Mani-skill

Fix a bug with the CPU IK solver and the record episode wrapper.
What's Changed
* [Feature] Diffusion policy baseline by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/493


**Full Changelog**: https://github.com/haosulab/ManiSkill/compare/v3.0.0b6...v3.0.0b7

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

What's Changed
* [Feature] SAC Parallelized Baseline by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/345
* [Feature] Add Panda Wrist Cam option to PickSingleYCB task by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/349
* [Feature] Improved QuadrupedReach rewards and make env more markov for faster training by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/350
* [Feature] Add back the high quality AI2THOR Scenes by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/352
* [Docs] New documentation on scene datasets by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/353
* [Docs] Old hyperlink fix by CreativeNick in https://github.com/haosulab/ManiSkill/pull/356
* [Feature] New CPU/GPU contact forces/impulses unified API by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/354
* [Docs] Fix docs on contacts API by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/359
* [BugFix]: Remove extraneous print() by arth-shukla in https://github.com/haosulab/ManiSkill/pull/360
* [Fix]: Fix Fetch grip directions by arth-shukla in https://github.com/haosulab/ManiSkill/pull/361
* [Feature] SAC + reverse forward curriculum learning by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/365
* [Feature] Parallel Rendering Benchmark Code by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/363
* [Docs] Some benchmark results on 4090 by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/368
* [BugFix] Fix trajectory replay saving the wrong first observation if using use first env state by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/369
* [Feature] Faster jax RFCL by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/373
* [Docs] Fix docs links for RFCL by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/374
* [Feature] Add more scripts for generating motionplanning demos, update demo links to new datasets on HF by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/372
* [BugFix] allow set collision group bit to 0 in set_collision_group_bit by arth-shukla in https://github.com/haosulab/ManiSkill/pull/376
* [CSE 276F Submission] PokeCube-v1 by xixinzhang in https://github.com/haosulab/ManiSkill/pull/375
* Added RollBall env by guru-narayana in https://github.com/haosulab/ManiSkill/pull/366
* [Docs] Fix docs on roll ball and update the demo video by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/380
* fix data set & apply_gpu order in setup_gpu by hzaskywalker in https://github.com/haosulab/ManiSkill/pull/381
* [CSE 276F Submission] PlaceSphere-v1 by astonastonaston in https://github.com/haosulab/ManiSkill/pull/379
* [CSE 276F Submission] PushT-v1 by Xander-Hinrichsen in https://github.com/haosulab/ManiSkill/pull/378
* [Feature] Parallel render viewer by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/383
* [Feature] - Disable some collisions on fetch to make it run faster by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/385
* fetch move forward/backward only by arth-shukla in https://github.com/haosulab/ManiSkill/pull/386
* [BugFix] Fix PD joint position to PD ee delta pose control conversion by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/388
* [Docs] Update ppo examples by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/389
* [BugFix] Fix bug with recorded motion planning demos of some tasks. by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/391

New Contributors
* CreativeNick made their first contribution in https://github.com/haosulab/ManiSkill/pull/356
* xixinzhang made their first contribution in https://github.com/haosulab/ManiSkill/pull/375
* guru-narayana made their first contribution in https://github.com/haosulab/ManiSkill/pull/366
* hzaskywalker made their first contribution in https://github.com/haosulab/ManiSkill/pull/381
* astonastonaston made their first contribution in https://github.com/haosulab/ManiSkill/pull/379
* Xander-Hinrichsen made their first contribution in https://github.com/haosulab/ManiSkill/pull/378

**Full Changelog**: https://github.com/haosulab/ManiSkill/compare/v3.0.0b4...v3.0.0b5

What's Changed
* [Feature] SAC Parallelized Baseline by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/345
* [Feature] Add Panda Wrist Cam option to PickSingleYCB task by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/349
* [Feature] Improved QuadrupedReach rewards and make env more markov for faster training by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/350
* [Feature] Add back the high quality AI2THOR Scenes by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/352
* [Docs] New documentation on scene datasets by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/353
* [Docs] Old hyperlink fix by CreativeNick in https://github.com/haosulab/ManiSkill/pull/356
* [Feature] New CPU/GPU contact forces/impulses unified API by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/354
* [Docs] Fix docs on contacts API by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/359
* [BugFix]: Remove extraneous print() by arth-shukla in https://github.com/haosulab/ManiSkill/pull/360
* [Fix]: Fix Fetch grip directions by arth-shukla in https://github.com/haosulab/ManiSkill/pull/361
* [Feature] SAC + reverse forward curriculum learning by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/365
* [Feature] Parallel Rendering Benchmark Code by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/363
* [Docs] Some benchmark results on 4090 by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/368
* [BugFix] Fix trajectory replay saving the wrong first observation if using use first env state by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/369
* [Feature] Faster jax RFCL by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/373
* [Docs] Fix docs links for RFCL by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/374
* [Feature] Add more scripts for generating motionplanning demos, update demo links to new datasets on HF by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/372
* [BugFix] allow set collision group bit to 0 in set_collision_group_bit by arth-shukla in https://github.com/haosulab/ManiSkill/pull/376
* [CSE 276F Submission] PokeCube-v1 by xixinzhang in https://github.com/haosulab/ManiSkill/pull/375
* Added RollBall env by guru-narayana in https://github.com/haosulab/ManiSkill/pull/366
* [Docs] Fix docs on roll ball and update the demo video by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/380
* fix data set & apply_gpu order in setup_gpu by hzaskywalker in https://github.com/haosulab/ManiSkill/pull/381
* [CSE 276F Submission] PlaceSphere-v1 by astonastonaston in https://github.com/haosulab/ManiSkill/pull/379
* [CSE 276F Submission] PushT-v1 by Xander-Hinrichsen in https://github.com/haosulab/ManiSkill/pull/378
* [Feature] Parallel render viewer by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/383
* [Feature] - Disable some collisions on fetch to make it run faster by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/385
* fetch move forward/backward only by arth-shukla in https://github.com/haosulab/ManiSkill/pull/386
* [BugFix] Fix PD joint position to PD ee delta pose control conversion by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/388
* [Docs] Update ppo examples by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/389
* [BugFix] Fix bug with recorded motion planning demos of some tasks. by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/391

New Contributors
* CreativeNick made their first contribution in https://github.com/haosulab/ManiSkill/pull/356
* xixinzhang made their first contribution in https://github.com/haosulab/ManiSkill/pull/375
* guru-narayana made their first contribution in https://github.com/haosulab/ManiSkill/pull/366
* hzaskywalker made their first contribution in https://github.com/haosulab/ManiSkill/pull/381
* astonastonaston made their first contribution in https://github.com/haosulab/ManiSkill/pull/379
* Xander-Hinrichsen made their first contribution in https://github.com/haosulab/ManiSkill/pull/378

**Full Changelog**: https://github.com/haosulab/ManiSkill/compare/v3.0.0b4...v3.0.0b5

Major changes:
- The open cv (cv2) package is now no longer a dependency, making it easier for ManiSkill to run on more systems.
- EE based control (PDEEPoseController) has been overhauled and documentation has been updated to explain it much more clearly. Importantly there are now 4 frames of control (arising from the product of 2 rotation and 2 translation frames) and the default has been changed to be the more intuitive default (e.g. +Z is actually upwards / in the root link frame). Moreover the CPU sim default frame is the same frame used by the GPU sim. See https://maniskill.readthedocs.io/en/latest/user_guide/concepts/controllers.html#pd-ee-end-effector-pose. This also means previous policies trained on ee controllers (like pd_ee_delta_pose) will not work the same as before and do not directly transfer to this version.
- SAPIEN dependency has been upgraded, which fixes a number of bugs particularly around support for older / less common GPUs
-
What's Changed
* [BugFix] Windows/wsl bug fixes by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/333
* [Feature] Remove cv2 by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/335
* [Feature] Update scene builder api by arth-shukla in https://github.com/haosulab/ManiSkill/pull/315
* [BugFix] Fix bug where Actors/Root Links did not accept raw tensors for poses by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/336
* [BugFix] Fix typo in ppo baselines with printed evaluation step values by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/337
* [BugFix] Update motionplanner.py by PartyPenguin in https://github.com/haosulab/ManiSkill/pull/338
* [Feature] Update and document ee-control controllers by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/339
* [Docs] Fix video links by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/340
* [Feature] Support any task loading any robot and print warning instead of assert by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/341

New Contributors
* PartyPenguin made their first contribution in https://github.com/haosulab/ManiSkill/pull/338

**Full Changelog**: https://github.com/haosulab/ManiSkill/compare/v3.0.0b3...v3.0.0b4

What's Changed
* [Docs] Fix docs for visualizing reset distributions demo by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/313
* [Docs] Fix typo in readmes/docs by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/314
* [BugFix] Fix fast-kinematics dependency by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/318
* [BugFix] fix bug for demo robot code where mimic joints could not work with keyframe actions by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/319
* [BugFix] copy info dict to avoid self reference memory leak in the gymnasium vector env wrapper by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/320
* [BugFix] Fix bug with ppo example code under new wrapper API fix by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/321
* version bump by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/322


**Full Changelog**: https://github.com/haosulab/ManiSkill/compare/v3.0.0.b2...v3.0.0b3

ManiSkill 3 Beta Release

Many many changes compared to ManiSkill 2. ManiSkill v3 is now a GPU accelerated robotics simulator, with extremely fast parallel rendering supporting all kinds of robot learning workflows. There are a lot of new robots/tasks and features, find out more on our documentation: https://maniskill.readthedocs.io/en/latest/


A short summary of some key features:
- GPU parallelized visual data collection system. On the high end you can collect RGBD + Segmentation data at 20k FPS with a 4090 GPU, 10-100x faster compared to most other simulators.
- Example tasks covering a wide range of different robot embodiments (quadruped, mobile manipulators, single-arm robots) as well as a wide range of different tasks (table-top, locomotion, dextrous manipulation)
- GPU parallelized tasks, enabling incredibly fast synthetic data collection in simulation
- GPU parallelized tasks support simulating diverse scenes where every parallel environment has a completely different scene/set of objects
- Flexible task building API that abstracts away much of the complex GPU memory management code

What's Changed
* Setup Automatic Pypi uploads on release by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/137
* Update README.md by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/280
* Initial ManiSkill 3 merge into main branch by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/287
* Improve rgb ppo, update code for latest sapien release by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/291
* Update quadruped envs and procedural generated floor texture by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/279
* Improved demo code, moving some robot assets to other repos, bug fixes by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/292
* Unitree go2 initial work by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/293
* Quadruped rl by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/294
* Cartpole by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/296
* Updated robot tutorial by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/297
* More docs, robots by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/298
* code refactoring for some sensors, base env is always batched+torch unless user uses wrapper, make some code cleaner by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/299
* Allow import mani_skill to get access to envs + bug fix with pick clutter env by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/301
* update custom robot docs, property to check if gpu sim is enabled, code to test gpu sim of robot by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/302
* More docs on existing tasks by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/303
* Unify the way non primitive actors can be built by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/304
* Refactoring ._scene->.scene, refactor custom task docs, more custom task docs, doc on simulation 101, some bug fixes for a missing function by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/305
* More docs on demo scripts, fix old demo scripts, add some missing videos of tasks by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/306
* Plug charger task by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/307
* version bump + update README + prepare for beta release by StoneT2000 in https://github.com/haosulab/ManiSkill/pull/308


**Full Changelog**: https://github.com/haosulab/ManiSkill/compare/v0.5.3...v3.0.0.b1