diff --git a/robosuite/models/assets/demonstrations/lift/demo.hdf5 b/robosuite/models/assets/demonstrations/lift/demo.hdf5
new file mode 100644
index 0000000000..cb61411194
Binary files /dev/null and b/robosuite/models/assets/demonstrations/lift/demo.hdf5 differ
diff --git a/robosuite/scripts/browse_mjcf_model.py b/robosuite/scripts/browse_mjcf_model.py
index e8b55dfd32..02f87f6eda 100644
--- a/robosuite/scripts/browse_mjcf_model.py
+++ b/robosuite/scripts/browse_mjcf_model.py
@@ -3,15 +3,17 @@
 Loads MJCF XML models from file and renders it on screen.
 
 Example:
-    $ python browse_arena_model.py --filepath ../models/assets/arenas/table_arena.xml
+    $ python browse_mjcf_model.py --filepath ../models/assets/arenas/table_arena.xml
 """
 
 import argparse
 import os
 
-from mujoco_py import MjSim, MjViewer, load_model_from_path
+import mujoco
 
 import robosuite as suite
+from robosuite.utils import OpenCVRenderer
+from robosuite.utils.binding_utils import MjRenderContext, MjSim
 
 if __name__ == "__main__":
 
@@ -21,9 +23,11 @@
     parser.add_argument("--filepath", type=str, default=arena_file)
     args = parser.parse_args()
 
-    model = load_model_from_path(args.filepath)
+    model = mujoco.MjModel.from_xml_path(args.filepath)
     sim = MjSim(model)
-    viewer = MjViewer(sim)
+    render_context = MjRenderContext(sim)
+    sim.add_render_context(render_context)
+    viewer = OpenCVRenderer(sim)
 
     print("Press ESC to exit...")
     while True:
diff --git a/robosuite/scripts/collect_human_demonstrations.py b/robosuite/scripts/collect_human_demonstrations.py
index cd47782fb3..bce59432f8 100644
--- a/robosuite/scripts/collect_human_demonstrations.py
+++ b/robosuite/scripts/collect_human_demonstrations.py
@@ -1,9 +1,7 @@
 """
-A script to collect a batch of human demonstrations that can be used
-to generate a learning curriculum (see `demo_learning_curriculum.py`).
+A script to collect a batch of human demonstrations.
 
-The demonstrations can be played back using the `playback_demonstrations_from_pkl.py`
-script.
+The demonstrations can be played back using the `playback_demonstrations_from_hdf5.py` script.
 """
 
 import argparse
diff --git a/robosuite/scripts/compile_mjcf_model.py b/robosuite/scripts/compile_mjcf_model.py
index b8037cb0fa..b5b9334a00 100644
--- a/robosuite/scripts/compile_mjcf_model.py
+++ b/robosuite/scripts/compile_mjcf_model.py
@@ -11,7 +11,7 @@
 import sys
 from shutil import copyfile
 
-from mujoco_py import load_model_from_path
+import mujoco
 
 
 def print_usage():
@@ -31,7 +31,7 @@ def print_usage():
     tempfile = os.path.join(input_folder, ".robosuite_temp_model.xml")
     copyfile(input_file, tempfile)
 
-    model = load_model_from_path(tempfile)
+    model = mujoco.MjModel.from_xml_path(tempfile)
     xml_string = model.get_xml()
     with open(output_file, "w") as f:
         f.write(xml_string)
diff --git a/robosuite/scripts/playback_demonstrations_from_hdf5.py b/robosuite/scripts/playback_demonstrations_from_hdf5.py
index ad375e59fc..0decbd1b6e 100644
--- a/robosuite/scripts/playback_demonstrations_from_hdf5.py
+++ b/robosuite/scripts/playback_demonstrations_from_hdf5.py
@@ -10,7 +10,7 @@
     --visualize-gripper (optional): If set, will visualize the gripper site
 
 Example:
-    $ python playback_demonstrations_from_hdf5.py --folder ../models/assets/demonstrations/SawyerPickPlace/
+    $ python playback_demonstrations_from_hdf5.py --folder ../models/assets/demonstrations/lift/
 """
 
 import argparse
@@ -59,7 +59,7 @@
     while True:
         print("Playing back random episode... (press ESC to quit)")
 
-        # # select an episode randomly
+        # select an episode randomly
         ep = random.choice(demos)
 
         # read the model xml, using the metadata stored in the attribute for this episode
diff --git a/robosuite/scripts/tune_joints.py b/robosuite/scripts/tune_joints.py
index 47f162e3bf..09dedbd5fb 100644
--- a/robosuite/scripts/tune_joints.py
+++ b/robosuite/scripts/tune_joints.py
@@ -180,7 +180,7 @@ def _toggle_arm(self):
         Toggle between arms in the environment to set as current active arm
         """
         if isinstance(self.active_robot, SingleArm):
-            self.active_robot_num = (self.active_robot_num + 1) // self.num_robots
+            self.active_robot_num = (self.active_robot_num + 1) % self.num_robots
             robot = self.active_robot_num
         else:  # Bimanual case
             self.active_arm = "left" if self.active_arm == "right" else "right"