Task tuning #244
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Task tuning #244
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StoneT2000
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* v0.6.0 Alpha Release: Sapien 3 integration (#175) * version bump * copy code over * refactor xmate3 * Update xmate3.py * Changed Replay Trajectory to add options to record rewards as well as specify reward mode (#177) * Added reward mode argument and record rewards argument to replay trajectory * Fixed an error --------- Co-authored-by: Arnav G <[email protected]> Co-authored-by: Stone Tao <[email protected]> * merge in refactor and updates for utils * merge in changes for trajectory * merge new examples * merge new env code, refactors + new scene builder api * merge new agents code * merge code for new assets, floors etc. * Update __init__.py * Delete README.md --------- Co-authored-by: Arnav G <[email protected]> Co-authored-by: Arnav G <[email protected]> * bump version and remove old requirements.txt file * merge updates (#183) - fix bug where some files were missing for franka for motion planning code - fix bug that required user to have ai2 assets - update floor tiles * fix bug with scene demos * version bump * Update README.md * merge updates * Added decision transformer implementation to baseline (#180) * copy over ms3 code * fix pick cube task reward * code format * fix bug with to_tensor * fix bug with to_tensor calls * Fetch mobile (#188) * Progress: Fetch mobile base * fix * fix * unfinished: integrate into gpu sim stuff * Fix: gpu sim compatibility issues * Fix: fetch sensor cfg * Fix: pd_ee_pose controller ik, env step cpu sim output, utils, fetch pose * Fix: fetch is_grasping cpu sim * code formatting * fix a few a number of environments and tests (#190) * fix a few envs, mark pick clutter as to be fixed in the future. * code refactor * fix some batching code, only reset and step return numpy on cpu mode * format code * code formatting * remove a lot of unused variables * gpu end effector control + various bug fixes (#191) * update template * add minimal pick cube task with "task sheet" * task sheets * init * fix some bugs * auto batch actions before processing * init * work * bug fix * Update visual_all_envs_cpu.py * code golfing * Update sapien_env.py * update some tests * Update vec_env.py * formatting * Squashed commit of the following: commit 27101d4bdc4bd98451ed38d209045b36794288a9 Author: Stone Tao <[email protected]> Date: Tue Jan 23 18:12:03 2024 -0800 fix some bugs with fetch * fix bug with ee pose controller for panda * Fix: pd_base_vel action expected Float not Double * Trivial: table scene builder height and width * Tasks remake for GPU sim (#192) * work * sac impl * update template * add minimal pick cube task with "task sheet" * task sheets * work * work * work * fix templates * using torch rng * use torch rng * batched uniform sampler, stack cube v1 task * fix bugs with scene masking, merge_actors function * Update pick_single_ycb.py * Update pick_single_ycb.py * bug fixes * stack cube task bug fix * refactor, appending hidden_objects list allows handling of hiding e.g. goal sites * WIP work * Revert "WIP work" This reverts commit 9a6710f. * quick fix: table dims in scene builder * Tasks remake (#195) * work * sac impl * update template * add minimal pick cube task with "task sheet" * task sheets * work * work * work * fix templates * using torch rng * use torch rng * batched uniform sampler, stack cube v1 task * fix bugs with scene masking, merge_actors function * Update pick_single_ycb.py * Update pick_single_ycb.py * bug fixes * stack cube task bug fix * refactor, appending hidden_objects list allows handling of hiding e.g. goal sites * WIP work * Revert "WIP work" This reverts commit 9a6710f. * Revert "Revert "WIP work"" This reverts commit dcb3a5f. * refactor some code, cache some properties, batch some properties * fix naming of joints and links to also be prepended by scene-{i} * bug fixes. Disable some functionality via a ._merged bool * disable hand camera on panda (people should use the real sense panda config * fix some setters * work * cache property for body data indices, it is now auto computed for user * work * change default value for static as resting objects still have a minor amount of angular rotation at times * code updates * decorator to assert error when gpu is initialized for calling functions user should not call. * Update actor.py * bug fixes * work * new utility functions for getting desired meshes, fixed goal site place * performance improvements, swap obs and info * Update __init__.py * Update articulation.py * Update pick_single_ycb.py * update documentation * tuned max episode steps for faster PPO * use memory leak free new sapien and new buffer access api, fix controller reconfigure * bug fixes, new tests * test * more bug fixes * work * add velocity target control gpu support. perf improvements for indexing articulation related things. Fix some bugs * Update base_controller.py * fix collision setting bugs * apply vel * fix self collision bugs * fix gymnasium vector env wrapper to ignore the timelimit wrapper * clean up * fixes * linkmerging * bug fix * work * better camera angles * work * bug fixes * code clean up with new wrappers * Fix: pick cube get_obs_extra pass info * Fix: fetch is_static * Benchmarking code (#198) * cleaner benchmarking code * code init * Update benchmark_cpu_sim.py * Update benchmark_gpu_sim.py * basic profiler * update benchmark code * code update * Update README.md * Fix: fetch is_static --------- Co-authored-by: arth-shukla <[email protected]> * Code cleanup (#197) * cleanup * remove old tasks * cleanup * refactor * work * more tests * fix tests * visual-encoders (#199) * First commit of VisualEncoder Add necessary files * Try to deal with ConnectionResetError by changing wrappers location * Change wrappers * Removed tyro * Change filename to lowercase * work and add tests * Delete ppo_liftcube_VisualEncoder.py * fixes --------- Co-authored-by: itsygao <[email protected]> Co-authored-by: ygaoproj <[email protected]> * faster benchmark results, new sapien * bug fix * Fix build_actor_ai2 Actor * fix bug in cpu sim with init_raw_obs * refactor some names from render_cameras to render_human_cameras and cameras to sensors * Fix: fetch init * Fix: fetch action space normed to -1 to 1 * Expand sensor api properly and refactor code to use it (#201) * new tests, mark gpu tests, rework sensor api * renaming * new test * code clean up * docs * Update sapien_env.py * refator more code. Observation processing code only delete sensor data that they replace now. * bug fix with human renderer * fetch torso link * Multirobot support + basic tasks (#202) * multi robot support * work * Update two_robot_stack_cube.py * finish task obs and reward * reward, fixes * bug fixes * refinement * Update pick_cube.py * better camera angles * fix int issue * work * Update two_robot_stack_cube.py * work * robot support typing * better debugging camera * Update two_robot_stack_cube.py * work * Update ppo.py * add multi agent task tests * bug fix with SUPPORTED_ROBOTS attribute * Save benchmark data to csv (#203) * profiling code to csv * Update benchmark_gpu_sim.py * trivial pr: `cameras` render mode (#204) * Trivial: add cameras, renders both human cameras and agent sensors * Fix: cpu inverted colors bug * Remove cameras render mode * Reset by index (#205) * support partial resets and add test * adhere to gymnasium * support fail and success terminations and update docs * work * Update link.py * Settable default scene/memory configs + attempt at legged tasks + bug fixes (#206) * basic locomotion robot * work * bug fixes * work * work * Update articulation.py * bug fixes * tuned sim configs for some tasks * tuned scene configs for more tasks * work * Update benchmark_gpu_sim.py * Update sapien_env.py * bug fix with controller not resetting after each env reset, affecting e.g. joint delta pos controllers (#207) * fix controller not resetting to a initial state when env.reset is called... * Update pd_joint_pos.py * simplify code * fixes * use a lower memory configuration for all gpu sim tests * reset agent before episode initialization in case episode initialization will set other qpos/qvel/qf values * Update minimal_template.py * fetch reachable dist * update pick cube mp solution * work * init code * Update interactive_teleop.py * fix rt rendering * Fixed bug for resetting elapsed steps (#211) * fix some bugs with interactive panda tele-op and recording epsiodes and state get/set (#210) * fix state setting. * Update record.py * work * Update record.py * wip * buyg fixes and work * bug fixes * bug fixes * work * Update interactive_teleop.py * Update pick_single_ycb.py * reduce verbosity * add batched timelimit wrapper only for gpu sim envs. Otherwise use gymnasium CPU one. * Update registration.py * use make_vec api? and avoid timelimit wrapper type issues * bug fixes * fix tests * Update test_gpu_envs.py * bug fixes * Update ppo.py * bug fixes * fix bug where gymnasium vecenv wrapper would mess up success indicators and now gymnasium vecenv wrapper will auto find max episode steps value * Fix: clone() on int in cpu sim * Net force (#213) * new package * add net force tensor for a body * net forces for multiple links on articulation * work * Update README.md * Update xmate3.py * update sapien version * bug fixes with gpu ppo + partial resets (#215) * partial reset + rookie implementations * Update ppo.py * Update README.md * New task: DClaw Valve Rotating (#214) * add: add dclaw rotating task * ref: resolve todo * fix: fix partial reset bug and make the environment much simpler for level 0 * work (#216) * Fix: update render_human camera pos each render (e.g. when mounted to moving object) * Baselines diffusion policy (#196) * init diff policy baseline * added training script and readme * Finished diffusion policy baseline * corrected jupyter notebook * formatted notebook * lowercase --------- Co-authored-by: Stone Tao <[email protected]> * fix bug where viewer camera was fixed in place to a sensor * fix bug where failure is not used for termination * bug fix with adding mounted cameras * GPU Simulated Scenes, New more organized asset locations (#217) * Fix: some scene manip env issues * Better fetch cameras * Fix: disable collisions only on fetch wheels * Fix: fetch grapsing retval * Progress: updates to scene-related classes/envs * Fix: ai2thor scene builder set poses in initialize() * Fix: ai2thor fetch scene builder ground collisions * Fix: ai2 sb don't reconfigure by default * Fix: sb load_actors instead of load_agents * Trivial: add fetch resting qpos as attr * Fix: pick_object scene pose setting * Fix: renderer follows camera * Fix: options is None * Fix: fetch body delta pos controller * Fix: record wrapper options=None by default * Progress: support for loading navigable positions * Progress: update base scene builder w/ DexM3 version * Trivial: add arm camera, more "working" coacd objects * minor ai2 sb changes * Trivial: port over everything needed for scene manip testing * bigger place reward * Fix: keep x/y/zrot qvel in obs * Try tune reward * scale place reward more * Try lessen place rew * work * work * add bug fix * Create scene_gpu.py * Update sequential_task.py * temp code * make more objects static * base empty scene manipulation env * work * work * tests * work * more work * modify benchmark code to support cpu and gpu sim tests * add lighting? * work * articulations * work * Update scene_builder.py * new dataset location * fix for new dataset paths for some tasks, remove old tasks * remove scene tasks as they are not done * work * work * fixes * change some defaults --------- Co-authored-by: arth-shukla <[email protected]> * Fix actor show/hide visual gpu sim (#221) * Fix: actor show/hide visual not working on gpu sim * Fix: by default hidden poses hidden * bug fix * Fix: setter and getter for actor.pose returns before_hide_pose if hidden, Fix: render human also sets _hidden_objs to hidden when doen rendering * Unit test + fix for hide/show visual --------- Co-authored-by: StoneT2000 <[email protected]> * New docs (#220) * work * Update setup.py * lots of docs * work * new theme and work * readthedocs * work * bug fix * fix * work * new task: in hand rotating in_hand_task (#219) * fix bug where articulation get net contact forces was oriented wrong despite having right shape * Fix: fetch in TableSceneBuilder * New trajectory format and bug fixes (#222) * work * work? * bug fixes and support new state dict format, reduce robot name verbosity * Update pick_cube.py * Update test_gpu_envs.py * Update test_gpu_envs.py * bug fix with setting before hide poses * bug fixes * work * work * fix a bunch of bugs * fix batching for scalar values * Update benchmark_maniskill.py * bug fix * add more useful print for ppo * fix bug where controller reset did nothandle partial reset correctly and new tests * bug fixes * bug fix with set state dict where merged actor didnt have the right new name and other bugs * bug fix to handle both single and multiple envs * bug fixes with formatting * Update record.py * sapien upgrade * Update sapien_utils.py * work * fix default value of gravity issue caused by newer python verisons * Robot and scene builder registration and all env testing and temporarily removing old envs (#224) * work * unregister envs that are not meant to be run by themselves * bug fixes * bug fixes * Update record.py * Update README.md * remove old code, register another scene * typings * make scene builder api consistent * Update table_scene_builder.py * Packaging and import fixing (#225) * add lots of init py files * new imports 1 * more * work * work * work * fixes * Update setup.py * remove circular import errors? * support a default sim configuration choice * use dacite package to fix nested dataclasses and typecheck the sim configs * Update sapien_env.py * More ms3 docs (#227) * use shared version in docs and pip * work * support upload videos in docs * work * Update .gitignore * docs * Update teleoperation.md * work * work * docs, move some code around * Update quickstart.md * some benchmarking results * new theme with better github support * examples * Update teleoperation.md * docs * work * Update custom_tasks.md * work * Update sapien_env.py * work * more docs * work * fix rtd * Update conf.py * temp fix for videos on rtc * New packaging (#228) * work * www * updates * Update setup.py * renaming a lot * work * Update publish-to-pypi.yml * Bug fixes releases (#229) * work * more docs, change far for cameras * Fix: circular import from table scene builder * Mp work (#230) * motion planning demos * work * Update motionplanning.md * work * work * work * examples * Update interactive_panda.py * remove old TODOs * Update setup.py * Update types.py * docs * Datasets+replay fix gpu camera matrices (#231) * Update index.md * raise user warning about registering with types * Update README.md * Update README.md * disable target ee control mode due to bug atm, fix up replay trajectories * clean up code * www * Update observations.py * rgb option and work and bug fixes * lots of bug fixes * docs, small optimization to cache matrices * work * dataset documentation and some refactoring * nice documentation and figures and bug fix * Update panda.py * more documentation on advanced featureas * more docs * typos * more typo fixes * code refactoring to simplify maniskill lifecycle (#232) * refactor: reconfigure -> _reconfigure. Add _after_reconfigure() function for use cases like mobile manip. pick task * refactor: _load_actors -> _load_scene. Deprecate _load_articulations in favor of user self organization in their code * refactor _setup_lighting -> _load_lighting. better docs * Update sapien_env.py * docs * multiple refactors (#233) * refactoring * bug fixes * refactor: _register_* to _sensor_configs property * refactoring default sim cfg * consistency work * consistent namings * bump and include .stl files for mplib * bug fixes * Update setup.py * Pull cube and Lift peg tasks with demo videos (#234) * pull cube and lift peg tasks * pull cube and lift peg tasks * More docs (#235) * Update README.md * refactoring * refactor the new tasks * fix tasks, add more docs on tasks * new diagrams and work * temporarily remove not up to date code * Update installation.md * Update Dockerfile * fix typos in docs * new sapien package without mem leak * More demos more docs (#236) * Create contact_pair_impulse_test.py * fixes * Update setup.py * work * work * Update download_asset.py * bug fix with table scene builder * Update demo_vis_pcd.py * fix bug where deepcopy will track internal dict references that broke parse urdf config * Add back some old tasks and bug fixes (#237) * bug fix, upgrade realsense panda arm with actual real sense camera mesh * work * bug fix for episode recording * bug fixes, reward mode none supported * version bump fixes: - extrinsic camera matrix was None, broke some visual observations - improved panda + camera model - bug where gpu sim used with 1 parallel env has broken visual data processing code - bug where save video did not save separate videos on CPU sim. changes: - add back peg insertion side task (but without dense reward as its not easy to batch) * Update observations.py * Update installation.md * fix demo name * AssemblingKits-v1 on gpu, update docs and more consistent video names (#239) * work * use scene_idxs as opposed to scene_mask for faster loading, for loops are too slow * Update assembling_kits.py * bug fixes * work * updated documentation on scene_idxs (faster than scene_masks) * partially support mimic joints (#238) * partially support mimic joints * Update articulation_builder.py --------- Co-authored-by: StoneT2000 <[email protected]> * fix warning consistency * camera randomization tutorial/vectorized camera poses and some refactoring (#240) * vectorized camera poses and refactor camera config * bug fixes * fixes * documentation * Update domain_randomization.md * Update domain_randomization.md * better naming * refactoring some code * a * Refactor scene mask to scene idxs (#242) * move out scene masks in favor of scene idxs * Update link.py * Update custom_tasks_advanced.md * bug fix where could not mount camera on actor and docs * dev4 version bump + fix bug with human render camera global pose * typo * work * fix typos * Refactor to provide options in load and initialize related functions (#243) * work * Update custom_tasks.md * update documentation for new features, evaluate and get obs extra are optional now * Added ppo partial reset arg (#241) * Added ppo-partial reset arg * Changed eval envs to also have a partial reset arg * Fixed bug * require actors/articulations built to have unique names * Task tuning (#244) * tuning * Update README.md * Update assembling_kits.py * Update ppo.py * update docs to clarify the gymnasium wrapper implementation reasons * Update setup.py * fix bug with pcd demo * Fix: replicacad static obj poses * Fix: replicacad pose issues * Use fast kinematics library now for IK * moving demos to hugging face and small change in demo storage structure. * Created using Colaboratory * Update setup.py * move tutorial to right location * fix demo manual control, hardcoded for fetch for now, and fix render functions returning batched images when there is only one environment * support (batched) intrinsics in camera config and bug fix with demo manual control * bug fix with ordering in dataclass * set some defaults for camera cfg and fix ordering bug for some tasks * Update setup.py * Update README.md * bug fix with typings for python 3.11 * update docs * Batched drives, hide not ready functions, improved typing of structs, some bug fixes for unregistered envs (#248) * support using different drive mode in the joint position controller * refactoring * work * w * w * fix typings * w * w * version bump * Created using Colaboratory * move draft tutorial * docs on how to contribute tasks (#250) * add * w * docs * work * work * Rotate Cube Task using Trifingerpro robot (#249) * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * Fix pd ee pose for non panda robots, name refactors to be more explicit, and links have references to their joints (#253) * save joint reference in links * some code refactor, gpu sim ee control for other robots should be working now * Pick clutter task (GPU) (#254) * init * Update pick_clutter_ycb.py * fix bug with reset mask * support more indexing options for Pose, actor_views and articulation_views, pick clutter task work, bug fix with pd_ee_pose controller * return in reset info whether we reconfigure, necessary to know in order to determine when to delete trajectory buffer in record wrapper * Update actor.py * Update sapien_env.py * Update pick_clutter_ycb.py * docs * Update pick_clutter_ycb.py * fix bug with rotate cube task requiring pytorch kinematics library * Update articulation.py * Fix doc typos and refactor some old links/names (#255) * updates to docs * refactorings * remove old code and fix circular import bugs with register envs utility * sapien.physx -> physx for consistency and fix typings * support evaluation options for PPO baseline code, remove old videos, refactor force_use_gpu_sim to sim_backend, bug fix where seed was null in saved trajectory jsons * improved docs w.r.t installation * versioin bump * Fix RotateCubeLevel1 Rotation Init Error (#256) * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * Peg insertion side batched dense reward, simplify utilities code and refactoring (#259) * init * clean up utility functions, refactoring some out into new files * merge conflicts, refactoring * simplify imports * refactorings * Update sapien_utils.py * modify tutorial tasks to always include the common utilities module * Update sapien_utils.py * fix circular import errors * bug fix with index_dict_array, affecting record episode wrapper * more flexible pose setting for merged actors/articulation views on CPU (#260) * support setting pose on a view of actors in CPU sim, add device property to pose struct * flexible pose setting for links as well * Clamp and normalize reward of RotateCubeEnv (#261) * support controllers configuring balance_passive_force (#263) * version bump * typo fix in template robot file * Fix memory leaks caused by bad cache for visual obs modes, fix printing of actors/articulations in pdb modes, clear sim state after reconfigures (#264) * fix cpu sim mem leak with visual obs and constant reconfiguring * more fixes * remove old code * Update mem_leak_test.py * version bump * Fix camera not accepting intrinsic argument, small refactor of add_camera API, and add peg insertion to test matrices (#267) * work * add peg insertion side to test matrices * Update test_gpu_envs.py * fix asset download for ReplicaCAD / hf repo datasets (to be moved in the future) * Add segmentation data w/ docs + demos, fix replay trajectory test, change OrderedDict to dict in some places (#270) * work * fix replay trajectory tests to use new directory * Update test_replay_trajectory.py * Update test_replay_trajectory.py * deprecate env.get_actors and env.get_articulations. * demo code * fix demo code * Update observation.md * Update sapien_env.py * Update sapien_env.py * version bump * fix fast_kinematics version as latest one may be buggy as its in beta * fix bug where extrinsic matrix was incorrectly cached when there is a mount * Update render_camera.py * add appropriate tests * fix tests * Fix: use physx.is_gpu_enabled() instead of self.num_envs > 1 (#272) * MJCF Loader for SAPIEN/ManiSkill and example CartPole task from DM Control, New QoL features for joints (#273) * move controller config setup after articulation is loaded for robots to give user access to active joints easily * change fix_root_link to be a agent property * work * work * fixes * Update mjcf_loader.py * work * code cleanup, use joint pos correctly * work * fixes * work * a1 loading test * Update _mjcf_loader.py * support loading other objects in xml * cartpole task implemented from xml * cart pole task, fetch qpos by joint * work * docs * fix controllers, use disable gravity to balance passive forces on CPU and GPU. * Update sapien_env.py * more runtime errors * tuned ppo for cartpole * some minor fixes * cart pole video demo * docs * H1 robot (#275) * work * cleaner code * init * fix urdf mesh paths * provide a typical "standing" keyframe * fix a few files * some useful scripts * work * new envs, simplified contact version of h1 robot * work * Tutorial on how to add robots (#276) * work * cleaner code * work * work * Update custom_robots.md * Update custom_robots.md * Update controllers.md * Code refactor for better naming (#277) * default_sim_cfg -> default_sim_config to follow semantics of other code * _sensor_configs->_default_sensor_configs, _human_render_camera_configs->_default_human_render_camera_configs * remove _parsed * remove OrderedDict in favor of dict and removing old code * Update docker to ms3 (#281) * auto install maniskill, torch, and physx, nicer error message * Update docker.md * Update docker.md * a lot new merged code, reorganized articulation building from datasetzs * bug fixes for open cabinet task * update rotate valve task to use new link merge API * bug fix where there were way too many contacts on gpu sim * ManiSkill2 -> ManiSkill rebranding, remove some old baselines temporarily * Fix open cabinet task and add it back, fix init state of peg insertion, new demo to visualize initial state distributions (#283) * ww * fix partnet asset downloads * trigger link pose updates when getting collision meshes * improvements * support video trigger saving for training video saving like gymnasium, * fixes * fix fetch not using the correct friction due to wrong link names * Update open_cabinet_drawer.py * work * quick reset init dist script and modify init state of cabinet task * better code peg insertion, use same init distribution for open cabinet drawer task * random sample target link during reconfiguration, drawer task, use numpy for object randomization * Ppo rgb baseline (#285) * flatten rgbd obs mode wrapper * Update flatten.py * rgb baseline * bug fixes * work * changes * fix target kl breaking too late * results * fixes * Update flatten.py * work * record better metrics, bug fixes * Update README.md * eval visual rl policy * finalize code * fixes * work * Cabinet fix (#286) * bug fix * ww * Update open_cabinet_drawer.py * update links dev->main * Update conf.py * Update README.md * remove old comment and assert about actor merges * Final cleanup (#288) * temporarily remove not yet updated warp code an fix peg insertion motion plan sol * refactor where table top tasks live * Update download_asset.py * register a easy version of the FMB task * Update fmb.py * Update run.py --------- Co-authored-by: Arnav G <[email protected]> Co-authored-by: Arnav G <[email protected]> Co-authored-by: arth-shukla <[email protected]> Co-authored-by: itsygao <[email protected]> Co-authored-by: ygaoproj <[email protected]> Co-authored-by: Yuzhe Qin <[email protected]> Co-authored-by: smtrived <[email protected]> Co-authored-by: Fanbo Xiang <[email protected]> Co-authored-by: Chen Bao <[email protected]> Co-authored-by: Chen Bao <[email protected]>
StoneT2000
added a commit
that referenced
this pull request
Apr 26, 2024
* v0.6.0 Alpha Release: Sapien 3 integration (#175) * version bump * copy code over * refactor xmate3 * Update xmate3.py * Changed Replay Trajectory to add options to record rewards as well as specify reward mode (#177) * Added reward mode argument and record rewards argument to replay trajectory * Fixed an error --------- Co-authored-by: Arnav G <[email protected]> Co-authored-by: Stone Tao <[email protected]> * merge in refactor and updates for utils * merge in changes for trajectory * merge new examples * merge new env code, refactors + new scene builder api * merge new agents code * merge code for new assets, floors etc. * Update __init__.py * Delete README.md --------- Co-authored-by: Arnav G <[email protected]> Co-authored-by: Arnav G <[email protected]> * bump version and remove old requirements.txt file * merge updates (#183) - fix bug where some files were missing for franka for motion planning code - fix bug that required user to have ai2 assets - update floor tiles * fix bug with scene demos * version bump * Update README.md * merge updates * Added decision transformer implementation to baseline (#180) * copy over ms3 code * fix pick cube task reward * code format * fix bug with to_tensor * fix bug with to_tensor calls * Fetch mobile (#188) * Progress: Fetch mobile base * fix * fix * unfinished: integrate into gpu sim stuff * Fix: gpu sim compatibility issues * Fix: fetch sensor cfg * Fix: pd_ee_pose controller ik, env step cpu sim output, utils, fetch pose * Fix: fetch is_grasping cpu sim * code formatting * fix a few a number of environments and tests (#190) * fix a few envs, mark pick clutter as to be fixed in the future. * code refactor * fix some batching code, only reset and step return numpy on cpu mode * format code * code formatting * remove a lot of unused variables * gpu end effector control + various bug fixes (#191) * update template * add minimal pick cube task with "task sheet" * task sheets * init * fix some bugs * auto batch actions before processing * init * work * bug fix * Update visual_all_envs_cpu.py * code golfing * Update sapien_env.py * update some tests * Update vec_env.py * formatting * Squashed commit of the following: commit 27101d4bdc4bd98451ed38d209045b36794288a9 Author: Stone Tao <[email protected]> Date: Tue Jan 23 18:12:03 2024 -0800 fix some bugs with fetch * fix bug with ee pose controller for panda * Fix: pd_base_vel action expected Float not Double * Trivial: table scene builder height and width * Tasks remake for GPU sim (#192) * work * sac impl * update template * add minimal pick cube task with "task sheet" * task sheets * work * work * work * fix templates * using torch rng * use torch rng * batched uniform sampler, stack cube v1 task * fix bugs with scene masking, merge_actors function * Update pick_single_ycb.py * Update pick_single_ycb.py * bug fixes * stack cube task bug fix * refactor, appending hidden_objects list allows handling of hiding e.g. goal sites * WIP work * Revert "WIP work" This reverts commit 9a6710f. * quick fix: table dims in scene builder * Tasks remake (#195) * work * sac impl * update template * add minimal pick cube task with "task sheet" * task sheets * work * work * work * fix templates * using torch rng * use torch rng * batched uniform sampler, stack cube v1 task * fix bugs with scene masking, merge_actors function * Update pick_single_ycb.py * Update pick_single_ycb.py * bug fixes * stack cube task bug fix * refactor, appending hidden_objects list allows handling of hiding e.g. goal sites * WIP work * Revert "WIP work" This reverts commit 9a6710f. * Revert "Revert "WIP work"" This reverts commit dcb3a5f. * refactor some code, cache some properties, batch some properties * fix naming of joints and links to also be prepended by scene-{i} * bug fixes. Disable some functionality via a ._merged bool * disable hand camera on panda (people should use the real sense panda config * fix some setters * work * cache property for body data indices, it is now auto computed for user * work * change default value for static as resting objects still have a minor amount of angular rotation at times * code updates * decorator to assert error when gpu is initialized for calling functions user should not call. * Update actor.py * bug fixes * work * new utility functions for getting desired meshes, fixed goal site place * performance improvements, swap obs and info * Update __init__.py * Update articulation.py * Update pick_single_ycb.py * update documentation * tuned max episode steps for faster PPO * use memory leak free new sapien and new buffer access api, fix controller reconfigure * bug fixes, new tests * test * more bug fixes * work * add velocity target control gpu support. perf improvements for indexing articulation related things. Fix some bugs * Update base_controller.py * fix collision setting bugs * apply vel * fix self collision bugs * fix gymnasium vector env wrapper to ignore the timelimit wrapper * clean up * fixes * linkmerging * bug fix * work * better camera angles * work * bug fixes * code clean up with new wrappers * Fix: pick cube get_obs_extra pass info * Fix: fetch is_static * Benchmarking code (#198) * cleaner benchmarking code * code init * Update benchmark_cpu_sim.py * Update benchmark_gpu_sim.py * basic profiler * update benchmark code * code update * Update README.md * Fix: fetch is_static --------- Co-authored-by: arth-shukla <[email protected]> * Code cleanup (#197) * cleanup * remove old tasks * cleanup * refactor * work * more tests * fix tests * visual-encoders (#199) * First commit of VisualEncoder Add necessary files * Try to deal with ConnectionResetError by changing wrappers location * Change wrappers * Removed tyro * Change filename to lowercase * work and add tests * Delete ppo_liftcube_VisualEncoder.py * fixes --------- Co-authored-by: itsygao <[email protected]> Co-authored-by: ygaoproj <[email protected]> * faster benchmark results, new sapien * bug fix * Fix build_actor_ai2 Actor * fix bug in cpu sim with init_raw_obs * refactor some names from render_cameras to render_human_cameras and cameras to sensors * Fix: fetch init * Fix: fetch action space normed to -1 to 1 * Expand sensor api properly and refactor code to use it (#201) * new tests, mark gpu tests, rework sensor api * renaming * new test * code clean up * docs * Update sapien_env.py * refator more code. Observation processing code only delete sensor data that they replace now. * bug fix with human renderer * fetch torso link * Multirobot support + basic tasks (#202) * multi robot support * work * Update two_robot_stack_cube.py * finish task obs and reward * reward, fixes * bug fixes * refinement * Update pick_cube.py * better camera angles * fix int issue * work * Update two_robot_stack_cube.py * work * robot support typing * better debugging camera * Update two_robot_stack_cube.py * work * Update ppo.py * add multi agent task tests * bug fix with SUPPORTED_ROBOTS attribute * Save benchmark data to csv (#203) * profiling code to csv * Update benchmark_gpu_sim.py * trivial pr: `cameras` render mode (#204) * Trivial: add cameras, renders both human cameras and agent sensors * Fix: cpu inverted colors bug * Remove cameras render mode * Reset by index (#205) * support partial resets and add test * adhere to gymnasium * support fail and success terminations and update docs * work * Update link.py * Settable default scene/memory configs + attempt at legged tasks + bug fixes (#206) * basic locomotion robot * work * bug fixes * work * work * Update articulation.py * bug fixes * tuned sim configs for some tasks * tuned scene configs for more tasks * work * Update benchmark_gpu_sim.py * Update sapien_env.py * bug fix with controller not resetting after each env reset, affecting e.g. joint delta pos controllers (#207) * fix controller not resetting to a initial state when env.reset is called... * Update pd_joint_pos.py * simplify code * fixes * use a lower memory configuration for all gpu sim tests * reset agent before episode initialization in case episode initialization will set other qpos/qvel/qf values * Update minimal_template.py * fetch reachable dist * update pick cube mp solution * work * init code * Update interactive_teleop.py * fix rt rendering * Fixed bug for resetting elapsed steps (#211) * fix some bugs with interactive panda tele-op and recording epsiodes and state get/set (#210) * fix state setting. * Update record.py * work * Update record.py * wip * buyg fixes and work * bug fixes * bug fixes * work * Update interactive_teleop.py * Update pick_single_ycb.py * reduce verbosity * add batched timelimit wrapper only for gpu sim envs. Otherwise use gymnasium CPU one. * Update registration.py * use make_vec api? and avoid timelimit wrapper type issues * bug fixes * fix tests * Update test_gpu_envs.py * bug fixes * Update ppo.py * bug fixes * fix bug where gymnasium vecenv wrapper would mess up success indicators and now gymnasium vecenv wrapper will auto find max episode steps value * Fix: clone() on int in cpu sim * Net force (#213) * new package * add net force tensor for a body * net forces for multiple links on articulation * work * Update README.md * Update xmate3.py * update sapien version * bug fixes with gpu ppo + partial resets (#215) * partial reset + rookie implementations * Update ppo.py * Update README.md * New task: DClaw Valve Rotating (#214) * add: add dclaw rotating task * ref: resolve todo * fix: fix partial reset bug and make the environment much simpler for level 0 * work (#216) * Fix: update render_human camera pos each render (e.g. when mounted to moving object) * Baselines diffusion policy (#196) * init diff policy baseline * added training script and readme * Finished diffusion policy baseline * corrected jupyter notebook * formatted notebook * lowercase --------- Co-authored-by: Stone Tao <[email protected]> * fix bug where viewer camera was fixed in place to a sensor * fix bug where failure is not used for termination * bug fix with adding mounted cameras * GPU Simulated Scenes, New more organized asset locations (#217) * Fix: some scene manip env issues * Better fetch cameras * Fix: disable collisions only on fetch wheels * Fix: fetch grapsing retval * Progress: updates to scene-related classes/envs * Fix: ai2thor scene builder set poses in initialize() * Fix: ai2thor fetch scene builder ground collisions * Fix: ai2 sb don't reconfigure by default * Fix: sb load_actors instead of load_agents * Trivial: add fetch resting qpos as attr * Fix: pick_object scene pose setting * Fix: renderer follows camera * Fix: options is None * Fix: fetch body delta pos controller * Fix: record wrapper options=None by default * Progress: support for loading navigable positions * Progress: update base scene builder w/ DexM3 version * Trivial: add arm camera, more "working" coacd objects * minor ai2 sb changes * Trivial: port over everything needed for scene manip testing * bigger place reward * Fix: keep x/y/zrot qvel in obs * Try tune reward * scale place reward more * Try lessen place rew * work * work * add bug fix * Create scene_gpu.py * Update sequential_task.py * temp code * make more objects static * base empty scene manipulation env * work * work * tests * work * more work * modify benchmark code to support cpu and gpu sim tests * add lighting? * work * articulations * work * Update scene_builder.py * new dataset location * fix for new dataset paths for some tasks, remove old tasks * remove scene tasks as they are not done * work * work * fixes * change some defaults --------- Co-authored-by: arth-shukla <[email protected]> * Fix actor show/hide visual gpu sim (#221) * Fix: actor show/hide visual not working on gpu sim * Fix: by default hidden poses hidden * bug fix * Fix: setter and getter for actor.pose returns before_hide_pose if hidden, Fix: render human also sets _hidden_objs to hidden when doen rendering * Unit test + fix for hide/show visual --------- Co-authored-by: StoneT2000 <[email protected]> * New docs (#220) * work * Update setup.py * lots of docs * work * new theme and work * readthedocs * work * bug fix * fix * work * new task: in hand rotating in_hand_task (#219) * fix bug where articulation get net contact forces was oriented wrong despite having right shape * Fix: fetch in TableSceneBuilder * New trajectory format and bug fixes (#222) * work * work? * bug fixes and support new state dict format, reduce robot name verbosity * Update pick_cube.py * Update test_gpu_envs.py * Update test_gpu_envs.py * bug fix with setting before hide poses * bug fixes * work * work * fix a bunch of bugs * fix batching for scalar values * Update benchmark_maniskill.py * bug fix * add more useful print for ppo * fix bug where controller reset did nothandle partial reset correctly and new tests * bug fixes * bug fix with set state dict where merged actor didnt have the right new name and other bugs * bug fix to handle both single and multiple envs * bug fixes with formatting * Update record.py * sapien upgrade * Update sapien_utils.py * work * fix default value of gravity issue caused by newer python verisons * Robot and scene builder registration and all env testing and temporarily removing old envs (#224) * work * unregister envs that are not meant to be run by themselves * bug fixes * bug fixes * Update record.py * Update README.md * remove old code, register another scene * typings * make scene builder api consistent * Update table_scene_builder.py * Packaging and import fixing (#225) * add lots of init py files * new imports 1 * more * work * work * work * fixes * Update setup.py * remove circular import errors? * support a default sim configuration choice * use dacite package to fix nested dataclasses and typecheck the sim configs * Update sapien_env.py * More ms3 docs (#227) * use shared version in docs and pip * work * support upload videos in docs * work * Update .gitignore * docs * Update teleoperation.md * work * work * docs, move some code around * Update quickstart.md * some benchmarking results * new theme with better github support * examples * Update teleoperation.md * docs * work * Update custom_tasks.md * work * Update sapien_env.py * work * more docs * work * fix rtd * Update conf.py * temp fix for videos on rtc * New packaging (#228) * work * www * updates * Update setup.py * renaming a lot * work * Update publish-to-pypi.yml * Bug fixes releases (#229) * work * more docs, change far for cameras * Fix: circular import from table scene builder * Mp work (#230) * motion planning demos * work * Update motionplanning.md * work * work * work * examples * Update interactive_panda.py * remove old TODOs * Update setup.py * Update types.py * docs * Datasets+replay fix gpu camera matrices (#231) * Update index.md * raise user warning about registering with types * Update README.md * Update README.md * disable target ee control mode due to bug atm, fix up replay trajectories * clean up code * www * Update observations.py * rgb option and work and bug fixes * lots of bug fixes * docs, small optimization to cache matrices * work * dataset documentation and some refactoring * nice documentation and figures and bug fix * Update panda.py * more documentation on advanced featureas * more docs * typos * more typo fixes * code refactoring to simplify maniskill lifecycle (#232) * refactor: reconfigure -> _reconfigure. Add _after_reconfigure() function for use cases like mobile manip. pick task * refactor: _load_actors -> _load_scene. Deprecate _load_articulations in favor of user self organization in their code * refactor _setup_lighting -> _load_lighting. better docs * Update sapien_env.py * docs * multiple refactors (#233) * refactoring * bug fixes * refactor: _register_* to _sensor_configs property * refactoring default sim cfg * consistency work * consistent namings * bump and include .stl files for mplib * bug fixes * Update setup.py * Pull cube and Lift peg tasks with demo videos (#234) * pull cube and lift peg tasks * pull cube and lift peg tasks * More docs (#235) * Update README.md * refactoring * refactor the new tasks * fix tasks, add more docs on tasks * new diagrams and work * temporarily remove not up to date code * Update installation.md * Update Dockerfile * fix typos in docs * new sapien package without mem leak * More demos more docs (#236) * Create contact_pair_impulse_test.py * fixes * Update setup.py * work * work * Update download_asset.py * bug fix with table scene builder * Update demo_vis_pcd.py * fix bug where deepcopy will track internal dict references that broke parse urdf config * Add back some old tasks and bug fixes (#237) * bug fix, upgrade realsense panda arm with actual real sense camera mesh * work * bug fix for episode recording * bug fixes, reward mode none supported * version bump fixes: - extrinsic camera matrix was None, broke some visual observations - improved panda + camera model - bug where gpu sim used with 1 parallel env has broken visual data processing code - bug where save video did not save separate videos on CPU sim. changes: - add back peg insertion side task (but without dense reward as its not easy to batch) * Update observations.py * Update installation.md * fix demo name * AssemblingKits-v1 on gpu, update docs and more consistent video names (#239) * work * use scene_idxs as opposed to scene_mask for faster loading, for loops are too slow * Update assembling_kits.py * bug fixes * work * updated documentation on scene_idxs (faster than scene_masks) * partially support mimic joints (#238) * partially support mimic joints * Update articulation_builder.py --------- Co-authored-by: StoneT2000 <[email protected]> * fix warning consistency * camera randomization tutorial/vectorized camera poses and some refactoring (#240) * vectorized camera poses and refactor camera config * bug fixes * fixes * documentation * Update domain_randomization.md * Update domain_randomization.md * better naming * refactoring some code * a * Refactor scene mask to scene idxs (#242) * move out scene masks in favor of scene idxs * Update link.py * Update custom_tasks_advanced.md * bug fix where could not mount camera on actor and docs * dev4 version bump + fix bug with human render camera global pose * typo * work * fix typos * Refactor to provide options in load and initialize related functions (#243) * work * Update custom_tasks.md * update documentation for new features, evaluate and get obs extra are optional now * Added ppo partial reset arg (#241) * Added ppo-partial reset arg * Changed eval envs to also have a partial reset arg * Fixed bug * require actors/articulations built to have unique names * Task tuning (#244) * tuning * Update README.md * Update assembling_kits.py * Update ppo.py * update docs to clarify the gymnasium wrapper implementation reasons * Update setup.py * fix bug with pcd demo * Fix: replicacad static obj poses * Fix: replicacad pose issues * Use fast kinematics library now for IK * moving demos to hugging face and small change in demo storage structure. * Created using Colaboratory * Update setup.py * move tutorial to right location * fix demo manual control, hardcoded for fetch for now, and fix render functions returning batched images when there is only one environment * support (batched) intrinsics in camera config and bug fix with demo manual control * bug fix with ordering in dataclass * set some defaults for camera cfg and fix ordering bug for some tasks * Update setup.py * Update README.md * bug fix with typings for python 3.11 * update docs * Batched drives, hide not ready functions, improved typing of structs, some bug fixes for unregistered envs (#248) * support using different drive mode in the joint position controller * refactoring * work * w * w * fix typings * w * w * version bump * Created using Colaboratory * move draft tutorial * docs on how to contribute tasks (#250) * add * w * docs * work * work * Rotate Cube Task using Trifingerpro robot (#249) * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * Fix pd ee pose for non panda robots, name refactors to be more explicit, and links have references to their joints (#253) * save joint reference in links * some code refactor, gpu sim ee control for other robots should be working now * Pick clutter task (GPU) (#254) * init * Update pick_clutter_ycb.py * fix bug with reset mask * support more indexing options for Pose, actor_views and articulation_views, pick clutter task work, bug fix with pd_ee_pose controller * return in reset info whether we reconfigure, necessary to know in order to determine when to delete trajectory buffer in record wrapper * Update actor.py * Update sapien_env.py * Update pick_clutter_ycb.py * docs * Update pick_clutter_ycb.py * fix bug with rotate cube task requiring pytorch kinematics library * Update articulation.py * Fix doc typos and refactor some old links/names (#255) * updates to docs * refactorings * remove old code and fix circular import bugs with register envs utility * sapien.physx -> physx for consistency and fix typings * support evaluation options for PPO baseline code, remove old videos, refactor force_use_gpu_sim to sim_backend, bug fix where seed was null in saved trajectory jsons * improved docs w.r.t installation * versioin bump * Fix RotateCubeLevel1 Rotation Init Error (#256) * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * update rotate_cube v1 * Peg insertion side batched dense reward, simplify utilities code and refactoring (#259) * init * clean up utility functions, refactoring some out into new files * merge conflicts, refactoring * simplify imports * refactorings * Update sapien_utils.py * modify tutorial tasks to always include the common utilities module * Update sapien_utils.py * fix circular import errors * bug fix with index_dict_array, affecting record episode wrapper * more flexible pose setting for merged actors/articulation views on CPU (#260) * support setting pose on a view of actors in CPU sim, add device property to pose struct * flexible pose setting for links as well * Clamp and normalize reward of RotateCubeEnv (#261) * support controllers configuring balance_passive_force (#263) * version bump * typo fix in template robot file * Fix memory leaks caused by bad cache for visual obs modes, fix printing of actors/articulations in pdb modes, clear sim state after reconfigures (#264) * fix cpu sim mem leak with visual obs and constant reconfiguring * more fixes * remove old code * Update mem_leak_test.py * version bump * Fix camera not accepting intrinsic argument, small refactor of add_camera API, and add peg insertion to test matrices (#267) * work * add peg insertion side to test matrices * Update test_gpu_envs.py * fix asset download for ReplicaCAD / hf repo datasets (to be moved in the future) * Add segmentation data w/ docs + demos, fix replay trajectory test, change OrderedDict to dict in some places (#270) * work * fix replay trajectory tests to use new directory * Update test_replay_trajectory.py * Update test_replay_trajectory.py * deprecate env.get_actors and env.get_articulations. * demo code * fix demo code * Update observation.md * Update sapien_env.py * Update sapien_env.py * version bump * fix fast_kinematics version as latest one may be buggy as its in beta * fix bug where extrinsic matrix was incorrectly cached when there is a mount * Update render_camera.py * add appropriate tests * fix tests * Fix: use physx.is_gpu_enabled() instead of self.num_envs > 1 (#272) * MJCF Loader for SAPIEN/ManiSkill and example CartPole task from DM Control, New QoL features for joints (#273) * move controller config setup after articulation is loaded for robots to give user access to active joints easily * change fix_root_link to be a agent property * work * work * fixes * Update mjcf_loader.py * work * code cleanup, use joint pos correctly * work * fixes * work * a1 loading test * Update _mjcf_loader.py * support loading other objects in xml * cartpole task implemented from xml * cart pole task, fetch qpos by joint * work * docs * fix controllers, use disable gravity to balance passive forces on CPU and GPU. * Update sapien_env.py * more runtime errors * tuned ppo for cartpole * some minor fixes * cart pole video demo * docs * H1 robot (#275) * work * cleaner code * init * fix urdf mesh paths * provide a typical "standing" keyframe * fix a few files * some useful scripts * work * new envs, simplified contact version of h1 robot * work * Tutorial on how to add robots (#276) * work * cleaner code * work * work * Update custom_robots.md * Update custom_robots.md * Update controllers.md * Code refactor for better naming (#277) * default_sim_cfg -> default_sim_config to follow semantics of other code * _sensor_configs->_default_sensor_configs, _human_render_camera_configs->_default_human_render_camera_configs * remove _parsed * remove OrderedDict in favor of dict and removing old code * fixing up anymal and refactoring * add friction to robot feet to let it stand easily, procedurally generated checkerboard * Update ground.py * tuning * work * Update anymal_c.py * refactor * update benchmarking code * work * tune joint limits for easy rl * use simplified collision mesh * work * revert * revert * revert * revert * revert * work * Delete floor_tiles_06_2k.glb --------- Co-authored-by: Arnav G <[email protected]> Co-authored-by: Arnav G <[email protected]> Co-authored-by: arth-shukla <[email protected]> Co-authored-by: itsygao <[email protected]> Co-authored-by: ygaoproj <[email protected]> Co-authored-by: Yuzhe Qin <[email protected]> Co-authored-by: smtrived <[email protected]> Co-authored-by: Fanbo Xiang <[email protected]> Co-authored-by: Chen Bao <[email protected]> Co-authored-by: Chen Bao <[email protected]>
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fix some sim configs for a few tasks
and faster PPO training for PickSingleYCB task