mani-skill-nightly 2025.7.3.1807__py3-none-any.whl → 2025.7.11.339__py3-none-any.whl

mani_skill/utils/download_demo.py

@@ -38,6 +38,7 @@ for env_id in [
     "PushT-v1",
     "RollBall-v1",
     "StackCube-v1",
+    "StackPyramid-v1",
     "TwoRobotPickCube-v1",
     "TwoRobotStackCube-v1",
 ]:

mani_skill/utils/geometry/rotation_conversions.py

@@ -291,10 +291,13 @@ def matrix_to_euler_angles(matrix: torch.Tensor, convention: str) -> torch.Tenso
     tait_bryan = i0 != i2
     if tait_bryan:
         central_angle = torch.asin(
-            matrix[..., i0, i2] * (-1.0 if i0 - i2 in [-1, 2] else 1.0)
+            torch.clamp(matrix[..., i0, i2], -1.0 + 1e-8, 1.0 - 1e-8)
+            * (-1.0 if i0 - i2 in [-1, 2] else 1.0)
         )
     else:
-        central_angle = torch.acos(matrix[..., i0, i0])
+        central_angle = torch.acos(
+            torch.clamp(matrix[..., i0, i0], -1.0 + 1e-8, 1.0 - 1e-8)
+        )
 
     o = (
         _angle_from_tan(

mani_skill/utils/structs/articulation.py

@@ -862,7 +862,9 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
         if self.scene.gpu_sim_enabled:
             targets = common.to_tensor(targets, device=self.device)
             gx, gy = self.get_joint_target_indices(joint_indices)
-            self.px.cuda_articulation_target_qpos.torch()[gx, gy] = targets
+            self.px.cuda_articulation_target_qpos.torch()[
+                gx[self.scene._reset_mask], gy[self.scene._reset_mask]
+            ] = targets
         else:
             for i, joint in enumerate(joints):
                 joint.set_drive_target(targets[0, i])

mani_skill/utils/structs/articulation_joint.py

@@ -251,9 +251,10 @@ class ArticulationJoint(BaseStruct[physx.PhysxArticulationJoint]):
     def drive_target(self, arg1: Array) -> None:
         arg1 = common.to_tensor(arg1, device=self.device)
         if self.scene.gpu_sim_enabled:
-            raise NotImplementedError(
-                "Setting drive targets of individual joints is not implemented yet."
-            )
+            self.articulation.px.cuda_articulation_target_qpos[
+                self._data_index[self.scene._reset_mask[self._scene_idxs]],
+                self.active_index,
+            ] = arg1
         else:
             if arg1.shape == ():
                 arg1 = arg1.reshape(

{mani_skill_nightly-2025.7.3.1807.dist-info → mani_skill_nightly-2025.7.11.339.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.7.3.1807
+Version: 2025.7.11.339
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.7.3.1807.dist-info → mani_skill_nightly-2025.7.11.339.dist-info}/RECORD

@@ -713,7 +713,7 @@ mani_skill/utils/README.md,sha256=A2UG1u5-4LLi-Fkc4lCcEBjSHwxY0xst2Xtvyw4q-0c,15
 mani_skill/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/utils/common.py,sha256=PYzgQRpTFnqKj2brD0mfGuOICLPsruEDXqs9D7u8Trg,13118
 mani_skill/utils/download_asset.py,sha256=vP7dsho4Fc-b-Ydm9vj6opFmORa-2Svd69w1izuk5go,8060
-mani_skill/utils/download_demo.py,sha256=zXrRYh--Yfkj9DC85Fco_8bfIcLlzTQSksMO4q1pO78,4444
+mani_skill/utils/download_demo.py,sha256=ndnnc1TfyuLVb-odrA50HvuZemXZf-zZlqyFTinx-mA,4467
 mani_skill/utils/gym_utils.py,sha256=rAYNyxJtF1bSghi_EDPlqgnYZQwG0RklobgaPztSEvw,5922
 mani_skill/utils/io_utils.py,sha256=VJ93qoHxzFWIljAp9043pJqETmEGmxzt_DoYtE5Hd_I,1615
 mani_skill/utils/logging_utils.py,sha256=Iomnw2VrJ56A6kvyIm9Zhgp94Qf-WOf9WuMAGNB-2fc,1765
@@ -743,7 +743,7 @@ mani_skill/utils/building/assets/grid_texture_thin.png,sha256=f9L0Avi7C_kF3WvLcw
 mani_skill/utils/geometry/__init__.py,sha256=0xcx-AqaRks_a2D-klRPfvV9CjSri_uI1ZqvbTc3Kgo,24
 mani_skill/utils/geometry/bounding_cylinder.py,sha256=XO2vNVPl_JSceqpMPj0hH5L1SlVQFUZFQrRDy9rMOkI,4761
 mani_skill/utils/geometry/geometry.py,sha256=6hvxNDVLNBV5yBzHxam7hjEI2PVGvp67gFr-7QN4JXM,6419
-mani_skill/utils/geometry/rotation_conversions.py,sha256=U7z7jtEX3m1SIERxK2RzXuXL9AWlZOX2wJipkDIjwEk,20563
+mani_skill/utils/geometry/rotation_conversions.py,sha256=GmivoJ3pmXCVRDPvZRxel-RP1G_rsLLRbFYa2VTHfu8,20673
 mani_skill/utils/geometry/trimesh_utils.py,sha256=JruFftu0YPMut4Ig3ucv7lq_29dhKf1FH8Brc2nYY08,4558
 mani_skill/utils/scene_builder/__init__.py,sha256=9jJXXQYBuYPabZ_GTIskD41_JX33R5ZT8jiaQOEEf0c,40
 mani_skill/utils/scene_builder/registration.py,sha256=jz0CODY0myH0t1PHKwUuuGoed9dngq0l_8QPcs5Mp1Q,1508
@@ -801,8 +801,8 @@ 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=7SPlcgISUHu3xQCMEeTiJFJ_UsDmCS0rORw6qpgt0Yc,36376
-mani_skill/utils/structs/articulation_joint.py,sha256=BqVtabg0pCPUqZ7T0uCBTZVBiVfYneCUHT3Ihozg9kw,12291
+mani_skill/utils/structs/articulation.py,sha256=4GKzXWG4y21jSyMIkdlYgRuHENXyimXu2M-_u51JxoA,36454
+mani_skill/utils/structs/articulation_joint.py,sha256=gF39AvjbsMOLaFP2gkU_rhRW3G9HWXG6jevHzkIU2oo,12349
 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
@@ -827,8 +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-2025.7.3.1807.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,,
+mani_skill_nightly-2025.7.11.339.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.7.11.339.dist-info/METADATA,sha256=BPCd5GWbITO87BSSOX2IQWTKf6W-xCluLEdJi73F2DA,9271
+mani_skill_nightly-2025.7.11.339.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.7.11.339.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.7.11.339.dist-info/RECORD,,