SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark
Sample of environments/robots rendered with ray-tracing. Scene datasets sourced from AI2THOR and ReplicaCAD
ManiSkill is a powerful unified framework for robot simulation and training powered by SAPIEN. The entire stack is as open-source as possible and ManiSkill v3 is in beta release now. Among its features include:
ManiSkill plans to enable all kinds of workflows, including but not limited to 2D/3D vision-based reinforcement learning, imitation learning, sense-plan-act, etc. There will also be more assets/scenes supported by ManiSkill (e.g. AI2THOR) in addition to other features such as digital-twins for evaluation of real-world policies, see our roadmap for planned features that will be added over time before the official v3 is released.
Please refer to our documentation to learn more information from tutorials on building tasks to data collection.
NOTE: This project currently is in a beta release, so not all features have been added in yet and there may be some bugs. If you find any bugs or have any feature requests please post them to our GitHub issues or discuss about them on GitHub discussions. We also have a Discord Server through which we make announcements and discuss about ManiSkill.
Users looking for the original ManiSkill2 can find the commit for that codebase at the v0.5.3 tag
Installation of ManiSkill is extremely simple, you only need to run a few pip installs
# install the package
pip install --upgrade mani_skill
# install a version of torch that is compatible with your system
pip install torch torchvision torchaudio
Finally you also need to set up Vulkan with instructions here
For more details about installation (e.g. from source, or doing troubleshooting) see the documentation
To get started, check out the quick start documentation: https://maniskill.readthedocs.io/en/latest/user_guide/getting_started/quickstart.html
We also have a quick start colab notebook that lets you try out GPU parallelized simulation without needing your own hardware. Everything is runnable on Colab free tier.
For a full list of example scripts you can run see the docs.
All rigid body environments in ManiSkill are licensed under fully permissive licenses (e.g., Apache-2.0).
The assets are licensed under CC BY-NC 4.0.