mani-skill-nightly 2025.10.21.2011__py3-none-any.whl → 2025.10.22.143__py3-none-any.whl

mani_skill/envs/sapien_env.py

@@ -1169,7 +1169,10 @@ class BaseEnv(gym.Env):
     def _set_scene_config(self):
         physx.set_shape_config(contact_offset=self.sim_config.scene_config.contact_offset, rest_offset=self.sim_config.scene_config.rest_offset)
         physx.set_body_config(solver_position_iterations=self.sim_config.scene_config.solver_position_iterations, solver_velocity_iterations=self.sim_config.scene_config.solver_velocity_iterations, sleep_threshold=self.sim_config.scene_config.sleep_threshold)
-        physx.set_scene_config(gravity=self.sim_config.scene_config.gravity, bounce_threshold=self.sim_config.scene_config.bounce_threshold, enable_pcm=self.sim_config.scene_config.enable_pcm, enable_tgs=self.sim_config.scene_config.enable_tgs, enable_ccd=self.sim_config.scene_config.enable_ccd, enable_enhanced_determinism=self.sim_config.scene_config.enable_enhanced_determinism, enable_friction_every_iteration=self.sim_config.scene_config.enable_friction_every_iteration, cpu_workers=self.sim_config.scene_config.cpu_workers )
+        gravity = self.sim_config.scene_config.gravity
+        if not isinstance(gravity, np.ndarray):
+            gravity = np.array(gravity)
+        physx.set_scene_config(gravity=gravity, bounce_threshold=self.sim_config.scene_config.bounce_threshold, enable_pcm=self.sim_config.scene_config.enable_pcm, enable_tgs=self.sim_config.scene_config.enable_tgs, enable_ccd=self.sim_config.scene_config.enable_ccd, enable_enhanced_determinism=self.sim_config.scene_config.enable_enhanced_determinism, enable_friction_every_iteration=self.sim_config.scene_config.enable_friction_every_iteration, cpu_workers=self.sim_config.scene_config.cpu_workers )
         physx.set_default_material(**self.sim_config.default_materials_config.dict())
 
     def _setup_scene(self):

mani_skill/trajectory/replay_trajectory.py

@@ -399,7 +399,6 @@ def _main(
     # Load associated json
     json_path = traj_path.replace(".h5", ".json")
     json_data = io_utils.load_json(json_path)
-    env_kwargs["sim_config"]["scene_config"]["gravity"] = np.array(env_kwargs["sim_config"]["scene_config"]["gravity"])
     env = gym.make(env_id, **env_kwargs)
     if isinstance(env.action_space, gym.spaces.Dict):
         logger.warning(

mani_skill/utils/structs/types.py

@@ -36,7 +36,9 @@ class GPUMemoryConfig:
 
 @dataclass
 class SceneConfig:
-    gravity: np.ndarray = field(default_factory=lambda: np.array([0, 0, -9.81]))
+    gravity: Union[np.ndarray, list[float]] = field(
+        default_factory=lambda: np.array([0, 0, -9.81])
+    )
     bounce_threshold: float = 2.0
     sleep_threshold: float = 0.005
     contact_offset: float = 0.02

{mani_skill_nightly-2025.10.21.2011.dist-info → mani_skill_nightly-2025.10.22.143.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: mani_skill-nightly
-Version: 2025.10.21.2011
+Version: 2025.10.22.143
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.10.21.2011.dist-info → mani_skill_nightly-2025.10.22.143.dist-info}/RECORD

@@ -543,7 +543,7 @@ mani_skill/assets/robots/xarm7/meshes/visual/link7.glb,sha256=aZatACOv20VJbi2tOE
 mani_skill/assets/robots/xarm7/meshes/visual/link_base.glb,sha256=vcy2lN1V72jIsSDRT0ZKVskR_0pVOXtDvBkxO2GENWs,467668
 mani_skill/envs/__init__.py,sha256=YPlttBErTcf9vSnkZ54EQ8vTABSfFFrBdUY0AkF4vmg,43
 mani_skill/envs/minimal_template.py,sha256=9THHWA1vkHatptc9g5Ojh-UBUKWQmLHVeq4fcaqv2aY,2200
-mani_skill/envs/sapien_env.py,sha256=uaRiPL6srGB3ZAGC791HiT8RYmDYhBxvOuDy7dwGags,75682
+mani_skill/envs/sapien_env.py,sha256=A0738ydnpJAYg4Kv8k1rYQ0xG8FGJHpzn1kDJM6dFK8,75796
 mani_skill/envs/scene.py,sha256=4ZAIJs61fwPPhfDvc3v845sj_Ftsd1sSYaju10KnXbQ,48465
 mani_skill/envs/sim2real_env.py,sha256=3mkQX4TonE2pUC5_Atmx0IYDH2_v6GSwOPJvQMEvCNY,19214
 mani_skill/envs/template.py,sha256=0wnwKjnGOF7RvTR5Gz4VopaUiFxnIioXwmb4nPVxAs8,11939
@@ -718,7 +718,7 @@ mani_skill/sensors/depth_camera.py,sha256=KCT7DMqQacVag_24MjkKAml87T6FtDqNS0TJFf
 mani_skill/trajectory/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/trajectory/dataset.py,sha256=nrG3jkhdzRqAdjxC_c8Z4FxpkvW3A9XPvUp9-Ux_u38,6351
 mani_skill/trajectory/merge_trajectory.py,sha256=zsjRMTsiIirZGIV4KrtYOM2-zoOAzd7ObZEdWGJzZbE,3685
-mani_skill/trajectory/replay_trajectory.py,sha256=uqfhiAXrE8EdXRJR03VNXe4EoGXyTpYR_WdKNrYPksE,27801
+mani_skill/trajectory/replay_trajectory.py,sha256=ABiM4pMSkTAhU1L2fdaY-Mwnw2Hzg8p1rAaWf3ijWOE,27681
 mani_skill/trajectory/utils/__init__.py,sha256=-Efv2GEzTnFHd3SxqQtaZLaMRGrCc-P1ClmgLhoV4gs,1465
 mani_skill/trajectory/utils/actions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/trajectory/utils/actions/conversion.py,sha256=x88C64ke44gB-HEbqq_gSRFv34L7irSwT_wYttkQUn8,12922
@@ -824,7 +824,7 @@ mani_skill/utils/structs/drive.py,sha256=UPQDkGbXS-CMRsZ1MHCb9s1vfAo5nqsywF83wKB
 mani_skill/utils/structs/link.py,sha256=Mqd75i8DNLMi6dr7VJt48f6YTPKXRUfYMqKuE2QrLjo,13812
 mani_skill/utils/structs/pose.py,sha256=76Sjrs-y3f8YhnuqMZNih-NxcnhnfomIbnNW1SWqK6A,11938
 mani_skill/utils/structs/render_camera.py,sha256=cNdi_DMsrHDqO-vHjwEIMVFxVvPHNTmVZe0sCQ1XMbI,12599
-mani_skill/utils/structs/types.py,sha256=XnrIjvv-W41iNDVkCzXdHXa7SogfZMLaKozK213zSJ8,3966
+mani_skill/utils/structs/types.py,sha256=hkUcRemGzn94ngHt7KqbpsP4mgjDlg3bISygz0SZ4VY,4000
 mani_skill/utils/visualization/UbuntuSansMono-Regular.ttf,sha256=y_4ls2KucNhIA6CDNgSSAjUxGGSvLQqRrzacKfdpW-0,118780
 mani_skill/utils/visualization/__init__.py,sha256=0QF97UR8d7poMHo6m52DsAUXAmUb3SDr1B21bx33EEU,163
 mani_skill/utils/visualization/jupyter_utils.py,sha256=dXXUQz-rFTOV_Xq5yA6YE6cXg7DPw15YStw37NgB5Qc,1322
@@ -842,9 +842,9 @@ 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=99bHbJ0PlPwcVU4hShsTDj0_2d4bCrrzfJNzYOrOsqc,7315
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
-mani_skill_nightly-2025.10.21.2011.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.10.21.2011.dist-info/licenses/LICENSE-3RD-PARTY,sha256=yXvoAIyaRY7VDFhXV4Ea_Dmd_-IR59yyUy0Scz7eXzY,1604
-mani_skill_nightly-2025.10.21.2011.dist-info/METADATA,sha256=HEQSYEdIRMtqb5GbLv_oY4IG30d2GGR6UUORU1IOqD0,9543
-mani_skill_nightly-2025.10.21.2011.dist-info/WHEEL,sha256=SmOxYU7pzNKBqASvQJ7DjX3XGUF92lrGhMb3R6_iiqI,91
-mani_skill_nightly-2025.10.21.2011.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.10.21.2011.dist-info/RECORD,,
+mani_skill_nightly-2025.10.22.143.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.10.22.143.dist-info/licenses/LICENSE-3RD-PARTY,sha256=yXvoAIyaRY7VDFhXV4Ea_Dmd_-IR59yyUy0Scz7eXzY,1604
+mani_skill_nightly-2025.10.22.143.dist-info/METADATA,sha256=IC4H2L3IYeVEOQgBCoXmUEyendrpNEuPkSzkRuTa-vY,9542
+mani_skill_nightly-2025.10.22.143.dist-info/WHEEL,sha256=SmOxYU7pzNKBqASvQJ7DjX3XGUF92lrGhMb3R6_iiqI,91
+mani_skill_nightly-2025.10.22.143.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.10.22.143.dist-info/RECORD,,