Mani-skill

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

What's Changed
* Fix camera not accepting intrinsic argument, small refactor of add_camera API, and add peg insertion to test matrices by StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/267
* Add segmentation data w/ docs + demos, fix replay trajectory test, change OrderedDict to dict in some places by StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/270


**Full Changelog**: https://github.com/haosulab/ManiSkill2/compare/v3.0.0.dev12...v3.0.0.dev13

What's Changed
* Fix RotateCubeLevel1 Rotation Init Error by Kami-code in https://github.com/haosulab/ManiSkill2/pull/256
* Peg insertion side batched dense reward, simplify utilities code and refactoring by StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/259
There is a ton of refactoring and breaking changes as a result. There is a new mani_skill.utils.gym_utils module and many utilities in sapien_utils were moved to common or gym_utils. This is primarily for organizational purposes and better to do it now than after release
* more flexible pose setting for merged actors/articulation views on CPU by StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/260
* Clamp and normalize reward of RotateCubeEnv by Kami-code in https://github.com/haosulab/ManiSkill2/pull/261
* support controllers configuring balance_passive_force by StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/263


**Full Changelog**: https://github.com/haosulab/ManiSkill2/compare/v3.0.0.dev10...v3.0.0.dev11

What's Changed
* docs on how to contribute tasks by StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/250
* Rotate Cube Task using Trifingerpro robot by Kami-code in https://github.com/haosulab/ManiSkill2/pull/249
* Fix pd ee pose for non panda robots, name refactors to be more explicit, and links have references to their joints by StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/253
* Pick clutter task (GPU). Also includes a few changes to how Actor.merge and Articulation.merge work in terms of the state dict the simulation has. In particular merging is now considered as a way of "viewing" existing data (like a reference/pointer), allowing for some more flexible control and usage as done in PickClutter where each sub-scene has a different number of objects as well and we need to reset all of them to initial poses. by StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/254
* Fix doc typos and refactor some old links/names by StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/255
* Improved docs w.r.t to installation instructions and around errors with fast kinematics
* PPO example code supports an evaluation mode
* force_use_gpu_sim -> sim_backend. Specify which simulation backend (cpu or gpu or auto) to use. In auto mode, GPU is used if num_envs > 1 when creating the environment, CPU otherwise
* Remove circular import errors with registration tools so users can easily inherit existing tasks in maniskill to build on them
* Updated tutorial task code for PushCube to be more explicit in class arguments for camera configurations
* Remove dependencies on the old pytorch_kinematics library, it is no longer needed
* Example RL code working google colab (not yet a tutorial, to be completed)
* Fix bug with replay trajectory tool when trying to handle trajectories generated during GPU simulation
* Fix bug with replay trajectory tool that doesn't set the first env state when using env states
* Fix bug with RecordEpisode wrapper where it saved a null value for seed when no seed is given. Instead the seed key is removed entirely
* Several old code files have been removed

New Contributors
* Kami-code made their first contribution in https://github.com/haosulab/ManiSkill2/pull/249

**Full Changelog**: https://github.com/haosulab/ManiSkill2/compare/v3.0.0.dev9...v3.0.0.dev10

What's Changed
* Batched drives, hide not ready functions, improved typing of structs, some bug fixes for unregistered envs by StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/248


**Full Changelog**: https://github.com/haosulab/ManiSkill2/compare/v3.0.0.dev8...v3.0.0.dev9

- YCB related tasks load faster
- EGAD related tasks are deprecated as the collision meshes are too poor to really be useful at the moment
- Various bug fixes
- Example motion planning code has been provided for some rigid body tasks