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ManiSkill

  • Software
  • Simulators
  • Simulator

ManiSkill is an open-source GPU-parallelized robot simulation and training framework built on SAPIEN, focused on manipulation skills. It supports robot learning and sim2real workflows.

  • Non-commercial

Source on GitHub: github.com/mani-skill/ManiSkill (opens in a new tab). Facts read at commit 62ff3a5 (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) and LICENSE-3RD-PARTY (opens in a new tab) (BSD-2-Clause) at commit 62ff3a5 (opens in a new tab), on 16 Oct 2026. The files name several licenses: a person at Robotheca set it on 5 Nov 2026.

Commercial use
No

The assets license does not allow commercial use.

Labels

  • Non-commercialThe assets license (CC-BY-NC-4.0) does not allow commercial use.

What it does: Robotheca's summary

  • GPU parallelized visual data collection, reaching 30,000+ FPS for RGBD and segmentation data on a 4090 GPU.
  • GPU parallelized simulation for high-throughput state-based synthetic data collection.
  • GPU parallelized heterogeneous simulation, where each parallel environment can have a different scene and objects.
  • Example tasks span humanoids, mobile manipulators, single-arm robots, table-top, drawing/cleaning, and dexterous manipulation.
  • Task-building API that abstracts GPU memory management through object-oriented design.
  • Real2sim environments for evaluating real-world policies in simulation, and sim2real examples for deploying trained policies.

Written by Robotheca from the project's README (opens in a new tab) at commit 62ff3a5.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
Linux with an NVIDIA GPU is best supported for CPU sim, GPU sim, and rendering; Windows with NVIDIA or AMD GPUs, and MacOS, support CPU sim and rendering only; WSL supports CPU sim only. Vulkan must be set up for rendering.

Maintenance

Status
Maintained: a commit in the last 12 months
Newest commit
2 Aug 2026 on main
Latest release
v3.0.1 (21 Apr 2026)

Checked on GitHub on 30 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.