Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[Docs] Update docs and fix some bugs with autodoc #487

Merged
merged 4 commits into from
Aug 9, 2024
Merged

[Docs] Update docs and fix some bugs with autodoc #487

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
6314a3b
work
StoneT2000 Aug 9, 2024
3ebcc82
updates
StoneT2000 Aug 9, 2024
0d52024
Update sapien_env.py
StoneT2000 Aug 9, 2024
c87792a
Update index.md
StoneT2000 Aug 9, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Next Next commit
work
  • Loading branch information
@StoneT2000
StoneT2000 committed Aug 9, 2024
commit 6314a3b38670551cfa594dc6fda69b35f0aea83b
1 change: 1 addition & 0 deletions docs/source/robots/index.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,4 +18,5 @@ quadrupeds/index
arms/index
humanoids/index
dextrous_hands/index
other/index
```
2 changes: 1 addition & 1 deletion docs/source/robots/other/index.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@

Robots that don't fit into other standard categories (e.g. floating grippers)

## Fetch Robot
## Panda Gripper

```{figure} ../images/floating_panda_gripper.png
```
Expand Down
1 change: 0 additions & 1 deletion docs/source/user_guide/additional_resources/education.md
View file
Open in desktop

This file was deleted.

6 changes: 5 additions & 1 deletion docs/source/user_guide/additional_resources/performance_benchmarking.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,23 +8,27 @@ Currently we just compare ManiSkill and [IsaacLab](https://github.com/isaac-sim/

Raw benchmark results can be read from the .csv files in the [results folder on GitHub](https://github.com/haosulab/ManiSkill/blob/main/docs/source/user_guide/additional_resources/benchmarking_results). There are also plotted figures in that folder. Below we show a selection of some of the figures/results from testing on a RTX 3080. The figures are also sometimes annotated with the GPU memory usage in GB or the number of parallel environments used for that result.

*Note IsaacLab currently does not support RGB+Depth, or multiple cameras per sub-scene so there may not be results for IsaacLab on some figures
*Note IsaacLab currently does not support RGB+Depth, or multiple cameras per sub-scene so there may not be results for IsaacLab on some figures.

### Cartpole Balance

#### State

CartPoleBalance simulation only performance results showing FPS vs number of environments, annotated by GPU memory usage in GB on top of data points.
:::{figure} benchmarking_results/rtx_3080/fps:num_envs_state.png
:::

#### RGB

CartPoleBalance sim+rendering performance results showing FPS vs number of environments, annotated by GPU memory usage in GB on top of data points.
:::{figure} benchmarking_results/rtx_3080/fps:num_envs_1x256x256_rgb.png
:::

CartPoleBalance sim+rendering performance results showing FPS vs number of cameras, annotated by max number of parallel environments runnable under 16GB of GPU memory.
:::{figure} benchmarking_results/rtx_3080/fps:num_cameras_rgb.png
:::

CartPoleBalance sim+rendering performance results showing FPS vs camera size, annotated by max number of parallel environments runnable under 16GB of GPU memory.
:::{figure} benchmarking_results/rtx_3080/fps:camera_size_rgb.png
:::

Expand Down