.562777 0.395221" mass="2.07206" diaginertia="0.0132096 0.00950002 0.00685697" />
                   <joint limited="true" damping="0" armature=".01" name="right_e1" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.05 2.618" />
-                  <geom name="right_e1_vis" margin="0.001" class="viz" material="arm_mat" mesh="E1" />
-                  <geom margin="0.001" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" name="right_e1_collision" />
+                  <geom name="right_e1_vis" margin="0.001" class="viz" rgba="0.499 0.1 0.1 1" mesh="E1" />
+                  <geom margin="0.001" class="right_col" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" name="right_e1_collision" />
                   <body name="right_upper_forearm" pos="0.10359 0 0" quat="0.5 0.5 0.5 0.5">
                     <inertial pos="-0.00168 0.0046 0.13952" quat="0.892709 -0.0256256 0.00446984 0.449882" mass="2.24665" diaginertia="0.016916 0.0165511 0.00371123" />
                     <joint limited="true" damping="0" armature=".01" name="right_w0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.059 3.059" />
-                    <geom name="right_w0_vis" margin="0.001" class="viz" material="arm_mat" mesh="W0" />
-                    <geom margin="0.001" type="cylinder" size="0.06 0.044" rgba="0.5 0.1 0.1 1" pos="0 0 -0.044" name="right_w0_collision" />
-                    <geom margin="0.001" name="right_upper_forearm_vis" type="cylinder" size="0.06 0.1036" pos="0 0 0.1" class="viz" material="elbow_mat"/>
+                    <geom name="right_w0_vis" margin="0.001" class="viz" rgba="0.499 0.1 0.1 1" mesh="W0" />
+                    <geom margin="0.001" class="right_col" type="cylinder" size="0.06 0.044" rgba="0.5 0.1 0.1 1" pos="0 0 -0.044" name="right_w0_collision" />
+                    <geom margin="0.001" class="right_col" name="right_upper_forearm_col" type="cylinder" size="0.06 0.1036" pos="0 0 0.1" rgba="0.499 0.499 0.499 1"/>
                     <body name="right_lower_forearm" pos="0.01 0 0.2707" quat="0.5 -0.5 -0.5 -0.5">
                       <inertial pos="0.06041 0.00697 0.006" quat="0.456911 0.468526 0.475683 0.587743" mass="1.60979" diaginertia="0.00708828 0.00552689 0.00379383" />
                       <joint limited="true" damping="0" armature=".01" name="right_w1" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.5708 2.094" />
-                      <geom name="right_w1_vis" margin="0.001" class="viz" material="arm_mat" mesh="W1" />
-                      <geom margin="0.001" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" name="right_w1_collision" />
+                      <geom name="right_w1_vis" margin="0.001" class="viz" rgba="0.499 0.1 0.1 1" mesh="W1" />
+                      <geom margin="0.001" class="right_col" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" name="right_w1_collision" />
                       <body name="right_wrist" pos="0.115975 0 0" quat="0.5 0.5 0.5 0.5">
                         <inertial pos="0.00198 0.00125 0.01855" quat="0.0594843 0.68926 -0.16016 0.704082" mass="0.35093" diaginertia="0.0003082 0.000269928 0.000251035" />
                         <joint limited="true" damping="0" armature=".01" name="right_w2" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.059 3.059" />
-                        <geom name="right_w2_vis" margin="0.001" class="viz" material="wrist_mat" mesh="W2" />
-                        <geom margin="0.001" type="cylinder" size="0.06 0.0825" rgba="0.1 0.1 0.1 1" pos="0 0 0" name="right_w2_collision" />
+                        <geom name="right_w2_vis" margin="0.001" class="viz" rgba="0.1 0.1 0.1 1" mesh="W2" />
+                        <geom margin="0.001" class="right_col" type="cylinder" size="0.06 0.0825" rgba="0.1 0.1 0.1 1" pos="0 0 0" name="right_w2_collision" />
                         <body name="right_hand" pos="0 0 0.11355">
                           <!-- This sites were added for visualization. They are all standardized between models-->
                           <!-- Position mimics the gripper attachment point (right_hand) -->
@@ -160,40 +128,40 @@
           <body name="left_upper_shoulder" pos="0.055695 0 0.011038">
             <inertial pos="0.01783 0.00086 0.19127" quat="0.975667 0.0673303 -0.206117 0.0325173" mass="5.70044" diaginertia="0.0498344 0.0377511 0.0331351" />
             <joint limited="true" damping="0" armature=".01" name="left_s0" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.70168 1.70168" />
-            <geom name="left_s0_vis" margin="0.001" class="viz" material="arm_mat" mesh="S0" />
-            <geom margin="0.001" type="cylinder" size="0.06 0.1361" rgba="0.5 0.1 0.1 1" pos="0 0 0.1361" name="left_s0_collision" />
+            <geom name="left_s0_vis" margin="0.001" class="viz" rgba="0.499 0.1 0.1 1" mesh="S0" />
+            <geom margin="0.001" class="left_col" type="cylinder" size="0.06 0.1361" rgba="0.5 0.1 0.1 1" pos="0 0 0.1361" name="left_s0_collision" />
             <body name="left_lower_shoulder" pos="0.069 0 0.27035" quat="0.707107 -0.707107 0 0">
               <inertial pos="0.06845 0.00269 -0.00529" quat="0.447487 0.536948 0.56425 0.439391" mass="3.22698" diaginertia="0.0278991 0.0212327 0.0112937" />
               <joint limited="true" damping="0" armature=".01" name="left_s1" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.147 1.047" />
-              <geom name="left_s1_vis" margin="0.001" class="viz" material="arm_mat" mesh="S1" />
-              <geom margin="0.001" type="cylinder" size="0.06 0.06" rgba="0.5 0.1 0.1 1" pos="0 0 0" name="left_s1_collision" />
+              <geom name="left_s1_vis" margin="0.001" class="viz" rgba="0.499 0.1 0.1 1" mesh="S1" />
+              <geom margin="0.001" class="left_col" type="cylinder" size="0.06 0.06" rgba="0.5 0.1 0.1 1" pos="0 0 0" name="left_s1_collision" />
               <body name="left_upper_elbow" pos="0.102 0 0" quat="0.5 0.5 0.5 0.5">
                 <inertial pos="-0.00276 0.00132 0.18086" quat="0.838995 -0.0423128 -0.121287 0.52876" mass="4.31272" diaginertia="0.0287695 0.0273625 0.011409" />
                 <joint limited="true" damping="0" armature=".01" name="left_e0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.05418 3.05418" />
-                <geom name="left_e0_vis" margin="0.001" class="viz" material="arm_mat" mesh="E0" />
-                <geom margin="0.001" type="cylinder" size="0.06 0.0535" rgba="0.5 0.1 0.1 1" pos="0 0 -0.0535" name="left_e0_collision" />
-                <geom margin="0.001" name="left_upper_elbow_vis" type="cylinder" size="0.06 0.1365" pos="0 0 0.1365" class="viz" material="elbow_mat"/>
+                <geom name="left_e0_vis" margin="0.001" class="viz" rgba="0.499 0.1 0.1 1" mesh="E0" />
+                <geom margin="0.001" class="left_col" type="cylinder" size="0.06 0.0535" rgba="0.5 0.1 0.1 1" pos="0 0 -0.0535" name="left_e0_collision" />
+                <geom margin="0.001" class="left_col" name="left_upper_elbow_col" type="cylinder" size="0.06 0.1365" pos="0 0 0.1365" rgba="0.499 0.499 0.499 1"/>
                 <body name="left_lower_elbow" pos="0.069 0 0.26242" quat="0.5 -0.5 -0.5 -0.5">
                   <inertial pos="0.02611 0.00159 -0.01117" quat="0.440433 0.577149 0.562777 0.395221" mass="2.07206" diaginertia="0.0132096 0.00950002 0.00685697" />
                   <joint limited="true" damping="0" armature=".01" name="left_e1" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.05 2.618" />
-                  <geom name="left_e1_vis" margin="0.001" class="viz" material="arm_mat" mesh="E1" />
-                  <geom margin="0.001" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" name="left_e1_collision" />
+                  <geom name="left_e1_vis" margin="0.001" class="viz" rgba="0.499 0.1 0.1 1" mesh="E1" />
+                  <geom margin="0.001" class="left_col" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" name="left_e1_collision" />
                   <body name="left_upper_forearm" pos="0.10359 0 0" quat="0.5 0.5 0.5 0.5">
                     <inertial pos="-0.00168 0.0046 0.13952" quat="0.892709 -0.0256256 0.00446984 0.449882" mass="2.24665" diaginertia="0.016916 0.0165511 0.00371123" />
                     <joint limited="true" damping="0" armature=".01" name="left_w0" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.059 3.059" />
-                    <geom name="left_w0_vis" margin="0.001" class="viz" material="arm_mat" mesh="W0" />
-                    <geom margin="0.001" type="cylinder" size="0.06 0.044" rgba="0.5 0.1 0.1 1" pos="0 0 -0.044" name="left_w0_collision" />
-                    <geom margin="0.001" name="left_upper_forearm_vis" type="cylinder" size="0.06 0.136" pos="0 0 0.136" class="viz" material="elbow_mat"/>
+                    <geom name="left_w0_vis" margin="0.001" class="viz" rgba="0.499 0.1 0.1 1" mesh="W0" />
+                    <geom margin="0.001" class="left_col" type="cylinder" size="0.06 0.044" rgba="0.5 0.1 0.1 1" pos="0 0 -0.044" name="left_w0_collision" />
+                    <geom margin="0.001" class="left_col" name="left_upper_forearm_col" type="cylinder" size="0.06 0.136" pos="0 0 0.1" rgba="0.499 0.499 0.499 1"/>
                     <body name="left_lower_forearm" pos="0.01 0 0.2707" quat="0.5 -0.5 -0.5 -0.5">
                       <inertial pos="0.06041 0.00697 0.006" quat="0.456911 0.468526 0.475683 0.587743" mass="1.60979" diaginertia="0.00708828 0.00552689 0.00379383" />
                       <joint limited="true" damping="0" armature=".01" name="left_w1" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.5708 2.094" />
-                      <geom name="left_w1_vis" margin="0.001" class="viz" material="arm_mat" mesh="W1" />
-                      <geom margin="0.001" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" name="left_w1_collision" />
+                      <geom name="left_w1_vis" margin="0.001" class="viz" rgba="0.499 0.1 0.1 1" mesh="W1" />
+                      <geom margin="0.001" class="left_col" type="cylinder" size="0.06 0.05" rgba="0.5 0.1 0.1 1" pos="0 0 0" name="left_w1_collision" />
                       <body name="left_wrist" pos="0.115975 0 0" quat="0.5 0.5 0.5 0.5">
                         <inertial pos="0.00198 0.00125 0.01855" quat="0.0594843 0.68926 -0.16016 0.704082" mass="0.35093" diaginertia="0.0003082 0.000269928 0.000251035" />
                         <joint limited="true" damping="0" armature=".01" name="left_w2" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.059 3.059" />
-                        <geom name="left_w2_vis" margin="0.001" class="viz" material="wrist_mat" mesh="W2" />
-                        <geom margin="0.001" type="cylinder" size="0.06 0.0825" rgba="0.1 0.1 0.1 1" pos="0 0 0" name="left_w2_collision" />
+                        <geom name="left_w2_vis" margin="0.001" class="viz" rgba="0.1 0.1 0.1 1" mesh="W2" />
+                        <geom margin="0.001" class="left_col" type="cylinder" size="0.06 0.0825" rgba="0.1 0.1 0.1 1" pos="0 0 0" name="left_w2_collision" />
                         <body name="left_hand" pos="0 0 0.11355">
                           <!-- This sites were added for visualization. They are all standardized between models-->
                           <!-- Position mimics the gripper attachment point (right_hand) -->
diff --git a/robosuite/models/assets/robots/iiwa/robot.xml b/robosuite/models/assets/robots/iiwa/robot.xml
index 081c1405ad..2faceac40f 100644
--- a/robosuite/models/assets/robots/iiwa/robot.xml
+++ b/robosuite/models/assets/robots/iiwa/robot.xml
@@ -27,72 +27,49 @@
         <mesh name="link_5_vis" file="meshes/link_5_vis.stl" />
         <mesh name="link_6_vis" file="meshes/link_6_vis.stl" />
         <mesh name="link_7_vis" file="meshes/link_7_vis.stl" />
-        <mesh file="../common_meshes/pedestal.stl" name="pedestal"/>
-
-        <!-- Custom textures based on body names for domain randomization -->
-        <texture type="cube" name="pedestal_tex" builtin="flat" width="100" height="100" rgb1="0.2 0.2 0.2" rgb2="0.2 0.2 0.2"/>
-
-        <!-- Custom mats based on body names for domain randomization -->
-        <material name="pedestal_mat" texture="pedestal_tex"/>
     </asset>
     <worldbody>
         <body name="base" pos="0 0 0">
             <!-- robot view -->
             <camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
             <inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
-            <body name="controller_box" pos="0 0 0">
-                <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38"/>
-                <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="controller_box_col"/>
-            </body>
-            <body name="pedestal_feet" pos="0 0 0">
-                <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758"/>
-                <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="pedestal_feet_col"/>
-            </body>
-            <body name="torso" pos="0 0 0">
-                <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
-                <geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.05 0.05 0.05" type="box" name="torso_col"/>
-            </body>
-            <body name="pedestal" pos="0 0 0">
-                <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692"/>
-                <geom conaffinity="0" contype="0" group="1" mesh="pedestal" rgba="0.2 0.2 0.2 1" type="mesh" name="pedestal_col1" material="pedestal_mat" />
-                <geom contype="0" pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" name="pedestal_col2"/>
-            </body>
-            <geom type="mesh" pos="0 0 0" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="link_0_vis" />
+            <!-- mount attached here -->
+            <geom type="mesh" pos="0 0 0" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" name="link_0_visual" mesh="link_0_vis" />
             <geom type="mesh" pos="0 0 0" rgba="0.4 0.4 0.4 1" contype="0" mesh="link_0" name="link_0_collision" />
             <body name="link_1" pos="0 0 0.15">
                 <inertial pos="0 -0.03 0.12" quat="0.428904 0.562175 -0.562175 0.428904" mass="3.4525" diaginertia="0.0218946 0.02183 0.00663837" />
                 <joint name="joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.96706 2.96706" damping="0.1" />
-                <geom pos="0 0 0.0075" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="link_1_vis" />
+                <geom pos="0 0 0.0075" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" name="link_1_visual" mesh="link_1_vis" />
                 <geom pos="0 0 0.0075" type="mesh" contype="0" rgba="0.4 0.4 0.4 1" mesh="link_1" name="link_1_collision" />
                 <body name="link_2" pos="0 0 0.19" quat="0 0 0.707107 0.707107">
                     <inertial pos="0.0003 0.059 0.042" quat="0.701371 0.0898824 0.0898824 0.701371" mass="3.4821" diaginertia="0.02179 0.0217049 0.00684512" />
                     <joint name="joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="0.1" />
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 0.423529 0.0392157 1" mesh="link_2_vis" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 0.423529 0.0392157 1" name="link_2_visual" mesh="link_2_vis" />
                     <geom type="mesh" contype="0" rgba="1 0.423529 0.0392157 1" mesh="link_2" name="link_2_collision" />
                     <body name="link_3" pos="0 0.21 0" quat="0 0 0.707107 0.707107">
                         <inertial pos="0 0.03 0.13" quat="0.56292 0.427927 -0.427927 0.56292" mass="4.05623" diaginertia="0.0321488 0.03204 0.00799117" />
                         <joint name="joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.96706 2.96706" damping="0.1" />
-                        <geom pos="0 0 -0.026" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="link_3_vis" />
+                        <geom pos="0 0 -0.026" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" name="link_3_visual" mesh="link_3_vis" />
                         <geom pos="0 0 -0.026" type="mesh" contype="0" rgba="0.4 0.4 0.4 1" mesh="link_3" name="link_3_collision" />
                         <body name="link_4" pos="0 0 0.19" quat="0.707107 0.707107 0 0">
                             <inertial pos="0 0.067 0.034" quat="0.991887 -0.127124 0 0" mass="3.4822" diaginertia="0.02178 0.0216947 0.00684029" />
                             <joint name="joint_4" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="0.1" />
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 0.423529 0.0392157 1" mesh="link_4_vis" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 0.423529 0.0392157 1" name="link_4_visual" mesh="link_4_vis" />
                             <geom type="mesh" contype="0" rgba="1 0.423529 0.0392157 1" mesh="link_4" name="link_4_collision" />
                             <body name="link_5" pos="0 0.21 0" quat="0 0 0.707107 0.707107">
                                 <inertial pos="0.0001 0.021 0.076" quat="0.365352 0.605407 -0.605407 0.365352" mass="2.1633" diaginertia="0.0131987 0.01287 0.0036293" />
                                 <joint name="joint_5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.96706 2.96706" damping="0.1" />
-                                <geom pos="0 0 -0.026" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="link_5_vis" />
+                                <geom pos="0 0 -0.026" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" name="link_5_visual" mesh="link_5_vis" />
                                 <geom pos="0 0 -0.026" type="mesh" contype="0" rgba="0.4 0.4 0.4 1" mesh="link_5" name="link_5_collision" />
                                 <body name="link_6" pos="0 0.0607 0.19" quat="0.707107 0.707107 0 0">
                                     <inertial pos="0 0.0006 0.0004" quat="0.996112 0.088097 0 0" mass="2.3466" diaginertia="0.006509 0.00631585 0.00447015" />
                                     <joint name="joint_6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="0.1" />
-                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 0.423529 0.0392157 1" mesh="link_6_vis" />
+                                    <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_6_vis" name="link_6_visual" rgba="1 0.423529 0.0392157 1" />
                                     <geom type="mesh" contype="0" rgba="1 0.423529 0.0392157 1" mesh="link_6" name="link_6_collision" />
                                     <body name="link_7" pos="0 0.081 0.0607" quat="0 0 0.707107 0.707107">
                                         <inertial pos="0 0 0.02" quat="0.923068 0 0 0.384636" mass="3.129" diaginertia="0.0152362 0.0140538 0.002872" />
                                         <joint name="joint_7" pos="0 0 0" axis="0 0 1" limited="true" range="-3.05433 3.05433" damping="0.1" />
-                                        <geom pos="0 0 -0.0005" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="link_7_vis" />
+                                        <geom pos="0 0 -0.0005" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1" mesh="link_7_vis" name="link_7_visual" />
                                         <geom pos="0 0 -0.0005" type="mesh" contype="0" rgba="0.4 0.4 0.4 1" mesh="link_7" name="link_7_collision" />
                                         <body name="right_hand" pos="0 0 0.044" >
                                             <!-- This sites were added for visualization. They are all standardized between models-->
diff --git a/robosuite/models/assets/robots/jaco/robot.xml b/robosuite/models/assets/robots/jaco/robot.xml
index 6ee9b3782c..724103e19b 100644
--- a/robosuite/models/assets/robots/jaco/robot.xml
+++ b/robosuite/models/assets/robots/jaco/robot.xml
@@ -11,7 +11,6 @@
         <motor ctrllimited="true" ctrlrange="-6.8 6.8" joint="j2s7s300_joint_7" name="torq_j7"/>
     </actuator>
     <asset>
-        <mesh file="../common_meshes/pedestal.stl" name="pedestal"/>
         <mesh name="base" file="meshes/base.stl" />
         <mesh name="shoulder" file="meshes/shoulder.stl" />
         <mesh name="ring_big" file="meshes/ring_big.stl" />
@@ -22,92 +21,71 @@
         <mesh name="wrist_spherical_1" file="meshes/wrist_spherical_1.stl" />
         <mesh name="wrist_spherical_2" file="meshes/wrist_spherical_2.stl" />
 
-        <!-- Custom textures based on body names for domain randomization -->
-        <texture type="cube" name="pedestal_tex" builtin="flat" width="100" height="100" rgb1="0.2 0.2 0.2" rgb2="0.2 0.2 0.2"/>
-
-        <!-- Custom mats based on body names for domain randomization -->
-        <material name="pedestal_mat" texture="pedestal_tex"/>
-
         <!-- Materials for robot -->
         <material name="carbon_jaco" specular="1" shininess="1" reflectance="1" rgba="0.05 0.05 0.05 1" emission="1" />
         <material name="grey_plastic_jaco" specular="0.5" shininess="0" reflectance="0" rgba="0.12 0.14 0.14 1" emission="1" />
     </asset>
     <worldbody>
         <body name="base" pos="0 0 0">
-
             <!-- robot view -->
             <camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
             <inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
-            <body name="controller_box" pos="0 0 0">
-                <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38"/>
-                <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="controller_box_col"/>
-            </body>
-            <body name="pedestal_feet" pos="0 0 0">
-                <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758"/>
-                <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="pedestal_feet_col"/>
-            </body>
-            <body name="torso" pos="0 0 0">
-                <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
-                <geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.05 0.05 0.05" type="box" name="torso_col"/>
-            </body>
-            <body name="pedestal" pos="0 0 0">
-                <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692"/>
-                <geom conaffinity="0" contype="0" group="1" mesh="pedestal" type="mesh" name="pedestal_col1" material="pedestal_mat" />
-                <geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" name="pedestal_col2"/>
-            </body>
-            <!--<inertial pos="0 0 0.05" mass="4" diaginertia="0.4 0.4 0.4" />-->
-            <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" mesh="base" />
-            <geom type="mesh" material="carbon_jaco" mesh="base" />
-            <body name="j2s7s300_link_1" pos="0 0 0.15675" quat="0 0 1 0">
-                <inertial pos="0 -0.002 -0.0605" mass="0.7477" diaginertia="0.00152032 0.00152032 0.00059816" />
-                <joint name="j2s7s300_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.1" frictionloss="0.01"/>
-                <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" mesh="shoulder" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_jaco" mesh="ring_big" />
-                <geom type="mesh" material="carbon_jaco" mesh="shoulder" name="s_collision"/>
-                <body name="j2s7s300_link_2" pos="0 0.0016 -0.11875" quat="0 0 -0.707107 0.707107">
-                    <inertial pos="0 -0.103563 0" quat="0.707107 0.707107 0 0" mass="0.8447" diaginertia="0.00247074 0.00247074 0.000380115" />
-                    <joint name="j2s7s300_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0.820305 5.46288" damping="0.1" frictionloss="0.01"/>
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" mesh="arm_half_1" />
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_jaco" mesh="ring_big" />
-                    <geom type="mesh" material="carbon_jaco" mesh="arm_half_1" name="ah1_collision"/>
-                    <body name="j2s7s300_link_3" pos="0 -0.205 0" quat="0.707107 -0.707107 0 0">
-                        <inertial pos="0 0 -0.102245" mass="0.8447" diaginertia="0.00247074 0.00247074 0.000380115" />
-                        <joint name="j2s7s300_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.1" frictionloss="0.01"/>
-                        <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" mesh="arm_half_2" />
-                        <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_jaco" mesh="ring_big" />
-                        <geom type="mesh" material="carbon_jaco" mesh="arm_half_2" name="ah2_collision"/>
-                        <body name="j2s7s300_link_4" pos="0 0 -0.205" quat="0 0 0.707107 0.707107">
-                            <inertial pos="0 0.081 -0.0086" quat="0.707107 0.707107 0 0" mass="0.6763" diaginertia="0.00142022 0.00142022 0.000304335" />
-                            <joint name="j2s7s300_joint_4" pos="0 0 0" axis="0 0 1" limited="true" range="0.523599 5.75959" damping="0.1" frictionloss="0.01"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" mesh="forearm" />
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_jaco" mesh="ring_small" />
-                            <geom type="mesh" material="carbon_jaco" mesh="forearm" name="f_collision"/>
-                            <body name="j2s7s300_link_5" pos="0 0.2073 -0.0114" quat="0 0 -0.707107 0.707107">
-                                <inertial pos="0 0.00288489 -0.0541933" mass="0.463" diaginertia="0.000432132 0.000432132 9.26e-05" />
-                                <joint name="j2s7s300_joint_5" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.1" frictionloss="0.01"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" mesh="wrist_spherical_1" />
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_jaco" mesh="ring_small" />
-                                <geom type="mesh" material="carbon_jaco" mesh="wrist_spherical_1" name="ws1_collision"/>
-                                <body name="j2s7s300_link_6" pos="0 0 -0.10375" quat="0 0 0.707107 0.707107">
-                                    <inertial pos="0 0.0497209 -0.00285628" quat="0.707107 0.707107 0 0" mass="0.463" diaginertia="0.000432132 0.000432132 9.26e-05" />
-                                    <joint name="j2s7s300_joint_6" pos="0 0 0" axis="0 0 1" limited="true" range="1.13446 5.14872" damping="0.01" frictionloss="0.01"/>
-                                    <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" mesh="wrist_spherical_2" />
-                                    <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_jaco" mesh="ring_small" />
-                                    <geom type="mesh" material="carbon_jaco" mesh="wrist_spherical_2" name="ws2_collision"/>
-                                    <body name="j2s7s300_link_7" pos="0 0.10375 0" quat="0 0 -0.707107 0.707107">
-                                        <inertial pos="0 0 -0.06" quat="0.5 0.5 -0.5 0.5" mass="1e-6" diaginertia="1e-6 1e-6 1e-6" /> <!--mass="0.99" diaginertia="0.0005816 0.000345324 0.000345324" /> -->
-                                        <joint name="j2s7s300_joint_7" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.01" frictionloss="0.01"/>
-                                        <body name="right_hand" pos="0 0 0" quat="0 1 0 0">
-                                            <!-- This sites were added for visualization. They are all standardized between models-->
-                                            <!-- Position mimics the gripper attachment point (right_hand) -->
-                                            <!--  Y-axis should be perpendicular to grasping motion, and Z-axis should point out of the robot eef -->
-                                            <site name="ee" pos="0 0 0" size="0.01 0.01 0.01" rgba="0 0 1 1" type="sphere" group="1"/>
-                                            <site name="ee_x" pos="0 0 0" size="0.005 .1"  quat="0.707105 0.707108 0 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
-                                            <site name="ee_z" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0 0.707108" rgba="0 0 1 0" type="cylinder" group="1"/>
-                                            <site name="ee_y" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="0 1 0 0" type="cylinder" group="1"/>
-                                            <!-- This camera points out from the eef. -->
-                                            <camera mode="fixed" name="eye_in_hand" pos="0.08 0 0" quat="0 0.707108 0.707108 0" fovy="75"/>
-                                            <!-- To add gripper -->
+            <!-- mount attached here -->
+            <body name="j2s7s300_link_0" pos="0 0 0">
+                <inertial pos="0 0 0.05" mass="4" diaginertia="0.4 0.4 0.4" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" mesh="base" />
+                <geom type="mesh" material="carbon_jaco" mesh="base" />
+                <body name="j2s7s300_link_1" pos="0 0 0.15675" quat="0 0 1 0">
+                    <inertial pos="0 -0.002 -0.0605" mass="0.7477" diaginertia="0.00152032 0.00152032 0.00059816" />
+                    <joint name="j2s7s300_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.1" frictionloss="0.01"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" name="s_visual" mesh="shoulder" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_jaco" name="s_ring_visual" mesh="ring_big" />
+                    <geom type="mesh" material="carbon_jaco" mesh="shoulder" name="s_collision"/>
+                    <body name="j2s7s300_link_2" pos="0 0.0016 -0.11875" quat="0 0 -0.707107 0.707107">
+                        <inertial pos="0 -0.103563 0" quat="0.707107 0.707107 0 0" mass="0.8447" diaginertia="0.00247074 0.00247074 0.000380115" />
+                        <joint name="j2s7s300_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0.820305 5.46288" damping="0.1" frictionloss="0.01"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" name="ah1_visual" mesh="arm_half_1" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_jaco" name="ah1_ring_visual" mesh="ring_big" />
+                        <geom type="mesh" material="carbon_jaco" mesh="arm_half_1" name="ah1_collision"/>
+                        <body name="j2s7s300_link_3" pos="0 -0.205 0" quat="0.707107 -0.707107 0 0">
+                            <inertial pos="0 0 -0.102245" mass="0.8447" diaginertia="0.00247074 0.00247074 0.000380115" />
+                            <joint name="j2s7s300_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.1" frictionloss="0.01"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" name="ah2_visual" mesh="arm_half_2" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_jaco" name="ah2_ring_visual" mesh="ring_big" />
+                            <geom type="mesh" material="carbon_jaco" mesh="arm_half_2" name="ah2_collision"/>
+                            <body name="j2s7s300_link_4" pos="0 0 -0.205" quat="0 0 0.707107 0.707107">
+                                <inertial pos="0 0.081 -0.0086" quat="0.707107 0.707107 0 0" mass="0.6763" diaginertia="0.00142022 0.00142022 0.000304335" />
+                                <joint name="j2s7s300_joint_4" pos="0 0 0" axis="0 0 1" limited="true" range="0.523599 5.75959" damping="0.1" frictionloss="0.01"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" name="f_visual" mesh="forearm" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_jaco" name="f_ring_visual" mesh="ring_small" />
+                                <geom type="mesh" material="carbon_jaco" mesh="forearm" name="f_collision"/>
+                                <body name="j2s7s300_link_5" pos="0 0.2073 -0.0114" quat="0 0 -0.707107 0.707107">
+                                    <inertial pos="0 0.00288489 -0.0541933" mass="0.463" diaginertia="0.000432132 0.000432132 9.26e-05" />
+                                    <joint name="j2s7s300_joint_5" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.1" frictionloss="0.01"/>
+                                    <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" name="ws1_visual" mesh="wrist_spherical_1" />
+                                    <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_jaco" name="ws1_ring_visual" mesh="ring_small" />
+                                    <geom type="mesh" material="carbon_jaco" mesh="wrist_spherical_1" name="ws1_collision"/>
+                                    <body name="j2s7s300_link_6" pos="0 0 -0.10375" quat="0 0 0.707107 0.707107">
+                                        <inertial pos="0 0.0497209 -0.00285628" quat="0.707107 0.707107 0 0" mass="0.463" diaginertia="0.000432132 0.000432132 9.26e-05" />
+                                        <joint name="j2s7s300_joint_6" pos="0 0 0" axis="0 0 1" limited="true" range="1.13446 5.14872" damping="0.01" frictionloss="0.01"/>
+                                        <geom type="mesh" contype="0" conaffinity="0" group="1" material="carbon_jaco" name="ws2_visual" mesh="wrist_spherical_2" />
+                                        <geom type="mesh" contype="0" conaffinity="0" group="1" material="grey_plastic_jaco" name="ws2_ring_visual" mesh="ring_small" />
+                                        <geom type="mesh" material="carbon_jaco" mesh="wrist_spherical_2" name="ws2_collision"/>
+                                        <body name="j2s7s300_link_7" pos="0 0.10375 0" quat="0 0 -0.707107 0.707107">
+                                            <inertial pos="0 0 -0.06" quat="0.5 0.5 -0.5 0.5" mass="1e-6" diaginertia="1e-6 1e-6 1e-6" /> <!--mass="0.99" diaginertia="0.0005816 0.000345324 0.000345324" /> -->
+                                            <joint name="j2s7s300_joint_7" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.01" frictionloss="0.01"/>
+                                            <body name="right_hand" pos="0 0 0" quat="0 1 0 0">
+                                                <!-- This sites were added for visualization. They are all standardized between models-->
+                                                <!-- Position mimics the gripper attachment point (right_hand) -->
+                                                <!--  Y-axis should be perpendicular to grasping motion, and Z-axis should point out of the robot eef -->
+                                                <site name="ee" pos="0 0 0" size="0.01 0.01 0.01" rgba="0 0 1 1" type="sphere" group="1"/>
+                                                <site name="ee_x" pos="0 0 0" size="0.005 .1"  quat="0.707105 0.707108 0 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
+                                                <site name="ee_z" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0 0.707108" rgba="0 0 1 0" type="cylinder" group="1"/>
+                                                <site name="ee_y" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="0 1 0 0" type="cylinder" group="1"/>
+                                                <!-- This camera points out from the eef. -->
+                                                <camera mode="fixed" name="eye_in_hand" pos="0.08 0 0" quat="0 0.707108 0.707108 0" fovy="75"/>
+                                                <!-- To add gripper -->
+                                            </body>
                                         </body>
                                     </body>
                                 </body>
diff --git a/robosuite/models/assets/robots/kinova3/robot.xml b/robosuite/models/assets/robots/kinova3/robot.xml
index af521c21b1..aad321b100 100644
--- a/robosuite/models/assets/robots/kinova3/robot.xml
+++ b/robosuite/models/assets/robots/kinova3/robot.xml
@@ -11,7 +11,6 @@
         <motor ctrllimited="true" ctrlrange="-13.0 13.0" joint="Actuator7" name="torq_j7"/>
     </actuator>
     <asset>
-        <mesh file="../common_meshes/pedestal.stl" name="pedestal"/>
         <mesh name="base_link" file="meshes/base_link.stl" />
         <mesh name="shoulder_link" file="meshes/shoulder_link.stl" />
         <mesh name="half_arm_1_link" file="meshes/half_arm_1_link.stl" />
@@ -20,72 +19,49 @@
         <mesh name="spherical_wrist_1_link" file="meshes/spherical_wrist_1_link.stl" />
         <mesh name="spherical_wrist_2_link" file="meshes/spherical_wrist_2_link.stl" />
         <mesh name="bracelet_with_vision_link" file="meshes/bracelet_with_vision_link.stl" />
-
-        <!-- Custom textures based on body names for domain randomization -->
-        <texture type="cube" name="pedestal_tex" builtin="flat" width="100" height="100" rgb1="0.2 0.2 0.2" rgb2="0.2 0.2 0.2"/>
-
-        <!-- Custom mats based on body names for domain randomization -->
-        <material name="pedestal_mat" texture="pedestal_tex"/>
     </asset>
     <worldbody>
         <body name="base" pos="0 0 0">
-
             <!-- robot view -->
             <camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
             <inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
-            <body name="controller_box" pos="0 0 0">
-                <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38"/>
-                <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="controller_box_col"/>
-            </body>
-            <body name="pedestal_feet" pos="0 0 0">
-                <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758"/>
-                <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="pedestal_feet_col"/>
-            </body>
-            <body name="torso" pos="0 0 0">
-                <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
-                <geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.05 0.05 0.05" type="box" name="torso_col"/>
-            </body>
-            <body name="pedestal" pos="0 0 0">
-                <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692"/>
-                <geom conaffinity="0" contype="0" group="1" mesh="pedestal" type="mesh" name="pedestal_col1" material="pedestal_mat" />
-                <geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" name="pedestal_col2"/>
-            </body>
+            <!-- mount attached here -->
             <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="base_link" />
             <geom type="mesh" conaffinity="0" rgba="0.75294 0.75294 0.75294 1" mesh="base_link" />
             <body name="shoulder_link" pos="0 0 0.15643" quat="-3.67321e-06 1 0 0">
                 <inertial pos="-2.3e-05 -0.010364 -0.07336" quat="0.707051 0.0451246 -0.0453544 0.704263" mass="1.3773" diaginertia="0.00488868 0.00457 0.00135132" />
                 <joint name="Actuator1" pos="0 0 0" axis="0 0 1" damping="0.1" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="shoulder_link" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" name="s_visual" mesh="shoulder_link" />
                 <geom type="mesh" conaffinity="0" rgba="0.75294 0.75294 0.75294 1" mesh="shoulder_link" name="s_collision"/>
                 <body name="HalfArm1_Link" pos="0 0.005375 -0.12838" quat="0.707105 0.707108 0 0">
                     <inertial pos="-4.4e-05 -0.09958 -0.013278" quat="0.482348 0.516286 -0.516862 0.483366" mass="1.1636" diaginertia="0.0113017 0.011088 0.00102532" />
                     <joint name="Actuator2" pos="0 0 0" axis="0 0 1" limited="true" range="-2.41 2.41" damping="0.1" />
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="half_arm_1_link" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" name="ha1_visual" mesh="half_arm_1_link" />
                     <geom type="mesh" conaffinity="0" rgba="0.75294 0.75294 0.75294 1" mesh="half_arm_1_link" name="ha1_collision"/>
                     <body name="HalfArm2_Link" pos="0 -0.21038 -0.006375" quat="0.707105 -0.707108 0 0">
                         <inertial pos="-4.4e-05 -0.006641 -0.117892" quat="0.706144 0.0213722 -0.0209128 0.707437" mass="1.1636" diaginertia="0.0111633 0.010932 0.00100671" />
                         <joint name="Actuator3" pos="0 0 0" axis="0 0 1" damping="0.1" />
-                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="half_arm_2_link" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" name="ha2_visual" mesh="half_arm_2_link" />
                         <geom type="mesh" conaffinity="0" rgba="0.75294 0.75294 0.75294 1" mesh="half_arm_2_link" name="ha2_collision"/>
                         <body name="forearm_link" pos="0 0.006375 -0.21038" quat="0.707105 0.707108 0 0">
                             <inertial pos="-1.8e-05 -0.075478 -0.015006" quat="0.483678 0.515961 -0.515859 0.483455" mass="0.9302" diaginertia="0.00834839 0.008147 0.000598606" />
                             <joint name="Actuator4" pos="0 0 0" axis="0 0 1" limited="true" range="-2.66 2.66" damping="0.1" />
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="forearm_link" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" name="f_visual" mesh="forearm_link" />
                             <geom type="mesh" conaffinity="0" rgba="0.75294 0.75294 0.75294 1" mesh="forearm_link" name="f_collision"/>
                             <body name="SphericalWrist1_Link" pos="0 -0.20843 -0.006375" quat="0.707105 -0.707108 0 0">
                                 <inertial pos="1e-06 -0.009432 -0.063883" quat="0.703558 0.0707492 -0.0707492 0.703558" mass="0.6781" diaginertia="0.00165901 0.001596 0.000346988" />
                                 <joint name="Actuator5" pos="0 0 0" axis="0 0 1" damping="0.1" />
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="spherical_wrist_1_link" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" name="w1_visual" mesh="spherical_wrist_1_link" />
                                 <geom type="mesh" conaffinity="0" rgba="0.75294 0.75294 0.75294 1" mesh="spherical_wrist_1_link" name="w1_collision"/>
                                 <body name="SphericalWrist2_Link" pos="0 0.00017505 -0.10593" quat="0.707105 0.707108 0 0">
                                     <inertial pos="1e-06 -0.045483 -0.00965" quat="0.44426 0.550121 -0.550121 0.44426" mass="0.6781" diaginertia="0.00170087 0.001641 0.00035013" />
                                     <joint name="Actuator6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.23 2.23" damping="0.01" />
-                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="spherical_wrist_2_link" />
+                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" name="w2_visual" mesh="spherical_wrist_2_link" />
                                     <geom type="mesh" conaffinity="0" rgba="0.75294 0.75294 0.75294 1" mesh="spherical_wrist_2_link" name="w2_collision"/>
                                     <body name="Bracelet_Link" pos="0 -0.10593 -0.00017505" quat="0.707105 -0.707108 0 0">
                                         <inertial pos="-0.000281 -0.011402 -0.029798" quat="0.601961 0.40663 -0.381169 0.571843" mass="0.5006" diaginertia="0.000657515 0.000586793 0.000320693" />
                                         <joint name="Actuator7" pos="0 0 0" axis="0 0 1" damping="0.01" />
-                                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="bracelet_with_vision_link" />
+                                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" name="b_visual" mesh="bracelet_with_vision_link" />
                                         <geom type="mesh" conaffinity="0" rgba="0.75294 0.75294 0.75294 1" mesh="bracelet_with_vision_link" name="b_collision"/>
                                         <body name="right_hand" pos="0 0 -0.065" quat="0 0.707105 -0.707108 0 ">
                                             <!-- This sites were added for visualization. They are all standardized between models-->
diff --git a/robosuite/models/assets/robots/panda/robot.xml b/robosuite/models/assets/robots/panda/robot.xml
index 8c1a24c0a1..4b1f0c56e7 100644
--- a/robosuite/models/assets/robots/panda/robot.xml
+++ b/robosuite/models/assets/robots/panda/robot.xml
@@ -26,78 +26,51 @@
         <mesh name="link5_vis" file="meshes/link5_vis.stl" />
         <mesh name="link6_vis" file="meshes/link6_vis.stl" />
         <mesh name="link7_vis" file="meshes/link7_vis.stl" />
-        <mesh file="../common_meshes/pedestal.stl" name="pedestal"/>
-
-        <!-- Custom textures based on body names for domain randomization -->
-        <texture type="cube" name="pedestal_tex" builtin="flat" width="100" height="100" rgb1="0.2 0.2 0.2" rgb2="0.2 0.2 0.2"/>
-        <texture type="cube" name="torso_tex" builtin="flat" width="100" height="100" rgb1="0.2 0.2 0.2" rgb2="0.2 0.2 0.2"/>
-        <texture type="cube" name="arm_tex" builtin="flat" width="100" height="100" rgb1="1 1 1" rgb2="1 1 1"/>
-
-        <!-- Custom mats based on body names for domain randomization -->
-        <material name="pedestal_mat" texture="pedestal_tex"/>
-        <material name="torso_mat" texture="torso_tex"/>
-        <material name="arm_mat" texture="arm_tex"/>
     </asset>
     <worldbody>
         <body name="base" pos="0 0 0">
             <!-- robot view -->
             <camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
             <inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
-            <body name="controller_box" pos="0 0 0">
-                <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38"/>
-                <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="controller_box_col"/>
-            </body>
-            <body name="pedestal_feet" pos="0 0 0">
-                <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758"/>
-                <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="pedestal_feet_col"/>
-            </body>
-            <body name="torso" pos="0 0 0">
-                <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
-                <geom conaffinity="0" contype="0" group="1" pos="0 0 -0.05" size="0.05 0.05 0.05" type="box" name="torso_col" material="torso_mat"/>
-            </body>
-            <body name="pedestal" pos="0 0 0">
-                <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692"/>
-                <geom conaffinity="0" contype="0" group="1" mesh="pedestal" type="mesh" name="pedestal_col1" material="pedestal_mat" />
-                <geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" name="pedestal_col2"/>
-            </body>
+            <!-- mount attached here -->
             <body name="link0" pos="0 0 0">
                 <inertial pos="0 0 0.05" mass="4" diaginertia="0.4 0.4 0.4" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link0_vis" name="link0_visual" material="arm_mat"/>
+                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link0_vis" name="link0_visual" rgba="1 1 1 1" />
                 <geom type="mesh" group="0" mesh="link0" name="link0_collision"/>
                 <body name="link1" pos="0 0 0.333">
                     <inertial pos="0 0 -0.07" mass="3" diaginertia="0.3 0.3 0.3" />
                     <joint name="joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link1_vis" name="link1_visual" material="arm_mat"/>
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link1_vis" name="link1_visual" rgba="1 1 1 1" />
                     <geom type="mesh" group="0" mesh="link1" name="link1_collision"/>
                     <body name="link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
                         <inertial pos="0 -0.1 0" mass="3" diaginertia="0.3 0.3 0.3" />
                         <joint name="joint2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.7628 1.7628" damping="0.1"/>
-                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link2_vis" name="link2_visual" material="arm_mat"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link2_vis" name="link2_visual" rgba="1 1 1 1" />
                         <geom type="mesh" group="0" mesh="link2" name="link2_collision"/>
                         <body name="link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
                             <inertial pos="0.04 0 -0.05" mass="2" diaginertia="0.2 0.2 0.2" />
                             <joint name="joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link3_vis" name="link3_visual" material="arm_mat"/>
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link3_vis" name="link3_visual" rgba="1 1 1 1" />
                             <geom type="mesh" group="0" mesh="link3" name="link3_collision"/>
                             <body name="link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
                                 <inertial pos="-0.04 0.05 0" mass="2" diaginertia="0.2 0.2 0.2" />
                                 <joint name="joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0718 -0.0698" damping="0.1"/>
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link4_vis" name="link4_visual" material="arm_mat"/>
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link4_vis" name="link4_visual" rgba="1 1 1 1" />
                                 <geom type="mesh" group="0" mesh="link4" name="link4_collision"/>
                                 <body name="link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
                                     <inertial pos="0 0 -0.15" mass="2" diaginertia="0.2 0.2 0.2" />
                                     <joint name="joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
-                                    <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link5_vis" name="link5_visual" material="arm_mat"/>
+                                    <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link5_vis" name="link5_visual" rgba="1 1 1 1" />
                                     <geom type="mesh" group="0" mesh="link5" name="link5_collision"/>
                                     <body name="link6" pos="0 0 0" quat="0.707107 0.707107 0 0">
                                         <inertial pos="0.06 0 0" mass="1.5" diaginertia="0.1 0.1 0.1" />
                                         <joint name="joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-0.0175 3.7525" damping="0.01"/>
-                                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link6_vis" name="link6_visual" material="arm_mat"/>
+                                        <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link6_vis" name="link6_visual" rgba="1 1 1 1" />
                                         <geom type="mesh" group="0" mesh="link6" name="link6_collision"/>
                                         <body name="link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
                                             <inertial pos="0 0 0.08" mass="0.5" diaginertia="0.05 0.05 0.05" />
                                             <joint name="joint7" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.01"/>
-                                            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link7_vis" name="link7_visual" material="arm_mat"/>
+                                            <geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link7_vis" name="link7_visual" rgba="1. 1. 1. 1." />
                                             <geom type="mesh" group="0" mesh="link7" name="link7_collision"/>
                                             <!-- rotate 135deg to align physically to the tool-->
                                             <body name="right_hand" pos="0 0 0.1065" quat="0.924 0 0 -0.383">
diff --git a/robosuite/models/assets/robots/sawyer/robot.xml b/robosuite/models/assets/robots/sawyer/robot.xml
index 420678b549..986892fdef 100644
--- a/robosuite/models/assets/robots/sawyer/robot.xml
+++ b/robosuite/models/assets/robots/sawyer/robot.xml
@@ -9,7 +9,6 @@
     	<motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="right_j6" name="torq_right_j6"/>
     </actuator>
     <asset>
-    	<mesh file="../common_meshes/pedestal.stl" name="pedestal"/>
     	<mesh file="meshes/base.stl" name="base"/>
     	<mesh file="meshes/l0.stl" name="l0"/>
     	<mesh file="meshes/head.stl" name="head"/>
@@ -19,61 +18,31 @@
     	<mesh file="meshes/l4.stl" name="l4"/>
     	<mesh file="meshes/l5.stl" name="l5"/>
     	<mesh file="meshes/l6.stl" name="l6"/>
-
-        <!-- Custom textures based on body names for domain randomization -->
-        <texture type="cube" name="pedestal_tex" builtin="flat" width="100" height="100" rgb1="0.2 0.2 0.2" rgb2="0.2 0.2 0.2"/>
-        <texture type="cube" name="torso_tex" builtin="flat" width="100" height="100" rgb1="0.2 0.2 0.2" rgb2="0.2 0.2 0.2"/>
-        <texture type="cube" name="arm_tex" builtin="flat" width="100" height="100" rgb1="0.5 0.1 0.1" rgb2="0.5 0.1 0.1"/>
-        <texture type="cube" name="head_tex" builtin="flat" width="100" height="100" rgb1="0.5 0.1 0.1" rgb2="0.5 0.1 0.1"/>
-        <texture type="cube" name="screen_tex" builtin="flat" width="100" height="100" rgb1="0.2 0.2 0.2" rgb2="0.2 0.2 0.2"/>
-
-        <!-- Custom mats based on body names for domain randomization -->
-        <material name="pedestal_mat" texture="pedestal_tex"/>
-        <material name="torso_mat" texture="torso_tex"/>
-        <material name="arm_mat" texture="arm_tex"/>
-        <material name="head_mat" texture="head_tex"/>
-        <material name="screen_mat" texture="screen_tex"/>
     </asset>
     <worldbody>
     	<body name="base" pos="0 0 0">
 			<!-- robot view -->
 			<camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
     		<inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
-    		<body name="controller_box" pos="0 0 0">
-    			<inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38"/>
-    			<geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="controller_box"/>
-    		</body>
-    		<body name="pedestal_feet" pos="0 0 0">
-    			<inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758"/>
-    			<geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="pedestal_feet"/>
-    		</body>
-    		<body name="torso" pos="0 0 0">
-    			<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
-    			<geom conaffinity="0" contype="0" group="1" size="0.05 0.05 0.05" type="box" name="torso" material="torso_mat"/>
-    		</body>
-    		<body name="pedestal" pos="0 0 0">
-    			<inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692"/>
-    			<geom conaffinity="0" contype="0" group="1" mesh="pedestal" type="mesh" name="pedestal_vis1" material="pedestal_mat" />
-    			<geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" name="pedestal_col1"/>
-    		</body>
+            <!-- mount attached here -->
     		<body name="right_arm_base_link" pos="0 0 0">
     			<inertial diaginertia="0.00740351 0.00681776 0.00672942" mass="2.0687" pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558"/>
-    			<geom conaffinity="0" contype="0" group="1" mesh="base" type="mesh" name="base_vis" material="arm_mat"/>
+    			<geom conaffinity="0" contype="0" group="1" mesh="base" type="mesh" name="base_vis" rgba="0.5 0.1 0.1 1"/>
     			<geom pos="0 0 0.12" rgba="0.5 0.1 0.1 1" size="0.08 0.12" type="cylinder" name="base_col"/>
     			<body name="right_l0" pos="0 0 0.08">
     				<inertial diaginertia="0.0651588 0.0510944 0.0186218" mass="5.3213" pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573"/>
     				<joint axis="0 0 1" limited="true" name="right_j0" pos="0 0 0" range="-3.0503 3.0503"/>
-    				<geom conaffinity="0" contype="0" group="1" mesh="l0" type="mesh" name="link0_visual" material="arm_mat"/>
+    				<geom conaffinity="0" contype="0" group="1" mesh="l0" type="mesh" name="link0_visual" rgba="0.5 0.1 0.1 1"/>
     				<geom pos="0.08 0 0.23" rgba="0.5 0.1 0.1 1" size="0.07" name="link0_collision"/>
     				<body name="head" pos="0 0 0.2965">
     					<inertial diaginertia="0.0118334 0.00827089 0.00496574" mass="1.5795" pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247"/>
     					<!--Don't want to control the head joint so remove it from the kinematic tree-->
     					<!--<joint axis="0 0 1" limited="true" name="head_pan" pos="0 0 0" range="-5.0952 0.9064"/>-->
-    					<geom conaffinity="0" contype="0" group="1" mesh="head" type="mesh" name="head_visual" material="head_mat"/>
+    					<geom conaffinity="0" contype="0" group="1" mesh="head" type="mesh" name="head_visual" rgba="0.5 0.1 0.1 1"/>
     					<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.018" name="head_collision"/>
     					<body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5">
     						<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
-    						<geom conaffinity="0" contype="0" group="1" size="0.12 0.07 0.001" type="box" name="screen_visual" material="screen_mat"/>
+    						<geom conaffinity="0" contype="0" group="1" size="0.12 0.07 0.001" type="box" name="screen_visual" rgba="0.2 0.2 0.2 1"/>
     						<geom rgba="0.2 0.2 0.2 1" size="0.001" name="screen_collision"/>
     					</body>
     					<body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
@@ -86,22 +55,22 @@
     				<body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
     					<inertial diaginertia="0.0224339 0.0221624 0.0097097" mass="4.505" pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296"/>
     					<joint axis="0 0 1" limited="true" name="right_j1" pos="0 0 0" range="-3.8095 2.2736"/>
-    					<geom conaffinity="0" contype="0" group="1" mesh="l1" type="mesh" name="link1_visual" material="arm_mat"/>
+    					<geom conaffinity="0" contype="0" group="1" mesh="l1" type="mesh" name="link1_visual" rgba="0.5 0.1 0.1 1"/>
     					<geom pos="0 0 0.1225" rgba="0.5 0.1 0.1 1" size="0.07" name="link1_collision"/>
     					<body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
     						<inertial diaginertia="0.0257928 0.025506 0.00292515" mass="1.745" pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537"/>
     						<joint axis="0 0 1" limited="true" name="right_j2" pos="0 0 0" range="-3.0426 3.0426"/>
-    						<geom conaffinity="0" contype="0" group="1" mesh="l2" type="mesh" name="link2_visual" material="arm_mat"/>
+    						<geom conaffinity="0" contype="0" group="1" mesh="l2" type="mesh" name="link2_visual" rgba="0.5 0.1 0.1 1"/>
     						<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.06 0.17" type="cylinder" name="link2_collision"/>
     						<body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
     							<inertial diaginertia="0.0102404 0.0096997 0.00369622" mass="2.5097" pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247"/>
     							<joint axis="0 0 1" limited="true" name="right_j3" pos="0 0 0" range="-3.0439 3.0439"/>
-    							<geom conaffinity="0" contype="0" group="1" mesh="l3" type="mesh" name="link3_visual" material="arm_mat"/>
+    							<geom conaffinity="0" contype="0" group="1" mesh="l3" type="mesh" name="link3_visual" rgba="0.5 0.1 0.1 1"/>
     							<geom pos="0 -0.01 -0.12" rgba="0.5 0.1 0.1 1" size="0.06" name="link3_collision"/>
     							<body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
     								<inertial diaginertia="0.0136549 0.0135493 0.00127353" mass="1.1136" pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582"/>
     								<joint axis="0 0 1" limited="true" name="right_j4" pos="0 0 0" range="-2.9761 2.9761"/>
-    								<geom conaffinity="0" contype="0" group="1" mesh="l4" type="mesh" name="link4_visual" material="arm_mat"/>
+    								<geom conaffinity="0" contype="0" group="1" mesh="l4" type="mesh" name="link4_visual" rgba="0.5 0.1 0.1 1"/>
     								<geom pos="0 0 0.11" rgba="0.5 0.1 0.1 1" size="0.045 0.15" type="cylinder" name="link4_collision"/>
     								<body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0">
     									<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
@@ -109,7 +78,7 @@
     								<body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
     									<inertial diaginertia="0.00474131 0.00422857 0.00190672" mass="1.5625" pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335"/>
     									<joint axis="0 0 1" limited="true" name="right_j5" pos="0 0 0" range="-2.9761 2.9761" damping="0.2"/>
-    									<geom conaffinity="0" contype="0" group="1" mesh="l5" type="mesh" name="link5_visual" material="arm_mat"/>
+    									<geom conaffinity="0" contype="0" group="1" mesh="l5" type="mesh" name="link5_visual" rgba="0.5 0.1 0.1 1"/>
     									<geom pos="0 0 0.1" rgba="0.5 0.1 0.1 1" size="0.06" name="link5_collision"/>
     									<body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
     										<inertial diaginertia="0 0 0" mass="0" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0"/>
@@ -120,7 +89,7 @@
     									<body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
     										<inertial diaginertia="0.000360258 0.000311068 0.000214974" mass="0.3292" pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322"/>
     										<joint axis="0 0 1" limited="true" name="right_j6" pos="0 0 0" range="-4.7124 4.7124" damping="0.1"/>
-    										<geom conaffinity="0" contype="0" group="1" mesh="l6" type="mesh" name="link6_visual" material="arm_mat"/>
+    										<geom conaffinity="0" contype="0" group="1" mesh="l6" type="mesh" name="link6_visual" rgba="0.5 0.1 0.1 1"/>
     										<geom pos="0 0.015 -0.01" rgba="0.5 0.1 0.1 1" size="0.055 0.025" type="cylinder" name="link6_collision"/>
     										<body name="right_hand" pos="0 0 0.024" quat="0.707105 0 0 0.707108">
     											<!-- This sites were added for visualization. They are all standardized between models-->
diff --git a/robosuite/models/assets/robots/ur5e/robot.xml b/robosuite/models/assets/robots/ur5e/robot.xml
index 0ab40bd106..9bbc843339 100644
--- a/robosuite/models/assets/robots/ur5e/robot.xml
+++ b/robosuite/models/assets/robots/ur5e/robot.xml
@@ -10,7 +10,6 @@
         <motor ctrllimited="true" ctrlrange="-28.0 28.0" joint="wrist_3_joint" name="torq_j6"/>
     </actuator>
     <asset>
-        <mesh file="../common_meshes/pedestal.stl" name="pedestal"/>
         <mesh name="base" file="meshes/base.stl" />
         <mesh name="shoulder" file="meshes/shoulder.stl" />
         <mesh name="upperarm" file="meshes/upperarm.stl" />
@@ -25,68 +24,46 @@
         <mesh name="wrist1_vis" file="meshes/wrist1_vis.stl" />
         <mesh name="wrist2_vis" file="meshes/wrist2_vis.stl" />
         <mesh name="wrist3_vis" file="meshes/wrist3_vis.stl" />
-
-        <!-- Custom textures based on body names for domain randomization -->
-        <texture type="cube" name="pedestal_tex" builtin="flat" width="100" height="100" rgb1="0.2 0.2 0.2" rgb2="0.2 0.2 0.2"/>
-
-        <!-- Custom mats based on body names for domain randomization -->
-        <material name="pedestal_mat" texture="pedestal_tex"/>
     </asset>
     <worldbody>
         <body name="base" pos="0 0 0">
             <!-- robot view -->
             <camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
             <inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
-            <body name="controller_box" pos="0 0 0">
-                <inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38"/>
-                <geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" name="controller_box_col"/>
-            </body>
-            <body name="pedestal_feet" pos="0 0 0">
-                <inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758"/>
-                <geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" name="pedestal_feet_col"/>
-            </body>
-            <body name="torso" pos="0 0 0">
-                <inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
-                <geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.05 0.05 0.05" type="box" name="torso_col"/>
-            </body>
-            <body name="pedestal" pos="0 0 0">
-                <inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692"/>
-                <geom conaffinity="0" contype="0" group="1" mesh="pedestal" type="mesh" name="pedestal_col1" material="pedestal_mat" />
-                <geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" name="pedestal_col2"/>
-            </body>
+            <!-- mount attached here -->
             <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="base_vis" />
             <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="base" />
             <body name="shoulder_link" pos="0 0 0.163">
                 <inertial pos="0 0 0" mass="3.7" diaginertia="0.0102675 0.0102675 0.00666" />
                 <joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.1" />
-                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="shoulder_vis" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="shoulder_vis" name="shoulder_visual" />
                 <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="shoulder" name="shoulder_col" />
                 <body name="upper_arm_link" pos="0 0.138 0" quat="0.707107 0 0.707107 0">
                     <inertial pos="0 0 0.2125" mass="8.393" diaginertia="0.133886 0.133886 0.0151074" />
                     <joint name="shoulder_lift_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" damping="0.1" />
-                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="upperarm_vis" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="upperarm_vis" name="upperarm_visual" />
                     <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="upperarm" name="upperarm_col"/>
                     <body name="forearm_link" pos="0 -0.131 0.425">
                         <inertial pos="0 0 0.196" mass="2.275" diaginertia="0.0311796 0.0311796 0.004095" />
                         <joint name="elbow_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" damping="0.1" />
-                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="forearm_vis" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="forearm_vis" name="forearm_visual" />
                         <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="forearm" name="forearm_col"/>
                         <body name="wrist_1_link" pos="0 0 0.392" quat="0.707107 0 0.707107 0">
                             <inertial pos="0 0.127 0" mass="1.219" diaginertia="0.0025599 0.0025599 0.0021942" />
                             <joint name="wrist_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" damping="0.1" />
-                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="wrist1_vis" />
+                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="wrist1_vis" name="wrist1_visual" />
                             <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist1" name="wrist1_col" />
                             <body name="wrist_2_link" pos="0 0.127 0">
                                 <inertial pos="0 0 0.1" mass="1.219" diaginertia="0.0025599 0.0025599 0.0021942" />
                                 <joint name="wrist_2_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.1" />
-                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="wrist2_vis" />
+                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="wrist2_vis" name="wrist2_visual" />
                                 <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist2" name="wrist2_col" />
                                 <body name="wrist_3_link" pos="0 0 0.1">
                                     <inertial pos="0 0.0771683 0" quat="0.707107 0 0 0.707107" mass="0.1889" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
                                     <joint name="wrist_3_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" damping="0.1" />
-                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="wrist3_vis" />
+                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="wrist3_vis" name="wrist3_visual" />
                                     <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist3" name="wrist3_col" />
-                                    <geom size="0.005 0.005 0.005" pos="0 0.09 0" quat="0.707107 0 0 0.707107" type="box" />
+                                    <geom size="0.005 0.005 0.005" pos="0 0.09 0" quat="0.707107 0 0 0.707107" type="box" name="wrist3_col2"/>
                                     <body name="right_hand" pos="0 0.098 0" quat="0.707 -0.707 0 0" >
                                         <!-- This sites were added for visualization. They are all standardized between models-->
                                         <!-- Position mimics the gripper attachment point (right_hand) -->
diff --git a/robosuite/models/base.py b/robosuite/models/base.py
index e9c8885d6f..a73ffc2f60 100644
--- a/robosuite/models/base.py
+++ b/robosuite/models/base.py
@@ -4,7 +4,7 @@
 import io
 
 from robosuite.utils import XMLError
-from robosuite.utils.mjcf_utils import array_to_string, find_elements
+from robosuite.utils.mjcf_utils import array_to_string, find_elements, sort_elements, add_material, string_to_array
 
 
 class MujocoXML(object):
@@ -24,7 +24,6 @@ def __init__(self, fname):
         self.folder = os.path.dirname(fname)
         self.tree = ET.parse(fname)
         self.root = self.tree.getroot()
-        self.name = self.root.get("model")
         self.worldbody = self.create_default_element("worldbody")
         self.actuator = self.create_default_element("actuator")
         self.sensor = self.create_default_element("sensor")
@@ -362,6 +361,16 @@ def _replace_defaults_inline(self, default_dic, root=None):
         for child in root:
             self._replace_defaults_inline(default_dic=default_dic, root=child)
 
+    @property
+    def name(self):
+        """
+        Returns name of this MujocoXML
+
+        Returns:
+            str: Name of this MujocoXML
+        """
+        return self.root.get("model")
+
 
 class MujocoModel(object):
     """
@@ -408,6 +417,16 @@ def set_sites_visibility(self, sim, visible):
                 # We toggle the alpha value
                 sim.model.site_rgba[vis_g_id][3] = -sim.model.site_rgba[vis_g_id][3]
 
+    @property
+    def name(self):
+        """
+        Name for this model. Should be unique.
+
+        Returns:
+            str: Unique name for this model.
+        """
+        raise NotImplementedError
+
     @property
     def naming_prefix(self):
         """
@@ -458,6 +477,14 @@ def sites(self):
         """
         raise NotImplementedError
 
+    @property
+    def sensors(self):
+        """
+        Returns:
+             list: Sensor names for this model
+        """
+        raise NotImplementedError
+
     @property
     def contact_geoms(self):
         """
@@ -500,13 +527,227 @@ def important_sites(self):
         """
         raise NotImplementedError
 
+    @property
+    def important_sensors(self):
+        """
+        Dict of important sensors enabled for this model.
+
+        Returns:
+            dict: Important sensors for this model, where each specific sensor name is mapped from keyword string
+                entries in the dict
+        """
+        raise NotImplementedError
+
+    @property
+    def bottom_offset(self):
+        """
+        Returns vector from model root body to model bottom.
+        Useful for, e.g. placing models on a surface.
+        Must be defined by subclass.
+
+        Returns:
+            np.array: (dx, dy, dz) offset vector
+        """
+        raise NotImplementedError
+
+    @property
+    def top_offset(self):
+        """
+        Returns vector from model root body to model top.
+        Useful for, e.g. placing models on a surface.
+        Must be defined by subclass.
+
+        Returns:
+            np.array: (dx, dy, dz) offset vector
+        """
+        raise NotImplementedError
+
+    @property
+    def horizontal_radius(self):
+        """
+        Returns maximum distance from model root body to any radial point of the model.
+
+        Helps us put models programmatically without them flying away due to a huge initial contact force.
+        Must be defined by subclass.
+
+        Returns:
+            float: radius
+        """
+        raise NotImplementedError
+
+
+class MujocoXMLModel(MujocoXML, MujocoModel):
+    """
+    Base class for all MujocoModels that are based on a raw XML file.
+
+    Args:
+        fname (str): Path to relevant xml file from which to create this robot instance
+        idn (int or str): Number or some other unique identification string for this model instance
+    """
+
+    def __init__(self, fname, idn=0):
+        super().__init__(fname)
+
+        # Set id and add prefixes to all body names to prevent naming clashes
+        self.idn = idn
+
+        # Define other variables that get filled later
+        self.mount = None
+
+        # Parse element tree to get all relevant bodies, joints, actuators, and geom groups
+        self._elements = sort_elements(root=self.root)
+        assert len(self._elements["root_body"]) == 1, "Invalid number of root bodies found for robot model. Expected 1," \
+                                                      "got {}".format(len(self._elements["root_body"]))
+        self._elements["root_body"] = self._elements["root_body"][0]
+        self._elements["bodies"] = [self._elements["root_body"]] + self._elements["bodies"] if \
+            "bodies" in self._elements else [self._elements["root_body"]]
+        self._root_body = self._elements["root_body"].get("name")
+        self._bodies = [e.get("name") for e in self._elements.get("bodies", [])]
+        self._joints = [e.get("name") for e in self._elements.get("joints", [])]
+        self._actuators = [e.get("name") for e in self._elements.get("actuators", [])]
+        self._sites = [e.get("name") for e in self._elements.get("sites", [])]
+        self._sensors = [e.get("name") for e in self._elements.get("sensors", [])]
+        self._contact_geoms = [e.get("name") for e in self._elements.get("contact_geoms", [])]
+        self._visual_geoms = [e.get("name") for e in self._elements.get("visual_geoms", [])]
+        self._base_offset = string_to_array(self._elements["root_body"].get("pos", "0 0 0"))
+
+        # Update all xml element prefixes
+        self.add_prefix(self.naming_prefix)
+
+        # Recolor all collision geoms appropriately
+        self.recolor_collision_geoms(self.contact_geom_rgba)
+
+        # Add default materials
+        tex_element, mat_element, _ = add_material(root=self.worldbody, naming_prefix=self.naming_prefix)
+        self.asset.append(tex_element)
+        self.asset.append(mat_element)
+
+    @property
+    def base_offset(self):
+        """
+        Provides position offset of root body.
+
+        Returns:
+            3-array: (x,y,z) pos value of root_body body element. If no pos in element, returns all zeros.
+        """
+        return self._base_offset
+
+    @property
+    def name(self):
+        return "{}{}".format(type(self).__name__, self.idn)
+
+    @property
+    def naming_prefix(self):
+        return "{}_".format(self.idn)
+
+    @property
+    def root_body(self):
+        return self.correct_naming(self._root_body)
+
+    @property
+    def bodies(self):
+        return self.correct_naming(self._bodies)
+
+    @property
+    def joints(self):
+        return self.correct_naming(self._joints)
+
+    @property
+    def actuators(self):
+        return self.correct_naming(self._actuators)
+
+    @property
+    def sites(self):
+        return self.correct_naming(self._sites)
+
     @property
     def sensors(self):
+        return self.correct_naming(self._sensors)
+
+    @property
+    def contact_geoms(self):
+        return self.correct_naming(self._contact_geoms)
+
+    @property
+    def visual_geoms(self):
+        return self.correct_naming(self._visual_geoms)
+
+    @property
+    def important_sites(self):
+        return self.correct_naming(self._important_sites)
+
+    @property
+    def important_geoms(self):
+        return self.correct_naming(self._important_geoms)
+
+    @property
+    def important_sensors(self):
+        return self.correct_naming(self._important_sensors)
+
+    @property
+    def _important_sites(self):
         """
-        Dict of sensors enabled for this model.
+        Dict of sites corresponding to the important site geoms (e.g.: used to aid visualization during sim).
 
         Returns:
-            dict: Sensors for this model, where each specific sensor name is mapped from keyword string entries
-                in the dict
+            dict: Important site geoms, where each specific geom name is mapped from keyword string entries
+                in the dict. Note that the mapped sites should be the RAW site names found directly in the XML file --
+                the naming prefix will be automatically added in the public method call
+        """
+        raise NotImplementedError
+
+    @property
+    def _important_geoms(self):
+        """
+        Geoms corresponding to important components of this model. String keywords should be mapped to lists of geoms.
+
+        Returns:
+            dict of list: Important set of geoms, where each set of geoms are grouped as a list and are
+                organized by keyword string entries into a dict. Note that the mapped geoms should be the RAW geom
+                names found directly in the XML file -- the naming prefix will be automatically added in the
+                public method call
+        """
+        raise NotImplementedError
+
+    @property
+    def _important_sensors(self):
+        """
+        Dict of important sensors enabled for this model.
+
+        Returns:
+            dict: Important sensors for this model, where each specific sensor name is mapped from keyword string
+                entries in the dict. Note that the mapped geoms should be the RAW sensor names found directly in the
+                XML file -- the naming prefix will be automatically added in the public method call
+        """
+        raise NotImplementedError
+
+    @property
+    def contact_geom_rgba(self):
+        """
+        RGBA color to assign to all contact geoms for this model
+
+        Returns:
+            4-array: (r,g,b,a) values from 0 to 1 for this model's set of contact geoms
         """
         raise NotImplementedError
+
+    @property
+    def bottom_offset(self):
+        """
+        Returns vector from model root body to model bottom.
+        Useful for, e.g. placing models on a surface.
+        By default, this corresponds to the root_body's base offset.
+
+        Returns:
+            np.array: (dx, dy, dz) offset vector
+        """
+        return self.base_offset
+
+    @property
+    def top_offset(self):
+        raise NotImplementedError
+
+    @property
+    def horizontal_radius(self):
+        raise NotImplementedError
+
diff --git a/robosuite/models/grippers/gripper_model.py b/robosuite/models/grippers/gripper_model.py
index 7bce77f998..18fbb626c5 100644
--- a/robosuite/models/grippers/gripper_model.py
+++ b/robosuite/models/grippers/gripper_model.py
@@ -1,12 +1,12 @@
 """
 Defines the base class of all grippers
 """
-from robosuite.models.base import MujocoXML, MujocoModel
-from robosuite.utils.mjcf_utils import GRIPPER_COLLISION_COLOR, sort_elements
+from robosuite.models.base import MujocoXMLModel
+from robosuite.utils.mjcf_utils import GRIPPER_COLLISION_COLOR
 import numpy as np
 
 
-class GripperModel(MujocoXML, MujocoModel):
+class GripperModel(MujocoXMLModel):
     """
     Base class for grippers
 
@@ -16,35 +16,11 @@ class GripperModel(MujocoXML, MujocoModel):
     """
 
     def __init__(self, fname, idn=0):
-        super().__init__(fname)
-
-        # Set id number and add prefixes to all body names to prevent naming clashes
-        self.idn = idn
-
-        # Parse element tree to get all relevant bodies, joints, actuators, and geom groups
-        self._elements = sort_elements(root=self.root)
-        assert len(self._elements["root_body"]) == 1, "Invalid number of root bodies found for robot model. Expected 1," \
-                                                      "got {}".format(len(self._elements["root_body"]))
-        self._elements["root_body"] = self._elements["root_body"][0]
-        self._elements["bodies"] = [self._elements["root_body"]] + self._elements["bodies"] if \
-            "bodies" in self._elements else [self._elements["root_body"]]
-        self._root_body = self._elements["root_body"].get("name")
-        self._bodies = [e.get("name") for e in self._elements.get("bodies", [])]
-        self._joints = [e.get("name") for e in self._elements.get("joints", [])]
-        self._actuators = [e.get("name") for e in self._elements.get("actuators", [])]
-        self._sites = [e.get("name") for e in self._elements.get("sites", [])]
-        self._contact_geoms = [e.get("name") for e in self._elements.get("contact_geoms", [])]
-        self._visual_geoms = [e.get("name") for e in self._elements.get("visual_geoms", [])]
+        super().__init__(fname, idn=idn)
 
         # Set variable to hold current action being outputted
         self.current_action = np.zeros(self.dof)
 
-        # Update all xml element prefixes
-        self.add_prefix(self.naming_prefix)
-
-        # Update collision geom colors
-        self.recolor_collision_geoms(GRIPPER_COLLISION_COLOR)
-
         # Grab gripper offset (string -> np.array -> elements [1, 2, 3, 0] (x, y, z, w))
         self.rotation_offset = np.fromstring(self.worldbody[0].attrib.get("quat", "1 0 0 0"),
                                              dtype=np.float64, sep=" ")[[1, 2, 3, 0]]
@@ -61,71 +37,11 @@ def format_action(self, action):
     # Properties: In general, these are the name-adjusted versions from the private          #
     #             subclass implementations pulled from their respective raw xml files        #
     # -------------------------------------------------------------------------------------- #
+
     @property
     def naming_prefix(self):
         return "gripper{}_".format(self.idn)
 
-    @property
-    def root_body(self):
-        return self.correct_naming(self._root_body)
-
-    @property
-    def bodies(self):
-        return self.correct_naming(self._bodies)
-
-    @property
-    def joints(self):
-        return self.correct_naming(self._joints)
-
-    @property
-    def actuators(self):
-        return self.correct_naming(self._actuators)
-
-    @property
-    def sites(self):
-        return self.correct_naming(self._sites)
-
-    @property
-    def contact_geoms(self):
-        return self.correct_naming(self._contact_geoms)
-
-    @property
-    def visual_geoms(self):
-        return self.correct_naming(self._visual_geoms)
-
-    @property
-    def important_geoms(self):
-        return self.correct_naming(self._important_geoms)
-
-    @property
-    def important_sites(self):
-        """
-        Sites used to aid visualization by human. (usually "grip_site" and "grip_cylinder")
-        (and should be hidden from robots)
-
-        Returns:
-            dict:
-
-                :`'grip_site'`: Name of grip actuation intersection location site
-                :`'grip_cylinder'`: Name of grip actuation z-axis location site
-        """
-        return {"grip_site": self.naming_prefix + "grip_site",
-                "grip_cylinder": self.naming_prefix + "grip_site_cylinder"}
-
-    @property
-    def sensors(self):
-        """
-        Sensor names for each gripper (usually "force_ee" and "torque_ee")
-
-        Returns:
-            dict:
-
-                :`'force_ee'`: Name of force eef sensor for this gripper
-                :`'torque_ee'`: Name of torque eef sensor for this gripper
-        """
-        return {"force_ee": self.naming_prefix + "force_ee",
-                "torque_ee": self.naming_prefix + "torque_ee"}
-
     @property
     def speed(self):
         """
@@ -146,6 +62,22 @@ def dof(self):
         """
         return len(self._actuators)
 
+    @property
+    def bottom_offset(self):
+        return np.zeros(3)
+
+    @property
+    def top_offset(self):
+        return np.zeros(3)
+
+    @property
+    def horizontal_radius(self):
+        return 0
+
+    @property
+    def contact_geom_rgba(self):
+        return GRIPPER_COLLISION_COLOR
+
     # -------------------------------------------------------------------------------------- #
     # All subclasses must implement the following properties                                 #
     # -------------------------------------------------------------------------------------- #
@@ -160,6 +92,23 @@ def init_qpos(self):
         """
         raise NotImplementedError
 
+    @property
+    def _important_sites(self):
+        """
+        Sites used to aid visualization by human. (usually "grip_site" and "grip_cylinder")
+        (and should be hidden from robots)
+
+        Returns:
+            dict:
+
+                :`'grip_site'`: Name of grip actuation intersection location site
+                :`'grip_cylinder'`: Name of grip actuation z-axis location site
+        """
+        return {
+            "grip_site": "grip_site",
+            "grip_cylinder": "grip_site_cylinder",
+        }
+
     @property
     def _important_geoms(self):
         """
@@ -180,3 +129,16 @@ def _important_geoms(self):
             "left_fingerpad": [],
             "right_fingerpad": [],
         }
+
+    @property
+    def _important_sensors(self):
+        """
+        Sensor names for each gripper (usually "force_ee" and "torque_ee")
+
+        Returns:
+            dict:
+
+                :`'force_ee'`: Name of force eef sensor for this gripper
+                :`'torque_ee'`: Name of torque eef sensor for this gripper
+        """
+        return {sensor: sensor for sensor in ["force_ee", "torque_ee"]}
diff --git a/robosuite/models/mounts/__init__.py b/robosuite/models/mounts/__init__.py
new file mode 100644
index 0000000000..0c93314394
--- /dev/null
+++ b/robosuite/models/mounts/__init__.py
@@ -0,0 +1,15 @@
+from .mount_model import MountModel
+from .mount_factory import mount_factory
+
+from .rethink_mount import RethinkMount
+from .rethink_minimal_mount import RethinkMinimalMount
+from .null_mount import NullMount
+
+
+MOUNT_MAPPING = {
+    "RethinkMount": RethinkMount,
+    "RethinkMinimalMount": RethinkMinimalMount,
+    None: NullMount,
+}
+
+ALL_MOUNTS = MOUNT_MAPPING.keys()
diff --git a/robosuite/models/mounts/mount_factory.py b/robosuite/models/mounts/mount_factory.py
new file mode 100644
index 0000000000..ca6acb3871
--- /dev/null
+++ b/robosuite/models/mounts/mount_factory.py
@@ -0,0 +1,24 @@
+"""
+Defines a string based method of initializing mounts
+"""
+
+
+def mount_factory(name, idn=0):
+    """
+    Generator for grippers
+
+    Creates a MountModel instance with the provided name.
+
+    Args:
+        name (None or str): the name of the mount class
+        idn (int or str): Number or some other unique identification string for this mount instance
+
+    Returns:
+        MountModel: requested mount instance
+
+    Raises:
+        XMLError: [invalid XML]
+    """
+    # Import MOUNT_MAPPING at runtime so we avoid circular imports
+    from robosuite.models.mounts import MOUNT_MAPPING
+    return MOUNT_MAPPING.get(name, "Unknown mount name: {}".format(name))(idn=idn)
diff --git a/robosuite/models/mounts/mount_model.py b/robosuite/models/mounts/mount_model.py
new file mode 100644
index 0000000000..01695c4657
--- /dev/null
+++ b/robosuite/models/mounts/mount_model.py
@@ -0,0 +1,90 @@
+"""
+Defines the base class of all mounts
+"""
+from robosuite.models.base import MujocoXMLModel
+from robosuite.utils.mjcf_utils import MOUNT_COLLISION_COLOR
+import numpy as np
+
+
+class MountModel(MujocoXMLModel):
+    """
+    Base class for mounts that will be attached to robots. Note that this model's root body will be directly
+    appended to the robot's root body, so all offsets should be taken relative to that.
+
+    Args:
+        fname (str): Path to relevant xml file to create this mount instance
+        idn (int or str): Number or some other unique identification string for this gripper instance
+    """
+
+    def __init__(self, fname, idn=0):
+        super().__init__(fname, idn=idn)
+
+        # Grab mount offset (string -> np.array -> elements [1, 2, 3, 0] (x, y, z, w))
+        self.rotation_offset = np.fromstring(self.worldbody[0].attrib.get("quat", "1 0 0 0"),
+                                             dtype=np.float64, sep=" ")[[1, 2, 3, 0]]
+
+    # -------------------------------------------------------------------------------------- #
+    # Properties: In general, these are the name-adjusted versions from the private          #
+    #             subclass implementations pulled from their respective raw xml files        #
+    # -------------------------------------------------------------------------------------- #
+
+    @property
+    def naming_prefix(self):
+        return "mount{}_".format(self.idn)
+
+    @property
+    def _important_sites(self):
+        """
+        Returns:
+            dict: (Default is no important sites; i.e.: empty dict)
+        """
+        return {}
+
+    @property
+    def _important_geoms(self):
+        """
+        Returns:
+             dict: (Default is no important geoms; i.e.: empty dict)
+        """
+        return {}
+
+    @property
+    def _important_sensors(self):
+        """
+        Returns:
+            dict: (Default is no sensors; i.e.: empty dict)
+        """
+        return {}
+
+    @property
+    def contact_geom_rgba(self):
+        return MOUNT_COLLISION_COLOR
+
+    # -------------------------------------------------------------------------------------- #
+    # All subclasses must implement the following properties                                 #
+    # -------------------------------------------------------------------------------------- #
+
+    @property
+    def top_offset(self):
+        """
+        Returns vector from model root body to model top.
+        This should correspond to the distance from the root body to the actual mounting surface
+        location of this mount.
+
+        Returns:
+            np.array: (dx, dy, dz) offset vector
+        """
+        raise NotImplementedError
+
+    @property
+    def horizontal_radius(self):
+        """
+        Returns maximum distance from model root body to any radial point of the model.
+
+        Helps us put models programmatically without them flying away due to a huge initial contact force.
+        Must be defined by subclass.
+
+        Returns:
+            float: radius
+        """
+        raise NotImplementedError
diff --git a/robosuite/models/mounts/null_mount.py b/robosuite/models/mounts/null_mount.py
new file mode 100644
index 0000000000..a93165cbf2
--- /dev/null
+++ b/robosuite/models/mounts/null_mount.py
@@ -0,0 +1,26 @@
+"""
+Rethink's Generic Mount (Officially used on Sawyer).
+"""
+import numpy as np
+from robosuite.utils.mjcf_utils import xml_path_completion
+from robosuite.models.mounts.mount_model import MountModel
+
+
+class NullMount(MountModel):
+    """
+    Dummy Mount to signify no mount.
+
+    Args:
+        idn (int or str): Number or some other unique identification string for this mount instance
+    """
+
+    def __init__(self, idn=0):
+        super().__init__(xml_path_completion("mounts/null_mount.xml"), idn=idn)
+
+    @property
+    def top_offset(self):
+        return np.array((0, 0, 0))
+
+    @property
+    def horizontal_radius(self):
+        return 0
diff --git a/robosuite/models/mounts/rethink_minimal_mount.py b/robosuite/models/mounts/rethink_minimal_mount.py
new file mode 100644
index 0000000000..a38f87b87f
--- /dev/null
+++ b/robosuite/models/mounts/rethink_minimal_mount.py
@@ -0,0 +1,27 @@
+"""
+Rethink's Alternative Mount (Officially used on Baxter).
+"""
+import numpy as np
+from robosuite.utils.mjcf_utils import xml_path_completion
+from robosuite.models.mounts.mount_model import MountModel
+
+
+class RethinkMinimalMount(MountModel):
+    """
+    Mount officially used for Rethink's Baxter Robot. Includes only a wheeled pedestal.
+
+    Args:
+        idn (int or str): Number or some other unique identification string for this mount instance
+    """
+
+    def __init__(self, idn=0):
+        super().__init__(xml_path_completion("mounts/rethink_minimal_mount.xml"), idn=idn)
+
+    @property
+    def top_offset(self):
+        return np.array((0, 0, -0.062))
+
+    @property
+    def horizontal_radius(self):
+        # TODO: This may be inaccurate; just a placeholder for now
+        return 0.25
diff --git a/robosuite/models/mounts/rethink_mount.py b/robosuite/models/mounts/rethink_mount.py
new file mode 100644
index 0000000000..5b915e650d
--- /dev/null
+++ b/robosuite/models/mounts/rethink_mount.py
@@ -0,0 +1,27 @@
+"""
+Rethink's Generic Mount (Officially used on Sawyer).
+"""
+import numpy as np
+from robosuite.utils.mjcf_utils import xml_path_completion
+from robosuite.models.mounts.mount_model import MountModel
+
+
+class RethinkMount(MountModel):
+    """
+    Mount officially used for Rethink's Sawyer Robot. Includes a controller box and wheeled pedestal.
+
+    Args:
+        idn (int or str): Number or some other unique identification string for this mount instance
+    """
+
+    def __init__(self, idn=0):
+        super().__init__(xml_path_completion("mounts/rethink_mount.xml"), idn=idn)
+
+    @property
+    def top_offset(self):
+        return np.array((0, 0, -0.01))
+
+    @property
+    def horizontal_radius(self):
+        # TODO: This may be inaccurate; just a placeholder for now
+        return 0.25
diff --git a/robosuite/models/objects/generated_objects.py b/robosuite/models/objects/generated_objects.py
index e8a6677cd0..c66d2dbf97 100644
--- a/robosuite/models/objects/generated_objects.py
+++ b/robosuite/models/objects/generated_objects.py
@@ -107,7 +107,7 @@ def __init__(
         # Always call superclass first
         super().__init__(duplicate_collision_geoms=duplicate_collision_geoms)
 
-        self.name = name
+        self._name = name
 
         # Create bodies
         self.body_mapping = {"root": {"name": "main"}}
@@ -191,15 +191,6 @@ def in_box(self, position, object_position):
 
         return np.all(object_position > lb) and np.all(object_position < ub)
 
-    def get_bottom_offset(self):
-        return np.array([0., 0., -self.total_size[2]])
-
-    def get_top_offset(self):
-        return np.array([0., 0., self.total_size[2]])
-
-    def get_horizontal_radius(self):
-        return np.linalg.norm(self.total_size[:2], 2)
-
     def _get_object_subtree(self):
         # Initialize top-level body
         obj = new_body(**self.body_mapping["root"])
@@ -334,6 +325,18 @@ def _size_to_cartesian_half_lengths(geom_type, geom_size):
             return [geom_size[0], geom_size[0], geom_size[1]]
         raise Exception("unsupported geom type!")
 
+    @property
+    def bottom_offset(self):
+        return np.array([0., 0., -self.total_size[2]])
+
+    @property
+    def top_offset(self):
+        return np.array([0., 0., self.total_size[2]])
+
+    @property
+    def horizontal_radius(self):
+        return np.linalg.norm(self.total_size[:2], 2)
+
 
 class HammerObject(CompositeObject):
     """
@@ -389,7 +392,7 @@ def __init__(
         rgba_claw=None,
     ):
         # Set name
-        self.name = name
+        self._name = name
 
         # Set handle type and density ratio
         self.handle_shape = handle_shape
@@ -446,15 +449,6 @@ def __init__(
         self.append_material(metal)
         self.append_material(wood)
 
-    def get_bottom_offset(self):
-        return np.array([0, 0, -self.handle_radius])
-
-    def get_top_offset(self):
-        return np.array([0, 0, self.handle_radius])
-
-    def get_horizontal_radius(self):
-        return self.head_halfsize + 0.5 * self.handle_length
-
     def _get_geom_attrs(self):
         """
         Creates geom elements that will be passed to superclass CompositeObject constructor
@@ -606,6 +600,18 @@ def all_geoms(self):
         """
         return self.handle_geoms + self.head_geoms + self.face_geoms + self.claw_geoms
 
+    @property
+    def bottom_offset(self):
+        return np.array([0, 0, -self.handle_radius])
+
+    @property
+    def top_offset(self):
+        return np.array([0, 0, self.handle_radius])
+
+    @property
+    def horizontal_radius(self):
+        return self.head_halfsize + 0.5 * self.handle_length
+
 
 class PotWithHandlesObject(CompositeObject):
     """
@@ -657,7 +663,7 @@ def __init__(
         thickness=0.01,  # For body
     ):
         # Set name
-        self.name = name
+        self._name = name
 
         # Set object attributes
         self.body_half_size = np.array(body_half_size)
@@ -718,15 +724,6 @@ def __init__(
         self.append_material(greenwood)
         self.append_material(bluewood)
 
-    def get_bottom_offset(self):
-        return np.array([0, 0, -1 * self.body_half_size[2]])
-
-    def get_top_offset(self):
-        return np.array([0, 0, self.body_half_size[2]])
-
-    def get_horizontal_radius(self):
-        return np.sqrt(2) * (max(self.body_half_size) + self.handle_length)
-
     def _get_geom_attrs(self):
         """
         Creates geom elements that will be passed to superclass CompositeObject constructor
@@ -939,6 +936,18 @@ def important_sites(self):
         dic.update(self._important_sites)
         return dic
 
+    @property
+    def bottom_offset(self):
+        return np.array([0, 0, -1 * self.body_half_size[2]])
+
+    @property
+    def top_offset(self):
+        return np.array([0, 0, self.body_half_size[2]])
+
+    @property
+    def horizontal_radius(self):
+        return np.sqrt(2) * (max(self.body_half_size) + self.handle_length)
+
 
 class PrimitiveObject(MujocoGeneratedObject):
     """
@@ -1006,7 +1015,7 @@ def __init__(
         super().__init__(obj_type=obj_type, duplicate_collision_geoms=duplicate_collision_geoms)
 
         # Set name
-        self.name = name
+        self._name = name
 
         if size is None:
             size = [0.05, 0.05, 0.05]
@@ -1119,13 +1128,13 @@ def _get_object_subtree_(self, ob_type="box"):
     def _get_object_subtree(self):
         raise NotImplementedError
 
-    def get_bottom_offset(self):
+    def bottom_offset(self):
         raise NotImplementedError
 
-    def get_top_offset(self):
+    def top_offset(self):
         raise NotImplementedError
 
-    def get_horizontal_radius(self):
+    def horizontal_radius(self):
         raise NotImplementedError
 
 
@@ -1181,18 +1190,21 @@ def sanity_check(self):
         """
         assert len(self.size) == 3, "box size should have length 3"
 
-    def get_bottom_offset(self):
+    def _get_object_subtree(self):
+        return self._get_object_subtree_(ob_type="box")
+
+    @property
+    def bottom_offset(self):
         return np.array([0, 0, -1 * self.size[2]])
 
-    def get_top_offset(self):
+    @property
+    def top_offset(self):
         return np.array([0, 0, self.size[2]])
 
-    def get_horizontal_radius(self):
+    @property
+    def horizontal_radius(self):
         return np.linalg.norm(self.size[0:2], 2)
 
-    def _get_object_subtree(self):
-        return self._get_object_subtree_(ob_type="box")
-
 
 class CylinderObject(PrimitiveObject):
     """
@@ -1246,18 +1258,21 @@ def sanity_check(self):
         """
         assert len(self.size) == 2, "cylinder size should have length 2"
 
-    def get_bottom_offset(self):
+    def _get_object_subtree(self):
+        return self._get_object_subtree_(ob_type="cylinder")
+
+    @property
+    def bottom_offset(self):
         return np.array([0, 0, -1 * self.size[1]])
 
-    def get_top_offset(self):
+    @property
+    def top_offset(self):
         return np.array([0, 0, self.size[1]])
 
-    def get_horizontal_radius(self):
+    @property
+    def horizontal_radius(self):
         return self.size[0]
 
-    def _get_object_subtree(self):
-        return self._get_object_subtree_(ob_type="cylinder")
-
 
 class BallObject(PrimitiveObject):
     """
@@ -1311,18 +1326,21 @@ def sanity_check(self):
         """
         assert len(self.size) == 1, "ball size should have length 1"
 
-    def get_bottom_offset(self):
+    def _get_object_subtree(self):
+        return self._get_object_subtree_(ob_type="sphere")
+
+    @property
+    def bottom_offset(self):
         return np.array([0, 0, -1 * self.size[0]])
 
-    def get_top_offset(self):
+    @property
+    def top_offset(self):
         return np.array([0, 0, self.size[0]])
 
-    def get_horizontal_radius(self):
+    @property
+    def horizontal_radius(self):
         return self.size[0]
 
-    def _get_object_subtree(self):
-        return self._get_object_subtree_(ob_type="sphere")
-
 
 class CapsuleObject(PrimitiveObject):
     """
@@ -1376,14 +1394,17 @@ def sanity_check(self):
         """
         assert len(self.size) == 2, "capsule size should have length 2"
 
-    def get_bottom_offset(self):
+    def _get_object_subtree(self):
+        return self._get_object_subtree_(ob_type="capsule")
+
+    @property
+    def bottom_offset(self):
         return np.array([0, 0, -1 * (self.size[0] + self.size[1])])
 
-    def get_top_offset(self):
+    @property
+    def top_offset(self):
         return np.array([0, 0, (self.size[0] + self.size[1])])
 
-    def get_horizontal_radius(self):
+    @property
+    def horizontal_radius(self):
         return self.size[0]
-
-    def _get_object_subtree(self):
-        return self._get_object_subtree_(ob_type="capsule")
diff --git a/robosuite/models/objects/objects.py b/robosuite/models/objects/objects.py
index 7fd291e86b..b723c21f42 100644
--- a/robosuite/models/objects/objects.py
+++ b/robosuite/models/objects/objects.py
@@ -4,7 +4,7 @@
 
 from robosuite.models.base import MujocoXML, MujocoModel
 from robosuite.utils.mjcf_utils import string_to_array, array_to_string, CustomMaterial, OBJECT_COLLISION_COLOR,\
-                                       sort_elements, new_joint, add_prefix
+                                       sort_elements, new_joint, add_prefix, add_material
 
 
 # Dict mapping geom type string keywords to group number
@@ -48,7 +48,7 @@ def __init__(self, obj_type="all", duplicate_collision_geoms=True):
         self.duplicate_collision_geoms = duplicate_collision_geoms
 
         # Attributes that should be filled in within the subclass
-        self.name = None
+        self._name = None
         self._obj = None
 
         # Attributes that are auto-filled by _get_object_properties call
@@ -60,6 +60,10 @@ def __init__(self, obj_type="all", duplicate_collision_geoms=True):
         self._contact_geoms = None
         self._visual_geoms = None
 
+    @property
+    def name(self):
+        return self._name
+
     @property
     def naming_prefix(self):
         return "{}_".format(self.name)
@@ -84,6 +88,10 @@ def actuators(self):
     def sites(self):
         return self.correct_naming(self._sites)
 
+    @property
+    def sensors(self):
+        return self.correct_naming(self._sensors)
+
     @property
     def contact_geoms(self):
         return self.correct_naming(self._contact_geoms)
@@ -111,7 +119,7 @@ def important_sites(self):
         return {"obj": self.naming_prefix + "default_site"}
 
     @property
-    def sensors(self):
+    def important_sensors(self):
         """
         Returns:
             dict: (Default is no sensors; i.e.: empty dict)
@@ -128,36 +136,36 @@ def get_obj(self):
         assert self._obj is not None, "Object XML tree has not been generated yet!"
         return self._obj
 
-    def get_bottom_offset(self):
+    @property
+    def bottom_offset(self):
         """
-        Returns vector from object center to object bottom.
-        Helps us put objects on a surface.
+        Returns vector from model root body to model bottom.
+        Useful for, e.g. placing models on a surface.
         Must be defined by subclass.
 
         Returns:
-            np.array: (dx, dy, dz) vector, eg. np.array([0, 0, -2])
+            np.array: (dx, dy, dz) offset vector
         """
         raise NotImplementedError
 
-    def get_top_offset(self):
+    @property
+    def top_offset(self):
         """
-        Returns vector from object center to object top.
-        Helps us put other objects on this object.
+        Returns vector from model root body to model top.
+        Useful for, e.g. placing models on a surface.
         Must be defined by subclass.
 
         Returns:
-            np.array: (dx, dy, dz) vector, eg. np.array([0, 0, 2])
+            np.array: (dx, dy, dz) offset vector
         """
         raise NotImplementedError
 
-    def get_horizontal_radius(self):
+    @property
+    def horizontal_radius(self):
         """
-        Returns scalar
-        If object a,b has horizontal distance d
-        a.get_horizontal_radius() + b.get_horizontal_radius() < d
-        should mean that a, b has no contact
+        Returns maximum distance from model root body to any radial point of the model.
 
-        Helps us put objects programmatically without them flying away due to a huge initial contact force.
+        Helps us put models programmatically without them flying away due to a huge initial contact force.
         Must be defined by subclass.
 
         Returns:
@@ -196,9 +204,15 @@ def _get_object_properties(self):
         self._joints = [e.get("name") for e in _elements.get("joints", [])]
         self._actuators = [e.get("name") for e in _elements.get("actuators", [])]
         self._sites = [e.get("name") for e in _elements.get("sites", [])]
+        self._sensors = [e.get("name") for e in _elements.get("sensors", [])]
         self._contact_geoms = [e.get("name") for e in _elements.get("contact_geoms", [])]
         self._visual_geoms = [e.get("name") for e in _elements.get("visual_geoms", [])]
 
+        # Add default materials
+        tex_element, mat_element, _ = add_material(root=self.get_obj(), naming_prefix=self.naming_prefix)
+        self.asset.append(tex_element)
+        self.asset.append(mat_element)
+
         # Add prefix to all elements
         add_prefix(root=self.get_obj(), prefix=self.naming_prefix)
 
@@ -263,7 +277,7 @@ def __init__(self, fname, name, joints="default", obj_type="all", duplicate_coll
         self.duplicate_collision_geoms = duplicate_collision_geoms
 
         # Set name
-        self.name = name
+        self._name = name
 
         # joints for this object
         if joints == "default":
@@ -284,20 +298,6 @@ def __init__(self, fname, name, joints="default", obj_type="all", duplicate_coll
         # Extract the appropriate private attributes for this
         self._get_object_properties()
 
-    def get_bottom_offset(self):
-        bottom_site = self.worldbody.find("./body/site[@name='{}bottom_site']".format(self.naming_prefix))
-        return string_to_array(bottom_site.get("pos"))
-
-    def get_top_offset(self):
-        top_site = self.worldbody.find("./body/site[@name='{}top_site']".format(self.naming_prefix))
-        return string_to_array(top_site.get("pos"))
-
-    def get_horizontal_radius(self):
-        horizontal_radius_site = self.worldbody.find(
-            "./body/site[@name='{}horizontal_radius_site']".format(self.naming_prefix)
-        )
-        return string_to_array(horizontal_radius_site.get("pos"))[0]
-
     def _get_object_subtree(self):
         # Parse object
         obj = copy.deepcopy(self.worldbody.find("./body/body[@name='object']"))
@@ -392,6 +392,23 @@ def _get_geoms(self, root, _parent=None):
         # Return all found pairs
         return geom_pairs
 
+    @property
+    def bottom_offset(self):
+        bottom_site = self.worldbody.find("./body/site[@name='{}bottom_site']".format(self.naming_prefix))
+        return string_to_array(bottom_site.get("pos"))
+
+    @property
+    def top_offset(self):
+        top_site = self.worldbody.find("./body/site[@name='{}top_site']".format(self.naming_prefix))
+        return string_to_array(top_site.get("pos"))
+
+    @property
+    def horizontal_radius(self):
+        horizontal_radius_site = self.worldbody.find(
+            "./body/site[@name='{}horizontal_radius_site']".format(self.naming_prefix)
+        )
+        return string_to_array(horizontal_radius_site.get("pos"))[0]
+
 
 class MujocoGeneratedObject(MujocoObject):
 
@@ -450,11 +467,11 @@ def append_material(self, material):
     def _get_object_subtree(self):
         raise NotImplementedError
 
-    def get_bottom_offset(self):
+    def bottom_offset(self):
         raise NotImplementedError
 
-    def get_top_offset(self):
+    def top_offset(self):
         raise NotImplementedError
 
-    def get_horizontal_radius(self):
+    def horizontal_radius(self):
         raise NotImplementedError
diff --git a/robosuite/models/robots/manipulators/baxter_robot.py b/robosuite/models/robots/manipulators/baxter_robot.py
index 180d2c18c7..4783b9c800 100644
--- a/robosuite/models/robots/manipulators/baxter_robot.py
+++ b/robosuite/models/robots/manipulators/baxter_robot.py
@@ -9,11 +9,14 @@ class Baxter(ManipulatorModel):
 
     Args:
         idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
     """
 
-    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
-        super().__init__(xml_path_completion("robots/baxter/robot.xml"), idn=idn, bottom_offset=bottom_offset)
+    def __init__(self, idn=0):
+        super().__init__(xml_path_completion("robots/baxter/robot.xml"), idn=idn)
+
+    @property
+    def default_mount(self):
+        return "RethinkMinimalMount"
 
     @property
     def default_gripper(self):
@@ -62,6 +65,14 @@ def base_xpos_offset(self):
             "table": lambda table_length: (-0.26 - table_length / 2, 0, 0)
         }
 
+    @property
+    def top_offset(self):
+        return np.array((0, 0, 1.0))
+
+    @property
+    def _horizontal_radius(self):
+        return 0.5
+
     @property
     def arm_type(self):
         return "bimanual"
diff --git a/robosuite/models/robots/manipulators/iiwa_robot.py b/robosuite/models/robots/manipulators/iiwa_robot.py
index 782627dd83..60b2c5df4b 100644
--- a/robosuite/models/robots/manipulators/iiwa_robot.py
+++ b/robosuite/models/robots/manipulators/iiwa_robot.py
@@ -9,11 +9,14 @@ class IIWA(ManipulatorModel):
 
     Args:
         idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
     """
 
-    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
-        super().__init__(xml_path_completion("robots/iiwa/robot.xml"), idn=idn, bottom_offset=bottom_offset)
+    def __init__(self, idn=0):
+        super().__init__(xml_path_completion("robots/iiwa/robot.xml"), idn=idn)
+
+    @property
+    def default_mount(self):
+        return "RethinkMount"
 
     @property
     def default_gripper(self):
@@ -35,6 +38,14 @@ def base_xpos_offset(self):
             "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
         }
 
+    @property
+    def top_offset(self):
+        return np.array((0, 0, 1.0))
+
+    @property
+    def _horizontal_radius(self):
+        return 0.5
+
     @property
     def arm_type(self):
         return "single"
diff --git a/robosuite/models/robots/manipulators/jaco_robot.py b/robosuite/models/robots/manipulators/jaco_robot.py
index 42b5553f40..b641e06d7d 100644
--- a/robosuite/models/robots/manipulators/jaco_robot.py
+++ b/robosuite/models/robots/manipulators/jaco_robot.py
@@ -9,11 +9,14 @@ class Jaco(ManipulatorModel):
 
     Args:
         idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
     """
 
-    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
-        super().__init__(xml_path_completion("robots/jaco/robot.xml"), idn=idn, bottom_offset=bottom_offset)
+    def __init__(self, idn=0):
+        super().__init__(xml_path_completion("robots/jaco/robot.xml"), idn=idn)
+
+    @property
+    def default_mount(self):
+        return "RethinkMount"
 
     @property
     def default_gripper(self):
@@ -35,6 +38,14 @@ def base_xpos_offset(self):
             "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
         }
 
+    @property
+    def top_offset(self):
+        return np.array((0, 0, 1.0))
+
+    @property
+    def _horizontal_radius(self):
+        return 0.5
+
     @property
     def arm_type(self):
         return "single"
diff --git a/robosuite/models/robots/manipulators/kinova3_robot.py b/robosuite/models/robots/manipulators/kinova3_robot.py
index d0fed3d8ed..16fb1556b5 100644
--- a/robosuite/models/robots/manipulators/kinova3_robot.py
+++ b/robosuite/models/robots/manipulators/kinova3_robot.py
@@ -9,11 +9,14 @@ class Kinova3(ManipulatorModel):
 
     Args:
         idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
     """
 
-    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
-        super().__init__(xml_path_completion("robots/kinova3/robot.xml"), idn=idn, bottom_offset=bottom_offset)
+    def __init__(self, idn=0):
+        super().__init__(xml_path_completion("robots/kinova3/robot.xml"), idn=idn)
+
+    @property
+    def default_mount(self):
+        return "RethinkMount"
 
     @property
     def default_gripper(self):
@@ -35,6 +38,14 @@ def base_xpos_offset(self):
             "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
         }
 
+    @property
+    def top_offset(self):
+        return np.array((0, 0, 1.0))
+
+    @property
+    def _horizontal_radius(self):
+        return 0.5
+
     @property
     def arm_type(self):
         return "single"
diff --git a/robosuite/models/robots/manipulators/manipulator_model.py b/robosuite/models/robots/manipulators/manipulator_model.py
index eafcedf805..16caa143a4 100644
--- a/robosuite/models/robots/manipulators/manipulator_model.py
+++ b/robosuite/models/robots/manipulators/manipulator_model.py
@@ -12,12 +12,11 @@ class ManipulatorModel(RobotModel):
     Args:
         fname (str): Path to relevant xml file from which to create this robot instance
         idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array of float): x,y,z offset desired from initial coordinates
     """
 
-    def __init__(self, fname, idn=0, bottom_offset=(0, 0, 0)):
+    def __init__(self, fname, idn=0):
         # Always run super init first
-        super().__init__(fname, idn=idn, bottom_offset=bottom_offset)
+        super().__init__(fname, idn=idn)
 
         # key: gripper name and value: gripper model
         self.grippers = OrderedDict()
@@ -42,17 +41,16 @@ def __init__(self, fname, idn=0, bottom_offset=(0, 0, 0)):
 
     def add_gripper(self, gripper, arm_name=None):
         """
-        Mounts gripper to arm.
+        Mounts @gripper to arm.
 
         Throws error if robot already has a gripper or gripper type is incorrect.
 
         Args:
-            gripper (MujocoGripper): gripper MJCF model
+            gripper (GripperModel): gripper MJCF model
             arm_name (str): name of arm mount -- defaults to self.eef_name if not specified
 
         Raises:
             ValueError: [Multiple grippers]
-            XMLError: [No / invalid actuator]
         """
         if arm_name is None:
             arm_name = self.eef_name
@@ -71,19 +69,6 @@ def add_gripper(self, gripper, arm_name=None):
     #                    attributes pulled from their respective raw xml files               #
     # -------------------------------------------------------------------------------------- #
 
-    @property
-    def important_sites(self):
-        """
-        Returns:
-            dict:
-
-                :`'ee'`: Name of end effector site
-                :`'ee_x'`: Name of end effector site (x-axis)
-                :`'ee_y'`: Name of end effector site (y-axis)
-                :`'ee_z'`: Name of end effector site (z-axis)
-        """
-        return {site: self.naming_prefix + site for site in ("ee", "ee_x", "ee_y", "ee_z")}
-
     @property
     def eef_name(self):
         """
@@ -97,6 +82,19 @@ def eef_name(self):
     # -------------------------- Private Properties ---------------------------------------- #
     # -------------------------------------------------------------------------------------- #
 
+    @property
+    def _important_sites(self):
+        """
+        Returns:
+            dict:
+
+                :`'ee'`: Name of end effector site
+                :`'ee_x'`: Name of end effector site (x-axis)
+                :`'ee_y'`: Name of end effector site (y-axis)
+                :`'ee_z'`: Name of end effector site (z-axis)
+        """
+        return {site: site for site in ("ee", "ee_x", "ee_y", "ee_z")}
+
     @property
     def _eef_name(self):
         """
@@ -150,6 +148,18 @@ def base_xpos_offset(self):
         """
         raise NotImplementedError
 
+    @property
+    def top_offset(self):
+        raise NotImplementedError
+
+    @property
+    def _horizontal_radius(self):
+        raise NotImplementedError
+
+    @property
+    def default_mount(self):
+        raise NotImplementedError
+
     @property
     def default_controller_config(self):
         raise NotImplementedError
diff --git a/robosuite/models/robots/manipulators/panda_robot.py b/robosuite/models/robots/manipulators/panda_robot.py
index 091c0f46fc..df583706f4 100644
--- a/robosuite/models/robots/manipulators/panda_robot.py
+++ b/robosuite/models/robots/manipulators/panda_robot.py
@@ -9,15 +9,18 @@ class Panda(ManipulatorModel):
 
     Args:
         idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
     """
 
-    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
-        super().__init__(xml_path_completion("robots/panda/robot.xml"), idn=idn, bottom_offset=bottom_offset)
+    def __init__(self, idn=0):
+        super().__init__(xml_path_completion("robots/panda/robot.xml"), idn=idn)
 
         # Set joint damping
         self.set_joint_attribute(attrib="damping", values=np.array((0.1, 0.1, 0.1, 0.1, 0.1, 0.01, 0.01)))
 
+    @property
+    def default_mount(self):
+        return "RethinkMinimalMount"
+
     @property
     def default_gripper(self):
         return "PandaGripper"
@@ -38,6 +41,14 @@ def base_xpos_offset(self):
             "table": lambda table_length: (-0.16 - table_length / 2, 0, 0)
         }
 
+    @property
+    def top_offset(self):
+        return np.array((0, 0, 1.0))
+
+    @property
+    def _horizontal_radius(self):
+        return 0.5
+
     @property
     def arm_type(self):
         return "single"
diff --git a/robosuite/models/robots/manipulators/sawyer_robot.py b/robosuite/models/robots/manipulators/sawyer_robot.py
index 22c07327fc..dd77112958 100644
--- a/robosuite/models/robots/manipulators/sawyer_robot.py
+++ b/robosuite/models/robots/manipulators/sawyer_robot.py
@@ -9,11 +9,14 @@ class Sawyer(ManipulatorModel):
 
     Args:
         idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
     """
 
-    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
-        super().__init__(xml_path_completion("robots/sawyer/robot.xml"), idn=idn, bottom_offset=bottom_offset)
+    def __init__(self, idn=0):
+        super().__init__(xml_path_completion("robots/sawyer/robot.xml"), idn=idn)
+
+    @property
+    def default_mount(self):
+        return "RethinkMount"
 
     @property
     def default_gripper(self):
@@ -35,6 +38,14 @@ def base_xpos_offset(self):
             "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
         }
 
+    @property
+    def top_offset(self):
+        return np.array((0, 0, 1.0))
+
+    @property
+    def _horizontal_radius(self):
+        return 0.5
+
     @property
     def arm_type(self):
         return "single"
diff --git a/robosuite/models/robots/manipulators/ur5e_robot.py b/robosuite/models/robots/manipulators/ur5e_robot.py
index dc7dacb2de..c0f91358ee 100644
--- a/robosuite/models/robots/manipulators/ur5e_robot.py
+++ b/robosuite/models/robots/manipulators/ur5e_robot.py
@@ -9,11 +9,14 @@ class UR5e(ManipulatorModel):
 
     Args:
         idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array): (x,y,z) offset desired from initial coordinates
     """
 
-    def __init__(self, idn=0, bottom_offset=(0, 0, -0.913)):
-        super().__init__(xml_path_completion("robots/ur5e/robot.xml"), idn=idn, bottom_offset=bottom_offset)
+    def __init__(self, idn=0):
+        super().__init__(xml_path_completion("robots/ur5e/robot.xml"), idn=idn)
+
+    @property
+    def default_mount(self):
+        return "RethinkMount"
 
     @property
     def default_gripper(self):
@@ -35,6 +38,14 @@ def base_xpos_offset(self):
             "table": lambda table_length: (-0.16 - table_length/2, 0, 0)
         }
 
+    @property
+    def top_offset(self):
+        return np.array((0, 0, 1.0))
+
+    @property
+    def _horizontal_radius(self):
+        return 0.5
+
     @property
     def arm_type(self):
         return "single"
diff --git a/robosuite/models/robots/robot_model.py b/robosuite/models/robots/robot_model.py
index a94f1bf014..1353b27c2c 100644
--- a/robosuite/models/robots/robot_model.py
+++ b/robosuite/models/robots/robot_model.py
@@ -1,5 +1,5 @@
-from robosuite.models.base import MujocoXML, MujocoModel
-from robosuite.utils.mjcf_utils import array_to_string, ROBOT_COLLISION_COLOR, sort_elements
+from robosuite.models.base import MujocoXMLModel
+from robosuite.utils.mjcf_utils import array_to_string, ROBOT_COLLISION_COLOR, string_to_array
 from robosuite.utils.transform_utils import euler2mat, mat2quat
 
 import numpy as np
@@ -49,45 +49,20 @@ def __new__(meta, name, bases, class_dict):
         return cls
 
 
-class RobotModel(MujocoXML, MujocoModel, metaclass=RobotModelMeta):
+class RobotModel(MujocoXMLModel, metaclass=RobotModelMeta):
     """
     Base class for all robot models.
 
     Args:
         fname (str): Path to relevant xml file from which to create this robot instance
         idn (int or str): Number or some other unique identification string for this robot instance
-        bottom_offset (3-array of float): x,y,z offset desired from initial coordinates
     """
 
-    def __init__(self, fname, idn=0, bottom_offset=(0, 0, 0)):
-        super().__init__(fname)
+    def __init__(self, fname, idn=0):
+        super().__init__(fname, idn=idn)
 
-        # Set id and add prefixes to all body names to prevent naming clashes
-        self.idn = idn
-
-        # Set offset
-        self.bottom_offset = np.array(bottom_offset)
-
-        # Parse element tree to get all relevant bodies, joints, actuators, and geom groups
-        self._elements = sort_elements(root=self.root)
-        assert len(self._elements["root_body"]) == 1, "Invalid number of root bodies found for robot model. Expected 1," \
-                                                      "got {}".format(len(self._elements["root_body"]))
-        self._elements["root_body"] = self._elements["root_body"][0]
-        self._elements["bodies"] = [self._elements["root_body"]] + self._elements["bodies"] if \
-            "bodies" in self._elements else [self._elements["root_body"]]
-        self._root_body = self._elements["root_body"].get("name")
-        self._bodies = [e.get("name") for e in self._elements.get("bodies", [])]
-        self._joints = [e.get("name") for e in self._elements.get("joints", [])]
-        self._actuators = [e.get("name") for e in self._elements.get("actuators", [])]
-        self._sites = [e.get("name") for e in self._elements.get("sites", [])]
-        self._contact_geoms = [e.get("name") for e in self._elements.get("contact_geoms", [])]
-        self._visual_geoms = [e.get("name") for e in self._elements.get("visual_geoms", [])]
-
-        # Update all xml element prefixes
-        self.add_prefix(self.naming_prefix)
-
-        # Recolor all collision geoms appropriately
-        self.recolor_collision_geoms(ROBOT_COLLISION_COLOR)
+        # Define other variables that get filled later
+        self.mount = None
 
         # Get camera names for this robot
         self.cameras = self.get_element_names(self.worldbody, "camera")
@@ -99,8 +74,7 @@ def set_base_xpos(self, pos):
         Args:
             pos (3-array): (x,y,z) position to place robot base
         """
-        node = self.worldbody.find("./body[@name='{}']".format(self.root_body))
-        node.set("pos", array_to_string(pos - self.bottom_offset))
+        self._elements["root_body"].set("pos", array_to_string(pos - self.bottom_offset))
 
     def set_base_ori(self, rot):
         """
@@ -109,10 +83,9 @@ def set_base_ori(self, rot):
         Args:
             rot (3-array): (r,p,y) euler angles specifying the orientation for the robot base
         """
-        node = self.worldbody.find("./body[@name='{}']".format(self.root_body))
         # xml quat assumes w,x,y,z so we need to convert to this format from outputted x,y,z,w format from fcn
         rot = mat2quat(euler2mat(rot))[[3,0,1,2]]
-        node.set("quat", array_to_string(rot))
+        self._elements["root_body"].set("quat", array_to_string(rot))
 
     def set_joint_attribute(self, attrib, values):
         """
@@ -130,77 +103,92 @@ def set_joint_attribute(self, attrib, values):
         for i, joint in enumerate(self._elements["joints"]):
             joint.set(attrib, array_to_string(np.array([values[i]])))
 
-    # -------------------------------------------------------------------------------------- #
-    # Public Properties: In general, these are the name-adjusted versions from the private   #
-    #                    attributes pulled from their respective raw xml files               #
-    # -------------------------------------------------------------------------------------- #
+    def add_mount(self, mount):
+        """
+        Mounts @mount to arm.
 
-    @property
-    def naming_prefix(self):
-        return "robot{}_".format(self.idn)
+        Throws error if robot already has a mount or if mount type is incorrect.
 
-    @property
-    def root_body(self):
-        return self.correct_naming(self._root_body)
+        Args:
+            mount (MountModel): mount MJCF model
 
-    @property
-    def bodies(self):
-        return self.correct_naming(self._bodies)
+        Raises:
+            ValueError: [mount already added]
+        """
+        if self.mount is not None:
+            raise ValueError("Mount already added for this robot!")
 
-    @property
-    def joints(self):
-        return self.correct_naming(self._joints)
+        # First adjust mount's base position
+        offset = self.base_offset - mount.top_offset
+        mount._elements["root_body"].set("pos", array_to_string(offset))
 
-    @property
-    def actuators(self):
-        return self.correct_naming(self._actuators)
+        self.merge(mount, merge_body=self.root_body)
 
-    @property
-    def sites(self):
-        return self.correct_naming(self._sites)
+        self.mount = mount
 
-    @property
-    def contact_geoms(self):
-        return self.correct_naming(self._contact_geoms)
+        # Update cameras in this model
+        self.cameras = self.get_element_names(self.worldbody, "camera")
 
-    @property
-    def visual_geoms(self):
-        return self.correct_naming(self._visual_geoms)
+    # -------------------------------------------------------------------------------------- #
+    # Public Properties: In general, these are the name-adjusted versions from the private   #
+    #                    attributes pulled from their respective raw xml files               #
+    # -------------------------------------------------------------------------------------- #
 
     @property
-    def important_geoms(self):
-        return self.correct_naming(self._important_geoms)
+    def naming_prefix(self):
+        return "robot{}_".format(self.idn)
 
     @property
-    def important_sites(self):
+    def dof(self):
         """
+        Defines the number of DOF of the robot
+
         Returns:
-            dict: (Default is no important sites; i.e.: empty dict)
+            int: robot DOF
         """
-        return {}
+        return len(self._joints)
 
     @property
-    def sensors(self):
+    def bottom_offset(self):
         """
+        Returns vector from model root body to model bottom.
+        By default, this is equivalent to this robot's mount's (bottom_offset - top_offset) + this robot's base offset
+
         Returns:
-            dict: (Default is no sensors; i.e.: empty dict)
+            np.array: (dx, dy, dz) offset vector
         """
-        return {}
+        return (self.mount.bottom_offset - self.mount.top_offset) + self._base_offset if \
+            self.mount is not None else self._base_offset
 
     @property
-    def dof(self):
+    def horizontal_radius(self):
         """
-        Defines the number of DOF of the robot
+        Returns maximum distance from model root body to any radial point of the model. This method takes into
+        account the mount horizontal radius as well
 
         Returns:
-            int: robot DOF
+            float: radius
         """
-        return len(self._joints)
+        return max(self._horizontal_radius, self.mount.horizontal_radius)
+
+    @property
+    def contact_geom_rgba(self):
+        return ROBOT_COLLISION_COLOR
 
     # -------------------------------------------------------------------------------------- #
     # All subclasses must implement the following properties                                 #
     # -------------------------------------------------------------------------------------- #
 
+    @property
+    def default_mount(self):
+        """
+        Defines the default mount type for this robot that gets added to root body (base)
+
+        Returns:
+            str: Default mount name to add to this robot
+        """
+        raise NotImplementedError
+
     @property
     def default_controller_config(self):
         """
@@ -234,6 +222,39 @@ def base_xpos_offset(self):
         """
         raise NotImplementedError
 
+    @property
+    def top_offset(self):
+        """
+        Returns vector from model root body to model top.
+        Useful for, e.g. placing models on a surface.
+        Must be defined by subclass.
+
+        Returns:
+            np.array: (dx, dy, dz) offset vector
+        """
+        raise NotImplementedError
+
+    @property
+    def _horizontal_radius(self):
+        """
+        Returns maximum distance from model root body to any radial point of the model.
+
+        Helps us put models programmatically without them flying away due to a huge initial contact force.
+        Must be defined by subclass.
+
+        Returns:
+            float: radius
+        """
+        raise NotImplementedError
+
+    @property
+    def _important_sites(self):
+        """
+        Returns:
+            dict: (Default is no important sites; i.e.: empty dict)
+        """
+        return {}
+
     @property
     def _important_geoms(self):
         """
@@ -241,3 +262,11 @@ def _important_geoms(self):
              dict: (Default is no important geoms; i.e.: empty dict)
         """
         return {}
+
+    @property
+    def _important_sensors(self):
+        """
+        Returns:
+            dict: (Default is no sensors; i.e.: empty dict)
+        """
+        return {}
diff --git a/robosuite/models/tasks/placement_sampler.py b/robosuite/models/tasks/placement_sampler.py
index 3c1419c390..8b582bbd7e 100644
--- a/robosuite/models/tasks/placement_sampler.py
+++ b/robosuite/models/tasks/placement_sampler.py
@@ -239,7 +239,7 @@ def sample(self, fixtures=None, reference=None, on_top=True):
             ref_pos, _, ref_obj = placed_objects[reference]
             base_offset = np.array(ref_pos)
             if on_top:
-                base_offset += np.array((0, 0, ref_obj.get_top_offset()[-1]))
+                base_offset += np.array((0, 0, ref_obj.top_offset[-1]))
         else:
             base_offset = np.array(reference)
             assert base_offset.shape[0] == 3, "Invalid reference received. Should be (x,y,z) 3-tuple, but got: {}"\
@@ -250,8 +250,8 @@ def sample(self, fixtures=None, reference=None, on_top=True):
             # First make sure the currently sampled object hasn't already been sampled
             assert obj.name not in placed_objects, "Object '{}' has already been sampled!".format(obj.name)
 
-            horizontal_radius = obj.get_horizontal_radius()
-            bottom_offset = obj.get_bottom_offset()
+            horizontal_radius = obj.horizontal_radius
+            bottom_offset = obj.bottom_offset
             success = False
             for i in range(5000):  # 5000 retries
                 object_x = self._sample_x(horizontal_radius) + base_offset[0]
@@ -266,9 +266,9 @@ def sample(self, fixtures=None, reference=None, on_top=True):
                     for (x, y, z), _, other_obj in placed_objects.values():
                         if (
                             np.linalg.norm((object_x - x, object_y - y))
-                            <= other_obj.get_horizontal_radius() + horizontal_radius
+                            <= other_obj.horizontal_radius + horizontal_radius
                         ) and (
-                            object_z - z <= other_obj.get_top_offset()[-1] - bottom_offset[-1]
+                            object_z - z <= other_obj.top_offset[-1] - bottom_offset[-1]
                         ):
                             location_valid = False
                             break
diff --git a/robosuite/robots/bimanual.py b/robosuite/robots/bimanual.py
index 7b6d1ca4d3..0e0d74f601 100644
--- a/robosuite/robots/bimanual.py
+++ b/robosuite/robots/bimanual.py
@@ -43,6 +43,10 @@ class Bimanual(Manipulator):
 
             :Note: Specifying None will automatically create the required dict with "magnitude" set to 0.0
 
+        mount_type (str): type of mount, used to instantiate mount models from mount factory.
+            Default is "default", which is the default mount associated with this robot's corresponding model.
+            None results in no mount, and any other (valid) model overrides the default mount.
+
         gripper_type (str or list of str --> dict): type of gripper, used to instantiate
             gripper models from gripper factory. Default is "default", which is the default gripper associated
             within the 'robot' specification. None removes the gripper, and any other (valid) model overrides the
@@ -71,6 +75,7 @@ def __init__(
         controller_config=None,
         initial_qpos=None,
         initialization_noise=None,
+        mount_type="default",
         gripper_type="default",
         gripper_visualization=False,
         robot_visualization=False,
@@ -104,6 +109,7 @@ def __init__(
             idn=idn,
             initial_qpos=initial_qpos,
             initialization_noise=initialization_noise,
+            mount_type=mount_type,
             robot_visualization=robot_visualization,
             control_freq=control_freq,
         )
@@ -448,7 +454,7 @@ def ee_force(self):
         """
         vals = {}
         for arm in self.arms:
-            vals[arm] = self.get_sensor_measurement(self.gripper[arm].sensors["force_ee"])
+            vals[arm] = self.get_sensor_measurement(self.gripper[arm].important_sensors["force_ee"])
         return vals
 
     @property
@@ -459,7 +465,7 @@ def ee_torque(self):
         """
         vals = {}
         for arm in self.arms:
-            vals[arm] = self.get_sensor_measurement(self.gripper[arm].sensors["torque_ee"])
+            vals[arm] = self.get_sensor_measurement(self.gripper[arm].important_sensors["torque_ee"])
         return vals
 
 
diff --git a/robosuite/robots/robot.py b/robosuite/robots/robot.py
index 0de85bd16b..cada77830c 100644
--- a/robosuite/robots/robot.py
+++ b/robosuite/robots/robot.py
@@ -2,6 +2,7 @@
 import numpy as np
 
 import robosuite.utils.transform_utils as T
+from robosuite.models.mounts import mount_factory
 from robosuite.utils.control_utils import DeltaBuffer
 
 from mujoco_py import MjSim
@@ -32,6 +33,10 @@ class Robot(object):
 
             :Note: Specifying None will automatically create the required dict with "magnitude" set to 0.0
 
+        mount_type (str): type of mount, used to instantiate mount models from mount factory.
+            Default is "default", which is the default mount associated with this robot's corresponding model.
+            None results in no mount, and any other (valid) model overrides the default mount.
+
         robot_visualization (bool): True if using robot visualization. Useful for teleoperation.
 
         control_freq (float): how many control signals to receive
@@ -45,6 +50,7 @@ def __init__(
         idn=0,
         initial_qpos=None,
         initialization_noise=None,
+        mount_type="default",
         robot_visualization=False,
         control_freq=10,
     ):
@@ -55,6 +61,7 @@ def __init__(
         self.robot_model = None                             # object holding robot model-specific info
         self.robot_visualization = robot_visualization      # Whether to visualize robot model sites or not
         self.control_freq = control_freq                    # controller Hz
+        self.mount_type = mount_type                        # Type of mount to use
 
         # Scaling of Gaussian initial noise applied to robot joints
         self.initialization_noise = initialization_noise
@@ -91,6 +98,12 @@ def load_model(self):
         """
         self.robot_model = create_robot(self.name, idn=self.idn)
 
+        # Add mount if specified
+        if self.mount_type == "default":
+            self.robot_model.add_mount(mount=mount_factory(self.robot_model.default_mount, idn=self.idn))
+        else:
+            self.robot_model.add_mount(mount=mount_factory(self.mount_type, idn=self.idn))
+
         # Use default from robot model for initial joint positions if not specified
         if self.init_qpos is None:
             self.init_qpos = self.robot_model.init_qpos
diff --git a/robosuite/robots/single_arm.py b/robosuite/robots/single_arm.py
index eef7f52d31..566405c61a 100644
--- a/robosuite/robots/single_arm.py
+++ b/robosuite/robots/single_arm.py
@@ -40,6 +40,10 @@ class SingleArm(Manipulator):
 
             :Note: Specifying None will automatically create the required dict with "magnitude" set to 0.0
 
+        mount_type (str): type of mount, used to instantiate mount models from mount factory.
+            Default is "default", which is the default mount associated with this robot's corresponding model.
+            None results in no mount, and any other (valid) model overrides the default mount.
+
         gripper_type (str): type of gripper, used to instantiate
             gripper models from gripper factory. Default is "default", which is the default gripper associated
             within the 'robot' specification. None removes the gripper, and any other (valid) model overrides the
@@ -61,6 +65,7 @@ def __init__(
         controller_config=None,
         initial_qpos=None,
         initialization_noise=None,
+        mount_type="default",
         gripper_type="default",
         gripper_visualization=False,
         robot_visualization=False,
@@ -94,6 +99,7 @@ def __init__(
             idn=idn,
             initial_qpos=initial_qpos,
             initialization_noise=initialization_noise,
+            mount_type=mount_type,
             robot_visualization=robot_visualization,
             control_freq=control_freq,
         )
@@ -362,14 +368,14 @@ def ee_force(self):
         Returns:
             np.array: force applied at the force sensor at the robot arm's eef
         """
-        return self.get_sensor_measurement(self.gripper.sensors["force_ee"])
+        return self.get_sensor_measurement(self.gripper.important_sensors["force_ee"])
 
     @property
     def ee_torque(self):
         """
         Returns torque applied at the torque sensor at the robot arm's eef
         """
-        return self.get_sensor_measurement(self.gripper.sensors["torque_ee"])
+        return self.get_sensor_measurement(self.gripper.important_sensors["torque_ee"])
 
     @property
     def _hand_pose(self):
diff --git a/robosuite/utils/mjcf_utils.py b/robosuite/utils/mjcf_utils.py
index 34f71904c6..72194c68a1 100644
--- a/robosuite/utils/mjcf_utils.py
+++ b/robosuite/utils/mjcf_utils.py
@@ -6,6 +6,7 @@
 from collections.abc import Iterable
 from PIL import Image
 from pathlib import Path
+from copy import deepcopy
 
 import robosuite
 
@@ -14,9 +15,47 @@
 BLUE = [0, 0, 1, 1]
 CYAN = [0, 1, 1, 1]
 ROBOT_COLLISION_COLOR = [0, 0.5, 0, 1]
+MOUNT_COLLISION_COLOR = [0.5, 0.5, 0, 1]
 GRIPPER_COLLISION_COLOR = [0, 0, 0.5, 1]
 OBJECT_COLLISION_COLOR = [0.5, 0, 0, 1]
 ENVIRONMENT_COLLISION_COLOR = [0.5, 0.5, 0, 1]
+SENSOR_TYPES = {
+    "touch",
+    "accelerometer",
+    "velocimeter",
+    "gyro",
+    "force",
+    "torque",
+    "magnetometer",
+    "rangefinder",
+    "jointpos",
+    "jointvel",
+    "tendonpos",
+    "tendonvel",
+    "actuatorpos",
+    "actuatorvel",
+    "actuatorfrc",
+    "ballangvel",
+    "jointlimitpos",
+    "jointlimitvel",
+    "jointlimitfrc",
+    "tendonlimitpos",
+    "tendonlimitvel",
+    "tendonlimitfrc",
+    "framepos",
+    "framequat",
+    "framexaxis",
+    "frameyaxis",
+    "framezaxis",
+    "framelinvel",
+    "frameangvel",
+    "framelinacc",
+    "frameangacc",
+    "subtreecom",
+    "subtreelinvel",
+    "subtreeangmom",
+    "user",
+}
 
 TEXTURES = {
     "WoodRed": "red-wood.png",
@@ -51,6 +90,94 @@
 ALL_TEXTURES = TEXTURES.keys()
 
 
+class CustomMaterial(object):
+    """
+    Simple class to instantiate the necessary parameters to define an appropriate texture / material combo
+
+    Instantiates a nested dict holding necessary components for procedurally generating a texture / material combo
+
+    Please see http://www.mujoco.org/book/XMLreference.html#asset for specific details on
+        attributes expected for Mujoco texture / material tags, respectively
+
+    Note that the values in @tex_attrib and @mat_attrib can be in string or array / numerical form.
+
+    Args:
+        texture (None or str or 4-array): Name of texture file to be imported. If a string, should be part of
+            ALL_TEXTURES. If texture is a 4-array, then this argument will be interpreted as an rgba tuple value and
+            a template png will be procedurally generated during object instantiation, with any additional
+            texture / material attributes specified. If None, no file will be linked and no rgba value will be set
+            Note, if specified, the RGBA values are expected to be floats between 0 and 1
+
+        tex_name (str): Name to reference the imported texture
+
+        mat_name (str): Name to reference the imported material
+
+        tex_attrib (dict): Any other optional mujoco texture specifications.
+
+        mat_attrib (dict): Any other optional mujoco material specifications.
+
+    Raises:
+        AssertionError: [Invalid texture]
+    """
+
+    def __init__(
+            self,
+            texture,
+            tex_name,
+            mat_name,
+            tex_attrib=None,
+            mat_attrib=None,
+    ):
+        # Check if the desired texture is an rgba value
+        if type(texture) is str:
+            default = False
+            # Verify that requested texture is valid
+            assert texture in ALL_TEXTURES, "Error: Requested invalid texture. Got {}. Valid options are:\n{}".format(
+                texture, ALL_TEXTURES)
+        else:
+            default = True
+            # If specified, this is an rgba value and a default texture is desired; make sure length of rgba array is 4
+            if texture is not None:
+                assert len(texture) == 4, "Error: Requested default texture. Got array of length {}." \
+                                          "Expected rgba array of length 4.".format(len(texture))
+
+        # Setup the texture and material attributes
+        self.tex_attrib = {} if tex_attrib is None else tex_attrib.copy()
+        self.mat_attrib = {} if mat_attrib is None else mat_attrib.copy()
+
+        # Add in name values
+        self.name = mat_name
+        self.tex_attrib["name"] = tex_name
+        self.mat_attrib["name"] = mat_name
+        self.mat_attrib["texture"] = tex_name
+
+        # Loop through all attributes and convert all non-string values into strings
+        for attrib in (self.tex_attrib, self.mat_attrib):
+            for k, v in attrib.items():
+                if type(v) is not str:
+                    if isinstance(v, Iterable):
+                        attrib[k] = array_to_string(v)
+                    else:
+                        attrib[k] = str(v)
+
+        # Handle default and non-default cases separately for linking texture patch file locations
+        if not default:
+            # Add in the filepath to texture patch
+            self.tex_attrib["file"] = xml_path_completion("textures/" + TEXTURES[texture])
+        else:
+            if texture is not None:
+                # Create a texture patch
+                tex = Image.new('RGBA', (100, 100), tuple((np.array(texture)*255).astype('int')))
+                # Create temp directory if it does not exist
+                save_dir = "/tmp/robosuite_temp_tex"
+                Path(save_dir).mkdir(parents=True, exist_ok=True)
+                # Save this texture patch to the temp directory on disk (MacOS / Linux)
+                fpath = save_dir + "/{}.png".format(tex_name)
+                tex.save(fpath, "PNG")
+                # Link this texture file to the default texture dict
+                self.tex_attrib["file"] = fpath
+
+
 def xml_path_completion(xml_path):
     """
     Takes in a local xml path and returns a full path.
@@ -399,8 +526,7 @@ def add_prefix(
     Find all element(s) matching the requested @tag, and appends @prefix to all @attributes if they exist.
 
     Args:
-        root (ET.Element): Root of the xml element tree to start recursively searching through. Default is None
-            (use automatic top-level root in this XML object)
+        root (ET.Element): Root of the xml element tree to start recursively searching through.
         prefix (str): Prefix to add to all specified attributes
         tags (str or list of str or set): Tag(s) to search for in this ElementTree.
         attribs (str or ): Element attribute(s) to append prefix to.
@@ -421,6 +547,56 @@ def add_prefix(
         add_prefix(root=r, prefix=prefix, tags=tags, attribs=attribs)
 
 
+def add_material(root, naming_prefix="", custom_material=None):
+    """
+    Iterates through all element(s) in @root recursively and adds a material / texture to all visual geoms that don't
+    already have a material specified.
+
+    Args:
+        root (ET.Element): Root of the xml element tree to start recursively searching through.
+        naming_prefix (str): Adds this prefix to all material and texture names
+        custom_material (None or CustomMaterial): If specified, will add this material to all visual geoms.
+            Else, will add a default "no-change" material.
+
+    Returns:
+        3-tuple: (ET.Element, ET.Element, CustomMaterial) (tex_element, mat_element, material) corresponding to the
+            added material
+    """
+    # First, make sure material is specified
+    if custom_material is None:
+        custom_material = CustomMaterial(
+            texture=None,
+            tex_name="default_tex",
+            mat_name="default_mat",
+            tex_attrib={
+                "type": "cube",
+                "builtin": "flat",
+                "width": 100,
+                "height": 100,
+                "rgb1": np.ones(3),
+                "rgb2": np.ones(3),
+            },
+        )
+    # Else, check to make sure the custom material begins with the specified prefix
+    if not custom_material.name.startswith(naming_prefix):
+        custom_material.name = naming_prefix + custom_material.name
+        custom_material.tex_attrib["name"] = naming_prefix + custom_material.tex_attrib["name"]
+        custom_material.mat_attrib["name"] = naming_prefix + custom_material.mat_attrib["name"]
+        custom_material.mat_attrib["texture"] = naming_prefix + custom_material.mat_attrib["texture"]
+
+    # Check the current element for matching conditions
+    if root.tag == "geom" and root.get("group", None) == "1" and root.get("material", None) is None:
+        # Add a new material attribute to this geom
+        root.set("material", custom_material.name)
+    # Continue recursively searching through the element tree
+    for r in root:
+        add_material(root=r, naming_prefix=naming_prefix, custom_material=custom_material)
+    # Lastly, return the new texture and material elements
+    tex_element = new_element(tag="texture", **custom_material.tex_attrib)
+    mat_element = new_element(tag="material", **custom_material.mat_attrib)
+    return tex_element, mat_element, custom_material
+
+
 def _element_filter(element, parent):
     """
     Default element filter to be used in sort_elements. This will filter for the following groups:
@@ -430,6 +606,7 @@ def _element_filter(element, parent):
         :`'joints'`: Any joint elements
         :`'actuators'`: Any actuator elements
         :`'sites'`: Any site elements
+        :`'sensors'`: Any sensor elements
         :`'contact_geoms'`: Any geoms used for collision (as specified by group 0 (default group) geoms)
         :`'visual_geoms'`: Any geoms used for visual rendering (as specified by group 1 geoms)
 
@@ -454,6 +631,8 @@ def _element_filter(element, parent):
         return "bodies"
     elif element.tag == "site":
         return "sites"
+    elif element.tag in SENSOR_TYPES:
+        return "sensors"
     elif element.tag == "geom":
         # Only get collision and visual geoms (group 0 / None, or 1, respectively)
         group = element.get("group")
@@ -464,7 +643,7 @@ def _element_filter(element, parent):
         return None
 
 
-def sort_elements(root, parent=None, element_filter=None,_elements_dict=None):
+def sort_elements(root, parent=None, element_filter=None, _elements_dict=None):
     """
     Utility method to iteratively sort all elements based on @tags. This XML ElementTree will be parsed such that
     all elements with the same key as returned by @element_filter will be grouped as a list entry in the returned
@@ -570,88 +749,3 @@ def save_sim_model(sim, fname):
     """
     with open(fname, "w") as f:
         sim.save(file=f, format="xml")
-
-
-class CustomMaterial(object):
-    """
-    Simple class to instantiate the necessary parameters to define an appropriate texture / material combo
-
-    Instantiates a nested dict holding necessary components for procedurally generating a texture / material combo
-
-    Please see http://www.mujoco.org/book/XMLreference.html#asset for specific details on
-        attributes expected for Mujoco texture / material tags, respectively
-
-    Note that the values in @tex_attrib and @mat_attrib can be in string or array / numerical form.
-
-    Args:
-        texture (str or 4-array): Name of texture file to be imported. If a string, should be part of ALL_TEXTURES
-            If texture is a 4-array, then this argument will be interpreted as an rgba tuple value and a template
-            png will be procedurally generated during object instantiation, with any additional
-            texture / material attributes specified.
-            Note the RGBA values are expected to be floats between 0 and 1
-
-        tex_name (str): Name to reference the imported texture
-
-        mat_name (str): Name to reference the imported material
-
-        tex_attrib (dict): Any other optional mujoco texture specifications.
-
-        mat_attrib (dict): Any other optional mujoco material specifications.
-
-    Raises:
-        AssertionError: [Invalid texture]
-    """
-
-    def __init__(
-            self,
-            texture,
-            tex_name,
-            mat_name,
-            tex_attrib=None,
-            mat_attrib=None,
-    ):
-        # Check if the desired texture is an rgba value
-        if type(texture) is str:
-            default = False
-            # Verify that requested texture is valid
-            assert texture in ALL_TEXTURES, "Error: Requested invalid texture. Got {}. Valid options are:\n{}".format(
-                texture, ALL_TEXTURES)
-        else:
-            default = True
-            # This is an rgba value and a default texture is desired; make sure length of rgba array is 4
-            assert len(texture) == 4, "Error: Requested default texture. Got array of length {}. Expected rgba array " \
-                                      "of length 4.".format(len(texture))
-
-        # Setup the texture and material attributes
-        self.tex_attrib = {} if tex_attrib is None else tex_attrib.copy()
-        self.mat_attrib = {} if mat_attrib is None else mat_attrib.copy()
-
-        # Add in name values
-        self.tex_attrib["name"] = tex_name
-        self.mat_attrib["name"] = mat_name
-        self.mat_attrib["texture"] = tex_name
-
-        # Loop through all attributes and convert all non-string values into strings
-        for attrib in (self.tex_attrib, self.mat_attrib):
-            for k, v in attrib.items():
-                if type(v) is not str:
-                    if isinstance(v, Iterable):
-                        attrib[k] = array_to_string(v)
-                    else:
-                        attrib[k] = str(v)
-
-        # Handle default and non-default cases separately for linking texture patch file locations
-        if not default:
-            # Add in the filepath to texture patch
-            self.tex_attrib["file"] = xml_path_completion("textures/" + TEXTURES[texture])
-        else:
-            # Create a texture patch
-            tex = Image.new('RGBA', (100, 100), tuple((np.array(texture)*255).astype('int')))
-            # Create temp directory if it does not exist
-            save_dir = "/tmp/robosuite_temp_tex"
-            Path(save_dir).mkdir(parents=True, exist_ok=True)
-            # Save this texture patch to the temp directory on disk (MacOS / Linux)
-            fpath = save_dir + "/{}.png".format(tex_name)
-            tex.save(fpath, "PNG")
-            # Link this texture file to the default texture dict
-            self.tex_attrib["file"] = fpath

From 67a9f8c399b4a6c5355118015efb5146b90cbc2e Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Fri, 4 Dec 2020 01:10:43 -0800
Subject: [PATCH 16/46] fix jaco material, registered envs

---
 robosuite/environments/base.py                            | 2 +-
 .../models/assets/grippers/jaco_three_finger_gripper.xml  | 8 +++++---
 robosuite/models/assets/robots/jaco/robot.xml             | 6 ++++--
 3 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/robosuite/environments/base.py b/robosuite/environments/base.py
index 3679ceb32e..d89c027715 100644
--- a/robosuite/environments/base.py
+++ b/robosuite/environments/base.py
@@ -47,7 +47,7 @@ def __new__(meta, name, bases, class_dict):
         cls = super().__new__(meta, name, bases, class_dict)
 
         # List all environments that should not be registered here.
-        _unregistered_envs = ["MujocoEnv", "RobotEnv", "ManipulationEnv"]
+        _unregistered_envs = ["MujocoEnv", "RobotEnv", "ManipulationEnv", "SingleArmEnv", "TwoArmEnv"]
 
         if cls.__name__ not in _unregistered_envs:
             register_env(cls)
diff --git a/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml b/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml
index d7628770db..26b745712e 100644
--- a/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml
+++ b/robosuite/models/assets/grippers/jaco_three_finger_gripper.xml
@@ -4,9 +4,11 @@
         <mesh name="finger_proximal" file="meshes/jaco_three_finger_gripper/finger_proximal.stl" />
         <mesh name="finger_distal" file="meshes/jaco_three_finger_gripper/finger_distal.stl" />
         <mesh name="ring_small" file="meshes/jaco_three_finger_gripper/ring_small.stl" />
-        <!-- Materials for hand -->
-        <material name="carbon_hand" specular="1" shininess="1" reflectance="1" rgba="0.05 0.05 0.05 1" emission="1" />
-        <material name="grey_plastic_hand" specular="0.5" shininess="0" reflectance="0" rgba="0.12 0.14 0.14 1" emission="1" />
+        <!-- Materials for robot -->
+        <texture type="cube" name="carbon_tex" builtin="flat" width="100" height="100" rgb1="1 1 1" rgb2="1 1 1"/>
+        <texture type="cube" name="grey_plastic_tex" builtin="flat" width="100" height="100" rgb1="1 1 1" rgb2="1 1 1"/>
+        <material name="carbon_hand" texture="carbon_tex" rgba="0.05 0.05 0.05 1" />
+        <material name="grey_plastic_hand" texture="grey_plastic_tex" rgba="0.88 0.86 0.86 1" />
     </asset>
 
 
diff --git a/robosuite/models/assets/robots/jaco/robot.xml b/robosuite/models/assets/robots/jaco/robot.xml
index 724103e19b..42d0ab7aaf 100644
--- a/robosuite/models/assets/robots/jaco/robot.xml
+++ b/robosuite/models/assets/robots/jaco/robot.xml
@@ -22,8 +22,10 @@
         <mesh name="wrist_spherical_2" file="meshes/wrist_spherical_2.stl" />
 
         <!-- Materials for robot -->
-        <material name="carbon_jaco" specular="1" shininess="1" reflectance="1" rgba="0.05 0.05 0.05 1" emission="1" />
-        <material name="grey_plastic_jaco" specular="0.5" shininess="0" reflectance="0" rgba="0.12 0.14 0.14 1" emission="1" />
+        <texture type="cube" name="carbon_tex" builtin="flat" width="100" height="100" rgb1="1 1 1" rgb2="1 1 1"/>
+        <texture type="cube" name="grey_plastic_tex" builtin="flat" width="100" height="100" rgb1="1 1 1" rgb2="1 1 1"/>
+        <material name="carbon_jaco" texture="carbon_tex" rgba="0.05 0.05 0.05 1" />
+        <material name="grey_plastic_jaco" texture="grey_plastic_tex" rgba="0.88 0.86 0.86 1" />
     </asset>
     <worldbody>
         <body name="base" pos="0 0 0">

From 7eb0d5ee5cf0d6cb738a4feebaf292c299c6ee38 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Fri, 4 Dec 2020 22:30:18 -0800
Subject: [PATCH 17/46] add macros, name to samplers, standardize adding
 prefix, allow common materials for DR, verify demo scripts work, fix small
 bugs

---
 robosuite/demos/demo_domain_randomization.py  |   5 +-
 robosuite/demos/demo_gripper_interaction.py   |  33 ++--
 robosuite/environments/manipulation/door.py   |   4 +-
 robosuite/environments/manipulation/lift.py   |   4 +-
 .../environments/manipulation/nut_assembly.py |  13 +-
 .../environments/manipulation/pick_place.py   |   7 +-
 robosuite/environments/manipulation/stack.py  |   4 +-
 .../manipulation/two_arm_handover.py          |   4 +-
 .../environments/manipulation/two_arm_lift.py |   4 +-
 .../manipulation/two_arm_peg_in_hole.py       |   4 +-
 robosuite/environments/manipulation/wipe.py   |   2 +-
 robosuite/models/arenas/arena.py              |  15 +-
 robosuite/models/arenas/bins_arena.py         |   2 -
 robosuite/models/arenas/empty_arena.py        |   1 -
 robosuite/models/arenas/table_arena.py        |   4 +-
 robosuite/models/arenas/wipe_arena.py         |   3 +-
 robosuite/models/base.py                      | 175 ++++--------------
 robosuite/models/objects/objects.py           |  85 ++++++++-
 .../robots/manipulators/manipulator_model.py  |  15 +-
 .../models/robots/manipulators/panda_robot.py |   2 +-
 robosuite/models/tasks/__init__.py            |   6 -
 robosuite/models/tasks/task.py                |   2 +-
 robosuite/utils/macros.py                     |  16 ++
 robosuite/utils/mjcf_utils.py                 |  87 +++++++--
 robosuite/utils/numba.py                      |   9 +-
 .../placement_samplers.py}                    |  47 ++++-
 26 files changed, 315 insertions(+), 238 deletions(-)
 create mode 100644 robosuite/utils/macros.py
 rename robosuite/{models/tasks/placement_sampler.py => utils/placement_samplers.py} (90%)

diff --git a/robosuite/demos/demo_domain_randomization.py b/robosuite/demos/demo_domain_randomization.py
index 5ef0b01f31..abc3e88419 100644
--- a/robosuite/demos/demo_domain_randomization.py
+++ b/robosuite/demos/demo_domain_randomization.py
@@ -2,11 +2,14 @@
 Script to showcase domain randomization functionality.
 """
 
-import numpy as np
+import robosuite.utils.macros as macros
 from robosuite.controllers import load_controller_config
 from robosuite.utils.input_utils import *
 from robosuite.wrappers import DomainRandomizationWrapper
 
+# Whenever we're using Domain Randomization functionality, must set the corresponding macro to True
+macros.USING_DOMAIN_RANDOMIZATION = True
+
 if __name__ == "__main__":
 
     # Create dict to hold options that will be passed to env creation call
diff --git a/robosuite/demos/demo_gripper_interaction.py b/robosuite/demos/demo_gripper_interaction.py
index 6da16631a4..8c99a1f81a 100644
--- a/robosuite/demos/demo_gripper_interaction.py
+++ b/robosuite/demos/demo_gripper_interaction.py
@@ -29,16 +29,21 @@
 
     # add a gripper
     gripper = RethinkGripper()
+    # Create another body with a slider joint to which we'll add this gripper
     gripper_body = ET.Element("body")
-    for body in gripper.worldbody:
-        gripper_body.append(body)
     gripper_body.set("pos", "0 0 0.3")
     gripper_body.set("quat", "0 0 1 0")  # flip z
     gripper_body.append(
         new_joint(name="gripper_z_joint", type="slide", axis="0 0 1", damping="50")
     )
-    world.merge(gripper, merge_body=False)
+    # Add all gripper bodies to this higher level body
+    for body in gripper.worldbody:
+        gripper_body.append(body)
+    # Merge the all of the gripper tags except its bodies
+    world.merge(gripper, merge_body=None)
+    # Manually add the higher level body we created
     world.worldbody.append(gripper_body)
+    # Create a new actuator to control our slider joint
     world.actuator.append(
         new_actuator(
             joint="gripper_z_joint", act_type="position", name="gripper_z", kp="500"
@@ -51,22 +56,17 @@
         size=[0.02, 0.02, 0.02],
         rgba=[1, 0, 0, 1],
         friction=[1, 0.005, 0.0001]
-    ).get_collision()
-    mujoco_object.append(new_joint(name="object_free_joint", type="free"))
+    ).get_obj()
+    # Set the position of this object
     mujoco_object.set("pos", "0 0 0.11")
-    geoms = mujoco_object.findall("./geom")
-    for geom in geoms:
-        if geom.get("contype"):
-            pass
-        geom.set("name", "object")
-        geom.set("density", "10000")  # 1000 for water
+    # Add our object to the world body
     world.worldbody.append(mujoco_object)
 
     # add reference objects for x and y axes
-    x_ref = BoxObject(name="x_ref", size=[0.01, 0.01, 0.01], rgba=[0, 1, 0, 1]).get_visual()
+    x_ref = BoxObject(name="x_ref", size=[0.01, 0.01, 0.01], rgba=[0, 1, 0, 1], obj_type="visual", joints=None).get_obj()
     x_ref.set("pos", "0.2 0 0.105")
     world.worldbody.append(x_ref)
-    y_ref = BoxObject(name="y_ref", size=[0.01, 0.01, 0.01], rgba=[0, 0, 1, 1]).get_visual()
+    y_ref = BoxObject(name="y_ref", size=[0.01, 0.01, 0.01], rgba=[0, 0, 1, 1], obj_type="visual", joints=None).get_obj()
     y_ref.set("pos", "0 0.2 0.105")
     world.worldbody.append(y_ref)
 
@@ -83,6 +83,7 @@
         sim.model.get_joint_qvel_addr(x) for x in gravity_corrected
     ]
 
+    # Set gripper parameters
     gripper_z_id = sim.model.actuator_name2id("gripper_z")
     gripper_z_low = 0.07
     gripper_z_high = -0.02
@@ -102,11 +103,10 @@
     step = 0
     T = 500
     while True:
-
         if step % 100 == 0:
             print("step: {}".format(step))
 
-        if step % 100 == 0:
+            # Get contact information
             for contact in sim.data.contact[0 : sim.data.ncon]:
 
                 geom_name1 = sim.model.geom_id2name(contact.geom1)
@@ -119,6 +119,7 @@
                 print("friction: {}".format(contact.friction))
                 print("normal: {}".format(contact.frame[0:3]))
 
+        # Iterate through gripping trajectory
         if step % T == 0:
             plan = seq[int(step / T) % len(seq)]
             gripper_z_is_low, gripper_is_closed = plan
@@ -128,6 +129,7 @@
                 )
             )
 
+        # Control gripper
         if gripper_z_is_low:
             sim.data.ctrl[gripper_z_id] = gripper_z_low
         else:
@@ -137,6 +139,7 @@
         else:
             sim.data.ctrl[gripper_jaw_ids] = gripper_open
 
+        # Step through sim
         sim.step()
         sim.data.qfrc_applied[_ref_joint_vel_indexes] = sim.data.qfrc_bias[
             _ref_joint_vel_indexes
diff --git a/robosuite/environments/manipulation/door.py b/robosuite/environments/manipulation/door.py
index 36d5be56a1..be6b16f48d 100644
--- a/robosuite/environments/manipulation/door.py
+++ b/robosuite/environments/manipulation/door.py
@@ -5,7 +5,8 @@
 
 from robosuite.models.arenas import TableArena
 from robosuite.models.objects import DoorObject
-from robosuite.models.tasks import ManipulationTask, UniformRandomSampler
+from robosuite.models.tasks import ManipulationTask
+from robosuite.utils.placement_samplers import UniformRandomSampler
 
 
 class Door(SingleArmEnv):
@@ -282,6 +283,7 @@ def _load_model(self):
             self.placement_initializer.add_objects(self.door)
         else:
             self.placement_initializer = UniformRandomSampler(
+                    name="ObjectSampler",
                     mujoco_objects=self.door,
                     x_range=[0.07, 0.09],
                     y_range=[-0.01, 0.01],
diff --git a/robosuite/environments/manipulation/lift.py b/robosuite/environments/manipulation/lift.py
index 56e7a14d78..de51e295f8 100644
--- a/robosuite/environments/manipulation/lift.py
+++ b/robosuite/environments/manipulation/lift.py
@@ -8,7 +8,8 @@
 
 from robosuite.models.arenas import TableArena
 from robosuite.models.objects import BoxObject
-from robosuite.models.tasks import ManipulationTask, UniformRandomSampler
+from robosuite.models.tasks import ManipulationTask
+from robosuite.utils.placement_samplers import UniformRandomSampler
 
 
 class Lift(SingleArmEnv):
@@ -307,6 +308,7 @@ def _load_model(self):
             self.placement_initializer.add_objects(self.cube)
         else:
             self.placement_initializer = UniformRandomSampler(
+                name="ObjectSampler",
                 mujoco_objects=self.cube,
                 x_range=[-0.03, 0.03],
                 y_range=[-0.03, 0.03],
diff --git a/robosuite/environments/manipulation/nut_assembly.py b/robosuite/environments/manipulation/nut_assembly.py
index b870908979..dbb6add1a4 100644
--- a/robosuite/environments/manipulation/nut_assembly.py
+++ b/robosuite/environments/manipulation/nut_assembly.py
@@ -7,7 +7,8 @@
 
 from robosuite.models.arenas import PegsArena
 from robosuite.models.objects import SquareNutObject, RoundNutObject
-from robosuite.models.tasks import ManipulationTask, SequentialCompositeSampler, UniformRandomSampler
+from robosuite.models.tasks import ManipulationTask
+from robosuite.utils.placement_samplers import SequentialCompositeSampler, UniformRandomSampler
 
 
 class NutAssembly(SingleArmEnv):
@@ -396,13 +397,15 @@ def _load_model(self):
 
         # define nuts
         self.nuts = []
+        nut_names = ("SquareNut", "RoundNut")
 
         # Create default (SequentialCompositeSampler) sampler if it has not already been specified
         if self.placement_initializer is None:
-            self.placement_initializer = SequentialCompositeSampler()
-            for default_y_range in ([0.11, 0.225], [-0.225, -0.11]):
+            self.placement_initializer = SequentialCompositeSampler(name="ObjectSampler")
+            for nut_name, default_y_range in zip(nut_names, ([0.11, 0.225], [-0.225, -0.11])):
                 self.placement_initializer.append_sampler(
                     sampler=UniformRandomSampler(
+                        name=f"{nut_name}Sampler",
                         x_range=[-0.115, -0.11],
                         y_range=default_y_range,
                         rotation=None,
@@ -418,14 +421,14 @@ def _load_model(self):
 
         for i, (nut_cls, nut_name) in enumerate(zip(
                 (SquareNutObject, RoundNutObject),
-                ("SquareNut", "RoundNut"),
+                nut_names,
         )):
             nut = nut_cls(name=nut_name)
             self.nuts.append(nut)
             # Add this nut to the placement initializer
             if isinstance(self.placement_initializer, SequentialCompositeSampler):
                 # assumes we have two samplers so we add nuts to them
-                self.placement_initializer.samplers[i].add_objects(nut)
+                self.placement_initializer.add_objects_to_sampler(sampler_name=f"{nut_name}Sampler", mujoco_objects=nut)
             else:
                 # This is assumed to be a flat sampler, so we just add all nuts to this sampler
                 self.placement_initializer.add_objects(nut)
diff --git a/robosuite/environments/manipulation/pick_place.py b/robosuite/environments/manipulation/pick_place.py
index 2390d2103e..ab5ccbd8f3 100644
--- a/robosuite/environments/manipulation/pick_place.py
+++ b/robosuite/environments/manipulation/pick_place.py
@@ -18,7 +18,8 @@
     CerealVisualObject,
     CanVisualObject,
 )
-from robosuite.models.tasks import ManipulationTask, SequentialCompositeSampler, UniformRandomSampler
+from robosuite.models.tasks import ManipulationTask
+from robosuite.utils.placement_samplers import SequentialCompositeSampler, UniformRandomSampler
 
 
 class PickPlace(SingleArmEnv):
@@ -405,7 +406,7 @@ def _get_placement_initializer(self):
         """
         Helper function for defining placement initializer and object sampling bounds.
         """
-        self.placement_initializer = SequentialCompositeSampler()
+        self.placement_initializer = SequentialCompositeSampler(name="ObjectSampler")
 
         # can sample anywhere in bin
         bin_x_half = self.model.mujoco_arena.table_full_size[0] / 2 - 0.05
@@ -414,6 +415,7 @@ def _get_placement_initializer(self):
         # each object should just be sampled in the bounds of the bin (with some tolerance)
         self.placement_initializer.append_sampler(
             sampler=UniformRandomSampler(
+                name="CollisionObjectSampler",
                 mujoco_objects=self.objects,
                 x_range=[-bin_x_half, bin_x_half],
                 y_range=[-bin_y_half, bin_y_half],
@@ -449,6 +451,7 @@ def _get_placement_initializer(self):
 
             self.placement_initializer.append_sampler(
                 sampler=UniformRandomSampler(
+                    name=f"{vis_obj.name}ObjectSampler",
                     mujoco_objects=vis_obj,
                     x_range=[rel_center[0], rel_center[0]],
                     y_range=[rel_center[1], rel_center[1]],
diff --git a/robosuite/environments/manipulation/stack.py b/robosuite/environments/manipulation/stack.py
index a022c37207..89de3f47bc 100644
--- a/robosuite/environments/manipulation/stack.py
+++ b/robosuite/environments/manipulation/stack.py
@@ -8,7 +8,8 @@
 
 from robosuite.models.arenas import TableArena
 from robosuite.models.objects import BoxObject
-from robosuite.models.tasks import ManipulationTask, UniformRandomSampler
+from robosuite.models.tasks import ManipulationTask
+from robosuite.utils.placement_samplers import UniformRandomSampler
 
 
 class Stack(SingleArmEnv):
@@ -358,6 +359,7 @@ def _load_model(self):
             self.placement_initializer.add_objects(cubes)
         else:
             self.placement_initializer = UniformRandomSampler(
+                name="ObjectSampler",
                 mujoco_objects=cubes,
                 x_range=[-0.08, 0.08],
                 y_range=[-0.08, 0.08],
diff --git a/robosuite/environments/manipulation/two_arm_handover.py b/robosuite/environments/manipulation/two_arm_handover.py
index 501ed70c8f..b00679a3d8 100644
--- a/robosuite/environments/manipulation/two_arm_handover.py
+++ b/robosuite/environments/manipulation/two_arm_handover.py
@@ -5,7 +5,8 @@
 
 from robosuite.models.arenas import TableArena
 from robosuite.models.objects import HammerObject
-from robosuite.models.tasks import ManipulationTask, UniformRandomSampler
+from robosuite.models.tasks import ManipulationTask
+from robosuite.utils.placement_samplers import UniformRandomSampler
 
 import robosuite.utils.transform_utils as T
 
@@ -352,6 +353,7 @@ def _load_model(self):
             # Set rotation about y-axis if hammer starts on table else rotate about z if it starts in gripper
             rotation_axis = 'y' if self.prehensile else 'z'
             self.placement_initializer = UniformRandomSampler(
+                name="ObjectSampler",
                 mujoco_objects=self.hammer,
                 x_range=[-0.1, 0.1],
                 y_range=[-0.05, 0.05],
diff --git a/robosuite/environments/manipulation/two_arm_lift.py b/robosuite/environments/manipulation/two_arm_lift.py
index 233853753e..6b9c2d5f33 100644
--- a/robosuite/environments/manipulation/two_arm_lift.py
+++ b/robosuite/environments/manipulation/two_arm_lift.py
@@ -5,7 +5,8 @@
 
 from robosuite.models.arenas import TableArena
 from robosuite.models.objects import PotWithHandlesObject
-from robosuite.models.tasks import ManipulationTask, UniformRandomSampler
+from robosuite.models.tasks import ManipulationTask
+from robosuite.utils.placement_samplers import UniformRandomSampler
 
 import robosuite.utils.transform_utils as T
 
@@ -339,6 +340,7 @@ def _load_model(self):
             self.placement_initializer.add_objects(self.pot)
         else:
             self.placement_initializer = UniformRandomSampler(
+                name="ObjectSampler",
                 mujoco_objects=self.pot,
                 x_range=[-0.03, 0.03],
                 y_range=[-0.03, 0.03],
diff --git a/robosuite/environments/manipulation/two_arm_peg_in_hole.py b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
index 0c78e5a466..971c1e0b23 100644
--- a/robosuite/environments/manipulation/two_arm_peg_in_hole.py
+++ b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
@@ -349,8 +349,8 @@ def _load_model(self):
         )
 
         # Make sure to add relevant assets from peg and hole objects
-        self.model.merge_asset(self.hole)
-        self.model.merge_asset(self.peg)
+        self.model.merge_assets(self.hole)
+        self.model.merge_assets(self.peg)
 
     def _get_reference(self):
         """
diff --git a/robosuite/environments/manipulation/wipe.py b/robosuite/environments/manipulation/wipe.py
index 43c6f2cf8a..169744bee9 100644
--- a/robosuite/environments/manipulation/wipe.py
+++ b/robosuite/environments/manipulation/wipe.py
@@ -4,7 +4,7 @@
 from robosuite.environments.manipulation.single_arm_env import SingleArmEnv
 
 from robosuite.models.arenas import WipeArena
-from robosuite.models.tasks import ManipulationTask, UniformRandomSampler
+from robosuite.models.tasks import ManipulationTask
 import multiprocessing
 
 
diff --git a/robosuite/models/arenas/arena.py b/robosuite/models/arenas/arena.py
index 5a68643ddb..d1b69262d8 100644
--- a/robosuite/models/arenas/arena.py
+++ b/robosuite/models/arenas/arena.py
@@ -2,7 +2,7 @@
 
 from robosuite.models.base import MujocoXML
 from robosuite.utils.mjcf_utils import array_to_string, string_to_array, \
-    new_geom, new_body, new_joint, ENVIRONMENT_COLLISION_COLOR
+    new_geom, new_body, new_joint, ENVIRONMENT_COLLISION_COLOR, recolor_collision_geoms
 
 
 class Arena(MujocoXML):
@@ -10,7 +10,13 @@ class Arena(MujocoXML):
 
     def __init__(self, fname):
         super().__init__(fname)
-        self.recolor_collision_geoms(ENVIRONMENT_COLLISION_COLOR)
+        # Get references to floor and bottom
+        self.bottom_pos = np.zeros(3)
+        self.floor = self.worldbody.find("./geom[@name='floor']")
+
+        # Recolor all geoms
+        recolor_collision_geoms(root=self.worldbody, rgba=ENVIRONMENT_COLLISION_COLOR,
+                                exclude=lambda e: True if e.get("name", None) == "floor" else False)
 
     def set_origin(self, offset):
         """
@@ -30,8 +36,9 @@ def add_pos_indicator(self):
         body = new_body(name="pos_indicator")
         body.append(
             new_geom(
-                "sphere",
-                [0.03],
+                name="indicator_obj",
+                type="sphere",
+                size=[0.03],
                 rgba=[1, 0, 0, 0.5],
                 group=1,
                 contype="0",
diff --git a/robosuite/models/arenas/bins_arena.py b/robosuite/models/arenas/bins_arena.py
index cfa57af188..6ce439990f 100644
--- a/robosuite/models/arenas/bins_arena.py
+++ b/robosuite/models/arenas/bins_arena.py
@@ -23,7 +23,6 @@ def __init__(
         self.table_half_size = self.table_full_size / 2
         self.table_friction = table_friction
 
-        self.floor = self.worldbody.find("./geom[@name='floor']")
         self.bin1_body = self.worldbody.find("./body[@name='bin1']")
         self.bin2_body = self.worldbody.find("./body[@name='bin2']")
         self.table_top_abs = np.array(bin1_pos)
@@ -32,5 +31,4 @@ def __init__(
 
     def configure_location(self):
         """Configures correct locations for this arena"""
-        self.bottom_pos = np.array([0, 0, 0])
         self.floor.set("pos", array_to_string(self.bottom_pos))
diff --git a/robosuite/models/arenas/empty_arena.py b/robosuite/models/arenas/empty_arena.py
index ae20e02967..e10da831b2 100644
--- a/robosuite/models/arenas/empty_arena.py
+++ b/robosuite/models/arenas/empty_arena.py
@@ -7,4 +7,3 @@ class EmptyArena(Arena):
 
     def __init__(self):
         super().__init__(xml_path_completion("arenas/empty_arena.xml"))
-        self.floor = self.worldbody.find("./geom[@name='floor']")
diff --git a/robosuite/models/arenas/table_arena.py b/robosuite/models/arenas/table_arena.py
index eb8482d85a..9d7fe52d2f 100644
--- a/robosuite/models/arenas/table_arena.py
+++ b/robosuite/models/arenas/table_arena.py
@@ -32,8 +32,8 @@ def __init__(
         self.table_half_size = self.table_full_size / 2
         self.table_friction = table_friction
         self.table_offset = table_offset
+        self.center_pos = self.bottom_pos + np.array([0, 0, -self.table_half_size[2]]) + self.table_offset
 
-        self.floor = self.worldbody.find("./geom[@name='floor']")
         self.table_body = self.worldbody.find("./body[@name='table']")
         self.table_collision = self.table_body.find("./geom[@name='table_collision']")
         self.table_visual = self.table_body.find("./geom[@name='table_visual']")
@@ -51,10 +51,8 @@ def __init__(
 
     def configure_location(self):
         """Configures correct locations for this arena"""
-        self.bottom_pos = np.array([0, 0, 0])
         self.floor.set("pos", array_to_string(self.bottom_pos))
 
-        self.center_pos = self.bottom_pos + np.array([0, 0, -self.table_half_size[2]]) + self.table_offset
         self.table_body.set("pos", array_to_string(self.center_pos))
         self.table_collision.set("size", array_to_string(self.table_half_size))
         self.table_collision.set("friction", array_to_string(self.table_friction))
diff --git a/robosuite/models/arenas/wipe_arena.py b/robosuite/models/arenas/wipe_arena.py
index 61f63271e2..cc563e7c42 100644
--- a/robosuite/models/arenas/wipe_arena.py
+++ b/robosuite/models/arenas/wipe_arena.py
@@ -72,6 +72,7 @@ def configure_location(self):
             mat_name="dirt_mat",
             tex_attrib=tex_attrib,
             mat_attrib=mat_attrib,
+            shared=True,
         )
 
         # Define line(s) drawn on table
@@ -89,7 +90,7 @@ def configure_location(self):
                 joints=None,
             )
             # Manually add this object to the arena xml
-            self.merge_asset(marker)
+            self.merge_assets(marker)
             table = find_elements(root=self.worldbody, tags="body", attribs={"name": "table"}, return_first=True)
             table.append(marker.get_obj())
 
diff --git a/robosuite/models/base.py b/robosuite/models/base.py
index a73ffc2f60..d70428ba39 100644
--- a/robosuite/models/base.py
+++ b/robosuite/models/base.py
@@ -3,8 +3,10 @@
 import xml.etree.ElementTree as ET
 import io
 
+import robosuite.utils.macros as macros
 from robosuite.utils import XMLError
-from robosuite.utils.mjcf_utils import array_to_string, find_elements, sort_elements, add_material, string_to_array
+from robosuite.utils.mjcf_utils import find_elements, sort_elements,\
+    add_material, string_to_array, add_prefix, recolor_collision_geoms
 
 
 class MujocoXML(object):
@@ -78,7 +80,7 @@ def merge(self, others, merge_body="default"):
                 merges <worldbody/>, <actuator/> and <asset/> of @others into @self
             merge_body (None or str): If set, will merge child bodies of @others. Default is "default", which
                 corresponds to the root worldbody for this XML. Otherwise, should be an existing body name
-                that exists in this XML.
+                that exists in this XML. None results in no merging of @other's bodies in its worldbody.
 
         Raises:
             XMLError: [Invalid XML instance]
@@ -93,7 +95,7 @@ def merge(self, others, merge_body="default"):
                     find_elements(root=self.worldbody, tags="body", attribs={"name": merge_body}, return_first=True)
                 for body in other.worldbody:
                     root.append(body)
-            self.merge_asset(other)
+            self.merge_assets(other)
             for one_actuator in other.actuator:
                 self.actuator.append(one_actuator)
             for one_sensor in other.sensor:
@@ -159,19 +161,16 @@ def save_model(self, fname, pretty=False):
                 xml_str = parsed_xml.toprettyxml(newl="")
             f.write(xml_str)
 
-    def merge_asset(self, other):
+    def merge_assets(self, other):
         """
-        Merges other files in a custom logic.
+        Merges @other's assets in a custom logic.
 
         Args:
             other (MujocoXML or MujocoObject): other xml file whose assets will be merged into this one
         """
         for asset in other.asset:
-            asset_name = asset.get("name")
-            asset_type = asset.tag
-            # Avoids duplication
-            pattern = "./{}[@name='{}']".format(asset_type, asset_name)
-            if self.asset.find(pattern) is None:
+            if find_elements(root=self.asset, tags=asset.tag,
+                             attribs={"name": asset.get("name")}, return_first=True) is None:
                 self.asset.append(asset)
 
     def get_element_names(self, root, element_type):
@@ -193,126 +192,6 @@ def get_element_names(self, root, element_type):
             names += self.get_element_names(child, element_type)
         return names
 
-    def add_prefix(self,
-                   prefix,
-                   tags=("body", "joint", "sensor", "site", "geom", "camera", "actuator", "tendon", "asset", "mesh", "texture", "material")):
-        """
-        Utility method to add prefix to all body names to prevent name clashes
-
-        Args:
-            prefix (str): Prefix to be appended to all requested elements in this XML
-            tags (list or tuple or set): Tags to be searched in the XML. All elements with specified tags will have
-                "prefix" prepended to it
-        """
-        # Define tags as a set
-        tags = set(tags)
-
-        # Define equalities set to pass at the end
-        equalities = set(tags)
-
-        # Add joints to equalities if necessary
-        if "joint" in tags:
-            equalities = equalities.union(["joint1", "joint2"])
-
-        # Handle actuator elements
-        if "actuator" in tags:
-            tags.discard("actuator")
-            for actuator in self.actuator:
-                self._add_prefix_recursively(actuator, tags, prefix)
-
-        # Handle sensor elements
-        if "sensor" in tags:
-            tags.discard("sensor")
-            for sensor in self.sensor:
-                self._add_prefix_recursively(sensor, tags, prefix)
-
-        # Handle tendon elements
-        if "tendon" in tags:
-            tags.discard("tendon")
-            for tendon in self.tendon:
-                self._add_prefix_recursively(tendon, tags.union(["fixed"]), prefix)
-            # Also take care of any tendons in equality constraints
-            equalities = equalities.union(["tendon1", "tendon2"])
-
-        # Handle asset elements
-        if "asset" in tags:
-            tags.discard("asset")
-            for asset in self.asset:
-                if asset.tag in tags:
-                    self._add_prefix_recursively(asset, tags, prefix)
-
-        # Handle contacts and equality names for body elements
-        if "body" in tags:
-            for contact in self.contact:
-                if "body1" in contact.attrib:
-                    contact.set("body1", prefix + contact.attrib["body1"])
-                if "body2" in contact.attrib:
-                    contact.set("body2", prefix + contact.attrib["body2"])
-            # Also take care of any bodies in equality constraints
-            equalities = equalities.union(["body1", "body2"])
-
-        # Handle all equality elements
-        for equality in self.equality:
-            self._add_prefix_recursively(equality, equalities, prefix)
-
-        # Handle all remaining bodies in the element tree
-        for body in self.worldbody:
-            if body.tag in tags:
-                self._add_prefix_recursively(body, tags, prefix)
-
-    def _add_prefix_recursively(self, root, tags, prefix):
-        """
-        Iteratively searches through all children nodes in "root" element to append "prefix" to any named subelements
-        with a tag in "tags"
-
-        Args:
-            root (ET.Element): Root of the xml element tree to start recursively searching through
-                (e.g.: `self.worldbody`)
-            tags (list or tuple or set): Tags to be searched in the XML. All elements with specified tags will have
-                "prefix" prepended to it
-            prefix (str): Prefix to be appended to all requested elements in this XML
-        """
-        # First re-name this element
-        if "name" in root.attrib:
-            root.set("name", prefix + root.attrib["name"])
-
-        # Then loop through all tags and rename any appropriately
-        for tag in tags:
-            if tag in root.attrib:
-                root.set(tag, prefix + root.attrib[tag])
-
-        # Recursively go through child elements
-        for child in root:
-            if child.tag in tags:
-                self._add_prefix_recursively(child, tags, prefix)
-
-    def recolor_collision_geoms(self, rgba):
-        """
-        Utility method to recolor all collision geoms (where collision geoms are defined as being part of group 0).
-
-        Args:
-            rgba (4-array): (R, G, B, A) values to assign to all geoms with this group.
-        """
-        for body in self.worldbody:
-            self._recolor_collision_geoms_recursively(body, rgba)
-
-    def _recolor_collision_geoms_recursively(self, root, rgba):
-        """
-        Iteratively searches through all children nodes in "root" element to find all geoms belonging to group 0 and set
-        the corresponding rgba value to the specified @rgba argument. Note: also removes any material values for this
-        model.
-
-        Args:
-            root (ET.Element): Root of the xml element tree to start recursively searching through
-            rgba (4-array): (R, G, B, A) values to assign to all geoms with this group.
-        """
-        for child in root:
-            if child.tag == "geom" and child.get("group") in {None, "0"}:
-                child.set("rgba", array_to_string(rgba))
-                child.attrib.pop("material", None)
-
-            self._recolor_collision_geoms_recursively(child, rgba)
-
     @staticmethod
     def _get_default_classes(default):
         """
@@ -389,9 +268,9 @@ def correct_naming(self, names):
             TypeError: [Invalid input type]
         """
         if type(names) is str:
-            return self.naming_prefix + names
+            return self.naming_prefix + names if not self.exclude_from_prefixing(names) else names
         elif type(names) is list:
-            return [self.naming_prefix + name for name in names]
+            return [self.naming_prefix + name if not self.exclude_from_prefixing(name) else name for name in names]
         elif type(names) is dict:
             names = names.copy()
             for key, val in names.items():
@@ -417,6 +296,19 @@ def set_sites_visibility(self, sim, visible):
                 # We toggle the alpha value
                 sim.model.site_rgba[vis_g_id][3] = -sim.model.site_rgba[vis_g_id][3]
 
+    def exclude_from_prefixing(self, inp):
+        """
+        A function that should take in an arbitrary input and return either True or False, determining whether the
+        corresponding name to @inp should have naming_prefix added to it. Must be defined by subclass.
+
+        Args:
+            inp (any): Arbitrary input, depending on subclass. Can be str, ET.Element, etc.
+
+        Returns:
+            bool: True if we should exclude the associated name(s) with @inp from being prefixed with naming_prefix
+        """
+        raise NotImplementedError
+
     @property
     def name(self):
         """
@@ -612,15 +504,24 @@ def __init__(self, fname, idn=0):
         self._base_offset = string_to_array(self._elements["root_body"].get("pos", "0 0 0"))
 
         # Update all xml element prefixes
-        self.add_prefix(self.naming_prefix)
+        add_prefix(root=self.root, prefix=self.naming_prefix, exclude=self.exclude_from_prefixing)
 
         # Recolor all collision geoms appropriately
-        self.recolor_collision_geoms(self.contact_geom_rgba)
+        recolor_collision_geoms(root=self.worldbody, rgba=self.contact_geom_rgba)
 
         # Add default materials
-        tex_element, mat_element, _ = add_material(root=self.worldbody, naming_prefix=self.naming_prefix)
-        self.asset.append(tex_element)
-        self.asset.append(mat_element)
+        if macros.USING_DOMAIN_RANDOMIZATION:
+            tex_element, mat_element, _, used = add_material(root=self.worldbody, naming_prefix=self.naming_prefix)
+            # Only add if material / texture was actually used
+            if used:
+                self.asset.append(tex_element)
+                self.asset.append(mat_element)
+
+    def exclude_from_prefixing(self, inp):
+        """
+        By default, don't exclude any from being prefixed
+        """
+        return False
 
     @property
     def base_offset(self):
diff --git a/robosuite/models/objects/objects.py b/robosuite/models/objects/objects.py
index b723c21f42..0354f05db6 100644
--- a/robosuite/models/objects/objects.py
+++ b/robosuite/models/objects/objects.py
@@ -2,6 +2,7 @@
 from copy import deepcopy
 import xml.etree.ElementTree as ET
 
+import robosuite.utils.macros as macros
 from robosuite.models.base import MujocoXML, MujocoModel
 from robosuite.utils.mjcf_utils import string_to_array, array_to_string, CustomMaterial, OBJECT_COLLISION_COLOR,\
                                        sort_elements, new_joint, add_prefix, add_material
@@ -173,6 +174,20 @@ def horizontal_radius(self):
         """
         raise NotImplementedError
 
+    def exclude_from_prefixing(self, inp):
+        """
+        A function that should take in either an ET.Element or its attribute (str) and return either True or False,
+        determining whether the corresponding name / str to @inp should have naming_prefix added to it.
+        Must be defined by subclass.
+
+        Args:
+            inp (ET.Element or str): Element or its attribute to check for prefixing.
+
+        Returns:
+            bool: True if we should exclude the associated name(s) with @inp from being prefixed with naming_prefix
+        """
+        raise NotImplementedError
+
     def _get_object_subtree(self):
 
         """
@@ -208,13 +223,16 @@ def _get_object_properties(self):
         self._contact_geoms = [e.get("name") for e in _elements.get("contact_geoms", [])]
         self._visual_geoms = [e.get("name") for e in _elements.get("visual_geoms", [])]
 
-        # Add default materials
-        tex_element, mat_element, _ = add_material(root=self.get_obj(), naming_prefix=self.naming_prefix)
-        self.asset.append(tex_element)
-        self.asset.append(mat_element)
+        # Add default materials if we're using domain randomization
+        if macros.USING_DOMAIN_RANDOMIZATION:
+            tex_element, mat_element, _, used = add_material(root=self.get_obj(), naming_prefix=self.naming_prefix)
+            # Only add the material / texture if they were actually used
+            if used:
+                self.asset.append(tex_element)
+                self.asset.append(mat_element)
 
         # Add prefix to all elements
-        add_prefix(root=self.get_obj(), prefix=self.naming_prefix)
+        add_prefix(root=self.get_obj(), prefix=self.naming_prefix, exclude=self.exclude_from_prefixing)
 
     @staticmethod
     def get_site_attrib_template():
@@ -344,7 +362,13 @@ def _get_object_properties(self):
         Extends the base class method to also add prefixes to all bodies in this object
         """
         super()._get_object_properties()
-        add_prefix(root=self.root, prefix=self.naming_prefix)
+        add_prefix(root=self.root, prefix=self.naming_prefix, exclude=self.exclude_from_prefixing)
+
+    def exclude_from_prefixing(self, inp):
+        """
+        By default, don't exclude any from being prefixed
+        """
+        return False
 
     @staticmethod
     def _duplicate_visual_from_collision(element):
@@ -411,6 +435,26 @@ def horizontal_radius(self):
 
 
 class MujocoGeneratedObject(MujocoObject):
+    """
+    Base class for all procedurally generated objects.
+
+    Args:
+        obj_type (str): Geom elements to generate / extract for this object. Must be one of:
+
+            :`'collision'`: Only collision geoms are returned (this corresponds to group 0 geoms)
+            :`'visual'`: Only visual geoms are returned (this corresponds to group 1 geoms)
+            :`'all'`: All geoms are returned
+
+        duplicate_collision_geoms (bool): If set, will guarantee that each collision geom has a
+            visual geom copy
+    """
+
+    def __init__(self, obj_type="all", duplicate_collision_geoms=True):
+        super().__init__(obj_type=obj_type, duplicate_collision_geoms=duplicate_collision_geoms)
+
+        # Store common material names so we don't add prefixes to them
+        self.shared_materials = set()
+        self.shared_textures = set()
 
     def sanity_check(self):
         """
@@ -457,11 +501,32 @@ def append_material(self, material):
         # First check if asset attribute exists; if not, define the asset attribute
         if not hasattr(self, "asset"):
             self.asset = ET.Element("asset")
-        # Add texture and material inputs to asset
-        self.asset.append(ET.Element("texture", attrib=material.tex_attrib))
-        self.asset.append(ET.Element("material", attrib=material.mat_attrib))
+        # If the material name is not in shared materials, add this to our assets
+        if material.name not in self.shared_materials:
+            self.asset.append(ET.Element("texture", attrib=material.tex_attrib))
+            self.asset.append(ET.Element("material", attrib=material.mat_attrib))
+        # Add this material name to shared materials if it should be shared
+        if material.shared:
+            self.shared_materials.add(material.name)
+            self.shared_textures.add(material.tex_attrib["name"])
         # Update prefix for assets
-        add_prefix(root=self.asset, prefix=self.naming_prefix)
+        add_prefix(root=self.asset, prefix=self.naming_prefix, exclude=self.exclude_from_prefixing)
+
+    def exclude_from_prefixing(self, inp):
+        """
+        Exclude all shared materials and their associated names from being prefixed.
+
+        Args:
+            inp (ET.Element or str): Element or its attribute to check for prefixing.
+
+        Returns:
+            bool: True if we should exclude the associated name(s) with @inp from being prefixed with naming_prefix
+        """
+        # Automatically return False if this is not of type "str"
+        if type(inp) is not str:
+            return False
+        # Only return True if the string matches the name of a common material
+        return True if inp in self.shared_materials or inp in self.shared_textures else False
 
     # Methods that still need to be defined by subclass
     def _get_object_subtree(self):
diff --git a/robosuite/models/robots/manipulators/manipulator_model.py b/robosuite/models/robots/manipulators/manipulator_model.py
index 16caa143a4..e85439bd1a 100644
--- a/robosuite/models/robots/manipulators/manipulator_model.py
+++ b/robosuite/models/robots/manipulators/manipulator_model.py
@@ -1,6 +1,7 @@
 from collections import OrderedDict
 
 from robosuite.models.robots import RobotModel
+from robosuite.utils.mjcf_utils import find_elements, string_to_array
 
 import numpy as np
 
@@ -24,17 +25,15 @@ def __init__(self, fname, idn=0):
         # Grab hand's offset from final robot link (string -> np.array -> elements [1, 2, 3, 0] (x, y, z, w))
         # Different case based on whether we're dealing with single or bimanual armed robot
         if self.arm_type == "single":
-            self.hand_rotation_offset = \
-                np.fromstring(self.worldbody.find(".//body[@name='{}']".format(self.eef_name))
-                              .attrib.get("quat", "1 0 0 0"),
-                              dtype=np.float64, sep=" ")[[1, 2, 3, 0]]
+            hand_element = find_elements(root=self.root, tags="body",
+                                         attribs={"name": self.eef_name}, return_first=True)
+            self.hand_rotation_offset = string_to_array(hand_element.get("quat", "1 0 0 0"))[[1, 2, 3, 0]]
         else:   # "bimanual" case
             self.hand_rotation_offset = {}
             for arm in ("right", "left"):
-                self.hand_rotation_offset[arm] = \
-                    np.fromstring(self.worldbody.find(".//body[@name='{}']".format(self.eef_name[arm]))
-                                  .attrib.get("quat", "1 0 0 0"),
-                                  dtype=np.float64, sep=" ")[[1, 2, 3, 0]]
+                hand_element = find_elements(root=self.root, tags="body",
+                                             attribs={"name": self.eef_name[arm]}, return_first=True)
+                self.hand_rotation_offset[arm] = string_to_array(hand_element.get("quat", "1 0 0 0"))[[1, 2, 3, 0]]
 
         # Get camera names for this robot
         self.cameras = self.get_element_names(self.worldbody, "camera")
diff --git a/robosuite/models/robots/manipulators/panda_robot.py b/robosuite/models/robots/manipulators/panda_robot.py
index df583706f4..0a4bf7c2eb 100644
--- a/robosuite/models/robots/manipulators/panda_robot.py
+++ b/robosuite/models/robots/manipulators/panda_robot.py
@@ -19,7 +19,7 @@ def __init__(self, idn=0):
 
     @property
     def default_mount(self):
-        return "RethinkMinimalMount"
+        return "RethinkMount"
 
     @property
     def default_gripper(self):
diff --git a/robosuite/models/tasks/__init__.py b/robosuite/models/tasks/__init__.py
index 6ef64c9b53..f92c679f3d 100644
--- a/robosuite/models/tasks/__init__.py
+++ b/robosuite/models/tasks/__init__.py
@@ -1,8 +1,2 @@
-from .placement_sampler import (
-    ObjectPositionSampler,
-    UniformRandomSampler,
-    SequentialCompositeSampler,
-)
-
 from .task import Task
 from .manipulation_task import ManipulationTask
diff --git a/robosuite/models/tasks/task.py b/robosuite/models/tasks/task.py
index eb43273982..fad60ce870 100644
--- a/robosuite/models/tasks/task.py
+++ b/robosuite/models/tasks/task.py
@@ -74,5 +74,5 @@ def merge_objects(self, mujoco_objects):
             assert isinstance(mujoco_obj, MujocoObject), \
                 "Tried to merge non-MujocoObject! Got type: {}".format(type(mujoco_obj))
             # Merge this object
-            self.merge_asset(mujoco_obj)
+            self.merge_assets(mujoco_obj)
             self.worldbody.append(mujoco_obj.get_obj())
diff --git a/robosuite/utils/macros.py b/robosuite/utils/macros.py
new file mode 100644
index 0000000000..e402281e6e
--- /dev/null
+++ b/robosuite/utils/macros.py
@@ -0,0 +1,16 @@
+"""
+Macro settings that can be imported and toggled. Internally, specific parts of the codebase rely on these settings
+for determining core functionality.
+
+To make sure global reference is maintained, should import these settings as:
+
+`import robosuite.utils.macros as macros`
+"""
+
+# Setting for whether we're using Domain Randomization. This should get set to True in your script
+# BEFORE an environment is created or the DR wrapper is used
+USING_DOMAIN_RANDOMIZATION = False
+
+# Numba settings
+ENABLE_NUMBA = True
+CACHE_NUMBA = True
diff --git a/robosuite/utils/mjcf_utils.py b/robosuite/utils/mjcf_utils.py
index 72194c68a1..7d94062da9 100644
--- a/robosuite/utils/mjcf_utils.py
+++ b/robosuite/utils/mjcf_utils.py
@@ -57,6 +57,14 @@
     "user",
 }
 
+MUJOCO_NAMED_ATTRIBUTES = {
+    "class", "childclass", "name", "objname", "material", "texture",
+    "joint", "joint1", "joint2", "jointinparent", "geom", "geom1", "geom2",
+    "mesh", "fixed", "actuator", "objname", "tendon", "tendon1", "tendon2",
+    "slidesite", "cranksite", "body", "body1", "body2", "hfield", "target",
+    "prefix", "site",
+}
+
 TEXTURES = {
     "WoodRed": "red-wood.png",
     "WoodGreen": "green-wood.png",
@@ -116,6 +124,8 @@ class CustomMaterial(object):
 
         mat_attrib (dict): Any other optional mujoco material specifications.
 
+        shared (bool): If True, this material should not have any naming prefixes added to all names
+
     Raises:
         AssertionError: [Invalid texture]
     """
@@ -127,6 +137,7 @@ def __init__(
             mat_name,
             tex_attrib=None,
             mat_attrib=None,
+            shared=False,
     ):
         # Check if the desired texture is an rgba value
         if type(texture) is str:
@@ -147,6 +158,7 @@ def __init__(
 
         # Add in name values
         self.name = mat_name
+        self.shared = shared
         self.tex_attrib["name"] = tex_name
         self.mat_attrib["name"] = mat_name
         self.mat_attrib["texture"] = tex_name
@@ -360,7 +372,7 @@ def new_geom(name, type, size, pos=(0, 0, 0), group=0, **kwargs):
         name (str): Name for this geom
         type (str): type of the geom.
             see all types here: http://mujoco.org/book/modeling.html#geom
-        size (array of float): geom size parameters.
+        size (n-array of float): geom size parameters.
         pos (3-array): (x,y,z) 3d position of the site.
         group (int): the integrer group that the geom belongs to. useful for
             separating visual and physical elements.
@@ -518,9 +530,9 @@ def add_to_dict(dic, fill_in_defaults=True, default_value=None, **kwargs):
 def add_prefix(
         root,
         prefix,
-        tags=("body", "joint", "sensor", "site", "geom", "camera",
-              "actuator", "tendon", "asset", "mesh", "texture", "material"),
-        attribs=("name", "material", "texture", "joint", "mesh")
+        tags="default",
+        attribs="default",
+        exclude=None,
 ):
     """
     Find all element(s) matching the requested @tag, and appends @prefix to all @attributes if they exist.
@@ -528,23 +540,30 @@ def add_prefix(
     Args:
         root (ET.Element): Root of the xml element tree to start recursively searching through.
         prefix (str): Prefix to add to all specified attributes
-        tags (str or list of str or set): Tag(s) to search for in this ElementTree.
-        attribs (str or ): Element attribute(s) to append prefix to.
-    """
-    # Make sure tags is list
-    tags = [tags] if type(tags) is str else tags
-    attribs = [attribs] if type(attribs) is str else attribs
+        tags (str or list of str or set): Tag(s) to search for in this ElementTree. "Default" corresponds to all tags
+        attribs (str or list of str or set): Element attribute(s) to append prefix to. "Default" corresponds
+            to all attributes that reference names
+        exclude (None or function): Filtering function that should take in an ET.Element or a string (attribute) and
+            return True if we should exclude the given element / attribute from having any prefixes added
+    """
+    # Standardize tags and attributes to be a set
+    if tags != "default":
+        tags = {tags} if type(tags) is str else set(tags)
+    if attribs == "default":
+        attribs = MUJOCO_NAMED_ATTRIBUTES
+    attribs = {attribs} if type(attribs) is str else set(attribs)
 
     # Check the current element for matching conditions
-    if root.tag in tags:
+    if (tags == "default" or root.tag in tags) and (exclude is None or not exclude(root)):
         for attrib in attribs:
             v = root.get(attrib, None)
-            # Only add prefix if it doesn't exist and the current attribute doesn't already begin with prefix
-            if v is not None and not v.startswith(prefix):
+            # Only add prefix if the attribute exist, the current attribute doesn't already begin with prefix,
+            # and the @exclude filter is either None or returns False
+            if v is not None and not v.startswith(prefix) and (exclude is None or not exclude(v)):
                 root.set(attrib, prefix + v)
     # Continue recursively searching through the element tree
     for r in root:
-        add_prefix(root=r, prefix=prefix, tags=tags, attribs=attribs)
+        add_prefix(root=r, prefix=prefix, tags=tags, attribs=attribs, exclude=exclude)
 
 
 def add_material(root, naming_prefix="", custom_material=None):
@@ -559,9 +578,11 @@ def add_material(root, naming_prefix="", custom_material=None):
             Else, will add a default "no-change" material.
 
     Returns:
-        3-tuple: (ET.Element, ET.Element, CustomMaterial) (tex_element, mat_element, material) corresponding to the
-            added material
+        4-tuple: (ET.Element, ET.Element, CustomMaterial, bool) (tex_element, mat_element, material, used)
+            corresponding to the added material and whether the material was actually used or not.
     """
+    # Initialize used as False
+    used = False
     # First, make sure material is specified
     if custom_material is None:
         custom_material = CustomMaterial(
@@ -577,8 +598,8 @@ def add_material(root, naming_prefix="", custom_material=None):
                 "rgb2": np.ones(3),
             },
         )
-    # Else, check to make sure the custom material begins with the specified prefix
-    if not custom_material.name.startswith(naming_prefix):
+    # Else, check to make sure the custom material begins with the specified prefix and that it's unique
+    if not custom_material.name.startswith(naming_prefix) and not custom_material.shared:
         custom_material.name = naming_prefix + custom_material.name
         custom_material.tex_attrib["name"] = naming_prefix + custom_material.tex_attrib["name"]
         custom_material.mat_attrib["name"] = naming_prefix + custom_material.mat_attrib["name"]
@@ -588,13 +609,39 @@ def add_material(root, naming_prefix="", custom_material=None):
     if root.tag == "geom" and root.get("group", None) == "1" and root.get("material", None) is None:
         # Add a new material attribute to this geom
         root.set("material", custom_material.name)
+        # Set used to True
+        used = True
     # Continue recursively searching through the element tree
     for r in root:
-        add_material(root=r, naming_prefix=naming_prefix, custom_material=custom_material)
+        _, _, _, _used = add_material(root=r, naming_prefix=naming_prefix, custom_material=custom_material)
+        # Update used
+        used = used or _used
     # Lastly, return the new texture and material elements
     tex_element = new_element(tag="texture", **custom_material.tex_attrib)
     mat_element = new_element(tag="material", **custom_material.mat_attrib)
-    return tex_element, mat_element, custom_material
+    return tex_element, mat_element, custom_material, used
+
+
+def recolor_collision_geoms(root, rgba, exclude=None):
+    """
+    Iteratively searches through all elements starting with @root to find all geoms belonging to group 0 and set
+    the corresponding rgba value to the specified @rgba argument. Note: also removes any material values for these
+    elements.
+
+    Args:
+        root (ET.Element): Root of the xml element tree to start recursively searching through
+        rgba (4-array): (R, G, B, A) values to assign to all geoms with this group.
+        exclude (None or function): Filtering function that should take in an ET.Element and
+            return True if we should exclude the given element / attribute from having its collision geom impacted.
+    """
+    # Check this body
+    if root.tag == "geom" and root.get("group") in {None, "0"} and (exclude is None or not exclude(root)):
+        root.set("rgba", array_to_string(rgba))
+        root.attrib.pop("material", None)
+
+    # Iterate through all children elements
+    for r in root:
+        recolor_collision_geoms(root=r, rgba=rgba, exclude=exclude)
 
 
 def _element_filter(element, parent):
diff --git a/robosuite/utils/numba.py b/robosuite/utils/numba.py
index 09a12dba5b..f5bc4df15e 100644
--- a/robosuite/utils/numba.py
+++ b/robosuite/utils/numba.py
@@ -2,11 +2,10 @@
 Numba utils.
 """
 import numba
+import robosuite.utils.macros as macros
 
-ENABLE_NUMBA = True
-CACHE_NUMBA = True
 
 def jit_decorator(func):
-    if ENABLE_NUMBA:
-        return numba.jit(nopython=True, cache=CACHE_NUMBA)(func)
-    return func
\ No newline at end of file
+    if macros.ENABLE_NUMBA:
+        return numba.jit(nopython=True, cache=macros.CACHE_NUMBA)(func)
+    return func
diff --git a/robosuite/models/tasks/placement_sampler.py b/robosuite/utils/placement_samplers.py
similarity index 90%
rename from robosuite/models/tasks/placement_sampler.py
rename to robosuite/utils/placement_samplers.py
index 8b582bbd7e..4d97a5fc87 100644
--- a/robosuite/models/tasks/placement_sampler.py
+++ b/robosuite/utils/placement_samplers.py
@@ -13,6 +13,8 @@ class ObjectPositionSampler:
     Base class of object placement sampler.
 
     Args:
+        name (str): Name of this sampler.
+
         mujoco_objects (None or MujocoObject or list of MujocoObject): single model or list of MJCF object models
 
         ensure_object_boundary_in_range (bool): If True, will ensure that the object is enclosed within a given boundary
@@ -28,6 +30,7 @@ class ObjectPositionSampler:
 
     def __init__(
         self,
+        name,
         mujoco_objects=None,
         ensure_object_boundary_in_range=True,
         ensure_valid_placement=True,
@@ -35,6 +38,7 @@ def __init__(
         z_offset=0.,
     ):
         # Setup attributes
+        self.name = name
         if mujoco_objects is None:
             self.mujoco_objects = []
         else:
@@ -90,6 +94,8 @@ class UniformRandomSampler(ObjectPositionSampler):
     Places all objects within the table uniformly random.
 
     Args:
+        name (str): Name of this sampler.
+
         mujoco_objects (None or MujocoObject or list of MujocoObject): single model or list of MJCF object models
 
         x_range (2-array of float): Specify the (min, max) relative x_range used to uniformly place objects
@@ -119,6 +125,7 @@ class UniformRandomSampler(ObjectPositionSampler):
 
     def __init__(
         self,
+        name,
         mujoco_objects=None,
         x_range=(0, 0),
         y_range=(0, 0),
@@ -135,6 +142,7 @@ def __init__(
         self.rotation_axis = rotation_axis
 
         super().__init__(
+            name=name,
             mujoco_objects=mujoco_objects,
             ensure_object_boundary_in_range=ensure_object_boundary_in_range,
             ensure_valid_placement=ensure_valid_placement,
@@ -298,13 +306,16 @@ class SequentialCompositeSampler(ObjectPositionSampler):
     Samples position for each object sequentially. Allows chaining
     multiple placement initializers together - so that object locations can
     be sampled on top of other objects or relative to other object placements.
+
+    Args:
+        name (str): Name of this sampler.
     """
-    def __init__(self):
+    def __init__(self, name):
         # Samplers / args will be filled in later
-        self.samplers = []
-        self.sample_args = []
+        self.samplers = collections.OrderedDict()
+        self.sample_args = collections.OrderedDict()
 
-        super().__init__()
+        super().__init__(name=name)
 
     def append_sampler(self, sampler, sample_args=None):
         """
@@ -322,8 +333,8 @@ def append_sampler(self, sampler, sample_args=None):
         for obj in sampler.mujoco_objects:
             assert obj not in self.mujoco_objects, f"Object '{obj.name}' already has sampler associated with it!"
             self.mujoco_objects.append(obj)
-        self.samplers.append(sampler)
-        self.sample_args.append(sample_args)
+        self.samplers[sampler.name] = sampler
+        self.sample_args[sampler.name] = sample_args
 
     def hide(self, mujoco_objects):
         """
@@ -333,6 +344,7 @@ def hide(self, mujoco_objects):
             mujoco_objects (MujocoObject or list of MujocoObject): Object(s) to hide
         """
         sampler = UniformRandomSampler(
+            name="HideSampler",
             mujoco_objects=mujoco_objects,
             x_range=[-10, -20],
             y_range=[-10, -20],
@@ -350,12 +362,31 @@ def add_objects(self, mujoco_objects):
         """
         raise AttributeError("add_objects() should not be called for SequentialCompsiteSamplers!")
 
+    def add_objects_to_sampler(self, sampler_name, mujoco_objects):
+        """
+        Adds specified @mujoco_objects to sub-sampler with specified @sampler_name.
+
+        Args:
+            sampler_name (str): Existing sub-sampler name
+            mujoco_objects (MujocoObject or list of MujocoObject): Object(s) to add
+        """
+        # First verify that all mujoco objects haven't already been added, and add to this sampler's objects dict
+        mujoco_objects = [mujoco_objects] if isinstance(mujoco_objects, MujocoObject) else mujoco_objects
+        for obj in mujoco_objects:
+            assert obj not in self.mujoco_objects, f"Object '{obj.name}' already has sampler associated with it!"
+            self.mujoco_objects.append(obj)
+        # Make sure sampler_name exists
+        assert sampler_name in self.samplers.keys(), "Invalid sub-sampler specified, valid options are: {}, " \
+                                                     "requested: {}".format(self.samplers.keys(), sampler_name)
+        # Add the mujoco objects to the requested sub-sampler
+        self.samplers[sampler_name].add_objects(mujoco_objects)
+
     def reset(self):
         """
         Resets this sampler. In addition to base method, iterates over all sub-samplers and resets them
         """
         super().reset()
-        for sampler in self.samplers:
+        for sampler in self.samplers.values():
             sampler.reset()
 
     def sample(self, fixtures=None, reference=None, on_top=True):
@@ -389,7 +420,7 @@ def sample(self, fixtures=None, reference=None, on_top=True):
         placed_objects = {} if fixtures is None else copy(fixtures)
 
         # Iterate through all samplers to sample
-        for sampler, s_args in zip(self.samplers, self.sample_args):
+        for sampler, s_args in zip(self.samplers.values(), self.sample_args.values()):
             # Pre-process sampler args
             if s_args is None:
                 s_args = {}

From 1a9e89e630432573cc9a5c4032ad24b858d7adc8 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Fri, 4 Dec 2020 22:30:33 -0800
Subject: [PATCH 18/46] tune ur5e model

---
 robosuite/models/assets/robots/ur5e/robot.xml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/robosuite/models/assets/robots/ur5e/robot.xml b/robosuite/models/assets/robots/ur5e/robot.xml
index 9bbc843339..1853ce2500 100644
--- a/robosuite/models/assets/robots/ur5e/robot.xml
+++ b/robosuite/models/assets/robots/ur5e/robot.xml
@@ -35,32 +35,32 @@
             <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="base" />
             <body name="shoulder_link" pos="0 0 0.163">
                 <inertial pos="0 0 0" mass="3.7" diaginertia="0.0102675 0.0102675 0.00666" />
-                <joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.1" />
+                <joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.001" frictionloss="0.01" />
                 <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="shoulder_vis" name="shoulder_visual" />
                 <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="shoulder" name="shoulder_col" />
                 <body name="upper_arm_link" pos="0 0.138 0" quat="0.707107 0 0.707107 0">
                     <inertial pos="0 0 0.2125" mass="8.393" diaginertia="0.133886 0.133886 0.0151074" />
-                    <joint name="shoulder_lift_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" damping="0.1" />
+                    <joint name="shoulder_lift_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" damping="0.001" frictionloss="0.01" />
                     <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="upperarm_vis" name="upperarm_visual" />
                     <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="upperarm" name="upperarm_col"/>
                     <body name="forearm_link" pos="0 -0.131 0.425">
                         <inertial pos="0 0 0.196" mass="2.275" diaginertia="0.0311796 0.0311796 0.004095" />
-                        <joint name="elbow_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" damping="0.1" />
+                        <joint name="elbow_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" damping="0.001" frictionloss="0.01" />
                         <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="forearm_vis" name="forearm_visual" />
                         <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="forearm" name="forearm_col"/>
                         <body name="wrist_1_link" pos="0 0 0.392" quat="0.707107 0 0.707107 0">
                             <inertial pos="0 0.127 0" mass="1.219" diaginertia="0.0025599 0.0025599 0.0021942" />
-                            <joint name="wrist_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" damping="0.1" />
+                            <joint name="wrist_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" damping="0.001" frictionloss="0.01" />
                             <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="wrist1_vis" name="wrist1_visual" />
                             <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist1" name="wrist1_col" />
                             <body name="wrist_2_link" pos="0 0.127 0">
                                 <inertial pos="0 0 0.1" mass="1.219" diaginertia="0.0025599 0.0025599 0.0021942" />
-                                <joint name="wrist_2_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.1" />
+                                <joint name="wrist_2_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319" damping="0.001" frictionloss="0.01" />
                                 <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="wrist2_vis" name="wrist2_visual" />
                                 <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist2" name="wrist2_col" />
                                 <body name="wrist_3_link" pos="0 0 0.1">
                                     <inertial pos="0 0.0771683 0" quat="0.707107 0 0 0.707107" mass="0.1889" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
-                                    <joint name="wrist_3_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" damping="0.1" />
+                                    <joint name="wrist_3_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-6.28319 6.28319" damping="0.001" frictionloss="0.01" />
                                     <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" quat="0.707 0.707 0 0" mesh="wrist3_vis" name="wrist3_visual" />
                                     <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="wrist3" name="wrist3_col" />
                                     <geom size="0.005 0.005 0.005" pos="0 0.09 0" quat="0.707107 0 0 0.707107" type="box" name="wrist3_col2"/>

From f3f3781f496a9e1608d67f4a6c2c3ab7f54f9a97 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Fri, 4 Dec 2020 23:15:41 -0800
Subject: [PATCH 19/46] tune agentview for door, twoarmhandover, and
 twoarmpeginhole envs, add functionality for modifying cameras in arena

---
 robosuite/environments/manipulation/door.py   |  7 +++++
 .../manipulation/two_arm_handover.py          |  7 +++++
 .../manipulation/two_arm_peg_in_hole.py       |  7 +++++
 robosuite/models/arenas/arena.py              | 30 ++++++++++++++++++-
 4 files changed, 50 insertions(+), 1 deletion(-)

diff --git a/robosuite/environments/manipulation/door.py b/robosuite/environments/manipulation/door.py
index be6b16f48d..7c58487f28 100644
--- a/robosuite/environments/manipulation/door.py
+++ b/robosuite/environments/manipulation/door.py
@@ -269,6 +269,13 @@ def _load_model(self):
         # Arena always gets set to zero origin
         mujoco_arena.set_origin([0, 0, 0])
 
+        # Modify default agentview camera
+        mujoco_arena.add_camera(
+            camera_name="agentview",
+            pos=[0.5354990523140117, 4.523091946421814e-09, 1.456018016356302],
+            quat=[0.6530980467796326, 0.2710406482219696, 0.271040678024292, 0.6530980467796326]
+        )
+
         # initialize objects of interest
         self.door = DoorObject(
             name="Door",
diff --git a/robosuite/environments/manipulation/two_arm_handover.py b/robosuite/environments/manipulation/two_arm_handover.py
index b00679a3d8..857cf83fcf 100644
--- a/robosuite/environments/manipulation/two_arm_handover.py
+++ b/robosuite/environments/manipulation/two_arm_handover.py
@@ -342,6 +342,13 @@ def _load_model(self):
         # Arena always gets set to zero origin
         mujoco_arena.set_origin([0, 0, 0])
 
+        # Modify default agentview camera
+        mujoco_arena.add_camera(
+            camera_name="agentview",
+            pos=[0.8894354364730311, -3.481824231498976e-08, 1.7383813133506494],
+            quat=[0.6530981063842773, 0.2710406184196472, 0.27104079723358154, 0.6530979871749878]
+        )
+
         # initialize objects of interest
         self.hammer = HammerObject(name="hammer")
 
diff --git a/robosuite/environments/manipulation/two_arm_peg_in_hole.py b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
index 971c1e0b23..7d7c861a09 100644
--- a/robosuite/environments/manipulation/two_arm_peg_in_hole.py
+++ b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
@@ -294,6 +294,13 @@ def _load_model(self):
         # Arena always gets set to zero origin
         mujoco_arena.set_origin([0, 0, 0])
 
+        # Modify default agentview camera
+        mujoco_arena.add_camera(
+            camera_name="agentview",
+            pos=[1.0666432116509934, 1.4903257668114777e-08, 2.0563394967349096],
+            quat=[0.6530979871749878, 0.27104058861732483, 0.27104055881500244, 0.6530978679656982]
+        )
+
         # initialize objects of interest
         self.hole = PlateWithHoleObject(name="hole")
         tex_attrib = {
diff --git a/robosuite/models/arenas/arena.py b/robosuite/models/arenas/arena.py
index d1b69262d8..182f284935 100644
--- a/robosuite/models/arenas/arena.py
+++ b/robosuite/models/arenas/arena.py
@@ -2,7 +2,7 @@
 
 from robosuite.models.base import MujocoXML
 from robosuite.utils.mjcf_utils import array_to_string, string_to_array, \
-    new_geom, new_body, new_joint, ENVIRONMENT_COLLISION_COLOR, recolor_collision_geoms
+    new_geom, new_body, new_joint, ENVIRONMENT_COLLISION_COLOR, recolor_collision_geoms, find_elements, new_element
 
 
 class Arena(MujocoXML):
@@ -47,3 +47,31 @@ def add_pos_indicator(self):
         )
         body.append(new_joint(type="free", name="pos_indicator"))
         self.worldbody.append(body)
+
+    def add_camera(self, camera_name, pos, quat, camera_attribs=None):
+        """
+        Adds a camera with @camera_name. If the camera already exists, then this overwrites its pos and quat values.
+
+        Args:
+            camera_name (str): Camera name to search for / create
+            pos (3-array): (x,y,z) coordinates of camera in world frame
+            quat (4-array): (w,x,y,z) quaternion of camera in world frame
+            camera_attribs (dict): If specified, should be additional keyword-mapped attributes for this camera.
+                See http://www.mujoco.org/book/XMLreference.html#camera for exact attribute specifications.
+        """
+        # Determine if camera already exists
+        camera = find_elements(root=self.worldbody, tags="camera", attribs={"name": camera_name}, return_first=True)
+
+        # Compose attributes
+        if camera_attribs is None:
+            camera_attribs = {}
+        camera_attribs["pos"] = array_to_string(pos)
+        camera_attribs["quat"] = array_to_string(quat)
+
+        if camera is None:
+            # If camera doesn't exist, then add a new camera with the specified attributes
+            self.worldbody.append(new_element(tag="camera", name=camera_name, **camera_attribs))
+        else:
+            # Otherwise, we edit all specified attributes in that camera
+            for attrib, value in camera_attribs.items():
+                camera.set(attrib, value)

From d74d688f2a051e027faa303ece6c513d395f7b40 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Fri, 4 Dec 2020 23:19:08 -0800
Subject: [PATCH 20/46] verify all scripts work, remove all demonstrations
 because their format is unfortunately outdated :,(

---
 .../demonstrations/door/panda/demo.hdf5       | Bin 86392 -> 0 bytes
 .../door/panda/models/model_1.xml             | 260 ---------------
 .../demonstrations/lift/panda/demo.hdf5       | Bin 160752 -> 0 bytes
 .../lift/panda/models/model_1.xml             | 232 --------------
 .../nut-assembly/panda/demo.hdf5              | Bin 498128 -> 0 bytes
 .../nut-assembly/panda/models/model_1.xml     | 262 ----------------
 .../demonstrations/pick-place/panda/demo.hdf5 | Bin 1016896 -> 0 bytes
 .../pick-place/panda/models/model_1.xml       | 296 ------------------
 .../demonstrations/stack/panda/demo.hdf5      | Bin 260240 -> 0 bytes
 .../stack/panda/models/model_1.xml            | 232 --------------
 .../scripts/collect_human_demonstrations.py   |   2 +
 robosuite/scripts/compile_mjcf_model.py       |   2 +-
 .../playback_demonstrations_from_hdf5.py      |  14 +-
 robosuite/scripts/tune_camera.py              |   8 +-
 robosuite/scripts/tune_joints.py              |   1 -
 15 files changed, 12 insertions(+), 1297 deletions(-)
 delete mode 100644 robosuite/models/assets/demonstrations/door/panda/demo.hdf5
 delete mode 100644 robosuite/models/assets/demonstrations/door/panda/models/model_1.xml
 delete mode 100644 robosuite/models/assets/demonstrations/lift/panda/demo.hdf5
 delete mode 100644 robosuite/models/assets/demonstrations/lift/panda/models/model_1.xml
 delete mode 100644 robosuite/models/assets/demonstrations/nut-assembly/panda/demo.hdf5
 delete mode 100644 robosuite/models/assets/demonstrations/nut-assembly/panda/models/model_1.xml
 delete mode 100644 robosuite/models/assets/demonstrations/pick-place/panda/demo.hdf5
 delete mode 100644 robosuite/models/assets/demonstrations/pick-place/panda/models/model_1.xml
 delete mode 100644 robosuite/models/assets/demonstrations/stack/panda/demo.hdf5
 delete mode 100644 robosuite/models/assets/demonstrations/stack/panda/models/model_1.xml

diff --git a/robosuite/models/assets/demonstrations/door/panda/demo.hdf5 b/robosuite/models/assets/demonstrations/door/panda/demo.hdf5
deleted file mode 100644
index 9b4fe1d84a83a974e8e21818d719b0eddabe6094..0000000000000000000000000000000000000000
GIT binary patch
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deleted file mode 100644
index f133bd7407..0000000000
--- a/robosuite/models/assets/demonstrations/door/panda/models/model_1.xml
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deleted file mode 100644
index 769d2f7ac7..0000000000
--- a/robosuite/models/assets/demonstrations/lift/panda/models/model_1.xml
+++ /dev/null
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deleted file mode 100644
index 12052e3ba0..0000000000
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diff --git a/robosuite/models/assets/demonstrations/pick-place/panda/models/model_1.xml b/robosuite/models/assets/demonstrations/pick-place/panda/models/model_1.xml
deleted file mode 100644
index 20fd11af2e..0000000000
--- a/robosuite/models/assets/demonstrations/pick-place/panda/models/model_1.xml
+++ /dev/null
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diff --git a/robosuite/models/assets/demonstrations/stack/panda/models/model_1.xml b/robosuite/models/assets/demonstrations/stack/panda/models/model_1.xml
deleted file mode 100644
index 28c16640fd..0000000000
--- a/robosuite/models/assets/demonstrations/stack/panda/models/model_1.xml
+++ /dev/null
@@ -1,232 +0,0 @@
-<mujoco model="base">
-  <compiler angle="radian" meshdir="meshes/" />
-  <option cone="elliptic" impratio="20" />
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-                    <inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" quat="0 0 0 1" />
-                    <geom conaffinity="1" contype="1" friction="2 0.05 0.0001" name="gripper0_finger1_tip_collision" pos="0 -0.005 -0.015" quat="0 0 0 1" size="0.008 0.004 0.008" solref="0.01 0.5" type="box" />
-                </body>
-            </body>
-            <body name="gripper0_rightfinger" pos="0 0 0.0524" quat="0.707107 0 0 0.707107">
-                <inertial diaginertia="0.01 0.01 0.005" mass="0.1" pos="0 0 0.05" />
-                <joint axis="0 1 0" damping="100" limited="true" name="gripper0_finger_joint2" pos="0 0 0" range="-0.04 0.0" type="slide" />
-                <geom conaffinity="0" contype="0" group="1" material="gripper0_finger_mat" mesh="gripper0_finger_vis" name="gripper0_finger2_visual" quat="0 0 0 1" type="mesh" />
-                <geom conaffinity="1" condim="4" contype="0" friction="1 0.005 0.0001" mesh="gripper0_finger" name="gripper0_finger2_collision" quat="0 0 0 1" solref="0.02 1" type="mesh" />
-                <body name="gripper0_finger_joint2_tip" pos="0 -0.0085 0.056">
-                    <inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" quat="0 0 0 1" />
-                    <geom conaffinity="1" contype="1" friction="2 0.05 0.0001" name="gripper0_finger2_tip_collision" pos="0 0.005 -0.015" quat="0 0 0 1" size="0.008 0.004 0.008" solref="0.01 0.5" type="box" />
-                </body>
-            </body>
-        </body>
-    </body>
-                                    </body>
-                                </body>
-                            </body>
-                        </body>
-                    </body>
-                </body>
-            </body>
-        </body>
-    <body name="cubeA" pos="-0.05783287313867911 -0.0009694986774682612 0.8200000000000001" quat="0.14407570050950372 0.0 0.0 0.9895666690641393"><geom density="1000" friction="1 0.005 0.0001" group="1" material="redwood_mat" name="cubeA" pos="0 0 0" size="0.02 0.02 0.02" solimp="0.9 0.95 0.001" solref="0.02 1.0" type="box" /><site name="cubeA" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002" type="sphere" /><joint name="cubeA_jnt0" type="free" /></body><body name="cubeB" pos="0.060770975690008014 0.027009644205642183 0.8250000000000001" quat="0.2904549134355058 0.0 0.0 0.9568886786147973"><geom density="1000" friction="1 0.005 0.0001" group="1" material="greenwood_mat" name="cubeB" pos="0 0 0" size="0.025 0.025 0.025" solimp="0.9 0.95 0.001" solref="0.02 1.0" type="box" /><site name="cubeB" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002" type="sphere" /><joint name="cubeB_jnt0" type="free" /></body></worldbody>
-
-  <equality>
-  </equality>
-<sensor><force name="gripper0_force_ee" site="gripper0_ft_frame" />
-        <torque name="gripper0_torque_ee" site="gripper0_ft_frame" />
-    </sensor><tendon /><contact /><default /></mujoco>
\ No newline at end of file
diff --git a/robosuite/scripts/collect_human_demonstrations.py b/robosuite/scripts/collect_human_demonstrations.py
index b954f4b7cf..daa50c497a 100644
--- a/robosuite/scripts/collect_human_demonstrations.py
+++ b/robosuite/scripts/collect_human_demonstrations.py
@@ -228,6 +228,8 @@ def gather_demonstrations_as_hdf5(directory, out_dir, env_info):
         ignore_done=True,
         use_camera_obs=False,
         gripper_visualizations=True,
+        robot_visualizations=True,
+        env_visualization=True,
         reward_shaping=True,
         control_freq=20,
     )
diff --git a/robosuite/scripts/compile_mjcf_model.py b/robosuite/scripts/compile_mjcf_model.py
index bb08a7c655..5dcf99ff25 100644
--- a/robosuite/scripts/compile_mjcf_model.py
+++ b/robosuite/scripts/compile_mjcf_model.py
@@ -14,7 +14,7 @@
 
 
 def print_usage():
-    print("""python compile.py input_file output_file""")
+    print("""python compile_mjcf_model.py input_file output_file""")
 
 
 if __name__ == "__main__":
diff --git a/robosuite/scripts/playback_demonstrations_from_hdf5.py b/robosuite/scripts/playback_demonstrations_from_hdf5.py
index 558c425e6b..9cd53c1001 100644
--- a/robosuite/scripts/playback_demonstrations_from_hdf5.py
+++ b/robosuite/scripts/playback_demonstrations_from_hdf5.py
@@ -28,10 +28,9 @@
     parser.add_argument(
         "--folder",
         type=str,
-        default=os.path.join(
-            robosuite.models.assets_root, "demonstrations/1592855346_302028"
-        ),
-    )
+        help="Path to your demonstration folder that contains the demo.hdf5 file, e.g.: "
+             "'path_to_assets_dir/demonstrations/YOUR_DEMONSTRATION'"
+    ),
     parser.add_argument(
         "--use-actions", 
         action='store_true',
@@ -55,6 +54,8 @@
         ignore_done=True,
         use_camera_obs=False,
         gripper_visualizations=args.visualize_gripper,
+        robot_visualizations=False,
+        env_visualization=False,
         reward_shaping=True,
         control_freq=100,
     )
@@ -69,10 +70,7 @@
         ep = random.choice(demos)
 
         # read the model xml, using the metadata stored in the attribute for this episode
-        model_file = f["data/{}".format(ep)].attrs["model_file"]
-        model_path = os.path.join(demo_path, "models", model_file)
-        with open(model_path, "r") as model_f:
-            model_xml = model_f.read()
+        model_xml = f["data/{}".format(ep)].attrs["model_file"]
 
         env.reset()
         xml = postprocess_model_xml(model_xml)
diff --git a/robosuite/scripts/tune_camera.py b/robosuite/scripts/tune_camera.py
index 4acd1c6caa..0a4d7378c6 100644
--- a/robosuite/scripts/tune_camera.py
+++ b/robosuite/scripts/tune_camera.py
@@ -15,8 +15,8 @@
 import robosuite.utils.transform_utils as T
 
 # some settings
-DELTA_POS_KEY_PRESS = 0.05 # delta camera position per key press
-DELTA_ROT_KEY_PRESS = 1 # delta camera angle per key press
+DELTA_POS_KEY_PRESS = 0.05      # delta camera position per key press
+DELTA_ROT_KEY_PRESS = 1         # delta camera angle per key press
 
 
 def modify_xml_for_camera_movement(xml, camera_name):
@@ -64,6 +64,7 @@ def modify_xml_for_camera_movement(xml, camera_name):
 
     return ET.tostring(tree, encoding="utf8").decode("utf8")
 
+
 def move_camera(env, direction, scale, camera_id):
     """
     Move the camera view along a direction (in the camera frame).
@@ -130,7 +131,6 @@ def on_press(self, window, key, scancode, action, mods):
             action: [NOT USED]
             mods: [NOT USED]
         """
-
         # controls for moving position
         if key == glfw.KEY_W:
             # move forward
@@ -151,7 +151,6 @@ def on_press(self, window, key, scancode, action, mods):
             # move down
             move_camera(env=self.env, direction=[0., -1., 0.], scale=DELTA_POS_KEY_PRESS, camera_id=self.camera_id)
 
-
         # controls for moving rotation
         elif key == glfw.KEY_UP:
             # rotate up
@@ -172,7 +171,6 @@ def on_press(self, window, key, scancode, action, mods):
             # rotate clockwise
             rotate_camera(env=self.env, direction=[0., 0., -1.], angle=DELTA_ROT_KEY_PRESS, camera_id=self.camera_id)
 
-
     def on_release(self, window, key, scancode, action, mods):
         """
         Key handler for key releases.
diff --git a/robosuite/scripts/tune_joints.py b/robosuite/scripts/tune_joints.py
index ff94dbde13..29cc2be121 100644
--- a/robosuite/scripts/tune_joints.py
+++ b/robosuite/scripts/tune_joints.py
@@ -293,7 +293,6 @@ def print_command(char, info):
     if type(args.init_qpos) == int and args.init_qpos == 0:
         # Default to all zeros
         pass
-        #key_handler.set_joint_positions(np.zeros(key_handler.num_joints))
     else:
         key_handler.set_joint_positions(args.init_qpos)
 

From cfe1e8fc26429aea5a4d8568d357a542c6302029 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Fri, 4 Dec 2020 23:56:47 -0800
Subject: [PATCH 21/46] add opengl / opencv image convention to macros

---
 robosuite/demos/demo_video_recording.py |  6 +++++-
 robosuite/environments/robot_env.py     | 10 +++++++---
 robosuite/scripts/make_reset_video.py   |  2 +-
 robosuite/utils/macros.py               |  7 +++++++
 robosuite/utils/mjcf_utils.py           |  5 +++++
 5 files changed, 25 insertions(+), 5 deletions(-)

diff --git a/robosuite/demos/demo_video_recording.py b/robosuite/demos/demo_video_recording.py
index 1026c4254d..6c5027aca1 100644
--- a/robosuite/demos/demo_video_recording.py
+++ b/robosuite/demos/demo_video_recording.py
@@ -10,8 +10,12 @@
 import imageio
 import numpy as np
 
+import robosuite.utils.macros as macros
 from robosuite import make
 
+# Set the image convention to opencv so that the images are automatically rendered "right side up" when using imageio
+# (which uses opencv convention)
+macros.IMAGE_CONVENTION = "opencv"
 
 if __name__ == "__main__":
 
@@ -54,7 +58,7 @@
 
         # dump a frame from every K frames
         if i % args.skip_frame == 0:
-            frame = obs[args.camera + "_image"][::-1]
+            frame = obs[args.camera + "_image"]
             writer.append_data(frame)
             print("Saving frame #{}".format(i))
 
diff --git a/robosuite/environments/robot_env.py b/robosuite/environments/robot_env.py
index 8aa94f6142..88d43e9e1d 100644
--- a/robosuite/environments/robot_env.py
+++ b/robosuite/environments/robot_env.py
@@ -1,7 +1,9 @@
 import numpy as np
 
-from robosuite.environments.base import MujocoEnv
+import robosuite.utils.macros as macros
+from robosuite.utils.mjcf_utils import IMAGE_CONVENTION_MAPPING
 
+from robosuite.environments.base import MujocoEnv
 from robosuite.robots import ROBOT_CLASS_MAPPING
 from robosuite.controllers import reset_controllers
 
@@ -376,6 +378,7 @@ def _get_observation(self):
 
         # Loop through cameras and update the observations
         if self.use_camera_obs:
+            convention = IMAGE_CONVENTION_MAPPING[macros.IMAGE_CONVENTION]
             for (cam_name, cam_w, cam_h, cam_d) in \
                     zip(self.camera_names, self.camera_widths, self.camera_heights, self.camera_depths):
 
@@ -387,9 +390,10 @@ def _get_observation(self):
                     depth=cam_d,
                 )
                 if cam_d:
-                    di[cam_name + "_image"], di[cam_name + "_depth"] = camera_obs
+                    rgb, depth = camera_obs
+                    di[cam_name + "_image"], di[cam_name + "_depth"] = rgb[::convention], depth[::convention]
                 else:
-                    di[cam_name + "_image"] = camera_obs
+                    di[cam_name + "_image"] = camera_obs[::convention]
 
         return di
 
diff --git a/robosuite/scripts/make_reset_video.py b/robosuite/scripts/make_reset_video.py
index 955d746765..a16aa89fa6 100644
--- a/robosuite/scripts/make_reset_video.py
+++ b/robosuite/scripts/make_reset_video.py
@@ -9,7 +9,7 @@
 import numpy as np
 from robosuite.controllers import load_controller_config
 from robosuite.utils.input_utils import *
-
+import robosuite as suite
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
diff --git a/robosuite/utils/macros.py b/robosuite/utils/macros.py
index e402281e6e..bc3657da66 100644
--- a/robosuite/utils/macros.py
+++ b/robosuite/utils/macros.py
@@ -14,3 +14,10 @@
 # Numba settings
 ENABLE_NUMBA = True
 CACHE_NUMBA = True
+
+# Image Convention
+# Robosuite (Mujoco)-rendered images are based on the OpenGL coordinate frame convention, whereas many downstream
+# applications assume an OpenCV coordinate frame convention. For consistency, you can set the image convention
+# here; this will assure that any rendered frames will match the associated convention.
+# See the figure at the bottom of https://amytabb.com/ts/2019_06_28/ for an informative overview.
+IMAGE_CONVENTION = "opengl"     # Options are {"opengl", "opencv"}
diff --git a/robosuite/utils/mjcf_utils.py b/robosuite/utils/mjcf_utils.py
index 7d94062da9..e19ea42062 100644
--- a/robosuite/utils/mjcf_utils.py
+++ b/robosuite/utils/mjcf_utils.py
@@ -65,6 +65,11 @@
     "prefix", "site",
 }
 
+IMAGE_CONVENTION_MAPPING = {
+    "opengl": 1,
+    "opencv": -1,
+}
+
 TEXTURES = {
     "WoodRed": "red-wood.png",
     "WoodGreen": "green-wood.png",

From 25b997957e7f4e5d6d59b5173226054d6daef190 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 5 Dec 2020 00:13:01 -0800
Subject: [PATCH 22/46] verify all tests work

---
 robosuite/demos/demo_gripper_interaction.py   |  6 +-
 robosuite/models/grippers/gripper_tester.py   | 59 ++++++++-----------
 .../test_linear_interpolator.py               | 11 ++--
 .../test_variable_impedance.py                |  8 +--
 .../test_all_environments.py                  |  7 +++
 tests/test_grippers/test_all_grippers.py      | 17 ++----
 6 files changed, 52 insertions(+), 56 deletions(-)

diff --git a/robosuite/demos/demo_gripper_interaction.py b/robosuite/demos/demo_gripper_interaction.py
index 8c99a1f81a..3a544fd13a 100644
--- a/robosuite/demos/demo_gripper_interaction.py
+++ b/robosuite/demos/demo_gripper_interaction.py
@@ -63,10 +63,12 @@
     world.worldbody.append(mujoco_object)
 
     # add reference objects for x and y axes
-    x_ref = BoxObject(name="x_ref", size=[0.01, 0.01, 0.01], rgba=[0, 1, 0, 1], obj_type="visual", joints=None).get_obj()
+    x_ref = BoxObject(name="x_ref", size=[0.01, 0.01, 0.01], rgba=[0, 1, 0, 1], obj_type="visual",
+                      joints=None).get_obj()
     x_ref.set("pos", "0.2 0 0.105")
     world.worldbody.append(x_ref)
-    y_ref = BoxObject(name="y_ref", size=[0.01, 0.01, 0.01], rgba=[0, 0, 1, 1], obj_type="visual", joints=None).get_obj()
+    y_ref = BoxObject(name="y_ref", size=[0.01, 0.01, 0.01], rgba=[0, 0, 1, 1], obj_type="visual",
+                      joints=None).get_obj()
     y_ref.set("pos", "0 0.2 0.105")
     world.worldbody.append(y_ref)
 
diff --git a/robosuite/models/grippers/gripper_tester.py b/robosuite/models/grippers/gripper_tester.py
index f14e9639d2..25f2463012 100644
--- a/robosuite/models/grippers/gripper_tester.py
+++ b/robosuite/models/grippers/gripper_tester.py
@@ -50,25 +50,22 @@ def __init__(
 
         # Add a gripper
         self.gripper = gripper
+        # Create another body with a slider joint to which we'll add this gripper
         gripper_body = ET.Element("body")
-        for body in gripper.worldbody:
-            gripper_body.append(body)
         gripper_body.set("pos", pos)
         gripper_body.set("quat", quat)  # flip z
-        gripper_body.append(
-            new_joint(name="gripper_z_joint",
-                      type="slide",
-                      axis="0 0 -1",
-                      damping="50")
-        )
-        world.merge(gripper, merge_body=False)
+        gripper_body.append(new_joint(name="gripper_z_joint", type="slide", axis="0 0 -1", damping="50"))
+        # Add all gripper bodies to this higher level body
+        for body in gripper.worldbody:
+            gripper_body.append(body)
+        # Merge the all of the gripper tags except its bodies
+        world.merge(gripper, merge_body=None)
+        # Manually add the higher level body we created
         world.worldbody.append(gripper_body)
+        # Create a new actuator to control our slider joint
         world.actuator.append(
             new_actuator(
-                joint="gripper_z_joint",
-                act_type="position",
-                name="gripper_z",
-                kp="500"
+                joint="gripper_z_joint", act_type="position", name="gripper_z", kp="500"
             )
         )
 
@@ -78,34 +75,28 @@ def __init__(
         if box_size is None:
             box_size = [0.02, 0.02, 0.02]
         box_size = np.array(box_size)
-        mujoco_object = BoxObject(
-            name="box",
+        self.cube = BoxObject(
+            name="object",
             size=box_size,
             rgba=[1, 0, 0, 1],
             friction=[1, 0.005, 0.0001],
-            density=box_density).get_collision()
-        mujoco_object.append(new_joint(name='object_free_joint', type='free'))
-        mujoco_object.set('name', "object")
+            density=box_density
+        )
         object_pos = np.array(TABLE_TOP + box_size * [0, 0, 1])
+        mujoco_object = self.cube.get_obj()
+        # Set the position of this object
         mujoco_object.set('pos', array_to_string(object_pos))
-        geoms = mujoco_object.findall('./geom')
-        for geom in geoms:
-            if geom.get('contype'):
-                pass
+        # Add our object to the world body
         world.worldbody.append(mujoco_object)
 
-        # Adding reference object for x and y axis
-        x_ref = BoxObject(
-            name="x_ref",
-            size=[0.01, 0.01, 0.01],
-            rgba=[0, 1, 0, 1]).get_visual()
-        x_ref.set('pos', '0.2 0 0.105')
+        # add reference objects for x and y axes
+        x_ref = BoxObject(name="x_ref", size=[0.01, 0.01, 0.01], rgba=[0, 1, 0, 1], obj_type="visual",
+                          joints=None).get_obj()
+        x_ref.set("pos", "0.2 0 0.105")
         world.worldbody.append(x_ref)
-        y_ref = BoxObject(
-            name="y_ref",
-            size=[0.01, 0.01, 0.01],
-            rgba=[0, 0, 1, 1]).get_visual()
-        y_ref.set('pos', '0 0.2 0.105')
+        y_ref = BoxObject(name="y_ref", size=[0.01, 0.01, 0.01], rgba=[0, 0, 1, 1], obj_type="visual",
+                          joints=None).get_obj()
+        y_ref.set("pos", "0 0.2 0.105")
         world.worldbody.append(y_ref)
 
         self.world = world
@@ -148,7 +139,7 @@ def start_simulation(self):
 
         self.gripper_is_closed = True
 
-        self.object_id = self.sim.model.body_name2id("object")
+        self.object_id = self.sim.model.body_name2id(self.cube.root_body)
         object_default_pos = self.sim.data.body_xpos[self.object_id]
         self.object_default_pos = np.array(object_default_pos,
                                            copy=True)
diff --git a/tests/test_controllers/test_linear_interpolator.py b/tests/test_controllers/test_linear_interpolator.py
index a7a0ca9465..f2056fa8ee 100644
--- a/tests/test_controllers/test_linear_interpolator.py
+++ b/tests/test_controllers/test_linear_interpolator.py
@@ -59,6 +59,7 @@
 # Setup printing options for numbers
 np.set_printoptions(formatter={'float': lambda x: "{0:0.3f}".format(x)})
 
+
 # function to run the actual sim in order to receive summed absolute delta torques
 def step(env, action, current_torques):
     env.timestep += 1
@@ -134,9 +135,9 @@ def test_linear_interpolator():
 
                 # Keep track of state of robot eef (pos, ori (euler)) and torques
                 current_torques = np.zeros(7)
-                initial_state = [env.robots[0]._right_hand_pos, T.mat2euler(env.robots[0]._right_hand_orn)]
-                dstate = [env.robots[0]._right_hand_pos - initial_state[0],
-                          T.mat2euler(env.robots[0]._right_hand_orn) - initial_state[1]]
+                initial_state = [env.robots[0]._hand_pos, T.mat2euler(env.robots[0]._hand_orn)]
+                dstate = [env.robots[0]._hand_pos - initial_state[0],
+                          T.mat2euler(env.robots[0]._hand_orn) - initial_state[1]]
 
                 # Define the uniform trajectory action
                 if traj == "pos":
@@ -162,8 +163,8 @@ def test_linear_interpolator():
                     # Update torques, timestep count, and state
                     summed_abs_delta_torques[j] += summed_torques
                     timesteps[j] += 1
-                    dstate = [env.robots[0]._right_hand_pos - initial_state[0],
-                              T.mat2euler(env.robots[0]._right_hand_orn) - initial_state[1]]
+                    dstate = [env.robots[0]._hand_pos - initial_state[0],
+                              T.mat2euler(env.robots[0]._hand_orn) - initial_state[1]]
 
                 # When finished, print out the timestep results
                 print("Completed trajectory. Total summed absolute delta torques: {}".format(summed_abs_delta_torques[j]))
diff --git a/tests/test_controllers/test_variable_impedance.py b/tests/test_controllers/test_variable_impedance.py
index bd8719e3c0..bf34a3f151 100644
--- a/tests/test_controllers/test_variable_impedance.py
+++ b/tests/test_controllers/test_variable_impedance.py
@@ -50,7 +50,7 @@
 
 
 # Running the actual test #
-def test_linear_interpolator():
+def test_variable_impedance():
 
     for controller_name in ["OSC_POSE", "OSC_POSITION", "JOINT_POSITION"]:
 
@@ -127,7 +127,7 @@ def test_linear_interpolator():
                 env.viewer.set_camera(camera_id=0)
 
             # Keep track of relative changes in robot eef position
-            last_pos = env.robots[0]._right_hand_pos
+            last_pos = env.robots[0]._hand_pos
 
             # Initialize gains
             if gain == "kp":
@@ -156,7 +156,7 @@ def test_linear_interpolator():
                     env.render()
 
                 # Update the current change in state
-                cur_pos = env.robots[0]._right_hand_pos
+                cur_pos = env.robots[0]._hand_pos
 
                 # If we're at the end of the increase, switch direction of traj and gain changes
                 if i == int(num_timesteps_per_change / percent_increase):
@@ -189,4 +189,4 @@ def test_linear_interpolator():
 
 
 if __name__ == "__main__":
-    test_linear_interpolator()
+    test_variable_impedance()
diff --git a/tests/test_environments/test_all_environments.py b/tests/test_environments/test_all_environments.py
index 373d7fedac..902da95414 100644
--- a/tests/test_environments/test_all_environments.py
+++ b/tests/test_environments/test_all_environments.py
@@ -1,5 +1,12 @@
 """
 Test all environments with random policies.
+
+This runs some basic sanity checks on the environment, namely, checking that:
+    - robot-state exists in the obs, and is a flat array
+    - agentview_image exists and is of the correct shape
+    - no object-obs in state, because we are only using image observations
+
+Obviously, if an environment crashes during runtime, that is considered a failure as well.
 """
 import numpy as np
 
diff --git a/tests/test_grippers/test_all_grippers.py b/tests/test_grippers/test_all_grippers.py
index b54c58d005..3ebae9cb04 100644
--- a/tests/test_grippers/test_all_grippers.py
+++ b/tests/test_grippers/test_all_grippers.py
@@ -1,5 +1,10 @@
 """
-    Tests the basic interface of all grippers
+Tests the basic interface of all grippers.
+
+This runs some basic sanity checks on the environment, namely, checking that:
+    - Verifies that the gripper's action, init_qpos exist and are valid
+
+Obviously, if an environment crashes during runtime, that is considered a failure as well.
 """
 from robosuite.models.grippers import GRIPPER_MAPPING
 
@@ -18,16 +23,6 @@ def _test_gripper(gripper):
 
     assert gripper.init_qpos is not None
 
-    assert gripper.dof > 0
-
-    assert gripper.joints is not None
-
-    assert gripper.contact_geoms is not None
-
-    assert gripper.visualization_sites is not None
-
-    assert gripper.visualization_geoms is not None
-
 
 if __name__ == "__main__":
     test_all_gripper()

From f84c6fe2ac6793a3950253686ca4662c77e73184 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 5 Dec 2020 01:59:39 -0800
Subject: [PATCH 23/46] add new papers (#118)

---
 docs/references.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/docs/references.md b/docs/references.md
index 9d2e60c453..dddfc53fd7 100644
--- a/docs/references.md
+++ b/docs/references.md
@@ -14,6 +14,7 @@ A list of references of projects and papers that use **robosuite**. If you would
 - [Balance Between Efficient and Effective Learning: Dense2Sparse Reward Shaping for Robot Manipulation with Environment Uncertainty](https://arxiv.org/abs/2003.02740). Yongle Luo, Kun Dong, Lili Zhao, Zhiyong Sun, Chao Zhou, Bo Song
 - [Hierarchical 6-DoF Grasping with Approaching Direction Selection](http://rllab.snu.ac.kr/publications/papers/2020_icra_gads.pdf). Yunho Choi, Hogun Kee, Kyungjae Lee, JaeGoo Choy, Junhong Min, Sohee Lee, and Songhwai Oh
 - [Conservative Safety Critics for Exploration](https://arxiv.org/abs/2010.14497). Homanga Bharadhwaj, Aviral Kumar, Nicholas Rhinehart, Sergey Levine, Florian Shkurti, Animesh Garg
+- [Deep Reinforcement Learning for Contact-Rich Skills Using Compliant Movement Primitives](https://arxiv.org/abs/2008.13223). Oren Spector, Miriam Zacksenhouse
 
 ## Imitation Learning and Batch (Offline) Reinforcement Learning
 
@@ -23,7 +24,7 @@ A list of references of projects and papers that use **robosuite**. If you would
 - [Learning Robot Skills with Temporal Variational Inference](https://arxiv.org/abs/2006.16232). Tanmay Shankar, Abhinav Gupta
 - [Residual Learning from Demonstration](https://arxiv.org/abs/2008.07682). Todor Davchev, Kevin Sebastian Luck, Michael Burke, Franziska Meier, Stefan Schaal, Subramanian Ramamoorthy
 - [Variational Imitation Learning with Diverse-quality Demonstrations](https://proceedings.icml.cc/static/paper_files/icml/2020/577-Paper.pdf). Voot Tangkaratt, Bo Han, Mohammad Emtiyaz Khan, Masashi Sugiyama
-
+- [Transformers for One-Shot Visual Imitation](https://corlconf.github.io/paper_463/). Sudeep Dasari, Abhinav Gupta
 
 ## Benchmarks
 

From 4fa3e8771c92fa99274f816761146feb78a85094 Mon Sep 17 00:00:00 2001
From: amandlek <ajay.mandlekar@gmail.com>
Date: Wed, 9 Dec 2020 16:24:54 -0800
Subject: [PATCH 24/46] adding render gpu device id arg to envs

---
 robosuite/environments/base.py                             | 6 +++++-
 robosuite/environments/manipulation/door.py                | 4 ++++
 robosuite/environments/manipulation/lift.py                | 4 ++++
 robosuite/environments/manipulation/manipulation_env.py    | 4 ++++
 robosuite/environments/manipulation/nut_assembly.py        | 4 ++++
 robosuite/environments/manipulation/pick_place.py          | 4 ++++
 robosuite/environments/manipulation/stack.py               | 4 ++++
 robosuite/environments/manipulation/two_arm_handover.py    | 4 ++++
 robosuite/environments/manipulation/two_arm_lift.py        | 4 ++++
 robosuite/environments/manipulation/two_arm_peg_in_hole.py | 4 ++++
 robosuite/environments/manipulation/wipe.py                | 4 ++++
 robosuite/environments/robot_env.py                        | 4 ++++
 12 files changed, 49 insertions(+), 1 deletion(-)

diff --git a/robosuite/environments/base.py b/robosuite/environments/base.py
index d89c027715..29806f1f7b 100644
--- a/robosuite/environments/base.py
+++ b/robosuite/environments/base.py
@@ -80,6 +80,8 @@ class MujocoEnv(metaclass=EnvMeta):
         render_visual_mesh (bool): True if rendering visual meshes
             in camera. False otherwise.
 
+        render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+
         control_freq (float): how many control signals to receive
             in every simulated second. This sets the amount of simulation time
             that passes between every action input.
@@ -104,6 +106,7 @@ def __init__(
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
+        render_gpu_device_id=-1,
         control_freq=10,
         horizon=1000,
         ignore_done=False,
@@ -119,6 +122,7 @@ def __init__(
         self.render_camera = render_camera
         self.render_collision_mesh = render_collision_mesh
         self.render_visual_mesh = render_visual_mesh
+        self.render_gpu_device_id = render_gpu_device_id
         self.viewer = None
 
         # whether to use indicator object or not
@@ -246,7 +250,7 @@ def _reset_internal(self):
 
         elif self.has_offscreen_renderer:
             if self.sim._render_context_offscreen is None:
-                render_context = MjRenderContextOffscreen(self.sim)
+                render_context = MjRenderContextOffscreen(self.sim, device_id=self.render_gpu_device_id)
                 self.sim.add_render_context(render_context)
             self.sim._render_context_offscreen.vopt.geomgroup[0] = (1 if self.render_collision_mesh else 0)
             self.sim._render_context_offscreen.vopt.geomgroup[1] = (1 if self.render_visual_mesh else 0)
diff --git a/robosuite/environments/manipulation/door.py b/robosuite/environments/manipulation/door.py
index 7c58487f28..de966754d3 100644
--- a/robosuite/environments/manipulation/door.py
+++ b/robosuite/environments/manipulation/door.py
@@ -91,6 +91,8 @@ class Door(SingleArmEnv):
 
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
+        render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
 
@@ -148,6 +150,7 @@ def __init__(
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
+        render_gpu_device_id=-1,
         control_freq=10,
         horizon=1000,
         ignore_done=False,
@@ -189,6 +192,7 @@ def __init__(
             render_camera=render_camera,
             render_collision_mesh=render_collision_mesh,
             render_visual_mesh=render_visual_mesh,
+            render_gpu_device_id=render_gpu_device_id,
             control_freq=control_freq,
             horizon=horizon,
             ignore_done=ignore_done,
diff --git a/robosuite/environments/manipulation/lift.py b/robosuite/environments/manipulation/lift.py
index de51e295f8..be85f130b2 100644
--- a/robosuite/environments/manipulation/lift.py
+++ b/robosuite/environments/manipulation/lift.py
@@ -96,6 +96,8 @@ class Lift(SingleArmEnv):
 
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
+        render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
 
@@ -154,6 +156,7 @@ def __init__(
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
+        render_gpu_device_id=-1,
         control_freq=10,
         horizon=1000,
         ignore_done=False,
@@ -195,6 +198,7 @@ def __init__(
             render_camera=render_camera,
             render_collision_mesh=render_collision_mesh,
             render_visual_mesh=render_visual_mesh,
+            render_gpu_device_id=render_gpu_device_id,
             control_freq=control_freq,
             horizon=horizon,
             ignore_done=ignore_done,
diff --git a/robosuite/environments/manipulation/manipulation_env.py b/robosuite/environments/manipulation/manipulation_env.py
index f5e91dd73e..032b28765e 100644
--- a/robosuite/environments/manipulation/manipulation_env.py
+++ b/robosuite/environments/manipulation/manipulation_env.py
@@ -78,6 +78,8 @@ class ManipulationEnv(RobotEnv):
 
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
+        render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
 
@@ -132,6 +134,7 @@ def __init__(
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
+        render_gpu_device_id=-1,
         control_freq=10,
         horizon=1000,
         ignore_done=False,
@@ -174,6 +177,7 @@ def __init__(
             render_camera=render_camera,
             render_collision_mesh=render_collision_mesh,
             render_visual_mesh=render_visual_mesh,
+            render_gpu_device_id=render_gpu_device_id,
             control_freq=control_freq,
             horizon=horizon,
             ignore_done=ignore_done,
diff --git a/robosuite/environments/manipulation/nut_assembly.py b/robosuite/environments/manipulation/nut_assembly.py
index dbb6add1a4..a48bf45496 100644
--- a/robosuite/environments/manipulation/nut_assembly.py
+++ b/robosuite/environments/manipulation/nut_assembly.py
@@ -111,6 +111,8 @@ class NutAssembly(SingleArmEnv):
 
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
+        render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
 
@@ -172,6 +174,7 @@ def __init__(
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
+        render_gpu_device_id=-1,
         control_freq=10,
         horizon=1000,
         ignore_done=False,
@@ -225,6 +228,7 @@ def __init__(
             render_camera=render_camera,
             render_collision_mesh=render_collision_mesh,
             render_visual_mesh=render_visual_mesh,
+            render_gpu_device_id=render_gpu_device_id,
             control_freq=control_freq,
             horizon=horizon,
             ignore_done=ignore_done,
diff --git a/robosuite/environments/manipulation/pick_place.py b/robosuite/environments/manipulation/pick_place.py
index ab5ccbd8f3..453b8726c9 100644
--- a/robosuite/environments/manipulation/pick_place.py
+++ b/robosuite/environments/manipulation/pick_place.py
@@ -122,6 +122,8 @@ class PickPlace(SingleArmEnv):
 
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
+        render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
 
@@ -184,6 +186,7 @@ def __init__(
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
+        render_gpu_device_id=-1,
         control_freq=10,
         horizon=1000,
         ignore_done=False,
@@ -240,6 +243,7 @@ def __init__(
             render_camera=render_camera,
             render_collision_mesh=render_collision_mesh,
             render_visual_mesh=render_visual_mesh,
+            render_gpu_device_id=render_gpu_device_id,
             control_freq=control_freq,
             horizon=horizon,
             ignore_done=ignore_done,
diff --git a/robosuite/environments/manipulation/stack.py b/robosuite/environments/manipulation/stack.py
index 89de3f47bc..5781766b0b 100644
--- a/robosuite/environments/manipulation/stack.py
+++ b/robosuite/environments/manipulation/stack.py
@@ -96,6 +96,8 @@ class Stack(SingleArmEnv):
 
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
+        render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
 
@@ -154,6 +156,7 @@ def __init__(
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
+        render_gpu_device_id=-1,
         control_freq=10,
         horizon=1000,
         ignore_done=False,
@@ -195,6 +198,7 @@ def __init__(
             render_camera=render_camera,
             render_collision_mesh=render_collision_mesh,
             render_visual_mesh=render_visual_mesh,
+            render_gpu_device_id=render_gpu_device_id,
             control_freq=control_freq,
             horizon=horizon,
             ignore_done=ignore_done,
diff --git a/robosuite/environments/manipulation/two_arm_handover.py b/robosuite/environments/manipulation/two_arm_handover.py
index 857cf83fcf..81ec7750ca 100644
--- a/robosuite/environments/manipulation/two_arm_handover.py
+++ b/robosuite/environments/manipulation/two_arm_handover.py
@@ -106,6 +106,8 @@ class TwoArmHandover(TwoArmEnv):
 
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
+        render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
 
@@ -167,6 +169,7 @@ def __init__(
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
+        render_gpu_device_id=-1,
         control_freq=10,
         horizon=1000,
         ignore_done=False,
@@ -214,6 +217,7 @@ def __init__(
             render_camera=render_camera,
             render_collision_mesh=render_collision_mesh,
             render_visual_mesh=render_visual_mesh,
+            render_gpu_device_id=render_gpu_device_id,
             control_freq=control_freq,
             horizon=horizon,
             ignore_done=ignore_done,
diff --git a/robosuite/environments/manipulation/two_arm_lift.py b/robosuite/environments/manipulation/two_arm_lift.py
index 6b9c2d5f33..6908a7be5f 100644
--- a/robosuite/environments/manipulation/two_arm_lift.py
+++ b/robosuite/environments/manipulation/two_arm_lift.py
@@ -104,6 +104,8 @@ class TwoArmLift(TwoArmEnv):
 
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
+        render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
 
@@ -164,6 +166,7 @@ def __init__(
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
+        render_gpu_device_id=-1,
         control_freq=10,
         horizon=1000,
         ignore_done=False,
@@ -205,6 +208,7 @@ def __init__(
             render_camera=render_camera,
             render_collision_mesh=render_collision_mesh,
             render_visual_mesh=render_visual_mesh,
+            render_gpu_device_id=render_gpu_device_id,
             control_freq=control_freq,
             horizon=horizon,
             ignore_done=ignore_done,
diff --git a/robosuite/environments/manipulation/two_arm_peg_in_hole.py b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
index 7d7c861a09..aa4e3c015b 100644
--- a/robosuite/environments/manipulation/two_arm_peg_in_hole.py
+++ b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
@@ -98,6 +98,8 @@ class TwoArmPegInHole(TwoArmEnv):
 
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
+        render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
 
@@ -158,6 +160,7 @@ def __init__(
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
+        render_gpu_device_id=-1,
         control_freq=10,
         horizon=1000,
         ignore_done=False,
@@ -198,6 +201,7 @@ def __init__(
             render_camera=render_camera,
             render_collision_mesh=render_collision_mesh,
             render_visual_mesh=render_visual_mesh,
+            render_gpu_device_id=render_gpu_device_id,
             control_freq=control_freq,
             horizon=horizon,
             ignore_done=ignore_done,
diff --git a/robosuite/environments/manipulation/wipe.py b/robosuite/environments/manipulation/wipe.py
index 169744bee9..955a9c47bd 100644
--- a/robosuite/environments/manipulation/wipe.py
+++ b/robosuite/environments/manipulation/wipe.py
@@ -118,6 +118,8 @@ class Wipe(SingleArmEnv):
 
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
+        render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
 
@@ -179,6 +181,7 @@ def __init__(
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
+        render_gpu_device_id=-1,
         control_freq=10,
         horizon=1000,
         ignore_done=False,
@@ -277,6 +280,7 @@ def __init__(
             render_camera=render_camera,
             render_collision_mesh=render_collision_mesh,
             render_visual_mesh=render_visual_mesh,
+            render_gpu_device_id=render_gpu_device_id,
             control_freq=control_freq,
             horizon=horizon,
             ignore_done=ignore_done,
diff --git a/robosuite/environments/robot_env.py b/robosuite/environments/robot_env.py
index 88d43e9e1d..e62740a9da 100644
--- a/robosuite/environments/robot_env.py
+++ b/robosuite/environments/robot_env.py
@@ -69,6 +69,8 @@ class RobotEnv(MujocoEnv):
 
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
+        render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
 
@@ -123,6 +125,7 @@ def __init__(
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
+        render_gpu_device_id=-1,
         control_freq=10,
         horizon=1000,
         ignore_done=False,
@@ -201,6 +204,7 @@ def __init__(
             render_camera=render_camera,
             render_collision_mesh=render_collision_mesh,
             render_visual_mesh=render_visual_mesh,
+            render_gpu_device_id=render_gpu_device_id,
             control_freq=control_freq,
             horizon=horizon,
             ignore_done=ignore_done,

From 803af6c054014b01cad3ed0fc9c546f5a1adcc96 Mon Sep 17 00:00:00 2001
From: amandlek <ajay.mandlekar@gmail.com>
Date: Thu, 10 Dec 2020 02:17:15 -0800
Subject: [PATCH 25/46] update opspace inverses to be pseudoinverses

---
 robosuite/utils/control_utils.py | 16 ++++------------
 1 file changed, 4 insertions(+), 12 deletions(-)

diff --git a/robosuite/utils/control_utils.py b/robosuite/utils/control_utils.py
index 234dfa5cbb..d081c804a7 100644
--- a/robosuite/utils/control_utils.py
+++ b/robosuite/utils/control_utils.py
@@ -66,9 +66,6 @@ def opspace_matrices(mass_matrix, J_full, J_pos, J_ori):
         np.dot(J_full, mass_matrix_inv),
         J_full.transpose())
 
-    # (J M^-1 J^T)^-1
-    lambda_full = np.linalg.inv(lambda_full_inv)
-
     # Jx M^-1 Jx^T
     lambda_pos_inv = np.dot(
         np.dot(J_pos, mass_matrix_inv),
@@ -79,15 +76,10 @@ def opspace_matrices(mass_matrix, J_full, J_pos, J_ori):
         np.dot(J_ori, mass_matrix_inv),
         J_ori.transpose())
 
-    # take the inverse, but zero out elements in cases of a singularity
-    svd_u, svd_s, svd_v = np.linalg.svd(lambda_pos_inv)
-    singularity_threshold = 0.00025
-    svd_s_inv = np.array([0 if x < singularity_threshold else 1. / x for x in svd_s])
-    lambda_pos = svd_v.T.dot(np.diag(svd_s_inv)).dot(svd_u.T)
-
-    svd_u, svd_s, svd_v = np.linalg.svd(lambda_ori_inv)
-    svd_s_inv = np.array([0 if x < singularity_threshold else 1. / x for x in svd_s])
-    lambda_ori = svd_v.T.dot(np.diag(svd_s_inv)).dot(svd_u.T)
+    # take the inverses, but zero out small singular values for stability
+    lambda_full = np.linalg.pinv(lambda_full_inv)
+    lambda_pos = np.linalg.pinv(lambda_pos_inv)
+    lambda_ori = np.linalg.pinv(lambda_ori_inv)
 
     # nullspace
     Jbar = np.dot(mass_matrix_inv, J_full.transpose()).dot(lambda_full)

From 842b8031ea25aa89427d5c1772e3b4c4d6b19197 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 12 Dec 2020 13:02:27 -0800
Subject: [PATCH 26/46] port visualization options to visualizationwrapper,
 modify default control freq from 10 --> 20

---
 robosuite/environments/base.py                | 41 ++++++----
 robosuite/environments/manipulation/door.py   | 36 +++------
 robosuite/environments/manipulation/lift.py   | 34 +++-----
 .../manipulation/manipulation_env.py          | 36 +++------
 .../environments/manipulation/nut_assembly.py | 35 +++-----
 .../environments/manipulation/pick_place.py   | 35 +++-----
 robosuite/environments/manipulation/stack.py  | 36 +++------
 .../manipulation/two_arm_handover.py          | 19 +----
 .../environments/manipulation/two_arm_lift.py | 50 ++++--------
 .../manipulation/two_arm_peg_in_hole.py       | 19 +----
 robosuite/environments/manipulation/wipe.py   | 19 +----
 robosuite/environments/robot_env.py           | 53 ++++++------
 robosuite/robots/bimanual.py                  | 21 ++---
 robosuite/robots/manipulator.py               | 17 +++-
 robosuite/robots/robot.py                     | 15 ++--
 robosuite/robots/single_arm.py                | 17 ++--
 robosuite/wrappers/__init__.py                |  1 +
 robosuite/wrappers/visualization_wrapper.py   | 81 +++++++++++++++++++
 18 files changed, 261 insertions(+), 304 deletions(-)
 create mode 100644 robosuite/wrappers/visualization_wrapper.py

diff --git a/robosuite/environments/base.py b/robosuite/environments/base.py
index d89c027715..e21bc43b21 100644
--- a/robosuite/environments/base.py
+++ b/robosuite/environments/base.py
@@ -62,9 +62,6 @@ class MujocoEnv(metaclass=EnvMeta):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
-        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
-            teleoperation.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -98,13 +95,12 @@ class MujocoEnv(metaclass=EnvMeta):
     def __init__(
         self,
         use_indicator_object=False,
-        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
-        control_freq=10,
+        control_freq=20,
         horizon=1000,
         ignore_done=False,
         hard_reset=True
@@ -124,9 +120,6 @@ def __init__(
         # whether to use indicator object or not
         self.use_indicator_object = use_indicator_object
 
-        # Whether to render visual sites in this env
-        self.env_visualization = env_visualization
-
         # Simulation-specific attributes
         self.control_freq = control_freq
         self.horizon = horizon
@@ -222,6 +215,9 @@ def reset(self):
         # Reset necessary robosuite-centric variables
         self._reset_internal()
         self.sim.forward()
+        # Make sure that all sites are toggled OFF by default
+        self.visualize(vis_settings={vis: False for vis in self._visualizations})
+        # Return new observations
         return self._get_observation()
 
     def _reset_internal(self):
@@ -251,10 +247,6 @@ def _reset_internal(self):
             self.sim._render_context_offscreen.vopt.geomgroup[0] = (1 if self.render_collision_mesh else 0)
             self.sim._render_context_offscreen.vopt.geomgroup[1] = (1 if self.render_visual_mesh else 0)
 
-        # Set visuals for objects
-        for obj in self.model.mujoco_objects:
-            obj.set_sites_visibility(sim=self.sim, visible=self.env_visualization)
-
         # additional housekeeping
         self.sim_state_initial = self.sim.get_state()
         self._get_reference()
@@ -346,9 +338,6 @@ def _post_action(self, action):
         # done if number of elapsed timesteps is greater than horizon
         self.done = (self.timestep >= self.horizon) and not self.ignore_done
 
-        # Run any necessary visualization
-        self._visualization()
-
         return reward, self.done, {}
 
     def reward(self, action):
@@ -409,11 +398,28 @@ def clear_objects(self, object_names):
             if obj.name in object_names:
                 self.sim.data.set_joint_qpos(obj.joints[0], np.array((10, 10, 10, 1, 0, 0, 0)))
 
-    def _visualization(self):
+    def visualize(self, vis_settings):
         """
         Do any needed visualization here
+
+        Args:
+            vis_settings (dict): Visualization keywords mapped to T/F, determining whether that specific
+                component should be visualized. Should have "env" keyword as well as any other relevant
+                options specified.
         """
-        pass
+        # Set visuals for environment objects
+        for obj in self.model.mujoco_objects:
+            obj.set_sites_visibility(sim=self.sim, visible=vis_settings["env"])
+
+    @property
+    def _visualizations(self):
+        """
+        Visualization keywords for this environment
+
+        Returns:
+            set: All components that can be individually visualized for this environment
+        """
+        return {"env"}
 
     @property
     def action_spec(self):
@@ -429,6 +435,7 @@ def action_spec(self):
     def action_dim(self):
         """
         Size of the action space
+
         Returns:
             int: Action space dimension
         """
diff --git a/robosuite/environments/manipulation/door.py b/robosuite/environments/manipulation/door.py
index 7c58487f28..c7fa99dbfc 100644
--- a/robosuite/environments/manipulation/door.py
+++ b/robosuite/environments/manipulation/door.py
@@ -32,10 +32,6 @@ class Door(SingleArmEnv):
             overrides the default gripper. Should either be single str if same gripper type is to be used for all
             robots or else it should be a list of the same length as "robots" param
 
-        gripper_visualizations (bool or list of bool): True if using gripper visualization.
-            Useful for teleoperation. Should either be single bool if gripper visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
         initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
             The expected keys and corresponding value types are specified below:
 
@@ -71,13 +67,6 @@ class Door(SingleArmEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
-        robot_visualizations (bool or list of bool): True if using robot visualization.
-            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
-        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
-            teleoperation.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -132,7 +121,6 @@ def __init__(
         env_configuration="default",
         controller_configs=None,
         gripper_types="default",
-        gripper_visualizations=False,
         initialization_noise="default",
         use_latch=True,
         use_camera_obs=True,
@@ -141,14 +129,12 @@ def __init__(
         reward_shaping=False,
         placement_initializer=None,
         use_indicator_object=False,
-        robot_visualizations=False,
-        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
-        control_freq=10,
+        control_freq=20,
         horizon=1000,
         ignore_done=False,
         hard_reset=True,
@@ -178,12 +164,9 @@ def __init__(
             controller_configs=controller_configs,
             mount_types="default",
             gripper_types=gripper_types,
-            gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
-            robot_visualizations=robot_visualizations,
-            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -406,15 +389,20 @@ def _check_success(self):
         hinge_qpos = self.sim.data.qpos[self.hinge_qpos_addr]
         return hinge_qpos > 0.3
 
-    def _visualization(self):
+    def visualize(self, vis_settings):
         """
-        Do any needed visualization here. Overrides superclass implementations.
+        In addition to super call, visualize gripper site proportional to the distance to the door handle.
+
+        Args:
+            vis_settings (dict): Visualization keywords mapped to T/F, determining whether that specific
+                component should be visualized. Should have "grippers" keyword as well as any other relevant
+                options specified.
         """
-        # Run super call first
-        super()._visualization()
+        # Run superclass method first
+        super().visualize(vis_settings=vis_settings)
 
-        # Color the gripper visualization site according to its distance to the cube
-        if self.robots[0].gripper_visualization:
+        # Color the gripper visualization site according to its distance to the door handle
+        if vis_settings["grippers"]:
             self._visualize_gripper_to_target(
                 gripper=self.robots[0].gripper,
                 target=self.door.important_sites["handle"],
diff --git a/robosuite/environments/manipulation/lift.py b/robosuite/environments/manipulation/lift.py
index de51e295f8..1ef25d5830 100644
--- a/robosuite/environments/manipulation/lift.py
+++ b/robosuite/environments/manipulation/lift.py
@@ -35,10 +35,6 @@ class Lift(SingleArmEnv):
             overrides the default gripper. Should either be single str if same gripper type is to be used for all
             robots or else it should be a list of the same length as "robots" param
 
-        gripper_visualizations (bool or list of bool): True if using gripper visualization.
-            Useful for teleoperation. Should either be single bool if gripper visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
         initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
             The expected keys and corresponding value types are specified below:
 
@@ -76,13 +72,6 @@ class Lift(SingleArmEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
-        robot_visualizations (bool or list of bool): True if using robot visualization.
-            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
-        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
-            teleoperation.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -137,7 +126,6 @@ def __init__(
         env_configuration="default",
         controller_configs=None,
         gripper_types="default",
-        gripper_visualizations=False,
         initialization_noise="default",
         table_full_size=(0.8, 0.8, 0.05),
         table_friction=(1., 5e-3, 1e-4),
@@ -147,14 +135,12 @@ def __init__(
         reward_shaping=False,
         placement_initializer=None,
         use_indicator_object=False,
-        robot_visualizations=False,
-        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
-        control_freq=10,
+        control_freq=20,
         horizon=1000,
         ignore_done=False,
         hard_reset=True,
@@ -184,12 +170,9 @@ def __init__(
             controller_configs=controller_configs,
             mount_types="default",
             gripper_types=gripper_types,
-            gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
-            robot_visualizations=robot_visualizations,
-            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -395,15 +378,20 @@ def _get_observation(self):
 
         return di
 
-    def _visualization(self):
+    def visualize(self, vis_settings):
         """
-        Visualize the gripper site proportional to the distance to the cube
+        In addition to super call, visualize gripper site proportional to the distance to the cube.
+
+        Args:
+            vis_settings (dict): Visualization keywords mapped to T/F, determining whether that specific
+                component should be visualized. Should have "grippers" keyword as well as any other relevant
+                options specified.
         """
-        # Run super call first
-        super()._visualization()
+        # Run superclass method first
+        super().visualize(vis_settings=vis_settings)
 
         # Color the gripper visualization site according to its distance to the cube
-        if self.robots[0].gripper_visualization:
+        if vis_settings["grippers"]:
             self._visualize_gripper_to_target(gripper=self.robots[0].gripper, target=self.cube)
 
     def _check_success(self):
diff --git a/robosuite/environments/manipulation/manipulation_env.py b/robosuite/environments/manipulation/manipulation_env.py
index f5e91dd73e..c71acebc89 100644
--- a/robosuite/environments/manipulation/manipulation_env.py
+++ b/robosuite/environments/manipulation/manipulation_env.py
@@ -34,10 +34,6 @@ class ManipulationEnv(RobotEnv):
             overrides the default gripper. Should either be single str if same gripper type is to be used for all
             robots or else it should be a list of the same length as "robots" param
 
-        gripper_visualizations (bool or list of bool): True if using gripper visualization.
-            Useful for teleoperation. Should either be single bool if gripper visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
         initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
             The expected keys and corresponding value types are specified below:
 
@@ -58,13 +54,6 @@ class ManipulationEnv(RobotEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
-        robot_visualizations (bool or list of bool): True if using robot visualization.
-            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
-        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
-            teleoperation.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -121,18 +110,15 @@ def __init__(
         controller_configs=None,
         mount_types="default",
         gripper_types="default",
-        gripper_visualizations=False,
         initialization_noise=None,
         use_camera_obs=True,
         use_indicator_object=False,
-        robot_visualizations=False,
-        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
-        control_freq=10,
+        control_freq=20,
         horizon=1000,
         ignore_done=False,
         hard_reset=True,
@@ -147,13 +133,11 @@ def __init__(
 
         # Gripper
         gripper_types = self._input2list(gripper_types, num_robots)
-        gripper_visualizations = self._input2list(gripper_visualizations, num_robots)
 
         # Robot configurations to pass to super call
         robot_configs = [
             {
                 "gripper_type": gripper_types[idx],
-                "gripper_visualization": gripper_visualizations[idx],
             }
             for idx in range(num_robots)
         ]
@@ -167,8 +151,6 @@ def __init__(
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
-            robot_visualizations=robot_visualizations,
-            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -185,15 +167,17 @@ def __init__(
             robot_configs=robot_configs,
         )
 
-    def _visualization(self):
+    @property
+    def _visualizations(self):
         """
-        Do any needed visualization here
+        Visualization keywords for this environment
+
+        Returns:
+            set: All components that can be individually visualized for this environment
         """
-        # Run superclass method first
-        super()._visualization()
-        # Loop over robot grippers to visualize them independently
-        for robot in self.robots:
-            robot.visualize_gripper()
+        vis_set = super()._visualizations
+        vis_set.add("grippers")
+        return vis_set
 
     def _check_grasp(self, gripper, object_geoms):
         """
diff --git a/robosuite/environments/manipulation/nut_assembly.py b/robosuite/environments/manipulation/nut_assembly.py
index dbb6add1a4..9c564f44b1 100644
--- a/robosuite/environments/manipulation/nut_assembly.py
+++ b/robosuite/environments/manipulation/nut_assembly.py
@@ -34,10 +34,6 @@ class NutAssembly(SingleArmEnv):
             overrides the default gripper. Should either be single str if same gripper type is to be used for all
             robots or else it should be a list of the same length as "robots" param
 
-        gripper_visualizations (bool or list of bool): True if using gripper visualization.
-            Useful for teleoperation. Should either be single bool if gripper visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
         initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
             The expected keys and corresponding value types are specified below:
 
@@ -91,13 +87,6 @@ class NutAssembly(SingleArmEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
-        robot_visualizations (bool or list of bool): True if using robot visualization.
-            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
-        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
-            teleoperation.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -153,7 +142,6 @@ def __init__(
         env_configuration="default",
         controller_configs=None,
         gripper_types="default",
-        gripper_visualizations=False,
         initialization_noise="default",
         table_full_size=(0.8, 0.8, 0.05),
         table_friction=(1, 0.005, 0.0001),
@@ -165,14 +153,12 @@ def __init__(
         single_object_mode=0,
         nut_type=None,
         use_indicator_object=False,
-        robot_visualizations=False,
-        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
-        control_freq=10,
+        control_freq=20,
         horizon=1000,
         ignore_done=False,
         hard_reset=True,
@@ -214,12 +200,9 @@ def __init__(
             controller_configs=controller_configs,
             mount_types="default",
             gripper_types=gripper_types,
-            gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
-            robot_visualizations=robot_visualizations,
-            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -586,12 +569,20 @@ def _check_success(self):
         # returns True if all objects are on correct pegs
         return np.sum(self.objects_on_pegs) == len(self.nuts)
 
-    def _visualization(self):
+    def visualize(self, vis_settings):
         """
-        Do any needed visualization here. Overrides superclass implementations.
+        In addition to super call, visualize gripper site proportional to the distance to the closest nut.
+
+        Args:
+            vis_settings (dict): Visualization keywords mapped to T/F, determining whether that specific
+                component should be visualized. Should have "grippers" keyword as well as any other relevant
+                options specified.
         """
-        # color the gripper site appropriately based on distance to closest nut
-        if self.robots[0].gripper_visualization:
+        # Run superclass method first
+        super().visualize(vis_settings=vis_settings)
+
+        # Color the gripper visualization site according to its distance to the closest nut
+        if vis_settings["grippers"]:
             # find closest object
             dists = [
                 self._gripper_to_target(
diff --git a/robosuite/environments/manipulation/pick_place.py b/robosuite/environments/manipulation/pick_place.py
index ab5ccbd8f3..1fd9c0091b 100644
--- a/robosuite/environments/manipulation/pick_place.py
+++ b/robosuite/environments/manipulation/pick_place.py
@@ -45,10 +45,6 @@ class PickPlace(SingleArmEnv):
             overrides the default gripper. Should either be single str if same gripper type is to be used for all
             robots or else it should be a list of the same length as "robots" param
 
-        gripper_visualizations (bool or list of bool): True if using gripper visualization.
-            Useful for teleoperation. Should either be single bool if gripper visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
         initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
             The expected keys and corresponding value types are specified below:
 
@@ -102,13 +98,6 @@ class PickPlace(SingleArmEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
-        robot_visualizations (bool or list of bool): True if using robot visualization.
-            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
-        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
-            teleoperation.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -164,7 +153,6 @@ def __init__(
         env_configuration="default",
         controller_configs=None,
         gripper_types="default",
-        gripper_visualizations=False,
         initialization_noise="default",
         table_full_size=(0.39, 0.49, 0.82),
         table_friction=(1, 0.005, 0.0001),
@@ -177,14 +165,12 @@ def __init__(
         single_object_mode=0,
         object_type=None,
         use_indicator_object=False,
-        robot_visualizations=False,
-        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
-        control_freq=10,
+        control_freq=20,
         horizon=1000,
         ignore_done=False,
         hard_reset=True,
@@ -229,12 +215,9 @@ def __init__(
             controller_configs=controller_configs,
             mount_types="default",
             gripper_types=gripper_types,
-            gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
-            robot_visualizations=robot_visualizations,
-            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -683,12 +666,20 @@ def _check_success(self):
         # returns True if all objects are in correct bins
         return np.sum(self.objects_in_bins) == len(self.objects)
 
-    def _visualization(self):
+    def visualize(self, vis_settings):
         """
-        Do any needed visualization here. Overrides superclass implementations.
+        In addition to super call, visualize gripper site proportional to the distance to the closest object.
+
+        Args:
+            vis_settings (dict): Visualization keywords mapped to T/F, determining whether that specific
+                component should be visualized. Should have "grippers" keyword as well as any other relevant
+                options specified.
         """
-        # color the gripper site appropriately based on distance to closest nut
-        if self.robots[0].gripper_visualization:
+        # Run superclass method first
+        super().visualize(vis_settings=vis_settings)
+
+        # Color the gripper visualization site according to its distance to the closest object
+        if vis_settings["grippers"]:
             # find closest object
             dists = [
                 self._gripper_to_target(
diff --git a/robosuite/environments/manipulation/stack.py b/robosuite/environments/manipulation/stack.py
index 89de3f47bc..3a3d4d02f0 100644
--- a/robosuite/environments/manipulation/stack.py
+++ b/robosuite/environments/manipulation/stack.py
@@ -35,10 +35,6 @@ class Stack(SingleArmEnv):
             overrides the default gripper. Should either be single str if same gripper type is to be used for all
             robots or else it should be a list of the same length as "robots" param
 
-        gripper_visualizations (bool or list of bool): True if using gripper visualization.
-            Useful for teleoperation. Should either be single bool if gripper visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
         initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
             The expected keys and corresponding value types are specified below:
 
@@ -76,13 +72,6 @@ class Stack(SingleArmEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
-        robot_visualizations (bool or list of bool): True if using robot visualization.
-            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
-        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
-            teleoperation.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -137,7 +126,6 @@ def __init__(
         env_configuration="default",
         controller_configs=None,
         gripper_types="default",
-        gripper_visualizations=False,
         initialization_noise="default",
         table_full_size=(0.8, 0.8, 0.05),
         table_friction=(1., 5e-3, 1e-4),
@@ -147,14 +135,12 @@ def __init__(
         reward_shaping=False,
         placement_initializer=None,
         use_indicator_object=False,
-        robot_visualizations=False,
-        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
-        control_freq=10,
+        control_freq=20,
         horizon=1000,
         ignore_done=False,
         hard_reset=True,
@@ -184,12 +170,9 @@ def __init__(
             controller_configs=controller_configs,
             mount_types="default",
             gripper_types=gripper_types,
-            gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
-            robot_visualizations=robot_visualizations,
-            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -476,13 +459,18 @@ def _check_success(self):
         _, _, r_stack = self.staged_rewards()
         return r_stack > 0
 
-    def _visualization(self):
+    def visualize(self, vis_settings):
         """
-        Do any needed visualization here. Overrides superclass implementations.
+        In addition to super call, visualize gripper site proportional to the distance to the cube.
+
+        Args:
+            vis_settings (dict): Visualization keywords mapped to T/F, determining whether that specific
+                component should be visualized. Should have "grippers" keyword as well as any other relevant
+                options specified.
         """
-        # Run super call first
-        super()._visualization()
+        # Run superclass method first
+        super().visualize(vis_settings=vis_settings)
 
-        # Color the gripper visualization site according to its distance to cubeA
-        if self.robots[0].gripper_visualization:
+        # Color the gripper visualization site according to its distance to the cube
+        if vis_settings["grippers"]:
             self._visualize_gripper_to_target(gripper=self.robots[0].gripper, target=self.cubeA)
diff --git a/robosuite/environments/manipulation/two_arm_handover.py b/robosuite/environments/manipulation/two_arm_handover.py
index 857cf83fcf..dd430a89db 100644
--- a/robosuite/environments/manipulation/two_arm_handover.py
+++ b/robosuite/environments/manipulation/two_arm_handover.py
@@ -43,10 +43,6 @@ class TwoArmHandover(TwoArmEnv):
             overrides the default gripper. Should either be single str if same gripper type is to be used for all
             robots or else it should be a list of the same length as "robots" param
 
-        gripper_visualizations (bool or list of bool): True if using gripper visualization.
-            Useful for teleoperation. Should either be single bool if gripper visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
         initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
             The expected keys and corresponding value types are specified below:
 
@@ -86,13 +82,6 @@ class TwoArmHandover(TwoArmEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
-        robot_visualizations (bool or list of bool): True if using robot visualization.
-            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
-        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
-            teleoperation.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -149,7 +138,6 @@ def __init__(
         env_configuration="single-arm-opposed",
         controller_configs=None,
         gripper_types="default",
-        gripper_visualizations=False,
         initialization_noise="default",
         prehensile=True,
         table_full_size=(0.8, 1.2, 0.05),
@@ -160,14 +148,12 @@ def __init__(
         reward_shaping=False,
         placement_initializer=None,
         use_indicator_object=False,
-        robot_visualizations=False,
-        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
-        control_freq=10,
+        control_freq=20,
         horizon=1000,
         ignore_done=False,
         hard_reset=True,
@@ -203,12 +189,9 @@ def __init__(
             controller_configs=controller_configs,
             mount_types="default",
             gripper_types=gripper_types,
-            gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
-            robot_visualizations=robot_visualizations,
-            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
diff --git a/robosuite/environments/manipulation/two_arm_lift.py b/robosuite/environments/manipulation/two_arm_lift.py
index 6b9c2d5f33..ca09929d89 100644
--- a/robosuite/environments/manipulation/two_arm_lift.py
+++ b/robosuite/environments/manipulation/two_arm_lift.py
@@ -43,10 +43,6 @@ class TwoArmLift(TwoArmEnv):
             overrides the default gripper. Should either be single str if same gripper type is to be used for all
             robots or else it should be a list of the same length as "robots" param
 
-        gripper_visualizations (bool or list of bool): True if using gripper visualization.
-            Useful for teleoperation. Should either be single bool if gripper visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
         initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
             The expected keys and corresponding value types are specified below:
 
@@ -84,13 +80,6 @@ class TwoArmLift(TwoArmEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
-        robot_visualizations (bool or list of bool): True if using robot visualization.
-            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
-        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
-            teleoperation.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -147,7 +136,6 @@ def __init__(
         env_configuration="single-arm-opposed",
         controller_configs=None,
         gripper_types="default",
-        gripper_visualizations=False,
         initialization_noise="default",
         table_full_size=(0.8, 0.8, 0.05),
         table_friction=(1., 5e-3, 1e-4),
@@ -157,14 +145,12 @@ def __init__(
         reward_shaping=False,
         placement_initializer=None,
         use_indicator_object=False,
-        robot_visualizations=False,
-        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
-        control_freq=10,
+        control_freq=20,
         horizon=1000,
         ignore_done=False,
         hard_reset=True,
@@ -194,12 +180,9 @@ def __init__(
             controller_configs=controller_configs,
             mount_types="default",
             gripper_types=gripper_types,
-            gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
-            robot_visualizations=robot_visualizations,
-            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -444,23 +427,24 @@ def _get_observation(self):
 
         return di
 
-    def _visualization(self):
+    def visualize(self, vis_settings):
         """
-        Visualize each gripper site proportional to the distance to their respective handles
-        """
-        # Run super call first
-        super()._visualization()
+        In addition to super call, visualize gripper site proportional to the distance to each handle.
 
-        # Color the gripper visualization site according to its distance to the cube
-        handles = [self.pot.important_sites[f"handle{i}"] for i in range(2)]
-        if self.env_configuration == "bimanual":
-            visualizations = [self.robots[0].gripper_visualization[arm] for arm in self.robots[0].arms]
-            grippers = [self.robots[0].gripper[arm] for arm in self.robots[0].arms]
-        else:
-            visualizations = [robot.gripper_visualization for robot in self.robots]
-            grippers = [robot.gripper for robot in self.robots]
-        for vis, gripper, handle in zip(visualizations, grippers, handles):
-            if vis:
+        Args:
+            vis_settings (dict): Visualization keywords mapped to T/F, determining whether that specific
+                component should be visualized. Should have "grippers" keyword as well as any other relevant
+                options specified.
+        """
+        # Run superclass method first
+        super().visualize(vis_settings=vis_settings)
+
+        # Color the gripper visualization site according to its distance to each handle
+        if vis_settings["grippers"]:
+            handles = [self.pot.important_sites[f"handle{i}"] for i in range(2)]
+            grippers = [self.robots[0].gripper[arm] for arm in self.robots[0].arms] if \
+                self.env_configuration == "bimanual" else [robot.gripper for robot in self.robots]
+            for gripper, handle in zip(grippers, handles):
                 self._visualize_gripper_to_target(gripper=gripper, target=handle, target_type="site")
 
     def _check_success(self):
diff --git a/robosuite/environments/manipulation/two_arm_peg_in_hole.py b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
index 7d7c861a09..667dc93fe4 100644
--- a/robosuite/environments/manipulation/two_arm_peg_in_hole.py
+++ b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
@@ -39,10 +39,6 @@ class TwoArmPegInHole(TwoArmEnv):
             For this environment, setting a value other than the default (None) will raise an AssertionError, as
             this environment is not meant to be used with any gripper at all.
 
-        gripper_visualizations (bool or list of bool): True if using gripper visualization.
-            Useful for teleoperation. Should either be single bool if gripper visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
         initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
             The expected keys and corresponding value types are specified below:
 
@@ -78,13 +74,6 @@ class TwoArmPegInHole(TwoArmEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
-        robot_visualizations (bool or list of bool): True if using robot visualization.
-            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
-        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
-            teleoperation.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -142,7 +131,6 @@ def __init__(
         env_configuration="single-arm-opposed",
         controller_configs=None,
         gripper_types=None,
-        gripper_visualizations=False,
         initialization_noise="default",
         use_camera_obs=True,
         use_object_obs=True,
@@ -151,14 +139,12 @@ def __init__(
         peg_radius=(0.015, 0.03),
         peg_length=0.13,
         use_indicator_object=False,
-        robot_visualizations=False,
-        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
-        control_freq=10,
+        control_freq=20,
         horizon=1000,
         ignore_done=False,
         hard_reset=True,
@@ -187,12 +173,9 @@ def __init__(
             controller_configs=controller_configs,
             mount_types="default",
             gripper_types=gripper_types,
-            gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
-            robot_visualizations=robot_visualizations,
-            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
diff --git a/robosuite/environments/manipulation/wipe.py b/robosuite/environments/manipulation/wipe.py
index 169744bee9..31bcf6f730 100644
--- a/robosuite/environments/manipulation/wipe.py
+++ b/robosuite/environments/manipulation/wipe.py
@@ -66,10 +66,6 @@ class Wipe(SingleArmEnv):
             For this environment, setting a value other than the default ("WipingGripper") will raise an
             AssertionError, as this environment is not meant to be used with any other alternative gripper.
 
-        gripper_visualizations (bool or list of bool): True if using gripper visualization.
-            Useful for teleoperation. Should either be single bool if gripper visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
         initialization_noise (dict or list of dict): Dict containing the initialization noise parameters.
             The expected keys and corresponding value types are specified below:
 
@@ -98,13 +94,6 @@ class Wipe(SingleArmEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
-        robot_visualizations (bool or list of bool): True if using robot visualization.
-            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
-        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
-            teleoperation.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -165,21 +154,18 @@ def __init__(
         env_configuration="default",
         controller_configs=None,
         gripper_types="WipingGripper",
-        gripper_visualizations=False,
         initialization_noise="default",
         use_camera_obs=True,
         use_object_obs=True,
         reward_scale=1.0,
         reward_shaping=True,
         use_indicator_object=False,
-        robot_visualizations=False,
-        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
-        control_freq=10,
+        control_freq=20,
         horizon=1000,
         ignore_done=False,
         hard_reset=True,
@@ -266,12 +252,9 @@ def __init__(
             controller_configs=controller_configs,
             mount_types="default",
             gripper_types=gripper_types,
-            gripper_visualizations=gripper_visualizations,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
             use_indicator_object=use_indicator_object,
-            robot_visualizations=robot_visualizations,
-            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
diff --git a/robosuite/environments/robot_env.py b/robosuite/environments/robot_env.py
index 88d43e9e1d..4f6473d550 100644
--- a/robosuite/environments/robot_env.py
+++ b/robosuite/environments/robot_env.py
@@ -49,13 +49,6 @@ class RobotEnv(MujocoEnv):
         use_indicator_object (bool): if True, sets up an indicator object that
             is useful for debugging.
 
-        robot_visualizations (bool or list of bool): True if using robot visualization.
-            Useful for teleoperation. Should either be single bool if robot visualization is to be used for all
-            robots or else it should be a list of the same length as "robots" param
-
-        env_visualization (bool): True if visualizing sites for the arena / objects in this environment. Useful for
-            teleoperation.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -116,14 +109,12 @@ def __init__(
         initialization_noise=None,
         use_camera_obs=True,
         use_indicator_object=False,
-        robot_visualizations=False,
-        env_visualization=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
         render_collision_mesh=False,
         render_visual_mesh=True,
-        control_freq=10,
+        control_freq=20,
         horizon=1000,
         ignore_done=False,
         hard_reset=True,
@@ -153,9 +144,6 @@ def __init__(
         # Initialization Noise
         initialization_noise = self._input2list(initialization_noise, self.num_robots)
 
-        # Visualization
-        robot_visualizations = self._input2list(robot_visualizations, self.num_robots)
-
         # Observations -- Ground truth = object_obs, Image data = camera_obs
         self.use_camera_obs = use_camera_obs
 
@@ -184,7 +172,6 @@ def __init__(
                     "controller_config": controller_configs[idx],
                     "mount_type": mount_types[idx],
                     "initialization_noise": initialization_noise[idx],
-                    "robot_visualization": robot_visualizations[idx],
                     "control_freq": control_freq
                 },
                 **robot_config,
@@ -195,7 +182,6 @@ def __init__(
         # Run superclass init
         super().__init__(
             use_indicator_object=use_indicator_object,
-            env_visualization=env_visualization,
             has_renderer=has_renderer,
             has_offscreen_renderer=self.has_offscreen_renderer,
             render_camera=render_camera,
@@ -207,6 +193,33 @@ def __init__(
             hard_reset=hard_reset,
         )
 
+    def visualize(self, vis_settings):
+        """
+        In addition to super call, visualizes robots.
+
+        Args:
+            vis_settings (dict): Visualization keywords mapped to T/F, determining whether that specific
+                component should be visualized. Should have "robots" keyword as well as any other relevant
+                options specified.
+        """
+        # Run superclass method first
+        super().visualize(vis_settings=vis_settings)
+        # Loop over robots to visualize them independently
+        for robot in self.robots:
+            robot.visualize(vis_settings=vis_settings)
+
+    @property
+    def _visualizations(self):
+        """
+        Visualization keywords for this environment
+
+        Returns:
+            set: All components that can be individually visualized for this environment
+        """
+        vis_set = super()._visualizations
+        vis_set.add("robots")
+        return vis_set
+
     @property
     def action_spec(self):
         """
@@ -397,16 +410,6 @@ def _get_observation(self):
 
         return di
 
-    def _visualization(self):
-        """
-        Do any needed visualization here
-        """
-        # Run superclass method first
-        super()._visualization()
-        # Loop over robots to visualize them independently
-        for robot in self.robots:
-            robot.visualize()
-
     def _load_robots(self):
         """
         Instantiates robots and stores them within the self.robots attribute
diff --git a/robosuite/robots/bimanual.py b/robosuite/robots/bimanual.py
index 0e0d74f601..80c20f78de 100644
--- a/robosuite/robots/bimanual.py
+++ b/robosuite/robots/bimanual.py
@@ -55,14 +55,6 @@ class Bimanual(Manipulator):
 
             :NOTE: In the latter case, assumes convention of [right, left]
 
-        gripper_visualization (bool or list of bool --> dict): True if using gripper visualization.
-            Useful for teleoperation. Should either be single bool if gripper visualization is to be used for both
-            arms or else it should be a list of length 2
-
-            :NOTE: In the latter case, assumes convention of [right, left]
-
-        robot_visualization (bool): True if using robot visualization. Useful for teleoperation.
-
         control_freq (float): how many control signals to receive
             in every second. This sets the amount of simulation time
             that passes between every action input.
@@ -77,9 +69,7 @@ def __init__(
         initialization_noise=None,
         mount_type="default",
         gripper_type="default",
-        gripper_visualization=False,
-        robot_visualization=False,
-        control_freq=10
+        control_freq=20
     ):
 
         self.controller = self._input2dict(None)
@@ -87,7 +77,6 @@ def __init__(
         self.gripper = self._input2dict(None)
         self.gripper_type = self._input2dict(gripper_type)
         self.has_gripper = self._input2dict([gripper_type is not None for _, gripper_type in self.gripper_type.items()])
-        self.gripper_visualization = self._input2dict(gripper_visualization)
 
         self.gripper_joints = self._input2dict(None)                            # xml joint names for gripper
         self._ref_gripper_joint_pos_indexes = self._input2dict(None)            # xml gripper joint position indexes in mjsim
@@ -110,7 +99,6 @@ def __init__(
             initial_qpos=initial_qpos,
             initialization_noise=initialization_noise,
             mount_type=mount_type,
-            robot_visualization=robot_visualization,
             control_freq=control_freq,
         )
 
@@ -334,12 +322,15 @@ def control(self, action, policy_step=False):
                 ee_acc = np.array([np.convolve(col, np.ones(10) / 10., mode='valid')[0] for col in diffs.transpose()])
                 self.recent_ee_acc[arm].push(ee_acc)
 
-    def visualize_gripper(self):
+    def _visualize_grippers(self, visible):
         """
         Visualizes the gripper site(s) if applicable.
+
+        Args:
+            visible (bool): True if visualizing the gripper for this arm.
         """
         for arm in self.arms:
-            self.gripper[arm].set_sites_visibility(sim=self.sim, visible=self.gripper_visualization[arm])
+            self.gripper[arm].set_sites_visibility(sim=self.sim, visible=visible)
 
     def get_observations(self, di: OrderedDict):
         """
diff --git a/robosuite/robots/manipulator.py b/robosuite/robots/manipulator.py
index 28f92ce08b..cec2a57aa8 100644
--- a/robosuite/robots/manipulator.py
+++ b/robosuite/robots/manipulator.py
@@ -30,9 +30,24 @@ def grip_action(self, gripper, gripper_action):
         applied_gripper_action = bias + weight * gripper_action_actual
         self.sim.data.ctrl[actuator_idxs] = applied_gripper_action
 
-    def visualize_gripper(self):
+    def visualize(self, vis_settings):
+        """
+        Do any necessary visualization for this manipulator
+
+        Args:
+            vis_settings (dict): Visualization keywords mapped to T/F, determining whether that specific
+                component should be visualized. Should have "robots" and "grippers" keyword as well as any other
+                robot-specific options specified.
+        """
+        super().visualize(vis_settings=vis_settings)
+        self._visualize_grippers(visible=vis_settings["grippers"])
+
+    def _visualize_grippers(self, visible):
         """
         Visualizes the gripper site(s) if applicable.
+
+        Args:
+            visible (bool): True if visualizing grippers, else False
         """
         raise NotImplementedError
 
diff --git a/robosuite/robots/robot.py b/robosuite/robots/robot.py
index cada77830c..8a052f7dd2 100644
--- a/robosuite/robots/robot.py
+++ b/robosuite/robots/robot.py
@@ -37,8 +37,6 @@ class Robot(object):
             Default is "default", which is the default mount associated with this robot's corresponding model.
             None results in no mount, and any other (valid) model overrides the default mount.
 
-        robot_visualization (bool): True if using robot visualization. Useful for teleoperation.
-
         control_freq (float): how many control signals to receive
             in every second. This sets the amount of simulation time
             that passes between every action input.
@@ -51,15 +49,13 @@ def __init__(
         initial_qpos=None,
         initialization_noise=None,
         mount_type="default",
-        robot_visualization=False,
-        control_freq=10,
+        control_freq=20,
     ):
         # Set relevant attributes
         self.sim = None                                     # MjSim this robot is tied to
         self.name = robot_type                              # Specific robot to instantiate
         self.idn = idn                                      # Unique ID of this robot
         self.robot_model = None                             # object holding robot model-specific info
-        self.robot_visualization = robot_visualization      # Whether to visualize robot model sites or not
         self.control_freq = control_freq                    # controller Hz
         self.mount_type = mount_type                        # Type of mount to use
 
@@ -239,11 +235,16 @@ def check_q_limits(self):
                 return True
         return False
 
-    def visualize(self):
+    def visualize(self, vis_settings):
         """
         Do any necessary visualization for this robot
+
+        Args:
+            vis_settings (dict): Visualization keywords mapped to T/F, determining whether that specific
+                component should be visualized. Should have "robots" keyword as well as any other robot-specific
+                options specified.
         """
-        self.robot_model.set_sites_visibility(sim=self.sim, visible=self.robot_visualization)
+        self.robot_model.set_sites_visibility(sim=self.sim, visible=vis_settings["robots"])
 
     @property
     def action_limits(self):
diff --git a/robosuite/robots/single_arm.py b/robosuite/robots/single_arm.py
index 566405c61a..acbd68d166 100644
--- a/robosuite/robots/single_arm.py
+++ b/robosuite/robots/single_arm.py
@@ -49,10 +49,6 @@ class SingleArm(Manipulator):
             within the 'robot' specification. None removes the gripper, and any other (valid) model overrides the
             default gripper
 
-        gripper_visualization (bool): True if using gripper visualization. Useful for teleoperation.
-
-        robot_visualization (bool): True if using robot visualization. Useful for teleoperation.
-
         control_freq (float): how many control signals to receive
             in every second. This sets the amount of simulation time
             that passes between every action input.
@@ -67,16 +63,13 @@ def __init__(
         initialization_noise=None,
         mount_type="default",
         gripper_type="default",
-        gripper_visualization=False,
-        robot_visualization=False,
-        control_freq=10
+        control_freq=20
     ):
 
         self.controller = None
         self.controller_config = copy.deepcopy(controller_config)
         self.gripper_type = gripper_type
         self.has_gripper = self.gripper_type is not None
-        self.gripper_visualization = gripper_visualization
 
         self.gripper = None                                 # Gripper class
         self.gripper_joints = None                          # xml joint names for gripper
@@ -100,7 +93,6 @@ def __init__(
             initial_qpos=initial_qpos,
             initialization_noise=initialization_noise,
             mount_type=mount_type,
-            robot_visualization=robot_visualization,
             control_freq=control_freq,
         )
 
@@ -288,11 +280,14 @@ def control(self, action, policy_step=False):
             ee_acc = np.array([np.convolve(col, np.ones(10) / 10., mode='valid')[0] for col in diffs.transpose()])
             self.recent_ee_acc.push(ee_acc)
 
-    def visualize_gripper(self):
+    def _visualize_grippers(self, visible):
         """
         Visualizes the gripper site(s) if applicable.
+
+        Args:
+            visible (bool): True if visualizing the gripper for this arm.
         """
-        self.gripper.set_sites_visibility(sim=self.sim, visible=self.gripper_visualization)
+        self.gripper.set_sites_visibility(sim=self.sim, visible=visible)
 
     def get_observations(self, di: OrderedDict):
         """
diff --git a/robosuite/wrappers/__init__.py b/robosuite/wrappers/__init__.py
index 5669aa12dd..282a66a070 100644
--- a/robosuite/wrappers/__init__.py
+++ b/robosuite/wrappers/__init__.py
@@ -2,6 +2,7 @@
 from robosuite.wrappers.data_collection_wrapper import DataCollectionWrapper
 from robosuite.wrappers.demo_sampler_wrapper import DemoSamplerWrapper
 from robosuite.wrappers.domain_randomization_wrapper import DomainRandomizationWrapper
+from robosuite.wrappers.visualization_wrapper import VisualizationWrapper
 
 try:
     from robosuite.wrappers.gym_wrapper import GymWrapper
diff --git a/robosuite/wrappers/visualization_wrapper.py b/robosuite/wrappers/visualization_wrapper.py
new file mode 100644
index 0000000000..b01f9ace7d
--- /dev/null
+++ b/robosuite/wrappers/visualization_wrapper.py
@@ -0,0 +1,81 @@
+"""
+This file implements a wrapper for visualizing important sites in a given environment.
+
+By default, this visualizes all sites possible for the environment. Visualization options
+for a given environment can be found by calling `get_visualization_settings()`, and can
+be set individually by calling `set_visualization_setting(setting, visible)`.
+"""
+from robosuite.wrappers import Wrapper
+
+
+class VisualizationWrapper(Wrapper):
+    def __init__(self, env):
+        """
+        Initializes the data collection wrapper.
+
+        Args:
+            env (MujocoEnv): The environment to visualize
+        """
+        super().__init__(env)
+
+        # Create internal dict to store visualization settings (set to True by default)
+        self._vis_settings = {vis: True for vis in self.env._visualizations}
+
+        # Update visualizations for this environment
+        self.env.visualize(vis_settings=self._vis_settings)
+
+    def get_visualization_settings(self):
+        """
+        Gets all settings for visualizing this environment
+
+        Returns:
+            list: Visualization keywords for this environment.
+        """
+        return self._vis_settings.keys()
+
+    def set_visualization_setting(self, setting, visible):
+        """
+        Sets the specified @setting to have visibility = @visible.
+
+        Args:
+            setting (str): Visualization keyword to set
+            visible (bool): True if setting should be visualized.
+        """
+        assert setting in self._vis_settings, "Invalid visualization setting specified. Valid options are {}, got {}".\
+            format(self._vis_settings.keys(), setting)
+        self._vis_settings[setting] = visible
+
+    def reset(self):
+        """
+        Extends vanilla reset() function call to accommodate data collection
+
+        Returns:
+            OrderedDict: Environment observation space after reset occurs
+        """
+        ret = super().reset()
+        # Update any visualization
+        self.env.visualize(vis_settings=self._vis_settings)
+        return ret
+
+    def step(self, action):
+        """
+        Extends vanilla step() function call to accommodate data collection
+
+        Args:
+            action (np.array): Action to take in environment
+
+        Returns:
+            4-tuple:
+
+                - (OrderedDict) observations from the environment
+                - (float) reward from the environment
+                - (bool) whether the current episode is completed or not
+                - (dict) misc information
+        """
+        ret = super().step(action)
+
+        # Update any visualization
+        self.env.visualize(vis_settings=self._vis_settings)
+
+        return ret
+

From f496ef299a260aa1b566448743e63e244da775bb Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 12 Dec 2020 13:05:36 -0800
Subject: [PATCH 27/46] update robosuite version to 1.1.0

---
 robosuite/__init__.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/robosuite/__init__.py b/robosuite/__init__.py
index e68e8f3556..6b3db31138 100644
--- a/robosuite/__init__.py
+++ b/robosuite/__init__.py
@@ -16,7 +16,7 @@
 from robosuite.robots import ALL_ROBOTS
 from robosuite.models.grippers import ALL_GRIPPERS
 
-__version__ = "1.0.0"
+__version__ = "1.1.0"
 __logo__ = """
       ;     /        ,--.
      ["]   ["]  ,<  |__**|

From 846f2e6a7c99f8fffdc4fde3c5649f0c45599fe9 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 12 Dec 2020 13:08:53 -0800
Subject: [PATCH 28/46] change USING_DOMAIN_RANDOMIZATION -->
 USING_INSTANCE_RANDOMIZATION

---
 robosuite/demos/demo_domain_randomization.py | 4 ++--
 robosuite/models/base.py                     | 2 +-
 robosuite/models/objects/objects.py          | 2 +-
 robosuite/utils/macros.py                    | 7 ++++---
 4 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/robosuite/demos/demo_domain_randomization.py b/robosuite/demos/demo_domain_randomization.py
index abc3e88419..3d80ddd58c 100644
--- a/robosuite/demos/demo_domain_randomization.py
+++ b/robosuite/demos/demo_domain_randomization.py
@@ -7,8 +7,8 @@
 from robosuite.utils.input_utils import *
 from robosuite.wrappers import DomainRandomizationWrapper
 
-# Whenever we're using Domain Randomization functionality, must set the corresponding macro to True
-macros.USING_DOMAIN_RANDOMIZATION = True
+# We'll use instance randomization so that entire geom groups are randomized together
+macros.USING_INSTANCE_RANDOMIZATION = True
 
 if __name__ == "__main__":
 
diff --git a/robosuite/models/base.py b/robosuite/models/base.py
index d70428ba39..470ad954c5 100644
--- a/robosuite/models/base.py
+++ b/robosuite/models/base.py
@@ -510,7 +510,7 @@ def __init__(self, fname, idn=0):
         recolor_collision_geoms(root=self.worldbody, rgba=self.contact_geom_rgba)
 
         # Add default materials
-        if macros.USING_DOMAIN_RANDOMIZATION:
+        if macros.USING_INSTANCE_RANDOMIZATION:
             tex_element, mat_element, _, used = add_material(root=self.worldbody, naming_prefix=self.naming_prefix)
             # Only add if material / texture was actually used
             if used:
diff --git a/robosuite/models/objects/objects.py b/robosuite/models/objects/objects.py
index 0354f05db6..82ea8f3ee4 100644
--- a/robosuite/models/objects/objects.py
+++ b/robosuite/models/objects/objects.py
@@ -224,7 +224,7 @@ def _get_object_properties(self):
         self._visual_geoms = [e.get("name") for e in _elements.get("visual_geoms", [])]
 
         # Add default materials if we're using domain randomization
-        if macros.USING_DOMAIN_RANDOMIZATION:
+        if macros.USING_INSTANCE_RANDOMIZATION:
             tex_element, mat_element, _, used = add_material(root=self.get_obj(), naming_prefix=self.naming_prefix)
             # Only add the material / texture if they were actually used
             if used:
diff --git a/robosuite/utils/macros.py b/robosuite/utils/macros.py
index bc3657da66..8571c84585 100644
--- a/robosuite/utils/macros.py
+++ b/robosuite/utils/macros.py
@@ -7,9 +7,10 @@
 `import robosuite.utils.macros as macros`
 """
 
-# Setting for whether we're using Domain Randomization. This should get set to True in your script
-# BEFORE an environment is created or the DR wrapper is used
-USING_DOMAIN_RANDOMIZATION = False
+# Instance Randomization
+# Used if we want to randomize geom groups uniformly per instance -- e.g.: entire robot arm, vs. per-joint geom
+# This should get set to True in your script BEFORE an environment is created or the DR wrapper is used
+USING_INSTANCE_RANDOMIZATION = False
 
 # Numba settings
 ENABLE_NUMBA = True

From 3341ec53fed7764f7f54952558a28df0ed8b86c8 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 12 Dec 2020 13:37:42 -0800
Subject: [PATCH 29/46] refactor generated objects file directories

---
 robosuite/models/grippers/gripper_tester.py   |   2 +-
 robosuite/models/objects/__init__.py          |  12 +-
 .../models/objects/composite/__init__.py      |   2 +
 robosuite/models/objects/composite/hammer.py  | 282 ++++++
 .../objects/composite/pot_with_handles.py     | 342 +++++++
 robosuite/models/objects/generated_objects.py | 890 +-----------------
 .../models/objects/primitive/__init__.py      |   4 +
 robosuite/models/objects/primitive/ball.py    |  72 ++
 robosuite/models/objects/primitive/box.py     |  72 ++
 robosuite/models/objects/primitive/capsule.py |  72 ++
 .../models/objects/primitive/cylinder.py      |  72 ++
 11 files changed, 924 insertions(+), 898 deletions(-)
 create mode 100644 robosuite/models/objects/composite/__init__.py
 create mode 100644 robosuite/models/objects/composite/hammer.py
 create mode 100644 robosuite/models/objects/composite/pot_with_handles.py
 create mode 100644 robosuite/models/objects/primitive/__init__.py
 create mode 100644 robosuite/models/objects/primitive/ball.py
 create mode 100644 robosuite/models/objects/primitive/box.py
 create mode 100644 robosuite/models/objects/primitive/capsule.py
 create mode 100644 robosuite/models/objects/primitive/cylinder.py

diff --git a/robosuite/models/grippers/gripper_tester.py b/robosuite/models/grippers/gripper_tester.py
index 25f2463012..9382decacc 100644
--- a/robosuite/models/grippers/gripper_tester.py
+++ b/robosuite/models/grippers/gripper_tester.py
@@ -11,7 +11,7 @@
     new_actuator,
     new_joint,
     array_to_string)
-from robosuite.models.objects.generated_objects import BoxObject
+from robosuite.models.objects import BoxObject
 
 
 class GripperTester:
diff --git a/robosuite/models/objects/__init__.py b/robosuite/models/objects/__init__.py
index 20f69c1dd0..22dc332236 100644
--- a/robosuite/models/objects/__init__.py
+++ b/robosuite/models/objects/__init__.py
@@ -1,4 +1,5 @@
 from .objects import MujocoObject, MujocoXMLObject, MujocoGeneratedObject
+from .generated_objects import CompositeObject, PrimitiveObject
 
 from .xml_objects import (
     BottleObject,
@@ -16,12 +17,5 @@
     PlateWithHoleObject,
     DoorObject,
 )
-
-from .generated_objects import (
-    HammerObject,
-    PotWithHandlesObject,
-    BoxObject,
-    CylinderObject,
-    BallObject,
-    CapsuleObject,
-)
+from .composite import *
+from .primitive import *
diff --git a/robosuite/models/objects/composite/__init__.py b/robosuite/models/objects/composite/__init__.py
new file mode 100644
index 0000000000..c37c1f7551
--- /dev/null
+++ b/robosuite/models/objects/composite/__init__.py
@@ -0,0 +1,2 @@
+from .hammer import HammerObject
+from .pot_with_handles import PotWithHandlesObject
diff --git a/robosuite/models/objects/composite/hammer.py b/robosuite/models/objects/composite/hammer.py
new file mode 100644
index 0000000000..1ca4563fcf
--- /dev/null
+++ b/robosuite/models/objects/composite/hammer.py
@@ -0,0 +1,282 @@
+from robosuite.models.objects import CompositeObject
+import numpy as np
+
+from robosuite.utils.mjcf_utils import add_to_dict
+from robosuite.utils.mjcf_utils import RED, GREEN, BLUE, CYAN, CustomMaterial
+
+from collections.abc import Iterable
+
+
+class HammerObject(CompositeObject):
+    """
+    Generates a Hammer object with a cylindrical or box-shaped handle, cubic head, cylindrical face and triangular claw
+    (used in Handover task)
+
+    Args:
+        name (str): Name of this Hammer object
+
+        handle_shape (str): Either "box", for a box-shaped handle, or "cylinder", for a cylindrically-shaped handle
+
+        handle_radius (float or 2-array of float): Either specific or range of values to draw randomly from
+            uniformly for the handle radius
+
+        handle_length (float or 2-array of float): Either specific or range of values to draw randomly from
+            uniformly for the handle length
+
+        handle_density (float or 2-array of float): Either specific or range of values to draw randomly from
+            uniformly for the handle density (in SI units). Note that this value is scaled x4 for the hammer head
+
+        handle_friction (float or 2-array of float): Either specific or range of values to draw randomly from
+            uniformly for the handle friction. Note that Mujoco default values are used for the head
+
+        head_density_ratio (float): Ratio of density of handle to head (including face and claw)
+
+        use_texture (bool): If true, geoms will be defined by realistic textures and rgba values will be ignored
+
+        rgba_handle (4-array or None): If specified, sets handle rgba values
+
+        rgba_head (4-array or None): If specified, sets handle rgba values
+
+        rgba_face (4-array or None): If specified, sets handle rgba values
+
+        rgba_claw (4-array or None): If specified, sets handle rgba values
+
+    Raises:
+        ValueError: [Invalid handle shape]
+    """
+
+    def __init__(
+        self,
+        name,
+        handle_shape="box",
+        handle_radius=(0.015, 0.02),
+        handle_length=(0.1, 0.25),
+        handle_density=(100, 250),
+        handle_friction=(3.0, 5.0),
+        head_density_ratio=2.0,
+        use_texture=True,
+        rgba_handle=None,
+        rgba_head=None,
+        rgba_face=None,
+        rgba_claw=None,
+    ):
+        # Set name
+        self._name = name
+
+        # Set handle type and density ratio
+        self.handle_shape = handle_shape
+        self.head_density_ratio = head_density_ratio
+
+        # Set radius and length ranges
+        self.handle_radius_range = handle_radius if isinstance(handle_radius, Iterable) else [handle_radius] * 2
+        self.handle_length_range = handle_length if isinstance(handle_length, Iterable) else [handle_length] * 2
+        self.handle_density_range = handle_density if isinstance(handle_density, Iterable) else [handle_density] * 2
+        self.handle_friction_range = handle_friction if isinstance(handle_friction, Iterable) else [handle_friction] * 2
+
+        # Sample actual radius and length, as well as head half-size
+        self.handle_radius = np.random.uniform(self.handle_radius_range[0], self.handle_radius_range[1])
+        self.handle_length = np.random.uniform(self.handle_length_range[0], self.handle_length_range[1])
+        self.handle_density = np.random.uniform(self.handle_density_range[0], self.handle_density_range[1])
+        self.handle_friction = np.random.uniform(self.handle_friction_range[0], self.handle_friction_range[1])
+        self.head_halfsize = np.random.uniform(self.handle_radius, self.handle_radius * 1.2)
+
+        # Initialize RGBA values and texture flag
+        self.use_texture = use_texture
+        self.rgba_handle = rgba_handle if rgba_handle is not None else RED
+        self.rgba_head = rgba_head if rgba_head is not None else CYAN
+        self.rgba_face = rgba_face if rgba_face is not None else BLUE
+        self.rgba_claw = rgba_claw if rgba_claw is not None else GREEN
+
+        # Create dictionary of values to create geoms for composite object and run super init
+        super().__init__(**self._get_geom_attrs())
+
+        # Define materials we want to use for this object
+        tex_attrib = {
+            "type": "cube",
+        }
+        mat_attrib = {
+            "texrepeat": "3 3",
+            "specular": "0.4",
+            "shininess": "0.1",
+        }
+        metal = CustomMaterial(
+            texture="SteelScratched",
+            tex_name="metal",
+            mat_name="metal_mat",
+            tex_attrib=tex_attrib,
+            mat_attrib=mat_attrib,
+        )
+        wood = CustomMaterial(
+            texture="WoodLight",
+            tex_name="wood",
+            mat_name="wood_mat",
+            tex_attrib=tex_attrib,
+            mat_attrib=mat_attrib,
+        )
+
+        # Append materials to object
+        self.append_material(metal)
+        self.append_material(wood)
+
+    def _get_geom_attrs(self):
+        """
+        Creates geom elements that will be passed to superclass CompositeObject constructor
+
+        Returns:
+            dict: args to be used by CompositeObject to generate geoms
+        """
+        full_size = np.array((
+            3.2 * self.head_halfsize,
+            self.head_halfsize,
+            self.handle_length + 2 * self.head_halfsize
+        ))
+        # Initialize dict of obj args that we'll pass to the CompositeObject constructor
+        base_args = {
+            "total_size": full_size / 2.0,
+            "name": self.name,
+            "locations_relative_to_center": True,
+            "obj_types": "all",
+        }
+        obj_args = {}
+
+        # Add handle component
+        assert self.handle_shape in {"cylinder", "box"},\
+            "Error loading hammer: Handle type must either be 'box' or 'cylinder', got {}.".format(self.handle_shape)
+        add_to_dict(
+            dic=obj_args,
+            geom_types="cylinder" if self.handle_shape == "cylinder" else "box",
+            geom_locations=(0, 0, 0),
+            geom_quats=(1, 0, 0, 0),
+            geom_sizes=np.array([self.handle_radius, self.handle_length / 2.0]) if self.handle_shape == "cylinder" else\
+                       np.array([self.handle_radius, self.handle_radius, self.handle_length / 2.0]),
+            geom_names="handle",
+            geom_rgbas=None if self.use_texture else self.rgba_handle,
+            geom_materials="wood_mat" if self.use_texture else None,
+            geom_frictions=(self.handle_friction, 0.005, 0.0001),
+            density=self.handle_density,
+        )
+
+        # Add head component
+        add_to_dict(
+            dic=obj_args,
+            geom_types="box",
+            geom_locations=(0, 0, self.handle_length / 2.0 + self.head_halfsize),
+            geom_quats=(1, 0, 0, 0),
+            geom_sizes=np.array([self.head_halfsize * 2, self.head_halfsize, self.head_halfsize]),
+            geom_names="head",
+            geom_rgbas=None if self.use_texture else self.rgba_head,
+            geom_materials="metal_mat" if self.use_texture else None,
+            geom_frictions=None,
+            density=self.handle_density * self.head_density_ratio,
+        )
+
+        # Add neck component
+        add_to_dict(
+            dic=obj_args,
+            geom_types="cylinder",
+            geom_locations=(self.head_halfsize * 2.2, 0, self.handle_length / 2.0 + self.head_halfsize),
+            geom_quats=(0.707106, 0, 0.707106, 0),
+            geom_sizes=np.array([self.head_halfsize * 0.8, self.head_halfsize * 0.2]),
+            geom_names="neck",
+            geom_rgbas=None if self.use_texture else self.rgba_face,
+            geom_materials="metal_mat" if self.use_texture else None,
+            geom_frictions=None,
+            density=self.handle_density * self.head_density_ratio,
+        )
+
+        # Add face component
+        add_to_dict(
+            dic=obj_args,
+            geom_types="cylinder",
+            geom_locations=(self.head_halfsize * 2.8, 0, self.handle_length / 2.0 + self.head_halfsize),
+            geom_quats=(0.707106, 0, 0.707106, 0),
+            geom_sizes=np.array([self.head_halfsize, self.head_halfsize * 0.4]),
+            geom_names="face",
+            geom_rgbas=None if self.use_texture else self.rgba_face,
+            geom_materials="metal_mat" if self.use_texture else None,
+            geom_frictions=None,
+            density=self.handle_density * self.head_density_ratio,
+        )
+
+        # Add claw component
+        add_to_dict(
+            dic=obj_args,
+            geom_types="box",
+            geom_locations=(-self.head_halfsize * 2, 0, self.handle_length / 2.0 + self.head_halfsize),
+            geom_quats=(0.9238795, 0, 0.3826834, 0),
+            geom_sizes=np.array([self.head_halfsize * 0.7072, self.head_halfsize * 0.95, self.head_halfsize * 0.7072]),
+            geom_names="claw",
+            geom_rgbas=None if self.use_texture else self.rgba_claw,
+            geom_materials="metal_mat" if self.use_texture else None,
+            geom_frictions=None,
+            density=self.handle_density * self.head_density_ratio,
+        )
+
+        # Add back in base args
+        obj_args.update(base_args)
+
+        # Return this dict
+        return obj_args
+
+    @property
+    def init_quat(self):
+        """
+        Generates a new random orientation for the hammer
+
+        Returns:
+            np.array: (x, y, z, w) quaternion orientation for the hammer
+        """
+        # Randomly sample between +/- flip (such that the hammer head faces one way or the other)
+        return np.array([0.5, -0.5, 0.5, -0.5]) if np.random.rand() >= 0.5 else np.array([-0.5, -0.5, -0.5, -0.5])
+
+    @property
+    def handle_geoms(self):
+        """
+        Returns:
+            list of str: geom names corresponding to hammer handle
+        """
+        return self.correct_naming(["handle"])
+
+    @property
+    def head_geoms(self):
+        """
+        Returns:
+            list of str: geom names corresponding to hammer head
+        """
+        return self.correct_naming(["head"])
+
+    @property
+    def face_geoms(self):
+        """
+        Returns:
+            list of str: geom names corresponding to hammer face
+        """
+        return self.correct_naming(["neck", "face"])
+
+    @property
+    def claw_geoms(self):
+        """
+        Returns:
+            list of str: geom names corresponding to hammer claw
+        """
+        return self.correct_naming(["claw"])
+
+    @property
+    def all_geoms(self):
+        """
+        Returns:
+            list of str: geom names corresponding to all hammer components
+        """
+        return self.handle_geoms + self.head_geoms + self.face_geoms + self.claw_geoms
+
+    @property
+    def bottom_offset(self):
+        return np.array([0, 0, -self.handle_radius])
+
+    @property
+    def top_offset(self):
+        return np.array([0, 0, self.handle_radius])
+
+    @property
+    def horizontal_radius(self):
+        return self.head_halfsize + 0.5 * self.handle_length
diff --git a/robosuite/models/objects/composite/pot_with_handles.py b/robosuite/models/objects/composite/pot_with_handles.py
new file mode 100644
index 0000000000..2b3e879d53
--- /dev/null
+++ b/robosuite/models/objects/composite/pot_with_handles.py
@@ -0,0 +1,342 @@
+import numpy as np
+
+from robosuite.models.objects import CompositeObject
+from robosuite.utils.mjcf_utils import array_to_string, add_to_dict
+from robosuite.utils.mjcf_utils import RED, GREEN, BLUE, CustomMaterial
+import robosuite.utils.transform_utils as T
+
+
+class PotWithHandlesObject(CompositeObject):
+    """
+    Generates the Pot object with side handles (used in TwoArmLift)
+
+    Args:
+        name (str): Name of this Pot object
+
+        body_half_size (3-array of float): If specified, defines the (x,y,z) half-dimensions of the main pot
+            body. Otherwise, defaults to [0.07, 0.07, 0.07]
+
+        handle_radius (float): Determines the pot handle radius
+
+        handle_length (float): Determines the pot handle length
+
+        handle_width (float): Determines the pot handle width
+
+        handle_friction (float): Friction value to use for pot handles. Defauls to 1.0
+
+        density (float): Density value to use for all geoms. Defaults to 1000
+
+        use_texture (bool): If true, geoms will be defined by realistic textures and rgba values will be ignored
+
+        rgba_body (4-array or None): If specified, sets pot body rgba values
+
+        rgba_handle_0 (4-array or None): If specified, sets handle 0 rgba values
+
+        rgba_handle_1 (4-array or None): If specified, sets handle 1 rgba values
+
+        solid_handle (bool): If true, uses a single geom to represent the handle
+
+        thickness (float): How thick to make the pot body walls
+    """
+
+    def __init__(
+        self,
+        name,
+        body_half_size=(0.07, 0.07, 0.07),
+        handle_radius=0.01,
+        handle_length=0.09,
+        handle_width=0.09,
+        handle_friction=1.0,
+        density=1000,
+        use_texture=True,
+        rgba_body=None,
+        rgba_handle_0=None,
+        rgba_handle_1=None,
+        solid_handle=False,
+        thickness=0.01,  # For body
+    ):
+        # Set name
+        self._name = name
+
+        # Set object attributes
+        self.body_half_size = np.array(body_half_size)
+        self.thickness = thickness
+        self.handle_radius = handle_radius
+        self.handle_length = handle_length
+        self.handle_width = handle_width
+        self.handle_friction = handle_friction
+        self.density = density
+        self.use_texture = use_texture
+        self.rgba_body = np.array(rgba_body) if rgba_body else RED
+        self.rgba_handle_0 = np.array(rgba_handle_0) if rgba_handle_0 else GREEN
+        self.rgba_handle_1 = np.array(rgba_handle_1) if rgba_handle_1 else BLUE
+        self.solid_handle = solid_handle
+
+        # Element references to be filled when generated
+        self._handle0_geoms = None
+        self._handle1_geoms = None
+        self.pot_base = None
+
+        # Other private attributes
+        self._important_sites = {}
+
+        # Create dictionary of values to create geoms for composite object and run super init
+        super().__init__(**self._get_geom_attrs())
+
+        # Define materials we want to use for this object
+        tex_attrib = {
+            "type": "cube",
+        }
+        mat_attrib = {
+            "texrepeat": "1 1",
+            "specular": "0.4",
+            "shininess": "0.1",
+        }
+        redwood = CustomMaterial(
+            texture="WoodRed",
+            tex_name="redwood",
+            mat_name="pot_mat",
+            tex_attrib=tex_attrib,
+            mat_attrib=mat_attrib,
+        )
+        greenwood = CustomMaterial(
+            texture="WoodGreen",
+            tex_name="greenwood",
+            mat_name="handle0_mat",
+            tex_attrib=tex_attrib,
+            mat_attrib=mat_attrib,
+        )
+        bluewood = CustomMaterial(
+            texture="WoodBlue",
+            tex_name="bluewood",
+            mat_name="handle1_mat",
+            tex_attrib=tex_attrib,
+            mat_attrib=mat_attrib,
+        )
+        self.append_material(redwood)
+        self.append_material(greenwood)
+        self.append_material(bluewood)
+
+    def _get_geom_attrs(self):
+        """
+        Creates geom elements that will be passed to superclass CompositeObject constructor
+
+        Returns:
+            dict: args to be used by CompositeObject to generate geoms
+        """
+        full_size = np.array((
+            self.body_half_size,
+            self.body_half_size + self.handle_length * 2,
+            self.body_half_size,
+        ))
+        # Initialize dict of obj args that we'll pass to the CompositeObject constructor
+        base_args = {
+            "total_size": full_size / 2.0,
+            "name": self.name,
+            "locations_relative_to_center": True,
+            "obj_types": "all",
+        }
+        site_attrs = []
+        obj_args = {}
+
+        # Initialize geom lists
+        self._handle0_geoms = []
+        self._handle1_geoms = []
+
+        # Add main pot body
+        # Base geom
+        name = f"base"
+        self.pot_base = [name]
+        add_to_dict(
+            dic=obj_args,
+            geom_types="box",
+            geom_locations=(0, 0, -self.body_half_size[2] + self.thickness / 2),
+            geom_quats=(1, 0, 0, 0),
+            geom_sizes=np.array([self.body_half_size[0], self.body_half_size[1], self.thickness / 2]),
+            geom_names=name,
+            geom_rgbas=None if self.use_texture else self.rgba_body,
+            geom_materials="pot_mat" if self.use_texture else None,
+            geom_frictions=None,
+            density=self.density,
+        )
+
+        # Walls
+        x_off = np.array([0, -(self.body_half_size[0] - self.thickness / 2),
+                          0, self.body_half_size[0] - self.thickness / 2])
+        y_off = np.array([-(self.body_half_size[1] - self.thickness / 2),
+                          0, self.body_half_size[1] - self.thickness / 2, 0])
+        w_vals = np.array([self.body_half_size[1], self.body_half_size[0],
+                           self.body_half_size[1], self.body_half_size[0]])
+        r_vals = np.array([np.pi / 2, 0, -np.pi / 2, np.pi])
+        for i, (x, y, w, r) in enumerate(zip(x_off, y_off, w_vals, r_vals)):
+            add_to_dict(
+                dic=obj_args,
+                geom_types="box",
+                geom_locations=(x, y, 0),
+                geom_quats=T.convert_quat(T.axisangle2quat(np.array([0, 0, r])), to="wxyz"),
+                geom_sizes=np.array([self.thickness / 2, w, self.body_half_size[2]]),
+                geom_names=f"body{i}",
+                geom_rgbas=None if self.use_texture else self.rgba_body,
+                geom_materials="pot_mat" if self.use_texture else None,
+                geom_frictions=None,
+                density=self.density,
+            )
+
+        # Add handles
+        main_bar_size = np.array([
+            self.handle_width / 2 + self.handle_radius,
+            self.handle_radius,
+            self.handle_radius,
+        ])
+        side_bar_size = np.array([self.handle_radius, self.handle_length / 2, self.handle_radius])
+        handle_z = self.body_half_size[2] - self.handle_radius
+        for i, (g_list, handle_side, rgba) in enumerate(zip(
+                [self._handle0_geoms, self._handle1_geoms],
+                [1.0, -1.0],
+                [self.rgba_handle_0, self.rgba_handle_1]
+        )):
+            handle_center = np.array((0, handle_side * (self.body_half_size[1] + self.handle_length), handle_z))
+            # Solid handle case
+            if self.solid_handle:
+                name = f"handle{i}"
+                g_list.append(name)
+                add_to_dict(
+                    dic=obj_args,
+                    geom_types="box",
+                    geom_locations=handle_center,
+                    geom_quats=(1, 0, 0, 0),
+                    geom_sizes=np.array([self.handle_width / 2, self.handle_length / 2, self.handle_radius]),
+                    geom_names=name,
+                    geom_rgbas=None if self.use_texture else rgba,
+                    geom_materials=f"handle{i}_mat" if self.use_texture else None,
+                    geom_frictions=(self.handle_friction, 0.005, 0.0001),
+                    density=self.density,
+                )
+            # Hollow handle case
+            else:
+                # Center bar
+                name = f"handle{i}_c"
+                g_list.append(name)
+                add_to_dict(
+                    dic=obj_args,
+                    geom_types="box",
+                    geom_locations=handle_center,
+                    geom_quats=(1, 0, 0, 0),
+                    geom_sizes=main_bar_size,
+                    geom_names=name,
+                    geom_rgbas=None if self.use_texture else rgba,
+                    geom_materials=f"handle{i}_mat" if self.use_texture else None,
+                    geom_frictions=(self.handle_friction, 0.005, 0.0001),
+                    density=self.density,
+                )
+                # Side bars
+                for bar_side, suffix in zip([-1., 1.], ["-", "+"]):
+                    name = f"handle{i}_{suffix}"
+                    g_list.append(name)
+                    add_to_dict(
+                        dic=obj_args,
+                        geom_types="box",
+                        geom_locations=(
+                            bar_side * self.handle_width / 2,
+                            handle_side * (self.body_half_size[1] + self.handle_length / 2),
+                            handle_z
+                        ),
+                        geom_quats=(1, 0, 0, 0),
+                        geom_sizes=side_bar_size,
+                        geom_names=name,
+                        geom_rgbas=None if self.use_texture else rgba,
+                        geom_materials=f"handle{i}_mat" if self.use_texture else None,
+                        geom_frictions=(self.handle_friction, 0.005, 0.0001),
+                        density=self.density,
+                    )
+            # Add relevant site
+            handle_site = self.get_site_attrib_template()
+            handle_name = f"handle{i}"
+            handle_site.update({
+                "name": handle_name,
+                "pos": array_to_string(handle_center - handle_side * np.array([0, 0.005, 0])),
+                "size": "0.005",
+                "rgba": rgba,
+            })
+            site_attrs.append(handle_site)
+            # Add to important sites
+            self._important_sites[f"handle{i}"] = self.naming_prefix + handle_name
+
+        # Add pot body site
+        pot_site = self.get_site_attrib_template()
+        center_name = "center"
+        pot_site.update({
+            "name": center_name,
+            "size": "0.005",
+        })
+        site_attrs.append(pot_site)
+        # Add to important sites
+        self._important_sites["center"] = self.naming_prefix + center_name
+
+        # Add back in base args and site args
+        obj_args.update(base_args)
+        obj_args["sites"] = [site_attrs]        # All sites are part of main (top) body
+
+        # Return this dict
+        return obj_args
+
+    @property
+    def handle_distance(self):
+
+        """
+        Calculates how far apart the handles are
+
+        Returns:
+            float: handle distance
+        """
+        return self.body_half_size[1] * 2 + self.handle_length * 2
+
+    @property
+    def handle0_geoms(self):
+        """
+        Returns:
+            list of str: geom names corresponding to handle0 (green handle)
+        """
+        return self.correct_naming(self._handle0_geoms)
+
+    @property
+    def handle1_geoms(self):
+        """
+        Returns:
+            list of str: geom names corresponding to handle1 (blue handle)
+        """
+        return self.correct_naming(self._handle1_geoms)
+
+    @property
+    def handle_geoms(self):
+        """
+        Returns:
+            list of str: geom names corresponding to both handles
+        """
+        return self.handle0_geoms + self.handle1_geoms
+
+    @property
+    def important_sites(self):
+        """
+        Returns:
+            dict: In addition to any default sites for this object, also provides the following entries
+
+                :`'handle0'`: Name of handle0 location site
+                :`'handle1'`: Name of handle1 location site
+        """
+        # Get dict from super call and add to it
+        dic = super().important_sites
+        dic.update(self._important_sites)
+        return dic
+
+    @property
+    def bottom_offset(self):
+        return np.array([0, 0, -1 * self.body_half_size[2]])
+
+    @property
+    def top_offset(self):
+        return np.array([0, 0, self.body_half_size[2]])
+
+    @property
+    def horizontal_radius(self):
+        return np.sqrt(2) * (max(self.body_half_size) + self.handle_length)
diff --git a/robosuite/models/objects/generated_objects.py b/robosuite/models/objects/generated_objects.py
index c66d2dbf97..ca0111b00a 100644
--- a/robosuite/models/objects/generated_objects.py
+++ b/robosuite/models/objects/generated_objects.py
@@ -1,11 +1,8 @@
 import numpy as np
 
 from robosuite.models.objects import MujocoGeneratedObject
-from robosuite.utils.mjcf_utils import new_body, new_geom, new_site, new_joint, array_to_string, add_to_dict, get_size
-from robosuite.utils.mjcf_utils import RED, GREEN, BLUE, CYAN, OBJECT_COLLISION_COLOR, CustomMaterial
-import robosuite.utils.transform_utils as T
-
-from collections.abc import Iterable
+from robosuite.utils.mjcf_utils import new_body, new_geom, new_site, new_joint, array_to_string
+from robosuite.utils.mjcf_utils import OBJECT_COLLISION_COLOR, CustomMaterial
 
 from copy import deepcopy
 
@@ -338,617 +335,6 @@ def horizontal_radius(self):
         return np.linalg.norm(self.total_size[:2], 2)
 
 
-class HammerObject(CompositeObject):
-    """
-    Generates a Hammer object with a cylindrical or box-shaped handle, cubic head, cylindrical face and triangular claw
-    (used in Handover task)
-
-    Args:
-        name (str): Name of this Hammer object
-
-        handle_shape (str): Either "box", for a box-shaped handle, or "cylinder", for a cylindrically-shaped handle
-
-        handle_radius (float or 2-array of float): Either specific or range of values to draw randomly from
-            uniformly for the handle radius
-
-        handle_length (float or 2-array of float): Either specific or range of values to draw randomly from
-            uniformly for the handle length
-
-        handle_density (float or 2-array of float): Either specific or range of values to draw randomly from
-            uniformly for the handle density (in SI units). Note that this value is scaled x4 for the hammer head
-
-        handle_friction (float or 2-array of float): Either specific or range of values to draw randomly from
-            uniformly for the handle friction. Note that Mujoco default values are used for the head
-
-        head_density_ratio (float): Ratio of density of handle to head (including face and claw)
-
-        use_texture (bool): If true, geoms will be defined by realistic textures and rgba values will be ignored
-
-        rgba_handle (4-array or None): If specified, sets handle rgba values
-
-        rgba_head (4-array or None): If specified, sets handle rgba values
-
-        rgba_face (4-array or None): If specified, sets handle rgba values
-
-        rgba_claw (4-array or None): If specified, sets handle rgba values
-
-    Raises:
-        ValueError: [Invalid handle shape]
-    """
-
-    def __init__(
-        self,
-        name,
-        handle_shape="box",
-        handle_radius=(0.015, 0.02),
-        handle_length=(0.1, 0.25),
-        handle_density=(100, 250),
-        handle_friction=(3.0, 5.0),
-        head_density_ratio=2.0,
-        use_texture=True,
-        rgba_handle=None,
-        rgba_head=None,
-        rgba_face=None,
-        rgba_claw=None,
-    ):
-        # Set name
-        self._name = name
-
-        # Set handle type and density ratio
-        self.handle_shape = handle_shape
-        self.head_density_ratio = head_density_ratio
-
-        # Set radius and length ranges
-        self.handle_radius_range = handle_radius if isinstance(handle_radius, Iterable) else [handle_radius] * 2
-        self.handle_length_range = handle_length if isinstance(handle_length, Iterable) else [handle_length] * 2
-        self.handle_density_range = handle_density if isinstance(handle_density, Iterable) else [handle_density] * 2
-        self.handle_friction_range = handle_friction if isinstance(handle_friction, Iterable) else [handle_friction] * 2
-
-        # Sample actual radius and length, as well as head half-size
-        self.handle_radius = np.random.uniform(self.handle_radius_range[0], self.handle_radius_range[1])
-        self.handle_length = np.random.uniform(self.handle_length_range[0], self.handle_length_range[1])
-        self.handle_density = np.random.uniform(self.handle_density_range[0], self.handle_density_range[1])
-        self.handle_friction = np.random.uniform(self.handle_friction_range[0], self.handle_friction_range[1])
-        self.head_halfsize = np.random.uniform(self.handle_radius, self.handle_radius * 1.2)
-
-        # Initialize RGBA values and texture flag
-        self.use_texture = use_texture
-        self.rgba_handle = rgba_handle if rgba_handle is not None else RED
-        self.rgba_head = rgba_head if rgba_head is not None else CYAN
-        self.rgba_face = rgba_face if rgba_face is not None else BLUE
-        self.rgba_claw = rgba_claw if rgba_claw is not None else GREEN
-
-        # Create dictionary of values to create geoms for composite object and run super init
-        super().__init__(**self._get_geom_attrs())
-
-        # Define materials we want to use for this object
-        tex_attrib = {
-            "type": "cube",
-        }
-        mat_attrib = {
-            "texrepeat": "3 3",
-            "specular": "0.4",
-            "shininess": "0.1",
-        }
-        metal = CustomMaterial(
-            texture="SteelScratched",
-            tex_name="metal",
-            mat_name="metal_mat",
-            tex_attrib=tex_attrib,
-            mat_attrib=mat_attrib,
-        )
-        wood = CustomMaterial(
-            texture="WoodLight",
-            tex_name="wood",
-            mat_name="wood_mat",
-            tex_attrib=tex_attrib,
-            mat_attrib=mat_attrib,
-        )
-
-        # Append materials to object
-        self.append_material(metal)
-        self.append_material(wood)
-
-    def _get_geom_attrs(self):
-        """
-        Creates geom elements that will be passed to superclass CompositeObject constructor
-
-        Returns:
-            dict: args to be used by CompositeObject to generate geoms
-        """
-        full_size = np.array((
-            3.2 * self.head_halfsize,
-            self.head_halfsize,
-            self.handle_length + 2 * self.head_halfsize
-        ))
-        # Initialize dict of obj args that we'll pass to the CompositeObject constructor
-        base_args = {
-            "total_size": full_size / 2.0,
-            "name": self.name,
-            "locations_relative_to_center": True,
-            "obj_types": "all",
-        }
-        obj_args = {}
-
-        # Add handle component
-        assert self.handle_shape in {"cylinder", "box"},\
-            "Error loading hammer: Handle type must either be 'box' or 'cylinder', got {}.".format(self.handle_shape)
-        add_to_dict(
-            dic=obj_args,
-            geom_types="cylinder" if self.handle_shape == "cylinder" else "box",
-            geom_locations=(0, 0, 0),
-            geom_quats=(1, 0, 0, 0),
-            geom_sizes=np.array([self.handle_radius, self.handle_length / 2.0]) if self.handle_shape == "cylinder" else\
-                       np.array([self.handle_radius, self.handle_radius, self.handle_length / 2.0]),
-            geom_names="handle",
-            geom_rgbas=None if self.use_texture else self.rgba_handle,
-            geom_materials="wood_mat" if self.use_texture else None,
-            geom_frictions=(self.handle_friction, 0.005, 0.0001),
-            density=self.handle_density,
-        )
-
-        # Add head component
-        add_to_dict(
-            dic=obj_args,
-            geom_types="box",
-            geom_locations=(0, 0, self.handle_length / 2.0 + self.head_halfsize),
-            geom_quats=(1, 0, 0, 0),
-            geom_sizes=np.array([self.head_halfsize * 2, self.head_halfsize, self.head_halfsize]),
-            geom_names="head",
-            geom_rgbas=None if self.use_texture else self.rgba_head,
-            geom_materials="metal_mat" if self.use_texture else None,
-            geom_frictions=None,
-            density=self.handle_density * self.head_density_ratio,
-        )
-
-        # Add neck component
-        add_to_dict(
-            dic=obj_args,
-            geom_types="cylinder",
-            geom_locations=(self.head_halfsize * 2.2, 0, self.handle_length / 2.0 + self.head_halfsize),
-            geom_quats=(0.707106, 0, 0.707106, 0),
-            geom_sizes=np.array([self.head_halfsize * 0.8, self.head_halfsize * 0.2]),
-            geom_names="neck",
-            geom_rgbas=None if self.use_texture else self.rgba_face,
-            geom_materials="metal_mat" if self.use_texture else None,
-            geom_frictions=None,
-            density=self.handle_density * self.head_density_ratio,
-        )
-
-        # Add face component
-        add_to_dict(
-            dic=obj_args,
-            geom_types="cylinder",
-            geom_locations=(self.head_halfsize * 2.8, 0, self.handle_length / 2.0 + self.head_halfsize),
-            geom_quats=(0.707106, 0, 0.707106, 0),
-            geom_sizes=np.array([self.head_halfsize, self.head_halfsize * 0.4]),
-            geom_names="face",
-            geom_rgbas=None if self.use_texture else self.rgba_face,
-            geom_materials="metal_mat" if self.use_texture else None,
-            geom_frictions=None,
-            density=self.handle_density * self.head_density_ratio,
-        )
-
-        # Add claw component
-        add_to_dict(
-            dic=obj_args,
-            geom_types="box",
-            geom_locations=(-self.head_halfsize * 2, 0, self.handle_length / 2.0 + self.head_halfsize),
-            geom_quats=(0.9238795, 0, 0.3826834, 0),
-            geom_sizes=np.array([self.head_halfsize * 0.7072, self.head_halfsize * 0.95, self.head_halfsize * 0.7072]),
-            geom_names="claw",
-            geom_rgbas=None if self.use_texture else self.rgba_claw,
-            geom_materials="metal_mat" if self.use_texture else None,
-            geom_frictions=None,
-            density=self.handle_density * self.head_density_ratio,
-        )
-
-        # Add back in base args
-        obj_args.update(base_args)
-
-        # Return this dict
-        return obj_args
-
-    @property
-    def init_quat(self):
-        """
-        Generates a new random orientation for the hammer
-
-        Returns:
-            np.array: (x, y, z, w) quaternion orientation for the hammer
-        """
-        # Randomly sample between +/- flip (such that the hammer head faces one way or the other)
-        return np.array([0.5, -0.5, 0.5, -0.5]) if np.random.rand() >= 0.5 else np.array([-0.5, -0.5, -0.5, -0.5])
-
-    @property
-    def handle_geoms(self):
-        """
-        Returns:
-            list of str: geom names corresponding to hammer handle
-        """
-        return self.correct_naming(["handle"])
-
-    @property
-    def head_geoms(self):
-        """
-        Returns:
-            list of str: geom names corresponding to hammer head
-        """
-        return self.correct_naming(["head"])
-
-    @property
-    def face_geoms(self):
-        """
-        Returns:
-            list of str: geom names corresponding to hammer face
-        """
-        return self.correct_naming(["neck", "face"])
-
-    @property
-    def claw_geoms(self):
-        """
-        Returns:
-            list of str: geom names corresponding to hammer claw
-        """
-        return self.correct_naming(["claw"])
-
-    @property
-    def all_geoms(self):
-        """
-        Returns:
-            list of str: geom names corresponding to all hammer components
-        """
-        return self.handle_geoms + self.head_geoms + self.face_geoms + self.claw_geoms
-
-    @property
-    def bottom_offset(self):
-        return np.array([0, 0, -self.handle_radius])
-
-    @property
-    def top_offset(self):
-        return np.array([0, 0, self.handle_radius])
-
-    @property
-    def horizontal_radius(self):
-        return self.head_halfsize + 0.5 * self.handle_length
-
-
-class PotWithHandlesObject(CompositeObject):
-    """
-    Generates the Pot object with side handles (used in TwoArmLift)
-
-    Args:
-        name (str): Name of this Pot object
-
-        body_half_size (3-array of float): If specified, defines the (x,y,z) half-dimensions of the main pot
-            body. Otherwise, defaults to [0.07, 0.07, 0.07]
-
-        handle_radius (float): Determines the pot handle radius
-
-        handle_length (float): Determines the pot handle length
-
-        handle_width (float): Determines the pot handle width
-
-        handle_friction (float): Friction value to use for pot handles. Defauls to 1.0
-
-        density (float): Density value to use for all geoms. Defaults to 1000
-
-        use_texture (bool): If true, geoms will be defined by realistic textures and rgba values will be ignored
-
-        rgba_body (4-array or None): If specified, sets pot body rgba values
-
-        rgba_handle_0 (4-array or None): If specified, sets handle 0 rgba values
-
-        rgba_handle_1 (4-array or None): If specified, sets handle 1 rgba values
-
-        solid_handle (bool): If true, uses a single geom to represent the handle
-
-        thickness (float): How thick to make the pot body walls
-    """
-
-    def __init__(
-        self,
-        name,
-        body_half_size=(0.07, 0.07, 0.07),
-        handle_radius=0.01,
-        handle_length=0.09,
-        handle_width=0.09,
-        handle_friction=1.0,
-        density=1000,
-        use_texture=True,
-        rgba_body=None,
-        rgba_handle_0=None,
-        rgba_handle_1=None,
-        solid_handle=False,
-        thickness=0.01,  # For body
-    ):
-        # Set name
-        self._name = name
-
-        # Set object attributes
-        self.body_half_size = np.array(body_half_size)
-        self.thickness = thickness
-        self.handle_radius = handle_radius
-        self.handle_length = handle_length
-        self.handle_width = handle_width
-        self.handle_friction = handle_friction
-        self.density = density
-        self.use_texture = use_texture
-        self.rgba_body = np.array(rgba_body) if rgba_body else RED
-        self.rgba_handle_0 = np.array(rgba_handle_0) if rgba_handle_0 else GREEN
-        self.rgba_handle_1 = np.array(rgba_handle_1) if rgba_handle_1 else BLUE
-        self.solid_handle = solid_handle
-
-        # Element references to be filled when generated
-        self._handle0_geoms = None
-        self._handle1_geoms = None
-        self.pot_base = None
-
-        # Other private attributes
-        self._important_sites = {}
-
-        # Create dictionary of values to create geoms for composite object and run super init
-        super().__init__(**self._get_geom_attrs())
-
-        # Define materials we want to use for this object
-        tex_attrib = {
-            "type": "cube",
-        }
-        mat_attrib = {
-            "texrepeat": "1 1",
-            "specular": "0.4",
-            "shininess": "0.1",
-        }
-        redwood = CustomMaterial(
-            texture="WoodRed",
-            tex_name="redwood",
-            mat_name="pot_mat",
-            tex_attrib=tex_attrib,
-            mat_attrib=mat_attrib,
-        )
-        greenwood = CustomMaterial(
-            texture="WoodGreen",
-            tex_name="greenwood",
-            mat_name="handle0_mat",
-            tex_attrib=tex_attrib,
-            mat_attrib=mat_attrib,
-        )
-        bluewood = CustomMaterial(
-            texture="WoodBlue",
-            tex_name="bluewood",
-            mat_name="handle1_mat",
-            tex_attrib=tex_attrib,
-            mat_attrib=mat_attrib,
-        )
-        self.append_material(redwood)
-        self.append_material(greenwood)
-        self.append_material(bluewood)
-
-    def _get_geom_attrs(self):
-        """
-        Creates geom elements that will be passed to superclass CompositeObject constructor
-
-        Returns:
-            dict: args to be used by CompositeObject to generate geoms
-        """
-        full_size = np.array((
-            self.body_half_size,
-            self.body_half_size + self.handle_length * 2,
-            self.body_half_size,
-        ))
-        # Initialize dict of obj args that we'll pass to the CompositeObject constructor
-        base_args = {
-            "total_size": full_size / 2.0,
-            "name": self.name,
-            "locations_relative_to_center": True,
-            "obj_types": "all",
-        }
-        site_attrs = []
-        obj_args = {}
-
-        # Initialize geom lists
-        self._handle0_geoms = []
-        self._handle1_geoms = []
-
-        # Add main pot body
-        # Base geom
-        name = f"base"
-        self.pot_base = [name]
-        add_to_dict(
-            dic=obj_args,
-            geom_types="box",
-            geom_locations=(0, 0, -self.body_half_size[2] + self.thickness / 2),
-            geom_quats=(1, 0, 0, 0),
-            geom_sizes=np.array([self.body_half_size[0], self.body_half_size[1], self.thickness / 2]),
-            geom_names=name,
-            geom_rgbas=None if self.use_texture else self.rgba_body,
-            geom_materials="pot_mat" if self.use_texture else None,
-            geom_frictions=None,
-            density=self.density,
-        )
-
-        # Walls
-        x_off = np.array([0, -(self.body_half_size[0] - self.thickness / 2),
-                          0, self.body_half_size[0] - self.thickness / 2])
-        y_off = np.array([-(self.body_half_size[1] - self.thickness / 2),
-                          0, self.body_half_size[1] - self.thickness / 2, 0])
-        w_vals = np.array([self.body_half_size[1], self.body_half_size[0],
-                           self.body_half_size[1], self.body_half_size[0]])
-        r_vals = np.array([np.pi / 2, 0, -np.pi / 2, np.pi])
-        for i, (x, y, w, r) in enumerate(zip(x_off, y_off, w_vals, r_vals)):
-            add_to_dict(
-                dic=obj_args,
-                geom_types="box",
-                geom_locations=(x, y, 0),
-                geom_quats=T.convert_quat(T.axisangle2quat(np.array([0, 0, r])), to="wxyz"),
-                geom_sizes=np.array([self.thickness / 2, w, self.body_half_size[2]]),
-                geom_names=f"body{i}",
-                geom_rgbas=None if self.use_texture else self.rgba_body,
-                geom_materials="pot_mat" if self.use_texture else None,
-                geom_frictions=None,
-                density=self.density,
-            )
-
-        # Add handles
-        main_bar_size = np.array([
-            self.handle_width / 2 + self.handle_radius,
-            self.handle_radius,
-            self.handle_radius,
-        ])
-        side_bar_size = np.array([self.handle_radius, self.handle_length / 2, self.handle_radius])
-        handle_z = self.body_half_size[2] - self.handle_radius
-        for i, (g_list, handle_side, rgba) in enumerate(zip(
-                [self._handle0_geoms, self._handle1_geoms],
-                [1.0, -1.0],
-                [self.rgba_handle_0, self.rgba_handle_1]
-        )):
-            handle_center = np.array((0, handle_side * (self.body_half_size[1] + self.handle_length), handle_z))
-            # Solid handle case
-            if self.solid_handle:
-                name = f"handle{i}"
-                g_list.append(name)
-                add_to_dict(
-                    dic=obj_args,
-                    geom_types="box",
-                    geom_locations=handle_center,
-                    geom_quats=(1, 0, 0, 0),
-                    geom_sizes=np.array([self.handle_width / 2, self.handle_length / 2, self.handle_radius]),
-                    geom_names=name,
-                    geom_rgbas=None if self.use_texture else rgba,
-                    geom_materials=f"handle{i}_mat" if self.use_texture else None,
-                    geom_frictions=(self.handle_friction, 0.005, 0.0001),
-                    density=self.density,
-                )
-            # Hollow handle case
-            else:
-                # Center bar
-                name = f"handle{i}_c"
-                g_list.append(name)
-                add_to_dict(
-                    dic=obj_args,
-                    geom_types="box",
-                    geom_locations=handle_center,
-                    geom_quats=(1, 0, 0, 0),
-                    geom_sizes=main_bar_size,
-                    geom_names=name,
-                    geom_rgbas=None if self.use_texture else rgba,
-                    geom_materials=f"handle{i}_mat" if self.use_texture else None,
-                    geom_frictions=(self.handle_friction, 0.005, 0.0001),
-                    density=self.density,
-                )
-                # Side bars
-                for bar_side, suffix in zip([-1., 1.], ["-", "+"]):
-                    name = f"handle{i}_{suffix}"
-                    g_list.append(name)
-                    add_to_dict(
-                        dic=obj_args,
-                        geom_types="box",
-                        geom_locations=(
-                            bar_side * self.handle_width / 2,
-                            handle_side * (self.body_half_size[1] + self.handle_length / 2),
-                            handle_z
-                        ),
-                        geom_quats=(1, 0, 0, 0),
-                        geom_sizes=side_bar_size,
-                        geom_names=name,
-                        geom_rgbas=None if self.use_texture else rgba,
-                        geom_materials=f"handle{i}_mat" if self.use_texture else None,
-                        geom_frictions=(self.handle_friction, 0.005, 0.0001),
-                        density=self.density,
-                    )
-            # Add relevant site
-            handle_site = self.get_site_attrib_template()
-            handle_name = f"handle{i}"
-            handle_site.update({
-                "name": handle_name,
-                "pos": array_to_string(handle_center - handle_side * np.array([0, 0.005, 0])),
-                "size": "0.005",
-                "rgba": rgba,
-            })
-            site_attrs.append(handle_site)
-            # Add to important sites
-            self._important_sites[f"handle{i}"] = self.naming_prefix + handle_name
-
-        # Add pot body site
-        pot_site = self.get_site_attrib_template()
-        center_name = "center"
-        pot_site.update({
-            "name": center_name,
-            "size": "0.005",
-        })
-        site_attrs.append(pot_site)
-        # Add to important sites
-        self._important_sites["center"] = self.naming_prefix + center_name
-
-        # Add back in base args and site args
-        obj_args.update(base_args)
-        obj_args["sites"] = [site_attrs]        # All sites are part of main (top) body
-
-        # Return this dict
-        return obj_args
-
-    @property
-    def handle_distance(self):
-
-        """
-        Calculates how far apart the handles are
-
-        Returns:
-            float: handle distance
-        """
-        return self.body_half_size[1] * 2 + self.handle_length * 2
-
-    @property
-    def handle0_geoms(self):
-        """
-        Returns:
-            list of str: geom names corresponding to handle0 (green handle)
-        """
-        return self.correct_naming(self._handle0_geoms)
-
-    @property
-    def handle1_geoms(self):
-        """
-        Returns:
-            list of str: geom names corresponding to handle1 (blue handle)
-        """
-        return self.correct_naming(self._handle1_geoms)
-
-    @property
-    def handle_geoms(self):
-        """
-        Returns:
-            list of str: geom names corresponding to both handles
-        """
-        return self.handle0_geoms + self.handle1_geoms
-
-    @property
-    def important_sites(self):
-        """
-        Returns:
-            dict: In addition to any default sites for this object, also provides the following entries
-
-                :`'handle0'`: Name of handle0 location site
-                :`'handle1'`: Name of handle1 location site
-        """
-        # Get dict from super call and add to it
-        dic = super().important_sites
-        dic.update(self._important_sites)
-        return dic
-
-    @property
-    def bottom_offset(self):
-        return np.array([0, 0, -1 * self.body_half_size[2]])
-
-    @property
-    def top_offset(self):
-        return np.array([0, 0, self.body_half_size[2]])
-
-    @property
-    def horizontal_radius(self):
-        return np.sqrt(2) * (max(self.body_half_size) + self.handle_length)
-
-
 class PrimitiveObject(MujocoGeneratedObject):
     """
     Base class for all programmatically generated mujoco object
@@ -1136,275 +522,3 @@ def top_offset(self):
 
     def horizontal_radius(self):
         raise NotImplementedError
-
-
-class BoxObject(PrimitiveObject):
-    """
-    A box object.
-
-    Args:
-        size (3-tuple of float): (half-x, half-y, half-z) size parameters for this box object
-    """
-
-    def __init__(
-        self,
-        name,
-        size=None,
-        size_max=None,
-        size_min=None,
-        density=None,
-        friction=None,
-        rgba=None,
-        solref=None,
-        solimp=None,
-        material=None,
-        joints="default",
-        obj_type="all",
-        duplicate_collision_geoms=True,
-    ):
-        size = get_size(size,
-                        size_max,
-                        size_min,
-                        [0.07, 0.07, 0.07],
-                        [0.03, 0.03, 0.03])
-        super().__init__(
-            name=name,
-            size=size,
-            rgba=rgba,
-            density=density,
-            friction=friction,
-            solref=solref,
-            solimp=solimp,
-            material=material,
-            joints=joints,
-            obj_type=obj_type,
-            duplicate_collision_geoms=duplicate_collision_geoms,
-        )
-
-    def sanity_check(self):
-        """
-        Checks to make sure inputted size is of correct length
-
-        Raises:
-            AssertionError: [Invalid size length]
-        """
-        assert len(self.size) == 3, "box size should have length 3"
-
-    def _get_object_subtree(self):
-        return self._get_object_subtree_(ob_type="box")
-
-    @property
-    def bottom_offset(self):
-        return np.array([0, 0, -1 * self.size[2]])
-
-    @property
-    def top_offset(self):
-        return np.array([0, 0, self.size[2]])
-
-    @property
-    def horizontal_radius(self):
-        return np.linalg.norm(self.size[0:2], 2)
-
-
-class CylinderObject(PrimitiveObject):
-    """
-    A cylinder object.
-
-    Args:
-        size (2-tuple of float): (radius, half-length) size parameters for this cylinder object
-    """
-
-    def __init__(
-        self,
-        name,
-        size=None,
-        size_max=None,
-        size_min=None,
-        density=None,
-        friction=None,
-        rgba=None,
-        solref=None,
-        solimp=None,
-        material=None,
-        joints="default",
-        obj_type="all",
-        duplicate_collision_geoms=True,
-    ):
-        size = get_size(size,
-                        size_max,
-                        size_min,
-                        [0.07, 0.07],
-                        [0.03, 0.03])
-        super().__init__(
-            name=name,
-            size=size,
-            rgba=rgba,
-            density=density,
-            friction=friction,
-            solref=solref,
-            solimp=solimp,
-            material=material,
-            joints=joints,
-            obj_type=obj_type,
-            duplicate_collision_geoms=duplicate_collision_geoms,
-        )
-
-    def sanity_check(self):
-        """
-        Checks to make sure inputted size is of correct length
-
-        Raises:
-            AssertionError: [Invalid size length]
-        """
-        assert len(self.size) == 2, "cylinder size should have length 2"
-
-    def _get_object_subtree(self):
-        return self._get_object_subtree_(ob_type="cylinder")
-
-    @property
-    def bottom_offset(self):
-        return np.array([0, 0, -1 * self.size[1]])
-
-    @property
-    def top_offset(self):
-        return np.array([0, 0, self.size[1]])
-
-    @property
-    def horizontal_radius(self):
-        return self.size[0]
-
-
-class BallObject(PrimitiveObject):
-    """
-    A ball (sphere) object.
-
-    Args:
-        size (1-tuple of float): (radius) size parameters for this ball object
-    """
-
-    def __init__(
-        self,
-        name,
-        size=None,
-        size_max=None,
-        size_min=None,
-        density=None,
-        friction=None,
-        rgba=None,
-        solref=None,
-        solimp=None,
-        material=None,
-        joints="default",
-        obj_type="all",
-        duplicate_collision_geoms=True,
-    ):
-        size = get_size(size,
-                        size_max,
-                        size_min,
-                        [0.07],
-                        [0.03])
-        super().__init__(
-            name=name,
-            size=size,
-            rgba=rgba,
-            density=density,
-            friction=friction,
-            solref=solref,
-            solimp=solimp,
-            material=material,
-            joints=joints,
-            obj_type=obj_type,
-            duplicate_collision_geoms=duplicate_collision_geoms,
-        )
-
-    def sanity_check(self):
-        """
-        Checks to make sure inputted size is of correct length
-
-        Raises:
-            AssertionError: [Invalid size length]
-        """
-        assert len(self.size) == 1, "ball size should have length 1"
-
-    def _get_object_subtree(self):
-        return self._get_object_subtree_(ob_type="sphere")
-
-    @property
-    def bottom_offset(self):
-        return np.array([0, 0, -1 * self.size[0]])
-
-    @property
-    def top_offset(self):
-        return np.array([0, 0, self.size[0]])
-
-    @property
-    def horizontal_radius(self):
-        return self.size[0]
-
-
-class CapsuleObject(PrimitiveObject):
-    """
-    A capsule object.
-
-    Args:
-        size (2-tuple of float): (radius, half-length) size parameters for this capsule object
-    """
-
-    def __init__(
-        self,
-        name,
-        size=None,
-        size_max=None,
-        size_min=None,
-        density=None,
-        friction=None,
-        rgba=None,
-        solref=None,
-        solimp=None,
-        material=None,
-        joints="default",
-        obj_type="all",
-        duplicate_collision_geoms=True,
-    ):
-        size = get_size(size,
-                        size_max,
-                        size_min,
-                        [0.07, 0.07],
-                        [0.03, 0.03])
-        super().__init__(
-            name=name,
-            size=size,
-            rgba=rgba,
-            density=density,
-            friction=friction,
-            solref=solref,
-            solimp=solimp,
-            material=material,
-            joints=joints,
-            obj_type=obj_type,
-            duplicate_collision_geoms=duplicate_collision_geoms,
-        )
-
-    def sanity_check(self):
-        """
-        Checks to make sure inputted size is of correct length
-
-        Raises:
-            AssertionError: [Invalid size length]
-        """
-        assert len(self.size) == 2, "capsule size should have length 2"
-
-    def _get_object_subtree(self):
-        return self._get_object_subtree_(ob_type="capsule")
-
-    @property
-    def bottom_offset(self):
-        return np.array([0, 0, -1 * (self.size[0] + self.size[1])])
-
-    @property
-    def top_offset(self):
-        return np.array([0, 0, (self.size[0] + self.size[1])])
-
-    @property
-    def horizontal_radius(self):
-        return self.size[0]
diff --git a/robosuite/models/objects/primitive/__init__.py b/robosuite/models/objects/primitive/__init__.py
new file mode 100644
index 0000000000..8b224ac36f
--- /dev/null
+++ b/robosuite/models/objects/primitive/__init__.py
@@ -0,0 +1,4 @@
+from .ball import BallObject
+from .box import BoxObject
+from .capsule import CapsuleObject
+from .cylinder import CylinderObject
diff --git a/robosuite/models/objects/primitive/ball.py b/robosuite/models/objects/primitive/ball.py
new file mode 100644
index 0000000000..11e11cf1a9
--- /dev/null
+++ b/robosuite/models/objects/primitive/ball.py
@@ -0,0 +1,72 @@
+import numpy as np
+
+from robosuite.utils.mjcf_utils import get_size
+from robosuite.models.objects import PrimitiveObject
+
+
+class BallObject(PrimitiveObject):
+    """
+    A ball (sphere) object.
+
+    Args:
+        size (1-tuple of float): (radius) size parameters for this ball object
+    """
+
+    def __init__(
+        self,
+        name,
+        size=None,
+        size_max=None,
+        size_min=None,
+        density=None,
+        friction=None,
+        rgba=None,
+        solref=None,
+        solimp=None,
+        material=None,
+        joints="default",
+        obj_type="all",
+        duplicate_collision_geoms=True,
+    ):
+        size = get_size(size,
+                        size_max,
+                        size_min,
+                        [0.07],
+                        [0.03])
+        super().__init__(
+            name=name,
+            size=size,
+            rgba=rgba,
+            density=density,
+            friction=friction,
+            solref=solref,
+            solimp=solimp,
+            material=material,
+            joints=joints,
+            obj_type=obj_type,
+            duplicate_collision_geoms=duplicate_collision_geoms,
+        )
+
+    def sanity_check(self):
+        """
+        Checks to make sure inputted size is of correct length
+
+        Raises:
+            AssertionError: [Invalid size length]
+        """
+        assert len(self.size) == 1, "ball size should have length 1"
+
+    def _get_object_subtree(self):
+        return self._get_object_subtree_(ob_type="sphere")
+
+    @property
+    def bottom_offset(self):
+        return np.array([0, 0, -1 * self.size[0]])
+
+    @property
+    def top_offset(self):
+        return np.array([0, 0, self.size[0]])
+
+    @property
+    def horizontal_radius(self):
+        return self.size[0]
diff --git a/robosuite/models/objects/primitive/box.py b/robosuite/models/objects/primitive/box.py
new file mode 100644
index 0000000000..c098cb3f32
--- /dev/null
+++ b/robosuite/models/objects/primitive/box.py
@@ -0,0 +1,72 @@
+import numpy as np
+
+from robosuite.utils.mjcf_utils import get_size
+from robosuite.models.objects import PrimitiveObject
+
+
+class BoxObject(PrimitiveObject):
+    """
+    A box object.
+
+    Args:
+        size (3-tuple of float): (half-x, half-y, half-z) size parameters for this box object
+    """
+
+    def __init__(
+        self,
+        name,
+        size=None,
+        size_max=None,
+        size_min=None,
+        density=None,
+        friction=None,
+        rgba=None,
+        solref=None,
+        solimp=None,
+        material=None,
+        joints="default",
+        obj_type="all",
+        duplicate_collision_geoms=True,
+    ):
+        size = get_size(size,
+                        size_max,
+                        size_min,
+                        [0.07, 0.07, 0.07],
+                        [0.03, 0.03, 0.03])
+        super().__init__(
+            name=name,
+            size=size,
+            rgba=rgba,
+            density=density,
+            friction=friction,
+            solref=solref,
+            solimp=solimp,
+            material=material,
+            joints=joints,
+            obj_type=obj_type,
+            duplicate_collision_geoms=duplicate_collision_geoms,
+        )
+
+    def sanity_check(self):
+        """
+        Checks to make sure inputted size is of correct length
+
+        Raises:
+            AssertionError: [Invalid size length]
+        """
+        assert len(self.size) == 3, "box size should have length 3"
+
+    def _get_object_subtree(self):
+        return self._get_object_subtree_(ob_type="box")
+
+    @property
+    def bottom_offset(self):
+        return np.array([0, 0, -1 * self.size[2]])
+
+    @property
+    def top_offset(self):
+        return np.array([0, 0, self.size[2]])
+
+    @property
+    def horizontal_radius(self):
+        return np.linalg.norm(self.size[0:2], 2)
diff --git a/robosuite/models/objects/primitive/capsule.py b/robosuite/models/objects/primitive/capsule.py
new file mode 100644
index 0000000000..6e1b514fcf
--- /dev/null
+++ b/robosuite/models/objects/primitive/capsule.py
@@ -0,0 +1,72 @@
+import numpy as np
+
+from robosuite.utils.mjcf_utils import get_size
+from robosuite.models.objects import PrimitiveObject
+
+
+class CapsuleObject(PrimitiveObject):
+    """
+    A capsule object.
+
+    Args:
+        size (2-tuple of float): (radius, half-length) size parameters for this capsule object
+    """
+
+    def __init__(
+        self,
+        name,
+        size=None,
+        size_max=None,
+        size_min=None,
+        density=None,
+        friction=None,
+        rgba=None,
+        solref=None,
+        solimp=None,
+        material=None,
+        joints="default",
+        obj_type="all",
+        duplicate_collision_geoms=True,
+    ):
+        size = get_size(size,
+                        size_max,
+                        size_min,
+                        [0.07, 0.07],
+                        [0.03, 0.03])
+        super().__init__(
+            name=name,
+            size=size,
+            rgba=rgba,
+            density=density,
+            friction=friction,
+            solref=solref,
+            solimp=solimp,
+            material=material,
+            joints=joints,
+            obj_type=obj_type,
+            duplicate_collision_geoms=duplicate_collision_geoms,
+        )
+
+    def sanity_check(self):
+        """
+        Checks to make sure inputted size is of correct length
+
+        Raises:
+            AssertionError: [Invalid size length]
+        """
+        assert len(self.size) == 2, "capsule size should have length 2"
+
+    def _get_object_subtree(self):
+        return self._get_object_subtree_(ob_type="capsule")
+
+    @property
+    def bottom_offset(self):
+        return np.array([0, 0, -1 * (self.size[0] + self.size[1])])
+
+    @property
+    def top_offset(self):
+        return np.array([0, 0, (self.size[0] + self.size[1])])
+
+    @property
+    def horizontal_radius(self):
+        return self.size[0]
diff --git a/robosuite/models/objects/primitive/cylinder.py b/robosuite/models/objects/primitive/cylinder.py
new file mode 100644
index 0000000000..4a7f9664ce
--- /dev/null
+++ b/robosuite/models/objects/primitive/cylinder.py
@@ -0,0 +1,72 @@
+import numpy as np
+
+from robosuite.utils.mjcf_utils import get_size
+from robosuite.models.objects import PrimitiveObject
+
+
+class CylinderObject(PrimitiveObject):
+    """
+    A cylinder object.
+
+    Args:
+        size (2-tuple of float): (radius, half-length) size parameters for this cylinder object
+    """
+
+    def __init__(
+        self,
+        name,
+        size=None,
+        size_max=None,
+        size_min=None,
+        density=None,
+        friction=None,
+        rgba=None,
+        solref=None,
+        solimp=None,
+        material=None,
+        joints="default",
+        obj_type="all",
+        duplicate_collision_geoms=True,
+    ):
+        size = get_size(size,
+                        size_max,
+                        size_min,
+                        [0.07, 0.07],
+                        [0.03, 0.03])
+        super().__init__(
+            name=name,
+            size=size,
+            rgba=rgba,
+            density=density,
+            friction=friction,
+            solref=solref,
+            solimp=solimp,
+            material=material,
+            joints=joints,
+            obj_type=obj_type,
+            duplicate_collision_geoms=duplicate_collision_geoms,
+        )
+
+    def sanity_check(self):
+        """
+        Checks to make sure inputted size is of correct length
+
+        Raises:
+            AssertionError: [Invalid size length]
+        """
+        assert len(self.size) == 2, "cylinder size should have length 2"
+
+    def _get_object_subtree(self):
+        return self._get_object_subtree_(ob_type="cylinder")
+
+    @property
+    def bottom_offset(self):
+        return np.array([0, 0, -1 * self.size[1]])
+
+    @property
+    def top_offset(self):
+        return np.array([0, 0, self.size[1]])
+
+    @property
+    def horizontal_radius(self):
+        return self.size[0]

From 761fa77bfdeb330f843563e51068a9b00aeaa5f8 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 12 Dec 2020 16:22:20 -0800
Subject: [PATCH 30/46] port indicator object to visualization wrapper, add
 support for multiple indicator objects

---
 robosuite/environments/base.py                | 51 +++++-----
 robosuite/environments/manipulation/door.py   |  7 --
 robosuite/environments/manipulation/lift.py   |  7 --
 .../manipulation/manipulation_env.py          |  5 -
 .../environments/manipulation/nut_assembly.py |  7 --
 .../environments/manipulation/pick_place.py   |  7 --
 robosuite/environments/manipulation/stack.py  |  7 --
 .../manipulation/two_arm_handover.py          |  7 --
 .../environments/manipulation/two_arm_lift.py |  7 --
 .../manipulation/two_arm_peg_in_hole.py       |  7 --
 robosuite/environments/manipulation/wipe.py   |  7 --
 robosuite/environments/robot_env.py           | 13 ---
 robosuite/models/arenas/arena.py              | 17 ----
 robosuite/wrappers/visualization_wrapper.py   | 93 ++++++++++++++++++-
 14 files changed, 112 insertions(+), 130 deletions(-)

diff --git a/robosuite/environments/base.py b/robosuite/environments/base.py
index e21bc43b21..b179f59103 100644
--- a/robosuite/environments/base.py
+++ b/robosuite/environments/base.py
@@ -59,9 +59,6 @@ class MujocoEnv(metaclass=EnvMeta):
     Initializes a Mujoco Environment.
 
     Args:
-        use_indicator_object (bool): if True, sets up an indicator object that
-            is useful for debugging.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -94,7 +91,6 @@ class MujocoEnv(metaclass=EnvMeta):
 
     def __init__(
         self,
-        use_indicator_object=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -117,14 +113,12 @@ def __init__(
         self.render_visual_mesh = render_visual_mesh
         self.viewer = None
 
-        # whether to use indicator object or not
-        self.use_indicator_object = use_indicator_object
-
         # Simulation-specific attributes
         self.control_freq = control_freq
         self.horizon = horizon
         self.ignore_done = ignore_done
         self.hard_reset = hard_reset
+        self._model_postprocessor = None            # Function to post-process model after load_model() call
         self.model = None
         self.cur_time = None
         self.model_timestep = None
@@ -134,6 +128,9 @@ def __init__(
         # Load the model
         self._load_model()
 
+        # Post-process model
+        self._postprocess_model()
+
         # Initialize the simulation
         self._initialize_sim()
 
@@ -158,25 +155,35 @@ def initialize_time(self, control_freq):
             )
         self.control_timestep = 1. / control_freq
 
+    def set_model_postprocessor(self, postprocessor):
+        """
+        Sets the post-processor function that self.model will be passed to after load_model() is called during resets.
+
+        Args:
+            postprocessor (None or function): If set, postprocessing method should take in a Task-based instance and
+                return no arguments.
+        """
+        self._model_postprocessor = postprocessor
+
     def _load_model(self):
         """Loads an xml model, puts it in self.model"""
         pass
 
+    def _postprocess_model(self):
+        """
+        Post-processes model after load_model() call. Useful for external objects (e.g.: wrappers) to
+        be able to modify the sim model before it is actually loaded into the simulation
+        """
+        if self._model_postprocessor is not None:
+            self._model_postprocessor(self.model)
+
     def _get_reference(self):
         """
         Sets up references to important components. A reference is typically an
         index or a list of indices that point to the corresponding elements
         in a flatten array, which is how MuJoCo stores physical simulation data.
         """
-        # Indicator object references
-        if self.use_indicator_object:
-            ind_qpos = self.sim.model.get_joint_qpos_addr("pos_indicator")
-            self._ref_indicator_pos_low, self._ref_indicator_pos_high = ind_qpos
-
-            ind_qvel = self.sim.model.get_joint_qvel_addr("pos_indicator")
-            self._ref_indicator_vel_low, self._ref_indicator_vel_high = ind_qvel
-
-            self.indicator_id = self.sim.model.body_name2id("pos_indicator")
+        pass
 
     def _initialize_sim(self, xml_string=None):
         """
@@ -208,6 +215,7 @@ def reset(self):
         if self.hard_reset and not self.deterministic_reset:
             self._destroy_viewer()
             self._load_model()
+            self._postprocess_model()
             self._initialize_sim()
         # Else, we only reset the sim internally
         else:
@@ -373,17 +381,6 @@ def observation_spec(self):
         observation = self._get_observation()
         return observation
 
-    def move_indicator(self, pos):
-        """
-        Sets 3d position of indicator object to @pos.
-
-        Args:
-            pos (3-tuple): (x,y,z) values to place the indicator within the env
-        """
-        if self.use_indicator_object:
-            index = self._ref_indicator_pos_low
-            self.sim.data.qpos[index:index + 3] = pos
-
     def clear_objects(self, object_names):
         """
         Clears objects with the name @object_names out of the task space. This is useful
diff --git a/robosuite/environments/manipulation/door.py b/robosuite/environments/manipulation/door.py
index c7fa99dbfc..3964a0068a 100644
--- a/robosuite/environments/manipulation/door.py
+++ b/robosuite/environments/manipulation/door.py
@@ -64,9 +64,6 @@ class Door(SingleArmEnv):
             be used to place objects on every reset, else a UniformRandomSampler
             is used by default.
 
-        use_indicator_object (bool): if True, sets up an indicator object that
-            is useful for debugging.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -128,7 +125,6 @@ def __init__(
         reward_scale=1.0,
         reward_shaping=False,
         placement_initializer=None,
-        use_indicator_object=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -166,7 +162,6 @@ def __init__(
             gripper_types=gripper_types,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
-            use_indicator_object=use_indicator_object,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -246,8 +241,6 @@ def _load_model(self):
             table_full_size=self.table_full_size,
             table_offset=self.table_offset,
         )
-        if self.use_indicator_object:
-            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
         mujoco_arena.set_origin([0, 0, 0])
diff --git a/robosuite/environments/manipulation/lift.py b/robosuite/environments/manipulation/lift.py
index 1ef25d5830..939f161b56 100644
--- a/robosuite/environments/manipulation/lift.py
+++ b/robosuite/environments/manipulation/lift.py
@@ -69,9 +69,6 @@ class Lift(SingleArmEnv):
             be used to place objects on every reset, else a UniformRandomSampler
             is used by default.
 
-        use_indicator_object (bool): if True, sets up an indicator object that
-            is useful for debugging.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -134,7 +131,6 @@ def __init__(
         reward_scale=1.0,
         reward_shaping=False,
         placement_initializer=None,
-        use_indicator_object=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -172,7 +168,6 @@ def __init__(
             gripper_types=gripper_types,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
-            use_indicator_object=use_indicator_object,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -255,8 +250,6 @@ def _load_model(self):
             table_friction=self.table_friction,
             table_offset=self.table_offset,
         )
-        if self.use_indicator_object:
-            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
         mujoco_arena.set_origin([0, 0, 0])
diff --git a/robosuite/environments/manipulation/manipulation_env.py b/robosuite/environments/manipulation/manipulation_env.py
index c71acebc89..c066f935e4 100644
--- a/robosuite/environments/manipulation/manipulation_env.py
+++ b/robosuite/environments/manipulation/manipulation_env.py
@@ -51,9 +51,6 @@ class ManipulationEnv(RobotEnv):
 
         use_camera_obs (bool): if True, every observation includes rendered image(s)
 
-        use_indicator_object (bool): if True, sets up an indicator object that
-            is useful for debugging.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -112,7 +109,6 @@ def __init__(
         gripper_types="default",
         initialization_noise=None,
         use_camera_obs=True,
-        use_indicator_object=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -150,7 +146,6 @@ def __init__(
             mount_types=mount_types,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
-            use_indicator_object=use_indicator_object,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
diff --git a/robosuite/environments/manipulation/nut_assembly.py b/robosuite/environments/manipulation/nut_assembly.py
index 9c564f44b1..432378297d 100644
--- a/robosuite/environments/manipulation/nut_assembly.py
+++ b/robosuite/environments/manipulation/nut_assembly.py
@@ -84,9 +84,6 @@ class NutAssembly(SingleArmEnv):
             which type of nut (round or square) will be spawned on every environment
             reset. Only used if @single_object_mode is 2.
 
-        use_indicator_object (bool): if True, sets up an indicator object that
-            is useful for debugging.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -152,7 +149,6 @@ def __init__(
         placement_initializer=None,
         single_object_mode=0,
         nut_type=None,
-        use_indicator_object=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -202,7 +198,6 @@ def __init__(
             gripper_types=gripper_types,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
-            use_indicator_object=use_indicator_object,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -372,8 +367,6 @@ def _load_model(self):
             table_friction=self.table_friction,
             table_offset=self.table_offset,
         )
-        if self.use_indicator_object:
-            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
         mujoco_arena.set_origin([0, 0, 0])
diff --git a/robosuite/environments/manipulation/pick_place.py b/robosuite/environments/manipulation/pick_place.py
index 1fd9c0091b..8b77d5dcf1 100644
--- a/robosuite/environments/manipulation/pick_place.py
+++ b/robosuite/environments/manipulation/pick_place.py
@@ -95,9 +95,6 @@ class PickPlace(SingleArmEnv):
             or "can". Determines which type of object will be spawned on every
             environment reset. Only used if @single_object_mode is 2.
 
-        use_indicator_object (bool): if True, sets up an indicator object that
-            is useful for debugging.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -164,7 +161,6 @@ def __init__(
         reward_shaping=False,
         single_object_mode=0,
         object_type=None,
-        use_indicator_object=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -217,7 +213,6 @@ def __init__(
             gripper_types=gripper_types,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
-            use_indicator_object=use_indicator_object,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -464,8 +459,6 @@ def _load_model(self):
             table_full_size=self.table_full_size,
             table_friction=self.table_friction
         )
-        if self.use_indicator_object:
-            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
         mujoco_arena.set_origin([0, 0, 0])
diff --git a/robosuite/environments/manipulation/stack.py b/robosuite/environments/manipulation/stack.py
index 3a3d4d02f0..c422ac7583 100644
--- a/robosuite/environments/manipulation/stack.py
+++ b/robosuite/environments/manipulation/stack.py
@@ -69,9 +69,6 @@ class Stack(SingleArmEnv):
             be used to place objects on every reset, else a UniformRandomSampler
             is used by default.
 
-        use_indicator_object (bool): if True, sets up an indicator object that
-            is useful for debugging.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -134,7 +131,6 @@ def __init__(
         reward_scale=1.0,
         reward_shaping=False,
         placement_initializer=None,
-        use_indicator_object=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -172,7 +168,6 @@ def __init__(
             gripper_types=gripper_types,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
-            use_indicator_object=use_indicator_object,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -292,8 +287,6 @@ def _load_model(self):
             table_friction=self.table_friction,
             table_offset=self.table_offset,
         )
-        if self.use_indicator_object:
-            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
         mujoco_arena.set_origin([0, 0, 0])
diff --git a/robosuite/environments/manipulation/two_arm_handover.py b/robosuite/environments/manipulation/two_arm_handover.py
index dd430a89db..92c762a55e 100644
--- a/robosuite/environments/manipulation/two_arm_handover.py
+++ b/robosuite/environments/manipulation/two_arm_handover.py
@@ -79,9 +79,6 @@ class TwoArmHandover(TwoArmEnv):
             be used to place objects on every reset, else a UniformRandomSampler
             is used by default.
 
-        use_indicator_object (bool): if True, sets up an indicator object that
-            is useful for debugging.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -147,7 +144,6 @@ def __init__(
         reward_scale=1.0,
         reward_shaping=False,
         placement_initializer=None,
-        use_indicator_object=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -191,7 +187,6 @@ def __init__(
             gripper_types=gripper_types,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
-            use_indicator_object=use_indicator_object,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -319,8 +314,6 @@ def _load_model(self):
             table_friction=self.table_friction,
             table_offset=self.table_offset
         )
-        if self.use_indicator_object:
-            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
         mujoco_arena.set_origin([0, 0, 0])
diff --git a/robosuite/environments/manipulation/two_arm_lift.py b/robosuite/environments/manipulation/two_arm_lift.py
index ca09929d89..c418bacce3 100644
--- a/robosuite/environments/manipulation/two_arm_lift.py
+++ b/robosuite/environments/manipulation/two_arm_lift.py
@@ -77,9 +77,6 @@ class TwoArmLift(TwoArmEnv):
             be used to place objects on every reset, else a UniformRandomSampler
             is used by default.
 
-        use_indicator_object (bool): if True, sets up an indicator object that
-            is useful for debugging.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -144,7 +141,6 @@ def __init__(
         reward_scale=1.0,
         reward_shaping=False,
         placement_initializer=None,
-        use_indicator_object=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -182,7 +178,6 @@ def __init__(
             gripper_types=gripper_types,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
-            use_indicator_object=use_indicator_object,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -308,8 +303,6 @@ def _load_model(self):
             table_friction=self.table_friction,
             table_offset=self.table_offset,
         )
-        if self.use_indicator_object:
-            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
         mujoco_arena.set_origin([0, 0, 0])
diff --git a/robosuite/environments/manipulation/two_arm_peg_in_hole.py b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
index 667dc93fe4..4534d4886c 100644
--- a/robosuite/environments/manipulation/two_arm_peg_in_hole.py
+++ b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
@@ -71,9 +71,6 @@ class TwoArmPegInHole(TwoArmEnv):
 
         peg_length (float): length of the peg
 
-        use_indicator_object (bool): if True, sets up an indicator object that
-            is useful for debugging.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -138,7 +135,6 @@ def __init__(
         reward_shaping=False,
         peg_radius=(0.015, 0.03),
         peg_length=0.13,
-        use_indicator_object=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -175,7 +171,6 @@ def __init__(
             gripper_types=gripper_types,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
-            use_indicator_object=use_indicator_object,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -271,8 +266,6 @@ def _load_model(self):
 
         # Add arena and robot
         mujoco_arena = EmptyArena()
-        if self.use_indicator_object:
-            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
         mujoco_arena.set_origin([0, 0, 0])
diff --git a/robosuite/environments/manipulation/wipe.py b/robosuite/environments/manipulation/wipe.py
index 31bcf6f730..0d39311217 100644
--- a/robosuite/environments/manipulation/wipe.py
+++ b/robosuite/environments/manipulation/wipe.py
@@ -91,9 +91,6 @@ class Wipe(SingleArmEnv):
 
         reward_shaping (bool): if True, use dense rewards.
 
-        use_indicator_object (bool): if True, sets up an indicator object that
-            is useful for debugging.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -159,7 +156,6 @@ def __init__(
         use_object_obs=True,
         reward_scale=1.0,
         reward_shaping=True,
-        use_indicator_object=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -254,7 +250,6 @@ def __init__(
             gripper_types=gripper_types,
             initialization_noise=initialization_noise,
             use_camera_obs=use_camera_obs,
-            use_indicator_object=use_indicator_object,
             has_renderer=has_renderer,
             has_offscreen_renderer=has_offscreen_renderer,
             render_camera=render_camera,
@@ -483,8 +478,6 @@ def _load_model(self):
             line_width=self.line_width,
             two_clusters=self.two_clusters
         )
-        if self.use_indicator_object:
-            mujoco_arena.add_pos_indicator()
 
         # Arena always gets set to zero origin
         mujoco_arena.set_origin([0, 0, 0])
diff --git a/robosuite/environments/robot_env.py b/robosuite/environments/robot_env.py
index 4f6473d550..b5a3266928 100644
--- a/robosuite/environments/robot_env.py
+++ b/robosuite/environments/robot_env.py
@@ -46,9 +46,6 @@ class RobotEnv(MujocoEnv):
 
         use_camera_obs (bool): if True, every observation includes rendered image(s)
 
-        use_indicator_object (bool): if True, sets up an indicator object that
-            is useful for debugging.
-
         has_renderer (bool): If true, render the simulation state in
             a viewer instead of headless mode.
 
@@ -108,7 +105,6 @@ def __init__(
         controller_configs=None,
         initialization_noise=None,
         use_camera_obs=True,
-        use_indicator_object=False,
         has_renderer=False,
         has_offscreen_renderer=True,
         render_camera="frontview",
@@ -181,7 +177,6 @@ def __init__(
 
         # Run superclass init
         super().__init__(
-            use_indicator_object=use_indicator_object,
             has_renderer=has_renderer,
             has_offscreen_renderer=self.has_offscreen_renderer,
             render_camera=render_camera,
@@ -359,14 +354,6 @@ def _pre_action(self, action, policy_step=False):
             robot.control(robot_action, policy_step=policy_step)
             cutoff += robot.action_dim
 
-        # Also update indicator object if necessary
-        if self.use_indicator_object:
-            # Apply gravity compensation to indicator object too
-            self.sim.data.qfrc_applied[
-                self._ref_indicator_vel_low: self._ref_indicator_vel_high
-                ] = self.sim.data.qfrc_bias[
-                    self._ref_indicator_vel_low: self._ref_indicator_vel_high]
-
     def _get_observation(self):
         """
         Returns an OrderedDict containing observations [(name_string, np.array), ...].
diff --git a/robosuite/models/arenas/arena.py b/robosuite/models/arenas/arena.py
index 182f284935..0b3be49687 100644
--- a/robosuite/models/arenas/arena.py
+++ b/robosuite/models/arenas/arena.py
@@ -31,23 +31,6 @@ def set_origin(self, offset):
             new_pos = cur_pos + offset
             node.set("pos", array_to_string(new_pos))
 
-    def add_pos_indicator(self):
-        """Adds a new position indicator."""
-        body = new_body(name="pos_indicator")
-        body.append(
-            new_geom(
-                name="indicator_obj",
-                type="sphere",
-                size=[0.03],
-                rgba=[1, 0, 0, 0.5],
-                group=1,
-                contype="0",
-                conaffinity="0",
-            )
-        )
-        body.append(new_joint(type="free", name="pos_indicator"))
-        self.worldbody.append(body)
-
     def add_camera(self, camera_name, pos, quat, camera_attribs=None):
         """
         Adds a camera with @camera_name. If the camera already exists, then this overwrites its pos and quat values.
diff --git a/robosuite/wrappers/visualization_wrapper.py b/robosuite/wrappers/visualization_wrapper.py
index b01f9ace7d..62f7aea64b 100644
--- a/robosuite/wrappers/visualization_wrapper.py
+++ b/robosuite/wrappers/visualization_wrapper.py
@@ -5,24 +5,108 @@
 for a given environment can be found by calling `get_visualization_settings()`, and can
 be set individually by calling `set_visualization_setting(setting, visible)`.
 """
+import numpy as np
 from robosuite.wrappers import Wrapper
+from robosuite.utils.mjcf_utils import new_site, new_geom, new_body
+from copy import deepcopy
+
+DEFAULT_INDICATOR_SITE_CONFIG = {
+    "type": "sphere",
+    "size": [0.03],
+    "rgba": [1, 0, 0, 0.5],
+}
 
 
 class VisualizationWrapper(Wrapper):
-    def __init__(self, env):
+    def __init__(self, env, indicator_configs=None):
         """
-        Initializes the data collection wrapper.
+        Initializes the data collection wrapper. Note that this automatically conducts a (hard) reset initially to make
+        sure indicators are properly added to the sim model.
 
         Args:
             env (MujocoEnv): The environment to visualize
+
+            indicator_configs (None or str or dict or list): Configurations to use for indicator objects.
+
+                If None, no indicator objects will be used
+
+                If a string, this should be `'default'`, which corresponds to single default spherical indicator
+
+                If a dict, should specify a single indicator object config
+
+                If a list, should specify specific indicator object configs to use for multiple indicators (which in
+                turn can either be `'default'` or a dict)
+
+                As each indicator object is essentially a site element, each dict should map site keywords to values.
+                Note that, at the very minimum, the `'name'` attribute MUST be specified for each indicator. See
+                http://www.mujoco.org/book/XMLreference.html#site for specific site attributes that can be specified.
         """
         super().__init__(env)
+        # Standardize indicator configs
+        self.indicator_configs = None
+        if indicator_configs is not None:
+            self.indicator_configs = []
+            if type(indicator_configs) in {str, dict}:
+                indicator_configs = [indicator_configs]
+            for i, indicator_config in enumerate(indicator_configs):
+                if indicator_config == "default":
+                    indicator_config = deepcopy(DEFAULT_INDICATOR_SITE_CONFIG)
+                    indicator_config["name"] = f"indicator{i}"
+                # Make sure name attribute is specified
+                assert "name" in indicator_config, "Name must be specified for all indicator object configurations!"
+                # Add this configuration to the internal array
+                self.indicator_configs.append(indicator_config)
 
         # Create internal dict to store visualization settings (set to True by default)
         self._vis_settings = {vis: True for vis in self.env._visualizations}
 
-        # Update visualizations for this environment
-        self.env.visualize(vis_settings=self._vis_settings)
+        # Add the post-processor to make sure indicator objects get added to model before it's actually loaded in sim
+        self.env.set_model_postprocessor(postprocessor=self._add_indicators_to_model)
+
+        # Conduct a (hard) result to make sure visualization changes propagate
+        reset_mode = self.env.hard_reset
+        self.env.hard_reset = True
+        self.reset()
+        self.env.hard_reset = reset_mode
+
+    def _add_indicators_to_model(self, model):
+        """
+        Adds indicators to the mujoco simulation model
+
+        Args:
+            model (Task): Task instance including all mujoco models for the current simulation to be loaded
+        """
+        if self.indicator_configs is not None:
+            for indicator_config in self.indicator_configs:
+                config = deepcopy(indicator_config)
+                indicator_body = new_body(name=config["name"] + "_body", pos=config.pop("pos", (0, 0, 0)))
+                indicator_body.append(new_site(**config))
+                model.worldbody.append(indicator_body)
+
+    def get_indicator_names(self):
+        """
+        Gets all indicator object names for this environment.
+
+        Returns:
+            list: Indicator names for this environment.
+        """
+        return [ind_config["name"] for ind_config in self.indicator_configs] if \
+            self.indicator_configs is not None else []
+
+    def set_indicator_pos(self, indicator, pos):
+        """
+        Sets the specified @indicator to the desired position @pos
+
+        Args:
+            indicator (str): Name of the indicator to set
+            pos (3-array): (x, y, z) Cartesian world coordinates to set the specified indicator to
+        """
+        # Make sure indicator is valid
+        indicator_names = set(self.get_indicator_names())
+        assert indicator in indicator_names, "Invalid indicator name specified. Valid options are {}, got {}".\
+            format(indicator_names, indicator)
+        # Set the specified indicator
+        self.env.sim.model.body_pos[self.env.sim.model.body_name2id(indicator + "_body")] = np.array(pos)
 
     def get_visualization_settings(self):
         """
@@ -78,4 +162,3 @@ def step(self, action):
         self.env.visualize(vis_settings=self._vis_settings)
 
         return ret
-

From 35ecdc13df2c23d64a5993fae6ce12746349b291 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 12 Dec 2020 16:23:25 -0800
Subject: [PATCH 31/46] small change to visualization wrapper

---
 robosuite/wrappers/visualization_wrapper.py | 28 ++++++++++-----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/robosuite/wrappers/visualization_wrapper.py b/robosuite/wrappers/visualization_wrapper.py
index 62f7aea64b..f7290fe811 100644
--- a/robosuite/wrappers/visualization_wrapper.py
+++ b/robosuite/wrappers/visualization_wrapper.py
@@ -69,20 +69,6 @@ def __init__(self, env, indicator_configs=None):
         self.reset()
         self.env.hard_reset = reset_mode
 
-    def _add_indicators_to_model(self, model):
-        """
-        Adds indicators to the mujoco simulation model
-
-        Args:
-            model (Task): Task instance including all mujoco models for the current simulation to be loaded
-        """
-        if self.indicator_configs is not None:
-            for indicator_config in self.indicator_configs:
-                config = deepcopy(indicator_config)
-                indicator_body = new_body(name=config["name"] + "_body", pos=config.pop("pos", (0, 0, 0)))
-                indicator_body.append(new_site(**config))
-                model.worldbody.append(indicator_body)
-
     def get_indicator_names(self):
         """
         Gets all indicator object names for this environment.
@@ -162,3 +148,17 @@ def step(self, action):
         self.env.visualize(vis_settings=self._vis_settings)
 
         return ret
+
+    def _add_indicators_to_model(self, model):
+        """
+        Adds indicators to the mujoco simulation model
+
+        Args:
+            model (Task): Task instance including all mujoco models for the current simulation to be loaded
+        """
+        if self.indicator_configs is not None:
+            for indicator_config in self.indicator_configs:
+                config = deepcopy(indicator_config)
+                indicator_body = new_body(name=config["name"] + "_body", pos=config.pop("pos", (0, 0, 0)))
+                indicator_body.append(new_site(**config))
+                model.worldbody.append(indicator_body)

From 208ee3bfe516cbdcc4ca588f71e270a41177217d Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 12 Dec 2020 18:52:39 -0800
Subject: [PATCH 32/46] add support for multi-bodied objects
 (CompositeBodyObjects)

---
 robosuite/models/objects/__init__.py          |   2 +-
 .../objects/composite/pot_with_handles.py     |   2 +-
 robosuite/models/objects/generated_objects.py | 304 +++++++++++++-----
 robosuite/models/objects/objects.py           |  14 +-
 4 files changed, 230 insertions(+), 92 deletions(-)

diff --git a/robosuite/models/objects/__init__.py b/robosuite/models/objects/__init__.py
index 22dc332236..5aa103fd2f 100644
--- a/robosuite/models/objects/__init__.py
+++ b/robosuite/models/objects/__init__.py
@@ -1,5 +1,5 @@
 from .objects import MujocoObject, MujocoXMLObject, MujocoGeneratedObject
-from .generated_objects import CompositeObject, PrimitiveObject
+from .generated_objects import CompositeBodyObject, CompositeObject, PrimitiveObject
 
 from .xml_objects import (
     BottleObject,
diff --git a/robosuite/models/objects/composite/pot_with_handles.py b/robosuite/models/objects/composite/pot_with_handles.py
index 2b3e879d53..cdf11ee13a 100644
--- a/robosuite/models/objects/composite/pot_with_handles.py
+++ b/robosuite/models/objects/composite/pot_with_handles.py
@@ -275,7 +275,7 @@ def _get_geom_attrs(self):
 
         # Add back in base args and site args
         obj_args.update(base_args)
-        obj_args["sites"] = [site_attrs]        # All sites are part of main (top) body
+        obj_args["sites"] = site_attrs        # All sites are part of main (top) body
 
         # Return this dict
         return obj_args
diff --git a/robosuite/models/objects/generated_objects.py b/robosuite/models/objects/generated_objects.py
index ca0111b00a..f88e4c1070 100644
--- a/robosuite/models/objects/generated_objects.py
+++ b/robosuite/models/objects/generated_objects.py
@@ -1,12 +1,179 @@
 import numpy as np
 
-from robosuite.models.objects import MujocoGeneratedObject
-from robosuite.utils.mjcf_utils import new_body, new_geom, new_site, new_joint, array_to_string
+from robosuite.models.objects import MujocoGeneratedObject, MujocoObject
+from robosuite.utils.mjcf_utils import new_body, new_geom, new_site, new_joint, array_to_string, find_elements
 from robosuite.utils.mjcf_utils import OBJECT_COLLISION_COLOR, CustomMaterial
 
 from copy import deepcopy
 
 
+class CompositeBodyObject(MujocoGeneratedObject):
+    """
+    An object constructed out of multiple bodies to make more complex shapes.
+
+    Args:
+        name (str): Name of overall object
+
+        objects (MujocoObject or list of MujocoObjects): object(s) to combine to form the composite body object.
+            Note that these objects will be added sequentially, so if an object is required to be nested relative to
+            another object, that nested object should be listed after the parent object.
+
+        object_locations (list): list of body locations in the composite. Each
+            location should be a list or tuple of 3 elements and all
+            locations are taken relative to that object's parent body
+
+        object_quats (None or list): list of (w, x, y, z) quaternions for each body.
+
+        object_parents (None or list): Parent bodies to append each object to. Note that specifying "None" will
+            automatically append all objects to the root body ("root")
+
+        joints (None or list): Joints to use for the top-level composite body object. If None, no joints will be used
+            for this top-level object. If "default", a single free joint will be added to the top-level body of this
+            object. Otherwise, should be a list of dictionaries, where each dictionary should specify the specific
+            joint attributes necessary. See http://www.mujoco.org/book/XMLreference.html#joint for reference.
+
+        sites (None or list): list of sites to add to top-level composite body object. If None, only the default
+            top-level object site will be used. Otherwise, should be a list of dictionaries, where each dictionary
+            should specify the appropriate attributes for the given site.
+            See http://www.mujoco.org/book/XMLreference.html#site for reference.
+    """
+    def __init__(
+        self,
+        name,
+        objects,
+        object_locations,
+        object_quats=None,
+        object_parents=None,
+        joints="default",
+        sites=None,
+    ):
+        # Always call superclass first
+        super().__init__()
+
+        self._name = name
+
+        # Set internal variable geometric properties which will be modified later
+        self._object_absolute_positions = {"root": np.zeros(3)}     # maps body names to abs positions (rel to root)
+        self._top = 0
+        self._bottom = 0
+        self._horizontal = 0
+
+        # Standardize inputs
+        if isinstance(objects, MujocoObject):
+            self.objects = [objects]
+        elif type(objects) in {list, tuple}:
+            self.objects = list(objects)
+        else:
+            # Invalid objects received
+            raise ValueError("Invalid objects received, got type: {}".format(type(objects)))
+
+        n_objects = len(self.objects)
+        self.object_locations = np.array(object_locations)
+        self.object_quats = deepcopy(object_quats) if object_quats is not None else [None] * n_objects
+        self.object_parents = deepcopy(object_parents) if object_parents is not None else ["root"] * n_objects
+
+        # Set joints
+        if joints == "default":
+            self.joint_specs = [self.get_joint_attrib_template()]  # default free joint
+        elif joints is None:
+            self.joint_specs = []
+        else:
+            self.joint_specs = joints
+
+        # Make sure all joints are named appropriately
+        j_num = 0
+        for joint_spec in self.joint_specs:
+            if "name" not in joint_spec:
+                joint_spec["name"] = "joint{}".format(j_num)
+                j_num += 1
+
+        # Set sites
+        self.site_specs = deepcopy(sites) if sites is not None else []
+        # Add default site
+        site_element_attr = self.get_site_attrib_template()
+        site_element_attr["rgba"] = "1 0 0 0"
+        site_element_attr["name"] = "default_site"
+        self.site_specs.append(site_element_attr)
+
+        # Make sure all sites are named appropriately
+        s_num = 0
+        for site_spec in self.site_specs:
+            if "name" not in site_spec:
+                site_spec["name"] = "site{}".format(s_num)
+                s_num += 1
+
+        # Always run sanity check
+        self.sanity_check()
+
+        # Lastly, parse XML tree appropriately
+        self._obj = self._get_object_subtree()
+
+        # Extract the appropriate private attributes for this
+        self._get_object_properties()
+
+    def _get_object_subtree(self):
+        # Initialize top-level body
+        obj = new_body(name="root")
+
+        # Add all joints and sites
+        for joint_spec in self.joint_specs:
+            obj.append(new_joint(**joint_spec))
+        for site_spec in self.site_specs:
+            obj.append(new_site(**site_spec))
+
+        # Loop through all objects and associated args and append them appropriately
+        for o, o_parent, o_pos, o_quat in zip(
+                self.objects,
+                self.object_parents,
+                self.object_locations,
+                self.object_quats
+        ):
+            self._append_object(root=obj, obj=o, parent_name=o_parent, pos=o_pos, quat=o_quat)
+
+        # Return final object
+        return obj
+
+    def _append_object(self, root, obj, parent_name, pos, quat):
+        """
+        Helper function to add pre-generated object @obj to the body with name @parent_name
+
+        Args:
+            root (ET.Element): Top-level element to iteratively search through for @parent_name to add @obj to
+            obj (MujocoObject): Object to append to the body specified by @parent_name
+            parent_name (str): Body name to search for in @root to append @obj to
+            pos (3-array): (x,y,z) relative offset from parent body when appending @obj
+            quat (4-array) (w,x,y,z) relative quaternion rotation from parent body when appending @obj
+        """
+        # First, find parent body
+        parent = find_elements(root=root, tags="body", attribs={"name": parent_name}, return_first=True)
+        assert parent is not None, "Could not find parent body with name: {}".format(parent_name)
+        # Get the object xml element tree and modify its top-level pos / quat
+        child = obj.get_obj()
+        child.set("pos", array_to_string(pos))
+        child.set("quat", array_to_string(quat))
+        # Add this object and its assets to this composite object
+        self.merge_assets(other=obj)
+        parent.append(child)
+        # Update geometric properties for this composite object
+        obj_abs_pos = self._object_absolute_positions[parent_name] + np.array(pos)
+        self._object_absolute_positions[obj._root_body] = obj_abs_pos
+        self._top = max(self._top, obj_abs_pos[2] + obj.top_offset[2])
+        self._bottom = min(self._bottom, obj_abs_pos[2] + obj.bottom_offset[2])
+        self._horizontal = max(self._horizontal, max(obj_abs_pos[:2]) + obj.horizontal_radius)
+
+    @property
+    def bottom_offset(self):
+        return np.array([0., 0., self._bottom])
+
+    @property
+    def top_offset(self):
+        return np.array([0., 0., self._top])
+
+    @property
+    def horizontal_radius(self):
+        return self._horizontal
+
+
 class CompositeObject(MujocoGeneratedObject):
     """
     An object constructed out of basic geoms to make more intricate shapes.
@@ -29,20 +196,20 @@ class CompositeObject(MujocoGeneratedObject):
 
         geom_sizes (list): list of geom sizes ordered the same as @geom_locations
 
-        geom_names (list): list of geom names ordered the same as @geom_locations. The
+        geom_quats (None or list): list of (w, x, y, z) quaternions for each geom.
+
+        geom_names (None or list): list of geom names ordered the same as @geom_locations. The
             names will get appended with an underscore to the passed name in @get_collision
             and @get_visual
 
-        geom_rgbas (list): list of geom colors ordered the same as @geom_locations. If
+        geom_rgbas (None or list): list of geom colors ordered the same as @geom_locations. If
             passed as an argument, @rgba is ignored.
 
-        geom_materials (list of CustomTexture): list of custom textures to use for this object material
+        geom_materials (None or list of CustomTexture): list of custom textures to use for this object material
 
-        geom_frictions (list): list of geom frictions to use for each geom.
+        geom_frictions (None or list): list of geom frictions to use for each geom.
 
-        geom_quats (list): list of (w, x, y, z) quaternions for each geom.
-
-        rgba (list): (r, g, b, a) default values to use if geom-specific @geom_rgbas isn't specified for a given element
+        rgba (None or list): (r, g, b, a) default values to use if geom-specific @geom_rgbas isn't specified for a given element
 
         density (float or list of float): either single value to use for all geom densities or geom-specific values
 
@@ -56,23 +223,15 @@ class CompositeObject(MujocoGeneratedObject):
             overall object bounding box defined by @total_size. Else, the corner of this bounding box is considered the
             origin.
 
-        body_mapping (None or dict): If specified, defines a multi-body object, where each entry in the dict maps a
-            geom_name to a new sub-body definition. This allows for multi-bodied objects with nested geoms. When the
-            keyword-specified geom_name is encountered during procedural generation, the corresponding body
-            specification will be used to generate a new body element, which will be appended to the current XML Tree.
-            All subsequent geoms will then be appended to this new child body. Default is None, which corresponds
-            to the single-body case
-
-        joints (None or str or list): Joints to use for each body. If None, no joints will be used for this entire
-            object. If "default", a single free joint will be added to the top-level body of this object. Otherwise,
-            should be a list equal to length to the number of entries in body_mapping + 1, where each entry should
-            either be None or its own list of dictionaries. Each dictionary should specify the specific joint
-            attributes necessary. See http://www.mujoco.org/book/XMLreference.html#joint for reference.
+        joints (None or list): Joints to use for this composite object. If None, no joints will be used
+            for this top-level object. If "default", a single free joint will be added to this object.
+            Otherwise, should be a list of dictionaries, where each dictionary should specify the specific
+            joint attributes necessary. See http://www.mujoco.org/book/XMLreference.html#joint for reference.
 
-        sites (None or list): list of sites to add to each body. If None, only the default top-level object site will
-            be used. Otherwise, should be a list equal to number of entries in body_mapping + 1, where each entry should
-            either be None or its own list of dictionaries. Each dictionary should specify the appropriate attributes
-            for the given site. See http://www.mujoco.org/book/XMLreference.html#site for reference.
+        sites (None or list): list of sites to add to this composite object. If None, only the default
+             object site will be used. Otherwise, should be a list of dictionaries, where each dictionary
+            should specify the appropriate attributes for the given site.
+            See http://www.mujoco.org/book/XMLreference.html#site for reference.
 
         obj_types (str or list of str): either single obj_type for all geoms or geom-specific type. Choices are
             {"collision", "visual", "all"}
@@ -83,19 +242,18 @@ def __init__(
         name,
         total_size,
         geom_types,
-        geom_locations,
         geom_sizes,
+        geom_locations,
+        geom_quats=None,
         geom_names=None,
         geom_rgbas=None,
         geom_materials=None,
         geom_frictions=None,
-        geom_quats=None,
         rgba=None,
         density=100.,
         solref=(0.02, 1.),
         solimp=(0.9, 0.95, 0.001),
         locations_relative_to_center=False,
-        body_mapping=None,
         joints="default",
         sites=None,
         obj_types="all",
@@ -106,46 +264,42 @@ def __init__(
 
         self._name = name
 
-        # Create bodies
-        self.body_mapping = {"root": {"name": "main"}}
-        if body_mapping is not None:
-            self.body_mapping.update(body_mapping)
-        n_bodies = len(self.body_mapping.keys())
-
         # Set joints
-        if joints is None:
-            self.body_joint_specs = [None] * n_bodies
-        elif joints == "default":
-            self.body_joint_specs = [[self.get_joint_attrib_template()]] + [None] * (n_bodies - 1)
+        if joints == "default":
+            self.joint_specs = [self.get_joint_attrib_template()]  # default free joint
+        elif joints is None:
+            self.joint_specs = []
         else:
-            self.body_joint_specs = joints
+            self.joint_specs = joints
 
         # Make sure all joints are named appropriately
         j_num = 0
-        for joint_spec in self.body_joint_specs:
-            if type(joint_spec) in {tuple, list}:
-                for j_spec in joint_spec:
-                    if "name" not in j_spec:
-                        j_spec["name"] = "joint{}".format(j_num)
-                        j_num += 1
+        for joint_spec in self.joint_specs:
+            if "name" not in joint_spec:
+                joint_spec["name"] = "joint{}".format(j_num)
+                j_num += 1
 
         # Set sites
-        self.body_site_specs = sites if sites is not None else [None] * n_bodies
+        self.site_specs = deepcopy(sites) if sites is not None else []
+        # Add default site
+        site_element_attr = self.get_site_attrib_template()
+        site_element_attr["rgba"] = "1 0 0 0"
+        site_element_attr["name"] = "default_site"
+        self.site_specs.append(site_element_attr)
 
         # Make sure all sites are named appropriately
         s_num = 0
-        for site_spec in self.body_site_specs:
-            if type(site_spec) in {tuple, list}:
-                for s_spec in site_spec:
-                    if "name" not in s_spec:
-                        s_spec["name"] = "site{}".format(s_num)
-                        s_num += 1
+        for site_spec in self.site_specs:
+            if "name" not in site_spec:
+                site_spec["name"] = "site{}".format(s_num)
+                s_num += 1
 
         n_geoms = len(geom_types)
         self.total_size = np.array(total_size)
         self.geom_types = np.array(geom_types)
-        self.geom_locations = np.array(geom_locations)
         self.geom_sizes = deepcopy(geom_sizes)
+        self.geom_locations = np.array(geom_locations)
+        self.geom_quats = deepcopy(geom_quats) if geom_quats is not None else [None] * n_geoms
         self.geom_names = list(geom_names) if geom_names is not None else [None] * n_geoms
         self.geom_rgbas = list(geom_rgbas) if geom_rgbas is not None else [None] * n_geoms
         self.geom_materials = list(geom_materials) if geom_materials is not None else [None] * n_geoms
@@ -155,7 +309,6 @@ def __init__(
         self.solimp = [solimp] * n_geoms if obj_types is None or type(solimp[0]) in {float, int} else list(solimp)
         self.rgba = rgba        # override superclass setting of this variable
         self.locations_relative_to_center = locations_relative_to_center
-        self.geom_quats = deepcopy(geom_quats) if geom_quats is not None else [None] * n_geoms
         self.obj_types = [obj_types] * n_geoms if obj_types is None or type(obj_types) is str else list(obj_types)
 
         # Always run sanity check
@@ -190,25 +343,13 @@ def in_box(self, position, object_position):
 
     def _get_object_subtree(self):
         # Initialize top-level body
-        obj = new_body(**self.body_mapping["root"])
-        cur_obj = obj
-        body_num = 0
-
-        # Add top level joint(s)
-        if self.body_joint_specs[0] is not None:
-            for j_spec in self.body_joint_specs[0]:
-                obj.append(new_joint(**j_spec))
-
-        # Add top level site(s)
-        if self.body_site_specs[0] is not None:
-            for s_spec in self.body_site_specs[0]:
-                obj.append(new_site(**s_spec))
+        obj = new_body(name="root")
 
-        # Add default object top-level site
-        site_element_attr = self.get_site_attrib_template()
-        site_element_attr["rgba"] = "1 0 0 0"
-        site_element_attr["name"] = "default_site"
-        obj.append(new_site(**site_element_attr))
+        # Add all joints and sites
+        for joint_spec in self.joint_specs:
+            obj.append(new_joint(**joint_spec))
+        for site_spec in self.site_specs:
+            obj.append(new_site(**site_spec))
 
         # Loop through all geoms and generate the composite object
         for i, (obj_type, g_type, g_size, g_loc, g_name, g_rgba, g_friction,
@@ -275,7 +416,7 @@ def _get_object_subtree(self):
                 col_geom_attr['solref'] = array_to_string(g_solref)
                 col_geom_attr['solimp'] = array_to_string(g_solimp)
                 col_geom_attr['rgba'] = OBJECT_COLLISION_COLOR
-                cur_obj.append(new_geom(**col_geom_attr))
+                obj.append(new_geom(**col_geom_attr))
 
             # Add visual geom if necessary
             if obj_type in {"visual", "all"}:
@@ -285,22 +426,7 @@ def _get_object_subtree(self):
                 if g_material is not None:
                     vis_geom_attr['material'] = g_material
                 vis_geom_attr["rgba"] = geom_rgba
-                cur_obj.append(new_geom(**vis_geom_attr))
-
-            # If the current geom is in our body_mapping, then we need to create a new nested body to append to
-            if g_name in self.body_mapping:
-                # Increment body count
-                body_num += 1
-                child_body = new_body(**self.body_mapping[g_name])
-                # Set the current body to be this new body
-                cur_obj = child_body
-                # Add appropriate joint(s) and site(s)
-                if self.body_joint_specs[body_num] is not None:
-                    for j_spec in self.body_joint_specs[body_num]:
-                        cur_obj.append(new_joint(**j_spec))
-                if self.body_site_specs[body_num] is not None:
-                    for s_spec in self.body_site_specs[body_num]:
-                        cur_obj.append(new_site(**s_spec))
+                obj.append(new_geom(**vis_geom_attr))
 
         return obj
 
diff --git a/robosuite/models/objects/objects.py b/robosuite/models/objects/objects.py
index 82ea8f3ee4..030d5ab64a 100644
--- a/robosuite/models/objects/objects.py
+++ b/robosuite/models/objects/objects.py
@@ -5,7 +5,7 @@
 import robosuite.utils.macros as macros
 from robosuite.models.base import MujocoXML, MujocoModel
 from robosuite.utils.mjcf_utils import string_to_array, array_to_string, CustomMaterial, OBJECT_COLLISION_COLOR,\
-                                       sort_elements, new_joint, add_prefix, add_material
+                                       sort_elements, new_joint, add_prefix, add_material, find_elements
 
 
 # Dict mapping geom type string keywords to group number
@@ -61,6 +61,18 @@ def __init__(self, obj_type="all", duplicate_collision_geoms=True):
         self._contact_geoms = None
         self._visual_geoms = None
 
+    def merge_assets(self, other):
+        """
+        Merges @other's assets in a custom logic.
+
+        Args:
+            other (MujocoXML or MujocoObject): other xml file whose assets will be merged into this one
+        """
+        for asset in other.asset:
+            if find_elements(root=self.asset, tags=asset.tag,
+                             attribs={"name": asset.get("name")}, return_first=True) is None:
+                self.asset.append(asset)
+
     @property
     def name(self):
         return self._name

From 266f6900bd838902f91e1a28363934bedeb8aed3 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 12 Dec 2020 19:03:50 -0800
Subject: [PATCH 33/46] re-tune door env agentview cmaera

---
 robosuite/environments/manipulation/door.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/robosuite/environments/manipulation/door.py b/robosuite/environments/manipulation/door.py
index 3964a0068a..4916948489 100644
--- a/robosuite/environments/manipulation/door.py
+++ b/robosuite/environments/manipulation/door.py
@@ -248,8 +248,8 @@ def _load_model(self):
         # Modify default agentview camera
         mujoco_arena.add_camera(
             camera_name="agentview",
-            pos=[0.5354990523140117, 4.523091946421814e-09, 1.456018016356302],
-            quat=[0.6530980467796326, 0.2710406482219696, 0.271040678024292, 0.6530980467796326]
+            pos=[0.5986131746834771, -4.392035683362857e-09, 1.5903500240372423],
+            quat=[0.6380177736282349, 0.3048497438430786, 0.30484986305236816, 0.6380177736282349]
         )
 
         # initialize objects of interest

From 3da437fdcc316501c4bc7108eec063ef87294c96 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 12 Dec 2020 19:07:16 -0800
Subject: [PATCH 34/46] update demo device script to use visualization wrapper

---
 robosuite/demos/demo_device_control.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/robosuite/demos/demo_device_control.py b/robosuite/demos/demo_device_control.py
index e0775ce117..14aca05190 100644
--- a/robosuite/demos/demo_device_control.py
+++ b/robosuite/demos/demo_device_control.py
@@ -100,6 +100,7 @@
 import robosuite as suite
 from robosuite import load_controller_config
 from robosuite.utils.input_utils import input2action
+from robosuite.wrappers import VisualizationWrapper
 
 
 
@@ -152,14 +153,14 @@
         render_camera="agentview",
         ignore_done=True,
         use_camera_obs=False,
-        gripper_visualizations=True,
-        robot_visualizations=True,
-        env_visualization=True,
         reward_shaping=True,
         control_freq=20,
         hard_reset=False,
     )
 
+    # Wrap this environment in a visualization wrapper
+    env = VisualizationWrapper(env, indicator_configs=None)
+
     # Setup printing options for numbers
     np.set_printoptions(formatter={'float': lambda x: "{0:0.3f}".format(x)})
 

From 6694e8844250be3d540a10dc177f56e289fa3330 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sat, 12 Dec 2020 19:41:12 -0800
Subject: [PATCH 35/46] update scripts

---
 .../scripts/collect_human_demonstrations.py   |  8 ++++----
 .../playback_demonstrations_from_hdf5.py      | 19 -------------------
 robosuite/scripts/tune_joints.py              | 18 +++++++++---------
 3 files changed, 13 insertions(+), 32 deletions(-)

diff --git a/robosuite/scripts/collect_human_demonstrations.py b/robosuite/scripts/collect_human_demonstrations.py
index daa50c497a..b9d4229b15 100644
--- a/robosuite/scripts/collect_human_demonstrations.py
+++ b/robosuite/scripts/collect_human_demonstrations.py
@@ -18,7 +18,7 @@
 
 import robosuite as suite
 from robosuite import load_controller_config
-from robosuite.wrappers import DataCollectionWrapper
+from robosuite.wrappers import DataCollectionWrapper, VisualizationWrapper
 from robosuite.utils.input_utils import input2action
 
 
@@ -227,13 +227,13 @@ def gather_demonstrations_as_hdf5(directory, out_dir, env_info):
         render_camera=args.camera,
         ignore_done=True,
         use_camera_obs=False,
-        gripper_visualizations=True,
-        robot_visualizations=True,
-        env_visualization=True,
         reward_shaping=True,
         control_freq=20,
     )
 
+    # Wrap this with visualization wrapper
+    env = VisualizationWrapper(env)
+
     # Grab reference to controller config and convert it to json-encoded string
     env_info = json.dumps(config)
 
diff --git a/robosuite/scripts/playback_demonstrations_from_hdf5.py b/robosuite/scripts/playback_demonstrations_from_hdf5.py
index 9cd53c1001..6443c4a10a 100644
--- a/robosuite/scripts/playback_demonstrations_from_hdf5.py
+++ b/robosuite/scripts/playback_demonstrations_from_hdf5.py
@@ -35,10 +35,6 @@
         "--use-actions", 
         action='store_true',
     )
-    parser.add_argument(
-        "--visualize-gripper",
-        action='store_true',
-    )
     args = parser.parse_args()
 
     demo_path = args.folder
@@ -53,9 +49,6 @@
         has_offscreen_renderer=False,
         ignore_done=True,
         use_camera_obs=False,
-        gripper_visualizations=args.visualize_gripper,
-        robot_visualizations=False,
-        env_visualization=False,
         reward_shaping=True,
         control_freq=100,
     )
@@ -85,12 +78,6 @@
 
             # load the initial state
             env.sim.set_state_from_flattened(states[0])
-            if not args.visualize_gripper:
-                # We make the gripper site invisible
-                robot = env.robots[0]
-                env.sim.model.site_rgba[robot.eef_site_id] = np.zeros(4)
-                env.sim.model.site_rgba[robot.eef_cylinder_id] = np.zeros(4)
-            env.sim.forward()
 
             # load the actions and play them back open-loop
             joint_torques = f["data/{}/joint_torques".format(ep)].value
@@ -111,12 +98,6 @@
             # force the sequence of internal mujoco states one by one
             for state in states:
                 env.sim.set_state_from_flattened(state)
-                if not args.visualize_gripper:
-                    # We make the gripper site invisible
-                    robot = env.robots[0]
-                    env.sim.model.site_rgba[robot.eef_site_id] = np.zeros(4)
-                    env.sim.model.site_rgba[robot.eef_cylinder_id] = np.zeros(4)
-
                 env.sim.forward()
                 env.render()
 
diff --git a/robosuite/scripts/tune_joints.py b/robosuite/scripts/tune_joints.py
index 29cc2be121..ee7228eb89 100644
--- a/robosuite/scripts/tune_joints.py
+++ b/robosuite/scripts/tune_joints.py
@@ -269,7 +269,7 @@ def print_command(char, info):
     controller_config = robosuite.load_controller_config(default_controller="JOINT_POSITION")
 
     # make the environment
-    roboenv = robosuite.make(
+    env = robosuite.make(
         args.env,
         robots=args.robots,
         has_renderer=True,
@@ -281,13 +281,13 @@ def print_command(char, info):
         controller_configs=controller_config,
         initialization_noise=None
     )
-    roboenv.reset()
+    env.reset()
 
     # register callbacks to handle key presses in the viewer
-    key_handler = KeyboardHandler(env=roboenv)
-    roboenv.viewer.add_keypress_callback("any", key_handler.on_press)
-    roboenv.viewer.add_keyup_callback("any", key_handler.on_release)
-    roboenv.viewer.add_keyrepeat_callback("any", key_handler.on_press)
+    key_handler = KeyboardHandler(env=env)
+    env.viewer.add_keypress_callback("any", key_handler.on_press)
+    env.viewer.add_keyup_callback("any", key_handler.on_release)
+    env.viewer.add_keyrepeat_callback("any", key_handler.on_press)
 
     # Set initial state
     if type(args.init_qpos) == int and args.init_qpos == 0:
@@ -298,6 +298,6 @@ def print_command(char, info):
 
     # just spin to let user interact with glfw window
     while True:
-        action = np.zeros(roboenv.action_dim)
-        obs, reward, done, _ = roboenv.step(action)
-        roboenv.render()
+        action = np.zeros(env.action_dim)
+        obs, reward, done, _ = env.step(action)
+        env.render()

From dddf413658362a7e6d8792ec8f79d8b7de51a87e Mon Sep 17 00:00:00 2001
From: amandlek <ajay.mandlekar@gmail.com>
Date: Sat, 12 Dec 2020 21:05:06 -0800
Subject: [PATCH 36/46] update docstring for gpu device arg

---
 robosuite/environments/base.py                             | 2 ++
 robosuite/environments/manipulation/door.py                | 2 ++
 robosuite/environments/manipulation/lift.py                | 2 ++
 robosuite/environments/manipulation/manipulation_env.py    | 2 ++
 robosuite/environments/manipulation/nut_assembly.py        | 2 ++
 robosuite/environments/manipulation/pick_place.py          | 2 ++
 robosuite/environments/manipulation/stack.py               | 2 ++
 robosuite/environments/manipulation/two_arm_handover.py    | 2 ++
 robosuite/environments/manipulation/two_arm_lift.py        | 2 ++
 robosuite/environments/manipulation/two_arm_peg_in_hole.py | 2 ++
 robosuite/environments/manipulation/wipe.py                | 2 ++
 robosuite/environments/robot_env.py                        | 2 ++
 12 files changed, 24 insertions(+)

diff --git a/robosuite/environments/base.py b/robosuite/environments/base.py
index 29806f1f7b..3f2e30cb6e 100644
--- a/robosuite/environments/base.py
+++ b/robosuite/environments/base.py
@@ -81,6 +81,8 @@ class MujocoEnv(metaclass=EnvMeta):
             in camera. False otherwise.
 
         render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+            Defaults to -1, in which case the device will be inferred from environment variables
+            (GPUS or CUDA_VISIBLE_DEVICES).
 
         control_freq (float): how many control signals to receive
             in every simulated second. This sets the amount of simulation time
diff --git a/robosuite/environments/manipulation/door.py b/robosuite/environments/manipulation/door.py
index de966754d3..3285655450 100644
--- a/robosuite/environments/manipulation/door.py
+++ b/robosuite/environments/manipulation/door.py
@@ -92,6 +92,8 @@ class Door(SingleArmEnv):
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
         render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+            Defaults to -1, in which case the device will be inferred from environment variables
+            (GPUS or CUDA_VISIBLE_DEVICES).
 
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
diff --git a/robosuite/environments/manipulation/lift.py b/robosuite/environments/manipulation/lift.py
index be85f130b2..5919a1b0db 100644
--- a/robosuite/environments/manipulation/lift.py
+++ b/robosuite/environments/manipulation/lift.py
@@ -97,6 +97,8 @@ class Lift(SingleArmEnv):
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
         render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+            Defaults to -1, in which case the device will be inferred from environment variables
+            (GPUS or CUDA_VISIBLE_DEVICES).
 
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
diff --git a/robosuite/environments/manipulation/manipulation_env.py b/robosuite/environments/manipulation/manipulation_env.py
index 032b28765e..dd81af7bc8 100644
--- a/robosuite/environments/manipulation/manipulation_env.py
+++ b/robosuite/environments/manipulation/manipulation_env.py
@@ -79,6 +79,8 @@ class ManipulationEnv(RobotEnv):
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
         render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+            Defaults to -1, in which case the device will be inferred from environment variables
+            (GPUS or CUDA_VISIBLE_DEVICES).
 
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
diff --git a/robosuite/environments/manipulation/nut_assembly.py b/robosuite/environments/manipulation/nut_assembly.py
index a48bf45496..5bb019e585 100644
--- a/robosuite/environments/manipulation/nut_assembly.py
+++ b/robosuite/environments/manipulation/nut_assembly.py
@@ -112,6 +112,8 @@ class NutAssembly(SingleArmEnv):
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
         render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+            Defaults to -1, in which case the device will be inferred from environment variables
+            (GPUS or CUDA_VISIBLE_DEVICES).
 
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
diff --git a/robosuite/environments/manipulation/pick_place.py b/robosuite/environments/manipulation/pick_place.py
index 453b8726c9..86b74a6e85 100644
--- a/robosuite/environments/manipulation/pick_place.py
+++ b/robosuite/environments/manipulation/pick_place.py
@@ -123,6 +123,8 @@ class PickPlace(SingleArmEnv):
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
         render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+            Defaults to -1, in which case the device will be inferred from environment variables
+            (GPUS or CUDA_VISIBLE_DEVICES).
 
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
diff --git a/robosuite/environments/manipulation/stack.py b/robosuite/environments/manipulation/stack.py
index 5781766b0b..4abb472b99 100644
--- a/robosuite/environments/manipulation/stack.py
+++ b/robosuite/environments/manipulation/stack.py
@@ -97,6 +97,8 @@ class Stack(SingleArmEnv):
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
         render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+            Defaults to -1, in which case the device will be inferred from environment variables
+            (GPUS or CUDA_VISIBLE_DEVICES).
 
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
diff --git a/robosuite/environments/manipulation/two_arm_handover.py b/robosuite/environments/manipulation/two_arm_handover.py
index 81ec7750ca..c31fde5085 100644
--- a/robosuite/environments/manipulation/two_arm_handover.py
+++ b/robosuite/environments/manipulation/two_arm_handover.py
@@ -107,6 +107,8 @@ class TwoArmHandover(TwoArmEnv):
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
         render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+            Defaults to -1, in which case the device will be inferred from environment variables
+            (GPUS or CUDA_VISIBLE_DEVICES).
 
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
diff --git a/robosuite/environments/manipulation/two_arm_lift.py b/robosuite/environments/manipulation/two_arm_lift.py
index 6908a7be5f..b854224d12 100644
--- a/robosuite/environments/manipulation/two_arm_lift.py
+++ b/robosuite/environments/manipulation/two_arm_lift.py
@@ -105,6 +105,8 @@ class TwoArmLift(TwoArmEnv):
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
         render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+            Defaults to -1, in which case the device will be inferred from environment variables
+            (GPUS or CUDA_VISIBLE_DEVICES).
 
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
diff --git a/robosuite/environments/manipulation/two_arm_peg_in_hole.py b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
index aa4e3c015b..abb9109544 100644
--- a/robosuite/environments/manipulation/two_arm_peg_in_hole.py
+++ b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
@@ -99,6 +99,8 @@ class TwoArmPegInHole(TwoArmEnv):
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
         render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+            Defaults to -1, in which case the device will be inferred from environment variables
+            (GPUS or CUDA_VISIBLE_DEVICES).
 
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
diff --git a/robosuite/environments/manipulation/wipe.py b/robosuite/environments/manipulation/wipe.py
index 955a9c47bd..6e9bd22de6 100644
--- a/robosuite/environments/manipulation/wipe.py
+++ b/robosuite/environments/manipulation/wipe.py
@@ -119,6 +119,8 @@ class Wipe(SingleArmEnv):
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
         render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+            Defaults to -1, in which case the device will be inferred from environment variables
+            (GPUS or CUDA_VISIBLE_DEVICES).
 
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.
diff --git a/robosuite/environments/robot_env.py b/robosuite/environments/robot_env.py
index e62740a9da..3c6f41c78e 100644
--- a/robosuite/environments/robot_env.py
+++ b/robosuite/environments/robot_env.py
@@ -70,6 +70,8 @@ class RobotEnv(MujocoEnv):
         render_visual_mesh (bool): True if rendering visual meshes in camera. False otherwise.
 
         render_gpu_device_id (int): corresponds to the GPU device id to use for offscreen rendering.
+            Defaults to -1, in which case the device will be inferred from environment variables
+            (GPUS or CUDA_VISIBLE_DEVICES).
 
         control_freq (float): how many control signals to receive in every second. This sets the amount of
             simulation time that passes between every action input.

From 3c0be105bd824c3ee00b3ccbc41e2b88784bb2de Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sun, 13 Dec 2020 13:29:50 -0800
Subject: [PATCH 37/46] verify all controller tests work, fix small bug in osc
 for updating initial joints

---
 robosuite/controllers/osc.py | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/robosuite/controllers/osc.py b/robosuite/controllers/osc.py
index b7831db4f1..21d89ccae8 100644
--- a/robosuite/controllers/osc.py
+++ b/robosuite/controllers/osc.py
@@ -342,6 +342,13 @@ def run_controller(self):
 
         return self.torques
 
+    def update_initial_joints(self, initial_joints):
+        # First, update from the superclass method
+        super().update_initial_joints(initial_joints)
+
+        # We also need to reset the goal in case the old goals were set to the initial confguration
+        self.reset_goal()
+
     def reset_goal(self):
         """
         Resets the goal to the current state of the robot

From 2b8031d008eaa7821057f2f57d29f47308bd7743 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sun, 13 Dec 2020 16:14:44 -0800
Subject: [PATCH 38/46] fix docstring in visualization wrapper

---
 robosuite/wrappers/visualization_wrapper.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/robosuite/wrappers/visualization_wrapper.py b/robosuite/wrappers/visualization_wrapper.py
index f7290fe811..f60106c373 100644
--- a/robosuite/wrappers/visualization_wrapper.py
+++ b/robosuite/wrappers/visualization_wrapper.py
@@ -117,7 +117,7 @@ def set_visualization_setting(self, setting, visible):
 
     def reset(self):
         """
-        Extends vanilla reset() function call to accommodate data collection
+        Extends vanilla reset() function call to accommodate visualization
 
         Returns:
             OrderedDict: Environment observation space after reset occurs
@@ -129,7 +129,7 @@ def reset(self):
 
     def step(self, action):
         """
-        Extends vanilla step() function call to accommodate data collection
+        Extends vanilla step() function call to accommodate visualization
 
         Args:
             action (np.array): Action to take in environment

From a638a82904993d1a916bd9662a51a15faceda05a Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Sun, 13 Dec 2020 21:06:26 -0800
Subject: [PATCH 39/46] change add_camera to set_camera, fix docstrings in
 visualization wrapper

---
 robosuite/environments/manipulation/door.py                | 2 +-
 robosuite/environments/manipulation/two_arm_handover.py    | 2 +-
 robosuite/environments/manipulation/two_arm_peg_in_hole.py | 2 +-
 robosuite/models/arenas/arena.py                           | 4 ++--
 robosuite/wrappers/visualization_wrapper.py                | 6 +++---
 5 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/robosuite/environments/manipulation/door.py b/robosuite/environments/manipulation/door.py
index d6b10a6c1e..4465e4a2cc 100644
--- a/robosuite/environments/manipulation/door.py
+++ b/robosuite/environments/manipulation/door.py
@@ -252,7 +252,7 @@ def _load_model(self):
         mujoco_arena.set_origin([0, 0, 0])
 
         # Modify default agentview camera
-        mujoco_arena.add_camera(
+        mujoco_arena.set_camera(
             camera_name="agentview",
             pos=[0.5986131746834771, -4.392035683362857e-09, 1.5903500240372423],
             quat=[0.6380177736282349, 0.3048497438430786, 0.30484986305236816, 0.6380177736282349]
diff --git a/robosuite/environments/manipulation/two_arm_handover.py b/robosuite/environments/manipulation/two_arm_handover.py
index 26ed199f0c..dbb6fac7bb 100644
--- a/robosuite/environments/manipulation/two_arm_handover.py
+++ b/robosuite/environments/manipulation/two_arm_handover.py
@@ -325,7 +325,7 @@ def _load_model(self):
         mujoco_arena.set_origin([0, 0, 0])
 
         # Modify default agentview camera
-        mujoco_arena.add_camera(
+        mujoco_arena.set_camera(
             camera_name="agentview",
             pos=[0.8894354364730311, -3.481824231498976e-08, 1.7383813133506494],
             quat=[0.6530981063842773, 0.2710406184196472, 0.27104079723358154, 0.6530979871749878]
diff --git a/robosuite/environments/manipulation/two_arm_peg_in_hole.py b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
index 3548f93597..7c8451d4c1 100644
--- a/robosuite/environments/manipulation/two_arm_peg_in_hole.py
+++ b/robosuite/environments/manipulation/two_arm_peg_in_hole.py
@@ -277,7 +277,7 @@ def _load_model(self):
         mujoco_arena.set_origin([0, 0, 0])
 
         # Modify default agentview camera
-        mujoco_arena.add_camera(
+        mujoco_arena.set_camera(
             camera_name="agentview",
             pos=[1.0666432116509934, 1.4903257668114777e-08, 2.0563394967349096],
             quat=[0.6530979871749878, 0.27104058861732483, 0.27104055881500244, 0.6530978679656982]
diff --git a/robosuite/models/arenas/arena.py b/robosuite/models/arenas/arena.py
index 0b3be49687..52646d15bc 100644
--- a/robosuite/models/arenas/arena.py
+++ b/robosuite/models/arenas/arena.py
@@ -31,9 +31,9 @@ def set_origin(self, offset):
             new_pos = cur_pos + offset
             node.set("pos", array_to_string(new_pos))
 
-    def add_camera(self, camera_name, pos, quat, camera_attribs=None):
+    def set_camera(self, camera_name, pos, quat, camera_attribs=None):
         """
-        Adds a camera with @camera_name. If the camera already exists, then this overwrites its pos and quat values.
+        Sets a camera with @camera_name. If the camera already exists, then this overwrites its pos and quat values.
 
         Args:
             camera_name (str): Camera name to search for / create
diff --git a/robosuite/wrappers/visualization_wrapper.py b/robosuite/wrappers/visualization_wrapper.py
index f60106c373..f6b6f78626 100644
--- a/robosuite/wrappers/visualization_wrapper.py
+++ b/robosuite/wrappers/visualization_wrapper.py
@@ -37,8 +37,8 @@ def __init__(self, env, indicator_configs=None):
                 If a list, should specify specific indicator object configs to use for multiple indicators (which in
                 turn can either be `'default'` or a dict)
 
-                As each indicator object is essentially a site element, each dict should map site keywords to values.
-                Note that, at the very minimum, the `'name'` attribute MUST be specified for each indicator. See
+                As each indicator object is essentially a site element, each dict should map site attribute keywords to
+                values. Note that, at the very minimum, the `'name'` attribute MUST be specified for each indicator. See
                 http://www.mujoco.org/book/XMLreference.html#site for specific site attributes that can be specified.
         """
         super().__init__(env)
@@ -63,7 +63,7 @@ def __init__(self, env, indicator_configs=None):
         # Add the post-processor to make sure indicator objects get added to model before it's actually loaded in sim
         self.env.set_model_postprocessor(postprocessor=self._add_indicators_to_model)
 
-        # Conduct a (hard) result to make sure visualization changes propagate
+        # Conduct a (hard) reset to make sure visualization changes propagate
         reset_mode = self.env.hard_reset
         self.env.hard_reset = True
         self.reset()

From af9ecd74028d7fb6d1fdf85126dda9721a431539 Mon Sep 17 00:00:00 2001
From: Josiah Wong <84cremebrule@gmail.com>
Date: Mon, 14 Dec 2020 11:59:49 -0800
Subject: [PATCH 40/46] Add wipe env tuning adjustments, update gym wrapper to
 be more robust and compatible (#144)

* tune wipe env, add alternative (compressed) object obs

* update gym wrapper to be more robust and compatible
---
 robosuite/environments/manipulation/wipe.py | 122 ++++++++++++++------
 robosuite/wrappers/gym_wrapper.py           |  22 ++--
 2 files changed, 100 insertions(+), 44 deletions(-)

diff --git a/robosuite/environments/manipulation/wipe.py b/robosuite/environments/manipulation/wipe.py
index 7126344643..f071dd3d72 100644
--- a/robosuite/environments/manipulation/wipe.py
+++ b/robosuite/environments/manipulation/wipe.py
@@ -15,32 +15,34 @@
     "wipe_contact_reward": 0.01,                    # reward for contacting something with the wiping tool
     "unit_wiped_reward": 50.0,                      # reward per peg wiped
     "ee_accel_penalty": 0,                          # penalty for large end-effector accelerations 
-    "excess_force_penalty_mul": 0.01,               # penalty for each step that the force is over the safety threshold
+    "excess_force_penalty_mul": 0.05,               # penalty for each step that the force is over the safety threshold
     "distance_multiplier": 5.0,                     # multiplier for the dense reward inversely proportional to the mean location of the pegs to wipe
     "distance_th_multiplier": 5.0,                  # multiplier in the tanh function for the aforementioned reward
 
     # settings for table top
-    "table_full_size": [0.6, 0.8, 0.05],            # Size of tabletop
-    "table_offset": [0, 0, 0.8],                    # Offset of table (z dimension defines max height of table)
-    "table_friction": [0.00001, 0.005, 0.0001],     # Friction parameters for the table
+    "table_full_size": [0.5, 0.8, 0.05],            # Size of tabletop
+    "table_offset": [0.15, 0, 0.9],                 # Offset of table (z dimension defines max height of table)
+    "table_friction": [0.03, 0.005, 0.0001],        # Friction parameters for the table
     "table_friction_std": 0,                        # Standard deviation to sample different friction parameters for the table each episode
     "table_height": 0.0,                            # Additional height of the table over the default location
     "table_height_std": 0.0,                        # Standard deviation to sample different heigths of the table each episode
     "line_width": 0.04,                             # Width of the line to wipe (diameter of the pegs)
     "two_clusters": False,                          # if the dirt to wipe is one continuous line or two
     "coverage_factor": 0.6,                         # how much of the table surface we cover
-    "num_markers": 50,                              # How many particles of dirt to generate in the environment
+    "num_markers": 100,                             # How many particles of dirt to generate in the environment
 
     # settings for thresholds
-    "contact_threshold": 3,                         # Minimum eef force to qualify as contact [N]
-    "touch_threshold": 5,                           # force threshold (N) to overcome to change the color of the marker (wipe the peg)
-    "pressure_threshold_max": 70,                   # maximum force allowed (N)
+    "contact_threshold": 1.0,                       # Minimum eef force to qualify as contact [N]
+    "pressure_threshold": 0.5,                      # force threshold (N) to overcome to get increased contact wiping reward
+    "pressure_threshold_max": 60.,                  # maximum force allowed (N)
 
     # misc settings
     "print_results": False,                         # Whether to print results or not
     "get_info": False,                              # Whether to grab info after each env step if not
     "use_robot_obs": True,                          # if we use robot observations (proprioception) as input to the policy
-    "early_terminations": False,                    # Whether we allow for early terminations or not
+    "use_contact_obs": True,                        # if we use a binary observation for whether robot is in contact or not
+    "early_terminations": True,                     # Whether we allow for early terminations or not
+    "use_condensed_obj_obs": True,                  # Whether to use condensed object observation representation (only applicable if obj obs is active)
 }
 
 
@@ -198,7 +200,7 @@ def __init__(
         # Final reward computation
         # So that is better to finish that to stay touching the table for 100 steps
         # The 0.5 comes from continuous_distance_reward at 0. If something changes, this may change as well
-        self.task_complete_reward = 50 * (self.wipe_contact_reward + 0.5)
+        self.task_complete_reward = self.unit_wiped_reward * (self.wipe_contact_reward + 0.5)
         # Verify that the distance multiplier is not greater than the task complete reward
         assert self.task_complete_reward > self.distance_multiplier,\
             "Distance multiplier cannot be greater than task complete reward!"
@@ -218,15 +220,16 @@ def __init__(
 
         # settings for thresholds
         self.contact_threshold = self.task_config['contact_threshold']
-        self.touch_threshold = self.task_config['touch_threshold']
-        self.pressure_threshold = self.task_config['touch_threshold']
+        self.pressure_threshold = self.task_config['pressure_threshold']
         self.pressure_threshold_max = self.task_config['pressure_threshold_max']
 
         # misc settings
         self.print_results = self.task_config['print_results']
         self.get_info = self.task_config['get_info']
         self.use_robot_obs = self.task_config['use_robot_obs']
+        self.use_contact_obs = self.task_config['use_contact_obs']
         self.early_terminations = self.task_config['early_terminations']
+        self.use_condensed_obj_obs = self.task_config['use_condensed_obj_obs']
 
         # Scale reward if desired (see reward method for details)
         self.reward_normalization_factor = horizon / \
@@ -413,15 +416,8 @@ def PointInRectangle(X, Y, Z, W, P):
                 # If we haven't wiped all the markers yet, add a smooth reward for getting closer
                 # to the centroid of the dirt to wipe
                 if len(self.wiped_markers) < self.num_markers:
-                    mean_distance_to_things_to_wipe = 0
-                    num_non_wiped_markers = 0
-                    for marker in self.model.mujoco_arena.markers:
-                        if marker not in self.wiped_markers:
-                            marker_pos = np.array(
-                                self.sim.data.body_xpos[self.sim.model.body_name2id(marker.root_body)])
-                            mean_distance_to_things_to_wipe += np.linalg.norm(marker_pos - self._eef_xpos)
-                            num_non_wiped_markers += 1
-                    mean_distance_to_things_to_wipe /= max(1, num_non_wiped_markers)
+                    _, _, mean_pos_to_things_to_wipe = self._get_wipe_information
+                    mean_distance_to_things_to_wipe = np.linalg.norm(mean_pos_to_things_to_wipe)
                     reward += self.distance_multiplier * (
                             1 - np.tanh(self.distance_th_multiplier * mean_distance_to_things_to_wipe))
 
@@ -434,6 +430,13 @@ def PointInRectangle(X, Y, Z, W, P):
                     reward -= self.excess_force_penalty_mul * total_force_ee
                     self.f_excess += 1
 
+                # Reward for pressing into table
+                # TODO: Need to include this computation somehow in the scaled reward computation
+                elif total_force_ee > self.pressure_threshold and self.sim.data.ncon > 1:
+                    reward += self.wipe_contact_reward + 0.01 * total_force_ee
+                    if self.sim.data.ncon > 50:
+                        reward += 10. * self.wipe_contact_reward
+
                 # Penalize large accelerations
                 reward -= self.ee_accel_penalty * np.mean(abs(self.robots[0].recent_ee_acc.current))
 
@@ -508,8 +511,8 @@ def _reset_internal(self):
         self.f_excess = 0
 
         # ee resets - bias at initial state
-        self.ee_force_bias = self.robots[0].ee_force
-        self.ee_torque_bias = self.robots[0].ee_torque
+        self.ee_force_bias = np.zeros(3)
+        self.ee_torque_bias = np.zeros(3)
 
     def _get_observation(self):
         """
@@ -535,25 +538,42 @@ def _get_observation(self):
         pf = self.robots[0].robot_model.naming_prefix
 
         # Add binary contact observation
-        di[pf + "contact-obs"] = self._has_gripper_contact
-        di[pf + "robot-state"] = np.concatenate((di[pf + "robot-state"], [di[pf + "contact-obs"]]))
+        if self.use_contact_obs:
+            di[pf + "contact-obs"] = self._has_gripper_contact
+            di[pf + "robot-state"] = np.concatenate((di[pf + "robot-state"], [di[pf + "contact-obs"]]))
 
         # object information in the observation
         if self.use_object_obs:
             gripper_site_pos = self._eef_xpos
-            # position of objects to wipe
-            acc = np.array([])
-            for i, marker in enumerate(self.model.mujoco_arena.markers):
-                marker_pos = np.array(self.sim.data.body_xpos[self.sim.model.body_name2id(marker.root_body)])
-                di[f'marker{i}_pos'] = marker_pos
-                acc = np.concatenate([acc, di[f'marker{i}_pos']])
-                di[f'marker{i}_wiped'] = [0, 1][marker in self.wiped_markers]
-                acc = np.concatenate([acc, [di[f'marker{i}_wiped']]])
-                # proprioception
+
+            if self.use_condensed_obj_obs:
+                # use implicit representation of wiping objects
+                wipe_radius, wipe_centroid, gripper_to_wipe_centroid = self._get_wipe_information
+                di["proportion_wiped"] = len(self.wiped_markers) / self.num_markers
+                di["wipe_radius"] = wipe_radius
+                di["wipe_centroid"] = wipe_centroid
+                di["object-state"] = np.concatenate([
+                    [di["proportion_wiped"]], [di["wipe_radius"]], di["wipe_centroid"],
+                ])
                 if self.use_robot_obs:
-                    di[f'gripper_to_marker{i}'] = gripper_site_pos - marker_pos
-                    acc = np.concatenate([acc, di[f'gripper_to_marker{i}']])
-            di['object-state'] = acc
+                    # also use ego-centric proprioception
+                    di["gripper_to_wipe_centroid"] = gripper_to_wipe_centroid
+                    di["object-state"] = np.concatenate([di["object-state"], di["gripper_to_wipe_centroid"]])
+
+            else:
+                # use explicit representation of wiping objects
+                acc = np.array([])
+                for i, marker in enumerate(self.model.mujoco_arena.markers):
+                    marker_pos = np.array(self.sim.data.body_xpos[self.sim.model.body_name2id(marker.root_body)])
+                    di[f'marker{i}_pos'] = marker_pos
+                    acc = np.concatenate([acc, di[f'marker{i}_pos']])
+                    di[f'marker{i}_wiped'] = [0, 1][marker in self.wiped_markers]
+                    acc = np.concatenate([acc, [di[f'marker{i}_wiped']]])
+                    if self.use_robot_obs:
+                        # also use ego-centric proprioception
+                        di[f'gripper_to_marker{i}'] = gripper_site_pos - marker_pos
+                        acc = np.concatenate([acc, di[f'gripper_to_marker{i}']])
+                di['object-state'] = acc
 
         return di
 
@@ -616,6 +636,11 @@ def _post_action(self, action):
         """
         reward, done, info = super()._post_action(action)
 
+        # Update force bias
+        if np.linalg.norm(self.ee_force_bias) == 0:
+            self.ee_force_bias = self.robots[0].ee_force
+            self.ee_torque_bias = self.robots[0].ee_torque
+
         if self.get_info:
             info['add_vals'] = ['nwipedmarkers', 'colls', 'percent_viapoints_', 'f_excess']
             info['nwipedmarkers'] = len(self.wiped_markers)
@@ -629,6 +654,29 @@ def _post_action(self, action):
 
         return reward, done, info
 
+    @property
+    def _get_wipe_information(self):
+        """Returns set of wiping information"""
+        mean_pos_to_things_to_wipe = np.zeros(3)
+        wipe_centroid = np.zeros(3)
+        marker_positions = []
+        num_non_wiped_markers = 0
+        if len(self.wiped_markers) < self.num_markers:
+            for marker in self.model.mujoco_arena.markers:
+                if marker not in self.wiped_markers:
+                    marker_pos = np.array(self.sim.data.body_xpos[self.sim.model.body_name2id(marker.root_body)])
+                    wipe_centroid += marker_pos
+                    marker_positions.append(marker_pos)
+                    num_non_wiped_markers += 1
+            wipe_centroid /= max(1, num_non_wiped_markers)
+            mean_pos_to_things_to_wipe = wipe_centroid - self._eef_xpos
+        # Radius of circle from centroid capturing all remaining wiping markers
+        max_radius = 0
+        if num_non_wiped_markers > 0:
+            max_radius = np.max(np.linalg.norm(np.array(marker_positions) - wipe_centroid, axis=1))
+        # Return all values
+        return max_radius, wipe_centroid, mean_pos_to_things_to_wipe
+
     @property
     def _has_gripper_contact(self):
         """
diff --git a/robosuite/wrappers/gym_wrapper.py b/robosuite/wrappers/gym_wrapper.py
index 4b7836556f..e1c0194530 100644
--- a/robosuite/wrappers/gym_wrapper.py
+++ b/robosuite/wrappers/gym_wrapper.py
@@ -6,10 +6,11 @@
 
 import numpy as np
 from gym import spaces
+from gym.core import Env
 from robosuite.wrappers import Wrapper
 
 
-class GymWrapper(Wrapper):
+class GymWrapper(Wrapper, Env):
     """
     Initializes the Gym wrapper. Mimics many of the required functionalities of the Wrapper class
     found in the gym.core module
@@ -35,8 +36,13 @@ def __init__(self, env, keys=None):
         self.reward_range = (0, self.env.reward_scale)
 
         if keys is None:
-            assert self.env.use_object_obs, "Object observations need to be enabled."
-            keys = ["object-state"]
+            keys = []
+            # Add object obs if requested
+            if self.env.use_object_obs:
+                keys += ["object-state"]
+            # Add image obs if requested
+            if self.env.use_camera_obs:
+                keys += [f"{cam_name}_image" for cam_name in self.env.camera_names]
             # Iterate over all robots to add to state
             for idx in range(len(self.env.robots)):
                 keys += ["robot{}_robot-state".format(idx)]
@@ -47,7 +53,9 @@ def __init__(self, env, keys=None):
         self.metadata = None
 
         # set up observation and action spaces
-        flat_ob = self._flatten_obs(self.env.reset(), verbose=True)
+        obs = self.env.reset()
+        self.modality_dims = {key: obs[key].shape for key in self.keys}
+        flat_ob = self._flatten_obs(obs)
         self.obs_dim = flat_ob.size
         high = np.inf * np.ones(self.obs_dim)
         low = -high
@@ -67,11 +75,11 @@ def _flatten_obs(self, obs_dict, verbose=False):
             np.array: observations flattened into a 1d array
         """
         ob_lst = []
-        for key in obs_dict:
-            if key in self.keys:
+        for key in self.keys:
+            if key in obs_dict:
                 if verbose:
                     print("adding key: {}".format(key))
-                ob_lst.append(obs_dict[key])
+                ob_lst.append(np.array(obs_dict[key]).flatten())
         return np.concatenate(ob_lst)
 
     def reset(self):

From 484c3bca62ea47c22ea2c7eb7b463d3a14a6247f Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Mon, 14 Dec 2020 13:27:43 -0800
Subject: [PATCH 41/46] fix to observation construction

---
 robosuite/robots/bimanual.py   | 2 +-
 robosuite/robots/single_arm.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/robosuite/robots/bimanual.py b/robosuite/robots/bimanual.py
index 80c20f78de..76ccfe4e4b 100644
--- a/robosuite/robots/bimanual.py
+++ b/robosuite/robots/bimanual.py
@@ -373,7 +373,7 @@ def get_observations(self, di: OrderedDict):
                 robot_states.extend([di[pf + "{}_".format(arm) + "gripper_qpos"],
                                      di[pf + "{}_".format(arm) + "gripper_qvel"]])
 
-        di[pf + "robot-state"] = np.concatenate([di[pf + "robot-state"]] + robot_states)
+        di[pf + "robot-state"] = np.concatenate(di[pf + "robot-state"], *robot_states)
         return di
 
     def _input2dict(self, inp):
diff --git a/robosuite/robots/single_arm.py b/robosuite/robots/single_arm.py
index acbd68d166..69f2076271 100644
--- a/robosuite/robots/single_arm.py
+++ b/robosuite/robots/single_arm.py
@@ -327,7 +327,7 @@ def get_observations(self, di: OrderedDict):
             )
             robot_states.extend([di[pf + "gripper_qpos"], di[pf + "gripper_qvel"]])
 
-        di[pf + "robot-state"] = np.concatenate([di[pf + "robot-state"], robot_states])
+        di[pf + "robot-state"] = np.concatenate([di[pf + "robot-state"], *robot_states])
         return di
 
     @property

From ee61c6b23d847210a5a3eb5e98a8e6a988a99b21 Mon Sep 17 00:00:00 2001
From: cremebrule <84cremebrule@gmail.com>
Date: Mon, 14 Dec 2020 23:05:41 -0800
Subject: [PATCH 42/46] fix wiping gripper mass

---
 robosuite/models/assets/grippers/wiping_gripper.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/robosuite/models/assets/grippers/wiping_gripper.xml b/robosuite/models/assets/grippers/wiping_gripper.xml
index e9363ebc19..d01fc1f46a 100644
--- a/robosuite/models/assets/grippers/wiping_gripper.xml
+++ b/robosuite/models/assets/grippers/wiping_gripper.xml
@@ -2,7 +2,7 @@
     <worldbody>
         <body name="wiping_gripper" pos="0 0 0.015" quat="0.707107 0 0 -0.707107" >
             <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
-            <inertial pos="0 0 0" mass="3e-1" diaginertia="1e-2 1e-2 1e-2"/>
+            <inertial pos="0 0 0" mass="3e-2" diaginertia="1e-2 1e-2 1e-2"/>
 
             <geom type="box" pos="0 0 0.0" size="0.06 0.025 0.015" name="wiping_surface_vis" contype="0" conaffinity="0" group="1" rgba="0.25 0.25 0.25 1" />
 

From 7c6fe7edb99727f894e2686d3219846d8c0529a6 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Thu, 17 Dec 2020 14:29:30 -0800
Subject: [PATCH 43/46] debug CompositeBodyObject class, add composite body
 object example

---
 robosuite/models/objects/__init__.py          |   3 +-
 .../models/objects/composite_body/__init__.py |   1 +
 .../objects/composite_body/hinged_box.py      | 141 ++++++++++++++++++
 robosuite/models/objects/generated_objects.py |  99 ++++++++++--
 4 files changed, 232 insertions(+), 12 deletions(-)
 create mode 100644 robosuite/models/objects/composite_body/__init__.py
 create mode 100644 robosuite/models/objects/composite_body/hinged_box.py

diff --git a/robosuite/models/objects/__init__.py b/robosuite/models/objects/__init__.py
index 5aa103fd2f..575d4604fd 100644
--- a/robosuite/models/objects/__init__.py
+++ b/robosuite/models/objects/__init__.py
@@ -17,5 +17,6 @@
     PlateWithHoleObject,
     DoorObject,
 )
-from .composite import *
 from .primitive import *
+from .composite import *
+from .composite_body import *
diff --git a/robosuite/models/objects/composite_body/__init__.py b/robosuite/models/objects/composite_body/__init__.py
new file mode 100644
index 0000000000..2ff4c1537d
--- /dev/null
+++ b/robosuite/models/objects/composite_body/__init__.py
@@ -0,0 +1 @@
+from .hinged_box import HingedBoxObject
diff --git a/robosuite/models/objects/composite_body/hinged_box.py b/robosuite/models/objects/composite_body/hinged_box.py
new file mode 100644
index 0000000000..ac9f048101
--- /dev/null
+++ b/robosuite/models/objects/composite_body/hinged_box.py
@@ -0,0 +1,141 @@
+from robosuite.models.objects import CompositeBodyObject, BoxObject, CylinderObject
+import numpy as np
+
+from robosuite.utils.mjcf_utils import array_to_string
+from robosuite.utils.mjcf_utils import RED, BLUE, CustomMaterial
+
+
+class HingedBoxObject(CompositeBodyObject):
+    """
+    An example object that demonstrates the CompositeBodyObject functionality. This object consists of two cube bodies
+    joined together by a hinge joint.
+
+    Args:
+        name (str): Name of this object
+
+        box1_size (3-array): (L, W, H) half-sizes for the first box
+
+        box2_size (3-array): (L, W, H) half-sizes for the second box
+
+        use_texture (bool): set True if using wood textures for the blocks
+
+    Raises:
+        ValueError: [Invalid handle size]
+    """
+
+    def __init__(
+        self,
+        name,
+        box1_size=(0.025, 0.025, 0.025),
+        box2_size=(0.025, 0.025, 0.0125),
+        use_texture=True,
+    ):
+        # Set box sizes
+        self.box1_size = np.array(box1_size)
+        self.box2_size = np.array(box2_size)
+
+        # Set texture attributes
+        self.use_texture = use_texture
+        self.box1_material = None
+        self.box2_material = None
+        self.box1_rgba = RED
+        self.box2_rgba = BLUE
+
+        # Define materials we want to use for this object
+        if self.use_texture:
+            # Remove RGBAs
+            self.box1_rgba = None
+            self.box2_rgba = None
+
+            # Set materials for each box
+            tex_attrib = {
+                "type": "cube",
+            }
+            mat_attrib = {
+                "texrepeat": "3 3",
+                "specular": "0.4",
+                "shininess": "0.1",
+            }
+            self.box1_material = CustomMaterial(
+                texture="WoodRed",
+                tex_name="box1_tex",
+                mat_name="box1_mat",
+                tex_attrib=tex_attrib,
+                mat_attrib=mat_attrib,
+            )
+            self.box2_material = CustomMaterial(
+                texture="WoodBlue",
+                tex_name="box2_tex",
+                mat_name="box2_mat",
+                tex_attrib=tex_attrib,
+                mat_attrib=mat_attrib,
+            )
+
+        # Create objects
+        objects = []
+        for i, (size, mat, rgba) in enumerate(zip(
+                (self.box1_size, self.box2_size),
+                (self.box1_material, self.box2_material),
+                (self.box1_rgba, self.box2_rgba),
+        )):
+            objects.append(BoxObject(
+                name=f"box{i + 1}",
+                size=size,
+                rgba=rgba,
+                material=mat,
+            ))
+
+        # Also add hinge for visualization
+        objects.append(
+            CylinderObject(
+                name="hinge",
+                size=np.array([min(self.box1_size[2], self.box2_size[2]) / 5.,
+                               min(self.box1_size[0], self.box2_size[0])]),
+
+                rgba=[0.5, 0.5, 0, 1],
+                obj_type="visual",
+            )
+        )
+
+        # Define hinge joint
+        rel_hinge_pos = [self.box2_size[0], 0, -self.box2_size[2]]  # want offset in all except y-axis
+        hinge_joint = {
+            "name": "box_hinge",
+            "type": "hinge",
+            "axis": "0 1 0",                # y-axis hinge
+            "pos": array_to_string(rel_hinge_pos),
+            "stiffness": "0.0001",
+            "limited": "true",
+            "range": "0 1.57",
+        }
+
+        # Define positions -- second box should lie on top of first box with edge aligned at hinge joint
+        # Hinge visualizer should be aligned at hinge joint location
+        positions = [
+            np.zeros(3),                    # First box is centered at top-level body anyways
+            np.array([-(self.box2_size[0] - self.box1_size[0]), 0, self.box1_size[2] + self.box2_size[2]]),
+            np.array(rel_hinge_pos)
+        ]
+
+        quats = [
+            None,                           # Default quaternion for box 1
+            None,                           # Default quaternion for box 2
+            [0.707, 0.707, 0, 0],        # Rotated 90 deg about x-axis
+        ]
+
+        # Define parents -- which body each is aligned to
+        parents = [
+            None,                           # box 1 attached to top-level body
+            objects[0].root_body,             # box 2 attached to box 1
+            objects[1].root_body,             # hinge attached to box 2
+        ]
+
+        # Run super init
+        super().__init__(
+            name=name,
+            objects=objects,
+            object_locations=positions,
+            object_quats=quats,
+            object_parents=parents,
+            body_joints={objects[1].root_body: [hinge_joint]},
+        )
diff --git a/robosuite/models/objects/generated_objects.py b/robosuite/models/objects/generated_objects.py
index f88e4c1070..04a4d0a748 100644
--- a/robosuite/models/objects/generated_objects.py
+++ b/robosuite/models/objects/generated_objects.py
@@ -1,8 +1,8 @@
 import numpy as np
 
 from robosuite.models.objects import MujocoGeneratedObject, MujocoObject
-from robosuite.utils.mjcf_utils import new_body, new_geom, new_site, new_joint, array_to_string, find_elements
-from robosuite.utils.mjcf_utils import OBJECT_COLLISION_COLOR, CustomMaterial
+from robosuite.utils.mjcf_utils import new_body, new_geom, new_site, new_joint, array_to_string,\
+    find_elements, add_prefix, OBJECT_COLLISION_COLOR, CustomMaterial
 
 from copy import deepcopy
 
@@ -16,13 +16,16 @@ class CompositeBodyObject(MujocoGeneratedObject):
 
         objects (MujocoObject or list of MujocoObjects): object(s) to combine to form the composite body object.
             Note that these objects will be added sequentially, so if an object is required to be nested relative to
-            another object, that nested object should be listed after the parent object.
+            another object, that nested object should be listed after the parent object. Note that all top-level joints
+            for any inputted objects are automatically stripped
 
         object_locations (list): list of body locations in the composite. Each
             location should be a list or tuple of 3 elements and all
-            locations are taken relative to that object's parent body
+            locations are taken relative to that object's parent body. Giving None for a location results in (0,0,0)
+            for that object.
 
-        object_quats (None or list): list of (w, x, y, z) quaternions for each body.
+        object_quats (None or list): list of (w, x, y, z) quaternions for each body. None results in (1,0,0,0) for
+            that object.
 
         object_parents (None or list): Parent bodies to append each object to. Note that specifying "None" will
             automatically append all objects to the root body ("root")
@@ -32,6 +35,12 @@ class CompositeBodyObject(MujocoGeneratedObject):
             object. Otherwise, should be a list of dictionaries, where each dictionary should specify the specific
             joint attributes necessary. See http://www.mujoco.org/book/XMLreference.html#joint for reference.
 
+        body_joints (None or dict): If specified, maps body names to joint specifications to append to that
+            body. If None, no extra joints will be used. If mapped value is "default", a single free joint will be
+            added to the specified body. Otherwise, should be a list of dictionaries, where each dictionary should
+            specify the specific joint attributes necessary. See http://www.mujoco.org/book/XMLreference.html#joint
+            for reference.
+
         sites (None or list): list of sites to add to top-level composite body object. If None, only the default
             top-level object site will be used. Otherwise, should be a list of dictionaries, where each dictionary
             should specify the appropriate attributes for the given site.
@@ -45,6 +54,7 @@ def __init__(
         object_quats=None,
         object_parents=None,
         joints="default",
+        body_joints=None,
         sites=None,
     ):
         # Always call superclass first
@@ -80,6 +90,9 @@ def __init__(
         else:
             self.joint_specs = joints
 
+        # Set body joints
+        self.body_joint_specs = body_joints
+
         # Make sure all joints are named appropriately
         j_num = 0
         for joint_spec in self.joint_specs:
@@ -130,25 +143,48 @@ def _get_object_subtree(self):
         ):
             self._append_object(root=obj, obj=o, parent_name=o_parent, pos=o_pos, quat=o_quat)
 
+        # Loop through all joints and append them appropriately
+        for body_name, joint_specs in self.body_joint_specs.items():
+            self._append_joints(root=obj, body_name=body_name, joint_specs=joint_specs)
+
         # Return final object
         return obj
 
-    def _append_object(self, root, obj, parent_name, pos, quat):
+    def _get_object_properties(self):
+        """
+        Extends the superclass method to add prefixes to all assets
+        """
+        super()._get_object_properties()
+        # Add prefix to all assets
+        add_prefix(root=self.asset, prefix=self.naming_prefix, exclude=self.exclude_from_prefixing)
+
+    def _append_object(self, root, obj, parent_name=None, pos=None, quat=None):
         """
         Helper function to add pre-generated object @obj to the body with name @parent_name
 
         Args:
             root (ET.Element): Top-level element to iteratively search through for @parent_name to add @obj to
             obj (MujocoObject): Object to append to the body specified by @parent_name
-            parent_name (str): Body name to search for in @root to append @obj to
-            pos (3-array): (x,y,z) relative offset from parent body when appending @obj
-            quat (4-array) (w,x,y,z) relative quaternion rotation from parent body when appending @obj
+            parent_name (None or str): Body name to search for in @root to append @obj to.
+                None defaults to "root" (top-level body)
+            pos (None or 3-array): (x,y,z) relative offset from parent body when appending @obj.
+                None defaults to (0,0,0)
+            quat (None or 4-array) (w,x,y,z) relative quaternion rotation from parent body when appending @obj.
+                None defaults to (1,0,0,0)
         """
+        # Set defaults if any are None
+        if parent_name is None:
+            parent_name = "root"
+        if pos is None:
+            pos = np.zeros(3)
+        if quat is None:
+            quat = np.array([1, 0, 0, 0])
         # First, find parent body
         parent = find_elements(root=root, tags="body", attribs={"name": parent_name}, return_first=True)
         assert parent is not None, "Could not find parent body with name: {}".format(parent_name)
-        # Get the object xml element tree and modify its top-level pos / quat
+        # Get the object xml element tree, remove its top-level joints, and modify its top-level pos / quat
         child = obj.get_obj()
+        self._remove_joints(child)
         child.set("pos", array_to_string(pos))
         child.set("quat", array_to_string(quat))
         # Add this object and its assets to this composite object
@@ -156,11 +192,52 @@ def _append_object(self, root, obj, parent_name, pos, quat):
         parent.append(child)
         # Update geometric properties for this composite object
         obj_abs_pos = self._object_absolute_positions[parent_name] + np.array(pos)
-        self._object_absolute_positions[obj._root_body] = obj_abs_pos
+        self._object_absolute_positions[obj.root_body] = obj_abs_pos
         self._top = max(self._top, obj_abs_pos[2] + obj.top_offset[2])
         self._bottom = min(self._bottom, obj_abs_pos[2] + obj.bottom_offset[2])
         self._horizontal = max(self._horizontal, max(obj_abs_pos[:2]) + obj.horizontal_radius)
 
+    def _append_joints(self, root, body_name=None, joint_specs="default"):
+        """
+        Appends all joints as specified by @joint_specs to @body.
+
+        Args:
+            root (ET.Element): Top-level element to iteratively search through for @body_name
+            body_name (None or str): Name of the body to append the joints to.
+                None defaults to "root" (top-level body)
+            joint_specs (str or list): List of joint specifications to add to the specified body, or
+                "default", which results in a single free joint
+        """
+        # Standardize inputs
+        if body_name is None:
+            body_name = "root"
+        if joint_specs == "default":
+            joint_specs = [self.get_joint_attrib_template()]
+        for i, joint_spec in enumerate(joint_specs):
+            if "name" not in joint_spec:
+                joint_spec["name"] = f"{body_name}_joint{i}"
+        # Search for body and make sure it exists
+        body = find_elements(root=root, tags="body", attribs={"name": body_name}, return_first=True)
+        assert body is not None, "Could not find body with name: {}".format(body_name)
+        # Add joint(s) to this body
+        for joint_spec in joint_specs:
+            body.append(new_joint(**joint_spec))
+
+    @staticmethod
+    def _remove_joints(body):
+        """
+        Helper function to strip all joints directly appended to the specified @body.
+
+        Args:
+            body (ET.Element): Body to strip joints from
+        """
+        children_to_remove = []
+        for child in body:
+            if child.tag == "joint":
+                children_to_remove.append(child)
+        for child in children_to_remove:
+            body.remove(child)
+
     @property
     def bottom_offset(self):
         return np.array([0., 0., self._bottom])

From d74379419abdd985ceeefb47e24189f1fe66f778 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Thu, 17 Dec 2020 15:56:09 -0800
Subject: [PATCH 44/46] fix hinged box docstring

---
 robosuite/models/objects/composite_body/hinged_box.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/robosuite/models/objects/composite_body/hinged_box.py b/robosuite/models/objects/composite_body/hinged_box.py
index ac9f048101..1167c9f318 100644
--- a/robosuite/models/objects/composite_body/hinged_box.py
+++ b/robosuite/models/objects/composite_body/hinged_box.py
@@ -18,9 +18,6 @@ class HingedBoxObject(CompositeBodyObject):
         box2_size (3-array): (L, W, H) half-sizes for the second box
 
         use_texture (bool): set True if using wood textures for the blocks
-
-    Raises:
-        ValueError: [Invalid handle size]
     """
 
     def __init__(

From ef6e7d4419842572dd2079c8d220751dec79eca9 Mon Sep 17 00:00:00 2001
From: amandlek <ajay.mandlekar@gmail.com>
Date: Thu, 17 Dec 2020 15:59:42 -0800
Subject: [PATCH 45/46] add small inertial to composite bodies for
 compatibility with mj150

---
 robosuite/models/objects/generated_objects.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/robosuite/models/objects/generated_objects.py b/robosuite/models/objects/generated_objects.py
index 04a4d0a748..82fa950905 100644
--- a/robosuite/models/objects/generated_objects.py
+++ b/robosuite/models/objects/generated_objects.py
@@ -1,8 +1,8 @@
 import numpy as np
 
 from robosuite.models.objects import MujocoGeneratedObject, MujocoObject
-from robosuite.utils.mjcf_utils import new_body, new_geom, new_site, new_joint, array_to_string,\
-    find_elements, add_prefix, OBJECT_COLLISION_COLOR, CustomMaterial
+from robosuite.utils.mjcf_utils import new_body, new_geom, new_site, new_joint, new_inertial,\
+    array_to_string, find_elements, add_prefix, OBJECT_COLLISION_COLOR, CustomMaterial
 
 from copy import deepcopy
 
@@ -128,6 +128,9 @@ def _get_object_subtree(self):
         # Initialize top-level body
         obj = new_body(name="root")
 
+        # Give main body a small mass in order to have a free joint (only needed for mujoco 1.5)
+        obj.append(new_inertial(pos=(0, 0, 0), mass=0.0001, diaginertia=(0.0001, 0.0001, 0.0001)))
+
         # Add all joints and sites
         for joint_spec in self.joint_specs:
             obj.append(new_joint(**joint_spec))

From b428f2570fb6369a30c2d2b65efef3f49182f7d9 Mon Sep 17 00:00:00 2001
From: josiah_wong <84cremebrule@gmail.com>
Date: Thu, 17 Dec 2020 21:25:14 -0800
Subject: [PATCH 46/46] update README

---
 README.md | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/README.md b/README.md
index ccba74ec6a..d65614c3f0 100644
--- a/README.md
+++ b/README.md
@@ -4,6 +4,10 @@
 
 [**[Homepage]**](https://robosuite.ai/) &ensp; [**[White Paper]**](https://arxiv.org/abs/2009.12293) &ensp; [**[Documentations]**](https://robosuite.ai/docs/overview.html) &ensp; [**[ARISE Initiative]**](https://github.com/ARISE-Initiative)
 
+-------
+## Latest Updates
+[12/17/2020] **v1.1.0**: Refactored infrastructure and standardized model classes for much easier environment prototyping :wrench:
+
 -------
 
 **robosuite** is a simulation framework powered by the [MuJoCo](http://mujoco.org/) physics engine for robot learning. It also offers a suite of benchmark environments for reproducible research. The current release (v1.0) features manipulation tasks with feature supports of procedural generation, advanced controllers, teleoperation, etc. This project is part of the broader [Advancing Robot Intelligence through Simulated Environments (ARISE) Initiative](https://github.com/ARISE-Initiative), with the aim of lowering the barriers of entry for cutting-edge research at the intersection of AI and Robotics.