mani-skill-nightly 2025.9.14.2354__py3-none-any.whl → 2025.9.19.39__py3-none-any.whl

mani_skill/utils/structs/articulation_joint.py

@@ -317,7 +317,7 @@ class ArticulationJoint(BaseStruct[physx.PhysxArticulationJoint]):
 
     @property
     def global_pose(self) -> Pose:
-        return self.pose_in_child * self.child_link.pose
+        return self.child_link.pose * self.pose_in_child
 
     @property
     def limits(self) -> torch.Tensor:

mani_skill/utils/tree.py

@@ -22,3 +22,14 @@ def replace(x, i, y):
             replace(v, i, y[k])
     else:
         x[i] = y
+
+def shape(x, first_only=False):
+    """
+    Get the shape of leaf items in a tree. If first_only is True, return the shape of the first item only
+    """
+    if isinstance(x, dict):
+        if first_only:
+            return shape(next(iter(x.values())), first_only)
+        return {k: shape(v, first_only) for k, v in x.items()}
+    else:
+        return x.shape

mani_skill/utils/wrappers/cached_reset.py

@@ -58,7 +58,7 @@ class CachedResetWrapper(gym.Wrapper):
         if reset_to_env_states is not None:
             self._cached_resets_env_states = reset_to_env_states["env_states"]
             self._cached_resets_obs_buffer = reset_to_env_states.get("obs", None)
-            self._num_cached_resets = len(self._cached_resets_env_states)
+            self._num_cached_resets = tree.shape(self._cached_resets_env_states)
         else:
             if self.cached_resets_config.num_resets is None:
                 self.cached_resets_config.num_resets = self.num_envs

{mani_skill_nightly-2025.9.14.2354.dist-info → mani_skill_nightly-2025.9.19.39.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.9.14.2354
+Version: 2025.9.19.39
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.9.14.2354.dist-info → mani_skill_nightly-2025.9.19.39.dist-info}/RECORD

@@ -727,7 +727,7 @@ mani_skill/utils/io_utils.py,sha256=VJ93qoHxzFWIljAp9043pJqETmEGmxzt_DoYtE5Hd_I,
 mani_skill/utils/logging_utils.py,sha256=Iomnw2VrJ56A6kvyIm9Zhgp94Qf-WOf9WuMAGNB-2fc,1765
 mani_skill/utils/registration.py,sha256=u8ftfGvQP4qzlKNqLQjGi3cRF_-h6Rz-28xbLkW_YJ4,9718
 mani_skill/utils/sapien_utils.py,sha256=bUo4jFvWbxjJxXY-cjcR7Q2ZAhAcArlPaElYI2f3RUI,18025
-mani_skill/utils/tree.py,sha256=jFyqCqVkarR6AaTDissVo33nOfbPfkZp8CsqEQmCV9Q,515
+mani_skill/utils/tree.py,sha256=-nXdhwa9zI0dnaOoKmshcPXuM_S-9ZhhoU1GWb1h_p8,877
 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=xEuibRoEPBDN_vEU-MM5UWf6VDb1omE6BfZKPvlMPdI,8807
@@ -812,7 +812,7 @@ 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=gmjIxscXwZh4yhPAHzUslnIzkZ2daW8b3yV_sVUaQoA,38491
-mani_skill/utils/structs/articulation_joint.py,sha256=xDQkCAXM3XZ56YgFqLwH5Ec8aFqhR5BqMSvDYCS0bzw,12972
+mani_skill/utils/structs/articulation_joint.py,sha256=MPPcThaKAvEQm62ci2okN8CgSOYjxERsa1zjea-3YKo,12972
 mani_skill/utils/structs/base.py,sha256=R3L8s3acMUmzQTeP5iYISHp3CXVeJFg1Nml8wF0Zm40,18526
 mani_skill/utils/structs/decorators.py,sha256=Lv6wQ989dOnreo2tB-qopDnkeBp_jsn1pmfUR-OY8VQ,535
 mani_skill/utils/structs/drive.py,sha256=UPQDkGbXS-CMRsZ1MHCb9s1vfAo5nqsywF83wKBVzSY,7505
@@ -827,7 +827,7 @@ mani_skill/utils/visualization/misc.py,sha256=KrDCef7F5GmGOdiBQ4qFUnmUTe-7-nNBz2
 mani_skill/utils/visualization/renderer.py,sha256=afFWwSQEeL-9c5CsBT1uug-zugGjOr1FDzmvd45-9dk,1646
 mani_skill/utils/wrappers/__init__.py,sha256=QfSTw9RNtQEtEAzD1RLx0WXjNjIS7wVM2IIkSkLT6Xw,321
 mani_skill/utils/wrappers/action_repeat.py,sha256=RhCtzt3fYCtD-CClIOhAzdycGwVTXP_FG61yEf-QLqY,3542
-mani_skill/utils/wrappers/cached_reset.py,sha256=QxdlXpsHPx-EbjSSd1yz7bHjD4cVtfCgKLEaTy8Svg4,6318
+mani_skill/utils/wrappers/cached_reset.py,sha256=osTMFsYlpCzY-OJWjWFSAfUZrZpR8HsKsE4oRWulu8k,6325
 mani_skill/utils/wrappers/flatten.py,sha256=GuHJ3fCOdj9G_jm--XgG8k0p2G1eJx4LY1tesQQjnkg,4913
 mani_skill/utils/wrappers/frame_stack.py,sha256=pCp83HqXnFxbsKRYgwXreNBHnhD-yF0R2_7jdtGOTWQ,4213
 mani_skill/utils/wrappers/gymnasium.py,sha256=p0kl29kkedD2arIvGskClKhYDBAH97mZO4rTepz62jQ,4174
@@ -837,9 +837,9 @@ 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-2025.9.14.2354.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.9.14.2354.dist-info/LICENSE-3RD-PARTY,sha256=yXvoAIyaRY7VDFhXV4Ea_Dmd_-IR59yyUy0Scz7eXzY,1604
-mani_skill_nightly-2025.9.14.2354.dist-info/METADATA,sha256=i5kh0Zcu731o-BvO8wmNDUJYXiS6F9bcL2SD2dd46BI,9348
-mani_skill_nightly-2025.9.14.2354.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.9.14.2354.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.9.14.2354.dist-info/RECORD,,
+mani_skill_nightly-2025.9.19.39.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.9.19.39.dist-info/LICENSE-3RD-PARTY,sha256=yXvoAIyaRY7VDFhXV4Ea_Dmd_-IR59yyUy0Scz7eXzY,1604
+mani_skill_nightly-2025.9.19.39.dist-info/METADATA,sha256=VoHr9KJi-u9B2yNjoIDwxVK_3bjhPE7TAk4P1DX9n3M,9346
+mani_skill_nightly-2025.9.19.39.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.9.19.39.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.9.19.39.dist-info/RECORD,,