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@StoneT2000 StoneT2000 released this 02 May 13:49
· 251 commits to main since this release
v3.0.0.b2
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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 #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

Contributors

StoneT2000
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