mani-skill-nightly 2025.4.5.813__py3-none-any.whl → 2025.4.5.2036__py3-none-any.whl

mani_skill/envs/utils/randomization/__init__.py

@@ -1,3 +1,4 @@
+from . import camera
 from .common import *
 from .pose import *
 from .samplers import *

mani_skill/envs/utils/randomization/camera.py

@@ -0,0 +1,60 @@
+import torch
+
+from mani_skill.utils import common, sapien_utils
+from mani_skill.utils.geometry.rotation_conversions import (
+    axis_angle_to_quaternion,
+    euler_angles_to_matrix,
+    quaternion_multiply,
+)
+from mani_skill.utils.structs.pose import Pose
+
+
+def make_camera_rectangular_prism(
+    n, scale=[0.1, 0.1, 0.1], center=[0, 0, 0], theta=0, device=None
+) -> torch.Tensor:
+    """
+    Args:
+        n: number of sampled points within the geometry
+        scale: [x,y,z] scale for unit cube
+        center: [x,y,z] scaled unit cube coordinates
+        theta: [0,2pi] rotation about the z axis
+    """
+    scale = common.to_tensor(scale, device=device)
+    center = common.to_tensor(center, device=device)
+    xyz = (torch.rand(n, 3, device=device) - 0.5) * scale
+    rot_mat = euler_angles_to_matrix(
+        torch.tensor([0, 0, theta], dtype=torch.float32, device=device),
+        convention="XYZ",
+    )
+    return (xyz @ rot_mat.T) + center
+
+
+def noised_look_at(
+    eye, target, look_at_noise=1e-2, view_axis_rot_noise=2e-1, device=None
+) -> Pose:
+    """
+    Args:
+        eye: mean camera position
+        target: mean target position
+        look_at_noise: std of noise added to target in lookat transform
+        view_axis_rot_noise: std of noise added to rotation about the looking direction
+    """
+    eye = common.to_tensor(eye, device=device)
+    target = common.to_tensor(target, device=device)
+    targets = target.view(1, 3).repeat(len(eye), 1)
+    noised_targets = torch.normal(mean=targets, std=look_at_noise)
+    poses = sapien_utils.look_at(eye=eye, target=noised_targets, device=device)
+
+    # axis to rotate around is the look at dirsection
+    angles = torch.normal(
+        torch.zeros(noised_targets.shape[0], device=device), std=view_axis_rot_noise
+    )
+    axes = noised_targets - eye
+    unit_axes = axes / torch.linalg.norm(axes, dim=-1).view(-1, 1)
+    axis_angle = unit_axes.view(-1, 3) * angles.view(-1, 1)
+    assert axis_angle.shape[0] == angles.shape[0], (axis_angle.shape, angles.shape)
+
+    # apply the rotation after the look_at rotation, then apply lookat translation
+    # look_at rotation is camera to world, it is looking down what is in axes variable
+    transforms = axis_angle_to_quaternion(axis_angle)
+    return Pose.create_from_pq(poses.p, q=quaternion_multiply(transforms, poses.q))

mani_skill/examples/demo_robot.py

@@ -64,6 +64,7 @@ def main():
                 break
         if kf.qpos is not None:
             env.agent.robot.set_qpos(kf.qpos)
+            env.agent.controller.reset()
         if kf.qvel is not None:
             env.agent.robot.set_qvel(kf.qvel)
         env.agent.robot.set_pose(kf.pose)

mani_skill/utils/sapien_utils.py

@@ -313,7 +313,7 @@ def sapien_pose_to_opencv_extrinsic(sapien_pose_matrix: np.ndarray) -> np.ndarra
     return ex
 
 
-def look_at(eye, target, up=(0, 0, 1)) -> Pose:
+def look_at(eye, target, up=(0, 0, 1), device=None) -> Pose:
     """Get the camera pose in SAPIEN by the Look-At method.
 
     Note:
@@ -326,22 +326,22 @@ def look_at(eye, target, up=(0, 0, 1)) -> Pose:
         eye: camera location
         target: looking-at location
         up: a general direction of "up" from the camera.
-
+        device: device to put the pose on.
     Returns:
         Pose: camera pose
     """
     # only accept batched input as tensors
     # accept all other input as 1 dimensional
     if not isinstance(eye, torch.Tensor):
-        eye = torch.tensor(eye, dtype=torch.float32)
+        eye = torch.tensor(eye, dtype=torch.float32, device=device)
         assert eye.ndim == 1, eye.ndim
         assert len(eye) == 3, len(eye)
     if not isinstance(target, torch.Tensor):
-        target = torch.tensor(target, dtype=torch.float32)
+        target = torch.tensor(target, dtype=torch.float32, device=device)
         assert target.ndim == 1, target.ndim
         assert len(target) == 3, len(target)
     if not isinstance(up, torch.Tensor):
-        up = torch.tensor(up, dtype=torch.float32)
+        up = torch.tensor(up, dtype=torch.float32, device=device)
         assert up.ndim == 1, up.ndim
         assert len(up) == 3, len(up)
 
@@ -349,11 +349,12 @@ def look_at(eye, target, up=(0, 0, 1)) -> Pose:
         x = x.view(-1, 3)
         norm = torch.linalg.norm(x, dim=-1)
         zero_vectors = norm < eps
-        x[zero_vectors] = torch.zeros(3).float()
+        x[zero_vectors] = torch.zeros(3, device=x.device).float()
         x[~zero_vectors] /= norm[~zero_vectors].view(-1, 1)
         return x
 
     forward = normalize_tensor(target - eye)
+
     up = normalize_tensor(up)
     left = torch.cross(up, forward, dim=-1)
     left = normalize_tensor(left)

mani_skill/utils/structs/articulation.py

@@ -61,7 +61,7 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
     """
 
     _cached_joint_target_indices: Dict[int, torch.Tensor] = field(default_factory=dict)
-    """Map from a set of joints of this articulation and the indexing torch tensor to use for setting drive targets"""
+    """Map from a set of joints of this articulation and the indexing torch tensor to use for setting drive targets in GPU sims."""
 
     _net_contact_force_queries: Dict[
         Tuple, physx.PhysxGpuContactBodyImpulseQuery
@@ -481,6 +481,47 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
         """
         return self.get_net_contact_impulses(link_names) / self.scene.timestep
 
+    def get_joint_target_indices(self, joint_indices):
+        if joint_indices not in self._cached_joint_target_indices:
+            self._cached_joint_target_indices[joint_indices] = torch.meshgrid(
+                self._data_index, joint_indices, indexing="ij"
+            )
+        return self._cached_joint_target_indices[joint_indices]
+
+    def get_drive_targets(self):
+        return self.drive_targets
+
+    def get_drive_velocities(self):
+        return self.drive_velocities
+
+    @property
+    def drive_targets(self):
+        """
+        The current drive targets of the active joints. Also known as the target joint positions. Returns a tensor
+        of shape (N, M) where N is the number of environments and M is the number of active joints.
+        """
+        if self.scene.gpu_sim_enabled:
+            return self.px.cuda_articulation_target_qpos[
+                self.get_joint_target_indices(self.active_joints)
+            ]
+        else:
+            return torch.cat([x.drive_target for x in self.active_joints], dim=-1)
+
+    @property
+    def drive_velocities(self):
+        """
+        The current drive velocity targets of the active joints. Also known as the target joint velocities. Returns a tensor
+        of shape (N, M) where N is the number of environments and M is the number of active joints.
+        """
+        if self.scene.gpu_sim_enabled:
+            return self.px.cuda_articulation_target_qvel[
+                self.get_joint_target_indices(self.active_joints)
+            ]
+        else:
+            return torch.cat(
+                [x.drive_velocity_target for x in self.active_joints], dim=-1
+            )
+
     # -------------------------------------------------------------------------- #
     # Functions from physx.PhysxArticulation
     # -------------------------------------------------------------------------- #
@@ -769,9 +810,6 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
         else:
             return self._objs[0].create_pinocchio_model()
 
-    # def _get_joint_indices(self, joints: List[Joint]):
-    #     if
-
     def set_joint_drive_targets(
         self,
         targets: Array,
@@ -780,16 +818,10 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
     ):
         """
         Set drive targets on active joints. Joint indices are required to be given for GPU sim, and joint objects are required for the CPU sim
-
-        TODO (stao): can we use joint indices for the CPU sim as well? Some global joint indices?
         """
         if self.scene.gpu_sim_enabled:
             targets = common.to_tensor(targets, device=self.device)
-            if joint_indices not in self._cached_joint_target_indices:
-                self._cached_joint_target_indices[joint_indices] = torch.meshgrid(
-                    self._data_index, joint_indices, indexing="ij"
-                )
-            gx, gy = self._cached_joint_target_indices[joint_indices]
+            gx, gy = self.get_joint_target_indices(joint_indices)
             self.px.cuda_articulation_target_qpos.torch()[gx, gy] = targets
         else:
             for i, joint in enumerate(joints):
@@ -803,16 +835,10 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
     ):
         """
         Set drive velocity targets on active joints. Joint indices are required to be given for GPU sim, and joint objects are required for the CPU sim
-
-        TODO (stao): can we use joint indices for the CPU sim as well? Some global joint indices?
         """
         if self.scene.gpu_sim_enabled:
             targets = common.to_tensor(targets, device=self.device)
-            if joint_indices not in self._cached_joint_target_indices:
-                self._cached_joint_target_indices[joint_indices] = torch.meshgrid(
-                    self._data_index, joint_indices, indexing="ij"
-                )
-            gx, gy = self._cached_joint_target_indices[joint_indices]
+            gx, gy = self.get_joint_target_indices(joint_indices)
             self.px.cuda_articulation_target_qvel.torch()[gx, gy] = targets
         else:
             for i, joint in enumerate(joints):

{mani_skill_nightly-2025.4.5.813.dist-info → mani_skill_nightly-2025.4.5.2036.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.4.5.813
+Version: 2025.4.5.2036
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.4.5.813.dist-info → mani_skill_nightly-2025.4.5.2036.dist-info}/RECORD

@@ -1,20 +1,21 @@
 mani_skill/__init__.py,sha256=RpNtUgdPp9Fek-7DIW5Xyi9YXKf8W6rj1vkpgquaFwg,2101
 mani_skill/agents/__init__.py,sha256=6u7nUfWDqWmD_ieNhECfhV6mIyf4SmMdumexE2lRlsU,44
 mani_skill/agents/base_agent.py,sha256=rnBMYAtEhjfVHeYUx28yWU9Y1tIxXVETBv2IqSiyt8w,18098
+mani_skill/agents/base_real_agent.py,sha256=DD9SXZa7er5zF7wdm97IO_0W4xbdw-66iLC8j86ykYw,8549
 mani_skill/agents/multi_agent.py,sha256=OL7sPDwP1Gfn870W3LRNhwsPp7Gy52sdYI4LySvaGzQ,2970
 mani_skill/agents/registration.py,sha256=rtu9vAys_Qz76d9LsDFpqanZxaFiLSPZajA3uHF9HHQ,1331
 mani_skill/agents/utils.py,sha256=U8wdgsNHRa-RtlC3HQM8_Agn9P82TIe3ZrXetaMMU_U,1912
 mani_skill/agents/controllers/__init__.py,sha256=tsd27dW6brQBm563CddUGtFMBNAxe_MCpTqqR5VyJaY,1103
-mani_skill/agents/controllers/base_controller.py,sha256=O6AJiF7OCmGBgiLAEf5sfTVM_NFED440xbczmxswkIY,12803
-mani_skill/agents/controllers/passive_controller.py,sha256=R-hZeuxmNKA9TvDZzVKd-YIv45xE4tc6wMHargdrxjY,1264
+mani_skill/agents/controllers/base_controller.py,sha256=Q-HBiweRyqvUwmHV8WPJw96BKrmnlH9h5kSUhIwy4eQ,13334
+mani_skill/agents/controllers/passive_controller.py,sha256=1cZp758AVuABvgWOzCeguBbbB8wJ6hF_cqN-k_vx5Kw,1322
 mani_skill/agents/controllers/pd_base_vel.py,sha256=-3ZzLZ9nRDMGHWnFE7c4reEbC3jHtQJCOx3LmArz95g,2868
 mani_skill/agents/controllers/pd_ee_pose.py,sha256=g8euEL8hW_M8QFKFf9vMNKoGWk3acaeoRUCPDrSjfRw,11693
-mani_skill/agents/controllers/pd_joint_pos.py,sha256=FHN-Rr_cweBi3GHyhzBpRzrjt7UszHb2jv6BkmG8nO0,11052
-mani_skill/agents/controllers/pd_joint_pos_vel.py,sha256=G8SBIa8jM939zGCETY17RlmwHoHLS5iCMTZsYZaH1mY,2433
-mani_skill/agents/controllers/pd_joint_vel.py,sha256=XQK13lsbteeUsztGw0u-DCBgCCv0ChglvncgwxVQCWY,1900
+mani_skill/agents/controllers/pd_joint_pos.py,sha256=R0085LrFTMOwBomQcHlZVhNaWVtVc7WvuEqj5zKhA9U,11109
+mani_skill/agents/controllers/pd_joint_pos_vel.py,sha256=wgiXmenTVIao1Tm1vtdJWTZRFJMB_yQBNd5vQaP8WXw,2489
+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=f3qQp8iY4npilhjLzCtTbSX-uch0PJ5GtIgrijmRfpY,8038
-mani_skill/agents/robots/__init__.py,sha256=pcKoe2jYpejJNKJycnesfcng2Ytj3Z2w8JDiudHZPb8,590
+mani_skill/agents/robots/__init__.py,sha256=FM8_5M8AQOQL4onHTRKAVpy0JyGPgZ0pZkXIObcXKLc,631
 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
@@ -34,10 +35,16 @@ mani_skill/agents/robots/googlerobot/__init__.py,sha256=a74XGTSr8w3p6llHs01SDniT
 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=5Ad2oO6xO11proFQutvIsqDe5VPBTI5ImPvZaqIN0O4,3791
+mani_skill/agents/robots/koch/__init__.py,sha256=-bZbNQnXk6rlXgSkIG2umLENJkNqAQb7jnjTe3r5Jfs,23
+mani_skill/agents/robots/koch/koch.py,sha256=r5morOu6Fv35qpSm2OFhhO2Aaw2x9ZtT3wrET-YtiCw,6736
+mani_skill/agents/robots/koch/koch_real.py,sha256=w8lIzRsAZEvLGXbC598ktpGiHKuPp3XDspmU1xYXKqc,124
 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
 mani_skill/agents/robots/panda/panda_wristcam.py,sha256=eSw652CaA82YfetCqasHGAcUkaJ_aXJijJm6tHZmKyQ,875
+mani_skill/agents/robots/so100/__init__.py,sha256=54RRpI3ue89zbNtSKOK8JxvSaKrHt6PXQrriTN6X01c,26
+mani_skill/agents/robots/so100/so_100.py,sha256=Bq3s98JRQ0MSkiHU7L648c-5qcNffxEpYfTgzT55dxQ,4454
+mani_skill/agents/robots/so100/so_100_real.py,sha256=-M1iRAe81AQgnM8XE32Q2jsFBmE87MGXgQwA138BVis,125
 mani_skill/agents/robots/stompy/__init__.py,sha256=fNuqeJqKneHPnzvjDYtzbpV3MIGGll8-CMok89hf0zo,27
 mani_skill/agents/robots/stompy/stompy.py,sha256=doBI0c4QCbjCiaHAxdngI73Ux_ISBy6N5JTgPovrX34,4052
 mani_skill/agents/robots/trifingerpro/__init__.py,sha256=9Ie0DpbjXxkYiDZuCFSMycWafuMJLwB0XaTSuiCoE-E,38
@@ -296,6 +303,53 @@ mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/wr
 mani_skill/assets/robots/inspire_hand/urdf/end_effector/inspire_hand/inspire_hand_left.urdf,sha256=n8vpejsqsvuTF-j6rD4Lk763-3xPtpVbO6AcvlZXwcA,18792
 mani_skill/assets/robots/inspire_hand/urdf/end_effector/inspire_hand/inspire_hand_right.urdf,sha256=EAxFnwOsXFyCKiexhCA9m6r5EH7qCkvzJCvHOKdT3y4,17645
 mani_skill/assets/robots/inspire_hand/urdf/end_effector/inspire_hand/inspire_hand_right_floating.urdf,sha256=W2uRIWhQynY3lKfLK-obUMTEYAdXyR7jQLhClZSlpy4,20358
+mani_skill/assets/robots/koch/LICENSE,sha256=-06KuHJCcCtEacPXdcgbLeHL11NuRd4cl_bJdp8qP9E,27626
+mani_skill/assets/robots/koch/README.md,sha256=7WxG-H8-CzK5xZWJrmVeN7l3231jpGiBigIGkDXKr_8,409
+mani_skill/assets/robots/koch/follower_arm_v1.1.srdf,sha256=qW7VTO4QmXq3l6Hfn3G4aC_dBXYsD-WXju6abbrW_vM,543
+mani_skill/assets/robots/koch/follower_arm_v1.1.urdf,sha256=uEsibga4ezGnugNGnVJYVC2ug3hs1pakAxHsvHf2FgY,16161
+mani_skill/assets/robots/koch/meshes/base_link.glb,sha256=Ia8M6NJ7pzyeO4udOqBXabDvx7kb1gPJRtcXIRBP7Pk,36576
+mani_skill/assets/robots/koch/meshes/base_link.stl,sha256=FoPbF_3KPDwf3n6O_IoN7lP7RvxQdZjAT6zVnb-lbWE,41884
+mani_skill/assets/robots/koch/meshes/centered_base_link.stl,sha256=eCbKlaS8d1J5hJ5UrwOSC4dJRM24LWOLVbh93rQNfMQ,41884
+mani_skill/assets/robots/koch/meshes/gripper.glb,sha256=nFqEzQS-OBnYr2iEkyoTQGVMPlLVbJcRsvc8mMcdg_M,51852
+mani_skill/assets/robots/koch/meshes/gripper.stl,sha256=7X4cCiw4kLa4WgXrGdnYC5TWVTo1lyWvHK0mbOBN7xY,46384
+mani_skill/assets/robots/koch/meshes/gripper_collision_part_1.glb,sha256=i9Xr9JJJ9GdQuCebJ0OHRdXWT_gQDf1GBs4vBk9rpb0,2444
+mani_skill/assets/robots/koch/meshes/gripper_collision_part_2.glb,sha256=zD7ft26dVMA7DXvmVUEjhBq7jpQE2rmRzg7DY146avk,9012
+mani_skill/assets/robots/koch/meshes/gripper_collision_part_3.glb,sha256=b-cBNZr4Fm-nRq4hmas7v8JDNORJLMnF-dftoR9uN5s,15448
+mani_skill/assets/robots/koch/meshes/link_1.stl,sha256=RqHPWXjrBar5BgoZ61E5e8vbCFk4JKZq7YCyg959JP0,403684
+mani_skill/assets/robots/koch/meshes/link_1_motor.glb,sha256=pc34bMwZxwOhLx27tntnMocMriiKbEf4l4ll77PBatk,395856
+mani_skill/assets/robots/koch/meshes/link_2.stl,sha256=wDhiiHZ2bUINOnV9v6dAoQ84k6plXnDvpyt5ZeETSZQ,446584
+mani_skill/assets/robots/koch/meshes/link_2_collision_chassis.glb,sha256=NduuFshBzxLlwq9fIVyUCfkvyq7o6I5rLSR5uN-22jU,188088
+mani_skill/assets/robots/koch/meshes/link_2_collision_motor.glb,sha256=5zrWu-19AGNU6dBxaU6hG2Drv7IdNfdeFKI3A-pCm7c,2584
+mani_skill/assets/robots/koch/meshes/link_2_motor.glb,sha256=1sSRTOJ4a0YTCFuM3XcKnJtdmzPYNtNdXf1Bx14_IEc,395716
+mani_skill/assets/robots/koch/meshes/link_2_rotation_connector.glb,sha256=QFYzNGwHw_H8HPofyX5cno8IFbLFdMwhno9pPxH0KNU,188088
+mani_skill/assets/robots/koch/meshes/link_2_rotation_connector.stl,sha256=D0JvZv8GgcfTH5X4Q42I-4vHxh_d03OOSYmx8zKuWKU,201184
+mani_skill/assets/robots/koch/meshes/link_3.stl,sha256=GWMonsZLjTh-tJ2Uw9PANH5jyf93lO1N-evH_x0fPus,602184
+mani_skill/assets/robots/koch/meshes/link_3_collision_chassis_part_1.glb,sha256=XOT-A7XAg9TPJhjH_gb7tNh6TN3an-JmGxPO6x96CLs,2284
+mani_skill/assets/robots/koch/meshes/link_3_collision_chassis_part_2.glb,sha256=sVwFLg2CTCktBRtIQWKT6S356LTzhGCgJARjjrp_kKI,1776
+mani_skill/assets/robots/koch/meshes/link_3_collision_chassis_part_3.glb,sha256=ZR9iyJ5EYGOeXRBFZ8Mtl3z43yKUOCQK6U3vAx2BoRw,1916
+mani_skill/assets/robots/koch/meshes/link_3_collision_chassis_part_4.glb,sha256=VhXF_C1Q2fs0M6IyHN1JZ0sz0RevKgKd5l4R-AX5hNc,2480
+mani_skill/assets/robots/koch/meshes/link_3_collision_chassis_part_5.glb,sha256=dJSl7dN9TiAWZC6pL7e_ppVY-nNdcw7H4a2FFv3EVRM,2480
+mani_skill/assets/robots/koch/meshes/link_3_collision_motor.glb,sha256=qZJUuqlsm1mu5AufmasZ5m5-uPDShOTe0u0XmvaDii0,1916
+mani_skill/assets/robots/koch/meshes/link_3_motor.glb,sha256=5MLDzA_IwjYb0qnnTZAXeN5Up4KypgfUMT-jFI6Cbsg,558072
+mani_skill/assets/robots/koch/meshes/link_3_motor.stl,sha256=o0sLhAkVcuvsOHi3XyX-PnXCQZCflq6CYFP1lKLWE2s,531984
+mani_skill/assets/robots/koch/meshes/link_3_part.glb,sha256=HGT7IAW_iAwiJ3ZkZisfCl0zYBIyC10Gz67t3NPJQPs,66580
+mani_skill/assets/robots/koch/meshes/link_3_part.stl,sha256=h8502Y7st6AHQVhndRoogSMtn-mdbeb-3TDVs9LwX5Y,69484
+mani_skill/assets/robots/koch/meshes/link_4.stl,sha256=r8BRg8O9GNkuwWR4lsdhJ6lF5xvQJkYa7Vje4jxd-CY,588784
+mani_skill/assets/robots/koch/meshes/link_4_collision_chassis_part_1.glb,sha256=8cz_JsmZS3FPk-F2yGMuZMEiIeieZrhe20tTGcW-SXk,2548
+mani_skill/assets/robots/koch/meshes/link_4_collision_chassis_part_2.glb,sha256=qC-jEh4MW4dge7HX8E-Hu7PaOjXdf0Ctv3XtgYJMFpw,2712
+mani_skill/assets/robots/koch/meshes/link_4_collision_chassis_part_3.glb,sha256=7oer9ZWZmga-69T2EJXCFSY3gh_qjC0BywKBRjiYScQ,2712
+mani_skill/assets/robots/koch/meshes/link_4_collision_motor.glb,sha256=4UEvJO4r3FuCfciQFpeOqp99A6IosaEBpMa1qjlk2Jc,1848
+mani_skill/assets/robots/koch/meshes/link_4_motor.glb,sha256=fEayODD_eQa1vL6Se0rP5359JIuwGOxf8hi1D0nOMoc,558164
+mani_skill/assets/robots/koch/meshes/link_4_part.glb,sha256=UucFonZRGUgrxDIs_2y8cwdo2vnaIWmj-NMCMirdtDY,49728
+mani_skill/assets/robots/koch/meshes/link_5.stl,sha256=eOQG_QLkxgIpkFCWO-oy28ribM_K9_Nr11jtvsObDvE,589284
+mani_skill/assets/robots/koch/meshes/link_5_motor.glb,sha256=oFW-Tl3THiCSHQwMs7CqMpvzbiDA_aaTpLUCku2JQBA,558196
+mani_skill/assets/robots/koch/meshes/link_5_part.glb,sha256=2y3rgIb33jXi6ZEGkaye2PZ-REtVudg3gWvij1-mcLA,49416
+mani_skill/assets/robots/koch/meshes/link_6.stl,sha256=JdAAUQsT0QN9KrGowjmf0x93vVM69l_o6ItjsunXMKs,606584
+mani_skill/assets/robots/koch/meshes/link_6_collision_part_2.glb,sha256=BJgVrO77fLEdJudkZDx4GBoV_i0RSG4dJNfCtFHmtdo,2212
+mani_skill/assets/robots/koch/meshes/link_6_collision_part_3.glb,sha256=LHWBICpjq_RkmIq6-weJYOSwTz8sF1FeyOxwSfDfq-A,1712
+mani_skill/assets/robots/koch/meshes/link_6_collision_part_4.glb,sha256=dCeVQtV9OvJb598ODd6QlNiU-eV-E-0pzfmBjtw5bLg,11432
+mani_skill/assets/robots/koch/meshes/link_6_motor.glb,sha256=YYJdJQUivdXr_WU6ADSHaIU_Y_tGAcaXjiISdpz_JYo,558224
+mani_skill/assets/robots/koch/meshes/link_6_part.glb,sha256=2MOYmXvtI42rdI-NcUBwieWMBCMOX5Ii8X_vt-_uylc,76652
 mani_skill/assets/robots/panda/mobile_panda_dual_arm.urdf,sha256=LIBzvBfOC7camgIbNAWXN1WqAN-mtV9eXoweNy5Uv64,28443
 mani_skill/assets/robots/panda/mobile_panda_single_arm.urdf,sha256=LXmsV85-CvO2lHrN7alyM_eFFoV4x4cIpCjiwbyFVOE,16761
 mani_skill/assets/robots/panda/panda_bucket.srdf,sha256=p5xcVV2dJNNEXI_WKXYX54cOFh44l4fV-hn_vdc4kRQ,52
@@ -350,6 +404,22 @@ mani_skill/assets/robots/panda/sciurus17_description/meshes/collision/Base.stl,s
 mani_skill/assets/robots/panda/sciurus17_description/meshes/collision/Body.stl,sha256=BrZca6PQameIJTg3Jo8zwQqDwPSBeaahCyCzg5g6rH4,227484
 mani_skill/assets/robots/panda/sciurus17_description/meshes/visual/Base.stl,sha256=B2lPVapaEG5gR2OavvSwMI0ju0oMaowvwQ9CxQJ1oNo,1609684
 mani_skill/assets/robots/panda/sciurus17_description/meshes/visual/Body.stl,sha256=uzaYY9covWVKTHaflatAHHWghs-zRe52DnGhyZUe-9I,6158284
+mani_skill/assets/robots/so100/LICENSE,sha256=QwcOLU5TJoTeUhuIXzhdCEEDDvorGiC6-3YTOl4TecE,11356
+mani_skill/assets/robots/so100/README.md,sha256=NhEpAetOHh3fsU5LQBlE0w09TajOwCIfk7ArvyGddgU,495
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/original.srdf,sha256=ntCI29IbObhjSczU0arh8E5FeAlwWLnCqEFB5gWfmfw,474
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/original.urdf,sha256=OBdenUvdRKuafwl4wyMSkStQ2apFacWDUsmQO7qPgSs,11403
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Base.STL,sha256=1lmQxkQtiHglrFyvXdZnFLiezYcITBCmvBdrXOtoGZ4,597684
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Fixed_Jaw.STL,sha256=8qYjEXCGw9jFiYtqa4zcvpbQWNk7r2cOJUv8ut4Z3Jc,416384
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Fixed_Jaw_part1.ply,sha256=LKjUCMOjZbrCYugtqs1sne30DpDBryjEhkjfv2NvUTA,628
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Fixed_Jaw_part2.ply,sha256=t58_KuU4NRPqVZ0ESd7dFSgaaNTvv6OHHqAk0xALrpE,879
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Lower_Arm.STL,sha256=KSXFuPzBaB6_V9HRdZoqgnKomdkdOLItTOtVlrRWolk,499784
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Moving Jaw.STL,sha256=qlCcpCc7BoiF-yrUS8bu-p5DklG1PQCJ2bB7idunGrU,177184
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Moving_Jaw_part1.ply,sha256=0ixh1WOz04a2Ao6eEkePFDo42FnKKZOhHVK2f1iDFgI,628
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Moving_Jaw_part2.ply,sha256=XkBI9LBCrkne4D0lepfKY5HIuuG9BMe-mCuTfJn0Lxg,582
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Moving_Jaw_part3.ply,sha256=JLF3MhwnfjBw4DV7FhG_DXx39oTQm-YV5fd1jxZUqvk,701
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Rotation_Pitch.STL,sha256=Koz_9wBrOCHHCD2hVWFPLli39fyesx7s8oQwkS1Crgo,501784
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Upper_Arm.STL,sha256=uAjlirUBhghtA1ZomwLK8zPaK5CedkTsQB6LmR640-4,367384
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Wrist_Pitch_Roll.STL,sha256=UFLKKpF-Gqd_ngzNmHbaeBXF690m3GNOnGBWFQ6DecQ,475284
 mani_skill/assets/robots/trifinger/cube_multicolor_rrc.urdf,sha256=cJ1b7QsYy1aZpAVI-bGkL5xPyzQHToRwcwVZJLTGCuY,451
 mani_skill/assets/robots/trifinger/high_table_boundary.urdf,sha256=KalDpF19dXuNua26RHGkTycz1S-DV57T-9T7NTlgOCE,1343
 mani_skill/assets/robots/trifinger/table_without_border.urdf,sha256=P2y3watglInvmtgPideXQET8_KlTVzjeg9XlEW_O7lY,1545
@@ -436,8 +506,9 @@ mani_skill/assets/robots/xarm7/meshes/visual/link7.glb,sha256=aZatACOv20VJbi2tOE
 mani_skill/assets/robots/xarm7/meshes/visual/link_base.glb,sha256=vcy2lN1V72jIsSDRT0ZKVskR_0pVOXtDvBkxO2GENWs,467668
 mani_skill/envs/__init__.py,sha256=YPlttBErTcf9vSnkZ54EQ8vTABSfFFrBdUY0AkF4vmg,43
 mani_skill/envs/minimal_template.py,sha256=9THHWA1vkHatptc9g5Ojh-UBUKWQmLHVeq4fcaqv2aY,2200
-mani_skill/envs/sapien_env.py,sha256=uzTNLquXWdDPHWsuFSygobHEDk4UrBRPqABt1pxSbzg,68966
+mani_skill/envs/sapien_env.py,sha256=sUwjgVk8K1vvhYXqIY0z-KhvOpBuZ8JvuXBvJRZCBzM,71734
 mani_skill/envs/scene.py,sha256=RxdOCEI9XA5EL9yNdUc3Y-CQlCWOtt1Biw8fIwWxRh8,48006
+mani_skill/envs/sim2real_env.py,sha256=n4TMNry9ZIx9d9A6BCFDJTEgpNPhcwecCwV5hNhca7w,19220
 mani_skill/envs/template.py,sha256=0wnwKjnGOF7RvTR5Gz4VopaUiFxnIioXwmb4nPVxAs8,11939
 mani_skill/envs/scenes/__init__.py,sha256=uL2T3AuoUkqe2FXmFjo4OQAMQDsePa6qVjCjEzJLqtE,868
 mani_skill/envs/scenes/base_env.py,sha256=jiqKIzWhFWQ_jtRYPXehYixYRQ1-q1YFMBv_T8Ki6eg,7128
@@ -460,10 +531,10 @@ mani_skill/envs/tasks/dexterity/__init__.py,sha256=wXXGA6ZdY5HExcnf3Dux4sMFUgmWj
 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=tp7odz4SZqkM3dpO8HiQuIwECymbLtQXIDcG71T2WfA,35
-mani_skill/envs/tasks/digital_twins/base_env.py,sha256=MRyGEKsDZ7VAeFgXx7bCw2pnAoGsOQpRVmQcYKW08pI,7645
+mani_skill/envs/tasks/digital_twins/base_env.py,sha256=B_YhUdgKclk7IB5qFPj9Ej-0uSyDY1_ubfUcyHyy7_0,8105
 mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/__init__.py,sha256=2okxye0Tg_kmmKNXP7h4MlAxxGS5cJE3OKAo4LIVAcs,172
-mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/base_env.py,sha256=Oj83bD2BdoY3KqyU7zPUR-9rzbV3PAiNmaCjuij3L8E,21687
-mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/put_on_in_scene.py,sha256=JBGjhHX3IbUoVpUmINnOqwgVqrK1VIjwckPl96iHvII,9044
+mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/base_env.py,sha256=HFjZwcMOSNduDmyD-qo9zVeHqHOdXdx0H11japbTpEI,21997
+mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/put_on_in_scene.py,sha256=kDKEX-e1Hq5kZiBs9xfEzU2jjx35eHWriAAYFJcBbgE,9419
 mani_skill/envs/tasks/drawing/__init__.py,sha256=eZ7CnzIWBOHUihvOKStSQK94eKSv5wchRdSodiDYBlw,72
 mani_skill/envs/tasks/drawing/draw.py,sha256=WlhxJjt0-DlkxC3t-o0M8BoOwdwWpM9reupFg5OqiZc,8146
 mani_skill/envs/tasks/drawing/draw_svg.py,sha256=UKnVl_tMfUNHmOg24Ny-wFynb5CaZC0uIHvW9sBxbyo,16206
@@ -521,8 +592,9 @@ mani_skill/envs/utils/README.md,sha256=pLF2xwnFfsPEnN_QmyVME_JVvPAWFhqjy-0AUB-ul
 mani_skill/envs/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/envs/utils/observations/__init__.py,sha256=c8GWACKz3UM8jbsmmWn2rTtcXDMaYq5pZoGDWxuaqrE,3606
 mani_skill/envs/utils/observations/observations.py,sha256=363PTglxPKEnniZyFzX_pGFWFbkfc5KUtxrnIA2h03o,2626
-mani_skill/envs/utils/randomization/__init__.py,sha256=NwZbATq5TVu7rwOzypge4Q7p9bS2lQ0OYAVyeBY08Vk,66
+mani_skill/envs/utils/randomization/__init__.py,sha256=6p9XR9wNfd55Cn7lFw84rnjsLp3eJJaa-93MYX5l_Ik,87
 mani_skill/envs/utils/randomization/batched_rng.py,sha256=8uEtsXc3KnnECn23MRsNS-CizoK_a7dEVqARhU6HhUs,2165
+mani_skill/envs/utils/randomization/camera.py,sha256=YUdLinHbLnhwCiD2ouwe_neYzYbgN48wXSCPUYpM5sg,2341
 mani_skill/envs/utils/randomization/common.py,sha256=Be4lQLv5NRTHEGJWhJ0fCTDHeVRffgfO8_TEN7c6_nw,534
 mani_skill/envs/utils/randomization/pose.py,sha256=9PPg-QMorHVe3fV4e3T-BRYu0E_8ItcY9rHWV_jo6i0,1039
 mani_skill/envs/utils/randomization/samplers.py,sha256=EOkF18mmDC7fA2hgj8QC2Ag0gnf4H-4MIjOCDvTMpCE,3665
@@ -537,7 +609,7 @@ mani_skill/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSu
 mani_skill/examples/demo_manual_control.py,sha256=PiGxRF_7mf1k_jW6ak9zDcnwcSNtXdbIoL9SZJ30tV8,8275
 mani_skill/examples/demo_random_action.py,sha256=bn7M0b9OEB-K3zgXi58ftkdlRamDaQEza_G_5o8RbmM,5112
 mani_skill/examples/demo_reset_distribution.py,sha256=qkg9TlGjL13WfYgnoimKN5XZr2bK1WvJGvi2Lj3Tmq8,2987
-mani_skill/examples/demo_robot.py,sha256=Rp5dbVXuZe2t1Dns-JhALtgH-sj1Cz7P47Ginc_AQQM,4840
+mani_skill/examples/demo_robot.py,sha256=bIeHztjM0R6yJT699WQ6jkhv6LjsiP4GWa3Whyom_qM,4881
 mani_skill/examples/demo_vis_pcd.py,sha256=50YT-YVeX4sEsXxHh0S9Ju_kra8ZcUzPfFpG3EgK2o4,2139
 mani_skill/examples/demo_vis_segmentation.py,sha256=HESY-_XjQbofBZQbUl_fuAupQpr3H4ZerPzwGBBR12I,4281
 mani_skill/examples/demo_vis_textures.py,sha256=m1hcOFQyMXu_C8ncnVHdhEksKBs-0e6Hb3UJvkPHG-4,3437
@@ -598,7 +670,7 @@ mani_skill/utils/io_utils.py,sha256=VJ93qoHxzFWIljAp9043pJqETmEGmxzt_DoYtE5Hd_I,
 mani_skill/utils/logging_utils.py,sha256=Iomnw2VrJ56A6kvyIm9Zhgp94Qf-WOf9WuMAGNB-2fc,1765
 mani_skill/utils/precompile_mpm.py,sha256=D497m_0mcNifeBEV7wmG5gHU_SstNpOoHIb-OQiqvUA,291
 mani_skill/utils/registration.py,sha256=u8ftfGvQP4qzlKNqLQjGi3cRF_-h6Rz-28xbLkW_YJ4,9718
-mani_skill/utils/sapien_utils.py,sha256=RmzODbaKAUk0VBY8g3QFeKoZfBsVITZ3mM5NXqDL9AU,16312
+mani_skill/utils/sapien_utils.py,sha256=QMV0jRZO51KzIMB5CVW_Ne-4fPw0-mqM4a3yhNZaMYo,16430
 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=YRobBeCxdf23kJxMac9J-dvvJoLSck8mQTbPZGeIAi4,8591
@@ -680,7 +752,7 @@ mani_skill/utils/scene_builder/table/assets/table.glb,sha256=yw69itZDjBFg8JXZAr9
 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=2E2Bb73CIFRcNAfj-y_Fz_0EubsJUfcf-gbADivmYTQ,33326
+mani_skill/utils/structs/articulation.py,sha256=6olG0RxQ84J8p7479Mn3bdy6tsMKLpWKMu3NRbbgzfo,34235
 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
@@ -705,8 +777,8 @@ 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-2025.4.5.813.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.4.5.813.dist-info/METADATA,sha256=N6m0tHQlpyyTnX4AimmL-N-z2YRjPIf54UbUzg-P2jI,9290
-mani_skill_nightly-2025.4.5.813.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.4.5.813.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.4.5.813.dist-info/RECORD,,
+mani_skill_nightly-2025.4.5.2036.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.4.5.2036.dist-info/METADATA,sha256=2LP7wKbyCUQcp1JbuGaUp_DvZ4AKybWO3cU8uYGO2EQ,9291
+mani_skill_nightly-2025.4.5.2036.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.4.5.2036.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.4.5.2036.dist-info/RECORD,,