mani-skill-nightly 2025.8.1.229__py3-none-any.whl → 2025.8.1.537__py3-none-any.whl

mani_skill/agents/base_agent.py

@@ -358,7 +358,7 @@ class BaseAgent:
 
         # robot state
         root_link = self.robot.get_links()[0]
-        state["robot_root_pose"] = root_link.get_pose()
+        state["robot_root_pose"] = root_link.pose
         state["robot_root_vel"] = root_link.get_linear_velocity()
         state["robot_root_qvel"] = root_link.get_angular_velocity()
         state["robot_qpos"] = self.robot.get_qpos()

mani_skill/envs/utils/system/backend.py

@@ -43,7 +43,16 @@ render_backend_name_mapping = {
 }
 
 
+def parse_backend_device_id(backend: str) -> tuple[str, int]:
+    if ":" in backend:
+        return backend.split(":")
+    return backend, None
+
+
 def parse_sim_and_render_backend(sim_backend: str, render_backend: str) -> BackendInfo:
+    # Parse sim_backend string to check for CUDA device specification
+    sim_backend, sim_device_id = parse_backend_device_id(sim_backend)
+    render_backend, render_device_id = parse_backend_device_id(render_backend)
     sim_backend = sim_backend_name_mapping[sim_backend]
     render_backend = render_backend_name_mapping.get(render_backend, render_backend)
     if sim_backend == "physx_cpu":
@@ -51,7 +60,11 @@ def parse_sim_and_render_backend(sim_backend: str, render_backend: str) -> Backe
         sim_device = sapien.Device("cpu")
     elif sim_backend == "physx_cuda":
         device = torch.device("cuda")
-        sim_device = sapien.Device("cuda")
+        sim_device = (
+            sapien.Device(f"cuda:{sim_device_id}")
+            if sim_device_id is not None
+            else sapien.Device("cuda")
+        )
     elif sim_backend[:4] == "cuda":
         device = torch.device(sim_backend)
         sim_device = sapien.Device(sim_backend)
@@ -66,7 +79,11 @@ def parse_sim_and_render_backend(sim_backend: str, render_backend: str) -> Backe
                 "Detected MacOS system, forcing render backend to be sapien_cpu and render device to be MacOS compatible."
             )
         elif render_backend == "sapien_cuda":
-            render_device = sapien.Device("cuda")
+            render_device = (
+                sapien.Device(f"cuda:{render_device_id}")
+                if render_device_id is not None
+                else sapien.Device("cuda")
+            )
         elif render_backend == "sapien_cpu":
             render_device = sapien.Device("cpu")
         elif render_backend[:4] == "cuda":

{mani_skill_nightly-2025.8.1.229.dist-info → mani_skill_nightly-2025.8.1.537.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.8.1.229
+Version: 2025.8.1.537
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.8.1.229.dist-info → mani_skill_nightly-2025.8.1.537.dist-info}/RECORD

@@ -1,6 +1,6 @@
 mani_skill/__init__.py,sha256=_wZjMWSlWZYeAAEjiHAHa5W6uq7Eh4fbny8HwlYSJhQ,2101
 mani_skill/agents/__init__.py,sha256=87Xa-eaPbbVm6LmD1111yXSBuRkcoTG0g_5RdkaFiGI,130
-mani_skill/agents/base_agent.py,sha256=pnaE1VWJSpdzlsFPmcG5VVLLX9sWtPnl1ZM3ZIy2kXM,18400
+mani_skill/agents/base_agent.py,sha256=ZcWWkW5E3KbGZ-kV__XeVkRutsjAk_TMlK4ikVkL378,18394
 mani_skill/agents/base_real_agent.py,sha256=DD9SXZa7er5zF7wdm97IO_0W4xbdw-66iLC8j86ykYw,8549
 mani_skill/agents/multi_agent.py,sha256=AFygr2797M5Hhk4qMoLuFmFk7msqnp82bFuSyP1j8JA,3341
 mani_skill/agents/registration.py,sha256=rtu9vAys_Qz76d9LsDFpqanZxaFiLSPZajA3uHF9HHQ,1331
@@ -638,7 +638,7 @@ mani_skill/envs/utils/randomization/samplers.py,sha256=EOkF18mmDC7fA2hgj8QC2Ag0g
 mani_skill/envs/utils/rewards/__init__.py,sha256=66MV5YCbnpF4ac_SvTVJ000RxM1AIsclX7OatiA-Wak,22
 mani_skill/envs/utils/rewards/common.py,sha256=1lfJNWG3x7UjarHLteLXa8DCzbe_L7nYBMOBo5D9CRQ,3647
 mani_skill/envs/utils/system/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mani_skill/envs/utils/system/backend.py,sha256=9xk-ef8779Cj27THXkVM-sxEMQWH8bUrWiwgaf-MKCo,3309
+mani_skill/envs/utils/system/backend.py,sha256=Y4QoJpHseUdOjyXbT-lWfYUOC7iTeXBfLOc2zj9b5Pw,3938
 mani_skill/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/examples/demo_manual_control.py,sha256=Z17ER37oehS8VgtDO_4dwiy5jDgL93nT9IdCsNDf0Es,8275
 mani_skill/examples/demo_manual_control_continuous.py,sha256=tnCnKX2v1iIhtXwvWR2NzXgpf3e0y2-qAO91jJBLIO0,9679
@@ -826,8 +826,8 @@ mani_skill/vector/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU
 mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/vector/wrappers/gymnasium.py,sha256=voHNmYg5Jyy-laMSC2Fd8VggQvhXw3NnfYLbD9QDXAc,7305
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
-mani_skill_nightly-2025.8.1.229.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.8.1.229.dist-info/METADATA,sha256=hvtmxCMssOwGhFzznHugJZwYMCMvtyPz0X-XTYMxFd4,9314
-mani_skill_nightly-2025.8.1.229.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.8.1.229.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.8.1.229.dist-info/RECORD,,
+mani_skill_nightly-2025.8.1.537.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.8.1.537.dist-info/METADATA,sha256=nOhNWNSQfGfN7ttTRYb8HaS0cQdqovTSu3XfZXjICIA,9314
+mani_skill_nightly-2025.8.1.537.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.8.1.537.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.8.1.537.dist-info/RECORD,,