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diff --git a/docs/_sources/modules/robots.md b/docs/_sources/modules/robots.md
@@ -2,11 +2,11 @@
 
 ![robot_overview_diagram](../images/robot_module.png)
 
-**Robots** are a key component in **robosuite**, and serve as the embodiment of a given agent as well as the central interaction point within an environment and key interface to MuJoCo for the robot-related state and control. **robosuite** captures this level of abstraction with the [Robot](../simulation/robot)-based classes, with support for both fixed-base and mobile-base (which includes legged and wheeled robots) variations. In turn, the Robot class is centrally defined by a [RobotModel](../modeling/robot_model), [RobotBaseModel](../modeling/robot_model.html#base-model), and [Controller(s)](../simulation/controller). Subclasses of the `RobotModel` class may also include additional models as well; for example, the [ManipulatorModel](../modeling/robot_model.html#manipulator-model) class also includes [GripperModel(s)](../modeling/robot_model.html#gripper-model) (with no gripper being represented by a dummy class).
+**Robots** are a key component in **robosuite**, and serve as the embodiment of a given agent as well as the central interaction point within an environment and key interface to MuJoCo for the robot-related state and control. **robosuite** captures this level of abstraction with the [Robot](../simulation/robot)-based classes, with support for both single-armed and bimanual variations, as well as robots with mobile manipulation capabilities, including both legged and wheeled variants. In turn, the Robot class is centrally defined by a [RobotModel](../modeling/robot_model), [RobotBaseModel](../modeling/robot_model.html#base-model), [GripperModel](../modeling/robot_model.html#gripper-model), and [Controller(s)](../simulation/controller). Subclasses of the `RobotModel` class may also include additional models as well; for example, the [ManipulatorModel](../modeling/robot_model.html#manipulator-model) class also includes [GripperModel(s)](../modeling/robot_model.html#gripper-model) (with no gripper being represented by a dummy class).
 
 The high-level features of **robosuite**'s robots are described as follows:
 
-* **Diverse and Realistic Models**: **robosuite** provides models for 20 commercially-available robots (including the humanoid GR1 Robot), 15 grippers (including the inspire dexterous hand model), and 6 controllers, with model properties either taken directly from the company website or raw spec sheets.
+* **Diverse and Realistic Models**: **robosuite** provides models for 10 commercially-available robots (including the humanoid GR1 Robot), 10 grippers (including the inspire dexterous hand model), 5 bases (including the Omron wheeled mobile base), and 6 body-part controllers, with model properties either taken directly from official product documentation or raw spec sheets. An additional 8 robots, 9 grippers, and 3 bases can be installed separately from the [robosuite-models](https://github.com/ARISE-Initiative/robosuite_models) repository.
 
 * **Modularized Support**: Robots are designed to be plug-n-play -- any combinations of robots, models, and controllers can be used, assuming the given environment is intended for the desired robot configuration. Because each robot is assigned a unique ID number, multiple instances of identical robots can be instantiated within the simulation without error.
 

diff --git a/docs/modules/robots.html b/docs/modules/robots.html
@@ -420,10 +420,10 @@ <h2> Contents </h2>
   <section id="robots">
 <h1>Robots<a class="headerlink" href="#robots" title="Link to this heading">#</a></h1>
 <p><img alt="robot_overview_diagram" src="../_images/robot_module.png" /></p>
-<p><strong>Robots</strong> are a key component in <strong>robosuite</strong>, and serve as the embodiment of a given agent as well as the central interaction point within an environment and key interface to MuJoCo for the robot-related state and control. <strong>robosuite</strong> captures this level of abstraction with the <a class="reference internal" href="../simulation/robot.html"><span class="doc">Robot</span></a>-based classes, with support for both fixed-base and mobile-base (which includes legged and wheeled robots) variations. In turn, the Robot class is centrally defined by a <a class="reference internal" href="../modeling/robot_model.html"><span class="doc">RobotModel</span></a>, <a class="reference external" href="../modeling/robot_model.html#base-model">RobotBaseModel</a>, and <a class="reference internal" href="../simulation/controller.html"><span class="doc">Controller(s)</span></a>. Subclasses of the <code class="docutils literal notranslate"><span class="pre">RobotModel</span></code> class may also include additional models as well; for example, the <a class="reference external" href="../modeling/robot_model.html#manipulator-model">ManipulatorModel</a> class also includes <a class="reference external" href="../modeling/robot_model.html#gripper-model">GripperModel(s)</a> (with no gripper being represented by a dummy class).</p>
+<p><strong>Robots</strong> are a key component in <strong>robosuite</strong>, and serve as the embodiment of a given agent as well as the central interaction point within an environment and key interface to MuJoCo for the robot-related state and control. <strong>robosuite</strong> captures this level of abstraction with the <a class="reference internal" href="../simulation/robot.html"><span class="doc">Robot</span></a>-based classes, with support for both single-armed and bimanual variations, as well as robots with mobile manipulation capabilities, including both legged and wheeled variants. In turn, the Robot class is centrally defined by a <a class="reference internal" href="../modeling/robot_model.html"><span class="doc">RobotModel</span></a>, <a class="reference external" href="../modeling/robot_model.html#base-model">RobotBaseModel</a>, <a class="reference external" href="../modeling/robot_model.html#gripper-model">GripperModel</a>, and <a class="reference internal" href="../simulation/controller.html"><span class="doc">Controller(s)</span></a>. Subclasses of the <code class="docutils literal notranslate"><span class="pre">RobotModel</span></code> class may also include additional models as well; for example, the <a class="reference external" href="../modeling/robot_model.html#manipulator-model">ManipulatorModel</a> class also includes <a class="reference external" href="../modeling/robot_model.html#gripper-model">GripperModel(s)</a> (with no gripper being represented by a dummy class).</p>
 <p>The high-level features of <strong>robosuite</strong>’s robots are described as follows:</p>
 <ul class="simple">
-<li><p><strong>Diverse and Realistic Models</strong>: <strong>robosuite</strong> provides models for 20 commercially-available robots (including the humanoid GR1 Robot), 15 grippers (including the inspire dexterous hand model), and 6 controllers, with model properties either taken directly from the company website or raw spec sheets.</p></li>
+<li><p><strong>Diverse and Realistic Models</strong>: <strong>robosuite</strong> provides models for 10 commercially-available robots (including the humanoid GR1 Robot), 10 grippers (including the inspire dexterous hand model), 5 bases (including the Omron wheeled mobile base), and 6 body-part controllers, with model properties either taken directly from official product documentation or raw spec sheets. An additional 8 robots, 9 grippers, and 3 bases can be installed separately from the <a class="reference external" href="https://github.com/ARISE-Initiative/robosuite_models">robosuite-models</a> repository.</p></li>
 <li><p><strong>Modularized Support</strong>: Robots are designed to be plug-n-play – any combinations of robots, models, and controllers can be used, assuming the given environment is intended for the desired robot configuration. Because each robot is assigned a unique ID number, multiple instances of identical robots can be instantiated within the simulation without error.</p></li>
 <li><p><strong>Self-Enclosed Abstraction</strong>: For a given task and environment, any information relevant to the specific robot instance can be found within the properties and methods within that instance. This means that each robot is responsible for directly setting its initial state within the simulation at the start of each episode, and also directly controls the robot in simulation via torques outputted by its controller’s transformed actions.</p></li>
 </ul>

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