Initial ManiSkill 3 merge into main branch #287
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StoneT2000
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Apr 25, 2024
StoneT2000
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- Too many changes to count. Will post a large summary on the documentation later.
* 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]>
- 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
* 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
* 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
* 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
commit 27101d4bdc4bd98451ed38d209045b36794288a9 Author: Stone Tao <[email protected]> Date: Tue Jan 23 18:12:03 2024 -0800 fix some bugs with fetch
* 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.
* 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
* 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]>
* cleanup * remove old tasks * cleanup * refactor * work * more tests * fix tests
* 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]>
…ntrol, 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
* 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
* work * cleaner code * work * work * Update custom_robots.md * Update custom_robots.md * Update controllers.md
* 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
* auto install maniskill, torch, and physx, nicer error message * Update docker.md
…n, 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
* 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
* bug fix * ww * Update open_cabinet_drawer.py
* 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
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