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v3.0.0b22

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@StoneT2000 StoneT2000 released this 05 Dec 09:27
· 22 commits to main since this release
v3.0.0b22
33967b9

What's Changed

  • Remove redundant num_actors definition by @Gamenot in #1056
  • [BugFix] Fix some NaN issues with physx backend for fixed tendon modelled robots. by @StoneT2000 in #1080
  • Update doc to use correct vulkan package on ubuntu by @akashsharma02 in #1086
  • [BugFix]: Fetch IK bug fix on GPU sim by @arth-shukla in #996
  • [BugFix] Register missing asset download IDs for the TurnFaucet task by @StoneT2000 in #1092
  • Add panda_wristcam support for Behavioral Cloning RGBD by @chenyenru in #814
  • [BugFix] Stop warnings for fetch robot mimic controller by @StoneT2000 in #1103
  • [Documentation] Update benchmark docs with new numbers and files by @StoneT2000 in #1104
  • [BUG] Removed empty dense reward function from PlugCharger-v1 by @jstmn in #1096
  • [Feature] Support the widowxai robot and provide RL baseline for cube picking, and update task docs by @hu-po in #904
  • [Feature] Sim2Real Tooling and Tutorials, LeRobot hardware support by @StoneT2000 in #942
  • [Feature] Support different robot colors / robot color domain randomization for SO100GraspCube sim2real by @StoneT2000 in #1132
  • [Feature] Support CPU simulation only and fallback options if usable device is not found for rendering by @StoneT2000 in #1133
  • [BugFix] Add fix for mac devices not being recognized as being capable of rendering by @StoneT2000 in #1137
  • Added ActionRepeatWrapper to wrappers imports by @AlexandreBrown in #1141
  • Fixed action repeat diagram not showing online by @AlexandreBrown in #1142
  • vectorenv: relax env type annotation to gymnasium.Env by @songyuc in #1144
  • [BugFix] fix bug with environments inheriting base digital twin env using certain rgb overlay mode not releasing memory by @StoneT2000 in #1158
  • Fix partial reset support for digital twin tasks by @zanghz21 in #1155
  • [BugFix] Unified get / set controller state function across multi agent and base agent, fix some issues with recording trajectories by @StoneT2000 in #1161
  • [Feature] support setting individual joint qpos values. by @StoneT2000 in #1162
  • Stackpyramid Task with Motionplanning Support by @chenyenru in #1088
  • [Feature] Add StackPyramid-v1 in motionplanning and il benchmark replay script by @chenyenru in #1172
  • Add clamping to [-1, 1] for avoid nans in matrix_to_euler conversion by @tylerlum in #1090
  • [Feature] Support set drive targets for individual joint by @StoneT2000 in #1180
  • [Feature] support more flexible link merging and update docs by @StoneT2000 in #1191
  • [BugFix] fix joint set/get of drive position/velocity targets by @StoneT2000 in #1192
  • Add mimic dictionary for xarm6_robotiq by @dwaitbhatt in #1199
  • [Feature] Cached resets, fix a few minor reset mask bugs, remove some default dict args by @StoneT2000 in #1203
  • [Docs] Fix the documentation around APIs by @StoneT2000 in #1204
  • [Feature] Sapien 3 new linux pkg by @StoneT2000 in #1194
  • [Feature] Better Multi-GPU Support by @StoneT2000 in #1160
  • fix: update root link retrieval by @lvjonok in #1212
  • CachedResetWrapper Bug Fix by @ywchoi02 in #1215
  • [BugFix] fix dof value in str representation of controllers by @StoneT2000 in #1226
  • Fix #1145: Remove unused class attribute cube_half_size by @songyuc in #1229
  • [Feature] Faster IK based controllers using levenberg-marqurdt and align pd ee pos controllers in gpu/cpu sims by @StoneT2000 in #1213
  • [Docs] Fix typo in domain randomization docs by @StoneT2000 in #1235
  • [BugFix] Fix SO100 default qpos and basic motion planning script by @StoneT2000 in #1242
  • [Bug Fix]Scene_Builder overriding with new registration by @tkj2022 in #1244
  • [Bug Fix] Fixed bug that caused drop in TDMPC2 evaluation performance by @t-sekai in #1240
  • [BugFix] Fix setters for root linear and angular velocities by @paLeziart in #1248
  • [BugFix] Update SAC baseline to have deterministic training runs by @StoneT2000 in #1258
  • Fix escape sequence warnings by @reeceomahoney in #1262
  • [Feature]: Teleop scripts for xarm6 and SO100 + creation of base_motionplanner to abstract out reptitive MP code by @cmcgartoll in #1245
  • [Docs] Licensing by @StoneT2000 in #1269
  • [BugFix] Fix joint pose by @StoneT2000 in #1270
  • [BugFix] Fix bug with cached reset wrapper with counting the number of cached resets for user defined reset states by @StoneT2000 in #1273
  • Add missing device=self.device in actor.py, base.py, link.py --- allows for torch.set_default_device("cuda") by @jstmn in #1278
  • Resolve #1283: correct example for vectorized eval on CPU by @sfetzel in #1289
  • fixed torch.from_numpy keyword arg in base.py by @eyerisshe in #1291
  • [Bugfix] Fix vector env shutdown: implement close_extras in ManiSkillVectorEnv (prevents double-close at teardown) by @skyswordw in #1281
  • [Feature] Relax numpy requirement to permit numpy > 2.0 by @StoneT2000 in #1268
  • [Feature] Add new dextrous hand tasks, more floating dextrous hand examples, support optionally saving during env resets for record episode wrapper by @liuyulinn in #1297
  • [BugFix] fix bug with replay trajectory assuming sim config has some keys by @StoneT2000 in #1306
  • [Feature] Fix all old typings that used typings package and replace with built-ins by @StoneT2000 in #1307
  • Add missing self.device arguments by @jstmn in #1305
  • fix issue #1304 - change default task robot by @liuyulinn in #1310
  • [BugFix] Fix InsertFlower-v1 task to be gpu sim compatible by @StoneT2000 in #1311
  • Fix typo: 'unecesary' → 'unnecessary' in BaseEnv docstring by @songyuc in #1312
  • Fix article: 'a object' → 'an object' in simulation_101.md by @songyuc in #1314
  • [Docs] Fix hopper hop success conditions by @Arleee1 in #1322
  • Adding XLeRobot as officially supported robot by @Vector-Wangel in #1293
  • [BugFix] Replace deprecated pynvml with nvidia-ml-py by @skyswordw in #1316
  • fix missing right bracket by @sszxc in #1332
  • Add ManiSkill to LeRobot dataset converter by @dancher00 in #1174
  • [Feature] Update demo robot script to use tyro by @StoneT2000 in #1339
  • fix: correct torch device creation to use specified CUDA device ID by @fffffq00 in #1346

New Contributors

Full Changelog: v3.0.0b21...v3.0.0b22

Contributors

sfetzel, akashsharma02, and 26 other contributors
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