mani-skill-nightly 2025.5.15.816__py3-none-any.whl → 2025.5.16.816__py3-none-any.whl

mani_skill/examples/motionplanning/panda/run.py

@@ -9,13 +9,14 @@ from tqdm import tqdm
 import os.path as osp
 from mani_skill.utils.wrappers.record import RecordEpisode
 from mani_skill.trajectory.merge_trajectory import merge_trajectories
-from mani_skill.examples.motionplanning.panda.solutions import solvePushCube, solvePickCube, solveStackCube, solvePegInsertionSide, solvePlugCharger, solvePullCubeTool, solveLiftPegUpright, solvePullCube, solveDrawTriangle, solveDrawSVG
+from mani_skill.examples.motionplanning.panda.solutions import solvePushCube, solvePickCube, solveStackCube, solvePegInsertionSide, solvePlugCharger, solvePullCubeTool, solveLiftPegUpright, solvePullCube, solveDrawTriangle, solveDrawSVG, solvePlaceSphere
 MP_SOLUTIONS = {
     "DrawTriangle-v1": solveDrawTriangle,
     "PickCube-v1": solvePickCube,
     "StackCube-v1": solveStackCube,
     "PegInsertionSide-v1": solvePegInsertionSide,
     "PlugCharger-v1": solvePlugCharger,
+    "PlaceSphere-v1": solvePlaceSphere,
     "PushCube-v1": solvePushCube,
     "PullCubeTool-v1": solvePullCubeTool,
     "LiftPegUpright-v1": solveLiftPegUpright,

mani_skill/examples/motionplanning/panda/solutions/__init__.py

@@ -1,6 +1,7 @@
 from .pick_cube import solve as solvePickCube
 from .stack_cube import solve as solveStackCube
 from .peg_insertion_side import solve as solvePegInsertionSide
+from .place_sphere import solve as solvePlaceSphere
 from .plug_charger import solve as solvePlugCharger
 from .push_cube import solve as solvePushCube
 from .pull_cube_tool import solve as solvePullCubeTool

mani_skill/examples/motionplanning/panda/solutions/place_sphere.py

@@ -0,0 +1,83 @@
+import numpy as np
+import sapien
+from transforms3d.euler import euler2quat
+
+from mani_skill.envs.tasks import PlaceSphereEnv
+from mani_skill.utils import common
+from mani_skill.examples.motionplanning.panda.motionplanner import PandaArmMotionPlanningSolver
+from mani_skill.examples.motionplanning.panda.utils import compute_grasp_info_by_obb, get_actor_obb
+
+def solve(env: PlaceSphereEnv, seed=None, debug=False, vis=False):
+    env.reset(seed=seed)
+    assert env.unwrapped.control_mode in [
+        "pd_joint_pos",
+        "pd_joint_pos_vel",
+    ], env.unwrapped.control_mode
+    planner = PandaArmMotionPlanningSolver(
+        env,
+        debug=debug,
+        vis=vis,
+        base_pose=env.unwrapped.agent.robot.pose,
+        visualize_target_grasp_pose=vis,
+        print_env_info=False,
+    )
+    FINGER_LENGTH = 0.025
+    env = env.unwrapped
+    obb = get_actor_obb(env.obj)
+
+    approaching = np.array([0, 0, -1])
+    target_closing = env.agent.tcp.pose.to_transformation_matrix()[0, :3, 1].cpu().numpy()
+    grasp_info = compute_grasp_info_by_obb(
+        obb,
+        approaching=approaching,
+        target_closing=target_closing,
+        depth=FINGER_LENGTH,
+    )
+    closing, center = grasp_info["closing"], grasp_info["center"]
+    grasp_pose = env.agent.build_grasp_pose(approaching, closing, center)
+
+    # Search a valid pose
+    angles = np.arange(0, np.pi * 2 / 3, np.pi / 2) + np.pi / 4
+    angles = np.repeat(angles, 2)
+    angles[1::2] *= -1
+    for angle in angles:
+        delta_pose = sapien.Pose(q=euler2quat(0, 0, angle))
+        grasp_pose2 = grasp_pose * delta_pose
+        res = planner.move_to_pose_with_screw(grasp_pose2, dry_run=True)
+        if res == -1:
+            continue
+        grasp_pose = grasp_pose2
+        break
+    else:
+        print("Fail to find a valid grasp pose")
+
+    # -------------------------------------------------------------------------- #
+    # Reach
+    # -------------------------------------------------------------------------- #
+    reach_pose = grasp_pose * sapien.Pose([0, 0, -0.05])
+    planner.move_to_pose_with_screw(reach_pose)
+
+    # -------------------------------------------------------------------------- #
+    # Grasp
+    # -------------------------------------------------------------------------- #
+    planner.move_to_pose_with_screw(grasp_pose)
+    planner.close_gripper()
+
+    # -------------------------------------------------------------------------- #
+    # Lift
+    # -------------------------------------------------------------------------- #
+    lift_pose = sapien.Pose([0, 0, 0.1]) * grasp_pose
+    planner.move_to_pose_with_screw(lift_pose)
+
+    # -------------------------------------------------------------------------- #
+    # Stack
+    # -------------------------------------------------------------------------- #
+    block_half_size_torch = common.to_tensor(env.block_half_size)
+    goal_pose = env.bin.pose * sapien.Pose([0, 0, (block_half_size_torch[2] * 2).item()])
+    offset = (goal_pose.p - env.obj.pose.p).cpu().numpy()[0] # remember that all data in ManiSkill is batched and a torch tensor
+    align_pose = sapien.Pose(lift_pose.p + offset, lift_pose.q)
+    planner.move_to_pose_with_screw(align_pose)
+
+    res = planner.open_gripper()
+    planner.close()
+    return res

{mani_skill_nightly-2025.5.15.816.dist-info → mani_skill_nightly-2025.5.16.816.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.5.15.816
+Version: 2025.5.16.816
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.5.15.816.dist-info → mani_skill_nightly-2025.5.16.816.dist-info}/RECORD

@@ -656,14 +656,15 @@ mani_skill/examples/motionplanning/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQe
 mani_skill/examples/motionplanning/panda/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/examples/motionplanning/panda/motionplanner.py,sha256=2GT2K2tXI9QVyhE1hOapr34vyCPRtBdOVm_MFH_OnGE,10314
 mani_skill/examples/motionplanning/panda/motionplanner_stick.py,sha256=o4qwJLL7rLFsPAu856UtbtBOu8nlKJo3SLI_bFcGzUM,6148
-mani_skill/examples/motionplanning/panda/run.py,sha256=xJddvplE-pXo0R7JnHIhnNQeQn3lurxR0kQTb8YqK4M,7318
+mani_skill/examples/motionplanning/panda/run.py,sha256=nKBWnMFtx-5lTSKgY4prBUQqKT9qrHdKrFKfRWsoO6k,7376
 mani_skill/examples/motionplanning/panda/utils.py,sha256=ueS0b4-gX9lnsvqet361tEi8S5cv4Liq71BWN-feEZU,3058
-mani_skill/examples/motionplanning/panda/solutions/__init__.py,sha256=sXndzXDUyxI2zNXQHOzIZy_0gupD5azUj0nOGTONCuU,512
+mani_skill/examples/motionplanning/panda/solutions/__init__.py,sha256=s3nWFWEDrfBU6wR9bjgzVEAExPv8KQ-SibtJmb_VhVs,564
 mani_skill/examples/motionplanning/panda/solutions/draw_svg.py,sha256=MF-THj9aAXefc6wpRJ44nk5Y_sF2P0PdWXKQhlR_pOE,1049
 mani_skill/examples/motionplanning/panda/solutions/draw_triangle.py,sha256=CeRhTdPep6vgVix6SfOEBx8DRDS9Kmpo3zALEg7sK7Q,1937
 mani_skill/examples/motionplanning/panda/solutions/lift_peg_upright.py,sha256=-wQ5DpT7dMffOgOkpboUNYg4odq-NuQgGUzJ0LWNIUg,3616
 mani_skill/examples/motionplanning/panda/solutions/peg_insertion_side.py,sha256=xjyH1THjtzZrnS6m_zURjKQ9vZgqCWbcKsa7RcbBg8g,3575
 mani_skill/examples/motionplanning/panda/solutions/pick_cube.py,sha256=STYpml582MlVq52ixxBcMIF6gwyCwSdpGd1SDioOZVQ,2243
+mani_skill/examples/motionplanning/panda/solutions/place_sphere.py,sha256=w8Q-IvPgGNgLd01AMB-tttPXr_fS10oAXuSmOXVrmSA,3282
 mani_skill/examples/motionplanning/panda/solutions/plug_charger.py,sha256=-4MoxBRGmWbJqFf1XxWWJ0CZsDxQVaZg6ft7NOLKGWs,3533
 mani_skill/examples/motionplanning/panda/solutions/pull_cube.py,sha256=rQkvCRYjVejEWC28mo6lbGRqjp9McZGjQEv4Wp1fMWE,1111
 mani_skill/examples/motionplanning/panda/solutions/pull_cube_tool.py,sha256=g6adx921V2SOVYYFlh_gLwV5I0tnz70qCLm81oA6YhA,3609
@@ -811,8 +812,8 @@ 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
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-mani_skill_nightly-2025.5.15.816.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.5.15.816.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.5.15.816.dist-info/RECORD,,
+mani_skill_nightly-2025.5.16.816.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.5.16.816.dist-info/METADATA,sha256=QzcESGR6yD5zXuWGNdgom2dL0dZlEw2yDwc_60IN6rA,9410
+mani_skill_nightly-2025.5.16.816.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.5.16.816.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.5.16.816.dist-info/RECORD,,