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mani_skill2/agents/robots/anymal/anymal_c.py

@@ -5,11 +5,7 @@
 from mani_skill2.agents.base_agent import BaseAgent
 from mani_skill2.agents.controllers import *
 from mani_skill2.agents.registration import register_agent
-from mani_skill2.utils.sapien_utils import (
-    apply_urdf_config,
-    check_urdf_config,
-    parse_urdf_config,
-)
+from mani_skill2.utils import sapien_utils
 from mani_skill2.utils.structs.articulation import Articulation
 
 
@@ -83,11 +79,11 @@ def _load_articulation(self):
 
         urdf_path = format_path(str(self.urdf_path))
 
-        urdf_config = parse_urdf_config(self.urdf_config, self.scene)
-        check_urdf_config(urdf_config)
+        urdf_config = sapien_utils.parse_urdf_config(self.urdf_config, self.scene)
+        sapien_utils.check_urdf_config(urdf_config)
 
         # TODO(jigu): support loading multiple convex collision shapes
-        apply_urdf_config(loader, urdf_config)
+        sapien_utils.apply_urdf_config(loader, urdf_config)
         loader.disable_self_collisions = True
         self.robot: Articulation = loader.load(urdf_path)
         assert self.robot is not None, f"Fail to load URDF from {urdf_path}"

mani_skill2/agents/robots/dclaw/dclaw.py

@@ -8,7 +8,7 @@
 from mani_skill2.agents.controllers import *
 from mani_skill2.agents.registration import register_agent
 from mani_skill2.agents.utils import get_active_joint_indices
-from mani_skill2.utils.sapien_utils import get_objs_by_names
+from mani_skill2.utils import sapien_utils
 from mani_skill2.utils.structs.joint import Joint
 from mani_skill2.utils.structs.link import Link
 from mani_skill2.utils.structs.pose import vectorize_pose
@@ -52,7 +52,7 @@ def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
 
     def _after_init(self):
-        self.tip_links: List[Link] = get_objs_by_names(
+        self.tip_links: List[Link] = sapien_utils.get_objs_by_names(
             self.robot.get_links(), self.tip_link_names
         )
         self.root_joints: List[Joint] = [

mani_skill2/agents/robots/fetch/fetch.py

@@ -11,14 +11,8 @@
 from mani_skill2.agents.controllers import *
 from mani_skill2.agents.registration import register_agent
 from mani_skill2.sensors.camera import CameraConfig
+from mani_skill2.utils import sapien_utils
 from mani_skill2.utils.common import compute_angle_between, np_compute_angle_between
-from mani_skill2.utils.sapien_utils import (
-    compute_total_impulse,
-    get_actor_contacts,
-    get_obj_by_name,
-    get_pairwise_contact_impulse,
-    to_tensor,
-)
 from mani_skill2.utils.structs.actor import Actor
 from mani_skill2.utils.structs.base import BaseStruct
 from mani_skill2.utils.structs.joint import Joint
@@ -332,19 +326,23 @@ def controller_configs(self):
         return deepcopy_dict(controller_configs)
 
     def _after_init(self):
-        self.finger1_link: Link = get_obj_by_name(
+        self.finger1_link: Link = sapien_utils.get_obj_by_name(
             self.robot.get_links(), "l_gripper_finger_link"
         )
-        self.finger2_link: Link = get_obj_by_name(
+        self.finger2_link: Link = sapien_utils.get_obj_by_name(
             self.robot.get_links(), "r_gripper_finger_link"
         )
-        self.tcp: Link = get_obj_by_name(self.robot.get_links(), self.ee_link_name)
+        self.tcp: Link = sapien_utils.get_obj_by_name(
+            self.robot.get_links(), self.ee_link_name
+        )
 
-        self.base_link: Link = get_obj_by_name(self.robot.get_links(), "base_link")
-        self.l_wheel_link: Link = get_obj_by_name(
+        self.base_link: Link = sapien_utils.get_obj_by_name(
+            self.robot.get_links(), "base_link"
+        )
+        self.l_wheel_link: Link = sapien_utils.get_obj_by_name(
             self.robot.get_links(), "l_wheel_link"
         )
-        self.r_wheel_link: Link = get_obj_by_name(
+        self.r_wheel_link: Link = sapien_utils.get_obj_by_name(
             self.robot.get_links(), "r_wheel_link"
         )
         for link in [self.l_wheel_link, self.r_wheel_link]:
@@ -354,11 +352,11 @@ def _after_init(self):
                 cg[2] |= FETCH_UNIQUE_COLLISION_BIT
                 cs.set_collision_groups(cg)
 
-        self.torso_lift_link: Link = get_obj_by_name(
+        self.torso_lift_link: Link = sapien_utils.get_obj_by_name(
             self.robot.get_links(), "torso_lift_link"
         )
 
-        self.head_camera_link: Link = get_obj_by_name(
+        self.head_camera_link: Link = sapien_utils.get_obj_by_name(
             self.robot.get_links(), "head_camera_link"
         )
 
@@ -405,25 +403,27 @@ def is_grasping(self, object: Actor = None, min_impulse=1e-6, max_angle=85):
             contacts = self.scene.get_contacts()
 
             if object is None:
-                finger1_contacts = get_actor_contacts(
+                finger1_contacts = sapien_utils.get_actor_contacts(
                     contacts, self.finger1_link._bodies[0].entity
                 )
-                finger2_contacts = get_actor_contacts(
+                finger2_contacts = sapien_utils.get_actor_contacts(
                     contacts, self.finger2_link._bodies[0].entity
                 )
                 return (
-                    np.linalg.norm(compute_total_impulse(finger1_contacts))
+                    np.linalg.norm(sapien_utils.compute_total_impulse(finger1_contacts))
                     >= min_impulse
-                    and np.linalg.norm(compute_total_impulse(finger2_contacts))
+                    and np.linalg.norm(
+                        sapien_utils.compute_total_impulse(finger2_contacts)
+                    )
                     >= min_impulse
                 )
             else:
-                limpulse = get_pairwise_contact_impulse(
+                limpulse = sapien_utils.get_pairwise_contact_impulse(
                     contacts,
                     self.finger1_link._bodies[0].entity,
                     object._bodies[0].entity,
                 )
-                rimpulse = get_pairwise_contact_impulse(
+                rimpulse = sapien_utils.get_pairwise_contact_impulse(
                     contacts,
                     self.finger2_link._bodies[0].entity,
                     object._bodies[0].entity,

mani_skill2/agents/robots/panda/panda.py

@@ -10,14 +10,8 @@
 from mani_skill2.agents.base_agent import BaseAgent
 from mani_skill2.agents.controllers import *
 from mani_skill2.agents.registration import register_agent
-from mani_skill2.sensors.camera import CameraConfig
+from mani_skill2.utils import sapien_utils
 from mani_skill2.utils.common import compute_angle_between, np_compute_angle_between
-from mani_skill2.utils.sapien_utils import (
-    compute_total_impulse,
-    get_actor_contacts,
-    get_obj_by_name,
-    get_pairwise_contact_impulse,
-)
 from mani_skill2.utils.structs.actor import Actor
 
 
@@ -204,15 +198,21 @@ def controller_configs(self):
     sensor_configs = []
 
     def _after_init(self):
-        self.finger1_link = get_obj_by_name(self.robot.get_links(), "panda_leftfinger")
-        self.finger2_link = get_obj_by_name(self.robot.get_links(), "panda_rightfinger")
-        self.finger1pad_link = get_obj_by_name(
+        self.finger1_link = sapien_utils.get_obj_by_name(
+            self.robot.get_links(), "panda_leftfinger"
+        )
+        self.finger2_link = sapien_utils.get_obj_by_name(
+            self.robot.get_links(), "panda_rightfinger"
+        )
+        self.finger1pad_link = sapien_utils.get_obj_by_name(
             self.robot.get_links(), "panda_leftfinger_pad"
         )
-        self.finger2pad_link = get_obj_by_name(
+        self.finger2pad_link = sapien_utils.get_obj_by_name(
             self.robot.get_links(), "panda_rightfinger_pad"
         )
-        self.tcp = get_obj_by_name(self.robot.get_links(), self.ee_link_name)
+        self.tcp = sapien_utils.get_obj_by_name(
+            self.robot.get_links(), self.ee_link_name
+        )
 
         self.queries: Dict[
             str, Tuple[physx.PhysxGpuContactPairImpulseQuery, Tuple[int]]
@@ -257,19 +257,25 @@ def is_grasping(self, object: Actor = None, min_impulse=1e-6, max_angle=85):
             contacts = self.scene.get_contacts()
 
             if object is None:
-                finger1_contacts = get_actor_contacts(contacts, self.finger1_link)
-                finger2_contacts = get_actor_contacts(contacts, self.finger2_link)
+                finger1_contacts = sapien_utils.get_actor_contacts(
+                    contacts, self.finger1_link
+                )
+                finger2_contacts = sapien_utils.get_actor_contacts(
+                    contacts, self.finger2_link
+                )
                 return (
-                    np.linalg.norm(compute_total_impulse(finger1_contacts))
+                    np.linalg.norm(sapien_utils.compute_total_impulse(finger1_contacts))
                     >= min_impulse
-                    and np.linalg.norm(compute_total_impulse(finger2_contacts))
+                    and np.linalg.norm(
+                        sapien_utils.compute_total_impulse(finger2_contacts)
+                    )
                     >= min_impulse
                 )
             else:
-                limpulse = get_pairwise_contact_impulse(
+                limpulse = sapien_utils.get_pairwise_contact_impulse(
                     contacts, self.finger1_link, object
                 )
-                rimpulse = get_pairwise_contact_impulse(
+                rimpulse = sapien_utils.get_pairwise_contact_impulse(
                     contacts, self.finger2_link, object
                 )
 

mani_skill2/agents/robots/xarm/xarm7_ability.py

@@ -7,7 +7,7 @@
 from mani_skill2.agents.base_agent import BaseAgent
 from mani_skill2.agents.controllers import *
 from mani_skill2.agents.registration import register_agent
-from mani_skill2.utils.sapien_utils import get_obj_by_name, get_objs_by_names
+from mani_skill2.utils import sapien_utils
 
 
 @register_agent()
@@ -155,7 +155,7 @@ def _after_init(self):
             "ring_L2",
             "pinky_L2",
         ]
-        self.hand_front_links = get_objs_by_names(
+        self.hand_front_links = sapien_utils.get_objs_by_names(
             self.robot.get_links(), hand_front_link_names
         )
 
@@ -166,10 +166,12 @@ def _after_init(self):
             "ring_tip",
             "pinky_tip",
         ]
-        self.finger_tip_links = get_objs_by_names(
+        self.finger_tip_links = sapien_utils.get_objs_by_names(
             self.robot.get_links(), finger_tip_link_names
         )
 
-        self.tcp = get_obj_by_name(self.robot.get_links(), self.ee_link_name)
+        self.tcp = sapien_utils.get_obj_by_name(
+            self.robot.get_links(), self.ee_link_name
+        )
 
         self.queries: Dict[str, Tuple[physx.PhysxGpuContactQuery, Tuple[int]]] = dict()

mani_skill2/agents/robots/xmate3/xmate3.py

@@ -10,13 +10,8 @@
 from mani_skill2.agents.controllers import *
 from mani_skill2.agents.registration import register_agent
 from mani_skill2.sensors.camera import CameraConfig
+from mani_skill2.utils import sapien_utils
 from mani_skill2.utils.common import compute_angle_between, np_compute_angle_between
-from mani_skill2.utils.sapien_utils import (
-    compute_total_impulse,
-    get_actor_contacts,
-    get_obj_by_name,
-    get_pairwise_contact_impulse,
-)
 from mani_skill2.utils.structs.actor import Actor
 
 
@@ -71,13 +66,15 @@ def __init__(
         super().__init__(scene, control_freq, control_mode, fix_root_link, agent_idx)
 
     def _after_init(self):
-        self.finger1_link = get_obj_by_name(
+        self.finger1_link = sapien_utils.get_obj_by_name(
             self.robot.get_links(), "left_inner_finger_pad"
         )
-        self.finger2_link = get_obj_by_name(
+        self.finger2_link = sapien_utils.get_obj_by_name(
             self.robot.get_links(), "right_inner_finger_pad"
         )
-        self.tcp = get_obj_by_name(self.robot.get_links(), self.ee_link_name)
+        self.tcp = sapien_utils.get_obj_by_name(
+            self.robot.get_links(), self.ee_link_name
+        )
         self.queries: Dict[
             str, Tuple[physx.PhysxGpuContactPairImpulseQuery, Tuple[int]]
         ] = dict()
@@ -221,19 +218,25 @@ def is_grasping(self, object: Actor = None, min_impulse=1e-6, max_angle=85):
             contacts = self.scene.get_contacts()
 
             if object is None:
-                finger1_contacts = get_actor_contacts(contacts, self.finger1_link)
-                finger2_contacts = get_actor_contacts(contacts, self.finger2_link)
+                finger1_contacts = sapien_utils.get_actor_contacts(
+                    contacts, self.finger1_link
+                )
+                finger2_contacts = sapien_utils.get_actor_contacts(
+                    contacts, self.finger2_link
+                )
                 return (
-                    np.linalg.norm(compute_total_impulse(finger1_contacts))
+                    np.linalg.norm(sapien_utils.compute_total_impulse(finger1_contacts))
                     >= min_impulse
-                    and np.linalg.norm(compute_total_impulse(finger2_contacts))
+                    and np.linalg.norm(
+                        sapien_utils.compute_total_impulse(finger2_contacts)
+                    )
                     >= min_impulse
                 )
             else:
-                limpulse = get_pairwise_contact_impulse(
+                limpulse = sapien_utils.get_pairwise_contact_impulse(
                     contacts, self.finger1_link, object
                 )
-                rimpulse = get_pairwise_contact_impulse(
+                rimpulse = sapien_utils.get_pairwise_contact_impulse(
                     contacts, self.finger2_link, object
                 )
 

mani_skill2/agents/utils.py

@@ -7,15 +7,15 @@
 import sapien.physx as physx
 from gymnasium import spaces
 
-from mani_skill2.utils.sapien_utils import to_tensor
+from mani_skill2.utils import sapien_utils
 from mani_skill2.utils.structs.articulation import Articulation
 
 
 def get_active_joint_indices(articulation: Articulation, joint_names: Sequence[str]):
     """get the indices of the provided joint names from the Articulation's list of active joints"""
     all_joint_names = [x.name for x in articulation.get_active_joints()]
     joint_indices = [all_joint_names.index(x) for x in joint_names]
-    return to_tensor(joint_indices).int()
+    return sapien_utils.to_tensor(joint_indices).int()
 
 
 def get_joints_by_names(articulation: Articulation, joint_names: Sequence[str]):

mani_skill2/envs/minimal_template.py

@@ -8,8 +8,8 @@
 from mani_skill2.agents.robots.panda.panda import Panda
 from mani_skill2.envs.sapien_env import BaseEnv
 from mani_skill2.sensors.camera import CameraConfig
+from mani_skill2.utils import sapien_utils
 from mani_skill2.utils.registration import register_env
-from mani_skill2.utils.sapien_utils import look_at
 from mani_skill2.utils.structs.types import GPUMemoryConfig, SimConfig
 
 
@@ -42,13 +42,13 @@ def __init__(self, *args, robot_uids="panda", robot_init_qpos_noise=0.02, **kwar
         super().__init__(*args, robot_uids=robot_uids, **kwargs)
 
     def _register_sensors(self):
-        pose = look_at(eye=[0.3, 0, 0.6], target=[-0.1, 0, 0.1])
+        pose = sapien_utils.look_at(eye=[0.3, 0, 0.6], target=[-0.1, 0, 0.1])
         return [
             CameraConfig("base_camera", pose.p, pose.q, 128, 128, np.pi / 2, 0.01, 10)
         ]
 
     def _register_human_render_cameras(self):
-        pose = look_at([0.6, 0.7, 0.6], [0.0, 0.0, 0.35])
+        pose = sapien_utils.look_at([0.6, 0.7, 0.6], [0.0, 0.0, 0.35])
         return CameraConfig("render_camera", pose.p, pose.q, 512, 512, 1, 0.01, 10)
 
     def _load_actors(self):