mani-skill-nightly 2025.6.28.2124__py3-none-any.whl → 2025.7.3.1807__py3-none-any.whl

mani_skill/envs/tasks/tabletop/__init__.py

@@ -15,4 +15,5 @@ from .poke_cube import PokeCubeEnv
 from .place_sphere import PlaceSphereEnv
 from .roll_ball import RollBallEnv
 from .push_t import PushTEnv
-from .pull_cube_tool import PullCubeToolEnv
+from .pull_cube_tool import PullCubeToolEnv
+from .stack_pyramid import StackPyramidEnv

mani_skill/envs/tasks/tabletop/stack_pyramid.py

@@ -0,0 +1,177 @@
+from typing import Any, Dict, Union
+
+import numpy as np
+import sapien
+import torch
+
+from mani_skill.agents.robots import Fetch, Panda
+from mani_skill.envs.sapien_env import BaseEnv
+from mani_skill.envs.utils import randomization
+from mani_skill.utils.geometry.rotation_conversions import (
+    euler_angles_to_matrix,
+    matrix_to_quaternion,
+)
+from mani_skill.sensors.camera import CameraConfig
+from mani_skill.utils import common, sapien_utils
+from mani_skill.utils.building import actors
+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  
+from mani_skill.utils.logging_utils import logger
+
+@register_env("StackPyramid-v1", max_episode_steps=250)
+class StackPyramidEnv(BaseEnv):
+    """
+    **Task Description:**
+    - The goal is to pick up a red cube, place it next to the green cube, and stack the blue cube on top of the red and green cube without it falling off.
+
+    **Randomizations:**
+    - all cubes have their z-axis rotation randomized
+    - all cubes have their xy positions on top of the table scene randomized. The positions are sampled such that the cubes do not collide with each other
+
+    **Success Conditions:**
+    - the blue cube is static
+    - the blue cube is on top of both the red and green cube (to within half of the cube size)
+    - none of the red, green, blue cubes are grasped by the robot (robot must let go of the cubes)
+
+    _sample_video_link = "https://github.com/haosulab/ManiSkill/raw/main/figures/environment_demos/StackPyramid-v1_rt.mp4"
+
+    """
+
+    SUPPORTED_ROBOTS = ["panda_wristcam", "panda", "fetch"]
+    SUPPORTED_REWARD_MODES = ["none", "sparse"]
+    
+    agent: Union[Panda, Fetch]
+
+    def __init__(
+        self, *args, robot_uids="panda_wristcam", robot_init_qpos_noise=0.02, **kwargs
+    ):
+        self.robot_init_qpos_noise = robot_init_qpos_noise
+        super().__init__(*args, robot_uids=robot_uids, **kwargs)
+
+    @property
+    def _default_sensor_configs(self):
+        pose = sapien_utils.look_at(eye=[0.3, 0, 0.4], target=[-0.05, 0, 0.1])
+        return [CameraConfig("base_camera", pose, 128, 128, np.pi / 2, 0.01, 100)]
+
+    @property
+    def _default_human_render_camera_configs(self):
+        pose = sapien_utils.look_at([0.6, 0.7, 0.6], [0.0, 0.0, 0.35])
+        return CameraConfig("render_camera", pose, 512, 512, 1, 0.01, 100)
+
+
+    def _load_scene(self, options: dict):
+        self.cube_half_size = common.to_tensor([0.02] * 3)
+        self.table_scene = TableSceneBuilder(
+            env=self, robot_init_qpos_noise=self.robot_init_qpos_noise
+        )
+        self.table_scene.build()
+        self.cubeA = actors.build_cube(
+            self.scene, half_size=0.02, color=[1, 0, 0, 1], name="cubeA", initial_pose=sapien.Pose(p=[0, 0, 0.2])
+        )
+        self.cubeB = actors.build_cube(
+            self.scene, half_size=0.02, color=[0, 1, 0, 1], name="cubeB", initial_pose=sapien.Pose(p=[1, 0, 0.2])
+        )
+        self.cubeC = actors.build_cube(
+            self.scene, half_size=0.02, color=[0, 0, 1, 1], name="cubeC", initial_pose=sapien.Pose(p=[-1, 0, 0.2])
+        )
+
+    def _initialize_episode(self, env_idx: torch.Tensor, options: dict):
+        with torch.device(self.device):
+            b = len(env_idx)
+            self.table_scene.initialize(env_idx)
+
+            xyz = torch.zeros((b, 3), device=self.device)
+            xyz[:, 2] = 0.02
+            xy = xyz[:, :2]
+            region = [[-0.1, -0.2], [0.1, 0.2]]
+            sampler = randomization.UniformPlacementSampler(bounds=region, batch_size=b, device=self.device)
+            radius = torch.linalg.norm(torch.tensor([0.02, 0.02]))
+            cubeA_xy = xy + sampler.sample(radius, 100)
+            cubeB_xy = xy + sampler.sample(radius, 100, verbose=False)
+            cubeC_xy = xy + sampler.sample(radius, 100, verbose=False)
+
+            # Cube A
+            xyz[:, :2] = cubeA_xy
+            
+            qs = randomization.random_quaternions(
+                b,
+                lock_x=True,
+                lock_y=True,
+                lock_z=False,
+            )
+
+            self.cubeA.set_pose(Pose.create_from_pq(p=xyz.clone(), q=qs))
+
+            # Cube B
+            xyz[:, :2] = cubeB_xy
+            qs = randomization.random_quaternions(
+                b,
+                lock_x=True,
+                lock_y=True,
+                lock_z=False,
+            )
+            self.cubeB.set_pose(Pose.create_from_pq(p=xyz.clone(), q=qs))
+            
+            # Cube C
+            xyz[:, :2] = cubeC_xy
+            qs = randomization.random_quaternions(
+                b,
+                lock_x=True,
+                lock_y=True,
+                lock_z=False,
+            )
+            self.cubeC.set_pose(Pose.create_from_pq(p=xyz, q=qs))
+
+    def evaluate(self):
+        pos_A = self.cubeA.pose.p
+        pos_B = self.cubeB.pose.p
+        pos_C = self.cubeC.pose.p
+
+        offset_AB = pos_A - pos_B
+        offset_BC = pos_B - pos_C
+        offset_AC = pos_A - pos_C
+
+        def evaluate_cube_distance(offset, cube_a, cube_b, top_or_next):
+            xy_flag = (torch.linalg.norm(offset[..., :2], axis=1) 
+                       <= torch.linalg.norm(2*self.cube_half_size[:2]) 
+                       + 0.005
+                       )
+            z_flag = torch.abs(offset[..., 2]) > 0.02
+            if top_or_next == "top":
+                is_cubeA_on_cubeB = torch.logical_and(xy_flag, z_flag)
+            elif top_or_next == "next_to":
+                is_cubeA_on_cubeB = xy_flag
+            else:
+                return NotImplementedError(f"Expect top_or_next to be either 'top' or 'next_to', got {top_or_next}")
+            
+            is_cubeA_static = cube_a.is_static(lin_thresh=1e-2, ang_thresh=0.5)
+            is_cubeA_grasped = self.agent.is_grasping(cube_a)
+
+            success = is_cubeA_on_cubeB & is_cubeA_static & (~is_cubeA_grasped)            
+            return success.bool()
+
+        success_A_B = evaluate_cube_distance(offset_AB, self.cubeA, self.cubeB, "next_to")
+        success_C_B = evaluate_cube_distance(offset_BC, self.cubeC, self.cubeB, "top")
+        success_C_A = evaluate_cube_distance(offset_AC, self.cubeC, self.cubeA, "top")
+        success = torch.logical_and(success_A_B, torch.logical_and(success_C_B, success_C_A))
+        return {
+            "success": success,
+        }
+
+    def _get_obs_extra(self, info: Dict):
+        obs = dict(tcp_pose=self.agent.tcp.pose.raw_pose)
+        if "state" in self.obs_mode:
+            obs.update(
+                cubeA_pose=self.cubeA.pose.raw_pose,
+                cubeB_pose=self.cubeB.pose.raw_pose,
+                cubeC_pose=self.cubeC.pose.raw_pose,
+                tcp_to_cubeA_pos=self.cubeA.pose.p - self.agent.tcp.pose.p,
+                tcp_to_cubeB_pos=self.cubeB.pose.p - self.agent.tcp.pose.p,
+                tcp_to_cubeC_pos=self.cubeC.pose.p - self.agent.tcp.pose.p,
+                cubeA_to_cubeB_pos=self.cubeB.pose.p - self.cubeA.pose.p,
+                cubeB_to_cubeC_pos=self.cubeC.pose.p - self.cubeB.pose.p,
+                cubeA_to_cubeC_pos=self.cubeC.pose.p - self.cubeA.pose.p,
+            )
+        return obs
+    

mani_skill/examples/motionplanning/panda/run.py

@@ -9,7 +9,7 @@ from tqdm import tqdm
 import os.path as osp
 from mani_skill.utils.wrappers.record import RecordEpisode
 from mani_skill.trajectory.merge_trajectory import merge_trajectories
-from mani_skill.examples.motionplanning.panda.solutions import solvePushCube, solvePickCube, solveStackCube, solvePegInsertionSide, solvePlugCharger, solvePullCubeTool, solveLiftPegUpright, solvePullCube, solveDrawTriangle, solveDrawSVG, solvePlaceSphere
+from mani_skill.examples.motionplanning.panda.solutions import solvePushCube, solvePickCube, solveStackCube, solvePegInsertionSide, solvePlugCharger, solvePullCubeTool, solveLiftPegUpright, solvePullCube, solveDrawTriangle, solveDrawSVG, solvePlaceSphere, solveStackPyramid
 MP_SOLUTIONS = {
     "DrawTriangle-v1": solveDrawTriangle,
     "PickCube-v1": solvePickCube,
@@ -21,7 +21,8 @@ MP_SOLUTIONS = {
     "PullCubeTool-v1": solvePullCubeTool,
     "LiftPegUpright-v1": solveLiftPegUpright,
     "PullCube-v1": solvePullCube,
-    "DrawSVG-v1" : solveDrawSVG
+    "DrawSVG-v1" : solveDrawSVG,
+    "StackPyramid-v1": solveStackPyramid,
 }
 def parse_args(args=None):
     parser = argparse.ArgumentParser()

mani_skill/examples/motionplanning/panda/solutions/__init__.py

@@ -8,4 +8,5 @@ from .pull_cube_tool import solve as solvePullCubeTool
 from .lift_peg_upright import solve as solveLiftPegUpright
 from .pull_cube import solve as solvePullCube
 from .draw_svg import solve as solveDrawSVG
-from .draw_triangle import solve as solveDrawTriangle
+from .draw_triangle import solve as solveDrawTriangle
+from .stack_pyramid import solve as solveStackPyramid

mani_skill/examples/motionplanning/panda/solutions/stack_pyramid.py

@@ -0,0 +1,135 @@
+import argparse
+import gymnasium as gym
+import numpy as np
+import sapien
+from transforms3d.euler import euler2quat
+
+from mani_skill.envs.tasks import StackPyramidEnv
+from mani_skill.examples.motionplanning.panda.motionplanner import \
+    PandaArmMotionPlanningSolver
+from mani_skill.examples.motionplanning.panda.utils import (
+    compute_grasp_info_by_obb, get_actor_obb)
+from mani_skill.utils.wrappers.record import RecordEpisode
+from mani_skill.utils.structs import Pose
+
+def solve(env: StackPyramidEnv, seed=None, debug=False, vis=False):
+    env.reset(seed=seed)
+    assert env.unwrapped.control_mode in [
+        "pd_joint_pos",
+        "pd_joint_pos_vel",
+    ], env.unwrapped.control_mode
+    planner = PandaArmMotionPlanningSolver(
+        env,
+        debug=debug,
+        vis=vis,
+        base_pose=env.unwrapped.agent.robot.pose,
+        visualize_target_grasp_pose=vis,
+        print_env_info=False,
+    )
+    FINGER_LENGTH = 0.025
+    env = env.unwrapped
+
+    moving_cube = env.cubeA
+    target_cube = env.cubeB
+
+
+    # -------------------------------------------------------------------------- #
+    # Move the specified cube to be next to the other cube
+    # -------------------------------------------------------------------------- #
+    # Move Gripper to the specified cube
+    obb = get_actor_obb(moving_cube)
+    approaching = np.array([0, 0, -1])
+    target_closing = env.agent.tcp.pose.to_transformation_matrix()[0, :3, 1].cpu().numpy()
+    grasp_info = compute_grasp_info_by_obb(
+        obb,
+        approaching=approaching,
+        target_closing=target_closing,
+        depth=FINGER_LENGTH,
+    )
+    closing, center = grasp_info["closing"], grasp_info["center"]
+    distance = np.linalg.norm(moving_cube.pose.sp.p - target_cube.pose.sp.p)  
+
+    need_move_a_b = (distance > 0.07)
+    if need_move_a_b:
+        planner.close_gripper()
+        grasp_pose = env.agent.build_grasp_pose(approaching, closing, moving_cube.pose.sp.p)
+
+        # Reach
+        reach_pose = grasp_pose * sapien.Pose([0, 0, -0.05])
+        planner.move_to_pose_with_screw(reach_pose)
+
+        # Grasp
+        planner.move_to_pose_with_screw(grasp_pose)
+        planner.close_gripper()
+
+        # Move to Goal Pose
+        goal_pose = sapien.Pose(target_cube.pose.sp.p * 0.8, grasp_pose.q)
+        planner.move_to_pose_with_screw(goal_pose)
+
+    # -------------------------------------------------------------------------- #
+    # Stack Cube C onto Cube A and B
+    # -------------------------------------------------------------------------- #
+
+    obb = get_actor_obb(env.cubeC)
+    target_closing = env.agent.tcp.pose.to_transformation_matrix()[0, :3, 1].cpu().numpy()
+    grasp_info = compute_grasp_info_by_obb(
+        obb,
+        approaching=approaching,
+        target_closing=target_closing,
+        depth=FINGER_LENGTH,
+    )
+    closing, center = grasp_info["closing"], grasp_info["center"]
+    grasp_pose = env.agent.build_grasp_pose(approaching, closing, center)
+
+    # Search a valid pose
+    angles = np.arange(0, np.pi * 2 / 3, np.pi / 2)
+    angles = np.repeat(angles, 2)
+    angles[1::2] *= -1
+    for angle in angles:
+        delta_pose = sapien.Pose(q=euler2quat(0, 0, angle))
+        grasp_pose2 = grasp_pose * delta_pose
+        res = planner.move_to_pose_with_screw(grasp_pose2, dry_run=True)
+        if res == -1:
+            continue
+        grasp_pose = grasp_pose2
+        break
+    else:
+        print("Fail to find a valid grasp pose")
+
+    # -------------------------------------------------------------------------- #
+    # Reach
+    # -------------------------------------------------------------------------- #
+
+    # planner.planner.update_attached_box([0.04, 0.04, 0.04], Pose.create(env.cubeB.pose).raw_pose.numpy().astype(np.float64).reshape(7,1))
+
+    reach_pose = grasp_pose * sapien.Pose([0, 0, -0.05])
+    planner.move_to_pose_with_screw(reach_pose)
+    if need_move_a_b:
+         planner.open_gripper()
+
+    # -------------------------------------------------------------------------- #
+    # Grasp
+    # -------------------------------------------------------------------------- #
+    planner.move_to_pose_with_screw(grasp_pose)
+    planner.close_gripper()
+
+    # -------------------------------------------------------------------------- #
+    # Lift
+    # -------------------------------------------------------------------------- #
+    lift_pose = sapien.Pose([0, 0, 0.1]) * grasp_pose
+    planner.move_to_pose_with_screw(lift_pose)
+
+    # -------------------------------------------------------------------------- #
+    # Stack
+    # -------------------------------------------------------------------------- #
+    goal_pose_A = env.cubeA.pose * sapien.Pose([0, 0, env.cube_half_size[2] * 2])
+    goal_pose_B = env.cubeB.pose * sapien.Pose([0, 0, env.cube_half_size[2] * 2])
+    goal_pose_p = (goal_pose_A.p + goal_pose_B.p)/2
+    offset = (goal_pose_p - env.cubeC.pose.p).cpu().numpy()[0] # remember that all data in ManiSkill is batched and a torch tensor
+    align_pose = sapien.Pose(lift_pose.p + offset, lift_pose.q)
+    planner.move_to_pose_with_screw(align_pose)
+
+    res = planner.open_gripper()
+    planner.close()
+    return res
+

mani_skill/utils/structs/articulation_joint.py

@@ -103,6 +103,20 @@ class ArticulationJoint(BaseStruct[physx.PhysxArticulationJoint]):
         else:
             return torch.tensor([self._physx_articulations[0].qpos[self.active_index]])
 
+    @qpos.setter
+    def qpos(self, arg1: torch.Tensor):
+        if self.scene.gpu_sim_enabled:
+            arg1 = common.to_tensor(arg1, device=self.device)
+            self.px.cuda_articulation_qpos.torch()[
+                self._data_index[self.scene._reset_mask[self._scene_idxs]],
+                self.active_index,
+            ] = arg1
+        else:
+            arg1 = common.to_numpy(arg1)
+            new_qpos = self.articulation._objs[0].qpos
+            new_qpos[self.active_index] = arg1
+            self.articulation._objs[0].qpos = new_qpos
+
     @property
     def qvel(self):
         """

{mani_skill_nightly-2025.6.28.2124.dist-info → mani_skill_nightly-2025.7.3.1807.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.6.28.2124
+Version: 2025.7.3.1807
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.6.28.2124.dist-info → mani_skill_nightly-2025.7.3.1807.dist-info}/RECORD

@@ -604,7 +604,7 @@ mani_skill/envs/tasks/mobile_manipulation/robocasa/kitchen.py,sha256=fXLoTIDgk-0
 mani_skill/envs/tasks/quadruped/__init__.py,sha256=_AHS3H9Cj2XT7--5jwW1NMmVWbZxRpdGDNXudT6OrZM,92
 mani_skill/envs/tasks/quadruped/quadruped_reach.py,sha256=IggZpOlncVy-runqcX9PmD6a04JKj13tzpft63mWdQE,7355
 mani_skill/envs/tasks/quadruped/quadruped_spin.py,sha256=F9HmJtZeLNpuFg3-VyO7Qdz8dBsJmCfiH0076npq4is,5205
-mani_skill/envs/tasks/tabletop/__init__.py,sha256=00b9rWhKSBoJqbSe2hiahJmYS-3qbh1QgPFks1MIJVQ,748
+mani_skill/envs/tasks/tabletop/__init__.py,sha256=DJmoG6Z19yXPuLUv2mZ8UqgsMVethY_pzYspc4veRMw,791
 mani_skill/envs/tasks/tabletop/assembling_kits.py,sha256=piXxTybVKrRr92VqIFIQsbra4Q3njRxBTmOGvsribHI,11933
 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
@@ -621,6 +621,7 @@ mani_skill/envs/tasks/tabletop/push_cube.py,sha256=WZ4k89f8inbwbomYtJAxodQDcGUYh
 mani_skill/envs/tasks/tabletop/push_t.py,sha256=MpANhMe6ay5Qhsipe2G1Wy-LSJqrgeOyH3M8fZW_L2c,23522
 mani_skill/envs/tasks/tabletop/roll_ball.py,sha256=OujblvDphjdQBzQiCUnm_gXFwGLubpr40VT7daCWlDo,6760
 mani_skill/envs/tasks/tabletop/stack_cube.py,sha256=_3auYI95uj6hMzTmHMty8pFmD5RhiVxw48MPg5BpREA,7459
+mani_skill/envs/tasks/tabletop/stack_pyramid.py,sha256=erfYC1fOMYW18kP44PHt0-L6ysb63r7IALb-qCmAu7w,7224
 mani_skill/envs/tasks/tabletop/turn_faucet.py,sha256=g4UQ0DQGVxEdan2jW5vX-QSsTDhoKpdQMhXP7WqVMJo,9275
 mani_skill/envs/tasks/tabletop/two_robot_pick_cube.py,sha256=osuA6BFne2UkgIp8sw7JMh_83y_Ray7e30iNNJDHib0,10101
 mani_skill/envs/tasks/tabletop/two_robot_stack_cube.py,sha256=lXkdS4zRE9KA4jzr9mN_Tytq24pg5WD2YlYcsvDlr4I,11973
@@ -668,9 +669,9 @@ mani_skill/examples/motionplanning/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQe
 mani_skill/examples/motionplanning/panda/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/examples/motionplanning/panda/motionplanner.py,sha256=2GT2K2tXI9QVyhE1hOapr34vyCPRtBdOVm_MFH_OnGE,10314
 mani_skill/examples/motionplanning/panda/motionplanner_stick.py,sha256=o4qwJLL7rLFsPAu856UtbtBOu8nlKJo3SLI_bFcGzUM,6148
-mani_skill/examples/motionplanning/panda/run.py,sha256=nKBWnMFtx-5lTSKgY4prBUQqKT9qrHdKrFKfRWsoO6k,7376
+mani_skill/examples/motionplanning/panda/run.py,sha256=PM0p424MfA-wVcvXJWKlnITKGYNI_FC3CBZjIiCX37U,7438
 mani_skill/examples/motionplanning/panda/utils.py,sha256=ueS0b4-gX9lnsvqet361tEi8S5cv4Liq71BWN-feEZU,3058
-mani_skill/examples/motionplanning/panda/solutions/__init__.py,sha256=s3nWFWEDrfBU6wR9bjgzVEAExPv8KQ-SibtJmb_VhVs,564
+mani_skill/examples/motionplanning/panda/solutions/__init__.py,sha256=a3Pglv99wemA-TjqHGMV2FBEJnhJMEt8OTniwzeAO5c,618
 mani_skill/examples/motionplanning/panda/solutions/draw_svg.py,sha256=MF-THj9aAXefc6wpRJ44nk5Y_sF2P0PdWXKQhlR_pOE,1049
 mani_skill/examples/motionplanning/panda/solutions/draw_triangle.py,sha256=CeRhTdPep6vgVix6SfOEBx8DRDS9Kmpo3zALEg7sK7Q,1937
 mani_skill/examples/motionplanning/panda/solutions/lift_peg_upright.py,sha256=-wQ5DpT7dMffOgOkpboUNYg4odq-NuQgGUzJ0LWNIUg,3616
@@ -682,6 +683,7 @@ mani_skill/examples/motionplanning/panda/solutions/pull_cube.py,sha256=rQkvCRYjV
 mani_skill/examples/motionplanning/panda/solutions/pull_cube_tool.py,sha256=g6adx921V2SOVYYFlh_gLwV5I0tnz70qCLm81oA6YhA,3609
 mani_skill/examples/motionplanning/panda/solutions/push_cube.py,sha256=EynyseBJ_njMP74o9gVxqWOOqoC5j1rBc4XQzFug9EQ,1113
 mani_skill/examples/motionplanning/panda/solutions/stack_cube.py,sha256=QIa280jNOJfJqqgbb5WWEBxErFPE7Mv4-_ZL9TCsRos,3280
+mani_skill/examples/motionplanning/panda/solutions/stack_pyramid.py,sha256=s7IWytihZv4IvT2cuhLM0RAWoV1NEEoPKq5-E6ArA6s,5190
 mani_skill/examples/motionplanning/xarm6/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/examples/motionplanning/xarm6/motionplanner.py,sha256=OcJ2OgY09j3kKl7tFa8GcuGGknF999I_bWZGHZF8lps,4751
 mani_skill/examples/motionplanning/xarm6/run.py,sha256=yejnUUasyllXZYWpWD9ksvdjgM8o9TwGVfY24kXQxSI,7053
@@ -800,7 +802,7 @@ mani_skill/utils/structs/README.md,sha256=qnYKimp_ZkgNcduURrYQxVTimNmq_usDMKoQ8V
 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=7SPlcgISUHu3xQCMEeTiJFJ_UsDmCS0rORw6qpgt0Yc,36376
-mani_skill/utils/structs/articulation_joint.py,sha256=TY6joQ0RpnVlHbQHdtx_QQYqTWgFHLiZ642SSWZUuTw,11736
+mani_skill/utils/structs/articulation_joint.py,sha256=BqVtabg0pCPUqZ7T0uCBTZVBiVfYneCUHT3Ihozg9kw,12291
 mani_skill/utils/structs/base.py,sha256=meGQK5Y4KtHKLnp9VeOZS2gtwg9tE55whuEeqOguBaI,19465
 mani_skill/utils/structs/decorators.py,sha256=Lv6wQ989dOnreo2tB-qopDnkeBp_jsn1pmfUR-OY8VQ,535
 mani_skill/utils/structs/drive.py,sha256=UPQDkGbXS-CMRsZ1MHCb9s1vfAo5nqsywF83wKBVzSY,7505
@@ -825,8 +827,8 @@ mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJ
 mani_skill/vector/wrappers/gymnasium.py,sha256=aNPB-2oGDLep8qzdsuTSIlwGGO0OGQAQ193LefOGoTk,7434
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
 mani_skill/viewer/__init__.py,sha256=srvDBsk4LQU75K2VIttrhiQ68p_ro7PSDqQRls2PY5c,1722
-mani_skill_nightly-2025.6.28.2124.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.6.28.2124.dist-info/METADATA,sha256=0QTuTb7HR5inib2hW2OYYBETNZ_Y7ogG9F7OA2DO0yo,9272
-mani_skill_nightly-2025.6.28.2124.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.6.28.2124.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.6.28.2124.dist-info/RECORD,,
+mani_skill_nightly-2025.7.3.1807.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.7.3.1807.dist-info/METADATA,sha256=j_NP5FDnNPSyTk4PgnTPDowmlRgC46ZzkoOJ51hYxKQ,9271
+mani_skill_nightly-2025.7.3.1807.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.7.3.1807.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.7.3.1807.dist-info/RECORD,,