mani-skill-nightly 2025.10.22.325__py3-none-any.whl → 2025.10.23.432__py3-none-any.whl

mani_skill/envs/tasks/dexterity/insert_flower.py

@@ -6,7 +6,7 @@ import sapien.physx as physx
 import torch
 
 from mani_skill import ASSET_DIR
-from mani_skill.agents.robots import FloatingInspireHandRight
+from mani_skill.agents.robots import FloatingAbilityHandRight
 from mani_skill.envs.sapien_env import BaseEnv
 from mani_skill.sensors.camera import CameraConfig
 from mani_skill.utils import sapien_utils
@@ -20,7 +20,7 @@ from mani_skill.utils.structs.types import Array, GPUMemoryConfig, SimConfig
     "InsertFlower-v1", max_episode_steps=300, asset_download_ids=["oakink-v2"]
 )
 class InsertFlowerEnv(BaseEnv):
-    agent: Union[FloatingInspireHandRight]
+    agent: Union[FloatingAbilityHandRight]
     _clearance = 0.003
     hand_init_height = 0.25
     flower_spawn_half_size = 0.05
@@ -29,7 +29,7 @@ class InsertFlowerEnv(BaseEnv):
     def __init__(
         self,
         *args,
-        robot_uids="allegro_hand_right_floating",
+        robot_uids="floating_ability_hand_right",
         robot_init_qpos_noise=0.02,
         num_envs=1,
         reconfiguration_freq=None,

mani_skill/utils/structs/actor.py

@@ -347,7 +347,7 @@ class Actor(PhysxRigidDynamicComponentStruct[sapien.Entity]):
                 return self.initial_pose
             else:
                 if self.hidden:
-                    return Pose.create(self.before_hide_pose)
+                    return Pose.create(self.before_hide_pose, device=self.device)
                 else:
                     raw_pose = self.px.cuda_rigid_body_data.torch()[
                         self._body_data_index, :7
@@ -360,7 +360,7 @@ class Actor(PhysxRigidDynamicComponentStruct[sapien.Entity]):
                         new_pose[:, 3:] = raw_pose[:, 3:]
                         new_pose[:, :3] = new_xyzs
                         raw_pose = new_pose
-                    return Pose.create(raw_pose)
+                    return Pose.create(raw_pose, device=self.device)
         else:
             return Pose.create([obj.pose for obj in self._objs], device=self.device)
 

{mani_skill_nightly-2025.10.22.325.dist-info → mani_skill_nightly-2025.10.23.432.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: mani_skill-nightly
-Version: 2025.10.22.325
+Version: 2025.10.23.432
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.10.22.325.dist-info → mani_skill_nightly-2025.10.23.432.dist-info}/RECORD

@@ -565,7 +565,7 @@ 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=LnVeIeEkJA-RRigeeqds5xXBSSPeAx5ygJEOMw16HXM,7164
+mani_skill/envs/tasks/dexterity/insert_flower.py,sha256=-h3j3ZQuAx1gRPvS0VS9RzEKXFQpFZLzU6u5ZcJQyJg,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
@@ -815,7 +815,7 @@ mani_skill/utils/scene_builder/table/assets/Dining_Table_204_1.glb,sha256=IleHi3
 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=YLIOf9yEhy52rcnvZF5tNBtW-x-6jV9b7qEqDJLlHDY,17408
+mani_skill/utils/structs/actor.py,sha256=2s-CgDtjkopDF_QArft3Zst4Y9kUBYrL4ibEfJDyjyQ,17448
 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
@@ -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=YhiRL7FhGOvH9Ho09c_ubFpAFYUB3qskVw0NzxWdWUc,7628
 mani_skill/vector/wrappers/sb3.py,sha256=mnDpiAo1sOkIfpfxsxrRayUeAWVZnLIuUi48yAbwOFI,4716
-mani_skill_nightly-2025.10.22.325.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.10.22.325.dist-info/licenses/LICENSE-3RD-PARTY,sha256=yXvoAIyaRY7VDFhXV4Ea_Dmd_-IR59yyUy0Scz7eXzY,1604
-mani_skill_nightly-2025.10.22.325.dist-info/METADATA,sha256=jlmL3RbOkYwwlUb9YpNmN6B4LAveQoRrY4NiN4aoM_8,9542
-mani_skill_nightly-2025.10.22.325.dist-info/WHEEL,sha256=SmOxYU7pzNKBqASvQJ7DjX3XGUF92lrGhMb3R6_iiqI,91
-mani_skill_nightly-2025.10.22.325.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.10.22.325.dist-info/RECORD,,
+mani_skill_nightly-2025.10.23.432.dist-info/licenses/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.10.23.432.dist-info/licenses/LICENSE-3RD-PARTY,sha256=yXvoAIyaRY7VDFhXV4Ea_Dmd_-IR59yyUy0Scz7eXzY,1604
+mani_skill_nightly-2025.10.23.432.dist-info/METADATA,sha256=WxASE-DQaq9ONPa1RsJ7tyCjvMz832yi-SI01BSC_Zo,9542
+mani_skill_nightly-2025.10.23.432.dist-info/WHEEL,sha256=SmOxYU7pzNKBqASvQJ7DjX3XGUF92lrGhMb3R6_iiqI,91
+mani_skill_nightly-2025.10.23.432.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.10.23.432.dist-info/RECORD,,