mani-skill-nightly 2025.5.13.5__py3-none-any.whl → 2025.5.13.26__py3-none-any.whl

mani_skill/envs/sapien_env.py

@@ -24,7 +24,10 @@ from mani_skill.envs.utils.observations import (
     sensor_data_to_pointcloud,
 )
 from mani_skill.envs.utils.randomization.batched_rng import BatchedRNG
-from mani_skill.envs.utils.system.backend import parse_sim_and_render_backend, CPU_SIM_BACKENDS
+from mani_skill.envs.utils.system.backend import (
+    CPU_SIM_BACKENDS,
+    parse_sim_and_render_backend,
+)
 from mani_skill.sensors.base_sensor import BaseSensor, BaseSensorConfig
 from mani_skill.sensors.camera import (
     Camera,
@@ -1069,10 +1072,16 @@ class BaseEnv(gym.Env):
                 action = common.batch(action)
             self.agent.set_action(action)
             if self._sim_device.is_cuda():
-                if self.agent.controller.sets_target_qpos:
+                if isinstance(self.agent.controller, dict):
+                    # TODO: a small optimization is to cache whether the dict of controllers has any that set qpos/qvel values
+                    # in the BaseAgent/MultiAgent class. Code below just avoids iterating over the dict of controllers each time
                     self.scene.px.gpu_apply_articulation_target_position()
-                if self.agent.controller.sets_target_qvel:
                     self.scene.px.gpu_apply_articulation_target_velocity()
+                else:
+                    if self.agent.controller.sets_target_qpos:
+                        self.scene.px.gpu_apply_articulation_target_position()
+                    if self.agent.controller.sets_target_qvel:
+                        self.scene.px.gpu_apply_articulation_target_velocity()
         self._before_control_step()
         for _ in range(self._sim_steps_per_control):
             if self.agent is not None:

mani_skill/envs/scene.py

@@ -928,11 +928,15 @@ class ManiSkillScene:
             self.px.cuda_articulation_qvel.torch()[:, :] = torch.zeros_like(
                 self.px.cuda_articulation_qvel.torch()
             )  # zero out all q velocities
+            self.px.cuda_articulation_qf.torch()[:, :] = torch.zeros_like(
+                self.px.cuda_articulation_qf.torch()
+            )  # zero out all qf
 
             self.px.gpu_apply_rigid_dynamic_data()
             self.px.gpu_apply_articulation_root_pose()
             self.px.gpu_apply_articulation_root_velocity()
             self.px.gpu_apply_articulation_qvel()
+            self.px.gpu_apply_articulation_qf()
 
             self._gpu_sim_initialized = True
             self.px.gpu_update_articulation_kinematics()

{mani_skill_nightly-2025.5.13.5.dist-info → mani_skill_nightly-2025.5.13.26.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.5.13.5
+Version: 2025.5.13.26
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.5.13.5.dist-info → mani_skill_nightly-2025.5.13.26.dist-info}/RECORD

@@ -530,8 +530,8 @@ mani_skill/assets/robots/xarm7/meshes/visual/link7.glb,sha256=aZatACOv20VJbi2tOE
 mani_skill/assets/robots/xarm7/meshes/visual/link_base.glb,sha256=vcy2lN1V72jIsSDRT0ZKVskR_0pVOXtDvBkxO2GENWs,467668
 mani_skill/envs/__init__.py,sha256=YPlttBErTcf9vSnkZ54EQ8vTABSfFFrBdUY0AkF4vmg,43
 mani_skill/envs/minimal_template.py,sha256=9THHWA1vkHatptc9g5Ojh-UBUKWQmLHVeq4fcaqv2aY,2200
-mani_skill/envs/sapien_env.py,sha256=sUwjgVk8K1vvhYXqIY0z-KhvOpBuZ8JvuXBvJRZCBzM,71734
-mani_skill/envs/scene.py,sha256=RxdOCEI9XA5EL9yNdUc3Y-CQlCWOtt1Biw8fIwWxRh8,48006
+mani_skill/envs/sapien_env.py,sha256=mW0ar_nP7TbkdTqycSBq7rjELcWFg1NC2IokV9L7UzQ,72251
+mani_skill/envs/scene.py,sha256=_E3n86SmGloC7xSGHF37Pbc-42RC54hSXYlj4s8F4WA,48215
 mani_skill/envs/sim2real_env.py,sha256=n4TMNry9ZIx9d9A6BCFDJTEgpNPhcwecCwV5hNhca7w,19220
 mani_skill/envs/template.py,sha256=0wnwKjnGOF7RvTR5Gz4VopaUiFxnIioXwmb4nPVxAs8,11939
 mani_skill/envs/scenes/__init__.py,sha256=uL2T3AuoUkqe2FXmFjo4OQAMQDsePa6qVjCjEzJLqtE,868
@@ -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-2025.5.13.5.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.5.13.5.dist-info/METADATA,sha256=rNCA4CYtMf3qDHZg_RNhCx7I3E2M-1-j4HjXbt7Rbfk,9408
-mani_skill_nightly-2025.5.13.5.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.5.13.5.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.5.13.5.dist-info/RECORD,,
+mani_skill_nightly-2025.5.13.26.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.5.13.26.dist-info/METADATA,sha256=RfuvX7y0eWcO_Ow3jn7gtIONbwq2bw_5vGtEuwF6ePI,9409
+mani_skill_nightly-2025.5.13.26.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.5.13.26.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.5.13.26.dist-info/RECORD,,