mani-skill-nightly 2025.7.8.44__py3-none-any.whl → 2025.7.16.652__py3-none-any.whl

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

@@ -3,7 +3,7 @@ from __future__ import annotations
 from collections import defaultdict
 from dataclasses import dataclass, field
 from functools import cached_property
-from typing import TYPE_CHECKING, Dict, List, Tuple, Union
+from typing import TYPE_CHECKING, Dict, List, Optional, Tuple, Union
 
 import numpy as np
 import sapien
@@ -496,10 +496,30 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
         """
         return self.get_net_contact_impulses(link_names) / self.scene.timestep
 
-    def get_joint_target_indices(self, joint_indices):
+    def get_joint_target_indices(
+        self, joint_indices: Union[Array, List[int], List[ArticulationJoint]]
+    ):
+        """
+        Gets the meshgrid indexes for indexing px.cuda_articulation_target_* values given a 1D list of joint indexes or a 1D list of ArticulationJoint objects.
+
+        Internally the given input is made to a tuple for a cache key and is used to cache results for fast lookup in the future, particularly for large-scale GPU simulations.
+        """
+        if isinstance(joint_indices, list):
+            joint_indices = tuple(joint_indices)
         if joint_indices not in self._cached_joint_target_indices:
+            vals = joint_indices
+            if isinstance(joint_indices[0], ArticulationJoint):
+                for joint in joint_indices:
+                    assert (
+                        joint.articulation == self
+                    ), "Can only fetch this articulation's joint_target_indices when provided joints from this articulation"
+                vals = [
+                    x.active_index[0] for x in joint_indices
+                ]  # active_index on joint is batched but it should be the same value across all managed joint objects
             self._cached_joint_target_indices[joint_indices] = torch.meshgrid(
-                self._data_index, joint_indices, indexing="ij"
+                self._data_index,
+                common.to_tensor(vals, device=self.device),
+                indexing="ij",
             )
         return self._cached_joint_target_indices[joint_indices]
 
@@ -516,7 +536,7 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
         of shape (N, M) where N is the number of environments and M is the number of active joints.
         """
         if self.scene.gpu_sim_enabled:
-            return self.px.cuda_articulation_target_qpos[
+            return self.px.cuda_articulation_target_qpos.torch()[
                 self.get_joint_target_indices(self.active_joints)
             ]
         else:
@@ -529,7 +549,7 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
         of shape (N, M) where N is the number of environments and M is the number of active joints.
         """
         if self.scene.gpu_sim_enabled:
-            return self.px.cuda_articulation_target_qvel[
+            return self.px.cuda_articulation_target_qvel.torch()[
                 self.get_joint_target_indices(self.active_joints)
             ]
         else:
@@ -853,16 +873,23 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
     def set_joint_drive_targets(
         self,
         targets: Array,
-        joints: List[ArticulationJoint] = None,
-        joint_indices: torch.Tensor = None,
+        joints: Optional[List[ArticulationJoint]] = None,
+        joint_indices: Optional[torch.Tensor] = None,
     ):
         """
-        Set drive targets on active joints. Joint indices are required to be given for GPU sim, and joint objects are required for the CPU sim
+        Set drive targets on active joints given joints. For GPU simulation only joint_indices argument is supported, which should be a 1D list of the active joint indices in the articulation.
+
+        joints argument will always be used when possible and is the recommended approach. On CPU simulation the joints argument is required, joint_indices is not supported.
         """
         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
+            if joints is not None:
+                gx, gy = self.get_joint_target_indices(joints)
+            else:
+                gx, gy = self.get_joint_target_indices(joint_indices)
+            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])
@@ -870,15 +897,20 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
     def set_joint_drive_velocity_targets(
         self,
         targets: Array,
-        joints: List[ArticulationJoint] = None,
-        joint_indices: torch.Tensor = None,
+        joints: Optional[List[ArticulationJoint]] = None,
+        joint_indices: Optional[torch.Tensor] = None,
     ):
         """
-        Set drive velocity targets on active joints. Joint indices are required to be given for GPU sim, and joint objects are required for the CPU sim
+        Set drive velocity targets on active joints given joints. For GPU simulation only joint_indices argument is supported, which should be a 1D list of the active joint indices in the articulation.
+
+        joints argument will always be used when possible and is the recommended approach. On CPU simulation the joints argument is required, joint_indices is not supported.
         """
         if self.scene.gpu_sim_enabled:
             targets = common.to_tensor(targets, device=self.device)
-            gx, gy = self.get_joint_target_indices(joint_indices)
+            if joints is not None:
+                gx, gy = self.get_joint_target_indices(joints)
+            else:
+                gx, gy = self.get_joint_target_indices(joint_indices)
             self.px.cuda_articulation_target_qvel.torch()[gx, gy] = targets
         else:
             for i, joint in enumerate(joints):

mani_skill/utils/structs/articulation_joint.py

@@ -240,20 +240,28 @@ class ArticulationJoint(BaseStruct[physx.PhysxArticulationJoint]):
 
     @property
     def drive_target(self) -> torch.Tensor:
+        assert (
+            self.active_index is not None
+        ), "Cannot get drive position targets of inactive joints"
         if self.scene.gpu_sim_enabled:
-            raise NotImplementedError(
-                "Getting drive targets of individual joints is not implemented yet."
-            )
+            return self.articulation.px.cuda_articulation_target_qpos.torch()[
+                self._data_index,
+                self.active_index,
+            ]
         else:
             return torch.from_numpy(self._objs[0].drive_target[None, :])
 
     @drive_target.setter
     def drive_target(self, arg1: Array) -> None:
         arg1 = common.to_tensor(arg1, device=self.device)
+        assert (
+            self.active_index is not None
+        ), "Cannot set drive position targets of inactive joints"
         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.torch()[
+                self._data_index[self.scene._reset_mask[self._scene_idxs]],
+                self.active_index,
+            ] = arg1
         else:
             if arg1.shape == ():
                 arg1 = arg1.reshape(
@@ -263,20 +271,28 @@ class ArticulationJoint(BaseStruct[physx.PhysxArticulationJoint]):
 
     @property
     def drive_velocity_target(self) -> torch.Tensor:
+        assert (
+            self.active_index is not None
+        ), "Cannot get drive velocity targets of inactive joints"
         if self.scene.gpu_sim_enabled:
-            raise NotImplementedError(
-                "Cannot read drive velocity targets at the moment in GPU simulation"
-            )
+            return self.articulation.px.cuda_articulation_target_qvel.torch()[
+                self._data_index,
+                self.active_index,
+            ]
         else:
             return torch.from_numpy(self._objs[0].drive_velocity_target[None, :])
 
     @drive_velocity_target.setter
     def drive_velocity_target(self, arg1: Array) -> None:
         arg1 = common.to_tensor(arg1, device=self.device)
+        assert (
+            self.active_index is not None
+        ), "Cannot set drive velocity targets of inactive joints"
         if self.scene.gpu_sim_enabled:
-            raise NotImplementedError(
-                "Cannot set drive velocity targets at the moment in GPU simulation"
-            )
+            self.articulation.px.cuda_articulation_target_qvel.torch()[
+                self._data_index[self.scene._reset_mask[self._scene_idxs]],
+                self.active_index,
+            ] = arg1
         else:
             if arg1.shape == ():
                 arg1 = arg1.reshape(

mani_skill/utils/structs/link.py

@@ -81,30 +81,23 @@ class Link(PhysxRigidBodyComponentStruct[physx.PhysxArticulationLinkComponent]):
         merged_joint_indexes = []
         merged_active_joint_indexes = []
         articulation_objs = []
-        is_root = links[0].is_root
+        has_one_root_link = any(link.is_root.any() for link in links)
         merged_scene_idxs = []
-        num_objs_per_actor = links[0]._num_objs
         for link in links:
             objs += link._objs
-            assert (
-                link.is_root == is_root
-            ), "all links given to merge must all be root or all not be root links"
             merged_scene_idxs.append(link._scene_idxs)
-            # if link is not root, then there are joints we can merge automatically
-            if not is_root:
+            # if all links are not root links, then there are joints we can merge automatically
+            if not has_one_root_link:
                 joint_objs += link.joint._objs
                 articulation_objs += link.articulation._objs
 
                 merged_active_joint_indexes.append(link.joint.active_index)
                 merged_joint_indexes.append(link.joint.index)
-            assert (
-                link._num_objs == num_objs_per_actor
-            ), "Each given link must have the same number of managed objects"
         merged_scene_idxs = torch.concat(merged_scene_idxs)
         merged_link = Link.create(
             objs, scene=links[0].scene, scene_idxs=merged_scene_idxs
         )
-        if not is_root:
+        if not has_one_root_link:
             merged_active_joint_indexes = torch.concat(merged_active_joint_indexes)
             merged_joint_indexes = torch.concat(merged_joint_indexes)
             merged_joint = ArticulationJoint.create(
@@ -116,9 +109,10 @@ class Link(PhysxRigidBodyComponentStruct[physx.PhysxArticulationLinkComponent]):
                 active_joint_index=merged_active_joint_indexes,
             )
             merged_link.joint = merged_joint
+            if name is not None:
+                merged_joint.name = f"{name}_joints"
             merged_joint.child_link = merged_link
         # remove articulation reference as it does not make sense and is only used to instantiate some properties like the physx system
-        # TODO (stao): akin to the joint merging above, we can also make a view of the articulations of each link. Is it necessary?
         merged_link.articulation = None
         merged_link.name = name
         merged_link.merged = True

{mani_skill_nightly-2025.7.8.44.dist-info → mani_skill_nightly-2025.7.16.652.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.7.8.44
+Version: 2025.7.16.652
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.7.8.44.dist-info → mani_skill_nightly-2025.7.16.652.dist-info}/RECORD

@@ -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
@@ -801,12 +801,12 @@ 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=DfNu3irWZ7LWoMCQAR4t0F8QRnojYhmPBnk2LNYoTtw,38341
+mani_skill/utils/structs/articulation_joint.py,sha256=xDQkCAXM3XZ56YgFqLwH5Ec8aFqhR5BqMSvDYCS0bzw,12972
 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
-mani_skill/utils/structs/link.py,sha256=XOB3b9RSN-XV11Jwlam3e6ca1fJ1cfKdZKg_lLIn1tw,14116
+mani_skill/utils/structs/link.py,sha256=Syq2_PSwmQGj1KOkmRjmDETIus_SR6qXorc2mnsDq38,13792
 mani_skill/utils/structs/pose.py,sha256=76Sjrs-y3f8YhnuqMZNih-NxcnhnfomIbnNW1SWqK6A,11938
 mani_skill/utils/structs/render_camera.py,sha256=cNdi_DMsrHDqO-vHjwEIMVFxVvPHNTmVZe0sCQ1XMbI,12599
 mani_skill/utils/structs/types.py,sha256=eDezQSxtu8IyjIe4k6m8amQn7eYIuP9iLatXbr7FYH8,3810
@@ -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-2025.7.8.44.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.7.8.44.dist-info/METADATA,sha256=Ka9GaBgZrLhZD_YhqrEHuf7aGCrmHRMjf1BPffm9Xug,9269
-mani_skill_nightly-2025.7.8.44.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.7.8.44.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.7.8.44.dist-info/RECORD,,
+mani_skill_nightly-2025.7.16.652.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.7.16.652.dist-info/METADATA,sha256=nQX9LU5x3aBDXUSvbsL8fYUz68hbRwcppNKGRoi3odU,9271
+mani_skill_nightly-2025.7.16.652.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.7.16.652.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.7.16.652.dist-info/RECORD,,