mani-skill-nightly 2025.4.7.816__py3-none-any.whl → 2025.4.9.1837__py3-none-any.whl

mani_skill/agents/robots/fetch/fetch.py

@@ -416,6 +416,10 @@ class Fetch(BaseAgent):
         T[:3, 3] = center
         return sapien.Pose(T)
 
+    @property
+    def tcp_pos(self) -> Pose:
+        return (self.finger1_link.pose.p + self.finger2_link.pose.p) / 2
+
     @property
     def tcp_pose(self) -> Pose:
         p = (self.finger1_link.pose.p + self.finger2_link.pose.p) / 2

mani_skill/agents/robots/panda/panda.py

@@ -268,6 +268,14 @@ class Panda(BaseAgent):
         qvel = self.robot.get_qvel()[..., :-2]
         return torch.max(torch.abs(qvel), 1)[0] <= threshold
 
+    @property
+    def tcp_pos(self):
+        return self.tcp.pose.p
+
+    @property
+    def tcp_pose(self):
+        return self.tcp.pose
+
     @staticmethod
     def build_grasp_pose(approaching, closing, center):
         """Build a grasp pose (panda_hand_tcp)."""

mani_skill/agents/robots/so100/so_100.py

@@ -12,12 +12,13 @@ from mani_skill.agents.controllers import *
 from mani_skill.agents.registration import register_agent
 from mani_skill.utils import common
 from mani_skill.utils.structs.actor import Actor
+from mani_skill.utils.structs.pose import Pose
 
 
 @register_agent()
 class SO100(BaseAgent):
     uid = "so100"
-    urdf_path = f"{PACKAGE_ASSET_DIR}/robots/so100/SO_5DOF_ARM100_8j/original.urdf"
+    urdf_path = f"{PACKAGE_ASSET_DIR}/robots/so100/SO_5DOF_ARM100_8j/so100.urdf"
     urdf_config = dict(
         _materials=dict(
             gripper=dict(static_friction=2, dynamic_friction=2, restitution=0.0)
@@ -87,6 +88,10 @@ class SO100(BaseAgent):
         # computes the tool center point as the mid point between the the fixed and moving jaw's tips
         return (self.finger1_tip.pose.p + self.finger2_tip.pose.p) / 2
 
+    @property
+    def tcp_pose(self):
+        return Pose.create_from_pq(self.tcp_pos, self.finger1_link.pose.q)
+
     def is_grasping(self, object: Actor, min_force=0.5, max_angle=110):
         """Check if the robot is grasping an object
 
@@ -116,3 +121,9 @@ class SO100(BaseAgent):
             rforce >= min_force, torch.rad2deg(rangle) <= max_angle
         )
         return torch.logical_and(lflag, rflag)
+
+    def is_static(self, threshold=0.2):
+        qvel = self.robot.get_qvel()[
+            :, :-2
+        ]  # exclude the gripper joint and gripper rotation joint.
+        return torch.max(torch.abs(qvel), 1)[0] <= threshold

mani_skill/agents/robots/xarm6/xarm6_robotiq.py

@@ -407,6 +407,14 @@ class XArm6Robotiq(BaseAgent):
         qvel = self.robot.get_qvel()[..., :-6]
         return torch.max(torch.abs(qvel), 1)[0] <= threshold
 
+    @property
+    def tcp_pos(self):
+        return self.tcp.pose.p
+
+    @property
+    def tcp_pose(self):
+        return self.tcp.pose
+
 
 @register_agent(asset_download_ids=["xarm6"])
 class XArm6RobotiqWristCamera(XArm6Robotiq):

mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/{original.urdf → so100.urdf}

@@ -4,6 +4,12 @@
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot
   name="SO_5DOF_ARM100_8j_URDF.SLDASM">
+  <material name="white">
+    <color rgba="0.95 0.95 0.95 1" />
+  </material>
+  <material name="motor">
+    <color rgba="0.05 0.05 0.05 1" />
+  </material>
   <link
     name="Base">
     <inertial>
@@ -20,18 +26,25 @@
         iyz="2.26514711036514E-05"
         izz="0.000145097720857224" />
     </inertial>
-    <visual>
+    <visual name="base_link_chassis">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/Base.stl" />
+      </geometry>
+      <material name="white">
+      </material>
+    </visual>
+    <visual name="base_link_motor">
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/Base.STL" />
+          filename="meshes/Base_Motor.stl" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      <material name="motor">
       </material>
     </visual>
     <collision>
@@ -40,7 +53,16 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/Base.STL" />
+          filename="meshes/Base.stl" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Base_Motor.stl" />
       </geometry>
     </collision>
   </link>
@@ -60,27 +82,44 @@
         iyz="-4.58026206663885E-06"
         izz="5.86058514263952E-05" />
     </inertial>
-    <visual>
+    <visual name="rotation_pitch_chassis">
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/Rotation_Pitch.STL" />
+          filename="meshes/Rotation_Pitch.stl" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      <material name="white">
       </material>
     </visual>
+    <visual name="rotation_pitch_motor">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Rotation_Pitch_Motor.stl" />
+      </geometry>
+      <material name="motor">
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Rotation_Pitch.stl" />
+      </geometry>
+    </collision>
     <collision>
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/Rotation_Pitch.STL" />
+          filename="meshes/Rotation_Pitch_Motor.stl" />
       </geometry>
     </collision>
   </link>
@@ -119,18 +158,26 @@
         iyz="2.11884806298698E-06"
         izz="0.000213280241160769" />
     </inertial>
-    <visual>
+    <visual name="upper_arm_chassis">
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/Upper_Arm.STL" />
+          filename="meshes/Upper_Arm.stl" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      <material name="white">
+      </material>
+    </visual>
+    <visual name="upper_arm_motor">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Upper_Arm_Motor.stl" />
+      </geometry>
+      <material name="motor">
       </material>
     </visual>
     <collision>
@@ -139,7 +186,16 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/Upper_Arm.STL" />
+          filename="meshes/Upper_Arm.stl" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Upper_Arm_Motor.stl" />
       </geometry>
     </collision>
   </link>
@@ -177,18 +233,26 @@
         iyz="1.77429964684103E-06"
         izz="5.08741652515214E-05" />
     </inertial>
-    <visual>
+    <visual name="lower_arm_chassis">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Lower_Arm.stl" />
+      </geometry>
+      <material name="white">
+      </material>
+    </visual>
+    <visual name="lower_arm_motor">
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/Lower_Arm.STL" />
+          filename="meshes/Lower_Arm_Motor.stl" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      <material name="motor">
       </material>
     </visual>
     <collision>
@@ -197,7 +261,16 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/Lower_Arm.STL" />
+          filename="meshes/Lower_Arm.stl" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Lower_Arm_Motor.stl" />
       </geometry>
     </collision>
   </link>
@@ -235,18 +308,26 @@
         iyz="4.09549055863776E-08"
         izz="3.4540143384536E-05" />
     </inertial>
-    <visual>
+    <visual name="wrist_pitch_roll_chassis">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Wrist_Pitch_Roll.stl" />
+      </geometry>
+      <material name="white">
+      </material>
+    </visual>
+    <visual name="wrist_pitch_roll_motor">
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/Wrist_Pitch_Roll.STL" />
+          filename="meshes/Wrist_Pitch_Roll_Motor.stl" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      <material name="motor">
       </material>
     </visual>
     <collision>
@@ -255,7 +336,16 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/Wrist_Pitch_Roll.STL" />
+          filename="meshes/Wrist_Pitch_Roll.stl" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/Wrist_Pitch_Roll_Motor.stl" />
       </geometry>
     </collision>
   </link>
@@ -293,29 +383,28 @@
         iyz="-1.58743247545413E-07"
         izz="5.02460913506734E-05" />
     </inertial>
-    <visual>
+    <visual name="fixed_jaw_chassis">
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/Fixed_Jaw.STL" />
+          filename="meshes/Fixed_Jaw.stl" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      <material name="white">
       </material>
     </visual>
-    <!-- <collision>
+    <visual name="fixed_jaw_motor">
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/Fixed_Jaw.STL" />
+          filename="meshes/Fixed_Jaw_Motor.stl" />
       </geometry>
-    </collision> -->
+      <material name="motor">
+      </material>
+    </visual>
     <collision>
       <origin
         xyz="0 0 0"
@@ -369,18 +458,15 @@
         iyz="-1.71146075110632E-07"
         izz="8.9916083370498E-06" />
     </inertial>
-    <visual>
+    <visual name="moving_jaw_chassis">
       <origin
         xyz="0 0 0"
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="meshes/Moving Jaw.STL" />
+          filename="meshes/Moving_Jaw.stl" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      <material name="white">
       </material>
     </visual>
     <collision>

mani_skill/envs/tasks/tabletop/pick_cube.py

@@ -5,8 +5,9 @@ import sapien
 import torch
 
 import mani_skill.envs.utils.randomization as randomization
-from mani_skill.agents.robots import Fetch, Panda, XArm6Robotiq
+from mani_skill.agents.robots import SO100, Fetch, Panda, XArm6Robotiq
 from mani_skill.envs.sapien_env import BaseEnv
+from mani_skill.envs.tasks.tabletop.pick_cube_cfgs import PICK_CUBE_CONFIGS
 from mani_skill.sensors.camera import CameraConfig
 from mani_skill.utils import sapien_utils
 from mani_skill.utils.building import actors
@@ -19,7 +20,8 @@ from mani_skill.utils.structs.pose import Pose
 class PickCubeEnv(BaseEnv):
     """
     **Task Description:**
-    A simple task where the objective is to grasp a red cube and move it to a target goal position.
+    A simple task where the objective is to grasp a red cube and move it to a target goal position. This is also the *baseline* task to test whether a robot with manipulation
+    capabilities can be simulated and trained properly. Hence there is extra code for some robots to set them up properly in this environment as well as the table scene builder.
 
     **Randomizations:**
     - the cube's xy position is randomized on top of a table in the region [0.1, 0.1] x [-0.1, -0.1]. It is placed flat on the table
@@ -36,23 +38,43 @@ class PickCubeEnv(BaseEnv):
         "panda",
         "fetch",
         "xarm6_robotiq",
+        "so100",
     ]
-    agent: Union[Panda, Fetch, XArm6Robotiq]
+    agent: Union[Panda, Fetch, XArm6Robotiq, SO100]
     cube_half_size = 0.02
     goal_thresh = 0.025
+    cube_spawn_half_size = 0.05
+    cube_spawn_center = (0, 0)
 
     def __init__(self, *args, robot_uids="panda", robot_init_qpos_noise=0.02, **kwargs):
         self.robot_init_qpos_noise = robot_init_qpos_noise
+        if robot_uids in PICK_CUBE_CONFIGS:
+            cfg = PICK_CUBE_CONFIGS[robot_uids]
+        else:
+            cfg = PICK_CUBE_CONFIGS["panda"]
+        self.cube_half_size = cfg["cube_half_size"]
+        self.goal_thresh = cfg["goal_thresh"]
+        self.cube_spawn_half_size = cfg["cube_spawn_half_size"]
+        self.cube_spawn_center = cfg["cube_spawn_center"]
+        self.max_goal_height = cfg["max_goal_height"]
+        self.sensor_cam_eye_pos = cfg["sensor_cam_eye_pos"]
+        self.sensor_cam_target_pos = cfg["sensor_cam_target_pos"]
+        self.human_cam_eye_pos = cfg["human_cam_eye_pos"]
+        self.human_cam_target_pos = cfg["human_cam_target_pos"]
         super().__init__(*args, robot_uids=robot_uids, **kwargs)
 
     @property
     def _default_sensor_configs(self):
-        pose = sapien_utils.look_at(eye=[0.3, 0, 0.6], target=[-0.1, 0, 0.1])
+        pose = sapien_utils.look_at(
+            eye=self.sensor_cam_eye_pos, target=self.sensor_cam_target_pos
+        )
         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([0.6, 0.7, 0.6], [0.0, 0.0, 0.35])
+        pose = sapien_utils.look_at(
+            eye=self.human_cam_eye_pos, target=self.human_cam_target_pos
+        )
         return CameraConfig("render_camera", pose, 512, 512, 1, 0.01, 100)
 
     def _load_agent(self, options: dict):
@@ -86,27 +108,38 @@ class PickCubeEnv(BaseEnv):
             b = len(env_idx)
             self.table_scene.initialize(env_idx)
             xyz = torch.zeros((b, 3))
-            xyz[:, :2] = torch.rand((b, 2)) * 0.2 - 0.1
+            xyz[:, :2] = (
+                torch.rand((b, 2)) * self.cube_spawn_half_size * 2
+                - self.cube_spawn_half_size
+            )
+            xyz[:, 0] += self.cube_spawn_center[0]
+            xyz[:, 1] += self.cube_spawn_center[1]
+
             xyz[:, 2] = self.cube_half_size
             qs = randomization.random_quaternions(b, lock_x=True, lock_y=True)
             self.cube.set_pose(Pose.create_from_pq(xyz, qs))
 
             goal_xyz = torch.zeros((b, 3))
-            goal_xyz[:, :2] = torch.rand((b, 2)) * 0.2 - 0.1
-            goal_xyz[:, 2] = torch.rand((b)) * 0.3 + xyz[:, 2]
+            goal_xyz[:, :2] = (
+                torch.rand((b, 2)) * self.cube_spawn_half_size * 2
+                - self.cube_spawn_half_size
+            )
+            goal_xyz[:, 0] += self.cube_spawn_center[0]
+            goal_xyz[:, 1] += self.cube_spawn_center[1]
+            goal_xyz[:, 2] = torch.rand((b)) * self.max_goal_height + xyz[:, 2]
             self.goal_site.set_pose(Pose.create_from_pq(goal_xyz))
 
     def _get_obs_extra(self, info: Dict):
         # in reality some people hack is_grasped into observations by checking if the gripper can close fully or not
         obs = dict(
             is_grasped=info["is_grasped"],
-            tcp_pose=self.agent.tcp.pose.raw_pose,
+            tcp_pose=self.agent.tcp_pose.raw_pose,
             goal_pos=self.goal_site.pose.p,
         )
         if "state" in self.obs_mode:
             obs.update(
                 obj_pose=self.cube.pose.raw_pose,
-                tcp_to_obj_pos=self.cube.pose.p - self.agent.tcp.pose.p,
+                tcp_to_obj_pos=self.cube.pose.p - self.agent.tcp_pose.p,
                 obj_to_goal_pos=self.goal_site.pose.p - self.cube.pose.p,
             )
         return obs
@@ -127,7 +160,7 @@ class PickCubeEnv(BaseEnv):
 
     def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict):
         tcp_to_obj_dist = torch.linalg.norm(
-            self.cube.pose.p - self.agent.tcp.pose.p, axis=1
+            self.cube.pose.p - self.agent.tcp_pose.p, axis=1
         )
         reaching_reward = 1 - torch.tanh(5 * tcp_to_obj_dist)
         reward = reaching_reward
@@ -144,9 +177,9 @@ class PickCubeEnv(BaseEnv):
         qvel = self.agent.robot.get_qvel()
         if self.robot_uids == "panda":
             qvel = qvel[..., :-2]
-        static_reward = 1 - torch.tanh(
-            5 * torch.linalg.norm(qvel, axis=1)
-        )
+        elif self.robot_uids == "so100":
+            qvel = qvel[..., :-1]
+        static_reward = 1 - torch.tanh(5 * torch.linalg.norm(qvel, axis=1))
         reward += static_reward * info["is_obj_placed"]
 
         reward[info["success"]] = 5
@@ -156,3 +189,12 @@ class PickCubeEnv(BaseEnv):
         self, obs: Any, action: torch.Tensor, info: Dict
     ):
         return self.compute_dense_reward(obs=obs, action=action, info=info) / 5
+
+
+@register_env("PickCubeSO100-v1", max_episode_steps=50)
+class PickCubeSO100Env(PickCubeEnv):
+
+    _sample_video_link = "https://github.com/haosulab/ManiSkill/raw/main/figures/environment_demos/PickCubeSO100-v1_rt.mp4"
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, robot_uids="so100", **kwargs)

mani_skill/envs/tasks/tabletop/pick_cube_cfgs.py

@@ -0,0 +1,59 @@
+"""
+PickCube-v1 is a basic/common task which defaults to using the panda robot. It is also used as a testing task to check whether a robot with manipulation
+capabilities can be simulated and trained properly. The configs below set the pick cube task differently to ensure the cube is within reach of the robot tested
+and the camera angles are reasonable.
+"""
+PICK_CUBE_CONFIGS = {
+    "panda": {
+        "cube_half_size": 0.02,
+        "goal_thresh": 0.025,
+        "cube_spawn_half_size": 0.1,
+        "cube_spawn_center": (0, 0),
+        "max_goal_height": 0.3,
+        "sensor_cam_eye_pos": [
+            0.3,
+            0,
+            0.6,
+        ],  # sensor cam is the camera used for visual observation generation
+        "sensor_cam_target_pos": [-0.1, 0, 0.1],
+        "human_cam_eye_pos": [
+            0.6,
+            0.7,
+            0.6,
+        ],  # human cam is the camera used for human rendering (i.e. eval videos)
+        "human_cam_target_pos": [0.0, 0.0, 0.35],
+    },
+    "fetch": {
+        "cube_half_size": 0.02,
+        "goal_thresh": 0.025,
+        "cube_spawn_half_size": 0.1,
+        "cube_spawn_center": (0, 0),
+        "max_goal_height": 0.3,
+        "sensor_cam_eye_pos": [0.3, 0, 0.6],
+        "sensor_cam_target_pos": [-0.1, 0, 0.1],
+        "human_cam_eye_pos": [0.6, 0.7, 0.6],
+        "human_cam_target_pos": [0.0, 0.0, 0.35],
+    },
+    "xarm6_robotiq": {
+        "cube_half_size": 0.02,
+        "goal_thresh": 0.025,
+        "cube_spawn_half_size": 0.1,
+        "cube_spawn_center": (0, 0),
+        "max_goal_height": 0.3,
+        "sensor_cam_eye_pos": [0.3, 0, 0.6],
+        "sensor_cam_target_pos": [-0.1, 0, 0.1],
+        "human_cam_eye_pos": [0.6, 0.7, 0.6],
+        "human_cam_target_pos": [0.0, 0.0, 0.35],
+    },
+    "so100": {
+        "cube_half_size": 0.0125,
+        "goal_thresh": 0.0125 * 1.25,
+        "cube_spawn_half_size": 0.05,
+        "cube_spawn_center": (-0.46, 0),
+        "max_goal_height": 0.08,
+        "sensor_cam_eye_pos": [-0.27, 0, 0.4],
+        "sensor_cam_target_pos": [-0.56, 0, -0.25],
+        "human_cam_eye_pos": [-0.1, 0.3, 0.4],
+        "human_cam_target_pos": [-0.46, 0.0, 0.1],
+    },
+}

mani_skill/examples/demo_random_action.py

@@ -80,6 +80,8 @@ def main(args: Args):
     )
     if args.robot_uids is not None:
         env_kwargs["robot_uids"] = tuple(args.robot_uids.split(","))
+        if len(env_kwargs["robot_uids"]) == 1:
+            env_kwargs["robot_uids"] = env_kwargs["robot_uids"][0]
     env: BaseEnv = gym.make(
         args.env_id,
         **env_kwargs

mani_skill/trajectory/replay_trajectory.py

@@ -542,8 +542,8 @@ def main(args: Args):
         and ("num_envs" not in env_kwargs or env_kwargs["num_envs"] == 1)
     ):
         env_kwargs["sim_backend"] = "physx_cpu"
+    env_kwargs["num_envs"] = args.num_envs
     if env_kwargs["sim_backend"] not in CPU_SIM_BACKENDS:
-        env_kwargs["num_envs"] = args.num_envs
         record_episode_kwargs["max_steps_per_video"] = env_info["max_episode_steps"]
         _, replay_result = _main(
             args,

mani_skill/utils/scene_builder/table/scene_builder.py

@@ -14,8 +14,10 @@ from mani_skill.utils.building.ground import build_ground
 from mani_skill.utils.scene_builder import SceneBuilder
 
 
-# TODO (stao): make the build and initialize api consistent with other scenes
 class TableSceneBuilder(SceneBuilder):
+    """A simple scene builder that adds a table to the scene such that the height of the table is at 0, and
+    gives reasonable initial poses for robots."""
+
     def build(self):
         builder = self.scene.create_actor_builder()
         model_dir = Path(osp.dirname(__file__)) / "assets"
@@ -268,3 +270,15 @@ class TableSceneBuilder(SceneBuilder):
                 )
             self.env.agent.reset(qpos)
             self.env.agent.robot.set_pose(sapien.Pose([-0.615, 0, 0]))
+        elif self.env.robot_uids == "so100":
+            qpos = np.array([0, np.pi / 2, np.pi / 2, np.pi / 2, -np.pi / 2, 1.0])
+            qpos = (
+                self.env._episode_rng.normal(
+                    0, self.robot_init_qpos_noise, (b, len(qpos))
+                )
+                + qpos
+            )
+            self.env.agent.reset(qpos)
+            self.env.agent.robot.set_pose(
+                sapien.Pose([-0.725, 0, 0], q=euler2quat(0, 0, np.pi / 2))
+            )

{mani_skill_nightly-2025.4.7.816.dist-info → mani_skill_nightly-2025.4.9.1837.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.4.7.816
+Version: 2025.4.9.1837
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.4.7.816.dist-info → mani_skill_nightly-2025.4.9.1837.dist-info}/RECORD

@@ -24,7 +24,7 @@ mani_skill/agents/robots/anymal/anymal_c.py,sha256=p7DuLDI7yx2_C1Eg2VXpNTAKCQrEP
 mani_skill/agents/robots/dclaw/__init__.py,sha256=t1VSGN3WYw9f3mR7_M08-VhCBQPWOi7vKz7Rz3T8KJQ,25
 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=z6B-HawhvXX59j8xdC9NBt03SrRutDm1qzZ3ABAKSzk,15112
+mani_skill/agents/robots/fetch/fetch.py,sha256=dfyGocH4RKojvvhipkwtoIeBIoS93xyBzblNJNFIDlU,15231
 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=JKPeE04oMQKo1lAZ48fDvZ6669XQc6s1PKftNVme8vk,7017
 mani_skill/agents/robots/floating_panda_gripper/__init__.py,sha256=AwV0Sml7DmQb6hk4FqbxHdO7_XXHHMhrOZtZRk6d-Po,57
@@ -39,11 +39,11 @@ mani_skill/agents/robots/koch/__init__.py,sha256=-bZbNQnXk6rlXgSkIG2umLENJkNqAQb
 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.py,sha256=aufC9et7TK5Ojms03ITT3cb7jsVClcbqLquGWaXzEH4,10760
 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.py,sha256=UYLjB40n6lfXZnBRTBA2apjfp0MkKqsXf5aVXm5NyiI,4838
 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
@@ -65,7 +65,7 @@ mani_skill/agents/robots/xarm/__init__.py,sha256=6Mhn4vV4f9XxcK493U5W9VE6yGGgydP
 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=FPhOpWQw5RPsSHLhZ9JWjYeh25GboO4I5_Hn05Ub84Q,7379
-mani_skill/agents/robots/xarm6/xarm6_robotiq.py,sha256=ofovUnURV8DQQGwWWyTE05h3ByrojV7UNr04_dMi0aE,15514
+mani_skill/agents/robots/xarm6/xarm6_robotiq.py,sha256=FIc_BvV7x5Fs9GsE5-m88NaSjPitnDYIGU2ZJbqE-m4,15651
 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
@@ -406,20 +406,26 @@ mani_skill/assets/robots/panda/sciurus17_description/meshes/visual/Base.stl,sha2
 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/so100.srdf,sha256=ntCI29IbObhjSczU0arh8E5FeAlwWLnCqEFB5gWfmfw,474
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/so100.urdf,sha256=6431c-upH-sM2gwoaFIzf3eMw7HngJv2iTpSzjsQnn0,13478
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Base.stl,sha256=u4r7AwPAEl8mWnl2Jc-vZGrCFNXS3JyYY0jEFXVeKnQ,443484
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Base_Motor.stl,sha256=qsRIXUSOykGNKpPfP3j0Sb1Zsh7BrypXkXGBn9ROpXY,154284
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Fixed_Jaw.stl,sha256=VSiGcHMDPqpMJ6gIcYCVTz8GNb1p1RfVys6S8B3SZrI,264584
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Fixed_Jaw_Motor.stl,sha256=AyG_uQLVoRnE8qk0q0vn6eqMk6AuFoXwZvmcJKXKPs8,151884
 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/Lower_Arm.stl,sha256=oEURvGXLtwKy1gI3ZN6UeIiwagn78nKAPznCJyQymj4,347184
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Lower_Arm_Motor.stl,sha256=BzaPpMUN6nDoFXrM7nEHISDAyzdPZyyFq6HQgXArxHY,151884
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Moving_Jaw.stl,sha256=bZySMCTHXm8KjYMAMXxNihfdSYgCYMvGC3_l4Mba36g,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/so100/SO_5DOF_ARM100_8j/meshes/Rotation_Pitch.stl,sha256=ShR29X0o0sBlvA7eamdMs-us8RkzcpFu8eD_Mu65LPA,347584
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Rotation_Pitch_Motor.stl,sha256=9PvPGNjy6R0Sp2fBZ5QwFA3ODIHqFHjMFTv846Fi22E,154284
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Upper_Arm.stl,sha256=2XrTfJBAD-ObstWs6LQpDz0SYuE_HU8WZJRCF1LV87c,215184
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Upper_Arm_Motor.stl,sha256=uv2yy56aiE5itfvxWx9wamV3HagnZNvnA98SjZ801yM,152284
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Wrist_Pitch_Roll.stl,sha256=WOg84ciyTh-jp5Zy6pZepBQ5hsgaIThtzW2hy8_clLs,341684
+mani_skill/assets/robots/so100/SO_5DOF_ARM100_8j/meshes/Wrist_Pitch_Roll_Motor.stl,sha256=iaw_sdJTb6T3xA50Sb5Lk019d2-c0EU8hCdn-YD_bBg,133684
 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
@@ -574,7 +580,8 @@ mani_skill/envs/tasks/tabletop/assembling_kits.py,sha256=piXxTybVKrRr92VqIFIQsbr
 mani_skill/envs/tasks/tabletop/lift_peg_upright.py,sha256=o6AmHyjyoT5U6IYn0tXz3MJ7PNCEqHPZf2jnFOFuW-Y,5857
 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_cube.py,sha256=dQC3smYUttMLJHXAFMO31vFZKzQ4NFrrZ7-AdG4vfXI,8102
+mani_skill/envs/tasks/tabletop/pick_cube_cfgs.py,sha256=Zz_F3QI_sSqKNDsngp1mzPgkiyewVu47N2iHz522uOg,2166
 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
@@ -607,7 +614,7 @@ mani_skill/evaluation/run_evaluation.py,sha256=yorphrlJKEGycHfQS8equnJHRsyjDuv77
 mani_skill/evaluation/solution.py,sha256=e_Aa0f4sSQ56KXL7tVDPUKf7WTjcuFc5X4J76p884Zs,1269
 mani_skill/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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_random_action.py,sha256=qdpndV31mWxRK_340TGDXYQAV4CAkKc4DaFHmPM_7Jw,5226
 mani_skill/examples/demo_reset_distribution.py,sha256=qkg9TlGjL13WfYgnoimKN5XZr2bK1WvJGvi2Lj3Tmq8,2987
 mani_skill/examples/demo_robot.py,sha256=bIeHztjM0R6yJT699WQ6jkhv6LjsiP4GWa3Whyom_qM,4881
 mani_skill/examples/demo_vis_pcd.py,sha256=50YT-YVeX4sEsXxHh0S9Ju_kra8ZcUzPfFpG3EgK2o4,2139
@@ -656,7 +663,7 @@ 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=TOk6h5hk48tIDIZe6s7_FYSdKMP4GPI9pix2xNtVgi0,27004
+mani_skill/trajectory/replay_trajectory.py,sha256=cnqQX9ThXhnTSGyzp4CrQRLESXH9UgDLe-7iJfTm67s,27000
 mani_skill/trajectory/utils/__init__.py,sha256=Nchv09IpXv0FOgpf7Ng1Ekus6ZfAh3kI0KJs-79QOig,1515
 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
@@ -746,7 +753,7 @@ 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=94uf40oQk6yxlr4y7IzNMrR9WaQD0Ntvgw-BX_QZius,9387
+mani_skill/utils/scene_builder/table/scene_builder.py,sha256=gHICuKA7fNY7AvczSNiocQ6Hzt_i_TV5HP-A-3pnCx0,9955
 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
@@ -777,8 +784,8 @@ 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-2025.4.7.816.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.4.7.816.dist-info/METADATA,sha256=F4zDQa0-yyV7pldLQlnoKH4Lh_sk4_zwMR9luh9L2vE,9290
-mani_skill_nightly-2025.4.7.816.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.4.7.816.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.4.7.816.dist-info/RECORD,,
+mani_skill_nightly-2025.4.9.1837.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.4.9.1837.dist-info/METADATA,sha256=kF9mo8CdLkHtPRk-tenVy2Wu5H0tCaVFRVqZnd0WNZI,9291
+mani_skill_nightly-2025.4.9.1837.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.4.9.1837.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.4.9.1837.dist-info/RECORD,,