mani-skill-nightly 2025.4.5.358__py3-none-any.whl → 2025.4.5.440__py3-none-any.whl

mani_skill/agents/controllers/base_controller.py

@@ -168,6 +168,9 @@ class BaseController:
             action, self.action_space_low, self.action_space_high
         )
 
+    def __repr__(self):
+        return f"{self.__class__.__name__}(dof={len(self.active_joint_indices)}, active_joints={len(self.joints)}, joints=({', '.join([x.name for x in self.joints])}))"
+
 
 @dataclass
 class ControllerConfig:
@@ -275,6 +278,21 @@ class DictController(BaseController):
             final_action.append(sub_action)
         return torch.concat(final_action)
 
+    def __repr__(self):
+        dims = len(self.joints)
+        dof = sum(
+            [
+                controller.single_action_space.shape[0]
+                for controller in self.controllers.values()
+            ]
+        )
+        main_str = f"{self.__class__.__name__}(dof={dof}, active_joints={dims}"
+        for uid, controller in self.controllers.items():
+            controller_str = controller.__repr__()
+            controller_str = controller_str.replace("\n", "\n    ")
+            main_str += f"\n    {uid}: {controller_str}"
+        return main_str + "\n)"
+
 
 class CombinedController(DictController):
 

mani_skill/agents/controllers/pd_ee_pose.py

@@ -126,6 +126,9 @@ class PDEEPosController(PDJointPosController):
                 target_pose[:, :3], target_pose[:, 3:]
             )
 
+    def __repr__(self):
+        return f"{self.__class__.__name__}(dof={self.single_action_space.shape[0]}, active_joints={len(self.joints)}, end_link={self.config.ee_link}, joints=({', '.join([x.name for x in self.joints])}))"
+
 
 # TODO (stao): This config should really inherit the pd joint pos controller config
 @dataclass

mani_skill/agents/controllers/pd_joint_pos.py

@@ -193,6 +193,8 @@ class PDJointPosMimicController(PDJointPosController):
         )
         """list of all directly controlled joint indices"""
 
+        self.effective_dof = len(self.control_joint_indices)
+
     def _get_joint_limits(self):
         joint_limits = super()._get_joint_limits()
         joint_limits = joint_limits[self.control_joint_indices]
@@ -223,6 +225,15 @@ class PDJointPosMimicController(PDJointPosController):
         else:
             self.set_drive_targets(self._target_qpos)
 
+    def __repr__(self):
+        data = {k: v["joint"] for k, v in self.config.mimic.items()}
+        main_str = "{\n"
+        for k, v in data.items():
+            main_str += f"    {k}: {v},\n"
+        main_str += "}"
+        data = main_str
+        return f"PDJointPosMimicController(dof={self.single_action_space.shape[0]}, active_joints={len(self.joints)}, mimic_to_control_joint_map={main_str})"
+
 
 @dataclass
 class PDJointPosMimicControllerConfig(PDJointPosControllerConfig):

{mani_skill_nightly-2025.4.5.358.dist-info → mani_skill_nightly-2025.4.5.440.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.4.5.358
+Version: 2025.4.5.440
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.4.5.358.dist-info → mani_skill_nightly-2025.4.5.440.dist-info}/RECORD

@@ -5,11 +5,11 @@ mani_skill/agents/multi_agent.py,sha256=OL7sPDwP1Gfn870W3LRNhwsPp7Gy52sdYI4LySva
 mani_skill/agents/registration.py,sha256=rtu9vAys_Qz76d9LsDFpqanZxaFiLSPZajA3uHF9HHQ,1331
 mani_skill/agents/utils.py,sha256=U8wdgsNHRa-RtlC3HQM8_Agn9P82TIe3ZrXetaMMU_U,1912
 mani_skill/agents/controllers/__init__.py,sha256=tsd27dW6brQBm563CddUGtFMBNAxe_MCpTqqR5VyJaY,1103
-mani_skill/agents/controllers/base_controller.py,sha256=gSLIADsehgtscJjQUUla_oQSWlP69uhSAgCkonTHYEU,12034
+mani_skill/agents/controllers/base_controller.py,sha256=O6AJiF7OCmGBgiLAEf5sfTVM_NFED440xbczmxswkIY,12803
 mani_skill/agents/controllers/passive_controller.py,sha256=R-hZeuxmNKA9TvDZzVKd-YIv45xE4tc6wMHargdrxjY,1264
 mani_skill/agents/controllers/pd_base_vel.py,sha256=-3ZzLZ9nRDMGHWnFE7c4reEbC3jHtQJCOx3LmArz95g,2868
-mani_skill/agents/controllers/pd_ee_pose.py,sha256=MkQF1jpNaD5QNsrM7JOiWi_waQSMfz7vw8jXB4WK_Q4,11464
-mani_skill/agents/controllers/pd_joint_pos.py,sha256=Z2zyzv93w3tAAHa5vQC95y964QMtjqvtZvHf-KlsO_E,10588
+mani_skill/agents/controllers/pd_ee_pose.py,sha256=g8euEL8hW_M8QFKFf9vMNKoGWk3acaeoRUCPDrSjfRw,11693
+mani_skill/agents/controllers/pd_joint_pos.py,sha256=FHN-Rr_cweBi3GHyhzBpRzrjt7UszHb2jv6BkmG8nO0,11052
 mani_skill/agents/controllers/pd_joint_pos_vel.py,sha256=G8SBIa8jM939zGCETY17RlmwHoHLS5iCMTZsYZaH1mY,2433
 mani_skill/agents/controllers/pd_joint_vel.py,sha256=XQK13lsbteeUsztGw0u-DCBgCCv0ChglvncgwxVQCWY,1900
 mani_skill/agents/controllers/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -705,8 +705,8 @@ mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJ
 mani_skill/vector/wrappers/gymnasium.py,sha256=v1MDPIrVACBKCulrpdXBK2jDZQI7LKYFZgGgaCC5avY,7408
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
 mani_skill/viewer/__init__.py,sha256=srvDBsk4LQU75K2VIttrhiQ68p_ro7PSDqQRls2PY5c,1722
-mani_skill_nightly-2025.4.5.358.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.4.5.358.dist-info/METADATA,sha256=_GyZUzSt8rppWKc_ofgMkxnSdDdHRfFv62YWfVHeJuU,9290
-mani_skill_nightly-2025.4.5.358.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.4.5.358.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.4.5.358.dist-info/RECORD,,
+mani_skill_nightly-2025.4.5.440.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.4.5.440.dist-info/METADATA,sha256=lIsKlHE7VN7tVBu-E7IipXUXDRvZIGzQh6C62JmafhU,9290
+mani_skill_nightly-2025.4.5.440.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.4.5.440.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.4.5.440.dist-info/RECORD,,