mani-skill-nightly 2025.5.30.2218__py3-none-any.whl → 2025.6.7.814__py3-none-any.whl

mani_skill/agents/robots/__init__.py

@@ -22,5 +22,6 @@ from .unitree_go import *
 from .unitree_h1 import *
 from .ur_e import UR10e
 from .widowx import *
+from .widowxai import *
 from .xarm import XArm7Ability
 from .xarm6 import *

mani_skill/agents/robots/widowxai/__init__.py

@@ -0,0 +1,2 @@
+from .widowxai import WidowXAI
+from .widowxai_wristcam import WidowXAIWristCam

mani_skill/agents/robots/widowxai/widowxai.py

@@ -0,0 +1,163 @@
+import copy
+
+import numpy as np
+import sapien
+import torch
+
+from mani_skill import ASSET_DIR
+from mani_skill.agents.base_agent import BaseAgent, Keyframe
+from mani_skill.agents.controllers import *
+from mani_skill.agents.registration import register_agent
+from mani_skill.utils import common, sapien_utils
+from mani_skill.utils.structs.actor import Actor
+
+
+@register_agent(asset_download_ids=["widowxai"])
+class WidowXAI(BaseAgent):
+    uid = "widowxai"
+    urdf_path = f"{ASSET_DIR}/robots/widowxai/wxai_base.urdf"
+    urdf_config = dict(
+        _materials=dict(
+            gripper=dict(static_friction=2.0, dynamic_friction=2.0, restitution=0.0)
+        ),
+        link=dict(
+            gripper_left=dict(
+                material="gripper", patch_radius=0.1, min_patch_radius=0.1
+            ),
+            gripper_right=dict(
+                material="gripper", patch_radius=0.1, min_patch_radius=0.1
+            ),
+        ),
+    )
+
+    keyframes = dict(
+        ready_to_grasp=Keyframe(
+            qpos=np.array(
+                [
+                    0.0,
+                    1.38,
+                    1.04,
+                    -1.26,
+                    0.0,
+                    0.0,
+                    0.026,
+                    0.026,
+                ]
+            ),
+            pose=sapien.Pose(),
+        )
+    )
+
+    arm_joint_names = [
+        "joint_0",
+        "joint_1",
+        "joint_2",
+        "joint_3",
+        "joint_4",
+        "joint_5",
+        "left_carriage_joint",
+    ]
+    gripper_joint_names = [
+        # only control the control joint, not the mimicked one
+        # "right_carriage_joint",
+        "left_carriage_joint",
+    ]
+    ee_link_name = "ee_gripper_link"
+    arm_stiffness = 1e3
+    arm_damping = 1e2
+    arm_force_limit = 100
+    gripper_stiffness = 1e3
+    gripper_damping = 1e2
+    gripper_force_limit = 100
+
+    @property
+    def _controller_configs(self):
+        arm_pd_joint_pos = PDJointPosControllerConfig(
+            self.arm_joint_names,
+            lower=None,
+            upper=None,
+            stiffness=self.arm_stiffness,
+            damping=self.arm_damping,
+            force_limit=self.arm_force_limit,
+            normalize_action=False,
+        )
+        arm_pd_joint_delta_pos = PDJointPosControllerConfig(
+            self.arm_joint_names,
+            lower=-0.1,
+            upper=0.1,
+            stiffness=self.arm_stiffness,
+            damping=self.arm_damping,
+            force_limit=self.arm_force_limit,
+            use_delta=True,
+            use_target=False,
+        )
+        gripper_pd_joint_pos = PDJointPosControllerConfig(
+            self.gripper_joint_names,
+            lower=0.0,
+            upper=0.044,
+            stiffness=self.gripper_stiffness,
+            damping=self.gripper_damping,
+        )
+        arm_pd_joint_target_delta_pos = copy.deepcopy(arm_pd_joint_delta_pos)
+        arm_pd_joint_target_delta_pos.use_target = True
+
+        controller_configs = dict(
+            pd_joint_delta_pos=dict(
+                arm=arm_pd_joint_delta_pos,
+                gripper=gripper_pd_joint_pos,
+            ),
+            pd_joint_pos=dict(arm=arm_pd_joint_pos, gripper=gripper_pd_joint_pos),
+            pd_joint_target_delta_pos=dict(
+                arm=arm_pd_joint_target_delta_pos,
+                gripper=gripper_pd_joint_pos,
+            ),
+        )
+        return deepcopy_dict(controller_configs)
+
+    def _after_loading_articulation(self):
+        self.finger1_link = self.robot.links_map["gripper_left"]
+        self.finger2_link = self.robot.links_map["gripper_right"]
+        self.tcp = sapien_utils.get_obj_by_name(
+            self.robot.get_links(), self.ee_link_name
+        )
+
+    @property
+    def tcp_pos(self):
+        return self.tcp.pose.p
+
+    @property
+    def tcp_pose(self):
+        return self.tcp.pose
+
+    def is_grasping(self, object: Actor, min_force=0.2, max_angle=85):
+        """Check if the robot is grasping an object
+
+        Args:
+            object (Actor): The object to check if the robot is grasping
+            min_force (float, optional): Minimum force before the robot is considered to be grasping the object in Newtons. Defaults to 0.5.
+            max_angle (int, optional): Maximum angle of contact to consider grasping. Defaults to 85.
+        """
+        l_contact_forces = self.scene.get_pairwise_contact_forces(
+            self.finger1_link, object
+        )
+        r_contact_forces = self.scene.get_pairwise_contact_forces(
+            self.finger2_link, object
+        )
+        lforce = torch.linalg.norm(l_contact_forces, axis=1)
+        rforce = torch.linalg.norm(r_contact_forces, axis=1)
+        ldirection = self.finger1_link.pose.to_transformation_matrix()[..., :3, 1]
+        rdirection = -self.finger2_link.pose.to_transformation_matrix()[..., :3, 1]
+        langle = common.compute_angle_between(ldirection, l_contact_forces)
+        rangle = common.compute_angle_between(rdirection, r_contact_forces)
+        lflag = torch.logical_and(
+            lforce >= min_force, torch.rad2deg(langle) <= max_angle
+        )
+        rflag = torch.logical_and(
+            rforce >= min_force, torch.rad2deg(rangle) <= max_angle
+        )
+        _is_grasped = torch.logical_and(lflag, rflag)
+        return _is_grasped
+
+    def is_static(self, threshold: float = 0.2):
+        qvel = self.robot.get_qvel()[..., :-2]
+        return torch.max(torch.abs(qvel), 1)[0] <= threshold

mani_skill/agents/robots/widowxai/widowxai_wristcam.py

@@ -0,0 +1,32 @@
+import numpy as np
+import sapien
+
+from mani_skill import ASSET_DIR
+from mani_skill.agents.registration import register_agent
+from mani_skill.sensors.camera import CameraConfig
+from mani_skill.utils import sapien_utils
+
+from .widowxai import WidowXAI
+
+
+@register_agent(asset_download_ids=["widowxai"])
+class WidowXAIWristCam(WidowXAI):
+    """WidowX AI robot with a Intel Realsense D405 mounted on the gripper"""
+
+    uid = "widowxai_wristcam"
+    urdf_path = f"{ASSET_DIR}/robots/widowxai/wxai_follower.urdf"
+
+    @property
+    def _sensor_configs(self):
+        return [
+            CameraConfig(
+                uid="wrist_camera",
+                pose=sapien.Pose(p=[0, 0, 0], q=[1, 0, 0, 0]),
+                width=128,
+                height=128,
+                fov=np.pi / 2,
+                near=0.01,
+                far=100,
+                mount=self.robot.links_map["camera_link"],
+            )
+        ]

mani_skill/envs/tasks/tabletop/pick_cube.py

@@ -5,7 +5,7 @@ import sapien
 import torch
 
 import mani_skill.envs.utils.randomization as randomization
-from mani_skill.agents.robots import SO100, Fetch, Panda, XArm6Robotiq
+from mani_skill.agents.robots import SO100, Fetch, Panda, WidowXAI, XArm6Robotiq
 from mani_skill.envs.sapien_env import BaseEnv
 from mani_skill.envs.tasks.tabletop.pick_cube_cfgs import PICK_CUBE_CONFIGS
 from mani_skill.sensors.camera import CameraConfig
@@ -15,23 +15,23 @@ from mani_skill.utils.registration import register_env
 from mani_skill.utils.scene_builder.table import TableSceneBuilder
 from mani_skill.utils.structs.pose import Pose
 
+PICK_CUBE_DOC_STRING = """**Task Description:**
+A simple task where the objective is to grasp a red cube with the {robot_id} robot and move it to a target goal position. This is also the *baseline* task to test whether a robot with manipulation
+capabilities can be simulated and trained properly. Hence there is extra code for some robots to set them up properly in this environment as well as the table scene builder.
 
-@register_env("PickCube-v1", max_episode_steps=50)
-class PickCubeEnv(BaseEnv):
-    """
-    **Task Description:**
-    A simple task where the objective is to grasp a red cube and move it to a target goal position. This is also the *baseline* task to test whether a robot with manipulation
-    capabilities can be simulated and trained properly. Hence there is extra code for some robots to set them up properly in this environment as well as the table scene builder.
+**Randomizations:**
+- the cube's xy position is randomized on top of a table in the region [0.1, 0.1] x [-0.1, -0.1]. It is placed flat on the table
+- the cube's z-axis rotation is randomized to a random angle
+- the target goal position (marked by a green sphere) of the cube has its xy position randomized in the region [0.1, 0.1] x [-0.1, -0.1] and z randomized in [0, 0.3]
 
-    **Randomizations:**
-    - the cube's xy position is randomized on top of a table in the region [0.1, 0.1] x [-0.1, -0.1]. It is placed flat on the table
-    - the cube's z-axis rotation is randomized to a random angle
-    - the target goal position (marked by a green sphere) of the cube has its xy position randomized in the region [0.1, 0.1] x [-0.1, -0.1] and z randomized in [0, 0.3]
+**Success Conditions:**
+- the cube position is within `goal_thresh` (default 0.025m) euclidean distance of the goal position
+- the robot is static (q velocity < 0.2)
+"""
 
-    **Success Conditions:**
-    - the cube position is within `goal_thresh` (default 0.025m) euclidean distance of the goal position
-    - the robot is static (q velocity < 0.2)
-    """
+
+@register_env("PickCube-v1", max_episode_steps=50)
+class PickCubeEnv(BaseEnv):
 
     _sample_video_link = "https://github.com/haosulab/ManiSkill/raw/main/figures/environment_demos/PickCube-v1_rt.mp4"
     SUPPORTED_ROBOTS = [
@@ -39,8 +39,9 @@ class PickCubeEnv(BaseEnv):
         "fetch",
         "xarm6_robotiq",
         "so100",
+        "widowxai",
     ]
-    agent: Union[Panda, Fetch, XArm6Robotiq, SO100]
+    agent: Union[Panda, Fetch, XArm6Robotiq, SO100, WidowXAI]
     cube_half_size = 0.02
     goal_thresh = 0.025
     cube_spawn_half_size = 0.05
@@ -175,7 +176,7 @@ class PickCubeEnv(BaseEnv):
         reward += place_reward * is_grasped
 
         qvel = self.agent.robot.get_qvel()
-        if self.robot_uids == "panda":
+        if self.robot_uids in ["panda", "widowxai"]:
             qvel = qvel[..., :-2]
         elif self.robot_uids == "so100":
             qvel = qvel[..., :-1]
@@ -191,10 +192,26 @@ class PickCubeEnv(BaseEnv):
         return self.compute_dense_reward(obs=obs, action=action, info=info) / 5
 
 
+PickCubeEnv.__doc__ = PICK_CUBE_DOC_STRING.format(robot_id="Panda")
+
+
 @register_env("PickCubeSO100-v1", max_episode_steps=50)
 class PickCubeSO100Env(PickCubeEnv):
-
     _sample_video_link = "https://github.com/haosulab/ManiSkill/raw/main/figures/environment_demos/PickCubeSO100-v1_rt.mp4"
 
     def __init__(self, *args, **kwargs):
         super().__init__(*args, robot_uids="so100", **kwargs)
+
+
+PickCubeSO100Env.__doc__ = PICK_CUBE_DOC_STRING.format(robot_id="SO100")
+
+
+@register_env("PickCubeWidowXAI-v1", max_episode_steps=50)
+class PickCubeWidowXAIEnv(PickCubeEnv):
+    _sample_video_link = "https://github.com/haosulab/ManiSkill/raw/main/figures/environment_demos/PickCubeWidowXAI-v1_rt.mp4"
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, robot_uids="widowxai", **kwargs)
+
+
+PickCubeWidowXAIEnv.__doc__ = PICK_CUBE_DOC_STRING.format(robot_id="WidowXAI")

mani_skill/envs/tasks/tabletop/pick_cube_cfgs.py

@@ -56,4 +56,15 @@ PICK_CUBE_CONFIGS = {
         "human_cam_eye_pos": [-0.1, 0.3, 0.4],
         "human_cam_target_pos": [-0.46, 0.0, 0.1],
     },
+    "widowxai": {
+        "cube_half_size": 0.018,
+        "goal_thresh": 0.018 * 1.25,
+        "cube_spawn_half_size": 0.05,
+        "cube_spawn_center": (-0.25, 0),
+        "max_goal_height": 0.2,
+        "sensor_cam_eye_pos": [0.0, 0, 0.35],
+        "sensor_cam_target_pos": [-0.2, 0, 0.1],
+        "human_cam_eye_pos": [0.45, 0.5, 0.5],
+        "human_cam_target_pos": [-0.2, 0.0, 0.2],
+    },
 }

mani_skill/envs/tasks/tabletop/plug_charger.py

@@ -276,12 +276,3 @@ class PlugChargerEnv(BaseEnv):
                 goal_pose=self.goal_pose.raw_pose,
             )
         return obs
-
-    def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict):
-        return torch.zeros(self.num_envs, device=self.device)
-
-    def compute_normalized_dense_reward(
-        self, obs: Any, action: torch.Tensor, info: Dict
-    ):
-        max_reward = 1.0
-        return self.compute_dense_reward(obs=obs, action=action, info=info) / max_reward

mani_skill/examples/benchmarking/plot_results.py

@@ -175,7 +175,7 @@ def main(args):
 
     # generate plot for RT/google dataset settings, which is 1x 640x480 cameras
     for obs_mode in ["RGB", "Depth"]:
-        fig, ax = plt.subplots(figsize=(8, 6))
+        fig, ax = plt.subplots()
         ax.set_title(f"{args.env_id}: FPS with 1x 640x480 {obs_mode} Cameras")
         draw_bar_plot_envs_vs_fps(ax, data, {"env_id": args.env_id, "obs_mode": obs_mode.lower(), "num_cameras": 1, "camera_width": 640, "camera_height": 480}, annotate_label="env.step/gpu_mem_use")
         plt.legend()
@@ -187,7 +187,7 @@ def main(args):
 
     # generate plot for droit dataset settings, which is 3x 320x180 cameras
     for obs_mode in ["RGB", "Depth"]:
-        fig, ax = plt.subplots(figsize=(8, 6))
+        fig, ax = plt.subplots()
         ax.set_title(f"{args.env_id}: FPS with 3x 320x180 {obs_mode} Cameras")
         draw_bar_plot_envs_vs_fps(ax, data, {"env_id": args.env_id, "obs_mode": obs_mode.lower(), "num_cameras": 3, "camera_width": 320, "camera_height": 180}, annotate_label="env.step/gpu_mem_use")
         save_path = osp.join(root_save_path, f"fps_droid_dataset_setup_{obs_mode.lower()}.png")
@@ -224,19 +224,16 @@ def main(args):
         print(f"Saved figure to {save_path}")
 
 
-
-
     ### Special figures for maniskill ###
-    if "maniskill" in data.keys():
+    if "ManiSkill3" in data.keys():
         # Generate line plots of rendering FPS for different env_ids against number of parallel environments
-        fig, ax = plt.subplots(figsize=(10, 4))
+        fig, ax = plt.subplots(figsize=(10, 6))
         ax.grid(True)
         ax.set_xlabel("Number of Parallel Environments")
         ax.set_ylabel("FPS")
         ax.set_title("Simulation+Rendering FPS vs Number of Parallel Environments for Different Tasks")
-
-        df = data["maniskill"]
-        df = df[(df["obs_mode"] == "rgb") & (df["num_envs"] >= 16) & (df["num_cameras"] == 1) & (df["camera_width"] == 128)]
+        df = data["ManiSkill3"]
+        df = df[(df["obs_mode"] == "rgb") & (df["num_envs"] >= 16) & (df["num_envs"] <= 1024) & (df["num_cameras"] == 1) & (df["camera_width"] == 128)]
         env_ids = df["env_id"].unique()
         for i, env_id in enumerate(env_ids):
             env_df = df[df["env_id"] == env_id].sort_values("num_envs")

mani_skill/examples/demo_reset_distribution.py

@@ -30,7 +30,7 @@ def main(args):
     env: BaseEnv = gym.make(
         args.env_id,
         num_envs=1,
-        obs_mode="none",
+        obs_mode="state",
         reward_mode="none",
         render_mode=args.render_mode,
         sensor_configs=dict(shader_pack=args.shader),

mani_skill/utils/assets/data.py

@@ -188,6 +188,11 @@ def initialize_data_sources():
         url="https://github.com/haosulab/ManiSkill-XArm6/archive/refs/tags/v0.1.1.zip",
         target_path="robots/xarm6",
     )
+    DATA_SOURCES["widowxai"] = DataSource(
+        source_type="robot",
+        url="https://github.com/TrossenRobotics/ManiSkill-WidowX_AI/archive/refs/tags/v0.1.0.zip",
+        target_path="robots/widowxai",
+    )
 
 
 def expand_data_group_into_individual_data_source_ids(data_group_id: str):

mani_skill/utils/scene_builder/table/scene_builder.py

@@ -270,6 +270,9 @@ class TableSceneBuilder(SceneBuilder):
                 )
             self.env.agent.reset(qpos)
             self.env.agent.robot.set_pose(sapien.Pose([-0.615, 0, 0]))
+        elif self.env.robot_uids in ["widowxai", "widowxai_wristcam"]:
+            qpos = self.env.agent.keyframes["ready_to_grasp"].qpos
+            self.env.agent.reset(qpos)
         elif self.env.robot_uids == "so100":
             qpos = np.array([0, np.pi / 2, np.pi / 2, np.pi / 2, -np.pi / 2, 1.0])
             qpos = (

{mani_skill_nightly-2025.5.30.2218.dist-info → mani_skill_nightly-2025.6.7.814.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.5.30.2218
+Version: 2025.6.7.814
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.5.30.2218.dist-info → mani_skill_nightly-2025.6.7.814.dist-info}/RECORD

@@ -15,7 +15,7 @@ mani_skill/agents/controllers/pd_joint_pos_vel.py,sha256=wgiXmenTVIao1Tm1vtdJWTZ
 mani_skill/agents/controllers/pd_joint_vel.py,sha256=VZF06ISCkdKBX_fUHxb7mdl9GN1Lob5dhrFGlwCx16Q,1957
 mani_skill/agents/controllers/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/agents/controllers/utils/kinematics.py,sha256=FiSE1nfZejShEqvua9buzA_SCBuEP9OiAd7LpLbSp44,10415
-mani_skill/agents/robots/__init__.py,sha256=Wva1cg21zTnZWtLCsHvInCmUEFmkJDvj1k2Vt42ov9M,713
+mani_skill/agents/robots/__init__.py,sha256=lvW8t2bn2UjuWZ7PsYiKqMnHaMLvGVw6itBhxwHaauk,737
 mani_skill/agents/robots/allegro_hand/__init__.py,sha256=PWH6MMv2i5g1xi76_E-YJLtKFLVKxkJgQ96GD_YeQN4,104
 mani_skill/agents/robots/allegro_hand/allegro.py,sha256=MnU04fCcvppTGJHdhgvs2OqUKToQtNMXbs2bFM5sXiU,4896
 mani_skill/agents/robots/allegro_hand/allegro_touch.py,sha256=CMnGIf1JT7jbrM5jc-OHfODeYiwrUp8rzuS9rUMzmK4,5805
@@ -62,6 +62,9 @@ mani_skill/agents/robots/ur_e/__init__.py,sha256=oO05yUDMLyjnHKvIKpqhPhzOHaKzan6
 mani_skill/agents/robots/ur_e/ur_10e.py,sha256=DzkVpxiYYAhV3_44r2oz8xcRFdMoyqIXeAHDJflOpFU,1301
 mani_skill/agents/robots/widowx/__init__.py,sha256=RJxgMecbFZ7waMEQSwlv6tbkGUeXnMBKwsG8Ojl3OwA,31
 mani_skill/agents/robots/widowx/widowx.py,sha256=3QpXCvgFDnPYOmrbDGxqVVjSyXzG1FG_76tyEe3AMP4,2415
+mani_skill/agents/robots/widowxai/__init__.py,sha256=CduO9Os3_TTvz6MBuMYUv8Cem3wDL2-DPm8BTX45KuY,79
+mani_skill/agents/robots/widowxai/widowxai.py,sha256=gz_NM80xkHQO-3XsSgtkdKCBw3am554TTOx8sOSJtGA,5437
+mani_skill/agents/robots/widowxai/widowxai_wristcam.py,sha256=IDOArvYzlLkMwC35Bby8lZNa2pcDiGc_lmbO2rYtKYs,918
 mani_skill/agents/robots/xarm/__init__.py,sha256=6Mhn4vV4f9XxcK493U5W9VE6yGGgydPbVQLo9iOu8BA,40
 mani_skill/agents/robots/xarm/xarm7_ability.py,sha256=yj7CUBQpbGVUiT22qweJKTniJE0DxdEyyKj329vr0HY,6106
 mani_skill/agents/robots/xarm6/__init__.py,sha256=0r19OsKmm1ssKB5Rrie8syWQvpXNooVOv6m-iygrdM0,109
@@ -602,11 +605,11 @@ mani_skill/envs/tasks/tabletop/assembling_kits.py,sha256=piXxTybVKrRr92VqIFIQsbr
 mani_skill/envs/tasks/tabletop/lift_peg_upright.py,sha256=o6AmHyjyoT5U6IYn0tXz3MJ7PNCEqHPZf2jnFOFuW-Y,5857
 mani_skill/envs/tasks/tabletop/peg_insertion_side.py,sha256=3tf9eOI4PmNGKXooZUR81AXUPuUUTgG-V4DuYxtd5dg,14033
 mani_skill/envs/tasks/tabletop/pick_clutter_ycb.py,sha256=uA-kMGMAODeNvL99K1kDBrtU7b7VEkbkzUip5dJzucM,7345
-mani_skill/envs/tasks/tabletop/pick_cube.py,sha256=dQC3smYUttMLJHXAFMO31vFZKzQ4NFrrZ7-AdG4vfXI,8102
-mani_skill/envs/tasks/tabletop/pick_cube_cfgs.py,sha256=Zz_F3QI_sSqKNDsngp1mzPgkiyewVu47N2iHz522uOg,2166
+mani_skill/envs/tasks/tabletop/pick_cube.py,sha256=wC2DdKKxROaG2oWovbKGlPyuKLd217nlFA2Vp7d97j0,8717
+mani_skill/envs/tasks/tabletop/pick_cube_cfgs.py,sha256=ns0bhw6nrJElSR9nGruGYECyzeAJgq4nd2HraEHI5A0,2564
 mani_skill/envs/tasks/tabletop/pick_single_ycb.py,sha256=mrqEoOa9UVF34Z5fpsvjcr683diUffsKEjJ9Zh0qfFU,10409
 mani_skill/envs/tasks/tabletop/place_sphere.py,sha256=J3ReBFK7TyZQlleIFspz7Pl1wqAzaYoveGZfNNL5DVM,10101
-mani_skill/envs/tasks/tabletop/plug_charger.py,sha256=jgLD2o0eRj-raAEh3ma8OLZ09es6wg8wX1ckWBdr53o,10710
+mani_skill/envs/tasks/tabletop/plug_charger.py,sha256=nqxrafAtziJGjwBVhB3OjfA4UxVSIoJxrAWzA9_YMuY,10347
 mani_skill/envs/tasks/tabletop/poke_cube.py,sha256=KV6mp-Xgm9h4GYUcAUop2AZ4IECTdQKEMRRd9NThyBo,9343
 mani_skill/envs/tasks/tabletop/pull_cube.py,sha256=tyy9KOgBjQOHjFrVK2-hNQPCPDjJ7Y61ZtbwPX_6gvk,5548
 mani_skill/envs/tasks/tabletop/pull_cube_tool.py,sha256=NaZpdbYYL4zC41GVY__eq4uRIQpVXthzAqe5oSq8YWU,9951
@@ -638,7 +641,7 @@ mani_skill/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSu
 mani_skill/examples/demo_manual_control.py,sha256=Z17ER37oehS8VgtDO_4dwiy5jDgL93nT9IdCsNDf0Es,8275
 mani_skill/examples/demo_manual_control_continuous.py,sha256=tnCnKX2v1iIhtXwvWR2NzXgpf3e0y2-qAO91jJBLIO0,9679
 mani_skill/examples/demo_random_action.py,sha256=qdpndV31mWxRK_340TGDXYQAV4CAkKc4DaFHmPM_7Jw,5226
-mani_skill/examples/demo_reset_distribution.py,sha256=qkg9TlGjL13WfYgnoimKN5XZr2bK1WvJGvi2Lj3Tmq8,2987
+mani_skill/examples/demo_reset_distribution.py,sha256=m1I5WQptBJrXvFPdUi7TIzR_Q--_wGAFkbcKNKWlq2U,2988
 mani_skill/examples/demo_robot.py,sha256=bIeHztjM0R6yJT699WQ6jkhv6LjsiP4GWa3Whyom_qM,4881
 mani_skill/examples/demo_vis_pcd.py,sha256=50YT-YVeX4sEsXxHh0S9Ju_kra8ZcUzPfFpG3EgK2o4,2139
 mani_skill/examples/demo_vis_segmentation.py,sha256=HESY-_XjQbofBZQbUl_fuAupQpr3H4ZerPzwGBBR12I,4281
@@ -646,7 +649,7 @@ mani_skill/examples/demo_vis_textures.py,sha256=m1hcOFQyMXu_C8ncnVHdhEksKBs-0e6H
 mani_skill/examples/benchmarking/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/examples/benchmarking/gpu_sim.py,sha256=_Dm7IbjQgWtvq-T3XxJ0-aeFMDAB8QWgcqTA24OsdIQ,9935
 mani_skill/examples/benchmarking/isaac_lab_gpu_sim.py,sha256=tATuRyJi37xHzCzbs-B3e0PS-l9oYj9FcLJC9F9Dtec,5581
-mani_skill/examples/benchmarking/plot_results.py,sha256=jnfFOTar_VE6VnBJr5rQa715Uhv7AyzQMcRjX283BE4,12454
+mani_skill/examples/benchmarking/plot_results.py,sha256=ou2lE3jNALaWMy1muPbZ0JeV6rpmm4VBDPFpcDeyaSI,12452
 mani_skill/examples/benchmarking/profiling.py,sha256=ROtHXNrqHAlJkqc-30wynrQ3GxvYjuIIDJ_ozbClcQA,8656
 mani_skill/examples/benchmarking/envs/__init__.py,sha256=lW_XjPqNAGLRaFbssHiOnSBboTTJO_--0GVduOh18Q8,101
 mani_skill/examples/benchmarking/envs/isaaclab/__init__.py,sha256=ncUw7bBTKE1zi6c4lHor_S7X8E4iaxMIjlI3YPpGgcw,867
@@ -712,7 +715,7 @@ mani_skill/utils/registration.py,sha256=u8ftfGvQP4qzlKNqLQjGi3cRF_-h6Rz-28xbLkW_
 mani_skill/utils/sapien_utils.py,sha256=QMV0jRZO51KzIMB5CVW_Ne-4fPw0-mqM4a3yhNZaMYo,16430
 mani_skill/utils/assets/README.md,sha256=5kkmsIiV64ySEGO34HaAlpjXTyrGs1KTV5WnofK46G0,70
 mani_skill/utils/assets/__init__.py,sha256=gQVKwAczcImTXArSltBWKlSUUuguO12sZYO3Jh5KLso,159
-mani_skill/utils/assets/data.py,sha256=Nqn4xmW03dTaE_MwmtyFmO-JJ_fox5oEvU6uXx3eCUo,8591
+mani_skill/utils/assets/data.py,sha256=xEuibRoEPBDN_vEU-MM5UWf6VDb1omE6BfZKPvlMPdI,8807
 mani_skill/utils/building/__init__.py,sha256=quCI5WYGhzGLMVg_NDyYv2G_MxRTBL8R6XD4a6iY8qc,218
 mani_skill/utils/building/_mjcf_loader.py,sha256=SqzSoRootFvItHrzwrDuSHScePxbaPqWb7262M7HzIU,37011
 mani_skill/utils/building/actor_builder.py,sha256=BSRLXMfxbFyT_R5-WFNGcTFFa0e2HToLqQFvpOy9DqA,14915
@@ -785,7 +788,7 @@ mani_skill/utils/scene_builder/robocasa/utils/placement_samplers.py,sha256=ZUbue
 mani_skill/utils/scene_builder/robocasa/utils/scene_registry.py,sha256=16ZHhI1mgDGy3373aMVRliN8pcvrVigNJIMExyTxE1c,3770
 mani_skill/utils/scene_builder/robocasa/utils/scene_utils.py,sha256=a8HnoRtbwmqQyvLQCHUXKj951G2_wlzodW_eD_CBvsc,6293
 mani_skill/utils/scene_builder/table/__init__.py,sha256=g5qmrh4wZ7V_PuKv-ZU9RVwNQUbQhCshAFInAyRLuZc,45
-mani_skill/utils/scene_builder/table/scene_builder.py,sha256=gHICuKA7fNY7AvczSNiocQ6Hzt_i_TV5HP-A-3pnCx0,9955
+mani_skill/utils/scene_builder/table/scene_builder.py,sha256=J24fto2sbT0lhYHthG8xqHRtjehAkYAz_HNmGK35dL8,10132
 mani_skill/utils/scene_builder/table/assets/Dining_Table_204_1.glb,sha256=IleHi35xfR8O9atKehqjWiuC9McjEFRCBKHRF85w_Tg,150524
 mani_skill/utils/scene_builder/table/assets/table.glb,sha256=yw69itZDjBFg8JXZAr9VQV-dZD-MaZChhqBSJR_nlRo,3891588
 mani_skill/utils/structs/README.md,sha256=qnYKimp_ZkgNcduURrYQxVTimNmq_usDMKoQ8VtMdCs,286
@@ -817,8 +820,8 @@ 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-2025.5.30.2218.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.5.30.2218.dist-info/METADATA,sha256=h0rkEdiZaWzLtKRKvk-3PQeTSUZpuj4pgLXfVN3aw34,9411
-mani_skill_nightly-2025.5.30.2218.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.5.30.2218.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.5.30.2218.dist-info/RECORD,,
+mani_skill_nightly-2025.6.7.814.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.6.7.814.dist-info/METADATA,sha256=4rF4IKuYYzAgblhivBT2Lwbxu13igRFqhZJAkEg8s6k,9409
+mani_skill_nightly-2025.6.7.814.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.6.7.814.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.6.7.814.dist-info/RECORD,,