mani-skill-nightly 2025.9.19.39__py3-none-any.whl → 2025.10.6.1617__py3-none-any.whl

mani_skill/utils/structs/actor.py

@@ -362,7 +362,7 @@ class Actor(PhysxRigidDynamicComponentStruct[sapien.Entity]):
                         raw_pose = new_pose
                     return Pose.create(raw_pose)
         else:
-            return Pose.create([obj.pose for obj in self._objs])
+            return Pose.create([obj.pose for obj in self._objs], device=self.device)
 
     @pose.setter
     def pose(self, arg1: Union[Pose, sapien.Pose, Array]) -> None:

mani_skill/utils/structs/base.py

@@ -209,7 +209,8 @@ class PhysxRigidBodyComponentStruct(PhysxRigidBaseComponentStruct[T], Generic[T]
             return self._body_data[self._body_data_index, 10:13]
         else:
             return torch.tensor(
-                np.array([body.angular_velocity for body in self._bodies])
+                np.array([body.angular_velocity for body in self._bodies]),
+                device=self.device
             )
 
     @property
@@ -264,7 +265,7 @@ class PhysxRigidBodyComponentStruct(PhysxRigidBaseComponentStruct[T], Generic[T]
             # for link entities, namely 7:10 was angular velocity and 10:13 was linear velocity. SAPIEN 3.0.0 and above fixes this
             return self._body_data[self._body_data_index, 7:10]
         else:
-            return torch.from_numpy(self._bodies[0].linear_velocity[None, :])
+            return torch.from_numpy(self._bodies[0].linear_velocity[None, :]).to(self.device)
 
     @property
     def mass(self) -> torch.Tensor:
@@ -356,7 +357,7 @@ class PhysxRigidDynamicComponentStruct(PhysxRigidBodyComponentStruct[T], Generic
         if self.scene.gpu_sim_enabled:
             return self._body_data[self._body_data_index, 10:13]
         else:
-            return torch.from_numpy(self._bodies[0].angular_velocity[None, :])
+            return torch.from_numpy(self._bodies[0].angular_velocity[None, :], device=self.device)
 
     @angular_velocity.setter
     def angular_velocity(self, arg1: Array):
@@ -425,7 +426,7 @@ class PhysxRigidDynamicComponentStruct(PhysxRigidBodyComponentStruct[T], Generic
             return self._body_data[self._body_data_index, 7:10]
         else:
             return torch.tensor(
-                np.array([body.linear_velocity for body in self._bodies])
+                np.array([body.linear_velocity for body in self._bodies]), device=self.device
             )
 
     @linear_velocity.setter

mani_skill/utils/structs/link.py

@@ -244,7 +244,7 @@ class Link(PhysxRigidBodyComponentStruct[physx.PhysxArticulationLinkComponent]):
                 raw_pose = new_pose
             return Pose.create(raw_pose)
         else:
-            return Pose.create([obj.entity_pose for obj in self._objs])
+            return Pose.create([obj.entity_pose for obj in self._objs], device=self.device)
 
     @pose.setter
     def pose(self, arg1: Union[Pose, sapien.Pose, Array]) -> None:

{mani_skill_nightly-2025.9.19.39.dist-info → mani_skill_nightly-2025.10.6.1617.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.9.19.39
+Version: 2025.10.6.1617
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.9.19.39.dist-info → mani_skill_nightly-2025.10.6.1617.dist-info}/RECORD

@@ -810,13 +810,13 @@ mani_skill/utils/scene_builder/table/assets/Dining_Table_204_1.glb,sha256=IleHi3
 mani_skill/utils/scene_builder/table/assets/table.glb,sha256=yw69itZDjBFg8JXZAr9VQV-dZD-MaZChhqBSJR_nlRo,3891588
 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/actor.py,sha256=CoJDsFCn_WA_zDV0SRWNCaYaO5oqjdkVrD8d-2HGaVc,17414
 mani_skill/utils/structs/articulation.py,sha256=gmjIxscXwZh4yhPAHzUslnIzkZ2daW8b3yV_sVUaQoA,38491
 mani_skill/utils/structs/articulation_joint.py,sha256=MPPcThaKAvEQm62ci2okN8CgSOYjxERsa1zjea-3YKo,12972
-mani_skill/utils/structs/base.py,sha256=R3L8s3acMUmzQTeP5iYISHp3CXVeJFg1Nml8wF0Zm40,18526
+mani_skill/utils/structs/base.py,sha256=DKnRJ_ektwm-2yEFP2oa7uRrmqzpTwuV146srdaW3Mo,18618
 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=Syq2_PSwmQGj1KOkmRjmDETIus_SR6qXorc2mnsDq38,13792
+mani_skill/utils/structs/link.py,sha256=Mqd75i8DNLMi6dr7VJt48f6YTPKXRUfYMqKuE2QrLjo,13812
 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=XnrIjvv-W41iNDVkCzXdHXa7SogfZMLaKozK213zSJ8,3966
@@ -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-2025.9.19.39.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,,
+mani_skill_nightly-2025.10.6.1617.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.10.6.1617.dist-info/LICENSE-3RD-PARTY,sha256=yXvoAIyaRY7VDFhXV4Ea_Dmd_-IR59yyUy0Scz7eXzY,1604
+mani_skill_nightly-2025.10.6.1617.dist-info/METADATA,sha256=zmeAsKjCMtPmkmJenB7k5FiXkaH1iKSdQj7mF9I5gSo,9348
+mani_skill_nightly-2025.10.6.1617.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.10.6.1617.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.10.6.1617.dist-info/RECORD,,