mani-skill-nightly 2025.4.29.817__py3-none-any.whl → 2025.4.29.2144__py3-none-any.whl

mani_skill/envs/tasks/tabletop/push_cube.py

@@ -45,7 +45,7 @@ class PushCubeEnv(BaseEnv):
     - the target goal region is marked by a red/white circular target. The position of the target is fixed to be the cube xy position + [0.1 + goal_radius, 0]
 
     **Success Conditions:**
-    - the cube's xy position is within goal_radius (default 0.1) of the target's xy position by euclidean distance.
+    - the cube's xy position is within goal_radius (default 0.1) of the target's xy position by euclidean distance and the cube is still on the table.
     """
 
     _sample_video_link = "https://github.com/haosulab/ManiSkill/raw/main/figures/environment_demos/PushCube-v1_rt.mp4"
@@ -226,12 +226,22 @@ class PushCubeEnv(BaseEnv):
         )
         place_reward = 1 - torch.tanh(5 * obj_to_goal_dist)
         reward += place_reward * reached
+        
+        # Compute a z reward to encourage the robot to keep the cube on the table
+        desired_obj_z = self.cube_half_size
+        current_obj_z = self.obj.pose.p[..., 2]
+        z_deviation = torch.abs(current_obj_z - desired_obj_z)
+        z_reward = 1 - torch.tanh(5 * z_deviation)
+        # We multiply the z reward by the place_reward and reached mask so that 
+        #   we only add the z reward if the robot has reached the desired push pose
+        #   and the z reward becomes more important as the robot gets closer to the goal.
+        reward += place_reward * z_reward * reached
 
         # assign rewards to parallel environments that achieved success to the maximum of 3.
-        reward[info["success"]] = 3
+        reward[info["success"]] = 4
         return reward
 
     def compute_normalized_dense_reward(self, obs: Any, action: Array, info: Dict):
         # this should be equal to compute_dense_reward / max possible reward
-        max_reward = 3.0
+        max_reward = 4.0
         return self.compute_dense_reward(obs=obs, action=action, info=info) / max_reward

{mani_skill_nightly-2025.4.29.817.dist-info → mani_skill_nightly-2025.4.29.2144.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.4.29.817
+Version: 2025.4.29.2144
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.4.29.817.dist-info → mani_skill_nightly-2025.4.29.2144.dist-info}/RECORD

@@ -606,7 +606,7 @@ mani_skill/envs/tasks/tabletop/plug_charger.py,sha256=0g-rkNf-oo2ovttlcQ58jqUq6S
 mani_skill/envs/tasks/tabletop/poke_cube.py,sha256=KV6mp-Xgm9h4GYUcAUop2AZ4IECTdQKEMRRd9NThyBo,9343
 mani_skill/envs/tasks/tabletop/pull_cube.py,sha256=txtWuIRFzTKxJtWbrygxVEgOPDvm73WlERXldjlUB-I,5546
 mani_skill/envs/tasks/tabletop/pull_cube_tool.py,sha256=NaZpdbYYL4zC41GVY__eq4uRIQpVXthzAqe5oSq8YWU,9951
-mani_skill/envs/tasks/tabletop/push_cube.py,sha256=fPy0BHpdsDhuKWI1eaMLkWnC1rTyXFmvorvm7LN2q8U,12062
+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
@@ -802,8 +802,8 @@ 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-2025.4.29.817.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.4.29.817.dist-info/METADATA,sha256=B4aT6CCIR4hWJL1jLJGywwnweLHXz7MiMbHqjXLGfTU,9291
-mani_skill_nightly-2025.4.29.817.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.4.29.817.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.4.29.817.dist-info/RECORD,,
+mani_skill_nightly-2025.4.29.2144.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.4.29.2144.dist-info/METADATA,sha256=CGkhsy7GS5mSxmW1Ct1yTcDEVdO0043WxrUfAcJvdIQ,9292
+mani_skill_nightly-2025.4.29.2144.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.4.29.2144.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.4.29.2144.dist-info/RECORD,,