mani-skill-nightly 2025.4.4.139__py3-none-any.whl → 2025.4.5.358__py3-none-any.whl

mani_skill/agents/robots/__init__.py

@@ -17,4 +17,3 @@ from .ur_e import UR10e
 from .widowx import *
 from .xarm import XArm7Ability
 from .xarm6 import *
-from .xmate3 import Xmate3Robotiq

mani_skill/agents/robots/allegro_hand/allegro.py

@@ -37,29 +37,14 @@ class AllegroHandRight(BaseAgent):
         },
     )
     keyframes = dict(
+        palm_side=Keyframe(
+            qpos=np.zeros(16),
+            pose=sapien.Pose([0, 0, 0.5], q=[1, 0, 0, 0]),
+        ),
         palm_up=Keyframe(
-            qpos=np.array(
-                [
-                    0.0,
-                    0.0,
-                    0.0,
-                    0.0,
-                    0.0,
-                    0.0,
-                    0.0,
-                    0.0,
-                    0.0,
-                    0.0,
-                    0.0,
-                    0.0,
-                    0.0,
-                    0.0,
-                    0.0,
-                    0.0,
-                ]
-            ),
+            qpos=np.zeros(16),
             pose=sapien.Pose([0, 0, 0.5], q=[-0.707, 0, 0.707, 0]),
-        )
+        ),
     )
 
     def __init__(self, *args, **kwargs):

mani_skill/agents/robots/floating_inspire_hand/floating_inspire_hand.py

@@ -1,7 +1,11 @@
 from copy import deepcopy
 
+import numpy as np
+import sapien
+from transforms3d.euler import euler2quat
+
 from mani_skill import PACKAGE_ASSET_DIR
-from mani_skill.agents.base_agent import BaseAgent
+from mani_skill.agents.base_agent import BaseAgent, Keyframe
 from mani_skill.agents.controllers import *
 from mani_skill.agents.registration import register_agent
 
@@ -66,6 +70,13 @@ class FloatingInspireHandRight(BaseAgent):
         "root_z_rot_joint",
     ]
 
+    keyframes = dict(
+        palm_side=Keyframe(
+            qpos=np.zeros(20),
+            pose=sapien.Pose(p=[0, 0, 0.4], q=euler2quat(0, 0, -np.pi / 2)),
+        )
+    )
+
     @property
     def _controller_configs(self):
         float_pd_joint_pos = PDJointPosControllerConfig(

mani_skill/agents/robots/floating_panda_gripper/floating_panda_gripper.py

@@ -29,15 +29,15 @@ class FloatingPandaGripper(BaseAgent):
         ),
     )
     keyframes = dict(
+        open_facing_down=Keyframe(
+            qpos=[0, 0, 0, 0, np.pi, 0, 0.04, 0.04], pose=sapien.Pose(p=[0, 0, 0.5])
+        ),
         open_facing_up=Keyframe(
             qpos=[0, 0, 0, 0, 0, 0, 0.04, 0.04], pose=sapien.Pose(p=[0, 0, 0.5])
         ),
         open_facing_side=Keyframe(
             qpos=[0, 0, 0, 0, np.pi / 2, 0, 0.04, 0.04], pose=sapien.Pose(p=[0, 0, 0.5])
         ),
-        open_facing_down=Keyframe(
-            qpos=[0, 0, 0, 0, np.pi, 0, 0.04, 0.04], pose=sapien.Pose(p=[0, 0, 0.5])
-        ),
     )
     root_joint_names = [
         "root_x_axis_joint",

mani_skill/agents/robots/floating_robotiq_2f_85_gripper/floating_robotiq_2f_85_gripper.py

@@ -2,6 +2,7 @@ from typing import Dict, Union
 
 import numpy as np
 import sapien
+from transforms3d.euler import euler2quat
 
 from mani_skill import ASSET_DIR, PACKAGE_ASSET_DIR
 from mani_skill.agents.base_agent import BaseAgent, DictControllerConfig, Keyframe
@@ -31,6 +32,10 @@ class FloatingRobotiq2F85Gripper(BaseAgent):
         ),
     )
     keyframes = dict(
+        open_facing_down=Keyframe(
+            qpos=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+            pose=sapien.Pose(p=np.array([0.0, 0.0, 0.5]), q=euler2quat(np.pi, 0, 0)),
+        ),
         open_facing_up=Keyframe(
             qpos=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
             pose=sapien.Pose(p=np.array([0.0, 0.0, 0.5])),

mani_skill/agents/robots/humanoid/humanoid.py

@@ -42,7 +42,7 @@ class Humanoid(BaseAgent):
                     0.0,
                 ]
             ),
-            pose=sapien.Pose(p=[0, 0, -0.375]),
+            pose=sapien.Pose(p=[0, 0, 1.13]),
         )
     )
 

mani_skill/agents/robots/xarm6/xarm6_nogripper.py

@@ -4,7 +4,7 @@ import numpy as np
 import sapien.core as sapien
 import torch
 
-from mani_skill import PACKAGE_ASSET_DIR
+from mani_skill import ASSET_DIR
 from mani_skill.agents.base_agent import BaseAgent, Keyframe
 from mani_skill.agents.controllers import *
 from mani_skill.agents.registration import register_agent
@@ -12,10 +12,10 @@ from mani_skill.sensors.camera import CameraConfig
 from mani_skill.utils import sapien_utils
 
 
-@register_agent()
+@register_agent(asset_download_ids=["xarm6"])
 class XArm6NoGripper(BaseAgent):
     uid = "xarm6_nogripper"
-    urdf_path = f"{PACKAGE_ASSET_DIR}/robots/xarm6/xarm6_nogripper.urdf"
+    urdf_path = f"{ASSET_DIR}/robots/xarm6/xarm6_nogripper.urdf"
 
     keyframes = dict(
         rest=Keyframe(

mani_skill/envs/tasks/mobile_manipulation/open_cabinet_drawer.py

@@ -163,7 +163,7 @@ class OpenCabinetDrawerEnv(BaseEnv):
                     handle_links[-1].append(link)
                     # save the first mesh in the link object that correspond with a handle
                     handle_links_meshes[-1].append(
-                        link.generate_mesh(
+                        link.generate_visual_mesh(
                             filter=lambda _, render_shape: "handle"
                             in render_shape.name,
                             mesh_name="handle",

mani_skill/envs/tasks/tabletop/pick_single_ycb.py

@@ -8,7 +8,6 @@ from mani_skill import ASSET_DIR
 from mani_skill.agents.robots.fetch.fetch import Fetch
 from mani_skill.agents.robots.panda.panda import Panda
 from mani_skill.agents.robots.panda.panda_wristcam import PandaWristCam
-from mani_skill.agents.robots.xmate3.xmate3 import Xmate3Robotiq
 from mani_skill.envs.sapien_env import BaseEnv
 from mani_skill.envs.utils.randomization.pose import random_quaternions
 from mani_skill.sensors.camera import CameraConfig
@@ -196,13 +195,6 @@ class PickSingleYCBEnv(BaseEnv):
                 )
                 self.agent.reset(qpos)
                 self.agent.robot.set_root_pose(sapien.Pose([-0.615, 0, 0]))
-            elif self.robot_uids == "xmate3_robotiq":
-                qpos = np.array([0, 0.6, 0, 1.3, 0, 1.3, -1.57, 0, 0])
-                qpos[:-2] += self._episode_rng.normal(
-                    0, self.robot_init_qpos_noise, len(qpos) - 2
-                )
-                self.agent.reset(qpos)
-                self.agent.robot.set_root_pose(sapien.Pose([-0.562, 0, 0]))
             else:
                 raise NotImplementedError(self.robot_uids)
 

mani_skill/utils/assets/data.py

@@ -138,12 +138,6 @@ def initialize_data_sources():
     )
 
     # Robots
-    DATA_SOURCES["xmate3_robotiq"] = DataSource(
-        source_type="robot",
-        url="https://storage1.ucsd.edu/datasets/ManiSkill2022-assets/xmate3_robotiq.zip",
-        target_path="robots/xmate3_robotiq",
-        checksum="ddda102a20eb41e28a0a501702e240e5d7f4084221a44f580e729f08b7c12d1a",
-    )
     DATA_SOURCES["ur10e"] = DataSource(
         source_type="robot",
         url="https://github.com/haosulab/ManiSkill-UR10e/archive/refs/tags/v0.1.0.zip",

mani_skill/utils/geometry/trimesh_utils.py

@@ -54,14 +54,32 @@ def get_render_body_meshes(visual_body: sapien.render.RenderBodyComponent):
 
 def get_render_shape_meshes(render_shape: sapien.render.RenderShape):
     meshes = []
-    if type(render_shape) == sapien.render.RenderShapeTriangleMesh:
+    if type(render_shape) == sapien.render.RenderShapeBox:
+        mesh = trimesh.creation.box(extents=2 * render_shape.half_size)
+        meshes.append(mesh)
+    elif type(render_shape) == sapien.render.RenderShapeCapsule:
+        mesh = trimesh.creation.capsule(
+            height=2 * render_shape.half_length, radius=render_shape.radius
+        )
+        meshes.append(mesh)
+    elif type(render_shape) == sapien.render.RenderShapeCylinder:
+        mesh = trimesh.creation.cylinder(
+            radius=render_shape.radius, height=2 * render_shape.half_length
+        )
+        meshes.append(mesh)
+    elif type(render_shape) == sapien.render.RenderShapeSphere:
+        mesh = trimesh.creation.icosphere(radius=render_shape.radius)
+        meshes.append(mesh)
+    elif type(render_shape) == sapien.render.RenderShapePlane:
+        pass
+    elif type(render_shape) == sapien.render.RenderShapeTriangleMesh:
         for part in render_shape.parts:
             vertices = part.vertices * render_shape.scale  # [n, 3]
             faces = part.triangles
-            # faces = render_shape.mesh.indices.reshape(-1, 3)  # [m * 3]
             mesh = trimesh.Trimesh(vertices=vertices, faces=faces)
-            mesh.apply_transform(render_shape.local_pose.to_transformation_matrix())
             meshes.append(mesh)
+    for mesh in meshes:
+        mesh.apply_transform(render_shape.local_pose.to_transformation_matrix())
     return meshes
 
 

mani_skill/utils/scene_builder/table/scene_builder.py

@@ -116,27 +116,6 @@ class TableSceneBuilder(SceneBuilder):
             qpos[:, -2:] = 0.04
             self.env.agent.reset(qpos)
             self.env.agent.robot.set_pose(sapien.Pose([-0.615, 0, 0]))
-        elif self.env.robot_uids == "xmate3_robotiq":
-            qpos = np.array(
-                [0, np.pi / 6, 0, np.pi / 3, 0, np.pi / 2, -np.pi / 2, 0, 0]
-            )
-            if self.env._enhanced_determinism:
-                qpos = (
-                    self.env._batched_episode_rng[env_idx].normal(
-                        0, self.robot_init_qpos_noise, len(qpos)
-                    )
-                    + qpos
-                )
-            else:
-                qpos = (
-                    self.env._episode_rng.normal(
-                        0, self.robot_init_qpos_noise, (b, len(qpos))
-                    )
-                    + qpos
-                )
-            qpos[:, -2:] = 0
-            self.env.agent.reset(qpos)
-            self.env.agent.robot.set_pose(sapien.Pose([-0.562, 0, 0]))
         elif self.env.robot_uids in [
             "xarm6_allegro_left",
             "xarm6_allegro_right",

mani_skill/utils/structs/articulation.py

@@ -12,7 +12,11 @@ import torch
 import trimesh
 
 from mani_skill.utils import common, sapien_utils
-from mani_skill.utils.geometry.trimesh_utils import get_component_meshes, merge_meshes
+from mani_skill.utils.geometry.trimesh_utils import (
+    get_component_meshes,
+    get_render_shape_meshes,
+    merge_meshes,
+)
 from mani_skill.utils.structs import ArticulationJoint, BaseStruct, Link, Pose
 from mani_skill.utils.structs.types import Array
 
@@ -368,6 +372,57 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
             return meshes[0]
         return meshes
 
+    def get_first_visual_mesh(self, to_world_frame: bool = True) -> trimesh.Trimesh:
+        """
+        Returns the visual mesh of the first managed articulation object. Note results of this are not cached or optimized at the moment
+        so this function can be slow if called too often
+        """
+        return self.get_visual_meshes(to_world_frame=to_world_frame, first_only=True)
+
+    def get_visual_meshes(
+        self, to_world_frame: bool = True, first_only: bool = False
+    ) -> List[trimesh.Trimesh]:
+        """
+        Returns the visual mesh of each managed articulation object. Note results of this are not cached or optimized at the moment
+        so this function can be slow if called too often
+        """
+        assert (
+            not self.merged
+        ), "Currently you cannot fetch visual meshes of merged articulations as merged articulations only share a root link"
+        if self.scene.gpu_sim_enabled:
+            assert (
+                self.scene._gpu_sim_initialized
+            ), "During GPU simulation link pose data is not accessible until after \
+                initialization, and link poses are needed to get the correct visual mesh of an entire articulation"
+        else:
+            self._objs[0].pose = self._objs[0].pose
+        meshes: List[trimesh.Trimesh] = []
+        for i, art in enumerate(self._objs):
+            art_meshes = []
+            for link in art.links:
+                render_shapes = []
+                rb_comp = link.entity.find_component_by_type(
+                    sapien.render.RenderBodyComponent
+                )
+                if rb_comp is not None:
+                    for render_shape in rb_comp.render_shapes:
+                        render_shapes += get_render_shape_meshes(render_shape)
+                    link_mesh = merge_meshes(render_shapes)
+                    if link_mesh is not None:
+                        if to_world_frame:
+                            pose = self.links[link.index].pose[i]
+                            link_mesh.apply_transform(
+                                pose.sp.to_transformation_matrix()
+                            )
+                        art_meshes.append(link_mesh)
+            mesh = merge_meshes(art_meshes)
+            meshes.append(mesh)
+            if first_only:
+                break
+        if first_only:
+            return meshes[0]
+        return meshes
+
     def get_net_contact_impulses(self, link_names: Union[List[str], Tuple[str]]):
         """Get net contact impulses for several links together. This should be faster compared to using
         link.get_net_contact_impulses on each link.

mani_skill/utils/structs/link.py

@@ -134,13 +134,29 @@ class Link(PhysxRigidBodyComponentStruct[physx.PhysxArticulationLinkComponent]):
         """
         all_render_shapes: List[List[sapien.render.RenderShape]] = []
         for obj in self._objs:
-            all_render_shapes.append(
-                obj.entity.find_component_by_type(
-                    sapien.render.RenderBodyComponent
-                ).render_shapes
+            rb_comp = obj.entity.find_component_by_type(
+                sapien.render.RenderBodyComponent
             )
+            if rb_comp is not None:
+                all_render_shapes.append(rb_comp.render_shapes)
         return all_render_shapes
 
+    def get_visual_meshes(
+        self, to_world_frame: bool = True, first_only: bool = False
+    ) -> List[trimesh.Trimesh]:
+        """
+        Returns the visual mesh of each managed link object. Note results of this are not cached or optimized at the moment
+        so this function can be slow if called too often
+        """
+        merged_meshes = []
+        for link, link_render_shapes in zip(self._objs, self.render_shapes):
+            meshes = []
+            for render_shape in link_render_shapes:
+                if filter(link, render_shape):
+                    meshes.extend(get_render_shape_meshes(render_shape))
+            merged_meshes.append(merge_meshes(meshes))
+        return merged_meshes
+
     def generate_mesh(
         self,
         filter: Callable[

{mani_skill_nightly-2025.4.4.139.dist-info → mani_skill_nightly-2025.4.5.358.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.4.4.139
+Version: 2025.4.5.358
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.4.4.139.dist-info → mani_skill_nightly-2025.4.5.358.dist-info}/RECORD

@@ -14,9 +14,9 @@ mani_skill/agents/controllers/pd_joint_pos_vel.py,sha256=G8SBIa8jM939zGCETY17Rlm
 mani_skill/agents/controllers/pd_joint_vel.py,sha256=XQK13lsbteeUsztGw0u-DCBgCCv0ChglvncgwxVQCWY,1900
 mani_skill/agents/controllers/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/agents/controllers/utils/kinematics.py,sha256=f3qQp8iY4npilhjLzCtTbSX-uch0PJ5GtIgrijmRfpY,8038
-mani_skill/agents/robots/__init__.py,sha256=4eeznbnCJQi-XkQJz6WfCZbSXq2qBAVqkNzYh9Hm5Qs,624
+mani_skill/agents/robots/__init__.py,sha256=pcKoe2jYpejJNKJycnesfcng2Ytj3Z2w8JDiudHZPb8,590
 mani_skill/agents/robots/allegro_hand/__init__.py,sha256=PWH6MMv2i5g1xi76_E-YJLtKFLVKxkJgQ96GD_YeQN4,104
-mani_skill/agents/robots/allegro_hand/allegro.py,sha256=Uh5z4f7DqbKa6a9MZSUr93oMI6st95HnJLxB5kI7j_E,5213
+mani_skill/agents/robots/allegro_hand/allegro.py,sha256=MnU04fCcvppTGJHdhgvs2OqUKToQtNMXbs2bFM5sXiU,4896
 mani_skill/agents/robots/allegro_hand/allegro_touch.py,sha256=CMnGIf1JT7jbrM5jc-OHfODeYiwrUp8rzuS9rUMzmK4,5805
 mani_skill/agents/robots/anymal/__init__.py,sha256=XJeiiZLvMYObl8cTJn4_KWEKKZ6K99N6NpHAEwNTbWY,30
 mani_skill/agents/robots/anymal/anymal_c.py,sha256=p7DuLDI7yx2_C1Eg2VXpNTAKCQrEPFpo-lUU2rV1DPk,4120
@@ -25,15 +25,15 @@ mani_skill/agents/robots/dclaw/dclaw.py,sha256=G5DqqRl2R8NroNyTaStdofEFW23wWqla2
 mani_skill/agents/robots/fetch/__init__.py,sha256=q3QA2oGTx-LgdmCbpe3wpj1ifoqhhFDdrMMXC43Nsuc,79
 mani_skill/agents/robots/fetch/fetch.py,sha256=z6B-HawhvXX59j8xdC9NBt03SrRutDm1qzZ3ABAKSzk,15112
 mani_skill/agents/robots/floating_inspire_hand/__init__.py,sha256=JmV3QkvW1w8l_NUDdX1aFa55E7WXxnhukD-JLM99bGk,60
-mani_skill/agents/robots/floating_inspire_hand/floating_inspire_hand.py,sha256=GI5wO5Rfdm6mcw0x8hs2XCjl-gqQ6IDheGaghEkqK5w,6756
+mani_skill/agents/robots/floating_inspire_hand/floating_inspire_hand.py,sha256=JKPeE04oMQKo1lAZ48fDvZ6669XQc6s1PKftNVme8vk,7017
 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=0Spwgy0t-3Zc_8JaDS2G6pmkfC81ui_r8PqkWqxbrr8,5071
+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
-mani_skill/agents/robots/floating_robotiq_2f_85_gripper/floating_robotiq_2f_85_gripper.py,sha256=jGHjohi2Cfl-QnKlaaOmXcmUGWneW54UJ3BCQ2Y8dHA,5931
+mani_skill/agents/robots/floating_robotiq_2f_85_gripper/floating_robotiq_2f_85_gripper.py,sha256=dKJg-mzGlpWBuYXr4uisK7VKsP6qjI4IQj0d42P2KXY,6184
 mani_skill/agents/robots/googlerobot/__init__.py,sha256=a74XGTSr8w3p6llHs01SDniTqTUP8H3QvKYVvyy9a_s,37
 mani_skill/agents/robots/googlerobot/googlerobot.py,sha256=y4EvHwPhfj0wF6gS7UVv2HpYKos6PpbSY_ZgVnFvDZ0,993
 mani_skill/agents/robots/humanoid/__init__.py,sha256=fP0TIhokMXDRgduz6BEvloeS6yNB-5_c0wI_cTFOiIU,31
-mani_skill/agents/robots/humanoid/humanoid.py,sha256=Q0_uuJnEj1DKwGe-CcB83lkLFkq1vL5-WdyZq5SEf_c,3793
+mani_skill/agents/robots/humanoid/humanoid.py,sha256=5Ad2oO6xO11proFQutvIsqDe5VPBTI5ImPvZaqIN0O4,3791
 mani_skill/agents/robots/panda/__init__.py,sha256=VnFJLcmPMBjo-mlBpfMo5acYKud_wngRAcf67uiugSk,102
 mani_skill/agents/robots/panda/panda.py,sha256=QDH8_Gh2UaSDL-xpAvUL6fp5x4zyeVaUv8W2biixbgU,10623
 mani_skill/agents/robots/panda/panda_stick.py,sha256=ylYvjcgazMfp2k-RPbxkFByH9qyTLD8beDp2ra_WWso,5659
@@ -57,10 +57,8 @@ mani_skill/agents/robots/widowx/widowx.py,sha256=3QpXCvgFDnPYOmrbDGxqVVjSyXzG1FG
 mani_skill/agents/robots/xarm/__init__.py,sha256=6Mhn4vV4f9XxcK493U5W9VE6yGGgydPbVQLo9iOu8BA,40
 mani_skill/agents/robots/xarm/xarm7_ability.py,sha256=yj7CUBQpbGVUiT22qweJKTniJE0DxdEyyKj329vr0HY,6106
 mani_skill/agents/robots/xarm6/__init__.py,sha256=0r19OsKmm1ssKB5Rrie8syWQvpXNooVOv6m-iygrdM0,109
-mani_skill/agents/robots/xarm6/xarm6_nogripper.py,sha256=QCOCxEcLsYmO5FeqJPNi05mNiim4pyAO80LLaruYY8Y,7367
+mani_skill/agents/robots/xarm6/xarm6_nogripper.py,sha256=FPhOpWQw5RPsSHLhZ9JWjYeh25GboO4I5_Hn05Ub84Q,7379
 mani_skill/agents/robots/xarm6/xarm6_robotiq.py,sha256=ofovUnURV8DQQGwWWyTE05h3ByrojV7UNr04_dMi0aE,15514
-mani_skill/agents/robots/xmate3/__init__.py,sha256=q6nQrQooKhTNnL2ScImPm2eUVYbh8erHo5U1u6HzeB8,34
-mani_skill/agents/robots/xmate3/xmate3.py,sha256=C56RPxQJp-p14Ww0klZlAO1v8-2IoNAUsAcItKpDjlk,7979
 mani_skill/assets/maniskill2-scene-2.glb,sha256=C5om9o9r6B-fWoauzNfUm2WV5sh8Nf7AvZRlYo1-IXQ,4737204
 mani_skill/assets/deformable_manipulation/beaker.glb,sha256=MMaoH6OruVSzO8CKuK2AMyaxA5kjsbbDQXyTVycWsPI,18104
 mani_skill/assets/deformable_manipulation/bottle.glb,sha256=AHWoATBEBeesfbiYNfSB0O0PWhsH0oa2wUBv79w9AVA,36476
@@ -494,7 +492,7 @@ mani_skill/envs/tasks/humanoid/assets/cardboard_box/01.png,sha256=UAzLp_o885YkTu
 mani_skill/envs/tasks/humanoid/assets/cardboard_box/box.mtl,sha256=E7F4ELdSP2Yd62T_rF_-gN1xa6N6Eo3AqAb17R5TSa8,219
 mani_skill/envs/tasks/humanoid/assets/cardboard_box/textured.obj,sha256=XQEt4EeMiW4kx4GhNOYk8TPi7lSuS6XTEBQjWSsxKJ0,12723
 mani_skill/envs/tasks/mobile_manipulation/__init__.py,sha256=GQajIA-t_p_9Hrhkj5-MEEmbGfaIkCYgaDepVUdhJ2Q,98
-mani_skill/envs/tasks/mobile_manipulation/open_cabinet_drawer.py,sha256=iaQuQzabAD7XshWMVgrYmLTytp612zrpeF1xCXCOJ_A,15918
+mani_skill/envs/tasks/mobile_manipulation/open_cabinet_drawer.py,sha256=RBSjXseWSulU76gMIkDdAAhghZ2Wp38qF3hxb21UI8I,15925
 mani_skill/envs/tasks/mobile_manipulation/robocasa/__init__.py,sha256=mjpK3FNM5GnR4CaWfD1i2gVk5tU4N6tTkDm2pCqsfoo,40
 mani_skill/envs/tasks/mobile_manipulation/robocasa/kitchen.py,sha256=fXLoTIDgk-0eEaH7TrCODYWfVOVkGP6cRzinyfKEkWc,25625
 mani_skill/envs/tasks/quadruped/__init__.py,sha256=_AHS3H9Cj2XT7--5jwW1NMmVWbZxRpdGDNXudT6OrZM,92
@@ -506,7 +504,7 @@ mani_skill/envs/tasks/tabletop/lift_peg_upright.py,sha256=o6AmHyjyoT5U6IYn0tXz3M
 mani_skill/envs/tasks/tabletop/peg_insertion_side.py,sha256=3tf9eOI4PmNGKXooZUR81AXUPuUUTgG-V4DuYxtd5dg,14033
 mani_skill/envs/tasks/tabletop/pick_clutter_ycb.py,sha256=uA-kMGMAODeNvL99K1kDBrtU7b7VEkbkzUip5dJzucM,7345
 mani_skill/envs/tasks/tabletop/pick_cube.py,sha256=_2_9PlqPeQTA9Ti8r1mCvgwMCZECyf3HIqafRJKSnhg,6112
-mani_skill/envs/tasks/tabletop/pick_single_ycb.py,sha256=vlixZRNB8ny7mznfyAsefqC2EWN7jxVX_QBAjyAcawg,10852
+mani_skill/envs/tasks/tabletop/pick_single_ycb.py,sha256=mrqEoOa9UVF34Z5fpsvjcr683diUffsKEjJ9Zh0qfFU,10409
 mani_skill/envs/tasks/tabletop/place_sphere.py,sha256=J3ReBFK7TyZQlleIFspz7Pl1wqAzaYoveGZfNNL5DVM,10101
 mani_skill/envs/tasks/tabletop/plug_charger.py,sha256=0g-rkNf-oo2ovttlcQ58jqUq6So4SKvYMTHORZUOi_0,10571
 mani_skill/envs/tasks/tabletop/poke_cube.py,sha256=KV6mp-Xgm9h4GYUcAUop2AZ4IECTdQKEMRRd9NThyBo,9343
@@ -603,7 +601,7 @@ mani_skill/utils/registration.py,sha256=u8ftfGvQP4qzlKNqLQjGi3cRF_-h6Rz-28xbLkW_
 mani_skill/utils/sapien_utils.py,sha256=RmzODbaKAUk0VBY8g3QFeKoZfBsVITZ3mM5NXqDL9AU,16312
 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=K31BH3yLsCcoHRlGEDPPw9Oc8gD5Tja1-PKJ-yDCypg,8895
+mani_skill/utils/assets/data.py,sha256=YRobBeCxdf23kJxMac9J-dvvJoLSck8mQTbPZGeIAi4,8591
 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=sTnpoThOqWegD-87Q7GyaVvB40fiWUwPOQpYkth-sis,14956
@@ -625,7 +623,7 @@ mani_skill/utils/geometry/__init__.py,sha256=0xcx-AqaRks_a2D-klRPfvV9CjSri_uI1Zq
 mani_skill/utils/geometry/bounding_cylinder.py,sha256=XO2vNVPl_JSceqpMPj0hH5L1SlVQFUZFQrRDy9rMOkI,4761
 mani_skill/utils/geometry/geometry.py,sha256=6hvxNDVLNBV5yBzHxam7hjEI2PVGvp67gFr-7QN4JXM,6419
 mani_skill/utils/geometry/rotation_conversions.py,sha256=U7z7jtEX3m1SIERxK2RzXuXL9AWlZOX2wJipkDIjwEk,20563
-mani_skill/utils/geometry/trimesh_utils.py,sha256=V8Jsg7JT_-xWcc0rhoRza-qgJD5omhOsbh3ivzmYLIk,3771
+mani_skill/utils/geometry/trimesh_utils.py,sha256=JruFftu0YPMut4Ig3ucv7lq_29dhKf1FH8Brc2nYY08,4558
 mani_skill/utils/scene_builder/__init__.py,sha256=9jJXXQYBuYPabZ_GTIskD41_JX33R5ZT8jiaQOEEf0c,40
 mani_skill/utils/scene_builder/registration.py,sha256=jz0CODY0myH0t1PHKwUuuGoed9dngq0l_8QPcs5Mp1Q,1508
 mani_skill/utils/scene_builder/scene_builder.py,sha256=7cmP_Em1Xi3hhltrqvtLdSvk8eHkMEgjkEfqEuqecpY,4295
@@ -676,18 +674,18 @@ mani_skill/utils/scene_builder/robocasa/utils/placement_samplers.py,sha256=ZUbue
 mani_skill/utils/scene_builder/robocasa/utils/scene_registry.py,sha256=16ZHhI1mgDGy3373aMVRliN8pcvrVigNJIMExyTxE1c,3770
 mani_skill/utils/scene_builder/robocasa/utils/scene_utils.py,sha256=a8HnoRtbwmqQyvLQCHUXKj951G2_wlzodW_eD_CBvsc,6293
 mani_skill/utils/scene_builder/table/__init__.py,sha256=g5qmrh4wZ7V_PuKv-ZU9RVwNQUbQhCshAFInAyRLuZc,45
-mani_skill/utils/scene_builder/table/scene_builder.py,sha256=wOzEMPyqRrxHeJ8n1dbNAbrdpJldrApb80vsIHTKbhI,10201
+mani_skill/utils/scene_builder/table/scene_builder.py,sha256=94uf40oQk6yxlr4y7IzNMrR9WaQD0Ntvgw-BX_QZius,9387
 mani_skill/utils/scene_builder/table/assets/Dining_Table_204_1.glb,sha256=IleHi35xfR8O9atKehqjWiuC9McjEFRCBKHRF85w_Tg,150524
 mani_skill/utils/scene_builder/table/assets/table.glb,sha256=yw69itZDjBFg8JXZAr9VQV-dZD-MaZChhqBSJR_nlRo,3891588
 mani_skill/utils/structs/README.md,sha256=qnYKimp_ZkgNcduURrYQxVTimNmq_usDMKoQ8VtMdCs,286
 mani_skill/utils/structs/__init__.py,sha256=BItR3Xe0z6xCrMHAEaH0AAAVyeonsQ3q-DJUyRUibAA,524
 mani_skill/utils/structs/actor.py,sha256=ImzUZULVnsaBksk5Zu2FD-GgYpfg1u4XZcH1jCtd-vQ,16772
-mani_skill/utils/structs/articulation.py,sha256=VP6D1XYIgutEKSyu7s2l69FTfL3fVFzlDywt1WJgXbk,30887
+mani_skill/utils/structs/articulation.py,sha256=2E2Bb73CIFRcNAfj-y_Fz_0EubsJUfcf-gbADivmYTQ,33326
 mani_skill/utils/structs/articulation_joint.py,sha256=TY6joQ0RpnVlHbQHdtx_QQYqTWgFHLiZ642SSWZUuTw,11736
 mani_skill/utils/structs/base.py,sha256=meGQK5Y4KtHKLnp9VeOZS2gtwg9tE55whuEeqOguBaI,19465
 mani_skill/utils/structs/decorators.py,sha256=Lv6wQ989dOnreo2tB-qopDnkeBp_jsn1pmfUR-OY8VQ,535
 mani_skill/utils/structs/drive.py,sha256=UPQDkGbXS-CMRsZ1MHCb9s1vfAo5nqsywF83wKBVzSY,7505
-mani_skill/utils/structs/link.py,sha256=Slcg8SZ30TXObe36XNiPMWMFZhg_A4JPcIlUkvHcFCk,13367
+mani_skill/utils/structs/link.py,sha256=XOB3b9RSN-XV11Jwlam3e6ca1fJ1cfKdZKg_lLIn1tw,14116
 mani_skill/utils/structs/pose.py,sha256=76Sjrs-y3f8YhnuqMZNih-NxcnhnfomIbnNW1SWqK6A,11938
 mani_skill/utils/structs/render_camera.py,sha256=cNdi_DMsrHDqO-vHjwEIMVFxVvPHNTmVZe0sCQ1XMbI,12599
 mani_skill/utils/structs/types.py,sha256=eDezQSxtu8IyjIe4k6m8amQn7eYIuP9iLatXbr7FYH8,3810
@@ -707,8 +705,8 @@ mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJ
 mani_skill/vector/wrappers/gymnasium.py,sha256=v1MDPIrVACBKCulrpdXBK2jDZQI7LKYFZgGgaCC5avY,7408
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
 mani_skill/viewer/__init__.py,sha256=srvDBsk4LQU75K2VIttrhiQ68p_ro7PSDqQRls2PY5c,1722
-mani_skill_nightly-2025.4.4.139.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.4.4.139.dist-info/METADATA,sha256=zR1WnFdxB1nT1Dr8d_sniMYHE808UvFW8KnfPLfOw9c,9290
-mani_skill_nightly-2025.4.4.139.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.4.4.139.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.4.4.139.dist-info/RECORD,,
+mani_skill_nightly-2025.4.5.358.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.4.5.358.dist-info/METADATA,sha256=_GyZUzSt8rppWKc_ofgMkxnSdDdHRfFv62YWfVHeJuU,9290
+mani_skill_nightly-2025.4.5.358.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.4.5.358.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.4.5.358.dist-info/RECORD,,

mani_skill/agents/robots/xmate3/__init__.py

@@ -1 +0,0 @@
-from .xmate3 import Xmate3Robotiq

mani_skill/agents/robots/xmate3/xmate3.py

@@ -1,224 +0,0 @@
-from typing import Dict, Tuple
-
-import numpy as np
-import sapien
-import sapien.physx as physx
-import torch
-
-from mani_skill import ASSET_DIR
-from mani_skill.agents.base_agent import BaseAgent
-from mani_skill.agents.controllers import *
-from mani_skill.agents.registration import register_agent
-from mani_skill.sensors.camera import CameraConfig
-from mani_skill.utils import common, sapien_utils
-from mani_skill.utils.structs import Pose
-from mani_skill.utils.structs.actor import Actor
-
-
-@register_agent(asset_download_ids=["xmate3_robotiq"])
-class Xmate3Robotiq(BaseAgent):
-    uid = "xmate3_robotiq"
-    urdf_path = f"{ASSET_DIR}/robots/xmate3_robotiq/xmate3_robotiq.urdf"
-    urdf_config = dict(
-        _materials=dict(
-            gripper=dict(static_friction=2.0, dynamic_friction=2.0, restitution=0.0)
-        ),
-        link=dict(
-            left_inner_finger_pad=dict(
-                material="gripper", patch_radius=0.1, min_patch_radius=0.1
-            ),
-            right_inner_finger_pad=dict(
-                material="gripper", patch_radius=0.1, min_patch_radius=0.1
-            ),
-        ),
-    )
-
-    def __init__(
-        self,
-        scene: sapien.Scene,
-        control_freq: int,
-        control_mode: str = None,
-        agent_idx=None,
-    ):
-        self.arm_joint_names = [
-            "joint1",
-            "joint2",
-            "joint3",
-            "joint4",
-            "joint5",
-            "joint6",
-            "joint7",
-        ]
-        self.arm_stiffness = 1e3
-        self.arm_damping = 1e2
-        self.arm_force_limit = 100
-
-        self.gripper_joint_names = [
-            "robotiq_2f_140_left_driver_joint",
-            "robotiq_2f_140_right_driver_joint",
-        ]
-        self.gripper_stiffness = 1e3
-        self.gripper_damping = 1e2
-        self.gripper_force_limit = 100
-
-        self.ee_link_name = "grasp_convenient_link"
-        super().__init__(scene, control_freq, control_mode, agent_idx)
-
-    def _after_init(self):
-        self.finger1_link = sapien_utils.get_obj_by_name(
-            self.robot.get_links(), "left_inner_finger_pad"
-        )
-        self.finger2_link = sapien_utils.get_obj_by_name(
-            self.robot.get_links(), "right_inner_finger_pad"
-        )
-        self.tcp = sapien_utils.get_obj_by_name(
-            self.robot.get_links(), self.ee_link_name
-        )
-        self.queries: Dict[
-            str, Tuple[physx.PhysxGpuContactPairImpulseQuery, Tuple[int]]
-        ] = dict()
-
-    @property
-    def _controller_configs(self):
-        # -------------------------------------------------------------------------- #
-        # Arm
-        # -------------------------------------------------------------------------- #
-        arm_pd_joint_pos = PDJointPosControllerConfig(
-            self.arm_joint_names,
-            None,
-            None,
-            self.arm_stiffness,
-            self.arm_damping,
-            self.arm_force_limit,
-            normalize_action=False,
-        )
-        arm_pd_joint_delta_pos = PDJointPosControllerConfig(
-            self.arm_joint_names,
-            -0.1,
-            0.1,
-            self.arm_stiffness,
-            self.arm_damping,
-            self.arm_force_limit,
-            use_delta=True,
-        )
-
-        arm_pd_ee_delta_pos = PDEEPosControllerConfig(
-            joint_names=self.arm_joint_names,
-            pos_lower=-0.1,
-            pos_upper=0.1,
-            stiffness=self.arm_stiffness,
-            damping=self.arm_damping,
-            force_limit=self.arm_force_limit,
-            ee_link=self.ee_link_name,
-            urdf_path=self.urdf_path,
-        )
-        arm_pd_ee_delta_pose = PDEEPoseControllerConfig(
-            joint_names=self.arm_joint_names,
-            pos_lower=-0.1,
-            pos_upper=0.1,
-            rot_lower=-0.1,
-            rot_upper=0.1,
-            stiffness=self.arm_stiffness,
-            damping=self.arm_damping,
-            force_limit=self.arm_force_limit,
-            ee_link=self.ee_link_name,
-            urdf_path=self.urdf_path,
-        )
-
-        # -------------------------------------------------------------------------- #
-        # Gripper
-        # -------------------------------------------------------------------------- #
-        # NOTE(jigu): IssacGym uses large P and D but with force limit
-        # However, tune a good force limit to have a good mimic behavior
-        gripper_pd_joint_pos = PDJointPosMimicControllerConfig(
-            self.gripper_joint_names,
-            0,
-            0.068 + 0.01,
-            self.gripper_stiffness,
-            self.gripper_damping,
-            self.gripper_force_limit,
-        )
-
-        controller_configs = dict(
-            pd_joint_pos=dict(arm=arm_pd_joint_pos, gripper=gripper_pd_joint_pos),
-            arm_pd_joint_delta_pos=dict(
-                arm=arm_pd_joint_delta_pos, gripper=gripper_pd_joint_pos
-            ),
-            pd_ee_delta_pos=dict(arm=arm_pd_ee_delta_pos, gripper=gripper_pd_joint_pos),
-            pd_ee_delta_pose=dict(
-                arm=arm_pd_ee_delta_pose, gripper=gripper_pd_joint_pos
-            ),
-        )
-
-        # Make a deepcopy in case users modify any config
-        return deepcopy_dict(controller_configs)
-
-    @property
-    def _sensor_configs(self):
-        return [
-            CameraConfig(
-                uid="base_camera",
-                pose=Pose.create_from_pq([0, 0, 0], [1, 0, 0, 0]),
-                width=128,
-                height=128,
-                fov=1.5707,
-                near=0.01,
-                far=100,
-                entity_uid="camera_base_link",
-            ),
-            CameraConfig(
-                uid="hand_camera",
-                pose=Pose.create_from_pq([0, 0, 0], [1, 0, 0, 0]),
-                width=128,
-                height=128,
-                fov=1.5707,
-                near=0.01,
-                far=100,
-                entity_uid="camera_hand_link",
-            ),
-        ]
-
-    def is_grasping(self, object: Actor, min_force=0.5, max_angle=85):
-        """Check if the robot is grasping an object
-
-        Args:
-            object (Actor): The object to check if the robot is grasping
-            min_force (float, optional): Minimum force before the robot is considered to be grasping the object in Newtons. Defaults to 0.5.
-            max_angle (int, optional): Maximum angle of contact to consider grasping. Defaults to 85.
-        """
-        l_contact_forces = self.scene.get_pairwise_contact_forces(
-            self.finger1_link, object
-        )
-        r_contact_forces = self.scene.get_pairwise_contact_forces(
-            self.finger2_link, object
-        )
-        lforce = torch.linalg.norm(l_contact_forces, axis=1)
-        rforce = torch.linalg.norm(r_contact_forces, axis=1)
-
-        # direction to open the gripper
-        ldirection = self.finger1_link.pose.to_transformation_matrix()[..., :3, 1]
-        rdirection = -self.finger2_link.pose.to_transformation_matrix()[..., :3, 1]
-        langle = common.compute_angle_between(ldirection, l_contact_forces)
-        rangle = common.compute_angle_between(rdirection, r_contact_forces)
-        lflag = torch.logical_and(
-            lforce >= min_force, torch.rad2deg(langle) <= max_angle
-        )
-        rflag = torch.logical_and(
-            rforce >= min_force, torch.rad2deg(rangle) <= max_angle
-        )
-        return torch.logical_and(lflag, rflag)
-
-    def is_static(self, threshold: float = 0.2):
-        qvel = self.robot.get_qvel()[..., :-2]
-        return torch.max(torch.abs(qvel), 1)[0] <= threshold
-
-    @staticmethod
-    def build_grasp_pose(approaching, closing, center):
-        assert np.abs(1 - np.linalg.norm(approaching)) < 1e-3
-        assert np.abs(1 - np.linalg.norm(closing)) < 1e-3
-        assert np.abs(approaching @ closing) <= 1e-3
-        ortho = np.cross(approaching, closing)
-        T = np.eye(4)
-        T[:3, :3] = np.stack([approaching, closing, ortho], axis=1)
-        T[:3, 3] = center
-        return sapien.Pose(T)