PegHitBall-v1 task

[rrzhang139]

Running GPU benchmark output:

python -m mani_skill.examples.benchmarking.gpu_sim -e "PegHitBall-v1" -n=4096 -o=state
# -------------------------------------------------------------------------- #
Task ID: PegHitBall-v1, 4096 parallel environments, sim_backend=physx_cuda
obs_mode=state, control_mode=pd_joint_delta_pos
render_mode=rgb_array, sensor_details=RGBD(128x128)
sim_freq=120, control_freq=60
observation space: Box(-inf, inf, (4096, 42), float32)
(single) action space: Box(-1.0, 1.0, (8,), float32)
# -------------------------------------------------------------------------- #
start recording env.step metrics
env.step: 70894.176 steps/s, 17.308 parallel steps/s, 1000 steps in 57.776s
    CPU mem: 11058.938 MB, GPU mem: N/A
start recording env.step+env.reset metrics
env.step+env.reset: 57858.325 steps/s, 14.126 parallel steps/s, 1000 steps in 70.794s
    CPU mem: 11081.500 MB, GPU mem: N/A

Wandb link: https://wandb.ai/rzhang139/ManiSkill/runs/w4l5z58x/overview