ManiSkill 3 Beta Release

[StoneT2000]

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/

It also runs fast on Colab, try out the new features here if you don't have a GPU: https://colab.research.google.com/github/haosulab/ManiSkill/blob/main/examples/tutorials/1_quickstart.ipynb

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