Recent Releases of mani-skill

What's Changed

[Feature] Initial mac support by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/941
[Feature] nightly builds by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/947
[BugFix] fix profiling code for benchmarking for macos platform and update docs with some limitations of macos sapien by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/949
[BugFix] Fix bug where physxcpu backend permitted numenvs > 1 by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/951
Update xarm6_robotiq to have a more natural rest position by @dwaitbhatt in https://github.com/haosulab/ManiSkill/pull/929
[BugFix] Fix render camera local poses not invalidating cache by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/974
[Docs] Update outdated docs function for state registry by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/980
[Feature] More advanced mimic controller configurations + floating inspire hand implementation by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/981
Adding missing .cpu() calls in stackcube.py, peginsertion_side.py by @jstmn in https://github.com/haosulab/ManiSkill/pull/976
[Feature] Auto generated robot documentation + initial quality ratings by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/984
[Feature] Pretty printed controller repr by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/985
[Feature] Lerobot hardware support + SO100 and koch modelled arms by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/986
[Docs] fix robot docs links and fix incorrect controller naming of koch arm by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/988
[Feature] SO100 PickCube Sim Test by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/995
[Feature] Better so100 model by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/997
[Feature] Add SO100 convex meshes to support motion planning and example convex mesh generation script by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/1008
Enhance SAC with Mixture-of-Expert and BEE Operator for Improved Stability and Performance by @XuGW-Kevin in https://github.com/haosulab/ManiSkill/pull/788
Fixed PushCube policy not penalized for holding cube above target by @AlexandreBrown in https://github.com/haosulab/ManiSkill/pull/1022
[BugFix] fix bug for cpu sim replay by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/1034
[Feature] Support motionplanning solutions for xarm6_robotiq by @dwaitbhatt in https://github.com/haosulab/ManiSkill/pull/936
[BugFix] Update get collision mesh functions by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/1035
Added Gym Env Action Repeat Wrapper by @AlexandreBrown in https://github.com/haosulab/ManiSkill/pull/832
[Docs] update citation with RSS 2025 paper details by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/1039
[BugFix] Links in CONTRIBUTING.md by @suessmann in https://github.com/haosulab/ManiSkill/pull/1041
Fixed action repeat image not shown by @AlexandreBrown in https://github.com/haosulab/ManiSkill/pull/1046
[Feature] Expose API for incoming link joint forces on CPU and GPU sim by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/1061
[Docs] Add missing imports in setup.md documentation files by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/1062
[BugFix] Zero out articulation qf values upon gpu sim setup by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/1063
[BugFix] Fix bug with multi-agent envs not working by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/1064
Adding Panda motionplanning solution for PlaceSphere-v1 environment by @jstmn in https://github.com/haosulab/ManiSkill/pull/1068
Updated Pull Cube Default Camera Config To Show Cube & Target by @AlexandreBrown in https://github.com/haosulab/ManiSkill/pull/1069
[BugFix] Update xarm6 asset download link by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/1078

New Contributors

@dwaitbhatt made their first contribution in https://github.com/haosulab/ManiSkill/pull/929
@jstmn made their first contribution in https://github.com/haosulab/ManiSkill/pull/976
@XuGW-Kevin made their first contribution in https://github.com/haosulab/ManiSkill/pull/788
@suessmann made their first contribution in https://github.com/haosulab/ManiSkill/pull/1041

Full Changelog: https://github.com/haosulab/ManiSkill/compare/v3.0.0b20...v3.0.0b21

- Python
Published by StoneT2000 about 1 year ago

What's Changed

[BugFix] fix framestack wrapper not accepting envidx=0...numenvs (resetting all envs and not a partial reset). by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/888
Fixed video links for drawing task docs by @arnavg115 in https://github.com/haosulab/ManiSkill/pull/890
[BugFix] create numpy array first then torch tensor for some properties by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/894
[Feature] Updated TD-MPC2 Baseline to Support 128x128 RGB with Extra State Data by @t-sekai in https://github.com/haosulab/ManiSkill/pull/903
[Feature] update documentation on actor/link domain randomization and make it possible to domain randomize robots/agents by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/910
Fix: viewer + rgbd obs by @arth-shukla in https://github.com/haosulab/ManiSkill/pull/897
[BugFix]: ycb checksum by @arth-shukla in https://github.com/haosulab/ManiSkill/pull/918
[BugFix] fixed drawing mp solution imports by @arnavg115 in https://github.com/haosulab/ManiSkill/pull/916
Update interactive_panda.py by @Ethan-Chen-plus in https://github.com/haosulab/ManiSkill/pull/917
fix gpu sim demo, mem type is None by @SajjadPSavoji in https://github.com/haosulab/ManiSkill/pull/924
[BugFix] Fix bug where articulations built with initial poses not at 0 would have incorrectly generated collision meshes + deprecate old get articulation meshes function by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/927

New Contributors

@Ethan-Chen-plus made their first contribution in https://github.com/haosulab/ManiSkill/pull/917
@SajjadPSavoji made their first contribution in https://github.com/haosulab/ManiSkill/pull/924

Full Changelog: https://github.com/haosulab/ManiSkill/compare/v3.0.0b19...v3.0.0b20

- Python
Published by StoneT2000 about 1 year ago

What's Changed

[Feature] Upgrade pytorch_kinematics by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/854
Fixed finalinfo having wrong elapsedsteps value after reset and final_observation being wrong on CUDA by @AlexandreBrown in https://github.com/haosulab/ManiSkill/pull/828
Fix agents' qpos type to be floats by @shaido987 in https://github.com/haosulab/ManiSkill/pull/856
[Docs] Update docs on IL baselines regarding standard IL datasets and how to replay them, remove old examples.sh files by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/861
YCB, RCAD scene builder updates, demomanualcontrol by @arth-shukla in https://github.com/haosulab/ManiSkill/pull/859
[BugFix] update the checksum for ycb dataset by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/865
[BugFix] Fix slow CPU sim and fix the CPU sim benchmark code to be faster by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/870
[Feature] Added RGB DP baseline and DrawTriangle/SVG task by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/876
[Feature] Update PPO baselines for pick single YCB and remove wandb-entity CLI arguments by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/863
Fix crash in CPU backend for multi-body Actors by @shaido987 in https://github.com/haosulab/ManiSkill/pull/880

New Contributors

@AlexandreBrown made their first contribution in https://github.com/haosulab/ManiSkill/pull/828
@shaido987 made their first contribution in https://github.com/haosulab/ManiSkill/pull/856

Full Changelog: https://github.com/haosulab/ManiSkill/compare/v3.0.0b18...v3.0.0b19

- Python
Published by StoneT2000 over 1 year ago

What's Changed

[BugFix] Fix off by one error in saving GPU replayed trajectories by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/842

Full Changelog: https://github.com/haosulab/ManiSkill/compare/v3.0.0b17...v3.0.0b18

- Python
Published by StoneT2000 over 1 year ago

What's Changed

[Feature] Support pdjointpos to pdeepose controller action conversion. Fix bug where motion planning demos were using GPU sim backend to replay by default and weren't working. by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/834
[Feature] Handle more flexible observation modes, support users to check if ground truth state data is requested by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/835
[BugFix] Fix initial poses of static objects in AI2THOR scenes to be not zero in CPU and GPU sim. by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/836
[Feature] Remove extra tensor init in PPO code. by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/837
[BugFix] Fix bug where replay trajectory tool would use torch tensor seeds and try to save them in JSON by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/840

Full Changelog: https://github.com/haosulab/ManiSkill/compare/v3.0.0b16...v3.0.0b17

- Python
Published by StoneT2000 over 1 year ago

What's Changed

[Docs/BugFix] Fix bug with sac replay buffer incorrectly filling up after max and add new PPO baselines for many tasks by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/731
Fix documentation for torch_deterministic parameter in ppo.py by @songyuc in https://github.com/haosulab/ManiSkill/pull/745
[Feature] Support applying external forces on objects by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/752
Adding Action Chunking with Transformers (ACT) to baselines by @ywchoi02 in https://github.com/haosulab/ManiSkill/pull/640
[BugFix] action conversion to end-effector target control having shaky behavior by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/756
[BugFix] fix bug with gpu benchmarking script when running maniskill environments due to missing property by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/762
[Feature] Batched and simpler API for setting locked motion axes by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/763
[Feature] support set mass on GPU by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/792
fixing minor typos in docs by @vncntt in https://github.com/haosulab/ManiSkill/pull/801
Remove unnecessary conversion of info to NumPy (#791) by @hesic73 in https://github.com/haosulab/ManiSkill/pull/796
[BugFix] Fixed dtype error when running TD-MPC2 on anymalc-reach by @t-sekai in https://github.com/haosulab/ManiSkill/pull/808
ManiSkill-HAB to docs by @arth-shukla in https://github.com/haosulab/ManiSkill/pull/759
[Feature] Cleanup and standardize the imitation learning baselines and datasets by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/811
[Feature] cleaner baseline scripts for ACT baseline and DP by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/815
[BugFix] Improve PPO default parameters and fix bug with lazy init sensors/cameras by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/816
[Docs] update gallery with more videos by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/819
[Feature] Support state+ mode by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/821
Fix typos by @vncntt in https://github.com/haosulab/ManiSkill/pull/802
Fix: vector-gymnasium-wrapper -- fixing 'call' method -- getattr(self.env...) … by @imishani in https://github.com/haosulab/ManiSkill/pull/783
[Feature] Support XArm6 with robot iq gripper by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/820
[BugFix] Fix usage of the MSASSETDIR variable by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/824

New Contributors

@songyuc made their first contribution in https://github.com/haosulab/ManiSkill/pull/745
@ywchoi02 made their first contribution in https://github.com/haosulab/ManiSkill/pull/640
@vncntt made their first contribution in https://github.com/haosulab/ManiSkill/pull/801
@imishani made their first contribution in https://github.com/haosulab/ManiSkill/pull/783

Full Changelog: https://github.com/haosulab/ManiSkill/compare/v3.0.0b15...v3.0.0b16

- Python
Published by StoneT2000 over 1 year ago

What's Changed

[BugFix] Fix bug with record episode wrapper for single CPU envs by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/723
[Feature] Substep Rendering by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/724

Full Changelog: https://github.com/haosulab/ManiSkill/compare/v3.0.0b14...v3.0.0b15

- Python
Published by StoneT2000 over 1 year ago

What's Changed

[Version] Version Bump to b14 by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/721
[BugFix] Fix bug with missing init py file in panda stick motion planning folder

Full Changelog: https://github.com/haosulab/ManiSkill/compare/v3.0.0b13...v3.0.0b14

- Python
Published by StoneT2000 over 1 year ago

v3.0.0b13 Release

Notable changes/additions: - A new PPO based on LeanRL has been provided under examples/baselines/ppofast. PPO training is much much faster now (solve PickCube in a minute! Solve PegInsertionSide in about 1 hour!) - Scripts for RL based data generation are provided in scripts/datageneration/rl.sh now - Multiple new tasks have been added including a few bimanual humanoid tasks - Some minor bugs have been fixed and simulation speed has been improved in a number of ways. - Much more documentation on domain randomization tools and how to use them for your own environments: https://maniskill.readthedocs.io/en/latest/userguide/tutorials/domainrandomization.html - RGB(D) based baseline for SAC added. - Fix bug with the pdeedeltapose controller not working when using PPO code due to in place modification in that controller. - Upgraded documentation showing more information now about all tasks available by default in ManiSkill. Task documentation now automatically details whether the task has demos, dense/sparse rewards, as well as its episode length - Many more demonstrations have been added with more coming, demonstrations are now all placed in the same hugging face datasets repo here: https://huggingface.co/datasets/haosulab/ManiSkillDemonstrations.

https://github.com/user-attachments/assets/211e8b87-6b81-460e-841f-081979d1ea35

Full Changelog:

What's Changed

[Fix] Use same indices for root vel setter as base uses for articulations by @arth-shukla in https://github.com/haosulab/ManiSkill/pull/665
[BugFix] Fix bug with digital twin rgb overlay due to new to tensor system and display availabe obs modes if chosen one is not correct by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/668
[BugFix] Fix record episode wrapper storing all parallel env episode seeds instead of just one. by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/671
[Bug] Fix: (unideal) only do .step() if not doing partial reset by @arth-shukla in https://github.com/haosulab/ManiSkill/pull/672
[BugFix] Fix demovissegmentation script by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/675
[Feature] Unified states for heterogenous simulated envs by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/676
[Docs] Add docs on simulation properties like object textures and controller properties that can be dynamically updated during runtime. by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/681
[Feature] Support normals and albedo in observation data by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/682
[Feature] Added batched input support for look_at matrix construction by @Xander-Hinrichsen in https://github.com/haosulab/ManiSkill/pull/678
[Feature[ Update interactive_panda.py to allow using different viewer shaders by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/687
[Feature] Extremely fast PPO by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/669
[BugFix] Pose creation always creates a new object now and does not duplicate tensors. by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/688
[BugFix] Fix PD EE Delta Pose controller that would sometimes do in place modification of user given action by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/689
[BugFix] Update ycb actor builder to include every object in YCB dataset, not just the ones that can be picked up. by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/690
[BugFix] Fix bug where consistency check for state in env state recording assumes actors/articulations exist by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/691
[Feature] Organized data generation scripts by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/692
[Feature] SAC RGB(D) Baseline and improved memory efficiency by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/698
Fix flattenstatedict with empty dictionary by @younik in https://github.com/haosulab/ManiSkill/pull/700
[BugFix] Fix issue with demomanualcontrol.py by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/702
[Feature] Auto-generated task documentation by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/703
Added custom task (PullCubeTool-v1) with motion planner + Motion Planner for LiftPegUpright and PullCube by @Viswesh-N in https://github.com/haosulab/ManiSkill/pull/641
[Docs] Update docs on PullCubeTool-v1, and upload new demonstrations to HF for motion planning generated datasets by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/704
[BugFix] Fix kinematics that sometimes will skip an active joint by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/705
[BugFix] fix bug when a torch based pose instead of sapien pose is passed to RRT planning code by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/706
[BugFix] Remove extra warnings and clarify why initial poses should be set by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/709
[Feature] More humanoid/bimanual manipulation tasks, fix G1 robot's frictions, optimize robot collisions for franka and G1. Add G1 with head camera, allow record with info for parallel envs by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/715
[BugFix] Fix bug for recording episodes with CPU envs by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/718
[Docs] Documentation on even more Domain Randomization by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/719

New Contributors

@younik made their first contribution in https://github.com/haosulab/ManiSkill/pull/700
@Viswesh-N made their first contribution in https://github.com/haosulab/ManiSkill/pull/641

Full Changelog: https://github.com/haosulab/ManiSkill/compare/v3.0.0b12...v3.0.0b13

- Python
Published by StoneT2000 over 1 year ago

mani-skill - v3.0.0b12

v3.0.0b12 Release

Big changes include - RoboCasa scenes integrated into ManiSkill, simulating easily 500-1000 RGBD FPS. Run python -m mani_skill.examples.demo_random_action -e "RoboCasaKitchen-v1" --render-mode="human" --shader rt-fast to try it! - Batched RNG is now recommended to be used for scene loading in tasks to ensure CPU/GPU sims can generate the same exact objects/geometries/textures for a task when given the same list of seeds. Read https://maniskill.readthedocs.io/en/latest/userguide/concepts/rng.html to learn more about the details - Motion planning solutions have CPU parallelization options now - Fix bug with point cloud data being scaled down twice - Add a warning if you don't add initial poses to builders. This is strongly recommended to do now by overriding def _loadagent to initialize a robot pose and to set initial poses of other objects such that they don't intersect if they were to spawn at the initial poses. This is absolutely necessary for fast and accuracte GPU simulation, and fixes a number of issues with the open cabinet task. - Major bug fixes with the RNG that were introduced in 3.0.0b11. Namely envs wouldn't randomize at all despite resets sometimes. Please upgrade to 3.0.0b12 instead of using b11.

sapien_screenshot_6 1 robocasa_0 sapien_screenshot_9 1

What's Changed

docs: update README.md by @eltociear in https://github.com/haosulab/ManiSkill/pull/594
add missing 'sensordata' handling in `parsevisualobsmodetostruct` by @hesic73 in https://github.com/haosulab/ManiSkill/pull/606
Update docs by @FarukhS52 in https://github.com/haosulab/ManiSkill/pull/614
[BugFix] ControllerDict prevented beforesimulationstep on child controllers by @RoboNuke in https://github.com/haosulab/ManiSkill/pull/613
[Docs] Update docs on demonstrations and imitation learning by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/618
[Docs] Fix Typos in docs by @VaibhavWakde52 in https://github.com/haosulab/ManiSkill/pull/622
[BugFix] Agent registration not working when overriding a robot uid by @rechim25 in https://github.com/haosulab/ManiSkill/pull/623
[Feature]: Add CPU multiprocessing for Panda Motionplanner's Trajecto… by @chenyenru in https://github.com/haosulab/ManiSkill/pull/611
[Feature] Habitat Rearrange tasks + Bug fixes use due to bad default initial poses by @arth-shukla in https://github.com/haosulab/ManiSkill/pull/529
[BugFix] Add error handling for Panda's Motionplanner by @chenyenru in https://github.com/haosulab/ManiSkill/pull/627
[Feature] Reproducible batched RNG support, fix state representations of various tasks by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/619
[BugFix] Fix OpenCabinetDrawer-v1 by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/630
[BugFix] Fix bug in SAC code and remove some old code in RL examples by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/639
[Feature] Support the Robocasa scene dataset by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/648
[(Small) Feature]: small build util changes, extra humanoid keyframes + attrs by @arth-shukla in https://github.com/haosulab/ManiSkill/pull/651
[BugFix] Improve GPU sim speed and new docs on initial pose handling by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/655
[BugFix]: improve perf for batched_rng by @arth-shukla in https://github.com/haosulab/ManiSkill/pull/656
[BugFix] Fix bug where sometimes the same episode rng is given if reconfiguration freq is 1 but enhanced determinism is false and no seed is given by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/659

New Contributors

@eltociear made their first contribution in https://github.com/haosulab/ManiSkill/pull/594
@hesic73 made their first contribution in https://github.com/haosulab/ManiSkill/pull/606
@FarukhS52 made their first contribution in https://github.com/haosulab/ManiSkill/pull/614
@RoboNuke made their first contribution in https://github.com/haosulab/ManiSkill/pull/613
@VaibhavWakde52 made their first contribution in https://github.com/haosulab/ManiSkill/pull/622
@rechim25 made their first contribution in https://github.com/haosulab/ManiSkill/pull/623

Full Changelog: https://github.com/haosulab/ManiSkill/compare/v3.0.0b10...v3.0.0b12

- Python
Published by StoneT2000 over 1 year ago

mani-skill - v3.0.0b10

v3.0.0b10 is released

This new version introduces a lot of new features - Ant walk/run control tasks added and solvable via visual/state based PPO - New, clean, systematic wrappers/design for fairly evaluating algorithms in simulation for RL, IL etc. - All end-effector / IK based controllers are now GPU parallelized. Big thank you to @LemonPi for help on batched IK control via their pytorch kinematics library - four Real2sim environments from SIMPLER have been added, cleaned up, and show good correlation between sim and real success rates and low MMRV relative to original CPU implementations. Evaluation is now 60-100x faster than the real world! - Trajectory conversion tool for the panda arm is now much more accurate. Tasks like peg insertion / plug charger can convert from pd joint position to any other action space with a much higher success rate. - Panda wristcam robot had an incorrect initialization on the table scene which has been fixed. - A base drawing simulation environment with no tasks or demos at the moment - TwoRobotPickCube-v1 has a new more optimized reward function - Updated baselines to adhere to new standards of evaluation metrics and reporting - New sim+rendering benchmarks - Fix various bugs

Demos of the new drawing environment and real2sim environments below

https://github.com/user-attachments/assets/60c2a5c5-13d8-4d89-b5f3-1fb92ba55772

https://github.com/user-attachments/assets/50ef4ae8-e6ac-412e-bc7e-94d23f85a6cb

What's Changed

[BugFix] Fix bug with processing segmentation images for older torch versions by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/532
[BugFix] Bump sapien dependency in tdmpc2 baseline for mani_skill update by @chenyenru in https://github.com/haosulab/ManiSkill/pull/527
Added MS Ant Walk and Run Tasks by @Xander-Hinrichsen in https://github.com/haosulab/ManiSkill/pull/533
[Feature] Updated TD-MPC2 evaluation and fixed some bugs by @t-sekai in https://github.com/haosulab/ManiSkill/pull/538
Added behavior cloning baselines by @arnavg115 in https://github.com/haosulab/ManiSkill/pull/531
[Feature] Align and simplify policy/ML evaluation in ManiSkill by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/544
[Feature] Massively improve success rate of pd joint pos / delta pos conversion to pd ee delta pos/pose controller by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/549
[Feature] Clean up trajectory replay code and more docs on the tool by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/552
panda wristcam initialization added by @jamesahou in https://github.com/haosulab/ManiSkill/pull/553
[Feature] Drawing Simulation Base Environment by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/555
[BugFix] Fix CPU articulation net contact forces being wrong shape by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/556
[Feature] Real2Sim Eval Digital Twins by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/536
Solved PPO for TwoRobotPickCube-v1 by @jamesahou in https://github.com/haosulab/ManiSkill/pull/562
Behavior cloning bugfixes by @arnavg115 in https://github.com/haosulab/ManiSkill/pull/565
[Docs] New benchmarking scripts by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/568
Benchmarking code 2.0 by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/573
[BugFix] Fix pandav2gripper.urdf visual mesh suffix (dae->glb) by @kh11kim in https://github.com/haosulab/ManiSkill/pull/575
[Docs] More rendering benchmarking by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/580
[Docs] Sim+rendering Benchmarking, matching visuals by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/584
[Docs] Paper upload and update documentation and READMEs by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/585
[Docs] fix typos in paper header by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/586
[Docs] Update docs on controllers and fix video link by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/589
[Feature] Updated TD-MPC2 with CPU mode and new shared metrics by @t-sekai in https://github.com/haosulab/ManiSkill/pull/578
[Version] v3.0.0b10 by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/591

New Contributors

@chenyenru made their first contribution in https://github.com/haosulab/ManiSkill/pull/527
@jamesahou made their first contribution in https://github.com/haosulab/ManiSkill/pull/553
@kh11kim made their first contribution in https://github.com/haosulab/ManiSkill/pull/575

Full Changelog: https://github.com/haosulab/ManiSkill/compare/v3.0.0b9...v3.0.0b10

- Python
Published by StoneT2000 over 1 year ago

mani-skill - v3.0.0b9

What's Changed

[BugFix] Fix render all mode by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/521

Full Changelog: https://github.com/haosulab/ManiSkill/compare/v3.0.0b8...v3.0.0b9

- Python
Published by StoneT2000 almost 2 years ago

mani-skill - v3.0.0b8

What's Changed

[Feature] More standardized metrics reporting for diffusion policy by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/495
[Feature] Update PPO RGB baselines by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/475
[Docs] Add missing citations for baselines by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/497
Fix pytorch kinematics bugs by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/500
[Feature] New shader config system and refactors by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/499
[Bug Fix] Add missing _viewer typing by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/506
[BugFix] Support triangle mesh collision shapes in collision mesh generations by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/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 https://github.com/haosulab/ManiSkill/pull/508
[Feature] Add floating robotiq2f85 gripper support + fix bugs with other robot arms that use that gripper. by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/513
Dm control humanoid ppo learnable stand, walk, run by @Xander-Hinrichsen in https://github.com/haosulab/ManiSkill/pull/484
[Docs] Upgrading docs by @StoneT2000 in https://github.com/haosulab/ManiSkill/pull/516

Full Changelog: https://github.com/haosulab/ManiSkill/compare/v3.0.0b7...v3.0.0b8

- Python
Published by StoneT2000 almost 2 years ago

mani-skill - 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 https://github.com/haosulab/ManiSkill/pull/493

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

- Python
Published by StoneT2000 almost 2 years ago

mani-skill - v3.0.0b6

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 controlmode = "pdjointposvel" 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 pporgb with rgb only, no state. And some bug fixes for pporgb 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

- Python
Published by StoneT2000 almost 2 years ago

mani-skill - 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 setcollisiongroup_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 & applygpu order in setupgpu 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 setcollisiongroup_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 & applygpu order in setupgpu 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

- Python
Published by StoneT2000 almost 2 years ago

mani-skill - 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/userguide/concepts/controllers.html#pd-ee-end-effector-pose. This also means previous policies trained on ee controllers (like pdeedeltapose) 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

- Python
Published by StoneT2000 about 2 years ago

mani-skill - v3.0.0b3

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

- Python
Published by StoneT2000 about 2 years ago

mani-skill - 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/

teaser

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

- Python
Published by StoneT2000 about 2 years ago

mani-skill - 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: https://github.com/haosulab/ManiSkill2/compare/v3.0.0.dev12...v3.0.0.dev13

- Python
Published by StoneT2000 about 2 years ago

mani-skill - 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 maniskill.utils.gymutils module and many utilities in sapienutils were moved to common or gymutils. 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 balancepassiveforce 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

- Python
Published by StoneT2000 about 2 years ago

mani-skill - v3.0.0.dev10

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
forceusegpusim -> simbackend. 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

- Python
Published by StoneT2000 about 2 years ago

mani-skill - v3.0.0.dev9

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

- Python
Published by StoneT2000 about 2 years ago

mani-skill - v0.6.0.dev3

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

- Python
Published by StoneT2000 over 2 years ago

mani-skill - v0.6.0.dev2

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

- Python
Published by StoneT2000 over 2 years ago

mani-skill - v0.5.3

What's Changed

Fix bug where setmainrng would reset main rng every call to reset even if no seed is given by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/141
V0.5.3 release by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/152

Full Changelog: https://github.com/haosulab/ManiSkill2/compare/v0.5.2...v0.5.3

- Python
Published by StoneT2000 over 2 years ago

mani-skill - v0.5.2

What Changed

Fix soft body env demo download links

Full Changelog: https://github.com/haosulab/ManiSkill2/compare/v0.5.1...v0.5.2

- Python
Published by StoneT2000 almost 3 years ago

mani-skill - v0.5.1

What's Changed

Colab updates and minor bug with fix with ManiSkill2 custom env registration by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/139
Fix demo downloads and auto unzip

Full Changelog: https://github.com/haosulab/ManiSkill2/compare/v0.5.0...v0.5.1

- Python
Published by StoneT2000 almost 3 years ago

mani-skill - v0.5.0

ManiSkill2 Release Notes

This update migrates ManiSkill2 over to using the new gymnasium package along with a number of other changes.

Breaking Changes

env.render now accepts no arguments. The old render functions are separated out as other functions and env.render calls them and chooses which one based on the env.render_mode attribute (set usually upon env creation).
env.step returns observation, reward, terminated, truncated, info. See https://gymnasium.farama.org/content/migration-guide/#environment-step for details. For ManiSkill2, the old done signal is now called terminated and truncated is False. All environments by default have a 200 max episode steps so truncated=True after 200 steps.
env.reset returns a tuple observation, info. For ManiSkill2, info is always an empty dictionary. Moreover, env.reset accepts two new keyword arguments: seed: int, options: dict | None. Note that options is usually used to configure various random settings/numbers of an environment. Previously ManiSkill2 used to use custom keyword arguments such as reconfigure. These keyword arguments are still usable but must be passed through an options dict e.g. env.reset(options=dict(reconfigure=True)).
env.seed has now been removed in favor of using env.reset(seed=val) per the Gymnasium API.
ManiSkill VectorEnv is now also modified to adhere to the Gymnasium Vector Env API. Note this means that vec_env.observation_space and vec_env.action_space are batched under the new API, and the individual environment spaces are defined as vec_env.single_observation_space and vec_env.single_action_space
All reward functions have been changed to be scaled to the range of [0, 1], generally making any value-learning kind of approach more stable and avoiding gradient explosions. On any environment a reward of 1 indicates success as well and is also indicated by the boolean stored in info["success"]. The scaled dense rewards are the new default reward function and is called normalized_dense. To use the old <0.5.0 ManiSkill2 dense rewards, set reward_mode to dense.

New Additions

Code

Environment code come with separated render functions representing the old render modes. There is now env.render_human for creating a interactive GUI and viewer, env.render_rgb_array for generating RGB images of the current env from a 3rd person perspective, and env.render_cameras which renders all the cameras (including rgb, depth, segmentation if available) and compacts them into one rgb image that is returned. Note that human and rgb_array are used only for visualization purposes. They may include artifacts like indicators of where the goal is for visualization purposes, see PickCube-v0 or PandaAvoidObstacles-v0 for examples. cameras mode is reflective of what the actual visual observations are returned by calls to env.reset and env.step.
The ManiSkill2 VecEnv creator function make_vec_env now accepts a max_episode_steps argument which overrides the default max_episode_steps specified when registering the environment. The default max_episode_steps is 200 for all environments, but note it may be more efficient for RL training and evaluation to use a smaller value as shown in the RL tutorials.

Data

Demonstration data has moved completely to hugging face https://huggingface.co/datasets/haosulab/ManiSkill2, which offers a more stable file storage platform than google drive.

Tutorials

All tutorials have been updated to reflect new gym API, new stable baselines 3, and should be more stable on google colab ### Not Code
New CONTRIBUTING.md document has been added, with details on how to locally develop on ManiSkill2 and test it

Bug Fixes

Closes #124 with using the newest version of Sapien, 2.2.2.
Closes #119 via #123 where scalar values returned by the state part of a dictionary would cause errors.
Fixes a compatability bug with Gymnasium AsyncVectorEnv where Gymnasium also could not handle scalar values as it expects shape (1, ), not shape (). This is done by modifying environments to instead of returning floats for certain scalar observation values to return numpy array versions of them. So far only affected TurnFaucet-v0. Partially closes #125 where TurnFaucet-v0 had non-deterministic rewards due to computing rewards based on unseeded sampled points from various meshes.

Miscellaneous Changes

Dockerfile now accepts a python version as an argument
README and documentation updated to reflect new gym API
mani_skill2.examples.demo_vec_env module now accepts a --vecenv-type argument which can be either ms2 or gym and defaults to ms2. Lets users benchmark the speed difference themselves. Module was further cleaned to print more nicely
Various example scripts that have main functions now accept an args argument and allow for using those scripts from within python and not just the CLI. Used for testing purposes.
Fix some lack of quietness on some example scripts
Replaying trajectories accepts a new --count argument that lets you specify how many trajectories to replay. There is no data shuffling so the replayed trajectories will always be the same and in the same order. By default this is None meaning all trajectories are replayed.

What's Changed

Fix docker building instructions by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/78
Fix colab crash issue by automatically adding nvidia json files by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/83
Fix #85 by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/87
[BC] Add basepose and tcppose in MS1 envs' observations by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/96
Fix softbody installation instructions in installation.md by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/99
0.5.0 by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/76
update versions to 0.5.0 and fix docs with downgrade of sphinx by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/135
Fix bug with demo random action not creating a video at the end. by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/136
minor fix in quickstart doc by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/138

Full Changelog: https://github.com/haosulab/ManiSkill2/compare/v0.4.2...v0.5.0

- Python
Published by StoneT2000 almost 3 years ago

mani-skill - v0.4.2

Fixes

Fix the order of keys of observation spaces. If you previously relied on the order of keys (e.g., stacking dict observations into a flat array), this fix might affect your codes.

What's Changed

Update the section to add static scenes by @Jiayuan-Gu in https://github.com/haosulab/ManiSkill2/pull/68
Update requirements.txt to deal with AttributeError by @Mayankm96 in https://github.com/haosulab/ManiSkill2/pull/69
Update readme to add discord symbol by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/70
Fix tutorial installation by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/72
Improve README and doc by @Jiayuan-Gu in https://github.com/haosulab/ManiSkill2/pull/74
Add details and examples on leveraging segmentations by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/75

New Contributors

@Mayankm96 made their first contribution in https://github.com/haosulab/ManiSkill2/pull/69

Full Changelog: https://github.com/haosulab/ManiSkill2/compare/v0.4.1...v0.4.2

- Python
Published by Jiayuan-Gu about 3 years ago

mani-skill - v0.4.1

Highlights

Improve documents (docker, challenge submission)
Update tutorials (add missing dependencies and fix links)
Fix a missing file for Hang-v0 in the wheel

What's Changed

fix link to point to main branch by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/61
Update docs by @Jiayuan-Gu in https://github.com/haosulab/ManiSkill2/pull/63
Update 2reinforcementlearning.ipynb by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/64
Fix missing asset in setup and remove unused pkl by @Jiayuan-Gu in https://github.com/haosulab/ManiSkill2/pull/66
fix bugs with submission docker by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/65

Full Changelog: https://github.com/haosulab/ManiSkill2/compare/v0.4.0...v0.4.1

- Python
Published by Jiayuan-Gu over 3 years ago

mani-skill - v0.4.0: New vectorized environments, improved renderer, hands-on tutorials, pip-installable, better documentations and other enhancements

ManiSkill2 v0.4.0 Release Notes

ManiSkill2 v0.4.0 introduces many new features and makes it easier to start a journey of robot learning. Here are the highlights: - New vectorized environments supported by the RPC-based render system (sapien.RenderServer and sapien.RenderClient). - The renderer is significantly improved. sapien.VulkanRenderer and sapien.KuafuRenderer are merged into a unified renderer sapien.SapienRenderer. - Hands-on tutorials are provided for new users. Most of them can run on Google Colab. - mani_skill2 is a pip-installable package now! - Documentation is improved. The descriptions of environments are improved and their thumbnails are added. - We experimentally support adding visual backgrounds and enabling realistic stereo depth cameras. - Customization of environments (configuring cameras) is easier now!

Given many new features, we refactor ManiSkill2, which leads to many changes between v0.4.0 and v0.3.0. The instructions to migrate are presented below.

New Features

Installation

Installation becomes easier: pip install mani-skill2.

Note that to fully uninstall mani_skill2, you might need manually remove the generated cache files.

We include some examples in the package.

```bash

Example with random actions. Can be used to test the installation

python -m maniskill2.examples.demorandom_action

Interactive play

python -m maniskill2.examples.demomanual_control -e PickCube-v0 ```

https://user-images.githubusercontent.com/17827258/218015297-b85d0b49-a5b4-4496-bc4e-bb03162080f3.mp4

Vectorized Environments

We provide an implementation of vectorized environments (for rigid-body environments) powered by the SAPIEN RPC-based render server-client system.

python from mani_skill2.vector import VecEnv, make env: VecEnv = make("PickCube-v0", num_envs=4)

Please see mani_skill2.examples.demo_vec_env for an example: python -m mani_skill2.examples.demo_vec_env -e PickCube-v0 -n 4.

We provide examples to use our VecEnv with Stable-baselines3 at https://github.com/haosulab/ManiSkill2/blob/main/examples/tutorials/2reinforcementlearning.ipynb and https://github.com/haosulab/ManiSkill2/tree/main/examples/tutorials/reinforcement-learning

FPS

Improved Renderer

It is easier to enable ray tracing:

```python

Enable ray tracing by changing shaders

env = gym.make("PickCube-v0", shader_dir="rt") ```

v0.3.0 experimentally supports ray tracing by KuafuRenderer. v0.4.0 uses SapienRenderer instead to provide a more seamless experience. Ray tracing is still not supported for soft-body environments currently.

Colab Tutorials

colab

Camera Configurations

It is easier to change camera configurations in v0.4.0:

```python

Change camera resolutions

env = gym.make( "PickCube-v0", # only change "basecamera" and keep other cameras for observations unchanged cameracfgs=dict(basecamera=dict(width=320, height=240)), # change for all cameras for visualization rendercamera_cfgs=dict(width=640, height=480), ) ```

To include GT segmentation masks for all cameras in observations, you can set add_segmentation=True in camera_cfgs to initialize an environment.

```python

Add segmentation masks to observations (equivalent to adding Segmentation texture for each camera)

env = gym.make("PickCube-v0", cameracfgs=dict(addsegmentation=True)) ```

v0.3.0 uses gym.make(..., enable_gt_seg=True) to enable GT segmentation masks (visual_seg and actor_seg). v0.4.0 uses env = gym.make(..., camera_cfgs=dict(add_segmentation=True)). Besides, there will be Segmentation in observations instead, where Segmentation[..., 0:1] == visual_seg and Segmentation[..., 1:2] == actor_seg.

More examples can be found at https://github.com/haosulab/ManiSkill2/blob/main/examples/tutorials/customize_environments.ipynb

Visual Background

We experimentally support adding visual backgrounds.

```python

Download the background asset first: python -m maniskill2.utils.downloadasset minimal_bedroom

env = gym.make("PickCube-v0", bgname="minimalbedroom") ```

Stereo Depth Camera

We experimentally support realistic stereo depth cameras.

python env = gym.make( "PickCube-v0", obs_mode="rgbd", shader_dir="rt", camera_cfgs={"use_stereo_depth": True, "height": 512, "width": 512}, )

Breaking Changes

Assets

mani_skill2 is pip-installable. The basic assets (the robot description of the Panda arm, PartNet-mobility metadata, essential assets for soft-body environments) are located at mani_skill2/assets, which are packed into the pip wheel. Task-specific assets need to be downloaded. The extra assets are downloaded to ./data by default.

Improve the script to download assets: python -m mani_skill2.utils.download_asset ${ASSET_UID/ENV_ID}. The positional argument can be a UID of the asset, an environment ID, or "all". > mani_skill2.utils.download (v0.3.0) is renamed to mani_skill2.utils.download_asset (v0.4.0). bash # Download YCB object models python -m mani_skill2.utils.download_asset ycb # Download the required assets for PickSingleYCB-v0, which are just YCB object models python -m mani_skill2.utils.download_asset PickSingleYCB-v0
When mani_skill2 is imported, it uses the environment variable MS2_ASSET_DIR to decide where assets are stored, which is set to ./data if not specified. It also takes effect for downloading assets.

Demonstrations

We add a script to download demonstrations: python -m mani_skill2.utils.download_demo ${ENV_ID} -o ${DEMO_DIR}.

There are some minor changes to the file structure, but no updates to the data itself.

Observations

The observation modes that include robot segmentation masks are renamed to pointcloud+robot_seg and rgbd+robot_seg from pointcloud_robot_seg and rgbd_robot_seg.

v0.3.0 uses xxx_robot_seg while v0.4.0 uses xxx+robot_seg. However, the concrete implementation only checks the keyword robot_seg. Thus, the previous codes will not be broken by this change.

For RGB-D observations, we move all camera parameters from the key image to a new key camera_param. Please see https://haosulab.github.io/ManiSkill2/concepts/observation.html#image for more details.

In v0.3.0, camera parameters are within obs["image"]. In v0.4.0, there is a separate key obs["camera_param"] for camera parameters. It will make users easier to discard camera parameters if they do not need them.

Fixes

Fix undefined behavior due to solver_velocity_iterations=0
Fix paths to download assets of "PickClutterYCB-v0", "OpenCabinetDrawer-v1", "OpenCabinetDoor-v1"

Pull Requests

track order in h5py files to make stored 'obs' key data be consistent with order in env observations by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/48
Add python api to download demonstrations and fix gdown bug for large file downloads by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/45
README download path "rigid/softbodyenvs" -> "rigid/soft_body" by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/55
fix PickClutter bug where objstartpos is not an np array by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/58
v0.4.0: SapienRenderer, vectorized environments, pip wheel and other new features by @Jiayuan-Gu in https://github.com/haosulab/ManiSkill2/pull/57
gpu runtime specification. by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/60
0.4.0 patch by @Jiayuan-Gu in https://github.com/haosulab/ManiSkill2/pull/59

Full Changelog: https://github.com/haosulab/ManiSkill2/compare/v0.3.0...v0.4.0

- Python
Published by Jiayuan-Gu over 3 years ago

mani-skill - v0.3.0: all environments released and many improvements

Added

Add soft-body envs: Pinch-v0 and Write-v0
Add PickClutterYCB-v0
Migrate all ManiSkill1 environments

Breaking Changes

download and replay_trajectory are moved from tools to mani_skill2.utils and mani_skill2.trajectory. It is to enable users to call these utilities at other directories.
Change the pose of the base camera for pick-and-place environments. It is to ease RGBD-based approaches to observe goal positions.

Other Changes

We call self.seed(2022) in sapien_env::BaseEnv.__init__ to improve reproducibility.
Refactor evaluation
Improve the error message when assets are missing

What's Changed

Fix saving state in RecordEpisode wrapper & Update README by @tongzhoumu in https://github.com/haosulab/ManiSkill2/pull/29
Fixed edge case handling in RecordEpisode wrapper by @xiqiangliu in https://github.com/haosulab/ManiSkill2/pull/31
remove pickled trimesh object by @fbxiang in https://github.com/haosulab/ManiSkill2/pull/37
Refactor code structure for better user experience by @Jiayuan-Gu in https://github.com/haosulab/ManiSkill2/pull/38
Modify use-env-states description in README by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/39

New Contributors

@tongzhoumu made their first contribution in https://github.com/haosulab/ManiSkill2/pull/29
@fabid made his contribution in https://github.com/haosulab/ManiSkill2/pull/31

Full Changelog: https://github.com/haosulab/ManiSkill2/compare/v0.2.1...v0.3.0

- Python
Published by Jiayuan-Gu over 3 years ago

mani-skill - v0.2.1

What's Changed

Added the option to download all assets by @xiqiangliu in https://github.com/haosulab/ManiSkill2/pull/13
update readme for downloading assets by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/17
Update readme by @Jiayuan-Gu in https://github.com/haosulab/ManiSkill2/pull/22
[Fix] Fix trajectory conversion to ee-based controllers by @Jiayuan-Gu in https://github.com/haosulab/ManiSkill2/pull/23
Experimentally support KuafuRenderer by @Jiayuan-Gu in https://github.com/haosulab/ManiSkill2/pull/24
Simplify pick single reward to be more friendly to RL by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/27

Other Changes

Fix StackCube-v0 success metric
Refactor PickSingle and AssemblingKits

New Contributors

@Jiayuan-Gu made their first contribution in https://github.com/haosulab/ManiSkill2/pull/22

Full Changelog: https://github.com/haosulab/ManiSkill2/compare/v0.2.0...v0.2.1

- Python
Published by Jiayuan-Gu over 3 years ago

mani-skill - v0.2.0

Added

Support new observation modes: rgbd_robot_seg and pointcloud_robot_seg
Support enable_gt_seg option for environments.
Add two new rigid-body environments: AssemblingKits-v0 and PandaAvoidObstacles-v0

Breaking Changes

TurnFaucet-v0: Add target_link_pos to observations
PickSingleEGAD-v0: Reduce the density of EGAD objects and update EGAD object information
Remove tcp_goal_pos in PickCube, LiftCube, PickSingle
Update TurnFaucet assets. Need to re-download assets
Change segmentation images from 2-dim to 3-dim
Replace xyz with xyzw in obs["pointcloud"]. We use the homogeneous representation to handle infinite points (beyond the far of camera).

Fixed

TurnFaucet-v0: Cache the initial joint positions so that they will not be affected by previous episodes
Pour-v0: Fix agent initialization typo
Excavate-v0: Fix hand camera position and max number of particles

What's Changed

Update README.md by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/1
Update Dockerfile by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/2
Improved functionality of a few utility scripts by @xiqiangliu in https://github.com/haosulab/ManiSkill2/pull/4
Update base_env.py by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/5
Update README.md by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/6
Update README.md by @xuanlinli17 in https://github.com/haosulab/ManiSkill2/pull/9
Soft body patch by @fbxiang in https://github.com/haosulab/ManiSkill2/pull/12

New Contributors

@StoneT2000 made their first contribution in https://github.com/haosulab/ManiSkill2/pull/1
@xuanlinli17 made their first contribution in https://github.com/haosulab/ManiSkill2/pull/2
@xiqiangliu made their first contribution in https://github.com/haosulab/ManiSkill2/pull/4
@fbxiang made their first contribution in https://github.com/haosulab/ManiSkill2/pull/12

Full Changelog: https://github.com/haosulab/ManiSkill2/commits/v0.2.0

- Python
Published by Jiayuan-Gu almost 4 years ago

Recent Releases of mani-skill

mani-skill - v3.0.0b21

What's Changed

New Contributors

mani-skill - v3.0.0b20

What's Changed

New Contributors

mani-skill - v3.0.0b19

What's Changed

New Contributors

mani-skill - v3.0.0b18

What's Changed

mani-skill - v3.0.0b17

What's Changed

mani-skill - v3.0.0b16

What's Changed

New Contributors

mani-skill - v3.0.0b15

What's Changed

mani-skill - v3.0.0b14

What's Changed

mani-skill - v3.0.0b13

v3.0.0b13 Release

What's Changed

New Contributors

mani-skill - v3.0.0b12

v3.0.0b12 Release

What's Changed

New Contributors

mani-skill - v3.0.0b10

v3.0.0b10 is released

What's Changed

New Contributors

mani-skill - v3.0.0b9

What's Changed

mani-skill - v3.0.0b8

What's Changed

mani-skill - v3.0.0b7

What's Changed

mani-skill - v3.0.0b6

What's Changed

New Contributors

mani-skill - v3.0.0b5

What's Changed

New Contributors

What's Changed

New Contributors

mani-skill - v3.0.0b4

v3.0.0b4 Release

- SAPIEN dependency has been upgraded, which fixes a number of bugs particularly around support for older / less common GPUs

What's Changed

New Contributors

mani-skill - v3.0.0b3

What's Changed

mani-skill - v3.0.0.b2

ManiSkill 3 Beta Release

What's Changed

mani-skill - v3.0.0.dev13

What's Changed

mani-skill - v3.0.0.dev11

What's Changed

mani-skill - v3.0.0.dev10

What's Changed

New Contributors

mani-skill - v3.0.0.dev9

What's Changed

mani-skill - v0.6.0.dev3

mani-skill - v0.6.0.dev2

mani-skill - v0.5.3

What's Changed

mani-skill - v0.5.2

What Changed

mani-skill - v0.5.1

What's Changed

mani-skill - v0.5.0

ManiSkill2 Release Notes

Breaking Changes

New Additions

Code

Data