ManiSkill v3.0.0b21 Released! Experimental mac support, Initial LeRobot support, and more

[StoneT2000]

Overview

The latest b21 version brings a few big additions and a number of small improvements. Three big items include

• Initial mac support (run CPU simulation+rendering on your laptop!) https://maniskill.readthedocs.io/en/latest/user_guide/getting_started/macos_install.html
• Initial support for the LeRobot hardware interface part of the library. This is part of a process to build some example vision-based sim2real environments for the SO100 and Koch v1.1. robot arms, both of which are already modeled in simulation and ready to use.
• Much better documentation of all our robot: https://maniskill.readthedocs.io/en/latest/robots/index.html

Moreover we have climbed to over 1600+ stars, which has been accelerating in the last year without signs of slowing down. Even more exciting we have reached 50 unique contributors to this repository, thank you to everyone who uses our library and helps make it better. Finally, this project is accepted at the RSS 2025 conference hosted in LA, some maintainers will be attending in person to present. There is now a new more updated citation in the README of this repository that you should use.

Highlights

New robot docs page

We also have some other small quality of life improvements such as nicer prints of some objects like controllers, which can be incredibly useful for understanding what controller you are using in your environment now, its action space, and how joints are controlled.

> print(env.agent.controller)
CombinedController(dof=14, active_joints=20
    root: PDJointPosController(dof=6, active_joints=6, joints=(root_x_axis_joint, root_y_axis_joint, root_z_axis_joint, root_x_rot_joint, root_y_rot_joint, root_z_rot_joint))
    hand: PDJointPosController(dof=3, active_joints=3, joints=(right_hand_wrist_pitch_joint, right_hand_wrist_yaw_joint, right_hand_thumb_CMC_yaw_joint))
    fingers: PDJointPosMimicController(dof=5, active_joints=11, mimic_to_control_joint_map={
        right_hand_thumb_MCP_joint: right_hand_thumb_CMC_pitch_joint,
        right_hand_thumb_IP_joint: right_hand_thumb_CMC_pitch_joint,
        right_hand_index_PIP_joint: right_hand_index_MCP_joint,
        right_hand_middle_PIP_joint: right_hand_middle_MCP_joint,
        right_hand_ring_PIP_joint: right_hand_ring_MCP_joint,
        right_hand_pinky_PIP_joint: right_hand_pinky_MCP_joint,
    })
)

Additions

• Link incoming joint forces API (physx_cpu/physx_gpu) exposed
• New Xarm6 robot implementation with robotiq gripper
• Minor optimizations to avoid unnecessary calls for some GPU data transfer functions
• New experimental/contributed baselines folder with a new kind of SAC training method

Various bug fixes

• Local camera poses not updating if local pose is changed
• Bug fix where some multi-agent envs could not run
• Bug fix for replaying demonstration data with the CPU simulation

Breaking Changes

None!

Full release notes here: https://github.com/haosulab/ManiSkill/releases/tag/v3.0.0b21