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

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
• force_use_gpu_sim -> sim_backend. Specify which simulation backend (cpu or gpu or auto) to use. In auto mode, GPU is used if num_envs > 1 when creating the environment, CPU otherwise
• Remove circular import errors with registration tools so users can easily inherit existing tasks in maniskill to build on them
• Updated tutorial task code for PushCube to be more explicit in class arguments for camera configurations
• Remove dependencies on the old pytorch_kinematics library, it is no longer needed
• Example RL code working google colab (not yet a tutorial, to be completed)
• Fix bug with replay trajectory tool when trying to handle trajectories generated during GPU simulation
• Fix bug with replay trajectory tool that doesn't set the first env state when using env states
• Fix bug with RecordEpisode wrapper where it saved a null value for seed when no seed is given. Instead the seed key is removed entirely
• Several old code files have been removed

New Contributors

• @Kami-code made their first contribution in https://github.com/haosulab/ManiSkill2/pull/249

Full Changelog: haosulab/ManiSkill2@v3.0.0.dev9...v3.0.0.dev10

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: haosulab/ManiSkill2@v3.0.0.dev8...v3.0.0.dev9

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

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

v0.5.3

What's Changed

• Fix bug where set_main_rng 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: haosulab/ManiSkill2@v0.5.2...v0.5.3