mani-skill-nightly 2025.10.22.143__py3-none-any.whl → 2025.10.22.157__py3-none-any.whl

{mani_skill_nightly-2025.10.22.143.dist-info → mani_skill_nightly-2025.10.22.157.dist-info}/RECORD

@@ -1,36 +1,36 @@
 mani_skill/__init__.py,sha256=_wZjMWSlWZYeAAEjiHAHa5W6uq7Eh4fbny8HwlYSJhQ,2101
 mani_skill/agents/__init__.py,sha256=87Xa-eaPbbVm6LmD1111yXSBuRkcoTG0g_5RdkaFiGI,130
-mani_skill/agents/base_agent.py,sha256=ZcWWkW5E3KbGZ-kV__XeVkRutsjAk_TMlK4ikVkL378,18394
-mani_skill/agents/base_real_agent.py,sha256=DD9SXZa7er5zF7wdm97IO_0W4xbdw-66iLC8j86ykYw,8549
-mani_skill/agents/multi_agent.py,sha256=AFygr2797M5Hhk4qMoLuFmFk7msqnp82bFuSyP1j8JA,3341
-mani_skill/agents/registration.py,sha256=rtu9vAys_Qz76d9LsDFpqanZxaFiLSPZajA3uHF9HHQ,1331
-mani_skill/agents/utils.py,sha256=U8wdgsNHRa-RtlC3HQM8_Agn9P82TIe3ZrXetaMMU_U,1912
+mani_skill/agents/base_agent.py,sha256=ZLDJ9FV374Qq5BRJrzZSnkdq1o0m5ybeXJ2FhJb4gk0,18704
+mani_skill/agents/base_real_agent.py,sha256=6Ufc_62Q0jfQ6Hg_mr8NviLBcCgGfBRnGQBFPhGbsG4,8537
+mani_skill/agents/multi_agent.py,sha256=X5q_IKQGkn4TLoz6D8pakSqPQNb93eKZwTeC98QhRkA,3329
+mani_skill/agents/registration.py,sha256=XtNE6Qi4mXIGxtpgN7fdGKPv10UPwAdQ5aFIeKtqJdo,1301
+mani_skill/agents/utils.py,sha256=evSj0FeHu8Q3mGCGwWmFGUYcCQXJQTlFuG_MZHi_F24,1906
 mani_skill/agents/controllers/__init__.py,sha256=tsd27dW6brQBm563CddUGtFMBNAxe_MCpTqqR5VyJaY,1103
-mani_skill/agents/controllers/base_controller.py,sha256=JcKdQF7VN5YWzFOPwdYKShptfHVnxts78L9yPh4-Kto,13337
+mani_skill/agents/controllers/base_controller.py,sha256=o5qh7DZmzMpIINDIxC00IrJmpaJWHAyjirNOQqnVwkk,13325
 mani_skill/agents/controllers/passive_controller.py,sha256=1cZp758AVuABvgWOzCeguBbbB8wJ6hF_cqN-k_vx5Kw,1322
 mani_skill/agents/controllers/pd_base_vel.py,sha256=-3ZzLZ9nRDMGHWnFE7c4reEbC3jHtQJCOx3LmArz95g,2868
 mani_skill/agents/controllers/pd_ee_pose.py,sha256=alYkN02OVYDbj7i1OqC6hC87o_FZ85SxHXNmBFXR-lw,13447
-mani_skill/agents/controllers/pd_joint_pos.py,sha256=dSdOu1Q-sGyG3rJnWYNNmzXW8U6_zU3zcIY4wgHRvI8,11108
+mani_skill/agents/controllers/pd_joint_pos.py,sha256=z0r1OLYINf175qUD869Rkn1cQDTDVxNpIZKmbRSI4Sw,11102
 mani_skill/agents/controllers/pd_joint_pos_vel.py,sha256=wgiXmenTVIao1Tm1vtdJWTZRFJMB_yQBNd5vQaP8WXw,2489
 mani_skill/agents/controllers/pd_joint_vel.py,sha256=VZF06ISCkdKBX_fUHxb7mdl9GN1Lob5dhrFGlwCx16Q,1957
 mani_skill/agents/controllers/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mani_skill/agents/controllers/utils/kinematics.py,sha256=FxREZaBRjUfc7S-jf0cLhN3HivTPxhq3AnO5zHE2nyI,11920
+mani_skill/agents/controllers/utils/kinematics.py,sha256=noO29b9jxPVKiKhb1LoaTc9yi9iMFU35K52d_j3xRAg,12208
 mani_skill/agents/robots/__init__.py,sha256=FnQzL5K1Hr0fSPMBiKgBRiHOc08nciuDr-3Ta2RMno8,797
 mani_skill/agents/robots/allegro_hand/__init__.py,sha256=PWH6MMv2i5g1xi76_E-YJLtKFLVKxkJgQ96GD_YeQN4,104
-mani_skill/agents/robots/allegro_hand/allegro.py,sha256=MnU04fCcvppTGJHdhgvs2OqUKToQtNMXbs2bFM5sXiU,4896
-mani_skill/agents/robots/allegro_hand/allegro_touch.py,sha256=CMnGIf1JT7jbrM5jc-OHfODeYiwrUp8rzuS9rUMzmK4,5805
+mani_skill/agents/robots/allegro_hand/allegro.py,sha256=S2zHezkvsxOcwxn-yY-__zDERoZBMVdKmsEtpdvfUdY,4872
+mani_skill/agents/robots/allegro_hand/allegro_touch.py,sha256=p4tTUvJJ56rXx2PGzoLZZHOQ7VlEIH9tttRTQfB28hA,5793
 mani_skill/agents/robots/anymal/__init__.py,sha256=XJeiiZLvMYObl8cTJn4_KWEKKZ6K99N6NpHAEwNTbWY,30
 mani_skill/agents/robots/anymal/anymal_c.py,sha256=p7DuLDI7yx2_C1Eg2VXpNTAKCQrEPFpo-lUU2rV1DPk,4120
 mani_skill/agents/robots/dclaw/__init__.py,sha256=t1VSGN3WYw9f3mR7_M08-VhCBQPWOi7vKz7Rz3T8KJQ,25
-mani_skill/agents/robots/dclaw/dclaw.py,sha256=G5DqqRl2R8NroNyTaStdofEFW23wWqla2qy6mqkVOG8,4082
+mani_skill/agents/robots/dclaw/dclaw.py,sha256=a7wvsiMCyLX-IHjblnKTY0MSXewUZsAElouQ9a6MJiI,4058
 mani_skill/agents/robots/fetch/__init__.py,sha256=q3QA2oGTx-LgdmCbpe3wpj1ifoqhhFDdrMMXC43Nsuc,79
-mani_skill/agents/robots/fetch/fetch.py,sha256=k4hZP-CZiUl2MQfVabpKsCprEInqao4x3xFksfTS-rc,15499
+mani_skill/agents/robots/fetch/fetch.py,sha256=18DMinmvgZJGuIh7SruPfO7y2KjBwQo1_QC6n9m6guM,15493
 mani_skill/agents/robots/floating_ability_hand/__init__.py,sha256=c4OTQ6OwGSr3NVKeEGVcbZFHyPdc93OKm-0TQVEbC4c,59
-mani_skill/agents/robots/floating_ability_hand/floating_ability_hand.py,sha256=Gj83G_rp9M1NdDNkMf8tZlr41nOJmVMgMVfO6OA0PDA,6795
+mani_skill/agents/robots/floating_ability_hand/floating_ability_hand.py,sha256=BJoh_OmzgBMH8Kn8ZuHSQWDaK5RpesPx6JvM98pRvD8,6750
 mani_skill/agents/robots/floating_panda_gripper/__init__.py,sha256=AwV0Sml7DmQb6hk4FqbxHdO7_XXHHMhrOZtZRk6d-Po,57
 mani_skill/agents/robots/floating_panda_gripper/floating_panda_gripper.py,sha256=sUzYnpEGDW_afwldcerl679wC-6HDEq-APNBSY6-WAo,5071
 mani_skill/agents/robots/floating_robotiq_2f_85_gripper/__init__.py,sha256=bBXRyK4ncX9Zv6R5NXEHD9f6hT9A2PZEsG0n4K76f00,71
-mani_skill/agents/robots/floating_robotiq_2f_85_gripper/floating_robotiq_2f_85_gripper.py,sha256=dKJg-mzGlpWBuYXr4uisK7VKsP6qjI4IQj0d42P2KXY,6184
+mani_skill/agents/robots/floating_robotiq_2f_85_gripper/floating_robotiq_2f_85_gripper.py,sha256=gwQimME_9sVzBIGqsKeuKuRN5eYNeE0227P2MtFSmaU,6178
 mani_skill/agents/robots/googlerobot/__init__.py,sha256=a74XGTSr8w3p6llHs01SDniTqTUP8H3QvKYVvyy9a_s,37
 mani_skill/agents/robots/googlerobot/googlerobot.py,sha256=y4EvHwPhfj0wF6gS7UVv2HpYKos6PpbSY_ZgVnFvDZ0,993
 mani_skill/agents/robots/humanoid/__init__.py,sha256=fP0TIhokMXDRgduz6BEvloeS6yNB-5_c0wI_cTFOiIU,31
@@ -42,10 +42,10 @@ mani_skill/agents/robots/koch/__init__.py,sha256=-bZbNQnXk6rlXgSkIG2umLENJkNqAQb
 mani_skill/agents/robots/koch/koch.py,sha256=r5morOu6Fv35qpSm2OFhhO2Aaw2x9ZtT3wrET-YtiCw,6736
 mani_skill/agents/robots/koch/koch_real.py,sha256=w8lIzRsAZEvLGXbC598ktpGiHKuPp3XDspmU1xYXKqc,124
 mani_skill/agents/robots/lerobot/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mani_skill/agents/robots/lerobot/manipulator.py,sha256=6D4Qa-lhnwV7E1u2Y1JqUd-YRaYH9Swl1VvNG3K2YmQ,5642
+mani_skill/agents/robots/lerobot/manipulator.py,sha256=pGleQZ2pri2x0xeQmFcHAJl4vYI2dAPE_FfodgvON18,5636
 mani_skill/agents/robots/panda/__init__.py,sha256=VnFJLcmPMBjo-mlBpfMo5acYKud_wngRAcf67uiugSk,102
 mani_skill/agents/robots/panda/panda.py,sha256=aufC9et7TK5Ojms03ITT3cb7jsVClcbqLquGWaXzEH4,10760
-mani_skill/agents/robots/panda/panda_stick.py,sha256=YEGYLPGZFKkCTTAry4F82_fNZqrso3LdMWgBfT_RRbY,6131
+mani_skill/agents/robots/panda/panda_stick.py,sha256=mwgizdUwE_z3az0Ep1mN8Cff1KkXuDeuy3UXyUt3ArE,6125
 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=JWfDM6f-QP-WTv-KGcHiZoaZkMWr-c4Dd9vHuU2-IpI,5896
@@ -53,7 +53,7 @@ mani_skill/agents/robots/so100/so_100_real.py,sha256=-M1iRAe81AQgnM8XE32Q2jsFBmE
 mani_skill/agents/robots/stompy/__init__.py,sha256=fNuqeJqKneHPnzvjDYtzbpV3MIGGll8-CMok89hf0zo,27
 mani_skill/agents/robots/stompy/stompy.py,sha256=doBI0c4QCbjCiaHAxdngI73Ux_ISBy6N5JTgPovrX34,4052
 mani_skill/agents/robots/trifingerpro/__init__.py,sha256=9Ie0DpbjXxkYiDZuCFSMycWafuMJLwB0XaTSuiCoE-E,38
-mani_skill/agents/robots/trifingerpro/trifingerpro.py,sha256=lzSxsWFxuV1e8G0jG0yLeOnsE53VudNBaiVP8QYZK34,6192
+mani_skill/agents/robots/trifingerpro/trifingerpro.py,sha256=tUvdMYZlQtTmyLZpm18Sht1PArUTgcoIrT7CynWhVd8,6168
 mani_skill/agents/robots/unitree_g1/__init__.py,sha256=nRM92Aq_9Hb6ZBjDkEeQEHouU_qQBSelm4G8oyDDZ4Y,93
 mani_skill/agents/robots/unitree_g1/g1.py,sha256=KxgspYn8FPWKTIcXaAalOKmw7q8bnUTRUsaN1ssZxjk,5999
 mani_skill/agents/robots/unitree_g1/g1_upper_body.py,sha256=WH0bEmNc5isp96H-oh8XDt4CubePsFi-XURD32PuB2U,14283
@@ -70,7 +70,7 @@ mani_skill/agents/robots/widowxai/__init__.py,sha256=CduO9Os3_TTvz6MBuMYUv8Cem3w
 mani_skill/agents/robots/widowxai/widowxai.py,sha256=gz_NM80xkHQO-3XsSgtkdKCBw3am554TTOx8sOSJtGA,5437
 mani_skill/agents/robots/widowxai/widowxai_wristcam.py,sha256=IDOArvYzlLkMwC35Bby8lZNa2pcDiGc_lmbO2rYtKYs,918
 mani_skill/agents/robots/xarm/__init__.py,sha256=6Mhn4vV4f9XxcK493U5W9VE6yGGgydPbVQLo9iOu8BA,40
-mani_skill/agents/robots/xarm/xarm7_ability.py,sha256=yj7CUBQpbGVUiT22qweJKTniJE0DxdEyyKj329vr0HY,6106
+mani_skill/agents/robots/xarm/xarm7_ability.py,sha256=saNpa40-0YqRm1pG6USIfGIY1Sd1ZNrR-v0t_NaYEBo,6100
 mani_skill/agents/robots/xarm6/__init__.py,sha256=0r19OsKmm1ssKB5Rrie8syWQvpXNooVOv6m-iygrdM0,109
 mani_skill/agents/robots/xarm6/xarm6_nogripper.py,sha256=FPhOpWQw5RPsSHLhZ9JWjYeh25GboO4I5_Hn05Ub84Q,7379
 mani_skill/agents/robots/xarm6/xarm6_robotiq.py,sha256=0JPtaa3kchle2XqNjltiuPuntC0YMwn-HfejX3gI2uc,16358
@@ -542,22 +542,22 @@ mani_skill/assets/robots/xarm7/meshes/visual/link6.glb,sha256=FmEqVvItKGp-f_ffNz
 mani_skill/assets/robots/xarm7/meshes/visual/link7.glb,sha256=aZatACOv20VJbi2tOEyBR0PS_PTqSfvSzO8elpRSY2s,336888
 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=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
+mani_skill/envs/minimal_template.py,sha256=n7XUY73FjWFf311bd2DoODA3dEqfdGYJLqhMVLy_Om0,2194
+mani_skill/envs/sapien_env.py,sha256=6AYcGdExOKCuyPX1YmJKD6YWVwUgZ21kuNyDg9NhwI8,75784
+mani_skill/envs/scene.py,sha256=LodfSgU_tWh77jt4WHFr4xlr2NbK41-_mtEQsDEVb-0,48453
+mani_skill/envs/sim2real_env.py,sha256=UWwK2DzO8YkHBQmPMeODu3xKRd6W2fXglJ1GjiR78wk,19202
+mani_skill/envs/template.py,sha256=xEB-1Cz-XbLBadEX3kEvUyVuyOGyuyKp50EtDsVXvr4,11933
 mani_skill/envs/scenes/__init__.py,sha256=uL2T3AuoUkqe2FXmFjo4OQAMQDsePa6qVjCjEzJLqtE,868
-mani_skill/envs/scenes/base_env.py,sha256=jiqKIzWhFWQ_jtRYPXehYixYRQ1-q1YFMBv_T8Ki6eg,7128
+mani_skill/envs/scenes/base_env.py,sha256=0noGryXl5FNh7qMz7DUxjEH-hYvJUAUIUoByG9NSLro,7122
 mani_skill/envs/tasks/__init__.py,sha256=eHXEXq28Y_QIACsAiZMHDKYCuNHpAz1MmYPfPa247Ns,298
-mani_skill/envs/tasks/empty_env.py,sha256=vl3P_FCiYlwoMtQldDKWCVUXgYaRU-Lo7ndcNZeJbZA,1720
-mani_skill/envs/tasks/rotate_cube.py,sha256=aks5LzJ9koNJuCEHHGP31SjPnUf6yamY4OeICdcO9ko,14823
+mani_skill/envs/tasks/empty_env.py,sha256=XGHKJMWL4BkkFby66QzBYYcrYUBlnEdZL4Kq0roM9Yw,1695
+mani_skill/envs/tasks/rotate_cube.py,sha256=ZUbzrJ_rBhrkdTeR8LxuMlv5XCb0yDxflJZI4Gna_c0,14817
 mani_skill/envs/tasks/control/README.md,sha256=429wExpeIA6PJBssdesOsHcWQinFTnuD1IWk6KOIQY8,167
 mani_skill/envs/tasks/control/__init__.py,sha256=wF3WCkCPtcocUYEnLORqGehDiUhquhiLS3FsxoFwx_A,206
-mani_skill/envs/tasks/control/ant.py,sha256=qLMILwGpddyJ2iDaq3j7Z0jnkgsmkl5ICqZucONsunE,10841
-mani_skill/envs/tasks/control/cartpole.py,sha256=ey2IohmC8Mx61XY34lXmSXwhmznyUqQsrrij0ZcixlA,8384
-mani_skill/envs/tasks/control/hopper.py,sha256=q3zzviUktTzphU9f2lODUmHX8SbyiDDzMMT0E1UxYac,9801
-mani_skill/envs/tasks/control/humanoid.py,sha256=6V2vP7-rmhVMvbVxHswKmXO1K7Nem28P1DHVllhy_cs,19070
+mani_skill/envs/tasks/control/ant.py,sha256=Xp6MYNUgGMY9JT3cFWErw71WNlv-cbGVOueOhytRJkM,10835
+mani_skill/envs/tasks/control/cartpole.py,sha256=pbJobfPl5pB38QkF_UofCy4c21o0X-O3BRikx4AE78Q,8378
+mani_skill/envs/tasks/control/hopper.py,sha256=L4HE_UKFIFchF8hQu2unxBqTZk3iCRwkb4n3ScxSl3A,9795
+mani_skill/envs/tasks/control/humanoid.py,sha256=tcx5LrmvglR0O__H9VI5hC17p0Hn8TuNXAEWyBkDcNE,19064
 mani_skill/envs/tasks/control/assets/ant.xml,sha256=nmDH-7zodrSqFsE_VMFLRyvQDMUgQGB5hZC9ey08sDA,4630
 mani_skill/envs/tasks/control/assets/cartpole.xml,sha256=HWBY6_K-6XCcZVfbRhdNX_2jFUZ7hxGiBmcZKxLmyyQ,1460
 mani_skill/envs/tasks/control/assets/hopper.xml,sha256=KezBRNw-bdYsOmXaph0P6Y1uUyh0qYSrQ-B4mV2o_jY,2842
@@ -565,22 +565,22 @@ mani_skill/envs/tasks/control/assets/common/materials.xml,sha256=XxJ5NRzW5_g_pKL
 mani_skill/envs/tasks/control/assets/common/skybox.xml,sha256=UvNofKMDKbQHewom_qrZtz0gHhg8veD_vWzVLeUZB70,202
 mani_skill/envs/tasks/control/assets/common/visual.xml,sha256=7B0nSrcNlWBBM9r6ksDRGU3lG7qZe9U7cLxn65XYI_w,175
 mani_skill/envs/tasks/dexterity/__init__.py,sha256=BUM4SkQ1zXWzP0dXQTsP5vIoTfLENzh0oIfvlIQrhf4,163
-mani_skill/envs/tasks/dexterity/insert_flower.py,sha256=RCPtsIjtxRzjnQCf9BxyJ8S7dB7isT1xLssxu6UB0U4,6893
-mani_skill/envs/tasks/dexterity/rotate_single_object_in_hand.py,sha256=cKnlWB5EcTjNVi53wSkqxVgVUYhuRm5QJcPmg9sP-iI,14165
-mani_skill/envs/tasks/dexterity/rotate_valve.py,sha256=SwSaOUXPZJEC5UdrcLGYwat2m3YUQFpHQ_WHCD77890,11659
+mani_skill/envs/tasks/dexterity/insert_flower.py,sha256=LnVeIeEkJA-RRigeeqds5xXBSSPeAx5ygJEOMw16HXM,7164
+mani_skill/envs/tasks/dexterity/rotate_single_object_in_hand.py,sha256=pk6dM25_jflSm0yehF7_8wDHWWrUNzbMy2JDNyiYzz0,14153
+mani_skill/envs/tasks/dexterity/rotate_valve.py,sha256=62a6sqNtK9h3j1UHAI8Rycy6T8XZxqWqOM5hVpBRCrU,11647
 mani_skill/envs/tasks/digital_twins/__init__.py,sha256=_yWWBFH-P69UTPvo9GRa8Ux_FXOjLWdkiK3rs2ojX3o,60
-mani_skill/envs/tasks/digital_twins/base_env.py,sha256=uo66gCYBBXYS6zRF8CpoVxRF6ERUPuGRz5iirib3zHg,8277
+mani_skill/envs/tasks/digital_twins/base_env.py,sha256=Vskd4DioTvc8XMnZdFTcOe4WYIOnznMDntZcW7XFDeQ,8265
 mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/__init__.py,sha256=2okxye0Tg_kmmKNXP7h4MlAxxGS5cJE3OKAo4LIVAcs,172
-mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/base_env.py,sha256=L7eQ8MuelfcrOwGL2Tw9RUik-15ycuelaCVooE9wuOQ,22433
+mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/base_env.py,sha256=AOg5Xh4XH4AyriUCHVYfWceaoBNiD8cqdM_hgU6nhO0,22627
 mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/put_on_in_scene.py,sha256=kDKEX-e1Hq5kZiBs9xfEzU2jjx35eHWriAAYFJcBbgE,9419
 mani_skill/envs/tasks/digital_twins/so100_arm/__init__.py,sha256=uehHSCaHoZDB9awMtF81r4A-X4fM6NFmErzOsgzgSs4,42
-mani_skill/envs/tasks/digital_twins/so100_arm/grasp_cube.py,sha256=Uv2wTMUyfh8ygG4g6WfPj5E8jaDUyBZ789lPPCRBJjM,22386
+mani_skill/envs/tasks/digital_twins/so100_arm/grasp_cube.py,sha256=4BkEYZIR0LnA3aAtgpAoVWQwGZBGSGuBChcDZEjR5wI,22380
 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=vk8E1l2EYqT_9zPkwk1heEGyfT8ydGaiyM01DpWqM4w,16207
-mani_skill/envs/tasks/drawing/draw_triangle.py,sha256=l51EbCckQzjtn8TAlUmXQIC30D5Ikqrzouoy5Q7_iC0,15529
+mani_skill/envs/tasks/drawing/draw.py,sha256=3lufB1g4P-JRtsRtXA4D7WE7CSrOymsp0xpXfOXYLsI,8121
+mani_skill/envs/tasks/drawing/draw_svg.py,sha256=LoVMjO1KRFEZMl1bCh5wW6NWjLRX5cmGNjlC3SSXo4c,16174
+mani_skill/envs/tasks/drawing/draw_triangle.py,sha256=rr0ZtREFQhwfU6Xm8emfRfkB_YDE7sD6rWaFanpjBuw,15505
 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/fmb.py,sha256=5vxuzrG18IRGGAuiZArpVJ05gyt8djbvD7DrEGH_UuA,7400
 mani_skill/envs/tasks/fmb/assets/blue_u.glb,sha256=yCYJvWA_8mOIlL_a_S_Tr3xHiBNQmaoQumNJImT71Jo,2380
 mani_skill/envs/tasks/fmb/assets/blue_u.ply,sha256=KwY2eUKF5Ci5cQ9aYUVAulO3RyRZ5AxhZZcbsaZoXTE,807
 mani_skill/envs/tasks/fmb/assets/board_1.glb,sha256=524_ZoTCK9ARApbjxb7sfa7BBesGtvKKTln1D9Gkbe0,7136
@@ -591,9 +591,9 @@ mani_skill/envs/tasks/fmb/assets/purple_u.ply,sha256=KwY2eUKF5Ci5cQ9aYUVAulO3RyR
 mani_skill/envs/tasks/fmb/assets/reorienting_fixture.glb,sha256=n8_3KXNqa--hmCLhaK2d5kwM0ujTnt0hD5HLVC1_0xs,8764
 mani_skill/envs/tasks/fmb/assets/yellow_peg.glb,sha256=QgMb8lGcpQh_-BLweRhYZ5gI3V4LjueZvZm3yVBTacE,1700
 mani_skill/envs/tasks/humanoid/__init__.py,sha256=18pnVy_csZjYmV2IbvMTGg3UjiTxI9anm1bDAnM2hmo,146
-mani_skill/envs/tasks/humanoid/humanoid_pick_place.py,sha256=k8OyBB2wnXuFHrBgp-YMIb5TDtBHIgZHkimRckMv-eo,10692
-mani_skill/envs/tasks/humanoid/humanoid_stand.py,sha256=azpTPczHIiyECYH672qzp2RtcAFCsuUjxF2o5gMbK2U,4808
-mani_skill/envs/tasks/humanoid/transport_box.py,sha256=w9E41h1h7gLKx9PE0a6vtXkSo_9GgYnr03hChdpFD2w,12260
+mani_skill/envs/tasks/humanoid/humanoid_pick_place.py,sha256=eFC1YX8DYUJgA8yQ_LSS2ECH-mBtlHXdZXReK6FVfvk,10686
+mani_skill/envs/tasks/humanoid/humanoid_stand.py,sha256=kJrGUhy-lm_CfGW3QdHe1tOMT6YfVJW2c5z1RTZt2zQ,4802
+mani_skill/envs/tasks/humanoid/transport_box.py,sha256=NPmo3J3SQPHHq6msavTTLGjiZ6Cqyx_UCwDFWDqyKAI,12254
 mani_skill/envs/tasks/humanoid/assets/apple_1.glb,sha256=rfQyqc8iqpVNuIaM7HllI5gZTj6pSTGdfgNLd6WYIt4,62772
 mani_skill/envs/tasks/humanoid/assets/apple_1.ply,sha256=aO-eAm1VPwIctREla4WYRTHaIJUubgjRpuAAukKXv3E,150322
 mani_skill/envs/tasks/humanoid/assets/frl_apartment_bowl_07.glb,sha256=PsTRtZDaVoepP8LbBaEYs6fyWp8A5QeiPqXia4rDpuc,94480
@@ -603,43 +603,43 @@ mani_skill/envs/tasks/humanoid/assets/cardboard_box/01.png,sha256=UAzLp_o885YkTu
 mani_skill/envs/tasks/humanoid/assets/cardboard_box/box.mtl,sha256=E7F4ELdSP2Yd62T_rF_-gN1xa6N6Eo3AqAb17R5TSa8,219
 mani_skill/envs/tasks/humanoid/assets/cardboard_box/textured.obj,sha256=XQEt4EeMiW4kx4GhNOYk8TPi7lSuS6XTEBQjWSsxKJ0,12723
 mani_skill/envs/tasks/mobile_manipulation/__init__.py,sha256=GQajIA-t_p_9Hrhkj5-MEEmbGfaIkCYgaDepVUdhJ2Q,98
-mani_skill/envs/tasks/mobile_manipulation/open_cabinet_drawer.py,sha256=xokzhopVVnNJJjm0kyw7OlvrdADmIz7rkxyXG6XPj9E,15938
+mani_skill/envs/tasks/mobile_manipulation/open_cabinet_drawer.py,sha256=HSVmBUpoZhC0WYmYQfEARMV7CJOskTMJpbKArouZM80,15926
 mani_skill/envs/tasks/mobile_manipulation/robocasa/__init__.py,sha256=mjpK3FNM5GnR4CaWfD1i2gVk5tU4N6tTkDm2pCqsfoo,40
-mani_skill/envs/tasks/mobile_manipulation/robocasa/kitchen.py,sha256=fXLoTIDgk-0eEaH7TrCODYWfVOVkGP6cRzinyfKEkWc,25625
+mani_skill/envs/tasks/mobile_manipulation/robocasa/kitchen.py,sha256=0v3B7-Y0dOaoO2Eq2Bj4zLqp9OHygJJeVsEvBHZ1z7w,25601
 mani_skill/envs/tasks/quadruped/__init__.py,sha256=_AHS3H9Cj2XT7--5jwW1NMmVWbZxRpdGDNXudT6OrZM,92
-mani_skill/envs/tasks/quadruped/quadruped_reach.py,sha256=IggZpOlncVy-runqcX9PmD6a04JKj13tzpft63mWdQE,7355
-mani_skill/envs/tasks/quadruped/quadruped_spin.py,sha256=F9HmJtZeLNpuFg3-VyO7Qdz8dBsJmCfiH0076npq4is,5205
+mani_skill/envs/tasks/quadruped/quadruped_reach.py,sha256=FO_jG-7ke7LJ6wwoylw8c2388DoIHfirjPhA9MLKpE8,7343
+mani_skill/envs/tasks/quadruped/quadruped_spin.py,sha256=9rin63m-ksCeGbZK6MLJw2sFs6W0cxBoxPtl7bg0g5w,5193
 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=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
+mani_skill/envs/tasks/tabletop/assembling_kits.py,sha256=6JcnSFgZwcb1RHlSV0EIBikKfS79SR4qmBFCeQ1iJyw,11927
+mani_skill/envs/tasks/tabletop/lift_peg_upright.py,sha256=PIZ50lNoQY7dOnvV1D0hIs3SCTaTUOkfjUcaufb7gGM,5852
+mani_skill/envs/tasks/tabletop/peg_insertion_side.py,sha256=eXYdensX69vZdMWPdCerzTpQ7BFfA0D27V0oKg1I_G4,14027
+mani_skill/envs/tasks/tabletop/pick_clutter_ycb.py,sha256=a5TxdTJGOBU5xxm8CLmSrbhIv072zkEglpl0UE6tAgY,7333
+mani_skill/envs/tasks/tabletop/pick_cube.py,sha256=b4gfERUb0SSk7G0RiehuILF9Nmqhy8xuL3UfH1uwPtE,8685
 mani_skill/envs/tasks/tabletop/pick_cube_cfgs.py,sha256=ns0bhw6nrJElSR9nGruGYECyzeAJgq4nd2HraEHI5A0,2564
-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=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
-mani_skill/envs/tasks/tabletop/push_t.py,sha256=MpANhMe6ay5Qhsipe2G1Wy-LSJqrgeOyH3M8fZW_L2c,23522
-mani_skill/envs/tasks/tabletop/roll_ball.py,sha256=OujblvDphjdQBzQiCUnm_gXFwGLubpr40VT7daCWlDo,6760
-mani_skill/envs/tasks/tabletop/stack_cube.py,sha256=_3auYI95uj6hMzTmHMty8pFmD5RhiVxw48MPg5BpREA,7459
-mani_skill/envs/tasks/tabletop/stack_pyramid.py,sha256=erfYC1fOMYW18kP44PHt0-L6ysb63r7IALb-qCmAu7w,7224
-mani_skill/envs/tasks/tabletop/turn_faucet.py,sha256=g4UQ0DQGVxEdan2jW5vX-QSsTDhoKpdQMhXP7WqVMJo,9275
-mani_skill/envs/tasks/tabletop/two_robot_pick_cube.py,sha256=osuA6BFne2UkgIp8sw7JMh_83y_Ray7e30iNNJDHib0,10101
-mani_skill/envs/tasks/tabletop/two_robot_stack_cube.py,sha256=lXkdS4zRE9KA4jzr9mN_Tytq24pg5WD2YlYcsvDlr4I,11973
+mani_skill/envs/tasks/tabletop/pick_single_ycb.py,sha256=rYCiQFcLefmv7nZh90CW4rzG7ycbU_iOEh7HqaFU0Po,10397
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+mani_skill/envs/tasks/tabletop/poke_cube.py,sha256=1EulLgN0forMlznvC36HHkgreacHL9yybrqnBpD4oO0,9338
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+mani_skill/envs/tasks/tabletop/push_cube.py,sha256=iuFTbBP64v6PXIS-DGD_QKas1iXnON-vwFbsMzoW4Ng,12686
+mani_skill/envs/tasks/tabletop/push_t.py,sha256=jXLDLx1ca65LZhCY29JaO0FQFvNd-wvnEk4TvPQMRWE,23516
+mani_skill/envs/tasks/tabletop/roll_ball.py,sha256=q4CFq4mBvO3HEev6D5zTiT5_Jr8MWma2gFnk6n-Xuho,6754
+mani_skill/envs/tasks/tabletop/stack_cube.py,sha256=_xTXpKGCLaVk8729vZWnSGy8ODL3IujxioBCGo_Itpc,7453
+mani_skill/envs/tasks/tabletop/stack_pyramid.py,sha256=XGK15q5DZnD4Rka5aYTrcP9RrShkB9zypaEkX5QTndQ,7390
+mani_skill/envs/tasks/tabletop/turn_faucet.py,sha256=CucNPUytanZLtxUriAC6ousOlT7V5RtbE3S_mKiO600,9263
+mani_skill/envs/tasks/tabletop/two_robot_pick_cube.py,sha256=qdBIcFRzIOVvkYW9izpvHceJIT_js6DCE7iUrs5hd4I,10095
+mani_skill/envs/tasks/tabletop/two_robot_stack_cube.py,sha256=gRJF9idGm02hJl7pBkhCHfXIocYDMRR6SKSouReyXZ4,11967
 mani_skill/envs/utils/README.md,sha256=pLF2xwnFfsPEnN_QmyVME_JVvPAWFhqjy-0AUB-ulkc,209
 mani_skill/envs/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/envs/utils/observations/__init__.py,sha256=c8GWACKz3UM8jbsmmWn2rTtcXDMaYq5pZoGDWxuaqrE,3606
-mani_skill/envs/utils/observations/observations.py,sha256=363PTglxPKEnniZyFzX_pGFWFbkfc5KUtxrnIA2h03o,2626
+mani_skill/envs/utils/observations/observations.py,sha256=2Ip_FSYuAoTzwmzyD2-ZTnVe5HYWAoaoV6P5VTamrEk,2602
 mani_skill/envs/utils/randomization/__init__.py,sha256=6p9XR9wNfd55Cn7lFw84rnjsLp3eJJaa-93MYX5l_Ik,87
-mani_skill/envs/utils/randomization/batched_rng.py,sha256=8uEtsXc3KnnECn23MRsNS-CizoK_a7dEVqARhU6HhUs,2165
+mani_skill/envs/utils/randomization/batched_rng.py,sha256=rfNvCKl-v2x4UVTKYMgtEjk-G369dx9Xj6wW0D4TDyM,2159
 mani_skill/envs/utils/randomization/camera.py,sha256=YUdLinHbLnhwCiD2ouwe_neYzYbgN48wXSCPUYpM5sg,2341
 mani_skill/envs/utils/randomization/common.py,sha256=Be4lQLv5NRTHEGJWhJ0fCTDHeVRffgfO8_TEN7c6_nw,534
 mani_skill/envs/utils/randomization/pose.py,sha256=9PPg-QMorHVe3fV4e3T-BRYu0E_8ItcY9rHWV_jo6i0,1039
-mani_skill/envs/utils/randomization/samplers.py,sha256=EOkF18mmDC7fA2hgj8QC2Ag0gnf4H-4MIjOCDvTMpCE,3665
+mani_skill/envs/utils/randomization/samplers.py,sha256=73XQvTVCDzTKpJMSXJDZMAKpRHHSG3RlOL6VBMSh9QQ,3659
 mani_skill/envs/utils/rewards/__init__.py,sha256=66MV5YCbnpF4ac_SvTVJ000RxM1AIsclX7OatiA-Wak,22
 mani_skill/envs/utils/rewards/common.py,sha256=1lfJNWG3x7UjarHLteLXa8DCzbe_L7nYBMOBo5D9CRQ,3647
 mani_skill/envs/utils/system/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -647,7 +647,7 @@ mani_skill/envs/utils/system/backend.py,sha256=Y4QoJpHseUdOjyXbT-lWfYUOC7iTeXBfL
 mani_skill/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/examples/demo_manual_control.py,sha256=Z17ER37oehS8VgtDO_4dwiy5jDgL93nT9IdCsNDf0Es,8275
 mani_skill/examples/demo_manual_control_continuous.py,sha256=tnCnKX2v1iIhtXwvWR2NzXgpf3e0y2-qAO91jJBLIO0,9679
-mani_skill/examples/demo_random_action.py,sha256=PAgSIrd6Ek3DM0XMs4ax-by1mMzXz2U1RsTavdzgNk8,5478
+mani_skill/examples/demo_random_action.py,sha256=T9jZEW2TJOSJ0-kxwWFO-SwN-DjVCW_wU9Tu_k8uTpI,5478
 mani_skill/examples/demo_reset_distribution.py,sha256=m1I5WQptBJrXvFPdUi7TIzR_Q--_wGAFkbcKNKWlq2U,2988
 mani_skill/examples/demo_robot.py,sha256=bIeHztjM0R6yJT699WQ6jkhv6LjsiP4GWa3Whyom_qM,4881
 mani_skill/examples/demo_vis_pcd.py,sha256=50YT-YVeX4sEsXxHh0S9Ju_kra8ZcUzPfFpG3EgK2o4,2139
@@ -657,7 +657,7 @@ mani_skill/examples/benchmarking/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRk
 mani_skill/examples/benchmarking/gpu_sim.py,sha256=_Dm7IbjQgWtvq-T3XxJ0-aeFMDAB8QWgcqTA24OsdIQ,9935
 mani_skill/examples/benchmarking/isaac_lab_gpu_sim.py,sha256=tATuRyJi37xHzCzbs-B3e0PS-l9oYj9FcLJC9F9Dtec,5581
 mani_skill/examples/benchmarking/plot_results.py,sha256=ou2lE3jNALaWMy1muPbZ0JeV6rpmm4VBDPFpcDeyaSI,12452
-mani_skill/examples/benchmarking/profiling.py,sha256=ROtHXNrqHAlJkqc-30wynrQ3GxvYjuIIDJ_ozbClcQA,8656
+mani_skill/examples/benchmarking/profiling.py,sha256=4X8jjb9uS4r0MIYSJUXySkFlPhzyal7ZOwk_WqoNDmA,8648
 mani_skill/examples/benchmarking/envs/__init__.py,sha256=lW_XjPqNAGLRaFbssHiOnSBboTTJO_--0GVduOh18Q8,101
 mani_skill/examples/benchmarking/envs/isaaclab/__init__.py,sha256=ncUw7bBTKE1zi6c4lHor_S7X8E4iaxMIjlI3YPpGgcw,867
 mani_skill/examples/benchmarking/envs/isaaclab/cartpole_state.py,sha256=0R72HnNVK45Qi6wQo_BtHfMIqkoSjo08jEdkLMyO05s,5292
@@ -665,8 +665,8 @@ mani_skill/examples/benchmarking/envs/isaaclab/cartpole_visual.py,sha256=0DRdKJI
 mani_skill/examples/benchmarking/envs/isaaclab/franka.py,sha256=kilfRzbMWf94sW9dgDNNI2G4OsWgesAbXE7KPwhQkTo,11841
 mani_skill/examples/benchmarking/envs/maniskill/__init__.py,sha256=mOjPDH527VUzb0IZnEwT1Lbcis6qA152FKm_kBOVR-c,155
 mani_skill/examples/benchmarking/envs/maniskill/cartpole.py,sha256=nVYi4NpKIA6X4h_bHCbUigAaEMIZDqPj5ispNF5nxS8,5131
-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/benchmarking/envs/maniskill/franka_move.py,sha256=F02uD0pIQbF3OTEqQRdiqcpc5KoaQR75qKWI3JUSwmE,3333
+mani_skill/examples/benchmarking/envs/maniskill/franka_pick_cube.py,sha256=QXtm5dMQ9qUHDH6gKsg9BwaqVg5eo0BkSZYSR4GNRQA,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
@@ -708,12 +708,12 @@ mani_skill/examples/teleoperation/interactive_panda.py,sha256=w2YNABicqN10mU7eEh
 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/shaders.py,sha256=w9Yje4-2yD7Z3CvluBqYkhu1Z4YQfOms3z_TA1s-ebc,7091
 mani_skill/render/utils.py,sha256=l-Kt3LTACw6Q_A7jhss0Eoc5t2LfHaFmDiH55DhLMuU,638
 mani_skill/render/version.py,sha256=Ew2TTCrI60sL_cjEpr6iuPHKKMgTMtFoWRW_MevBJ_4,254
 mani_skill/sensors/__init__.py,sha256=TW2wkhHN28dHOXujxiDO2Ill_EhJdE0e2MEbgZw7JY0,95
-mani_skill/sensors/base_sensor.py,sha256=oq_v_dPA6VC69Eq-JDo1Teq692P6KZR_omU9rQ63L_k,1665
-mani_skill/sensors/camera.py,sha256=zIlGMQYS0NoQbTGSwqy65tlND4yNLPYptCIeDwnwbak,11459
+mani_skill/sensors/base_sensor.py,sha256=OWs66CJGDBIRDpPdln2Tol5FvCXgB_Nk1pWQr-Q2dTE,1641
+mani_skill/sensors/camera.py,sha256=68VrUVIlouz2UBYBRhl8TuEuJyYWOillOriEZvwJaX4,11447
 mani_skill/sensors/depth_camera.py,sha256=KCT7DMqQacVag_24MjkKAml87T6FtDqNS0TJFfMc5TA,5068
 mani_skill/trajectory/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/trajectory/dataset.py,sha256=nrG3jkhdzRqAdjxC_c8Z4FxpkvW3A9XPvUp9-Ux_u38,6351
@@ -724,25 +724,25 @@ mani_skill/trajectory/utils/actions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQ
 mani_skill/trajectory/utils/actions/conversion.py,sha256=x88C64ke44gB-HEbqq_gSRFv34L7irSwT_wYttkQUn8,12922
 mani_skill/utils/README.md,sha256=A2UG1u5-4LLi-Fkc4lCcEBjSHwxY0xst2Xtvyw4q-0c,1519
 mani_skill/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mani_skill/utils/common.py,sha256=PYzgQRpTFnqKj2brD0mfGuOICLPsruEDXqs9D7u8Trg,13118
+mani_skill/utils/common.py,sha256=KuawMyhAvvzLFmhYt-G1T3AeazezL8rv7Rlz63FkOq4,13112
 mani_skill/utils/download_asset.py,sha256=vP7dsho4Fc-b-Ydm9vj6opFmORa-2Svd69w1izuk5go,8060
 mani_skill/utils/download_demo.py,sha256=Hu-JSkxQpsoLhxZeM-m2NIeDiBUA2YMoA6cJH0HrVaE,4454
-mani_skill/utils/gym_utils.py,sha256=rAYNyxJtF1bSghi_EDPlqgnYZQwG0RklobgaPztSEvw,5922
+mani_skill/utils/gym_utils.py,sha256=vKX7NWGZxVql5su8CD0yjRijogrcH0MUHwYvaat29-E,5897
 mani_skill/utils/io_utils.py,sha256=VJ93qoHxzFWIljAp9043pJqETmEGmxzt_DoYtE5Hd_I,1615
 mani_skill/utils/logging_utils.py,sha256=Iomnw2VrJ56A6kvyIm9Zhgp94Qf-WOf9WuMAGNB-2fc,1765
-mani_skill/utils/registration.py,sha256=u8ftfGvQP4qzlKNqLQjGi3cRF_-h6Rz-28xbLkW_YJ4,9718
-mani_skill/utils/sapien_utils.py,sha256=bUo4jFvWbxjJxXY-cjcR7Q2ZAhAcArlPaElYI2f3RUI,18025
+mani_skill/utils/registration.py,sha256=J5UjgVqr2mD7CAmrYgI3ErJ3xqt4vO_Lyj4ZptMbC00,9706
+mani_skill/utils/sapien_utils.py,sha256=yIsjnl4YLNYi3OkzjE1z7HLcdEyy4QHg2X-ZuH4huRI,18013
 mani_skill/utils/tree.py,sha256=-nXdhwa9zI0dnaOoKmshcPXuM_S-9ZhhoU1GWb1h_p8,877
 mani_skill/utils/assets/README.md,sha256=5kkmsIiV64ySEGO34HaAlpjXTyrGs1KTV5WnofK46G0,70
 mani_skill/utils/assets/__init__.py,sha256=gQVKwAczcImTXArSltBWKlSUUuguO12sZYO3Jh5KLso,159
-mani_skill/utils/assets/data.py,sha256=WAi6QzhDJZptJ4GCziuwLNYVDzZdxda1vsc71OFw0Sc,9028
+mani_skill/utils/assets/data.py,sha256=l5gv8M5Dma_gbcxcWM5L6az-sfrwHVEitfuRe7U4dSM,9016
 mani_skill/utils/building/__init__.py,sha256=quCI5WYGhzGLMVg_NDyYv2G_MxRTBL8R6XD4a6iY8qc,218
-mani_skill/utils/building/_mjcf_loader.py,sha256=SqzSoRootFvItHrzwrDuSHScePxbaPqWb7262M7HzIU,37011
-mani_skill/utils/building/actor_builder.py,sha256=WHaJKmN9FsIOPjUYnRrOsaD5jhWN_EnncOPOxE1lz-c,15006
-mani_skill/utils/building/articulation_builder.py,sha256=ubRJYjINo7XTQ9IfE45Ie3CZGl79rmzYi_Kpq86Czrs,8492
+mani_skill/utils/building/_mjcf_loader.py,sha256=B5aVZ7hfcsY7osQW6_CkzCeJePiRPolVfYHg1lep8Es,36999
+mani_skill/utils/building/actor_builder.py,sha256=0t6E7BuWKU1x42ikycfJxjAsYHO3ozjR02JOQlvUGfI,15000
+mani_skill/utils/building/articulation_builder.py,sha256=LfiM64FmRjQHveCgMRLc_RpCTEqbJEKG---y5hzCTXQ,8486
 mani_skill/utils/building/ground.py,sha256=YaVt9xQfsqG0GRjKWe0o1e7pdPzmN-PN8FQOdzdargU,4365
-mani_skill/utils/building/mjcf_loader.py,sha256=FY--8z4JWjDHCM6XYLSC8W14MHVywV0SzOTiHzWafbs,4452
-mani_skill/utils/building/urdf_loader.py,sha256=llYoiRDU5gTi7sgi8Fv-Zjwdo7SoLpmtG4gJJEpn85g,4905
+mani_skill/utils/building/mjcf_loader.py,sha256=NyJAphkREd6Vu1LJCJCmKtDUO0wUHlgpdhKQTrX2Qv4,4446
+mani_skill/utils/building/urdf_loader.py,sha256=T_109eHT6VW7Vi9Ulophd-fxgAj9NNu_uN2ZHAQYRVI,4899
 mani_skill/utils/building/actors/__init__.py,sha256=2jOgWQV_spgIfZIKHPEf4FFOvBISYVUadumqWHCZDP8,218
 mani_skill/utils/building/actors/common.py,sha256=MxTb8nDqNFVcAJQn3SoLf8piltE5cuavArGG5VlxxNA,10586
 mani_skill/utils/building/actors/ycb.py,sha256=6iHSpHicdfXlk7RmVEthUEzGStfj6cSGOHoHSc37Pjc,1347
@@ -754,16 +754,16 @@ mani_skill/utils/building/assets/grid_texture.png,sha256=5nWgrn3Mo0KPsCa1H8KRYEd
 mani_skill/utils/building/assets/grid_texture_thick.png,sha256=KZcd2zQ6MXd52HtuKl-PjSIourWrIfvAi5eaUHEoYh4,21526
 mani_skill/utils/building/assets/grid_texture_thin.png,sha256=f9L0Avi7C_kF3WvLcwZmmh8BhU0WO6XN1F2_n39weoU,21527
 mani_skill/utils/geometry/__init__.py,sha256=0xcx-AqaRks_a2D-klRPfvV9CjSri_uI1ZqvbTc3Kgo,24
-mani_skill/utils/geometry/bounding_cylinder.py,sha256=SE6PmBh3M2ptQdl1Q6arSNJcUN7OpQKvItmEFcM97vc,4693
-mani_skill/utils/geometry/geometry.py,sha256=6hvxNDVLNBV5yBzHxam7hjEI2PVGvp67gFr-7QN4JXM,6419
+mani_skill/utils/geometry/bounding_cylinder.py,sha256=wyz4H4cWhi9bGpN0sCXcPhXIsT0CXG4t7NDMPCyMctQ,4687
+mani_skill/utils/geometry/geometry.py,sha256=JFcurXekfnSjareOYhfEYgzEXMqG0jV4fVTMTtSwnnc,6394
 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/geometry/trimesh_utils.py,sha256=phKZ-AlyyxkGmPam4DacaOqbiWkz_3zrxXYtFxSZKn0,4533
 mani_skill/utils/scene_builder/__init__.py,sha256=9jJXXQYBuYPabZ_GTIskD41_JX33R5ZT8jiaQOEEf0c,40
-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/registration.py,sha256=snGj5nVMtCsxK21iht7PEiYVpwwHWW_ErZJYmAQSLxo,1488
+mani_skill/utils/scene_builder/scene_builder.py,sha256=GzLkNVUmNMh-cZ2n5KxAg3fbWDe0ui4mr2oF8Qom_KQ,4283
 mani_skill/utils/scene_builder/ai2thor/__init__.py,sha256=kyHl6QlUDKvFJHzuPjYVnAMVKtMq0fICWLsLcBHy-v0,131
-mani_skill/utils/scene_builder/ai2thor/constants.py,sha256=Yiv7awe7MSc0CpsH5UG2rYaSuo30w4NKtcVYt7oY4KY,4027
-mani_skill/utils/scene_builder/ai2thor/scene_builder.py,sha256=drz2cNKF_nRBnHfVRMrdjopydcri_EIpFjy8K5rqL_U,11393
+mani_skill/utils/scene_builder/ai2thor/constants.py,sha256=wk6VQj_Uv2Pg9sYIW4zkWMP74tQqXxUUDo9LV_1OMOM,4003
+mani_skill/utils/scene_builder/ai2thor/scene_builder.py,sha256=c2Jp4uLmPhOweOedIyaHD7WEhTy4KwXZxUI_QQCkydk,11381
 mani_skill/utils/scene_builder/ai2thor/variants.py,sha256=86DOJv84bTxLSBpM0dzqn49Mucp3UwoNZ4cDDsOlI24,517
 mani_skill/utils/scene_builder/ai2thor/metadata/ArchitecTHOR.json,sha256=mbPJWHdKxGw9YppphAZtCWspMnGh9x3p8eIIS8e2mNM,519
 mani_skill/utils/scene_builder/ai2thor/metadata/ProcTHOR.json,sha256=OYnCKrlYdbChbF2cSfNUeI0GH2z-X6ZkQtoskRAaqtQ,605697
@@ -771,19 +771,19 @@ mani_skill/utils/scene_builder/ai2thor/metadata/RoboTHOR.json,sha256=v92NpbBGBMi
 mani_skill/utils/scene_builder/ai2thor/metadata/iTHOR.json,sha256=wAvoEM_JC2EpaegMs5hv9hbRQ-G4CC78_loeEh4jQZc,7488
 mani_skill/utils/scene_builder/control/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/utils/scene_builder/control/planar/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mani_skill/utils/scene_builder/control/planar/scene_builder.py,sha256=9zG6SLx7aySYcru73lpK-Y8X5IvFiWYiV4M9RSFIPSY,1075
+mani_skill/utils/scene_builder/control/planar/scene_builder.py,sha256=DEoVR1a8rikWbIWYatMUT0icRoMe9IBtGbtlU0UmjjM,1050
 mani_skill/utils/scene_builder/kitchen_counter/__init__.py,sha256=TFMKaUyPqRlIJyWfvs_POQHdiqWwdM-O-ssZjkxhHBA,54
-mani_skill/utils/scene_builder/kitchen_counter/scene_builder.py,sha256=bbI5c4ax9YtFLUTMD86HAnqdm9oSUN49b-5FROx-NP0,1464
+mani_skill/utils/scene_builder/kitchen_counter/scene_builder.py,sha256=DCDJpnM0PDMhgi7RqaDhXW2dkJx_oW6n0Xvpzh97rrM,1440
 mani_skill/utils/scene_builder/kitchen_counter/assets/kitchen_counter.glb,sha256=x0R0QZC3mGVdifnBOT3i_-5bHC19HDPcqWr0c-OrS8M,780980
 mani_skill/utils/scene_builder/replicacad/__init__.py,sha256=sH9zTdcScdefj0ip1PRSQ84ng2x35qZQQ58qzq-AoEw,50
 mani_skill/utils/scene_builder/replicacad/autumn_field_puresky_4k.hdr,sha256=UuE5UTF6FPdNnATWhzaNcC8cBki0gmXxeDExCpXrouk,16984221
-mani_skill/utils/scene_builder/replicacad/scene_builder.py,sha256=x3VIgHUqTBhRv3uLB_jD0nZEkL39zqTdBMS--IkH3jA,16775
+mani_skill/utils/scene_builder/replicacad/scene_builder.py,sha256=0UTa5pMq0AWgdr36oW7kfVRByizeofMCzAs_YJTbg8E,16759
 mani_skill/utils/scene_builder/replicacad/metadata/scene_configs.json,sha256=DImZil_A7aQWEMHLTwIktYPvo9Tx797GDWepdQRYx1s,4025
 mani_skill/utils/scene_builder/replicacad/rearrange/__init__.py,sha256=6wrAvNhnpkXOSYACdzTe4FveGDfycCINEHbTUbHRszE,284
-mani_skill/utils/scene_builder/replicacad/rearrange/scene_builder.py,sha256=G1bqkiIoKrUXWbxxZqVDwLzJM-NcXnvct6PcWlRiBv8,17469
+mani_skill/utils/scene_builder/replicacad/rearrange/scene_builder.py,sha256=mrVmZqKs2jPftFBzb_E_fYc0iv6sHAN4kHPEO5_s66w,17457
 mani_skill/utils/scene_builder/replicacad/rearrange/variants.py,sha256=x5bn_aE-uReI_ZRHUzQBMlDzhKWSS1w2tSiHosF8BAw,1170
 mani_skill/utils/scene_builder/robocasa/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mani_skill/utils/scene_builder/robocasa/scene_builder.py,sha256=1Dc4fZ5l4WKNAc-qYsfDnOGC1qW3C2HjJ6mTCHYqO9o,40749
+mani_skill/utils/scene_builder/robocasa/scene_builder.py,sha256=h1eAZvdb0W1iNTK0oq1ZHS8rTaPV_hLZp_VpdIi0z0o,40737
 mani_skill/utils/scene_builder/robocasa/fixtures/accessories.py,sha256=SjG_r7coAKRJ7WttUP-bfSwuz4sZUX-4z8D28xhdYQE,7857
 mani_skill/utils/scene_builder/robocasa/fixtures/cabinet.py,sha256=TwG625RjTaM_DqTxxjyvYxPnPnoJsUcTpV8zEtJvw8A,46314
 mani_skill/utils/scene_builder/robocasa/fixtures/cabinet_panels.py,sha256=E9R_ArZ3cONwEpWnhaDjDZDwomsz3FMuXfOax5SNKs8,20933
@@ -800,7 +800,7 @@ mani_skill/utils/scene_builder/robocasa/fixtures/mujoco_object.py,sha256=oxJ3yrM
 mani_skill/utils/scene_builder/robocasa/fixtures/others.py,sha256=PP1_r66uckZK1voq9yJgVNgyZ9Z874GeWRXPXedXK6Q,9382
 mani_skill/utils/scene_builder/robocasa/fixtures/sink.py,sha256=-ci0XTadmyZ2iIWq4ckk7J__YxerScSvvRq-bpSY5tM,4274
 mani_skill/utils/scene_builder/robocasa/fixtures/stove.py,sha256=aQ7PpZ3RVYTpj0OxeA6hTFEm8uY-Vp9APQHHExZmS4c,6871
-mani_skill/utils/scene_builder/robocasa/fixtures/windows.py,sha256=WiVaFjZ6JTjb6Zy2BMpffsRXC2WEPkMzhCNSXY5FjW8,12953
+mani_skill/utils/scene_builder/robocasa/fixtures/windows.py,sha256=RMyoQCQjXENySSb5cP0wmFm9z8MvwUP_BD8SXrMgQqc,12928
 mani_skill/utils/scene_builder/robocasa/objects/kitchen_object_utils.py,sha256=Y-9SjooCfr76Rt_T6U1-57pCDQg-aaPI0jNJ5rLHIo8,14459
 mani_skill/utils/scene_builder/robocasa/objects/kitchen_objects.py,sha256=qjiON5GEXN3SCtgN2vZKmOe5bv3H-CMnIrPD926Rh4A,48332
 mani_skill/utils/scene_builder/robocasa/objects/objects.py,sha256=zVhcvuOSmm7bYMOxUgPdCErwXFaRjXHJCC1ohA2L4tc,3581
@@ -810,41 +810,41 @@ 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=zSjZGjvFiu_e-P0QT6ylhV7lPwaks-neS2ZGtOHZcJw,10345
+mani_skill/utils/scene_builder/table/scene_builder.py,sha256=JR1AVEpMw8vN16j7gYNaiY0WUzDOgZ_PKpp_q2wwnTo,10321
 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=CoJDsFCn_WA_zDV0SRWNCaYaO5oqjdkVrD8d-2HGaVc,17414
-mani_skill/utils/structs/articulation.py,sha256=gmjIxscXwZh4yhPAHzUslnIzkZ2daW8b3yV_sVUaQoA,38491
-mani_skill/utils/structs/articulation_joint.py,sha256=MPPcThaKAvEQm62ci2okN8CgSOYjxERsa1zjea-3YKo,12972
-mani_skill/utils/structs/base.py,sha256=NI-UPNwI9IWZ5mUwrPqkPvceKBROT9XvCropuhAsvUA,18614
+mani_skill/utils/structs/actor.py,sha256=YLIOf9yEhy52rcnvZF5tNBtW-x-6jV9b7qEqDJLlHDY,17408
+mani_skill/utils/structs/articulation.py,sha256=_j-leC0y8sGjZ047iXNiyMwh7qiZpYOgpjNSy4UnQ6A,38513
+mani_skill/utils/structs/articulation_joint.py,sha256=Jg1omb_DWyTOe57Oud7keQWTzf-ckYp-omNVGrYhfrs,12966
+mani_skill/utils/structs/base.py,sha256=oQ7qLcxURjHazYrda0ziQbUhCiQifRW5D8dX7yUmFZM,18686
 mani_skill/utils/structs/decorators.py,sha256=Lv6wQ989dOnreo2tB-qopDnkeBp_jsn1pmfUR-OY8VQ,535
-mani_skill/utils/structs/drive.py,sha256=UPQDkGbXS-CMRsZ1MHCb9s1vfAo5nqsywF83wKBVzSY,7505
-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/drive.py,sha256=XS-Y4iKqvzKVDLTc1xz69vI39OnwJo3V_9Eb3ItHFpg,7499
+mani_skill/utils/structs/link.py,sha256=Gpi7649rBtDopOewjxOgI16XXNKPCEk5UPTTLGxTK8w,13830
+mani_skill/utils/structs/pose.py,sha256=9VeHdbNbvSPIzc9ThEZ0Q6iSHOcBIOBJX7Bu1UgRBPk,11932
+mani_skill/utils/structs/render_camera.py,sha256=K1ys0CISiWsK5AVgg9P_nq0YAlYO6z3O3N2_PD5Sgww,12593
 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
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