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@yuecideng yuecideng released this 06 Apr 15:34
· 234 commits to main since this release
v0.1.3
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EmbodiChain v0.1.3 Release Notes

Highlights

This release introduces multi-GPU RL training support, new simulation object types (cloth, grasp annotator), enhanced physics and action functor APIs, CLI improvements, and many bug fixes. For detail, please see below.

Breaking Changes

  • Articulation Default Drive: Changed articulation default drive type to none by @matafela in #210
  • Action Functor Modes: Added support for pre and post mode in action functor execution by @yuecideng in #183

New Features

  • Multi-GPU RL Training: Added support for multi-GPU training for reinforcement learning by @yangchen73 in #188
  • Cloth Object: Added cloth object simulation support by @matafela in #198
  • Grasp Annotator: Added grasp annotator for annotation pipeline by @matafela in #196
  • Mass Randomization: Added articulation mass randomization functor by @yuecideng in #219
  • Extra Observations: Added support for extra observations from gym_config by @yuecideng in #205
  • Asset Preview CLI: Added standalone asset preview script by @yuecideng in #207
  • CLI Entry Points: Added top-level CLI entry points for preview_asset and run_env by @yuecideng in #214
  • Configurable Data Roots: Added configurable data roots and asset download CLI by @yuecideng in #209

Bug Fixes

  • Aligned Pose: Fixed using bugs of the get_aligned_pose and _prepare_warpping function by @wuxinxin27 in #217
  • Gizmo API: Updated to new Gizmo API by @yuecideng in #213
  • Camera Recording: Fixed camera recording save on episode reset by @yuecideng in #208
  • Observation Manager: Fixed KeyError when add mode not present in observation_manager.active_functors by @yuecideng in #200
  • Video Saving: Fixed video saving bug for the first frame in data generation by @yuecideng in #199

Improvements

  • Physics Attributes: Enhanced physics attributes APIs and related functors by @yuecideng in #193
  • Contact Sensor: Improved contact sensor data buffer and added support for saving data to LeRobot dataset by @yuecideng in #197
  • Task Imports: Moved task env imports to tasks/__init__.py by @yuecideng in #212
  • ARX5 Asset: Updated ARX5 robot assets by @matafela in #192

Documentation

  • Functor Docs: Added hyperlinks and JSON config examples to functor docs by @yuecideng in #220
  • Contribution Guide: Updated env and robot contribution guide by @yuecideng in #194
  • PR Skill: Added PR skill for creating pull requests by @yuecideng in #201
  • Contributor: Added Lizhe Chen as a contributor by @ChenlizheMe in #195

Full Changelog: v0.1.2...v0.1.3

Contributors

matafela, yuecideng, and 3 other contributors
Assets 2
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