v3.0.0b10 Released

[StoneT2000]

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

See https://github.com/haosulab/ManiSkill/releases/tag/v3.0.0b10 for the full change log details

Demos of the new drawing environment and real2sim environments below

drawing_special_s_symbol_task.mp4

real2sim_spoon_task.mp4