mani-skill-nightly 2025.9.5.2334__py3-none-any.whl → 2025.9.14.2255__py3-none-any.whl

mani_skill/examples/motionplanning/xarm6/solutions/stack_cube.py

@@ -6,8 +6,8 @@ from transforms3d.euler import euler2quat
 
 from mani_skill.envs.tasks import StackCubeEnv
 from mani_skill.examples.motionplanning.xarm6.motionplanner import \
-    XArm6RobotiqMotionPlanningSolver, XArm6PandaGripperMotionPlanningSolver
-from mani_skill.examples.motionplanning.panda.utils import (
+    XArm6RobotiqMotionPlanningSolver
+from mani_skill.examples.motionplanning.base_motionplanner.utils import (
     compute_grasp_info_by_obb, get_actor_obb)
 from mani_skill.utils.wrappers.record import RecordEpisode
 
@@ -19,8 +19,6 @@ def solve(env: StackCubeEnv, seed=None, debug=False, vis=False):
     ], env.unwrapped.control_mode
     if env.unwrapped.robot_uids == "xarm6_robotiq":
         planner_cls = XArm6RobotiqMotionPlanningSolver
-    elif env.unwrapped.robot_uids == "xarm6_pandagripper":
-        planner_cls = XArm6PandaGripperMotionPlanningSolver
     else:
         raise ValueError(f"Unsupported robot uid: {env.robot_uid}")
     planner = planner_cls(

mani_skill/examples/teleoperation/interactive_panda.py

@@ -45,6 +45,7 @@ def main(args: Args):
         control_mode="pd_joint_pos",
         render_mode="rgb_array",
         reward_mode="none",
+        robot_uids=args.robot_uid,
         enable_shadow=True,
         viewer_camera_configs=dict(shader_pack=args.viewer_shader)
     )
@@ -90,6 +91,7 @@ def main(args: Args):
             control_mode="pd_joint_pos",
             render_mode="rgb_array",
             reward_mode="none",
+            robot_uids=args.robot_uid,
             human_render_camera_configs=dict(shader_pack=args.video_saving_shader),
         )
         env = RecordEpisode(

mani_skill/examples/teleoperation/interactive_so100.py

@@ -0,0 +1,216 @@
+import argparse
+from ast import parse
+from typing import Annotated
+import gymnasium as gym
+import numpy as np
+import sapien.core as sapien
+from mani_skill.envs.sapien_env import BaseEnv
+
+from mani_skill.examples.motionplanning.so100.motionplanner import \
+    SO100ArmMotionPlanningSolver
+import sapien.utils.viewer
+import h5py
+import json
+import mani_skill.trajectory.utils as trajectory_utils
+from mani_skill.utils import sapien_utils
+from mani_skill.utils.wrappers.record import RecordEpisode
+import tyro
+from dataclasses import dataclass
+
+@dataclass
+class Args:
+    env_id: Annotated[str, tyro.conf.arg(aliases=["-e"])] = "PickCube-v1"
+    obs_mode: str = "none"
+    robot_uid: Annotated[str, tyro.conf.arg(aliases=["-r"])] = "so100"
+    """The robot to use. Robot setups supported for teleop in this script is so100"""
+    record_dir: str = "demos"
+    """directory to record the demonstration data and optionally videos"""
+    save_video: bool = False
+    """whether to save the videos of the demonstrations after collecting them all"""
+    viewer_shader: str = "rt-fast"
+    """the shader to use for the viewer. 'default' is fast but lower-quality shader, 'rt' and 'rt-fast' are the ray tracing shaders"""
+    video_saving_shader: str = "rt-fast"
+    """the shader to use for the videos of the demonstrations. 'minimal' is the fast shader, 'rt' and 'rt-fast' are the ray tracing shaders"""
+
+def parse_args() -> Args:
+    return tyro.cli(Args)
+
+def main(args: Args):
+    output_dir = f"{args.record_dir}/{args.env_id}/teleop/"
+    env = gym.make(
+        args.env_id,
+        obs_mode=args.obs_mode,
+        control_mode="pd_joint_pos",
+        render_mode="rgb_array",
+        reward_mode="none",
+        robot_uids=args.robot_uid, 
+        enable_shadow=True,
+        viewer_camera_configs=dict(shader_pack=args.viewer_shader)
+    )
+
+    env = RecordEpisode(
+        env,
+        output_dir=output_dir,
+        trajectory_name="trajectory",
+        save_video=True,
+        info_on_video=False,
+        source_type="teleoperation",
+        source_desc="teleoperation via the click+drag system"
+    )
+    num_trajs = 0
+    seed = 0
+    env.reset(seed=seed)
+    while True:
+        print(f"Collecting trajectory {num_trajs+1}, seed={seed}")
+        code = solve(env, debug=False, vis=True)
+        if code == "quit":
+            num_trajs += 1
+            break
+        elif code == "continue":
+            seed += 1
+            num_trajs += 1
+            env.reset(seed=seed)
+            continue
+        elif code == "restart":
+            env.reset(seed=seed, options=dict(save_trajectory=False))
+    h5_file_path = env._h5_file.filename
+    json_file_path = env._json_path
+    env.close()
+    del env
+    print(f"Trajectories saved to {h5_file_path}")
+    if args.save_video:
+        print(f"Saving videos to {output_dir}")
+
+        trajectory_data = h5py.File(h5_file_path)
+        with open(json_file_path, "r") as f:
+            json_data = json.load(f)
+        env = gym.make(
+            args.env_id,
+            obs_mode=args.obs_mode,
+            control_mode="pd_joint_pos",
+            render_mode="rgb_array",
+            reward_mode="none",
+            robot_uids=args.robot_uid, 
+            human_render_camera_configs=dict(shader_pack=args.video_saving_shader),
+        )
+        env = RecordEpisode(
+            env,
+            output_dir=output_dir,
+            trajectory_name="trajectory",
+            save_video=True,
+            info_on_video=False,
+            save_trajectory=False,
+            video_fps=30
+        )
+        for episode in json_data["episodes"]:
+            traj_id = f"traj_{episode['episode_id']}"
+            data = trajectory_data[traj_id]
+            env.reset(**episode["reset_kwargs"])
+            env_states_list = trajectory_utils.dict_to_list_of_dicts(data["env_states"])
+
+            env.base_env.set_state_dict(env_states_list[0])
+            for action in np.array(data["actions"]):
+                env.step(action)
+
+        trajectory_data.close()
+        env.close()
+        del env
+
+
+def solve(env: BaseEnv, debug=False, vis=False):
+    assert env.unwrapped.control_mode in [
+        "pd_joint_pos",
+        "pd_joint_pos_vel",
+    ], env.unwrapped.control_mode
+    robot_has_gripper = True
+    planner = SO100ArmMotionPlanningSolver(
+        env,
+        debug=debug,
+        vis=vis,
+        base_pose=env.unwrapped.agent.robot.pose,
+        visualize_target_grasp_pose=False,
+        print_env_info=False,
+        joint_acc_limits=0.5,
+        joint_vel_limits=0.5,
+    )
+    viewer = env.render_human()
+    
+    last_checkpoint_state = None
+    gripper_open = True
+    def select_so100_hand():
+        viewer.select_entity(sapien_utils.get_obj_by_name(env.agent.robot.links, "Fixed_Jaw")._objs[0].entity) 
+    select_so100_hand()
+    for plugin in viewer.plugins:
+        if isinstance(plugin, sapien.utils.viewer.viewer.TransformWindow):
+            transform_window = plugin
+    while True:
+        transform_window.enabled = True
+
+        env.render_human()
+        execute_current_pose = False
+        if viewer.window.key_press("h"):
+            print("""Available commands:
+            h: print this help menu
+            g: toggle gripper to close/open (if there is a gripper)
+            u: move the so100 hand up
+            j: move the so100 hand down
+            arrow_keys: move the so100 hand in the direction of the arrow keys
+            n: execute command via motion planning to make the robot move to the target pose indicated by the ghost so100 arm
+            c: stop this episode and record the trajectory and move on to a new episode
+            q: quit the script and stop collecting data. Save trajectories and optionally videos.
+            """)
+            pass
+        elif viewer.window.key_press("q"):
+            return "quit"
+        elif viewer.window.key_press("c"):
+            return "continue"
+        elif viewer.window.key_press("n"):
+            execute_current_pose = True
+        elif viewer.window.key_press("g") and robot_has_gripper:
+            if gripper_open:
+                gripper_open = False
+                _, reward, _ ,_, info = planner.close_gripper()
+            else:
+                gripper_open = True
+                _, reward, _ ,_, info = planner.open_gripper()
+            print(f"Reward: {reward}, Info: {info}")
+        elif viewer.window.key_press("u"):
+            select_so100_hand()
+            transform_window.gizmo_matrix = (transform_window._gizmo_pose * sapien.Pose(p=[0, 0, -0.01])).to_transformation_matrix()
+            transform_window.update_ghost_objects()
+        elif viewer.window.key_press("j"):
+            select_so100_hand()
+            transform_window.gizmo_matrix = (transform_window._gizmo_pose * sapien.Pose(p=[0, 0, +0.01])).to_transformation_matrix()
+            transform_window.update_ghost_objects()
+        elif viewer.window.key_press("down"):
+            select_so100_hand()
+            transform_window.gizmo_matrix = (transform_window._gizmo_pose * sapien.Pose(p=[+0.01, 0, 0])).to_transformation_matrix()
+            transform_window.update_ghost_objects()
+        elif viewer.window.key_press("up"):
+            select_so100_hand()
+            transform_window.gizmo_matrix = (transform_window._gizmo_pose * sapien.Pose(p=[-0.01, 0, 0])).to_transformation_matrix()
+            transform_window.update_ghost_objects()
+        elif viewer.window.key_press("right"):
+            select_so100_hand()
+            transform_window.gizmo_matrix = (transform_window._gizmo_pose * sapien.Pose(p=[0, -0.01, 0])).to_transformation_matrix()
+            transform_window.update_ghost_objects()
+        elif viewer.window.key_press("left"):
+            select_so100_hand()
+            transform_window.gizmo_matrix = (transform_window._gizmo_pose * sapien.Pose(p=[0, +0.01, 0])).to_transformation_matrix()
+            transform_window.update_ghost_objects()
+        if execute_current_pose:
+            fixed_jaw_tip_position = transform_window._gizmo_pose * sapien.Pose(p=[0.01, -0.097, 0])
+            target_pose = sapien.Pose(p=fixed_jaw_tip_position.p - planner._so_100_grasp_pose_tcp_transform.p, q=fixed_jaw_tip_position.q)
+
+            result = planner.move_to_pose_with_screw(target_pose, dry_run=True)
+            if result != -1 and len(result["position"]) < 150:
+                _, reward, _ ,_, info = planner.follow_path(result)
+                print(f"Reward: {reward}, Info: {info}")
+            else:
+                if result == -1: print("Plan failed")
+                else: print("Generated motion plan was too long. Try a closer sub-goal")
+            execute_current_pose = False
+
+
+if __name__ == "__main__":
+    main(parse_args())

mani_skill/examples/teleoperation/interactive_xarm6.py

@@ -0,0 +1,216 @@
+import argparse
+from ast import parse
+from typing import Annotated
+import gymnasium as gym
+import numpy as np
+import sapien.core as sapien
+from mani_skill.envs.sapien_env import BaseEnv
+
+from mani_skill.examples.motionplanning.xarm6.motionplanner import \
+    XArm6RobotiqMotionPlanningSolver
+import sapien.utils.viewer
+import h5py
+import json
+import mani_skill.trajectory.utils as trajectory_utils
+from mani_skill.utils import sapien_utils
+from mani_skill.utils.wrappers.record import RecordEpisode
+import tyro
+from dataclasses import dataclass
+
+@dataclass
+class Args:
+    env_id: Annotated[str, tyro.conf.arg(aliases=["-e"])] = "PickCube-v1"
+    obs_mode: str = "none"
+    robot_uid: Annotated[str, tyro.conf.arg(aliases=["-r"])] = "xarm6_robotiq"
+    """The robot to use. Robot setups supported for teleop in this script is xarm6"""
+    record_dir: str = "demos"
+    """directory to record the demonstration data and optionally videos"""
+    save_video: bool = False
+    """whether to save the videos of the demonstrations after collecting them all"""
+    viewer_shader: str = "rt-fast"
+    """the shader to use for the viewer. 'default' is fast but lower-quality shader, 'rt' and 'rt-fast' are the ray tracing shaders"""
+    video_saving_shader: str = "rt-fast"
+    """the shader to use for the videos of the demonstrations. 'minimal' is the fast shader, 'rt' and 'rt-fast' are the ray tracing shaders"""
+
+def parse_args() -> Args:
+    return tyro.cli(Args)
+
+def main(args: Args):
+    output_dir = f"{args.record_dir}/{args.env_id}/teleop/"
+    env = gym.make(
+        args.env_id,
+        obs_mode=args.obs_mode,
+        control_mode="pd_joint_pos",
+        render_mode="rgb_array",
+        reward_mode="none",
+        robot_uids=args.robot_uid, 
+        enable_shadow=True,
+        viewer_camera_configs=dict(shader_pack=args.viewer_shader)
+    )
+
+    env = RecordEpisode(
+        env,
+        output_dir=output_dir,
+        trajectory_name="trajectory",
+        save_video=True,
+        info_on_video=False,
+        source_type="teleoperation",
+        source_desc="teleoperation via the click+drag system"
+    )
+    num_trajs = 0
+    seed = 0
+    env.reset(seed=seed)
+    while True:
+        print(f"Collecting trajectory {num_trajs+1}, seed={seed}")
+        code = solve(env, debug=False, vis=True)
+        if code == "quit":
+            num_trajs += 1
+            break
+        elif code == "continue":
+            seed += 1
+            num_trajs += 1
+            env.reset(seed=seed)
+            continue
+        elif code == "restart":
+            env.reset(seed=seed, options=dict(save_trajectory=False))
+    h5_file_path = env._h5_file.filename
+    json_file_path = env._json_path
+    env.close()
+    del env
+    print(f"Trajectories saved to {h5_file_path}")
+    if args.save_video:
+        print(f"Saving videos to {output_dir}")
+
+        trajectory_data = h5py.File(h5_file_path)
+        with open(json_file_path, "r") as f:
+            json_data = json.load(f)
+        env = gym.make(
+            args.env_id,
+            obs_mode=args.obs_mode,
+            control_mode="pd_joint_pos",
+            render_mode="rgb_array",
+            reward_mode="none",
+            robot_uids=args.robot_uid, 
+            human_render_camera_configs=dict(shader_pack=args.video_saving_shader),
+        )
+        env = RecordEpisode(
+            env,
+            output_dir=output_dir,
+            trajectory_name="trajectory",
+            save_video=True,
+            info_on_video=False,
+            save_trajectory=False,
+            video_fps=30
+        )
+        for episode in json_data["episodes"]:
+            traj_id = f"traj_{episode['episode_id']}"
+            data = trajectory_data[traj_id]
+            env.reset(**episode["reset_kwargs"])
+            env_states_list = trajectory_utils.dict_to_list_of_dicts(data["env_states"])
+
+            env.base_env.set_state_dict(env_states_list[0])
+            for action in np.array(data["actions"]):
+                env.step(action)
+
+        trajectory_data.close()
+        env.close()
+        del env
+
+
+def solve(env: BaseEnv, debug=False, vis=False):
+    assert env.unwrapped.control_mode in [
+        "pd_joint_pos",
+        "pd_joint_pos_vel",
+    ], env.unwrapped.control_mode
+    robot_has_gripper = True
+    planner = XArm6RobotiqMotionPlanningSolver(
+        env,
+        debug=debug,
+        vis=vis,
+        base_pose=env.unwrapped.agent.robot.pose,
+        visualize_target_grasp_pose=False,
+        print_env_info=False,
+        joint_acc_limits=0.5,
+        joint_vel_limits=0.5,
+    )
+    viewer = env.render_human()
+    
+    last_checkpoint_state = None
+    gripper_open = True
+    def select_xarm6_hand():
+        viewer.select_entity(sapien_utils.get_obj_by_name(env.agent.robot.links, "robotiq_arg2f_base_link")._objs[0].entity)
+    select_xarm6_hand()
+    for plugin in viewer.plugins:
+        if isinstance(plugin, sapien.utils.viewer.viewer.TransformWindow):
+            transform_window = plugin
+    while True:
+        transform_window.enabled = True
+
+        env.render_human()
+        execute_current_pose = False
+        if viewer.window.key_press("h"):
+            print("""Available commands:
+            h: print this help menu
+            g: toggle gripper to close/open (if there is a gripper)
+            u: move the xarm6 hand up
+            j: move the xarm6 hand down
+            arrow_keys: move the xarm6 hand in the direction of the arrow keys
+            n: execute command via motion planning to make the robot move to the target pose indicated by the ghost xarm6 arm
+            c: stop this episode and record the trajectory and move on to a new episode
+            q: quit the script and stop collecting data. Save trajectories and optionally videos.
+            """)
+            pass
+        elif viewer.window.key_press("q"):
+            return "quit"
+        elif viewer.window.key_press("c"):
+            return "continue"
+        elif viewer.window.key_press("n"):
+            execute_current_pose = True
+        elif viewer.window.key_press("g") and robot_has_gripper:
+            if gripper_open:
+                gripper_open = False
+                _, reward, _ ,_, info = planner.close_gripper()
+            else:
+                gripper_open = True
+                _, reward, _ ,_, info = planner.open_gripper()
+            print(f"Reward: {reward}, Info: {info}")
+        elif viewer.window.key_press("u"):
+            select_xarm6_hand()
+            transform_window.gizmo_matrix = (transform_window._gizmo_pose * sapien.Pose(p=[0, 0, -0.01])).to_transformation_matrix()
+            transform_window.update_ghost_objects()
+        elif viewer.window.key_press("j"):
+            select_xarm6_hand()
+            transform_window.gizmo_matrix = (transform_window._gizmo_pose * sapien.Pose(p=[0, 0, +0.01])).to_transformation_matrix()
+            transform_window.update_ghost_objects()
+        elif viewer.window.key_press("down"):
+            select_xarm6_hand()
+            transform_window.gizmo_matrix = (transform_window._gizmo_pose * sapien.Pose(p=[+0.01, 0, 0])).to_transformation_matrix()
+            transform_window.update_ghost_objects()
+        elif viewer.window.key_press("up"):
+            select_xarm6_hand()
+            transform_window.gizmo_matrix = (transform_window._gizmo_pose * sapien.Pose(p=[-0.01, 0, 0])).to_transformation_matrix()
+            transform_window.update_ghost_objects()
+        elif viewer.window.key_press("right"):
+            select_xarm6_hand()
+            transform_window.gizmo_matrix = (transform_window._gizmo_pose * sapien.Pose(p=[0, -0.01, 0])).to_transformation_matrix()
+            transform_window.update_ghost_objects()
+        elif viewer.window.key_press("left"):
+            select_xarm6_hand()
+            transform_window.gizmo_matrix = (transform_window._gizmo_pose * sapien.Pose(p=[0, +0.01, 0])).to_transformation_matrix()
+            transform_window.update_ghost_objects()
+        if execute_current_pose:
+            # z-offset of end-effector gizmo to TCP position is hardcoded for the xarm6 robot here
+            target_pose = transform_window._gizmo_pose * sapien.Pose([0, 0, 0.15]) 
+            
+            result = planner.move_to_pose_with_RRTStar(target_pose, dry_run=True)
+            if result != -1 and len(result["position"]) < 150:
+                _, reward, _ ,_, info = planner.follow_path(result)
+                print(f"Reward: {reward}, Info: {info}")
+            else:
+                if result == -1: print("Plan failed")
+                else: print("Generated motion plan was too long. Try a closer sub-goal")
+            execute_current_pose = False
+
+
+if __name__ == "__main__":
+    main(parse_args())

{mani_skill_nightly-2025.9.5.2334.dist-info → mani_skill_nightly-2025.9.14.2255.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.9.5.2334
+Version: 2025.9.14.2255
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.9.5.2334.dist-info → mani_skill_nightly-2025.9.14.2255.dist-info}/RECORD

@@ -572,8 +572,8 @@ mani_skill/envs/tasks/digital_twins/so100_arm/__init__.py,sha256=uehHSCaHoZDB9aw
 mani_skill/envs/tasks/digital_twins/so100_arm/grasp_cube.py,sha256=Uv2wTMUyfh8ygG4g6WfPj5E8jaDUyBZ789lPPCRBJjM,22386
 mani_skill/envs/tasks/drawing/__init__.py,sha256=b2HaUu5UwcWHetjcn6hKlKFokUMd1ZGIljOg-kPeo54,114
 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
-mani_skill/envs/tasks/drawing/draw_triangle.py,sha256=aOSc37tHZrU_96W_Pj0mNpxOTopHyMvCVps-gihE0qc,15528
+mani_skill/envs/tasks/drawing/draw_svg.py,sha256=vk8E1l2EYqT_9zPkwk1heEGyfT8ydGaiyM01DpWqM4w,16207
+mani_skill/envs/tasks/drawing/draw_triangle.py,sha256=l51EbCckQzjtn8TAlUmXQIC30D5Ikqrzouoy5Q7_iC0,15529
 mani_skill/envs/tasks/fmb/__init__.py,sha256=bTIxwBIDcQcGyu_KR27QwRbG9ud_myEBQGXiK4Fu1CQ,33
 mani_skill/envs/tasks/fmb/fmb.py,sha256=yOQqQY6IHOVWIRTKVHzmE07nvMHMGgd48iyCyQp8vyo,7424
 mani_skill/envs/tasks/fmb/assets/blue_u.glb,sha256=yCYJvWA_8mOIlL_a_S_Tr3xHiBNQmaoQumNJImT71Jo,2380
@@ -606,7 +606,7 @@ mani_skill/envs/tasks/quadruped/quadruped_reach.py,sha256=IggZpOlncVy-runqcX9PmD
 mani_skill/envs/tasks/quadruped/quadruped_spin.py,sha256=F9HmJtZeLNpuFg3-VyO7Qdz8dBsJmCfiH0076npq4is,5205
 mani_skill/envs/tasks/tabletop/__init__.py,sha256=DJmoG6Z19yXPuLUv2mZ8UqgsMVethY_pzYspc4veRMw,791
 mani_skill/envs/tasks/tabletop/assembling_kits.py,sha256=piXxTybVKrRr92VqIFIQsbra4Q3njRxBTmOGvsribHI,11933
-mani_skill/envs/tasks/tabletop/lift_peg_upright.py,sha256=o6AmHyjyoT5U6IYn0tXz3MJ7PNCEqHPZf2jnFOFuW-Y,5857
+mani_skill/envs/tasks/tabletop/lift_peg_upright.py,sha256=38D3uPWgh6ttw_E3vwJjoBsXPzbxlVUGQo-_0uNLS_Y,5858
 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=MsrP5rlYB1TMWCgYBnE97iYUDkwrrXBCXF1vrcZJf7s,8691
@@ -614,7 +614,7 @@ mani_skill/envs/tasks/tabletop/pick_cube_cfgs.py,sha256=ns0bhw6nrJElSR9nGruGYECy
 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=So0WttpXKU_1okVCgB00htqa_fxPcJZERhFSKqspA_o,10463
-mani_skill/envs/tasks/tabletop/poke_cube.py,sha256=KV6mp-Xgm9h4GYUcAUop2AZ4IECTdQKEMRRd9NThyBo,9343
+mani_skill/envs/tasks/tabletop/poke_cube.py,sha256=GEv15eYd-OegiN4j9ciZw69Qj-q-tX_WCh75KJMHaPY,9344
 mani_skill/envs/tasks/tabletop/pull_cube.py,sha256=tyy9KOgBjQOHjFrVK2-hNQPCPDjJ7Y61ZtbwPX_6gvk,5548
 mani_skill/envs/tasks/tabletop/pull_cube_tool.py,sha256=NaZpdbYYL4zC41GVY__eq4uRIQpVXthzAqe5oSq8YWU,9951
 mani_skill/envs/tasks/tabletop/push_cube.py,sha256=WZ4k89f8inbwbomYtJAxodQDcGUYhDMrn9UHoaqYODQ,12701
@@ -663,34 +663,45 @@ mani_skill/examples/benchmarking/envs/maniskill/cartpole.py,sha256=nVYi4NpKIA6X4
 mani_skill/examples/benchmarking/envs/maniskill/franka_move.py,sha256=KHbPT69vwr2ijWPWjmnGK9vB5dpq4x9Jw5JWVwTV7MI,3333
 mani_skill/examples/benchmarking/envs/maniskill/franka_pick_cube.py,sha256=NcIIdSvZIYaBT6KhBfDWER321ECYvA8yJQRSeRUMwy8,4138
 mani_skill/examples/motionplanning/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+mani_skill/examples/motionplanning/base_motionplanner/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+mani_skill/examples/motionplanning/base_motionplanner/motionplanner.py,sha256=4Mo-vd6ZAemnaZhzlB9McukpP8tU8Qb93hRyAabQO_s,7218
+mani_skill/examples/motionplanning/base_motionplanner/utils.py,sha256=ueS0b4-gX9lnsvqet361tEi8S5cv4Liq71BWN-feEZU,3058
 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/motionplanner.py,sha256=np-muWjjz1VanIfEttUYoAD_O9jyIDzK4thqDRhz1TE,848
+mani_skill/examples/motionplanning/panda/motionplanner_stick.py,sha256=ix-XS6aAcwTmBhGnnAI3wJ-G2Cmp5Bv7Tsh1amPGIBc,797
 mani_skill/examples/motionplanning/panda/run.py,sha256=PM0p424MfA-wVcvXJWKlnITKGYNI_FC3CBZjIiCX37U,7438
-mani_skill/examples/motionplanning/panda/utils.py,sha256=ueS0b4-gX9lnsvqet361tEi8S5cv4Liq71BWN-feEZU,3058
 mani_skill/examples/motionplanning/panda/solutions/__init__.py,sha256=a3Pglv99wemA-TjqHGMV2FBEJnhJMEt8OTniwzeAO5c,618
 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/lift_peg_upright.py,sha256=jqOM_1OZzl1mCn_aQkzryGZvPC3HdNwQBR-qx_1C0SU,3629
+mani_skill/examples/motionplanning/panda/solutions/peg_insertion_side.py,sha256=kw7KLsRTZLsB9u-MU_DAO-psmkDJblG4Dy9HNQkWj1Y,3588
+mani_skill/examples/motionplanning/panda/solutions/pick_cube.py,sha256=dfbiYRimawVZJ-Nop81zso2ZdMbPAYEGnKVfj8sVBe0,2256
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 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
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 mani_skill/examples/motionplanning/panda/solutions/push_cube.py,sha256=EynyseBJ_njMP74o9gVxqWOOqoC5j1rBc4XQzFug9EQ,1113
-mani_skill/examples/motionplanning/panda/solutions/stack_cube.py,sha256=QIa280jNOJfJqqgbb5WWEBxErFPE7Mv4-_ZL9TCsRos,3280
-mani_skill/examples/motionplanning/panda/solutions/stack_pyramid.py,sha256=s7IWytihZv4IvT2cuhLM0RAWoV1NEEoPKq5-E6ArA6s,5190
+mani_skill/examples/motionplanning/panda/solutions/stack_cube.py,sha256=B6gYZYlV8L8w78V1TtbPkO2gWevnsV71FHF5QdAyNkM,3293
+mani_skill/examples/motionplanning/panda/solutions/stack_pyramid.py,sha256=JcG8Hy-MPdA36il60eawB71--Yw4PmpPcMBTD2JfjLw,5203
+mani_skill/examples/motionplanning/so100/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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+mani_skill/examples/motionplanning/two_finger_gripper/motionplanner.py,sha256=pHl9_j9SEDxXALOgBmcqp4nLlt-29BT9i3t5nIT0dmc,6174
 mani_skill/examples/motionplanning/xarm6/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mani_skill/examples/motionplanning/xarm6/motionplanner.py,sha256=OcJ2OgY09j3kKl7tFa8GcuGGknF999I_bWZGHZF8lps,4751
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 mani_skill/examples/motionplanning/xarm6/run.py,sha256=yejnUUasyllXZYWpWD9ksvdjgM8o9TwGVfY24kXQxSI,7053
 mani_skill/examples/motionplanning/xarm6/solutions/__init__.py,sha256=csJg82Tjow5MsYEQEY86ETdPoR59s55KwSg4xaEVyy0,191
-mani_skill/examples/motionplanning/xarm6/solutions/pick_cube.py,sha256=7gKuTgGrQOuSQr32nZDg07IRk2Dp9jIRCl3TZ1xlPsc,2566
-mani_skill/examples/motionplanning/xarm6/solutions/plug_charger.py,sha256=myvHjl9Gc2RM2UYb12cOi56C3QbEbeNmvUBLMiHcHp0,3895
-mani_skill/examples/motionplanning/xarm6/solutions/push_cube.py,sha256=iiZHwvOGGAaxPkzE_sAN6WdTYfcxEMVx0Da3e2rzL48,1419
-mani_skill/examples/motionplanning/xarm6/solutions/stack_cube.py,sha256=zarkqZ2MSfBu-Uv7DNNiRmqyv_JLPiIWcpONGyfbf0Y,3595
+mani_skill/examples/motionplanning/xarm6/solutions/pick_cube.py,sha256=V70JpqX1hmcxeiScPqWVHaqI9V1qiKHLDHYHhiESsYQ,2421
+mani_skill/examples/motionplanning/xarm6/solutions/plug_charger.py,sha256=WE60jGpP8VRyePRcHxWvqxbi3XXxADs9peYXhXxxdY4,3750
+mani_skill/examples/motionplanning/xarm6/solutions/push_cube.py,sha256=y9zFbczQVVm1ur4ohmTxmwfXXINVJueWQAx1FYGolE4,1261
+mani_skill/examples/motionplanning/xarm6/solutions/stack_cube.py,sha256=-QaFTuZQQ89LJGP-mjuz1pLQLr4rpR6CmquE0Kd8L2Y,3450
 mani_skill/examples/teleoperation/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mani_skill/examples/teleoperation/interactive_panda.py,sha256=NsGy_ghtXl3HPbwLjKINkizOXqX_rMr30lUfscmhyQ4,10423
+mani_skill/examples/teleoperation/interactive_panda.py,sha256=w2YNABicqN10mU7eEhme6Pi9guv9QlbMhkLv4gr3Rjc,10497
+mani_skill/examples/teleoperation/interactive_so100.py,sha256=E2xj-9CW0jG7K99il2MeRtwEXySdNugCGMoaKWAuFv8,8714
+mani_skill/examples/teleoperation/interactive_xarm6.py,sha256=h27LlmGtEnAS8yIRjgRLRrcYY2s4rUvnlxCWvJwWxBw,8700
 mani_skill/render/__init__.py,sha256=Uy6h1bzammUO8QVPVCDcuCuhnuN3e5votaho45drAGw,118
 mani_skill/render/shaders.py,sha256=g2VcASiyrP7nVDv_MlmY9CeYbNr7QDvUBdCjuDMjqQ0,7103
 mani_skill/render/utils.py,sha256=l-Kt3LTACw6Q_A7jhss0Eoc5t2LfHaFmDiH55DhLMuU,638
@@ -826,8 +837,8 @@ 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-2025.9.5.2334.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.9.5.2334.dist-info/METADATA,sha256=RM1fSPj1-LN1YEpYdhNJhjVFO15cX3SR-Jw43tt9oIs,9315
-mani_skill_nightly-2025.9.5.2334.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.9.5.2334.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.9.5.2334.dist-info/RECORD,,
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