Mani-skill

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

See 175 for all changes

Install with `pip install man-skill2==0.6.0.dev2`

main changes are integrating SAPIEN 3 (lots of new features and nicer GUI), more visual variety in table top tasks, and experimental scene code for loading e.g. AI2THOR House scenes