mani-skill-nightly 2025.5.12.817__py3-none-any.whl → 2025.5.12.2356__py3-none-any.whl

mani_skill/utils/structs/articulation.py

@@ -260,6 +260,9 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
 
     @cached_property
     def _data_index(self):
+        """
+        Returns a tensor of the indices of the articulation in the GPU simulation for the physx_cuda backend.
+        """
         return torch.tensor(
             [px_articulation.gpu_index for px_articulation in self._objs],
             device=self.device,
@@ -268,6 +271,9 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
 
     @cached_property
     def fixed_root_link(self):
+        """
+        Returns a boolean tensor of whether the root link is fixed for each parallel articulation
+        """
         return torch.tensor(
             [x.links[0].entity.components[0].joint.type == "fixed" for x in self._objs],
             device=self.device,
@@ -567,6 +573,31 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
     def get_joints(self):
         return self.joints
 
+    def get_link_incoming_joint_forces(self):
+        """
+        Returns the incoming joint forces, referred to as spatial forces, for each link, with shape (N, M, 6), where N is the number of environments and M is the number of links.
+
+        Spatial forces are complex to describe and we recommend you see the physx documentation for how they are computed: https://nvidia-omniverse.github.io/PhysX/physx/5.6.0/docs/Articulations.html#link-incoming-joint-force
+
+        The mth spatial force refers to the mth link, and to find a particular link you can find the Link object first then use it's index attribute.
+
+        link = articulation.links_map[link_name]
+        link_index = link.index
+        link_incoming_joint_force = articulation.get_link_incoming_joint_forces()[:, link_index]
+
+        """
+        if self.scene.gpu_sim_enabled:
+            self.px.gpu_fetch_articulation_link_incoming_joint_forces()
+            # TODO (stao): we should lazy call the GPU data fetching functions in the future if necessarily. Since most users don't use this at the moment
+            # we just fetch it live here instead of with all the other fetch functions
+            return self.px.cuda_articulation_link_incoming_joint_forces.torch()[
+                self._data_index, :
+            ]
+        else:
+            return torch.from_numpy(
+                self._objs[0].get_link_incoming_joint_forces()[None, :]
+            )
+
     def get_links(self):
         return self.links
 

{mani_skill_nightly-2025.5.12.817.dist-info → mani_skill_nightly-2025.5.12.2356.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.5.12.817
+Version: 2025.5.12.2356
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.5.12.817.dist-info → mani_skill_nightly-2025.5.12.2356.dist-info}/RECORD

@@ -785,7 +785,7 @@ mani_skill/utils/scene_builder/table/assets/table.glb,sha256=yw69itZDjBFg8JXZAr9
 mani_skill/utils/structs/README.md,sha256=qnYKimp_ZkgNcduURrYQxVTimNmq_usDMKoQ8VtMdCs,286
 mani_skill/utils/structs/__init__.py,sha256=BItR3Xe0z6xCrMHAEaH0AAAVyeonsQ3q-DJUyRUibAA,524
 mani_skill/utils/structs/actor.py,sha256=L0p6vkr8rGtJmF22xAq8Q7nhXKnDD5dahzODSAko0bg,17394
-mani_skill/utils/structs/articulation.py,sha256=c7e_Rfkhskg_Rqz1bkesqHCTzNubObLGZQS0BkkFZF0,34691
+mani_skill/utils/structs/articulation.py,sha256=7SPlcgISUHu3xQCMEeTiJFJ_UsDmCS0rORw6qpgt0Yc,36376
 mani_skill/utils/structs/articulation_joint.py,sha256=TY6joQ0RpnVlHbQHdtx_QQYqTWgFHLiZ642SSWZUuTw,11736
 mani_skill/utils/structs/base.py,sha256=meGQK5Y4KtHKLnp9VeOZS2gtwg9tE55whuEeqOguBaI,19465
 mani_skill/utils/structs/decorators.py,sha256=Lv6wQ989dOnreo2tB-qopDnkeBp_jsn1pmfUR-OY8VQ,535
@@ -811,8 +811,8 @@ 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-2025.5.12.817.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.5.12.817.dist-info/METADATA,sha256=Ri_9DcVy3GaSibuoRca-rGWAv3xB03SgjOCNKLYWXFw,9410
-mani_skill_nightly-2025.5.12.817.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.5.12.817.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.5.12.817.dist-info/RECORD,,
+mani_skill_nightly-2025.5.12.2356.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.5.12.2356.dist-info/METADATA,sha256=oD439V9av9PdzX5Vmy6mr8SvDtRgAtdv4khH_mbvz8U,9411
+mani_skill_nightly-2025.5.12.2356.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.5.12.2356.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.5.12.2356.dist-info/RECORD,,