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haosulab · Jan 12, 2024 · 27bef09 · 27bef09
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diff --git a/README.md b/README.md
@@ -31,7 +31,7 @@ From pip:
 
 ```bash
 # NOTE: This is a beta build at the moment. To install the beta build run
-pip install mani-skill2==0.6.0.dev2
+pip install mani-skill2==0.6.0.dev3
 ```
 
 From github:

diff --git a/docs/source/concepts/observation.md b/docs/source/concepts/observation.md
@@ -96,7 +96,7 @@ For `obs_mode="pointcloud"`:
 An "actor" is a fundamental object that represents a physical entity (rigid body) that can be simulated in SAPIEN (the backend of ManiSkill2). An articulated object is a collection of links interconnected by joints, and each link is also an actor. In SAPIEN, `scene.get_all_actors()` will return all the actors that are not links of articulated objects. The examples are the ground, the cube in [PickCube](./environments.md#pickcube-v0), and the YCB objects in [PickSingleYCB](./environments.md#picksingleycb-v0). `scene.get_all_articulations()` will return all the articulations. The examples are the robots, the cabinets in [OpenCabinetDoor](./environments.md#opencabinetdoor-v1), and the chairs in [PushChair](./environments.md#pushchair-v1). Below is an example of how to get actors and articulations in SAPIEN.
 
 ```python
-import sapien.core as sapien
+import sapien
 
 scene: sapien.Scene = ...
 actors = scene.get_all_actors()  # actors excluding links

diff --git a/examples/profile_speed/README.md b/examples/profile_speed/README.md
diff --git a/examples/profile_speed/profile_dmcontrol.py b/examples/profile_speed/profile_dmcontrol.py
diff --git a/examples/profile_speed/profile_sapien.py b/examples/profile_speed/profile_sapien.py
diff --git a/examples/submission/Dockerfile b/examples/submission/Dockerfile
diff --git a/examples/submission/user_solution.py b/examples/submission/user_solution.py
diff --git a/mani_skill2/envs/misc/avoid_obstacles.py b/mani_skill2/envs/misc/avoid_obstacles.py
@@ -8,7 +8,6 @@
 
 from mani_skill2 import format_path
 from mani_skill2.agents.robots.panda import PandaRealSensed435
-from mani_skill2.agents.robots.panda.panda import Panda
 from mani_skill2.envs.sapien_env import BaseEnv
 from mani_skill2.sensors.camera import CameraConfig
 from mani_skill2.utils.building.ground import build_tesselated_square_floor
@@ -171,7 +170,7 @@ def _get_obs_extra(self) -> OrderedDict:
     def evaluate(self, **kwargs) -> dict:
         tcp_pose_at_goal = self.goal_pose.inv() * self.tcp.pose
         pos_dist = np.linalg.norm(tcp_pose_at_goal.p)
-        ang_dist = np.arccos(tcp_pose_at_goal.q[0]) * 2
+        ang_dist = np.arccos(np.clip(tcp_pose_at_goal.q[0], -1, 1)) * 2
         if ang_dist > np.pi:  # [0, 2 * pi] -> [-pi, pi]
             ang_dist = ang_dist - 2 * np.pi
         ang_dist = np.abs(ang_dist)