mani-skill-nightly 2025.4.4.36__py3-none-any.whl → 2025.4.4.139__py3-none-any.whl

mani_skill/agents/controllers/pd_joint_pos.py

@@ -195,7 +195,10 @@ class PDJointPosMimicController(PDJointPosController):
 
     def _get_joint_limits(self):
         joint_limits = super()._get_joint_limits()
-        return joint_limits[self.control_joint_indices]
+        joint_limits = joint_limits[self.control_joint_indices]
+        if len(joint_limits.shape) == 1:
+            joint_limits = joint_limits[None, :]
+        return joint_limits
 
     def set_action(self, action: Array):
         action = self._preprocess_action(action)

mani_skill/examples/motionplanning/panda/solutions/peg_insertion_side.py

@@ -44,7 +44,7 @@ def solve(env: PegInsertionSideEnv, seed=None, debug=False, vis=False):
 
     obb = get_actor_obb(env.peg)
     approaching = np.array([0, 0, -1])
-    target_closing = env.agent.tcp.pose.to_transformation_matrix()[0, :3, 1].numpy()
+    target_closing = env.agent.tcp.pose.to_transformation_matrix()[0, :3, 1].cpu().numpy()
 
     peg_init_pose = env.peg.pose
 
@@ -53,7 +53,7 @@ def solve(env: PegInsertionSideEnv, seed=None, debug=False, vis=False):
     )
     closing, center = grasp_info["closing"], grasp_info["center"]
     grasp_pose = env.agent.build_grasp_pose(approaching, closing, center)
-    offset = sapien.Pose([-max(0.05, env.peg_half_sizes[0, 0] / 2 + 0.01), 0, 0])
+    offset = sapien.Pose([-max(0.05, env.peg_half_sizes[0, 0].item() / 2 + 0.01), 0, 0])
     grasp_pose = grasp_pose * (offset)
 
     # -------------------------------------------------------------------------- #
@@ -75,7 +75,7 @@ def solve(env: PegInsertionSideEnv, seed=None, debug=False, vis=False):
 
     # align the peg with the hole
     insert_pose = env.goal_pose * peg_init_pose.inv() * grasp_pose
-    offset = sapien.Pose([-0.01 - env.peg_half_sizes[0, 0], 0, 0])
+    offset = sapien.Pose([-0.01 - env.peg_half_sizes[0, 0].item(), 0, 0])
     pre_insert_pose = insert_pose * (offset)
     res = planner.move_to_pose_with_screw(pre_insert_pose)
     if res == -1: return res

mani_skill/examples/motionplanning/panda/solutions/stack_cube.py

@@ -30,7 +30,7 @@ def solve(env: StackCubeEnv, seed=None, debug=False, vis=False):
     obb = get_actor_obb(env.cubeA)
 
     approaching = np.array([0, 0, -1])
-    target_closing = env.agent.tcp.pose.to_transformation_matrix()[0, :3, 1].numpy()
+    target_closing = env.agent.tcp.pose.to_transformation_matrix()[0, :3, 1].cpu().numpy()
     grasp_info = compute_grasp_info_by_obb(
         obb,
         approaching=approaching,
@@ -76,8 +76,8 @@ def solve(env: StackCubeEnv, seed=None, debug=False, vis=False):
     # -------------------------------------------------------------------------- #
     # Stack
     # -------------------------------------------------------------------------- #
-    goal_pose = env.cubeB.pose * sapien.Pose([0, 0, env.cube_half_size[2] * 2])
-    offset = (goal_pose.p - env.cubeA.pose.p).numpy()[0] # remember that all data in ManiSkill is batched and a torch tensor
+    goal_pose = env.cubeB.pose * sapien.Pose([0, 0, (env.cube_half_size[2] * 2).item()])
+    offset = (goal_pose.p - env.cubeA.pose.p).cpu().numpy()[0] # remember that all data in ManiSkill is batched and a torch tensor
     align_pose = sapien.Pose(lift_pose.p + offset, lift_pose.q)
     planner.move_to_pose_with_screw(align_pose)
 

{mani_skill_nightly-2025.4.4.36.dist-info → mani_skill_nightly-2025.4.4.139.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.4.4.36
+Version: 2025.4.4.139
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.4.4.36.dist-info → mani_skill_nightly-2025.4.4.139.dist-info}/RECORD

@@ -9,7 +9,7 @@ mani_skill/agents/controllers/base_controller.py,sha256=gSLIADsehgtscJjQUUla_oQS
 mani_skill/agents/controllers/passive_controller.py,sha256=R-hZeuxmNKA9TvDZzVKd-YIv45xE4tc6wMHargdrxjY,1264
 mani_skill/agents/controllers/pd_base_vel.py,sha256=-3ZzLZ9nRDMGHWnFE7c4reEbC3jHtQJCOx3LmArz95g,2868
 mani_skill/agents/controllers/pd_ee_pose.py,sha256=MkQF1jpNaD5QNsrM7JOiWi_waQSMfz7vw8jXB4WK_Q4,11464
-mani_skill/agents/controllers/pd_joint_pos.py,sha256=Zx_R3BBxC1JZKlgptfrKR8ZfpY6QCcoo4_GObsJkDNQ,10462
+mani_skill/agents/controllers/pd_joint_pos.py,sha256=Z2zyzv93w3tAAHa5vQC95y964QMtjqvtZvHf-KlsO_E,10588
 mani_skill/agents/controllers/pd_joint_pos_vel.py,sha256=G8SBIa8jM939zGCETY17RlmwHoHLS5iCMTZsYZaH1mY,2433
 mani_skill/agents/controllers/pd_joint_vel.py,sha256=XQK13lsbteeUsztGw0u-DCBgCCv0ChglvncgwxVQCWY,1900
 mani_skill/agents/controllers/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -567,13 +567,13 @@ mani_skill/examples/motionplanning/panda/solutions/__init__.py,sha256=sXndzXDUyx
 mani_skill/examples/motionplanning/panda/solutions/draw_svg.py,sha256=MF-THj9aAXefc6wpRJ44nk5Y_sF2P0PdWXKQhlR_pOE,1049
 mani_skill/examples/motionplanning/panda/solutions/draw_triangle.py,sha256=CeRhTdPep6vgVix6SfOEBx8DRDS9Kmpo3zALEg7sK7Q,1937
 mani_skill/examples/motionplanning/panda/solutions/lift_peg_upright.py,sha256=-wQ5DpT7dMffOgOkpboUNYg4odq-NuQgGUzJ0LWNIUg,3616
-mani_skill/examples/motionplanning/panda/solutions/peg_insertion_side.py,sha256=LWQWc_4Iq06b1OyLPa5XWdWALidv74ZsLmne3N_HljM,3555
+mani_skill/examples/motionplanning/panda/solutions/peg_insertion_side.py,sha256=xjyH1THjtzZrnS6m_zURjKQ9vZgqCWbcKsa7RcbBg8g,3575
 mani_skill/examples/motionplanning/panda/solutions/pick_cube.py,sha256=STYpml582MlVq52ixxBcMIF6gwyCwSdpGd1SDioOZVQ,2243
 mani_skill/examples/motionplanning/panda/solutions/plug_charger.py,sha256=-4MoxBRGmWbJqFf1XxWWJ0CZsDxQVaZg6ft7NOLKGWs,3533
 mani_skill/examples/motionplanning/panda/solutions/pull_cube.py,sha256=rQkvCRYjVejEWC28mo6lbGRqjp9McZGjQEv4Wp1fMWE,1111
 mani_skill/examples/motionplanning/panda/solutions/pull_cube_tool.py,sha256=g6adx921V2SOVYYFlh_gLwV5I0tnz70qCLm81oA6YhA,3609
 mani_skill/examples/motionplanning/panda/solutions/push_cube.py,sha256=EynyseBJ_njMP74o9gVxqWOOqoC5j1rBc4XQzFug9EQ,1113
-mani_skill/examples/motionplanning/panda/solutions/stack_cube.py,sha256=7Us7e5967J9isf0Idvpl-VUg2myq5YFWS6eFPUgvU4g,3259
+mani_skill/examples/motionplanning/panda/solutions/stack_cube.py,sha256=QIa280jNOJfJqqgbb5WWEBxErFPE7Mv4-_ZL9TCsRos,3280
 mani_skill/examples/teleoperation/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/examples/teleoperation/interactive_panda.py,sha256=NsGy_ghtXl3HPbwLjKINkizOXqX_rMr30lUfscmhyQ4,10423
 mani_skill/render/__init__.py,sha256=Uy6h1bzammUO8QVPVCDcuCuhnuN3e5votaho45drAGw,118
@@ -707,8 +707,8 @@ 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-2025.4.4.36.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.4.4.36.dist-info/METADATA,sha256=7uRC3TlGmwuS-eMllEsMABSX22CjX_kSOFcNrW3_1MI,9289
-mani_skill_nightly-2025.4.4.36.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.4.4.36.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.4.4.36.dist-info/RECORD,,
+mani_skill_nightly-2025.4.4.139.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.4.4.139.dist-info/METADATA,sha256=zR1WnFdxB1nT1Dr8d_sniMYHE808UvFW8KnfPLfOw9c,9290
+mani_skill_nightly-2025.4.4.139.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.4.4.139.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.4.4.139.dist-info/RECORD,,