mani-skill-nightly 2025.4.5.813__py3-none-any.whl → 2025.4.5.2022__py3-none-any.whl

mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/original.urdf

@@ -0,0 +1,470 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="SO_5DOF_ARM100_8j_URDF.SLDASM">
+  <link
+    name="Base">
+    <inertial>
+      <origin
+        xyz="-2.45960666746703E-07 0.0311418169687909 0.0175746661003382"
+        rpy="0 0 0" />
+      <mass
+        value="0.193184127927598" />
+      <inertia
+        ixx="0.000137030709467877"
+        ixy="2.10136126944992E-08"
+        ixz="4.24087422551286E-09"
+        iyy="0.000169089551209259"
+        iyz="2.26514711036514E-05"
+        izz="0.000145097720857224" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="Rotation_Pitch">
+    <inertial>
+      <origin
+        xyz="-9.07886224712597E-05 0.0590971820568318 0.031089016892169"
+        rpy="0 0 0" />
+      <mass
+        value="0.119226314127197" />
+      <inertia
+        ixx="5.90408775624429E-05"
+        ixy="4.90800532852998E-07"
+        ixz="-5.90451772654387E-08"
+        iyy="3.21498601038881E-05"
+        iyz="-4.58026206663885E-06"
+        izz="5.86058514263952E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Rotation_Pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Rotation_Pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Rotation"
+    type="revolute">
+    <origin
+      xyz="0 -0.0452 0.0165"
+      rpy="1.5708 0 0" />
+    <parent
+      link="Base" />
+    <child
+      link="Rotation_Pitch" />
+    <axis
+      xyz="0 -1 0" />
+      <!-- note for the so100 arm there is no well defined effort/velocity limits at the moment -->
+    <limit
+      lower="-2.1"
+      upper="2.1"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Upper_Arm">
+    <inertial>
+      <origin
+        xyz="-1.7205170190925E-05 0.0701802156327694 0.00310545118155671"
+        rpy="0 0 0" />
+      <mass
+        value="0.162409284599177" />
+      <inertia
+        ixx="0.000167153146617081"
+        ixy="1.03902689187701E-06"
+        ixz="-1.20161820645189E-08"
+        iyy="7.01946992214245E-05"
+        iyz="2.11884806298698E-06"
+        izz="0.000213280241160769" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Upper_Arm.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Upper_Arm.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Pitch"
+    type="revolute">
+    <origin
+      xyz="0 0.1025 0.0306"
+      rpy="1.5708 0 0" />
+    <parent
+      link="Rotation_Pitch" />
+    <child
+      link="Upper_Arm" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.1"
+      upper="3.45"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Lower_Arm">
+    <inertial>
+      <origin
+        xyz="-0.00339603710186651 0.00137796353960074 0.0768006751156044"
+        rpy="0 0 0" />
+      <mass
+        value="0.147967774582291" />
+      <inertia
+        ixx="0.000105333995841409"
+        ixy="1.73059237226499E-07"
+        ixz="-1.1720305455211E-05"
+        iyy="0.000138766654485212"
+        iyz="1.77429964684103E-06"
+        izz="5.08741652515214E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Lower_Arm.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Lower_Arm.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Elbow"
+    type="revolute">
+    <origin
+      xyz="0 0.11257 0.028"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="Upper_Arm" />
+    <child
+      link="Lower_Arm" />
+    <axis
+      xyz="1 0 0" />
+    <limit 
+      lower="-0.2"
+      upper="3.14159"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Wrist_Pitch_Roll">
+    <inertial>
+      <origin
+        xyz="-0.00852653127372418 -0.0352278997897927 -2.34622481569413E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.066132067097723" />
+      <inertia
+        ixx="1.95717492443445E-05"
+        ixy="-6.62714374412293E-07"
+        ixz="5.20089016442066E-09"
+        iyy="2.38028417569933E-05"
+        iyz="4.09549055863776E-08"
+        izz="3.4540143384536E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Wrist_Pitch_Roll.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Wrist_Pitch_Roll.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Wrist_Pitch"
+    type="revolute">
+    <origin
+      xyz="0 0.0052 0.1349"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="Lower_Arm" />
+    <child
+      link="Wrist_Pitch_Roll" />
+    <axis
+      xyz="1 0 0" />
+    <limit 
+      lower="-1.8"
+      upper="1.8"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Fixed_Jaw">
+    <inertial>
+      <origin
+        xyz="0.00552376906426563 -0.0280167153359021 0.000483582592841092"
+        rpy="0 0 0" />
+      <mass
+        value="0.0929859131176897" />
+      <inertia
+        ixx="4.3328249304211E-05"
+        ixy="7.09654328670947E-06"
+        ixz="5.99838530879484E-07"
+        iyy="3.04451747368212E-05"
+        iyz="-1.58743247545413E-07"
+        izz="5.02460913506734E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Fixed_Jaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Fixed_Jaw.STL" />
+      </geometry>
+    </collision> -->
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Fixed_Jaw_part1.ply" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Fixed_Jaw_part2.ply" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Wrist_Roll"
+    type="revolute">
+    <origin
+      xyz="0 -0.0601 0"
+      rpy="0 1.5708 0" />
+    <parent
+      link="Wrist_Pitch_Roll" />
+    <child
+      link="Fixed_Jaw" />
+    <axis
+      xyz="0 -1 0" />
+    <limit 
+      lower="-3.14159"
+      upper="3.14159"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="Moving_Jaw">
+    <inertial>
+      <origin
+        xyz="-0.00161744605468241 -0.0303472584046471 0.000449645961853651"
+        rpy="0 0 0" />
+      <mass
+        value="0.0202443794940372" />
+      <inertia
+        ixx="1.10911325081525E-05"
+        ixy="-5.35076503033314E-07"
+        ixz="-9.46105662101403E-09"
+        iyy="3.03576451001973E-06"
+        iyz="-1.71146075110632E-07"
+        izz="8.9916083370498E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Moving Jaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Moving_Jaw_part1.ply" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Moving_Jaw_part2.ply" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Moving_Jaw_part3.ply" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Jaw"
+    type="revolute">
+    <origin
+      xyz="-0.0202 -0.0244 0"
+      rpy="3.1416 0 3.33" />
+    <parent
+      link="Fixed_Jaw" />
+    <child
+      link="Moving_Jaw" />
+    <axis
+      xyz="0 0 1" />
+    <limit 
+      lower="0"
+      upper="1.7"
+      effort="0"
+      velocity="0" />
+  </joint>
+
+  <!-- fake joints for useful data -->
+  <joint name="Fixed_Jaw_tip_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01 -0.097 0"/>
+    <parent link="Fixed_Jaw"/>
+    <child link="Fixed_Jaw_tip"/>
+  </joint>
+  <link name="Fixed_Jaw_tip">
+    <!-- <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.01" />
+      </geometry>
+      <material name="red">
+        <color rgba="1 0 0 0.5"/>
+      </material>
+    </visual> -->
+  </link>
+  <joint name="Moving_Jaw_tip_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.01 -0.073 0"/>
+    <parent link="Moving_Jaw"/>
+    <child link="Moving_Jaw_tip"/>
+  </joint>
+  <link name="Moving_Jaw_tip">
+    <!-- <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.01" />
+      </geometry>
+      <material name="red">
+        <color rgba="1 0 0 0.5"/>
+      </material>
+    </visual> -->
+  </link>
+</robot>

mani_skill/envs/sapien_env.py

@@ -480,7 +480,7 @@ class BaseEnv(gym.Env):
         """The current observation mode. This affects the observation returned by env.get_obs()"""
         return self._obs_mode
 
-    def get_obs(self, info: Optional[Dict] = None):
+    def get_obs(self, info: Optional[Dict] = None, unflattened: bool = False):
         """
         Return the current observation of the environment. User may call this directly to get the current observation
         as opposed to taking a step with actions in the environment.
@@ -493,6 +493,7 @@ class BaseEnv(gym.Env):
         Args:
             info (Dict): The info object of the environment. Generally should always be the result of `self.get_info()`.
                 If this is None (the default), this function will call `self.get_info()` itself
+            unflattened (bool): Whether to return the observation without flattening even if the observation mode (`self.obs_mode`) asserts to return a flattened observation.
         """
         if info is None:
             info = self.get_info()
@@ -500,8 +501,7 @@ class BaseEnv(gym.Env):
             # Some cases do not need observations, e.g., MPC
             return dict()
         elif self._obs_mode == "state":
-            state_dict = self._get_obs_state_dict(info)
-            obs = common.flatten_state_dict(state_dict, use_torch=True, device=self.device)
+            obs = self._get_obs_state_dict(info)
         elif self._obs_mode == "state_dict":
             obs = self._get_obs_state_dict(info)
         elif self._obs_mode == "pointcloud":
@@ -512,8 +512,13 @@ class BaseEnv(gym.Env):
             obs = self._get_obs_with_sensor_data(info, apply_texture_transforms=False)
         else:
             obs = self._get_obs_with_sensor_data(info)
+        return obs if unflattened else self._flatten_raw_obs(obs)
 
+    def _flatten_raw_obs(self, obs: Any):
         # flatten parts of the state observation if requested
+        if self._obs_mode == "state":
+            return common.flatten_state_dict(obs, use_torch=True, device=self.device)
+
         if self.obs_mode_struct.state:
             if isinstance(obs, dict):
                 data = dict(agent=obs.pop("agent"), extra=obs.pop("extra"))
@@ -553,7 +558,28 @@ class BaseEnv(gym.Env):
         return params
 
     def _get_obs_sensor_data(self, apply_texture_transforms: bool = True) -> dict:
-        """get only data from sensors. Auto hides any objects that are designated to be hidden"""
+        """
+        Get data from all registered sensors. Auto hides any objects that are designated to be hidden
+
+        Args:
+            apply_texture_transforms (bool): Whether to apply texture transforms to the simulated sensor data to map to standard texture formats. Default is True.
+
+        Returns:
+            dict: A dictionary containing the sensor data mapping sensor name to its respective dictionary of data. The dictionary maps texture names to the data. For example the return could look like
+
+            .. code-block:: python
+
+                {
+                    "sensor_1": {
+                        "rgb": torch.Tensor,
+                        "depth": torch.Tensor
+                    },
+                    "sensor_2": {
+                        "rgb": torch.Tensor,
+                        "depth": torch.Tensor
+                    }
+                }
+        """
         for obj in self._hidden_objects:
             obj.hide_visual()
         self.scene.update_render(update_sensors=True, update_human_render_cameras=False)
@@ -579,6 +605,7 @@ class BaseEnv(gym.Env):
         if self.backend.render_device.is_cuda():
             torch.cuda.synchronize()
         return sensor_obs
+
     def _get_obs_with_sensor_data(self, info: Dict, apply_texture_transforms: bool = True) -> dict:
         """Get the observation with sensor data"""
         return dict(
@@ -601,6 +628,15 @@ class BaseEnv(gym.Env):
         return self._reward_mode
 
     def get_reward(self, obs: Any, action: torch.Tensor, info: Dict):
+        """
+        Compute the reward for environment at its current state. observation data, the most recent action, and the info dictionary (generated by the self.evaluate() function)
+        are provided as inputs. By default the observation data will be in its most raw form, a dictionary (no flattening, wrappers etc.)
+
+        Args:
+            obs (Any): The observation data.
+            action (torch.Tensor): The most recent action.
+            info (Dict): The info dictionary.
+        """
         if self._reward_mode == "sparse":
             reward = self.compute_sparse_reward(obs=obs, action=action, info=info)
         elif self._reward_mode == "dense":
@@ -617,8 +653,15 @@ class BaseEnv(gym.Env):
 
     def compute_sparse_reward(self, obs: Any, action: torch.Tensor, info: Dict):
         """
+
         Computes the sparse reward. By default this function tries to use the success/fail information in
-        returned by the evaluate function and gives +1 if success, -1 if fail, 0 otherwise"""
+        returned by the evaluate function and gives +1 if success, -1 if fail, 0 otherwise.
+
+        Args:
+            obs (Any): The observation data. By default the observation data will be in its most raw form, a dictionary (no flattening, wrappers etc.)
+            action (torch.Tensor): The most recent action.
+            info (Dict): The info dictionary.
+        """
         if "success" in info:
             if "fail" in info:
                 if isinstance(info["success"], torch.Tensor):
@@ -635,11 +678,27 @@ class BaseEnv(gym.Env):
         return reward
 
     def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict):
+        """
+        Compute the dense reward.
+
+        Args:
+            obs (Any): The observation data. By default the observation data will be in its most raw form, a dictionary (no flattening, wrappers etc.)
+            action (torch.Tensor): The most recent action.
+            info (Dict): The info dictionary.
+        """
         raise NotImplementedError()
 
     def compute_normalized_dense_reward(
         self, obs: Any, action: torch.Tensor, info: Dict
     ):
+        """
+        Compute the normalized dense reward.
+
+        Args:
+            obs (Any): The observation data. By default the observation data will be in its most raw form, a dictionary (no flattening, wrappers etc.)
+            action (torch.Tensor): The most recent action.
+            info (Dict): The info dictionary.
+        """
         raise NotImplementedError()
 
     # -------------------------------------------------------------------------- #
@@ -949,10 +1008,10 @@ class BaseEnv(gym.Env):
         action = self._step_action(action)
         self._elapsed_steps += 1
         info = self.get_info()
-        obs = self.get_obs(info)
+        obs = self.get_obs(info, unflattened=True)
         reward = self.get_reward(obs=obs, action=action, info=info)
+        obs = self._flatten_raw_obs(obs)
         if "success" in info:
-
             if "fail" in info:
                 terminated = torch.logical_or(info["success"], info["fail"])
             else:
@@ -1010,8 +1069,10 @@ class BaseEnv(gym.Env):
                 action = common.batch(action)
             self.agent.set_action(action)
             if self._sim_device.is_cuda():
-                self.scene.px.gpu_apply_articulation_target_position()
-                self.scene.px.gpu_apply_articulation_target_velocity()
+                if self.agent.controller.sets_target_qpos:
+                    self.scene.px.gpu_apply_articulation_target_position()
+                if self.agent.controller.sets_target_qvel:
+                    self.scene.px.gpu_apply_articulation_target_velocity()
         self._before_control_step()
         for _ in range(self._sim_steps_per_control):
             if self.agent is not None: