v3.0.0b12

v3.0.0b12 Release

Big changes include

• RoboCasa scenes integrated into ManiSkill, simulating easily 500-1000 RGBD FPS. Run python -m mani_skill.examples.demo_random_action -e "RoboCasaKitchen-v1" --render-mode="human" --shader rt-fast to try it!
• Batched RNG is now recommended to be used for scene loading in tasks to ensure CPU/GPU sims can generate the same exact objects/geometries/textures for a task when given the same list of seeds. Read https://maniskill.readthedocs.io/en/latest/user_guide/concepts/rng.html to learn more about the details
• Motion planning solutions have CPU parallelization options now
• Fix bug with point cloud data being scaled down twice
• Add a warning if you don't add initial poses to builders. This is strongly recommended to do now by overriding def _load_agent to initialize a robot pose and to set initial poses of other objects such that they don't intersect if they were to spawn at the initial poses. This is absolutely necessary for fast and accuracte GPU simulation, and fixes a number of issues with the open cabinet task.
• Major bug fixes with the RNG that were introduced in 3.0.0b11. Namely envs wouldn't randomize at all despite resets sometimes. Please upgrade to 3.0.0b12 instead of using b11.

What's Changed

• docs: update README.md by @eltociear in #594
• add missing 'sensor_data' handling in parse_visual_obs_mode_to_struct by @hesic73 in #606
• Update docs by @FarukhS52 in #614
• [BugFix] ControllerDict prevented before_simulation_step on child controllers by @RoboNuke in #613
• [Docs] Update docs on demonstrations and imitation learning by @StoneT2000 in #618
• [Docs] Fix Typos in docs by @VaibhavWakde52 in #622
• [BugFix] Agent registration not working when overriding a robot uid by @rechim25 in #623
• [Feature]: Add CPU multiprocessing for Panda Motionplanner's Trajecto… by @chenyenru in #611
• [Feature] Habitat Rearrange tasks + Bug fixes use due to bad default initial poses by @arth-shukla in #529
• [BugFix] Add error handling for Panda's Motionplanner by @chenyenru in #627
• [Feature] Reproducible batched RNG support, fix state representations of various tasks by @StoneT2000 in #619
• [BugFix] Fix OpenCabinetDrawer-v1 by @StoneT2000 in #630
• [BugFix] Fix bug in SAC code and remove some old code in RL examples by @StoneT2000 in #639
• [Feature] Support the Robocasa scene dataset by @StoneT2000 in #648
• [(Small) Feature]: small build util changes, extra humanoid keyframes + attrs by @arth-shukla in #651
• [BugFix] Improve GPU sim speed and new docs on initial pose handling by @StoneT2000 in #655
• [BugFix]: improve perf for batched_rng by @arth-shukla in #656
• [BugFix] Fix bug where sometimes the same episode rng is given if reconfiguration freq is 1 but enhanced determinism is false and no seed is given by @StoneT2000 in #659

New Contributors

• @eltociear made their first contribution in #594
• @hesic73 made their first contribution in #606
• @FarukhS52 made their first contribution in #614
• @RoboNuke made their first contribution in #613
• @VaibhavWakde52 made their first contribution in #622
• @rechim25 made their first contribution in #623

Full Changelog: v3.0.0b10...v3.0.0b12