mani-skill-nightly 2025.3.30.813__py3-none-any.whl → 2025.3.31.1849__py3-none-any.whl

mani_skill/agents/robots/xarm6/xarm6_robotiq.py

@@ -36,12 +36,12 @@ class XArm6Robotiq(BaseAgent):
         rest=Keyframe(
             qpos=np.array(
                 [
-                    1.56280772e-03,
-                    -1.10912404e00,
-                    -9.71343926e-02,
-                    1.52969832e-04,
-                    1.20606723e00,
-                    1.66234924e-03,
+                    0,
+                    0.22,
+                    -1.23,
+                    0,
+                    1.01,
+                    0,
                     0,
                     0,
                     0,
@@ -77,7 +77,7 @@ class XArm6Robotiq(BaseAgent):
             pose=sapien.Pose([0, 0, 0]),
         ),
         stretch_j6=Keyframe(
-            qpos=np.array([0, 0, 0, 0, 0, np.pi / 2]),
+            qpos=np.array([0, 0, 0, 0, 0, np.pi / 2, 0, 0, 0, 0, 0, 0]),
             pose=sapien.Pose([0, 0, 0]),
         ),
     )

mani_skill/envs/tasks/tabletop/pick_cube.py

@@ -141,13 +141,11 @@ class PickCubeEnv(BaseEnv):
         place_reward = 1 - torch.tanh(5 * obj_to_goal_dist)
         reward += place_reward * is_grasped
 
-        qvel_without_gripper = self.agent.robot.get_qvel()
-        if self.robot_uids == "xarm6_robotiq":
-            qvel_without_gripper = qvel_without_gripper[..., :-6]
-        elif self.robot_uids == "panda":
-            qvel_without_gripper = qvel_without_gripper[..., :-2]
+        qvel = self.agent.robot.get_qvel()
+        if self.robot_uids == "panda":
+            qvel = qvel[..., :-2]
         static_reward = 1 - torch.tanh(
-            5 * torch.linalg.norm(qvel_without_gripper, axis=1)
+            5 * torch.linalg.norm(qvel, axis=1)
         )
         reward += static_reward * info["is_obj_placed"]
 

mani_skill/utils/scene_builder/table/scene_builder.py

@@ -151,7 +151,7 @@ class TableSceneBuilder(SceneBuilder):
                 + qpos
             )
             self.env.agent.reset(qpos)
-            self.env.agent.robot.set_pose(sapien.Pose([-0.45, 0, 0]))
+            self.env.agent.robot.set_pose(sapien.Pose([-0.522, 0, 0]))
         elif self.env.robot_uids == "fetch":
             qpos = np.array(
                 [

{mani_skill_nightly-2025.3.30.813.dist-info → mani_skill_nightly-2025.3.31.1849.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.3.30.813
+Version: 2025.3.31.1849
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.3.30.813.dist-info → mani_skill_nightly-2025.3.31.1849.dist-info}/RECORD

@@ -56,7 +56,7 @@ mani_skill/agents/robots/xarm/__init__.py,sha256=6Mhn4vV4f9XxcK493U5W9VE6yGGgydP
 mani_skill/agents/robots/xarm/xarm7_ability.py,sha256=yj7CUBQpbGVUiT22qweJKTniJE0DxdEyyKj329vr0HY,6106
 mani_skill/agents/robots/xarm6/__init__.py,sha256=0r19OsKmm1ssKB5Rrie8syWQvpXNooVOv6m-iygrdM0,109
 mani_skill/agents/robots/xarm6/xarm6_nogripper.py,sha256=QCOCxEcLsYmO5FeqJPNi05mNiim4pyAO80LLaruYY8Y,7367
-mani_skill/agents/robots/xarm6/xarm6_robotiq.py,sha256=KK3HmdoIy6Ode0Sm_gV3w5dV5kHj_gYJf077jtySL0c,15564
+mani_skill/agents/robots/xarm6/xarm6_robotiq.py,sha256=ofovUnURV8DQQGwWWyTE05h3ByrojV7UNr04_dMi0aE,15514
 mani_skill/agents/robots/xmate3/__init__.py,sha256=q6nQrQooKhTNnL2ScImPm2eUVYbh8erHo5U1u6HzeB8,34
 mani_skill/agents/robots/xmate3/xmate3.py,sha256=C56RPxQJp-p14Ww0klZlAO1v8-2IoNAUsAcItKpDjlk,7979
 mani_skill/assets/maniskill2-scene-2.glb,sha256=C5om9o9r6B-fWoauzNfUm2WV5sh8Nf7AvZRlYo1-IXQ,4737204
@@ -485,7 +485,7 @@ mani_skill/envs/tasks/tabletop/assembling_kits.py,sha256=piXxTybVKrRr92VqIFIQsbr
 mani_skill/envs/tasks/tabletop/lift_peg_upright.py,sha256=o6AmHyjyoT5U6IYn0tXz3MJ7PNCEqHPZf2jnFOFuW-Y,5857
 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=d2DQnRJaDR9XNZzL88OJSUXDe3qGOH33rKtBKy0w_pg,6291
+mani_skill/envs/tasks/tabletop/pick_cube.py,sha256=_2_9PlqPeQTA9Ti8r1mCvgwMCZECyf3HIqafRJKSnhg,6112
 mani_skill/envs/tasks/tabletop/pick_single_ycb.py,sha256=vlixZRNB8ny7mznfyAsefqC2EWN7jxVX_QBAjyAcawg,10852
 mani_skill/envs/tasks/tabletop/place_sphere.py,sha256=J3ReBFK7TyZQlleIFspz7Pl1wqAzaYoveGZfNNL5DVM,10101
 mani_skill/envs/tasks/tabletop/plug_charger.py,sha256=0g-rkNf-oo2ovttlcQ58jqUq6So4SKvYMTHORZUOi_0,10571
@@ -656,7 +656,7 @@ 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=Ppulu1_IeXMqx1zKA8FwYNNLEPlWSAsGJZ8SOtb4-00,10200
+mani_skill/utils/scene_builder/table/scene_builder.py,sha256=wOzEMPyqRrxHeJ8n1dbNAbrdpJldrApb80vsIHTKbhI,10201
 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
@@ -687,8 +687,8 @@ mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJ
 mani_skill/vector/wrappers/gymnasium.py,sha256=v1MDPIrVACBKCulrpdXBK2jDZQI7LKYFZgGgaCC5avY,7408
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
 mani_skill/viewer/__init__.py,sha256=srvDBsk4LQU75K2VIttrhiQ68p_ro7PSDqQRls2PY5c,1722
-mani_skill_nightly-2025.3.30.813.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.3.30.813.dist-info/METADATA,sha256=aQwiiV5ODAmd5VRjc-_yYRYfZMJZfwmwlhNzKrNW8rQ,9291
-mani_skill_nightly-2025.3.30.813.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.3.30.813.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.3.30.813.dist-info/RECORD,,
+mani_skill_nightly-2025.3.31.1849.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.3.31.1849.dist-info/METADATA,sha256=KxNjg4QpnWcwjoajsmh44GKpFJ1QfEeFzEt07lqk35c,9292
+mani_skill_nightly-2025.3.31.1849.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.3.31.1849.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.3.31.1849.dist-info/RECORD,,