mani-skill-nightly 2025.4.9.1837__py3-none-any.whl → 2025.4.9.2005__py3-none-any.whl

mani_skill/agents/robots/panda/panda_stick.py

@@ -37,7 +37,7 @@ class PandaStick(BaseAgent):
         "panda_joint6",
         "panda_joint7",
     ]
-    
+
     ee_link_name = "panda_hand_tcp"
 
     arm_stiffness = 1e3
@@ -93,6 +93,18 @@ class PandaStick(BaseAgent):
             ee_link=self.ee_link_name,
             urdf_path=self.urdf_path,
         )
+        arm_pd_ee_pose = PDEEPoseControllerConfig(
+            joint_names=self.arm_joint_names,
+            pos_lower=None,
+            pos_upper=None,
+            stiffness=self.arm_stiffness,
+            damping=self.arm_damping,
+            force_limit=self.arm_force_limit,
+            ee_link=self.ee_link_name,
+            urdf_path=self.urdf_path,
+            use_delta=False,
+            normalize_action=False,
+        )
 
         arm_pd_ee_target_delta_pos = deepcopy(arm_pd_ee_delta_pos)
         arm_pd_ee_target_delta_pos.use_target = True
@@ -138,6 +150,7 @@ class PandaStick(BaseAgent):
             pd_ee_delta_pos=dict(arm=arm_pd_ee_delta_pos),
             pd_ee_delta_pose=dict(arm=arm_pd_ee_delta_pose),
             pd_ee_delta_pose_align=dict(arm=arm_pd_ee_delta_pose_align),
+            pd_ee_pose=dict(arm=arm_pd_ee_pose),
             # TODO(jigu): how to add boundaries for the following controllers
             pd_joint_target_delta_pos=dict(arm=arm_pd_joint_target_delta_pos),
             pd_ee_target_delta_pos=dict(arm=arm_pd_ee_target_delta_pos),
@@ -150,7 +163,6 @@ class PandaStick(BaseAgent):
 
         # Make a deepcopy in case users modify any config
         return deepcopy_dict(controller_configs)
-    
 
     def _after_init(self):
         self.tcp = sapien_utils.get_obj_by_name(
@@ -163,4 +175,4 @@ class PandaStick(BaseAgent):
 
     def is_static(self, threshold: float = 0.2):
         qvel = self.robot.get_qvel()[..., :-2]
-        return torch.max(torch.abs(qvel), 1)[0] <= threshold
+        return torch.max(torch.abs(qvel), 1)[0] <= threshold

{mani_skill_nightly-2025.4.9.1837.dist-info → mani_skill_nightly-2025.4.9.2005.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.4.9.1837
+Version: 2025.4.9.2005
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.4.9.1837.dist-info → mani_skill_nightly-2025.4.9.2005.dist-info}/RECORD

@@ -40,7 +40,7 @@ mani_skill/agents/robots/koch/koch.py,sha256=r5morOu6Fv35qpSm2OFhhO2Aaw2x9ZtT3wr
 mani_skill/agents/robots/koch/koch_real.py,sha256=w8lIzRsAZEvLGXbC598ktpGiHKuPp3XDspmU1xYXKqc,124
 mani_skill/agents/robots/panda/__init__.py,sha256=VnFJLcmPMBjo-mlBpfMo5acYKud_wngRAcf67uiugSk,102
 mani_skill/agents/robots/panda/panda.py,sha256=aufC9et7TK5Ojms03ITT3cb7jsVClcbqLquGWaXzEH4,10760
-mani_skill/agents/robots/panda/panda_stick.py,sha256=ylYvjcgazMfp2k-RPbxkFByH9qyTLD8beDp2ra_WWso,5659
+mani_skill/agents/robots/panda/panda_stick.py,sha256=YEGYLPGZFKkCTTAry4F82_fNZqrso3LdMWgBfT_RRbY,6131
 mani_skill/agents/robots/panda/panda_wristcam.py,sha256=eSw652CaA82YfetCqasHGAcUkaJ_aXJijJm6tHZmKyQ,875
 mani_skill/agents/robots/so100/__init__.py,sha256=54RRpI3ue89zbNtSKOK8JxvSaKrHt6PXQrriTN6X01c,26
 mani_skill/agents/robots/so100/so_100.py,sha256=UYLjB40n6lfXZnBRTBA2apjfp0MkKqsXf5aVXm5NyiI,4838
@@ -784,8 +784,8 @@ 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-2025.4.9.1837.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.4.9.1837.dist-info/METADATA,sha256=kF9mo8CdLkHtPRk-tenVy2Wu5H0tCaVFRVqZnd0WNZI,9291
-mani_skill_nightly-2025.4.9.1837.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.4.9.1837.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.4.9.1837.dist-info/RECORD,,
+mani_skill_nightly-2025.4.9.2005.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.4.9.2005.dist-info/METADATA,sha256=v-KMlBColg23dnK0EzUbxraZ2UjgEJCx6XaP8fxLZgc,9291
+mani_skill_nightly-2025.4.9.2005.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.4.9.2005.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.4.9.2005.dist-info/RECORD,,