mani-skill-nightly 2025.6.14.2004__py3-none-any.whl → 2025.6.14.2042__py3-none-any.whl

mani_skill/agents/robots/lerobot/manipulator.py

@@ -57,7 +57,7 @@ class LeRobotRealAgent(BaseRealAgent):
         qpos = {f"{self._motor_keys[i]}.pos": qpos[i] for i in range(len(qpos))}
         # NOTE (stao): It seems the calibration from LeRobot has some offsets in some joints. We fix reading them here to match the expected behavior
         if self.real_robot.name == "so100_follower":
-            qpos["elbow_flex.pos"] = qpos["elbow_flex.pos"] + 6.8
+            qpos["elbow_flex.pos"] = qpos["elbow_flex.pos"] + 3
         self.real_robot.send_action(qpos)
 
     def reset(self, qpos: Array):
@@ -112,7 +112,7 @@ class LeRobotRealAgent(BaseRealAgent):
 
         # NOTE (stao): It seems the calibration from LeRobot has some offsets in some joints. We fix reading them here to match the expected behavior
         if self.real_robot.name == "so100_follower":
-            qpos_deg["elbow_flex"] = qpos_deg["elbow_flex"] - 6.8
+            qpos_deg["elbow_flex"] = qpos_deg["elbow_flex"] - 3
         if self._motor_keys is None:
             self._motor_keys = list(qpos_deg.keys())
         qpos_deg = common.flatten_state_dict(qpos_deg)

mani_skill/envs/tasks/digital_twins/so100_arm/grasp_cube.py

@@ -1,5 +1,5 @@
 from dataclasses import asdict, dataclass
-from typing import Any, Dict, Sequence, Union
+from typing import Any, Dict, Optional, Sequence, Union
 
 import dacite
 import numpy as np
@@ -27,8 +27,11 @@ from mani_skill.utils.structs.types import GPUMemoryConfig, SimConfig
 class SO100GraspCubeDomainRandomizationConfig:
     ### task agnostic domain randomizations, many of which you can copy over to your own tasks ###
     initial_qpos_noise_scale: float = 0.02
-    robot_color: Union[str, Sequence[float]] = (1, 1, 1)
-    """Color of the robot in RGB format in scale of 0 to 1 mapping to 0 to 255. If you want to randomize it just set this value to "random"."""
+    robot_color: Optional[Union[str, Sequence[float]]] = None
+    """Color of the robot in RGB format in scale of 0 to 1 mapping to 0 to 255.
+    If you want to randomize it just set this value to "random". If left as None which is
+    the default, it will set the robot parts to white and motors to black. For more fine-grained choices on robot colors you need to modify
+    mani_skill/assets/robots/so100/so100.urdf in the ManiSkill package."""
     randomize_lighting: bool = True
     max_camera_offset: Sequence[float] = (0.025, 0.025, 0.025)
     """max camera offset from the base camera position in x, y, and z axes"""
@@ -275,31 +278,34 @@ class SO100GraspCubeEnv(BaseDigitalTwinEnv):
         self.camera_mount = builder.build_kinematic("camera_mount")
 
         # randomize or set a fixed robot color
-        for link in self.agent.robot.links:
-            for i, obj in enumerate(link._objs):
-                # modify the i-th object which is in parallel environment i
-                render_body_component: RenderBodyComponent = (
-                    obj.entity.find_component_by_type(RenderBodyComponent)
-                )
-                if render_body_component is not None:
-                    for render_shape in render_body_component.render_shapes:
-                        for part in render_shape.parts:
-                            if (
-                                self.domain_randomization
-                                and self.domain_randomization_config.robot_color
-                                == "random"
-                            ):
-                                part.material.set_base_color(
-                                    self._batched_episode_rng[i]
-                                    .uniform(low=0.0, high=1.0, size=(3,))
-                                    .tolist()
-                                    + [1]
-                                )
-                            else:
-                                part.material.set_base_color(
-                                    list(self.domain_randomization_config.robot_color)
-                                    + [1]
-                                )
+        if self.domain_randomization_config.robot_color is not None:
+            for link in self.agent.robot.links:
+                for i, obj in enumerate(link._objs):
+                    # modify the i-th object which is in parallel environment i
+                    render_body_component: RenderBodyComponent = (
+                        obj.entity.find_component_by_type(RenderBodyComponent)
+                    )
+                    if render_body_component is not None:
+                        for render_shape in render_body_component.render_shapes:
+                            for part in render_shape.parts:
+                                if (
+                                    self.domain_randomization
+                                    and self.domain_randomization_config.robot_color
+                                    == "random"
+                                ):
+                                    part.material.set_base_color(
+                                        self._batched_episode_rng[i]
+                                        .uniform(low=0.0, high=1.0, size=(3,))
+                                        .tolist()
+                                        + [1]
+                                    )
+                                else:
+                                    part.material.set_base_color(
+                                        list(
+                                            self.domain_randomization_config.robot_color
+                                        )
+                                        + [1]
+                                    )
 
     def sample_camera_poses(self, n: int):
         # a custom function to sample random camera poses

{mani_skill_nightly-2025.6.14.2004.dist-info → mani_skill_nightly-2025.6.14.2042.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.6.14.2004
+Version: 2025.6.14.2042
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.6.14.2004.dist-info → mani_skill_nightly-2025.6.14.2042.dist-info}/RECORD

@@ -40,7 +40,7 @@ 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/lerobot/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mani_skill/agents/robots/lerobot/manipulator.py,sha256=6D4Qa-lhnwV7E1u2Y1JqUd-YRaYH9Swl1VvNG3K2YmQ,5642
+mani_skill/agents/robots/lerobot/manipulator.py,sha256=69BNZQKab3GOAdVgNHyffTMBVNfY6rxYinEs-ENhUS8,5638
 mani_skill/agents/robots/panda/__init__.py,sha256=VnFJLcmPMBjo-mlBpfMo5acYKud_wngRAcf67uiugSk,102
 mani_skill/agents/robots/panda/panda.py,sha256=aufC9et7TK5Ojms03ITT3cb7jsVClcbqLquGWaXzEH4,10760
 mani_skill/agents/robots/panda/panda_stick.py,sha256=YEGYLPGZFKkCTTAry4F82_fNZqrso3LdMWgBfT_RRbY,6131
@@ -569,7 +569,7 @@ mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/__init__.py,sha256=2okxy
 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/digital_twins/so100_arm/__init__.py,sha256=uehHSCaHoZDB9awMtF81r4A-X4fM6NFmErzOsgzgSs4,42
-mani_skill/envs/tasks/digital_twins/so100_arm/grasp_cube.py,sha256=U0ldL-lDMipcjEUhrlWvn5Kzh_r1TkkjfdUxj9OGyX0,21875
+mani_skill/envs/tasks/digital_twins/so100_arm/grasp_cube.py,sha256=Uv2wTMUyfh8ygG4g6WfPj5E8jaDUyBZ789lPPCRBJjM,22386
 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
@@ -824,8 +824,8 @@ mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJ
 mani_skill/vector/wrappers/gymnasium.py,sha256=0kNe_iquf8J3503obkbmCKNaYr5m3cPrC_hBZS0Nl9Y,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-2025.6.14.2004.dist-info/METADATA,sha256=apDEpbBIfYmUimW8Nsj_OP8RHhfx_UH4q8I8wCfb2jY,9272
-mani_skill_nightly-2025.6.14.2004.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.6.14.2004.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.6.14.2004.dist-info/RECORD,,
+mani_skill_nightly-2025.6.14.2042.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.6.14.2042.dist-info/METADATA,sha256=vT9luyrrGJvxQFX4CozTeQzdsHdpmWI9kLuBfagE2fY,9272
+mani_skill_nightly-2025.6.14.2042.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.6.14.2042.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.6.14.2042.dist-info/RECORD,,