work

mani_skill2/envs/scenes/base_env.py

@@ -9,8 +9,8 @@
 from mani_skill2.agents.robots import Fetch, 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.scene_builder import SceneBuilder
 from mani_skill2.utils.scene_builder.registration import REGISTERED_SCENE_BUILDERS
 from mani_skill2.utils.scene_builder.replicacad.scene_builder import (
@@ -120,14 +120,14 @@ def _register_sensors(self):
         if self.robot_uids == "fetch":
             return ()
 
-        pose = look_at([0.3, 0, 0.6], [-0.1, 0, 0.1])
+        pose = sapien_utils.look_at([0.3, 0, 0.6], [-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):
         if self.robot_uids == "fetch":
-            room_camera_pose = look_at([2.5, -2.5, 3], [0.0, 0.0, 0])
+            room_camera_pose = sapien_utils.look_at([2.5, -2.5, 3], [0.0, 0.0, 0])
             room_camera_config = CameraConfig(
                 "render_camera",
                 room_camera_pose.p,
@@ -138,7 +138,7 @@ def _register_human_render_cameras(self):
                 0.01,
                 10,
             )
-            robot_camera_pose = look_at([2, 0, 1], [0, 0, -1])
+            robot_camera_pose = sapien_utils.look_at([2, 0, 1], [0, 0, -1])
             robot_camera_config = CameraConfig(
                 "robot_render_camera",
                 robot_camera_pose.p,
@@ -153,7 +153,7 @@ def _register_human_render_cameras(self):
             return [room_camera_config, robot_camera_config]
 
         if self.robot_uids == "panda":
-            pose = look_at([0.4, 0.4, 0.8], [0.0, 0.0, 0.4])
+            pose = sapien_utils.look_at([0.4, 0.4, 0.8], [0.0, 0.0, 0.4])
         else:
-            pose = look_at([0, 10, -3], [0, 0, 0])
+            pose = sapien_utils.look_at([0, 10, -3], [0, 0, 0])
         return CameraConfig("render_camera", pose.p, pose.q, 512, 512, 1, 0.01, 10)

mani_skill2/envs/tasks/dexterity/rotate_single_object_in_hand.py

@@ -9,6 +9,7 @@
 from mani_skill2.agents.robots import AllegroHandRightTouch
 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.building.actors import (
     MODEL_DBS,
     _load_ycb_dataset,
@@ -17,7 +18,6 @@
 )
 from mani_skill2.utils.geometry.rotation_conversions import quaternion_apply
 from mani_skill2.utils.registration import register_env
-from mani_skill2.utils.sapien_utils import look_at
 from mani_skill2.utils.scene_builder.table.table_scene_builder import TableSceneBuilder
 from mani_skill2.utils.structs.actor import Actor
 from mani_skill2.utils.structs.pose import Pose, vectorize_pose
@@ -69,13 +69,15 @@ def sim_cfg(self):
         )
 
     def _register_sensors(self):
-        pose = look_at(eye=[0.15, 0, 0.45], target=[-0.1, 0, self.hand_init_height])
+        pose = sapien_utils.look_at(
+            eye=[0.15, 0, 0.45], target=[-0.1, 0, self.hand_init_height]
+        )
         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([0.2, 0.4, 0.4], [0.0, 0.0, 0.1])
+        pose = sapien_utils.look_at([0.2, 0.4, 0.4], [0.0, 0.0, 0.1])
         return CameraConfig("render_camera", pose.p, pose.q, 512, 512, 1, 0.01, 10)
 
     def _load_actors(self):

mani_skill2/envs/tasks/dexterity/rotate_valve.py

@@ -8,10 +8,10 @@
 from mani_skill2.agents.robots import DClaw
 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.building.articulations import build_robel_valve
 from mani_skill2.utils.geometry.rotation_conversions import axis_angle_to_quaternion
 from mani_skill2.utils.registration import register_env
-from mani_skill2.utils.sapien_utils import get_obj_by_name, look_at
 from mani_skill2.utils.scene_builder.table.table_scene_builder import TableSceneBuilder
 from mani_skill2.utils.structs.articulation import Articulation
 from mani_skill2.utils.structs.pose import Pose, vectorize_pose
@@ -59,13 +59,13 @@ def __init__(
         super().__init__(*args, robot_uids="dclaw", **kwargs)
 
     def _register_sensors(self):
-        pose = look_at(eye=[0.3, 0, 0.3], target=[-0.1, 0, 0.05])
+        pose = sapien_utils.look_at(eye=[0.3, 0, 0.3], target=[-0.1, 0, 0.05])
         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([0.2, 0.4, 0.4], [0.0, 0.0, 0.1])
+        pose = sapien_utils.look_at([0.2, 0.4, 0.4], [0.0, 0.0, 0.1])
         return CameraConfig("render_camera", pose.p, pose.q, 512, 512, 1, 0.01, 10)
 
     def _load_actors(self):
@@ -132,7 +132,7 @@ def _load_articulations(self):
             capsule_lens.append(capsule_len)
         self.valve = Articulation.merge(valves, "valve_station")
         self.capsule_lens = torch.from_numpy(np.array(capsule_lens)).to(self.device)
-        self.valve_link = get_obj_by_name(self.valve.get_links(), "valve")
+        self.valve_link = sapien_utils.get_obj_by_name(self.valve.get_links(), "valve")
 
     def _initialize_actors(self, env_idx: torch.Tensor):
         with torch.device(self.device):

mani_skill2/envs/tasks/empty_env.py

@@ -9,9 +9,9 @@
 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.building.ground import build_ground
 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
 
 
@@ -40,13 +40,13 @@ def __init__(self, *args, robot_uids="panda", **kwargs):
         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([0.75, -0.75, 0.5], [0.0, 0.0, 0.2])
+        pose = sapien_utils.look_at([0.75, -0.75, 0.5], [0.0, 0.0, 0.2])
         return CameraConfig("render_camera", pose.p, pose.q, 2048, 2048, 1, 0.01, 10)
 
     def _load_actors(self):

mani_skill2/envs/tasks/fmb/fmb.py

@@ -10,11 +10,9 @@
 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.building.actor_builder import ActorBuilder
 from mani_skill2.utils.registration import register_env
-from mani_skill2.utils.sapien_utils import (  # import various useful utilities for working with sapien
-    look_at,
-)
 from mani_skill2.utils.scene_builder.table.table_scene_builder import TableSceneBuilder
 
 
@@ -46,13 +44,13 @@ 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([1.0, 0.8, 0.8], [0.0, 0.0, 0.35])
+        pose = sapien_utils.look_at([1.0, 0.8, 0.8], [0.0, 0.0, 0.35])
         return CameraConfig("render_camera", pose.p, pose.q, 1024, 1024, 1, 0.01, 10)
 
     def _load_actors(self):

mani_skill2/envs/tasks/open_cabinet_drawer.py

@@ -7,6 +7,7 @@
 
 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.building.actors import build_sphere
 from mani_skill2.utils.building.articulations import (
     MODEL_DBS,
@@ -16,10 +17,9 @@
 from mani_skill2.utils.building.ground import build_ground
 from mani_skill2.utils.geometry.geometry import transform_points
 from mani_skill2.utils.registration import register_env
-from mani_skill2.utils.sapien_utils import look_at, to_tensor
+from mani_skill2.utils.structs import Pose
 from mani_skill2.utils.structs.articulation import Articulation
 from mani_skill2.utils.structs.link import Link
-from mani_skill2.utils.structs.pose import Pose
 
 
 # TODO (stao): we need to cut the meshes of all the cabinets in this dataset for gpu sim, not registering task for now
@@ -56,13 +56,13 @@ def __init__(
         super().__init__(*args, robot_uids=robot_uids, **kwargs)
 
     def _register_sensors(self):
-        pose = look_at(eye=[-2.5, -1.5, 1.8], target=[-0.3, 0.5, 0.1])
+        pose = sapien_utils.look_at(eye=[-2.5, -1.5, 1.8], target=[-0.3, 0.5, 0.1])
         return [
             CameraConfig("base_camera", pose.p, pose.q, 128, 128, np.pi / 2, 0.01, 100)
         ]
 
     def _register_human_render_cameras(self):
-        pose = look_at(eye=[-2.3, -1.5, 1.8], target=[-0.3, 0.5, 0])
+        pose = sapien_utils.look_at(eye=[-2.3, -1.5, 1.8], target=[-0.3, 0.5, 0])
         # TODO (stao): how much does far affect rendering speed?
         return CameraConfig("render_camera", pose.p, pose.q, 512, 512, 1, 0.01, 100)
 
@@ -158,7 +158,7 @@ def _initialize_actors(self, env_idx: torch.Tensor):
             index_q = torch.tensor(index_q, dtype=int)
             self.target_qpos_idx = (torch.arange(0, b), index_q)
             # TODO (stao): For performance improvement, one can save relative position of link handles ahead of time.
-            handle_link_positions = to_tensor(
+            handle_link_positions = sapien_utils.to_tensor(
                 np.array(
                     [
                         x[self.link_indices[i]].bounding_box.center_mass

mani_skill2/envs/tasks/pick_cube.py

@@ -10,9 +10,9 @@
 from mani_skill2.agents.robots.xmate3.xmate3 import Xmate3Robotiq
 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.building.actors import build_cube, build_sphere
 from mani_skill2.utils.registration import register_env
-from mani_skill2.utils.sapien_utils import look_at
 from mani_skill2.utils.scene_builder.table.table_scene_builder import TableSceneBuilder
 from mani_skill2.utils.structs.pose import Pose
 from mani_skill2.utils.structs.types import GPUMemoryConfig, SimConfig
@@ -56,13 +56,13 @@ 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):

mani_skill2/envs/tasks/pick_single_ycb.py

@@ -11,14 +11,14 @@
 from mani_skill2.envs.sapien_env import BaseEnv
 from mani_skill2.envs.utils.randomization.pose import random_quaternions
 from mani_skill2.sensors.camera import CameraConfig
+from mani_skill2.utils import sapien_utils
 from mani_skill2.utils.building.actors import (
     MODEL_DBS,
     _load_ycb_dataset,
     build_actor_ycb,
     build_sphere,
 )
 from mani_skill2.utils.registration import register_env
-from mani_skill2.utils.sapien_utils import look_at
 from mani_skill2.utils.scene_builder.table.table_scene_builder import TableSceneBuilder
 from mani_skill2.utils.structs.actor import Actor
 from mani_skill2.utils.structs.pose import Pose
@@ -82,13 +82,13 @@ def __init__(
         )
 
     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):

mani_skill2/envs/tasks/push_cube.py

@@ -28,9 +28,9 @@
 from mani_skill2.agents.robots.xmate3.xmate3 import Xmate3Robotiq
 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.building import actors
 from mani_skill2.utils.registration import register_env
-from mani_skill2.utils.sapien_utils import look_at
 from mani_skill2.utils.scene_builder.table.table_scene_builder import TableSceneBuilder
 from mani_skill2.utils.structs.pose import Pose
 from mani_skill2.utils.structs.types import Array, GPUMemoryConfig, SimConfig
@@ -78,14 +78,14 @@ def __init__(self, *args, robot_uids="panda", robot_init_qpos_noise=0.02, **kwar
     def _register_sensors(self):
         # registers one 128x128 camera looking at the robot, cube, and target
         # a smaller sized camera will be lower quality, but render faster
-        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):
         # registers a more high-definition (512x512) camera used just for rendering when render_mode="rgb_array" or calling env.render_rgb_array()
-        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):

mani_skill2/envs/tasks/quadruped_run.py

@@ -11,10 +11,10 @@
 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.building import actors
 from mani_skill2.utils.building.ground import build_ground, build_meter_ground
 from mani_skill2.utils.registration import register_env
-from mani_skill2.utils.sapien_utils import look_at
 from mani_skill2.utils.structs.pose import Pose
 from mani_skill2.utils.structs.types import GPUMemoryConfig, SceneConfig, SimConfig
 
@@ -69,7 +69,7 @@ def __init__(self, *args, robot_uids="anymal-c", **kwargs):
         super().__init__(*args, robot_uids=robot_uids, **kwargs)
 
     def _register_sensors(self):
-        pose = look_at([1.5, 1.5, 1], [0.0, 0.0, 0])
+        pose = sapien_utils.look_at([1.5, 1.5, 1], [0.0, 0.0, 0])
         return [
             CameraConfig(
                 "base_camera",
@@ -85,7 +85,7 @@ def _register_sensors(self):
         ]
 
     def _register_human_render_cameras(self):
-        pose = look_at([2.5, 2.5, 1], [0.0, 0.0, 0])
+        pose = sapien_utils.look_at([2.5, 2.5, 1], [0.0, 0.0, 0])
         return CameraConfig(
             "render_camera",
             pose.p,