Stone Tao

See my labs paper on this: https://reverseforward-cl.github.io/

See branch https://github.com/simpler-env/SimplerEnv/tree/maniskill3 for how to evaluate some baselines on the gpu parallelized rendering envs. We only support 4 of the envs at the moment on the GPU version. Migrating...

some notes on changes - removed tf image resize in favor of jax image resize which permits vmapping and does not have a issue where tf will allocate a lot...

For object randomization you can check how PickSingleYCB task works. Note that in GPU simulation by default reconfiguration only happens once as it is a bit slow. For color and...

For color/texture randomization of already built objects you can check out the code for PushT: https://github.com/haosulab/ManiSkill/blob/main/mani_skill/envs/tasks/tabletop/push_t.py#L39-L46 Essentially during environment building/reconfiguration, you can modify at runtime the color of objects. For...

A PR for that would be great! I would recommend adding this stuff to the custom tasks documentation (just add a section at the bottom of loading actors/articulations) https://github.com/haosulab/ManiSkill/blob/main/docs/source/user_guide/tutorials/custom_tasks/loading_objects.md

Yes at the moment it's a bit complicated for how to save trajectories of GPU simulation when parallel environments have a different number of objects or potentially different geometries. It...

Sorry for delay here. You can update the RecordEpisode wrapper to have an option to disable environment state saving for now. It is useful for replaying trajectories and some RL...

Thank you for your contribution in adding the new G1 robot! I will review this as soon as I can. Most likely though we might want to move the robot...

Maybe a bit too simplified. Certainly runs fine but since the simplification removes everything but meshes for the feet / legs, can you rename unitree_g1_simplified to unitree_g1_simplified_legs? Same for the...