mani-skill-nightly 2025.8.19.2202__py3-none-any.whl → 2025.8.29.2141__py3-none-any.whl

mani_skill/agents/robots/so100/so_100.py

@@ -102,49 +102,13 @@ class SO100(BaseAgent):
     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
-
-        Args:
-            object (Actor): The object to check if the robot is grasping
-            min_force (float, optional): Minimum force before the robot is considered to be grasping the object in Newtons. Defaults to 0.5.
-            max_angle (int, optional): Maximum angle of contact to consider grasping. Defaults to 85.
-        """
-        l_contact_forces = self.scene.get_pairwise_contact_forces(
-            self.finger1_link, object
-        )
-        r_contact_forces = self.scene.get_pairwise_contact_forces(
-            self.finger2_link, object
-        )
-        lforce = torch.linalg.norm(l_contact_forces, axis=1)
-        rforce = torch.linalg.norm(r_contact_forces, axis=1)
-
-        # direction to open the gripper
-        ldirection = self.finger1_link.pose.to_transformation_matrix()[..., :3, 1]
-        rdirection = -self.finger2_link.pose.to_transformation_matrix()[..., :3, 1]
-        langle = common.compute_angle_between(ldirection, l_contact_forces)
-        rangle = common.compute_angle_between(rdirection, r_contact_forces)
-        lflag = torch.logical_and(
-            lforce >= min_force, torch.rad2deg(langle) <= max_angle
-        )
-        rflag = torch.logical_and(
-            rforce >= min_force, torch.rad2deg(rangle) <= max_angle
-        )
-        return torch.logical_and(lflag, rflag)
-
     def _after_loading_articulation(self):
         super()._after_loading_articulation()
-        # self.set_colors()
         self.finger1_link = self.robot.links_map["Fixed_Jaw"]
         self.finger2_link = self.robot.links_map["Moving_Jaw"]
         self.finger1_tip = self.robot.links_map["Fixed_Jaw_tip"]
         self.finger2_tip = self.robot.links_map["Moving_Jaw_tip"]
 
-    @property
-    def tcp_pos(self):
-        # 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
-
     def is_grasping(self, object: Actor, min_force=0.5, max_angle=110):
         """Check if the robot is grasping an object
 
@@ -178,3 +142,15 @@ class SO100(BaseAgent):
     def is_static(self, threshold=0.2):
         qvel = self.robot.get_qvel()[:, :-1]  # exclude the gripper joint
         return torch.max(torch.abs(qvel), 1)[0] <= threshold
+
+    @staticmethod
+    def build_grasp_pose(approaching, closing, center):
+        """Build a grasp pose (panda_hand_tcp)."""
+        assert np.abs(1 - np.linalg.norm(approaching)) < 1e-3
+        assert np.abs(1 - np.linalg.norm(closing)) < 1e-3
+        assert np.abs(approaching @ closing) <= 1e-3
+        ortho = np.cross(closing, approaching)
+        T = np.eye(4)
+        T[:3, :3] = np.stack([ortho, closing, approaching], axis=1)
+        T[:3, 3] = center
+        return sapien.Pose(T)

mani_skill/utils/scene_builder/registration.py

@@ -33,7 +33,7 @@ def register_scene_builder(uid: str, override=False):
                 logger.warn(
                     f"Scene Builder {uid} is already registered. Skip registration."
                 )
-            return scene_builder_cls
+                return scene_builder_cls
 
         REGISTERED_SCENE_BUILDERS[uid] = SceneBuilderSpec(
             scene_builder_cls=scene_builder_cls

mani_skill/utils/scene_builder/table/scene_builder.py

@@ -281,7 +281,7 @@ class TableSceneBuilder(SceneBuilder):
             qpos = self.env.agent.keyframes["ready_to_grasp"].qpos
             self.env.agent.reset(qpos)
         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 = np.array([0, 0, 0, np.pi / 2, np.pi / 2, 0])
             qpos = (
                 self.env._episode_rng.normal(
                     0, self.robot_init_qpos_noise, (b, len(qpos))

mani_skill/utils/structs/articulation.py

@@ -824,7 +824,7 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
             arg1 = common.to_tensor(arg1, device=self.device)
             self.px.cuda_rigid_body_data.torch()[
                 self.root._body_data_index[self.scene._reset_mask[self._scene_idxs]],
-                7:10,
+                10:13,
             ] = arg1
         else:
             arg1 = common.to_numpy(arg1)
@@ -842,7 +842,7 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
             arg1 = common.to_tensor(arg1, device=self.device)
             self.px.cuda_rigid_body_data.torch()[
                 self.root._body_data_index[self.scene._reset_mask[self._scene_idxs]],
-                10:13,
+                7:10,
             ] = arg1
         else:
             arg1 = common.to_numpy(arg1)

{mani_skill_nightly-2025.8.19.2202.dist-info → mani_skill_nightly-2025.8.29.2141.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.8.19.2202
+Version: 2025.8.29.2141
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.8.19.2202.dist-info → mani_skill_nightly-2025.8.29.2141.dist-info}/RECORD

@@ -46,7 +46,7 @@ mani_skill/agents/robots/panda/panda.py,sha256=aufC9et7TK5Ojms03ITT3cb7jsVClcbqL
 mani_skill/agents/robots/panda/panda_stick.py,sha256=YEGYLPGZFKkCTTAry4F82_fNZqrso3LdMWgBfT_RRbY,6131
 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=WohuT8mw0fm2-mSPPZNDeZfKjuL_QaibnvkIfLZpIrA,7096
+mani_skill/agents/robots/so100/so_100.py,sha256=JWfDM6f-QP-WTv-KGcHiZoaZkMWr-c4Dd9vHuU2-IpI,5896
 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
@@ -743,7 +743,7 @@ mani_skill/utils/geometry/geometry.py,sha256=6hvxNDVLNBV5yBzHxam7hjEI2PVGvp67gFr
 mani_skill/utils/geometry/rotation_conversions.py,sha256=GmivoJ3pmXCVRDPvZRxel-RP1G_rsLLRbFYa2VTHfu8,20673
 mani_skill/utils/geometry/trimesh_utils.py,sha256=JruFftu0YPMut4Ig3ucv7lq_29dhKf1FH8Brc2nYY08,4558
 mani_skill/utils/scene_builder/__init__.py,sha256=9jJXXQYBuYPabZ_GTIskD41_JX33R5ZT8jiaQOEEf0c,40
-mani_skill/utils/scene_builder/registration.py,sha256=jz0CODY0myH0t1PHKwUuuGoed9dngq0l_8QPcs5Mp1Q,1508
+mani_skill/utils/scene_builder/registration.py,sha256=O76fnn3XkDidXTxEhrVwWbDDJWpUZua9ge4-IGu4fEs,1512
 mani_skill/utils/scene_builder/scene_builder.py,sha256=7cmP_Em1Xi3hhltrqvtLdSvk8eHkMEgjkEfqEuqecpY,4295
 mani_skill/utils/scene_builder/ai2thor/__init__.py,sha256=kyHl6QlUDKvFJHzuPjYVnAMVKtMq0fICWLsLcBHy-v0,131
 mani_skill/utils/scene_builder/ai2thor/constants.py,sha256=Yiv7awe7MSc0CpsH5UG2rYaSuo30w4NKtcVYt7oY4KY,4027
@@ -794,13 +794,13 @@ 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=fxs_Z-s9dj-CQMgrhdQReH6hzUAdvIgfat-BwYcjjIg,10364
+mani_skill/utils/scene_builder/table/scene_builder.py,sha256=zSjZGjvFiu_e-P0QT6ylhV7lPwaks-neS2ZGtOHZcJw,10345
 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
 mani_skill/utils/structs/__init__.py,sha256=BItR3Xe0z6xCrMHAEaH0AAAVyeonsQ3q-DJUyRUibAA,524
 mani_skill/utils/structs/actor.py,sha256=L0p6vkr8rGtJmF22xAq8Q7nhXKnDD5dahzODSAko0bg,17394
-mani_skill/utils/structs/articulation.py,sha256=QvWQsHdgCUCiGHVfUzZOeEqJ_OQsbi7CrxkCgjy3wyM,38491
+mani_skill/utils/structs/articulation.py,sha256=gmjIxscXwZh4yhPAHzUslnIzkZ2daW8b3yV_sVUaQoA,38491
 mani_skill/utils/structs/articulation_joint.py,sha256=xDQkCAXM3XZ56YgFqLwH5Ec8aFqhR5BqMSvDYCS0bzw,12972
 mani_skill/utils/structs/base.py,sha256=R3L8s3acMUmzQTeP5iYISHp3CXVeJFg1Nml8wF0Zm40,18526
 mani_skill/utils/structs/decorators.py,sha256=Lv6wQ989dOnreo2tB-qopDnkeBp_jsn1pmfUR-OY8VQ,535
@@ -826,8 +826,8 @@ mani_skill/vector/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU
 mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/vector/wrappers/gymnasium.py,sha256=voHNmYg5Jyy-laMSC2Fd8VggQvhXw3NnfYLbD9QDXAc,7305
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
-mani_skill_nightly-2025.8.19.2202.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.8.19.2202.dist-info/METADATA,sha256=AUKAKHdJL1CFsXi4rUeZLyCvD966GO51Pu6e-fg-r70,9316
-mani_skill_nightly-2025.8.19.2202.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.8.19.2202.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.8.19.2202.dist-info/RECORD,,
+mani_skill_nightly-2025.8.29.2141.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.8.29.2141.dist-info/METADATA,sha256=W0frdHuysIxceLikvjeffl6WZFSIB0331zQPGYMlCqM,9316
+mani_skill_nightly-2025.8.29.2141.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.8.29.2141.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.8.29.2141.dist-info/RECORD,,