v3.0.0.dev10

What's Changed

• docs on how to contribute tasks by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/250
• Rotate Cube Task using Trifingerpro robot by @Kami-code in https://github.com/haosulab/ManiSkill2/pull/249
• Fix pd ee pose for non panda robots, name refactors to be more explicit, and links have references to their joints by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/253
• Pick clutter task (GPU). Also includes a few changes to how Actor.merge and Articulation.merge work in terms of the state dict the simulation has. In particular merging is now considered as a way of "viewing" existing data (like a reference/pointer), allowing for some more flexible control and usage as done in PickClutter where each sub-scene has a different number of objects as well and we need to reset all of them to initial poses. by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/254
• Fix doc typos and refactor some old links/names by @StoneT2000 in https://github.com/haosulab/ManiSkill2/pull/255
• Improved docs w.r.t to installation instructions and around errors with fast kinematics
• PPO example code supports an evaluation mode
• force_use_gpu_sim -> sim_backend. Specify which simulation backend (cpu or gpu or auto) to use. In auto mode, GPU is used if num_envs > 1 when creating the environment, CPU otherwise
• Remove circular import errors with registration tools so users can easily inherit existing tasks in maniskill to build on them
• Updated tutorial task code for PushCube to be more explicit in class arguments for camera configurations
• Remove dependencies on the old pytorch_kinematics library, it is no longer needed
• Example RL code working google colab (not yet a tutorial, to be completed)
• Fix bug with replay trajectory tool when trying to handle trajectories generated during GPU simulation
• Fix bug with replay trajectory tool that doesn't set the first env state when using env states
• Fix bug with RecordEpisode wrapper where it saved a null value for seed when no seed is given. Instead the seed key is removed entirely
• Several old code files have been removed

New Contributors

• @Kami-code made their first contribution in https://github.com/haosulab/ManiSkill2/pull/249

Full Changelog: haosulab/ManiSkill2@v3.0.0.dev9...v3.0.0.dev10