mani-skill-nightly 2025.10.21.2002__py3-none-any.whl → 2025.10.21.2011__py3-none-any.whl

mani_skill/envs/tasks/dexterity/insert_flower.py

@@ -0,0 +1,180 @@
+
+from typing import Any, Dict, Union
+import numpy as np
+import sapien.physx as physx
+import torch
+import os 
+from mani_skill import ASSET_DIR
+from mani_skill.agents.robots import FloatingInspireHandRight
+from mani_skill.envs.sapien_env import BaseEnv
+from mani_skill.sensors.camera import CameraConfig
+from mani_skill.utils import sapien_utils
+from mani_skill.utils.registration import register_env
+from mani_skill.utils.scene_builder.table import TableSceneBuilder
+from mani_skill.utils.structs.pose import Pose
+from mani_skill.utils.structs.types import Array, GPUMemoryConfig, SimConfig
+
+
+@register_env(
+    "InsertFlower-v1",
+    max_episode_steps=300,
+    asset_download_ids=["oakink-v2"]
+)
+class InsertFlowerEnv(BaseEnv):
+    agent: Union[FloatingInspireHandRight]
+    _clearance = 0.003
+    hand_init_height = 0.25
+    flower_spawn_half_size = 0.05
+    asset_path = f"{ASSET_DIR}/tasks/oakink-v2/align_ds"
+
+    def __init__(
+        self,
+        *args,
+        robot_uids="allegro_hand_right_floating",
+        robot_init_qpos_noise=0.02,
+        num_envs=1,
+        reconfiguration_freq=None,
+        **kwargs,
+    ):
+        self.robot_init_qpos_noise = robot_init_qpos_noise
+        self.target_area = {"min": [-0.3, -0.25, 0.25], "max": [-0.2, -0.15, 0.35]}
+
+        super().__init__(
+            *args,
+            robot_uids=robot_uids,
+            num_envs=num_envs,
+            reconfiguration_freq=reconfiguration_freq,
+            **kwargs,
+        )
+
+        with torch.device(self.device):
+            self.prev_unit_vector = torch.zeros((self.num_envs, 3))
+            self.cum_rotation_angle = torch.zeros((self.num_envs,))
+
+    @property
+    def _default_sim_config(self):
+        return SimConfig(
+            gpu_memory_config=GPUMemoryConfig(
+                max_rigid_contact_count=self.num_envs * max(1024, self.num_envs) * 8,
+                max_rigid_patch_count=self.num_envs * max(1024, self.num_envs) * 2,
+                found_lost_pairs_capacity=2**26,
+            )
+        )
+
+    @property
+    def _default_sensor_configs(self):
+        pose = sapien_utils.look_at(eye=[0.15, 0, 0.45], target=[-0.1, 0, self.hand_init_height])
+        return [CameraConfig("base_camera", pose, 128, 128, np.pi / 2, 0.01, 100)]
+
+    @property
+    def _default_human_render_camera_configs(self):
+        pose = sapien_utils.look_at([0.2, 0.4, 0.6], [0.0, 0.0, 0.3])
+        return CameraConfig("render_camera", pose, 512, 512, 1, 0.01, 100)
+
+    def _load_scene(self, options: dict):
+        self.table_scene = TableSceneBuilder(env=self, robot_init_qpos_noise=self.robot_init_qpos_noise)
+        self.table_scene.build()
+
+        # === Load Vase (Static) ===
+        vase_builder = self.scene.create_actor_builder()
+        vase_visual_mesh_file = os.path.join(self.asset_path, "O02@0080@00001/model.obj")
+        vase_collision_mesh_file = os.path.join(
+            self.asset_path, "O02@0080@00001/model.obj.coacd.ply"
+        )
+        vase_builder.add_visual_from_file(vase_visual_mesh_file)
+        vase_builder.add_multiple_convex_collisions_from_file(vase_collision_mesh_file)
+        vase_builder.initial_pose = Pose.create_from_pq(
+            [-0.2509, -0.2027, 0.102 + 0.001], [0.8712, 0.0069, 0.0082, 0.4908]
+        )
+
+        self.vase = vase_builder.build_static(name="vase")
+
+        # === Load Flower (Dynamic) ===
+        flower_builder = self.scene.create_actor_builder()
+        flower_mesh_file = os.path.join(self.asset_path, "O02@0081@00001/model.obj")
+        flower_collision_file = os.path.join(
+            self.asset_path, "O02@0081@00001/model.obj.coacd.ply"
+        )
+        flower_builder.add_visual_from_file(flower_mesh_file)
+
+        flower_material = physx.PhysxMaterial(static_friction=1, dynamic_friction=1, restitution=1)
+        flower_builder.add_multiple_convex_collisions_from_file(
+            flower_collision_file, density=200, material=flower_material
+        )
+
+        self.init_flower_pose = Pose.create_from_pq(
+            [-0.242, 0.0, 0.015 + 0.001], [-0.352413, -0.258145, -0.635074, 0.637062]
+        )
+        flower_builder.initial_pose = self.init_flower_pose
+        self.flower = flower_builder.build(name="flower")
+        self.target_area_box = list(self.target_area.values())
+        # Convert target_area into tensor for fast computation
+        self.target_area_box = torch.tensor(self.target_area_box, device=self.device, dtype=torch.float32).view(2, 3)
+
+    def _after_reconfigure(self, options: dict):
+        pass
+
+    def _initialize_episode(self, env_idx: torch.Tensor, options: dict):
+        self._initialize_actors(env_idx)
+        self._initialize_agent(env_idx)
+
+    def _initialize_actors(self, env_idx: torch.Tensor):
+        with torch.device(self.device):
+            b = len(env_idx)
+
+            self.table_scene.initialize(env_idx)
+
+            flower_pose = self.init_flower_pose
+            flower_pose.p[:, :2] += torch.rand((b, 2)) * self.flower_spawn_half_size * 2 - self.flower_spawn_half_size
+            self.flower.set_pose(flower_pose)
+
+    def _initialize_agent(self, env_idx: torch.Tensor):
+        with torch.device(self.device):
+            b = len(env_idx)
+            dof = self.agent.robot.dof
+            if isinstance(dof, torch.Tensor):
+                dof = dof[0]
+            init_qpos = torch.zeros((b, dof))
+            self.agent.reset(init_qpos)
+            self.agent.robot.set_pose(
+                Pose.create_from_pq(
+                    torch.tensor([0.0, 0, self.hand_init_height]),
+                    torch.tensor([
+                        0,
+                        0.707,
+                        0,
+                        -0.707,
+                    ]),
+                )
+            )
+
+    def _get_obs_extra(self, info: Dict):
+        return {}
+
+    def evaluate(self, **kwargs) -> dict:
+        object_pos = self.flower.pose.p
+
+        # Check if the object is within the specified bounds
+        is_within = torch.logical_and(
+            torch.all(object_pos >= self.target_area_box[0], dim=-1),  # min bounds
+            torch.all(object_pos <= self.target_area_box[1], dim=-1),  # max bounds
+        )
+
+        return {"success": is_within}
+
+    def compute_dense_reward(self, obs: Any, action: Array, info: Dict) -> float:
+        object_pos = self.flower.pose.p
+        dist_outside = torch.max(
+            torch.max(self.target_area_box[0] - object_pos, torch.zeros_like(object_pos)),  # lower bound
+            torch.max(object_pos - self.target_area_box[1], torch.zeros_like(object_pos)),  # upper bound
+        )
+        reward = torch.exp(-5 * torch.norm(dist_outside)).reshape(-1)
+
+        return reward
+
+    def compute_normalized_dense_reward(self, obs: Any, action: Array, info: Dict):
+        return self.compute_dense_reward(obs=obs, action=action, info=info) / 4.0
+
+
+if __name__ == "__main__":
+    print(InsertFlowerEnv.asset_path)

mani_skill/trajectory/replay_trajectory.py

@@ -399,6 +399,7 @@ def _main(
     # Load associated json
     json_path = traj_path.replace(".h5", ".json")
     json_data = io_utils.load_json(json_path)
+    env_kwargs["sim_config"]["scene_config"]["gravity"] = np.array(env_kwargs["sim_config"]["scene_config"]["gravity"])
     env = gym.make(env_id, **env_kwargs)
     if isinstance(env.action_space, gym.spaces.Dict):
         logger.warning(

mani_skill/utils/assets/data.py

@@ -193,6 +193,11 @@ def initialize_data_sources():
         url="https://github.com/TrossenRobotics/ManiSkill-WidowX_AI/archive/refs/tags/v0.1.0.zip",
         target_path="robots/widowxai",
     )
+    DATA_SOURCES["oakink-v2"] = DataSource(
+        source_type="task_assets",
+        url="https://huggingface.co/datasets/haosulab/OakInk-v2/resolve/main/object_repair.zip",
+        target_path="tasks/oakink-v2",
+    )
 
 
 def expand_data_group_into_individual_data_source_ids(data_group_id: str):

mani_skill/utils/wrappers/record.py

@@ -358,18 +358,19 @@ class RecordEpisode(gym.Wrapper):
         *args,
         seed: Optional[Union[int, List[int]]] = None,
         options: Optional[dict] = None,
+        save=True,
         **kwargs,
     ):
         if self.save_on_reset:
             if self.save_video and self.num_envs == 1:
-                self.flush_video()
+                self.flush_video(save=save)
             # if doing a full reset then we flush all trajectories including incompleted ones
             if self._trajectory_buffer is not None:
                 if options is None or "env_idx" not in options:
-                    self.flush_trajectory(env_idxs_to_flush=np.arange(self.num_envs))
+                    self.flush_trajectory(env_idxs_to_flush=np.arange(self.num_envs), save=save)
                 else:
                     self.flush_trajectory(
-                        env_idxs_to_flush=common.to_numpy(options["env_idx"])
+                        env_idxs_to_flush=common.to_numpy(options["env_idx"], save=save)
                     )
 
         obs, info = super().reset(*args, seed=seed, options=options, **kwargs)

{mani_skill_nightly-2025.10.21.2002.dist-info → mani_skill_nightly-2025.10.21.2011.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: mani_skill-nightly
-Version: 2025.10.21.2002
+Version: 2025.10.21.2011
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.10.21.2002.dist-info → mani_skill_nightly-2025.10.21.2011.dist-info}/RECORD

@@ -15,7 +15,7 @@ mani_skill/agents/controllers/pd_joint_pos_vel.py,sha256=wgiXmenTVIao1Tm1vtdJWTZ
 mani_skill/agents/controllers/pd_joint_vel.py,sha256=VZF06ISCkdKBX_fUHxb7mdl9GN1Lob5dhrFGlwCx16Q,1957
 mani_skill/agents/controllers/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/agents/controllers/utils/kinematics.py,sha256=FxREZaBRjUfc7S-jf0cLhN3HivTPxhq3AnO5zHE2nyI,11920
-mani_skill/agents/robots/__init__.py,sha256=lvW8t2bn2UjuWZ7PsYiKqMnHaMLvGVw6itBhxwHaauk,737
+mani_skill/agents/robots/__init__.py,sha256=FnQzL5K1Hr0fSPMBiKgBRiHOc08nciuDr-3Ta2RMno8,797
 mani_skill/agents/robots/allegro_hand/__init__.py,sha256=PWH6MMv2i5g1xi76_E-YJLtKFLVKxkJgQ96GD_YeQN4,104
 mani_skill/agents/robots/allegro_hand/allegro.py,sha256=MnU04fCcvppTGJHdhgvs2OqUKToQtNMXbs2bFM5sXiU,4896
 mani_skill/agents/robots/allegro_hand/allegro_touch.py,sha256=CMnGIf1JT7jbrM5jc-OHfODeYiwrUp8rzuS9rUMzmK4,5805
@@ -25,6 +25,8 @@ mani_skill/agents/robots/dclaw/__init__.py,sha256=t1VSGN3WYw9f3mR7_M08-VhCBQPWOi
 mani_skill/agents/robots/dclaw/dclaw.py,sha256=G5DqqRl2R8NroNyTaStdofEFW23wWqla2qy6mqkVOG8,4082
 mani_skill/agents/robots/fetch/__init__.py,sha256=q3QA2oGTx-LgdmCbpe3wpj1ifoqhhFDdrMMXC43Nsuc,79
 mani_skill/agents/robots/fetch/fetch.py,sha256=k4hZP-CZiUl2MQfVabpKsCprEInqao4x3xFksfTS-rc,15499
+mani_skill/agents/robots/floating_ability_hand/__init__.py,sha256=c4OTQ6OwGSr3NVKeEGVcbZFHyPdc93OKm-0TQVEbC4c,59
+mani_skill/agents/robots/floating_ability_hand/floating_ability_hand.py,sha256=Gj83G_rp9M1NdDNkMf8tZlr41nOJmVMgMVfO6OA0PDA,6795
 mani_skill/agents/robots/floating_panda_gripper/__init__.py,sha256=AwV0Sml7DmQb6hk4FqbxHdO7_XXHHMhrOZtZRk6d-Po,57
 mani_skill/agents/robots/floating_panda_gripper/floating_panda_gripper.py,sha256=sUzYnpEGDW_afwldcerl679wC-6HDEq-APNBSY6-WAo,5071
 mani_skill/agents/robots/floating_robotiq_2f_85_gripper/__init__.py,sha256=bBXRyK4ncX9Zv6R5NXEHD9f6hT9A2PZEsG0n4K76f00,71
@@ -82,8 +84,10 @@ mani_skill/assets/partnet_mobility/meta/info_cabinet_drawer_train.json,sha256=ip
 mani_skill/assets/partnet_mobility/meta/info_chair_train.json,sha256=0562aw8jOrCIptfoUVOthbZfSX0rny4CslUXAOkX3ew,23046
 mani_skill/assets/partnet_mobility/meta/info_faucet_train.json,sha256=B1WwN-fF30WpWEqeyd5N5El4bejf00w3II4CY3LvFSs,32349
 mani_skill/assets/robots/ability_hand/ability_hand_left.urdf,sha256=vVQlfGeLuVRopHNRi2Oqv1C-kOWxy8eR0iy4zQQ0JMI,18094
+mani_skill/assets/robots/ability_hand/ability_hand_left_floating.urdf,sha256=2jvRgtfXJc9DTEIA_dVU-h6CmFYi8cvp2uuPapgAB_Q,20823
 mani_skill/assets/robots/ability_hand/ability_hand_left_glb.urdf,sha256=V6XUBUgsf9VDzFOQFiv_OgClN9bPDOwnAxdzlEWj-ZI,18094
 mani_skill/assets/robots/ability_hand/ability_hand_right.urdf,sha256=OVvPSWO14FoPb1MzwaNTfbTiTO_ENI4pBCT7WRIOP7M,18377
+mani_skill/assets/robots/ability_hand/ability_hand_right_floating.urdf,sha256=dGjKaVyeDX4z_XVfgAaKganBE53ciPFSSVIOPARsCrA,21106
 mani_skill/assets/robots/ability_hand/ability_hand_right_glb.urdf,sha256=v3yym1piKmSNeIfA9dYAdMoAo8ncE1UCqKzjiODXOxI,18377
 mani_skill/assets/robots/ability_hand/meshes/collision/FB_palm_ref.obj,sha256=cclKOfw8Kqx2eiY_YhKHv02iHxPNHNFMqoPWVsC8dfU,31522
 mani_skill/assets/robots/ability_hand/meshes/collision/FB_palm_ref_MIR.obj,sha256=OvZORUoZc75Jguj1OK5XLuJWO-3qdspXDGW3gHgatDM,32872
@@ -560,7 +564,8 @@ mani_skill/envs/tasks/control/assets/hopper.xml,sha256=KezBRNw-bdYsOmXaph0P6Y1uU
 mani_skill/envs/tasks/control/assets/common/materials.xml,sha256=XxJ5NRzW5_g_pKLnM1WP-yl60Z-b1OdXva7G59Nqd3w,1108
 mani_skill/envs/tasks/control/assets/common/skybox.xml,sha256=UvNofKMDKbQHewom_qrZtz0gHhg8veD_vWzVLeUZB70,202
 mani_skill/envs/tasks/control/assets/common/visual.xml,sha256=7B0nSrcNlWBBM9r6ksDRGU3lG7qZe9U7cLxn65XYI_w,175
-mani_skill/envs/tasks/dexterity/__init__.py,sha256=wXXGA6ZdY5HExcnf3Dux4sMFUgmWjyIKTjWF7PCYYIU,121
+mani_skill/envs/tasks/dexterity/__init__.py,sha256=BUM4SkQ1zXWzP0dXQTsP5vIoTfLENzh0oIfvlIQrhf4,163
+mani_skill/envs/tasks/dexterity/insert_flower.py,sha256=RCPtsIjtxRzjnQCf9BxyJ8S7dB7isT1xLssxu6UB0U4,6893
 mani_skill/envs/tasks/dexterity/rotate_single_object_in_hand.py,sha256=cKnlWB5EcTjNVi53wSkqxVgVUYhuRm5QJcPmg9sP-iI,14165
 mani_skill/envs/tasks/dexterity/rotate_valve.py,sha256=SwSaOUXPZJEC5UdrcLGYwat2m3YUQFpHQ_WHCD77890,11659
 mani_skill/envs/tasks/digital_twins/__init__.py,sha256=_yWWBFH-P69UTPvo9GRa8Ux_FXOjLWdkiK3rs2ojX3o,60
@@ -713,7 +718,7 @@ mani_skill/sensors/depth_camera.py,sha256=KCT7DMqQacVag_24MjkKAml87T6FtDqNS0TJFf
 mani_skill/trajectory/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/trajectory/dataset.py,sha256=nrG3jkhdzRqAdjxC_c8Z4FxpkvW3A9XPvUp9-Ux_u38,6351
 mani_skill/trajectory/merge_trajectory.py,sha256=zsjRMTsiIirZGIV4KrtYOM2-zoOAzd7ObZEdWGJzZbE,3685
-mani_skill/trajectory/replay_trajectory.py,sha256=ABiM4pMSkTAhU1L2fdaY-Mwnw2Hzg8p1rAaWf3ijWOE,27681
+mani_skill/trajectory/replay_trajectory.py,sha256=uqfhiAXrE8EdXRJR03VNXe4EoGXyTpYR_WdKNrYPksE,27801
 mani_skill/trajectory/utils/__init__.py,sha256=-Efv2GEzTnFHd3SxqQtaZLaMRGrCc-P1ClmgLhoV4gs,1465
 mani_skill/trajectory/utils/actions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/trajectory/utils/actions/conversion.py,sha256=x88C64ke44gB-HEbqq_gSRFv34L7irSwT_wYttkQUn8,12922
@@ -730,7 +735,7 @@ mani_skill/utils/sapien_utils.py,sha256=bUo4jFvWbxjJxXY-cjcR7Q2ZAhAcArlPaElYI2f3
 mani_skill/utils/tree.py,sha256=-nXdhwa9zI0dnaOoKmshcPXuM_S-9ZhhoU1GWb1h_p8,877
 mani_skill/utils/assets/README.md,sha256=5kkmsIiV64ySEGO34HaAlpjXTyrGs1KTV5WnofK46G0,70
 mani_skill/utils/assets/__init__.py,sha256=gQVKwAczcImTXArSltBWKlSUUuguO12sZYO3Jh5KLso,159
-mani_skill/utils/assets/data.py,sha256=xEuibRoEPBDN_vEU-MM5UWf6VDb1omE6BfZKPvlMPdI,8807
+mani_skill/utils/assets/data.py,sha256=WAi6QzhDJZptJ4GCziuwLNYVDzZdxda1vsc71OFw0Sc,9028
 mani_skill/utils/building/__init__.py,sha256=quCI5WYGhzGLMVg_NDyYv2G_MxRTBL8R6XD4a6iY8qc,218
 mani_skill/utils/building/_mjcf_loader.py,sha256=SqzSoRootFvItHrzwrDuSHScePxbaPqWb7262M7HzIU,37011
 mani_skill/utils/building/actor_builder.py,sha256=WHaJKmN9FsIOPjUYnRrOsaD5jhWN_EnncOPOxE1lz-c,15006
@@ -831,15 +836,15 @@ mani_skill/utils/wrappers/cached_reset.py,sha256=osTMFsYlpCzY-OJWjWFSAfUZrZpR8Hs
 mani_skill/utils/wrappers/flatten.py,sha256=GuHJ3fCOdj9G_jm--XgG8k0p2G1eJx4LY1tesQQjnkg,4913
 mani_skill/utils/wrappers/frame_stack.py,sha256=pCp83HqXnFxbsKRYgwXreNBHnhD-yF0R2_7jdtGOTWQ,4213
 mani_skill/utils/wrappers/gymnasium.py,sha256=p0kl29kkedD2arIvGskClKhYDBAH97mZO4rTepz62jQ,4174
-mani_skill/utils/wrappers/record.py,sha256=73g-dvnFrXcFy7t2BksgH8UqBUVBZG8BbCNPEbdtBSc,37362
+mani_skill/utils/wrappers/record.py,sha256=yKeOaPZu9ytd18WH2fv34ckZhnsYhTCz8wS58Bqs-0o,37412
 mani_skill/utils/wrappers/visual_encoders.py,sha256=ISLO5ceaRkINhvce92VuZMDMCU3I4F7cQWFW2aVP-14,2205
 mani_skill/vector/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/vector/wrappers/gymnasium.py,sha256=99bHbJ0PlPwcVU4hShsTDj0_2d4bCrrzfJNzYOrOsqc,7315
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
-mani_skill_nightly-2025.10.21.2002.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.10.21.2002.dist-info/licenses/LICENSE-3RD-PARTY,sha256=yXvoAIyaRY7VDFhXV4Ea_Dmd_-IR59yyUy0Scz7eXzY,1604
-mani_skill_nightly-2025.10.21.2002.dist-info/METADATA,sha256=ldPAw9HsS0dF0SM2blhG_wPXEmKp1ZJL3ypT70Vx61w,9543
-mani_skill_nightly-2025.10.21.2002.dist-info/WHEEL,sha256=SmOxYU7pzNKBqASvQJ7DjX3XGUF92lrGhMb3R6_iiqI,91
-mani_skill_nightly-2025.10.21.2002.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.10.21.2002.dist-info/RECORD,,
+mani_skill_nightly-2025.10.21.2011.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.10.21.2011.dist-info/licenses/LICENSE-3RD-PARTY,sha256=yXvoAIyaRY7VDFhXV4Ea_Dmd_-IR59yyUy0Scz7eXzY,1604
+mani_skill_nightly-2025.10.21.2011.dist-info/METADATA,sha256=HEQSYEdIRMtqb5GbLv_oY4IG30d2GGR6UUORU1IOqD0,9543
+mani_skill_nightly-2025.10.21.2011.dist-info/WHEEL,sha256=SmOxYU7pzNKBqASvQJ7DjX3XGUF92lrGhMb3R6_iiqI,91
+mani_skill_nightly-2025.10.21.2011.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.10.21.2011.dist-info/RECORD,,