v3.0.0b12

[StoneT2000]

v3.0.0b12 Release

Big changes include

• RoboCasa scenes integrated into ManiSkill, simulating easily 500-1000 RGBD FPS. Run python -m mani_skill.examples.demo_random_action -e "RoboCasaKitchen-v1" --render-mode="human" --shader rt-fast to try it!
• Batched RNG is now recommended to be used for scene loading in tasks to ensure CPU/GPU sims can generate the same exact objects/geometries/textures for a task when given the same list of seeds. Read https://maniskill.readthedocs.io/en/latest/user_guide/concepts/rng.html to learn more about the details
• Motion planning solutions have CPU parallelization options now
• Fix bug with point cloud data being scaled down twice
• Add a warning if you don't add initial poses to builders. This is strongly recommended to do now by overriding def _load_agent to initialize a robot pose and to set initial poses of other objects such that they don't intersect if they were to spawn at the initial poses. This is absolutely necessary for fast and accuracte GPU simulation, and fixes a number of issues with the open cabinet task.

See https://github.com/haosulab/ManiSkill/releases/tag/v3.0.0b12 for the full change log details