v3.0.0b9

What's Changed

• [BugFix] Fix render all mode by @StoneT2000 in #521

Full Changelog: v3.0.0b8...v3.0.0b9

v3.0.0b8

What's Changed

• [Feature] More standardized metrics reporting for diffusion policy by @StoneT2000 in #495
• [Feature] Update PPO RGB baselines by @StoneT2000 in #475
• [Docs] Add missing citations for baselines by @StoneT2000 in #497
• Fix pytorch kinematics bugs by @StoneT2000 in #500
• [Feature] New shader config system and refactors by @StoneT2000 in #499
• [Bug Fix] Add missing _viewer typing by @StoneT2000 in #506
• [BugFix] Support triangle mesh collision shapes in collision mesh generations by @StoneT2000 in #507
• [BugFixes] Fix default robots used for harder table top tasks fix record episode bug when applied to cpu gym wrapped envs by @StoneT2000 in #508
• [Feature] Add floating robotiq_2f_85 gripper support + fix bugs with other robot arms that use that gripper. by @StoneT2000 in #513
• Dm control humanoid ppo learnable stand, walk, run by @Xander-Hinrichsen in #484
• [Docs] Upgrading docs by @StoneT2000 in #516

Full Changelog: v3.0.0b7...v3.0.0b8

v3.0.0b7

Fix a bug with the CPU IK solver and the record episode wrapper.

What's Changed

• [Feature] Diffusion policy baseline by @StoneT2000 in #493

Full Changelog: v3.0.0b6...v3.0.0b7

v3.0.0b6

What's Changed

• use zeros_like in scene setup gpu to avoid nan by @hzaskywalker in #400
• Dense Rews PullCube & LiftPegUpright by @Xander-Hinrichsen in #403
• Update docstring to correctly cite ReplicaCAD as default by @chennisden in #410
• [BugFix] Replaces the default gymnasium timelimit wrapper with a batched/torch version when gym.make is used by @StoneT2000 in #416
• [Feature] Expose articulation acceleration values by @StoneT2000 in #415
• [BugFix] Fix bug where motion planning example code kept trying to recreate grasp pose visual objects by @StoneT2000 in #428
• [Docs] In ReplicaCAD scene builder, fix comment documenting ASSET_DIR location by @chennisden in #430
• Remove unnecessary global declaration by @chennisden in #433
• [Feature] add G1 robot by @matheecs in #405
• [Feature] Add a floating panda gripper and update missing docs on new robots by @StoneT2000 in #436
• Initialize qvel when resetting for control_mode = "pd_joint_pos_vel" by @sean1295 in #432
• [Feature] Add RLPD Baseline by @StoneT2000 in #437
• Update Docs by @Xander-Hinrichsen in #441
• [Feature] Support ppo_rgb with rgb only, no state. And some bug fixes for ppo_rgb for locomotion tasks by @StoneT2000 in #446
• [BugFix] Fix bug where linear/angular velocities are swapped in GPU sim vs CPU sim by @StoneT2000 in #452
• [Docs] Update RFCL baseline documentation to pin compatible jax/torch… by @StoneT2000 in #453
• Control Hopper Env, Stand + Hop by @Xander-Hinrichsen in #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 #445
• [Feature] SIm/Render device selection by @StoneT2000 in #455
• [Feature] Automatic asset download checks by @StoneT2000 in #456
• simbackend for cpu by @hzaskywalker in #459
• [Feature] New assets, vision based quadruped reach example, and new render all mode by @StoneT2000 in #461
• [Feature] Add unitree go 2 task with simplified collisions and new penalty for quadruped reach for better gaits by @StoneT2000 in #463
• [Feature] Quadruped spin control task by @StoneT2000 in #464
• [Docs] Update renders with new floor texture and update docs on humanoid tasks by @StoneT2000 in #465
• [BugFix] Fix memory leak by forcing a gc.collect upon reconfiguring by @StoneT2000 in #467
• [BugFix] Fix multi-gpu setup documentation and future proof some code by @StoneT2000 in #468
• [Docs] Documentation on proper RL benchmarking and state based PPO results by @StoneT2000 in #470
• [Feature] Basic support for stable baselines 3 by @StoneT2000 in #476
• [Feature] Code to support future render system by @StoneT2000 in #480
• [BugFix] Add back pytorch kinematics which is likely more stable by @StoneT2000 in #485
• [Feature] Add in vectorized TDMPC-2 Baseline by @t-sekai in #451
• [Docs] Update docs and fix some bugs with autodoc by @StoneT2000 in #487
• [Feature] Align RFCL and RLPD training metrics with other RL baselines by @StoneT2000 in #489
• [BugFix] Adding missing init.py file for users who pip install from git by @StoneT2000 in #491

New Contributors

• @chennisden made their first contribution in #410
• @matheecs made their first contribution in #405
• @sean1295 made their first contribution in #432
• @t-sekai made their first contribution in #451

Full Changelog: v3.0.0b5...v3.0.0b6

v3.0.0b5

What's Changed

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

New Contributors

• @CreativeNick made their first contribution in #356
• @xixinzhang made their first contribution in #375
• @guru-narayana made their first contribution in #366
• @hzaskywalker made their first contribution in #381
• @astonastonaston made their first contribution in #379
• @Xander-Hinrichsen made their first contribution in #378

Full Changelog: v3.0.0b4...v3.0.0b5

What's Changed

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

New Contributors

• @CreativeNick made their first contribution in #356
• @xixinzhang made their first contribution in #375
• @guru-narayana made their first contribution in #366
• @hzaskywalker made their first contribution in #381
• @astonastonaston made their first contribution in #379
• @Xander-Hinrichsen made their first contribution in #378

Full Changelog: v3.0.0b4...v3.0.0b5

v3.0.0b4

v3.0.0b4 Release

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 #333
• [Feature] Remove cv2 by @StoneT2000 in #335
• [Feature] Update scene builder api by @arth-shukla in #315
• [BugFix] Fix bug where Actors/Root Links did not accept raw tensors for poses by @StoneT2000 in #336
• [BugFix] Fix typo in ppo baselines with printed evaluation step values by @StoneT2000 in #337
• [BugFix] Update motionplanner.py by @PartyPenguin in #338
• [Feature] Update and document ee-control controllers by @StoneT2000 in #339
• [Docs] Fix video links by @StoneT2000 in #340
• [Feature] Support any task loading any robot and print warning instead of assert by @StoneT2000 in #341

New Contributors

• @PartyPenguin made their first contribution in #338

Full Changelog: v3.0.0b3...v3.0.0b4

v3.0.0b3

What's Changed

• [Docs] Fix docs for visualizing reset distributions demo by @StoneT2000 in #313
• [Docs] Fix typo in readmes/docs by @StoneT2000 in #314
• [BugFix] Fix fast-kinematics dependency by @StoneT2000 in #318
• [BugFix] fix bug for demo robot code where mimic joints could not work with keyframe actions by @StoneT2000 in #319
• [BugFix] copy info dict to avoid self reference memory leak in the gymnasium vector env wrapper by @StoneT2000 in #320
• [BugFix] Fix bug with ppo example code under new wrapper API fix by @StoneT2000 in #321
• version bump by @StoneT2000 in #322

Full Changelog: v3.0.0.b2...v3.0.0b3

v3.0.0.b2

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

Full Changelog: v0.5.3...v3.0.0.b1

v3.0.0.dev13

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: haosulab/ManiSkill2@v3.0.0.dev12...v3.0.0.dev13

v3.0.0.dev11

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: haosulab/ManiSkill2@v3.0.0.dev10...v3.0.0.dev11