What's Changed
* use zeros_like in scene setup gpu to avoid nan by hzaskywalker in https://github.com/haosulab/ManiSkill/pull/400
* Dense Rews PullCube & LiftPegUpright by Xander-Hinrichsen in https://github.com/haosulab/ManiSkill/pull/403
* Update docstring to correctly cite ReplicaCAD as default by chennisden in https://github.com/haosulab/ManiSkill/pull/410
* [BugFix] Replaces the default gymnasium timelimit wrapper with a batched/torch version when gym.make is used by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/416
* [Feature] Expose articulation acceleration values by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/415
* [BugFix] Fix bug where motion planning example code kept trying to recreate grasp pose visual objects by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/428
* [Docs] In ReplicaCAD scene builder, fix comment documenting ASSET_DIR location by chennisden in https://github.com/haosulab/ManiSkill/pull/430
* Remove unnecessary global declaration by chennisden in https://github.com/haosulab/ManiSkill/pull/433
* [Feature] add G1 robot by matheecs in https://github.com/haosulab/ManiSkill/pull/405
* [Feature] Add a floating panda gripper and update missing docs on new robots by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/436
* Initialize qvel when resetting for control_mode = "pd_joint_pos_vel" by sean1295 in https://github.com/haosulab/ManiSkill/pull/432
* [Feature] Add RLPD Baseline by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/437
* Update Docs by Xander-Hinrichsen in https://github.com/haosulab/ManiSkill/pull/441
* [Feature] Support ppo_rgb with rgb only, no state. And some bug fixes for ppo_rgb for locomotion tasks by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/446
* [BugFix] Fix bug where linear/angular velocities are swapped in GPU sim vs CPU sim by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/452
* [Docs] Update RFCL baseline documentation to pin compatible jax/torch… by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/453
* Control Hopper Env, Stand + Hop by Xander-Hinrichsen in https://github.com/haosulab/ManiSkill/pull/440
* [Feature] New assets for floor/lighting and support for recording all envs in one scene in the parallel GUI render mode by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/445
* [Feature] SIm/Render device selection by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/455
* [Feature] Automatic asset download checks by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/456
* simbackend for cpu by hzaskywalker in https://github.com/haosulab/ManiSkill/pull/459
* [Feature] New assets, vision based quadruped reach example, and new render all mode by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/461
* [Feature] Add unitree go 2 task with simplified collisions and new penalty for quadruped reach for better gaits by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/463
* [Feature] Quadruped spin control task by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/464
* [Docs] Update renders with new floor texture and update docs on humanoid tasks by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/465
* [BugFix] Fix memory leak by forcing a gc.collect upon reconfiguring by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/467
* [BugFix] Fix multi-gpu setup documentation and future proof some code by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/468
* [Docs] Documentation on proper RL benchmarking and state based PPO results by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/470
* [Feature] Basic support for stable baselines 3 by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/476
* [Feature] Code to support future render system by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/480
* [BugFix] Add back pytorch kinematics which is likely more stable by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/485
* [Feature] Add in vectorized TDMPC-2 Baseline by t-sekai in https://github.com/haosulab/ManiSkill/pull/451
* [Docs] Update docs and fix some bugs with autodoc by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/487
* [Feature] Align RFCL and RLPD training metrics with other RL baselines by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/489
* [BugFix] Adding missing init.py file for users who pip install from git by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/491
New Contributors
* chennisden made their first contribution in https://github.com/haosulab/ManiSkill/pull/410
* matheecs made their first contribution in https://github.com/haosulab/ManiSkill/pull/405
* sean1295 made their first contribution in https://github.com/haosulab/ManiSkill/pull/432
* t-sekai made their first contribution in https://github.com/haosulab/ManiSkill/pull/451
**Full Changelog**: https://github.com/haosulab/ManiSkill/compare/v3.0.0b5...v3.0.0b6