mani-skill-nightly 2025.4.4.41__py3-none-any.whl → 2025.4.4.139__py3-none-any.whl

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Files changed (7) hide show
  1. mani_skill/examples/motionplanning/panda/solutions/peg_insertion_side.py +3 -3
  2. mani_skill/examples/motionplanning/panda/solutions/stack_cube.py +3 -3
  3. {mani_skill_nightly-2025.4.4.41.dist-info → mani_skill_nightly-2025.4.4.139.dist-info}/METADATA +1 -1
  4. {mani_skill_nightly-2025.4.4.41.dist-info → mani_skill_nightly-2025.4.4.139.dist-info}/RECORD +7 -7
  5. {mani_skill_nightly-2025.4.4.41.dist-info → mani_skill_nightly-2025.4.4.139.dist-info}/LICENSE +0 -0
  6. {mani_skill_nightly-2025.4.4.41.dist-info → mani_skill_nightly-2025.4.4.139.dist-info}/WHEEL +0 -0
  7. {mani_skill_nightly-2025.4.4.41.dist-info → mani_skill_nightly-2025.4.4.139.dist-info}/top_level.txt +0 -0
mani_skill/examples/motionplanning/panda/solutions/peg_insertion_side.py CHANGED
@@ -44,7 +44,7 @@ def solve(env: PegInsertionSideEnv, seed=None, debug=False, vis=False):
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  obb = get_actor_obb(env.peg)
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  approaching = np.array([0, 0, -1])
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- target_closing = env.agent.tcp.pose.to_transformation_matrix()[0, :3, 1].numpy()
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+ target_closing = env.agent.tcp.pose.to_transformation_matrix()[0, :3, 1].cpu().numpy()
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  peg_init_pose = env.peg.pose
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@@ -53,7 +53,7 @@ def solve(env: PegInsertionSideEnv, seed=None, debug=False, vis=False):
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  )
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  closing, center = grasp_info["closing"], grasp_info["center"]
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  grasp_pose = env.agent.build_grasp_pose(approaching, closing, center)
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- offset = sapien.Pose([-max(0.05, env.peg_half_sizes[0, 0] / 2 + 0.01), 0, 0])
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+ offset = sapien.Pose([-max(0.05, env.peg_half_sizes[0, 0].item() / 2 + 0.01), 0, 0])
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  grasp_pose = grasp_pose * (offset)
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  # -------------------------------------------------------------------------- #
@@ -75,7 +75,7 @@ def solve(env: PegInsertionSideEnv, seed=None, debug=False, vis=False):
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  # align the peg with the hole
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  insert_pose = env.goal_pose * peg_init_pose.inv() * grasp_pose
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- offset = sapien.Pose([-0.01 - env.peg_half_sizes[0, 0], 0, 0])
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+ offset = sapien.Pose([-0.01 - env.peg_half_sizes[0, 0].item(), 0, 0])
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  pre_insert_pose = insert_pose * (offset)
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  res = planner.move_to_pose_with_screw(pre_insert_pose)
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  if res == -1: return res
mani_skill/examples/motionplanning/panda/solutions/stack_cube.py CHANGED
@@ -30,7 +30,7 @@ def solve(env: StackCubeEnv, seed=None, debug=False, vis=False):
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  obb = get_actor_obb(env.cubeA)
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  approaching = np.array([0, 0, -1])
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- target_closing = env.agent.tcp.pose.to_transformation_matrix()[0, :3, 1].numpy()
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+ target_closing = env.agent.tcp.pose.to_transformation_matrix()[0, :3, 1].cpu().numpy()
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  grasp_info = compute_grasp_info_by_obb(
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  obb,
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  approaching=approaching,
@@ -76,8 +76,8 @@ def solve(env: StackCubeEnv, seed=None, debug=False, vis=False):
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  # -------------------------------------------------------------------------- #
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  # Stack
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  # -------------------------------------------------------------------------- #
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- goal_pose = env.cubeB.pose * sapien.Pose([0, 0, env.cube_half_size[2] * 2])
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- offset = (goal_pose.p - env.cubeA.pose.p).numpy()[0] # remember that all data in ManiSkill is batched and a torch tensor
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+ goal_pose = env.cubeB.pose * sapien.Pose([0, 0, (env.cube_half_size[2] * 2).item()])
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+ offset = (goal_pose.p - env.cubeA.pose.p).cpu().numpy()[0] # remember that all data in ManiSkill is batched and a torch tensor
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  align_pose = sapien.Pose(lift_pose.p + offset, lift_pose.q)
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  planner.move_to_pose_with_screw(align_pose)
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{mani_skill_nightly-2025.4.4.41.dist-info → mani_skill_nightly-2025.4.4.139.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.1
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  Name: mani-skill-nightly
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- Version: 2025.4.4.41
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+ Version: 2025.4.4.139
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  Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
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  Home-page: https://github.com/haosulab/ManiSkill
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  Author: ManiSkill contributors
{mani_skill_nightly-2025.4.4.41.dist-info → mani_skill_nightly-2025.4.4.139.dist-info}/RECORD RENAMED
@@ -567,13 +567,13 @@ mani_skill/examples/motionplanning/panda/solutions/__init__.py,sha256=sXndzXDUyx
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  mani_skill/examples/motionplanning/panda/solutions/draw_svg.py,sha256=MF-THj9aAXefc6wpRJ44nk5Y_sF2P0PdWXKQhlR_pOE,1049
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  mani_skill/examples/motionplanning/panda/solutions/draw_triangle.py,sha256=CeRhTdPep6vgVix6SfOEBx8DRDS9Kmpo3zALEg7sK7Q,1937
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  mani_skill/examples/motionplanning/panda/solutions/lift_peg_upright.py,sha256=-wQ5DpT7dMffOgOkpboUNYg4odq-NuQgGUzJ0LWNIUg,3616
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- mani_skill/examples/motionplanning/panda/solutions/peg_insertion_side.py,sha256=LWQWc_4Iq06b1OyLPa5XWdWALidv74ZsLmne3N_HljM,3555
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+ mani_skill/examples/motionplanning/panda/solutions/peg_insertion_side.py,sha256=xjyH1THjtzZrnS6m_zURjKQ9vZgqCWbcKsa7RcbBg8g,3575
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  mani_skill/examples/motionplanning/panda/solutions/pick_cube.py,sha256=STYpml582MlVq52ixxBcMIF6gwyCwSdpGd1SDioOZVQ,2243
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  mani_skill/examples/motionplanning/panda/solutions/plug_charger.py,sha256=-4MoxBRGmWbJqFf1XxWWJ0CZsDxQVaZg6ft7NOLKGWs,3533
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  mani_skill/examples/motionplanning/panda/solutions/pull_cube.py,sha256=rQkvCRYjVejEWC28mo6lbGRqjp9McZGjQEv4Wp1fMWE,1111
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  mani_skill/examples/motionplanning/panda/solutions/pull_cube_tool.py,sha256=g6adx921V2SOVYYFlh_gLwV5I0tnz70qCLm81oA6YhA,3609
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  mani_skill/examples/motionplanning/panda/solutions/push_cube.py,sha256=EynyseBJ_njMP74o9gVxqWOOqoC5j1rBc4XQzFug9EQ,1113
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- mani_skill/examples/motionplanning/panda/solutions/stack_cube.py,sha256=7Us7e5967J9isf0Idvpl-VUg2myq5YFWS6eFPUgvU4g,3259
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+ mani_skill/examples/motionplanning/panda/solutions/stack_cube.py,sha256=QIa280jNOJfJqqgbb5WWEBxErFPE7Mv4-_ZL9TCsRos,3280
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  mani_skill/examples/teleoperation/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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  mani_skill/examples/teleoperation/interactive_panda.py,sha256=NsGy_ghtXl3HPbwLjKINkizOXqX_rMr30lUfscmhyQ4,10423
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  mani_skill/render/__init__.py,sha256=Uy6h1bzammUO8QVPVCDcuCuhnuN3e5votaho45drAGw,118
@@ -707,8 +707,8 @@ mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJ
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  mani_skill/vector/wrappers/gymnasium.py,sha256=v1MDPIrVACBKCulrpdXBK2jDZQI7LKYFZgGgaCC5avY,7408
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  mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
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  mani_skill/viewer/__init__.py,sha256=srvDBsk4LQU75K2VIttrhiQ68p_ro7PSDqQRls2PY5c,1722
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- mani_skill_nightly-2025.4.4.41.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
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- mani_skill_nightly-2025.4.4.41.dist-info/METADATA,sha256=qDHpvWZe6eE5RS_yhAiGflz27qoDsmjjy7IbP0ZX7FY,9289
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- mani_skill_nightly-2025.4.4.41.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
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- mani_skill_nightly-2025.4.4.41.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
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- mani_skill_nightly-2025.4.4.41.dist-info/RECORD,,
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+ mani_skill_nightly-2025.4.4.139.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
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+ mani_skill_nightly-2025.4.4.139.dist-info/METADATA,sha256=zR1WnFdxB1nT1Dr8d_sniMYHE808UvFW8KnfPLfOw9c,9290
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+ mani_skill_nightly-2025.4.4.139.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
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+ mani_skill_nightly-2025.4.4.139.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
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+ mani_skill_nightly-2025.4.4.139.dist-info/RECORD,,