mani-skill-nightly 2025.5.3.1548__py3-none-any.whl → 2025.5.3.1619__py3-none-any.whl

mani_skill/envs/tasks/mobile_manipulation/open_cabinet_drawer.py

@@ -131,7 +131,7 @@ class OpenCabinetDrawerEnv(BaseEnv):
         model_ids = self._batched_episode_rng.choice(self.all_model_ids)
         link_ids = self._batched_episode_rng.randint(0, 2**31)
 
-        self._cabinets = []
+        self._cabinets: List[Articulation] = []
         handle_links: List[List[Link]] = []
         handle_links_meshes: List[List[trimesh.Trimesh]] = []
         for i, model_id in enumerate(model_ids):
@@ -163,7 +163,7 @@ class OpenCabinetDrawerEnv(BaseEnv):
                     handle_links[-1].append(link)
                     # save the first mesh in the link object that correspond with a handle
                     handle_links_meshes[-1].append(
-                        link.generate_visual_mesh(
+                        link.generate_mesh(
                             filter=lambda _, render_shape: "handle"
                             in render_shape.name,
                             mesh_name="handle",

mani_skill/utils/structs/actor.py

@@ -242,27 +242,33 @@ class Actor(PhysxRigidDynamicComponentStruct[sapien.Entity]):
                 cg[group] = value
                 cs.set_collision_groups(cg)
 
-    def get_first_collision_mesh(self, to_world_frame: bool = True) -> trimesh.Trimesh:
+    def get_first_collision_mesh(
+        self, to_world_frame: bool = True
+    ) -> Union[trimesh.Trimesh, None]:
         """
         Returns the collision mesh of the first managed actor object. Note results of this are not cached or optimized at the moment
-        so this function can be slow if called too often
+        so this function can be slow if called too often. Some actors have no collision meshes, in which case this function returns None
 
         Args:
             to_world_frame (bool): Whether to transform the collision mesh pose to the world frame
         """
-        return self.get_collision_meshes(to_world_frame=to_world_frame, first_only=True)
+        mesh = self.get_collision_meshes(to_world_frame=to_world_frame, first_only=True)
+        if isinstance(mesh, trimesh.Trimesh):
+            return mesh
+        return None
 
     def get_collision_meshes(
         self, to_world_frame: bool = True, first_only: bool = False
-    ) -> List[trimesh.Trimesh]:
+    ) -> Union[List[trimesh.Trimesh], trimesh.Trimesh]:
         """
         Returns the collision mesh of each managed actor object. Note results of this are not cached or optimized at the moment
-        so this function can be slow if called too often
+        so this function can be slow if called too often. Some actors have no collision meshes, in which case this function returns an empty list.
 
         Args:
             to_world_frame (bool): Whether to transform the collision mesh pose to the world frame
             first_only (bool): Whether to return the collision mesh of just the first actor managed by this object. If True,
-                this also returns a single Trimesh.Mesh object instead of a list
+                this also returns a single Trimesh.Mesh object instead of a list. This can be useful for efficiency reasons if you know
+                ahead of time all of the managed actors have the same collision mesh
         """
         assert (
             not self.merged
@@ -274,9 +280,12 @@ class Actor(PhysxRigidDynamicComponentStruct[sapien.Entity]):
             actor_meshes = []
             for comp in actor.components:
                 if isinstance(comp, physx.PhysxRigidBaseComponent):
-                    actor_meshes.append(merge_meshes(get_component_meshes(comp)))
+                    merged = merge_meshes(get_component_meshes(comp))
+                    if merged is not None:
+                        actor_meshes.append(merged)
             mesh = merge_meshes(actor_meshes)
-            meshes.append(mesh)
+            if mesh is not None:
+                meshes.append(mesh)
             if first_only:
                 break
         if to_world_frame:
@@ -287,6 +296,8 @@ class Actor(PhysxRigidDynamicComponentStruct[sapien.Entity]):
                         mesh.apply_transform(mat[i].sp.to_transformation_matrix())
                     else:
                         mesh.apply_transform(mat.sp.to_transformation_matrix())
+        if len(meshes) == 0:
+            return []
         if first_only:
             return meshes[0]
         return meshes

mani_skill/utils/structs/articulation.py

@@ -320,19 +320,24 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
     #                 g0, g1, g2, g3 = s.get_collision_groups()
     #                 s.set_collision_groups([g0, g1, g2 | (1 << 29), g3])
 
-    def get_first_collision_mesh(self, to_world_frame: bool = True) -> trimesh.Trimesh:
+    def get_first_collision_mesh(
+        self, to_world_frame: bool = True
+    ) -> Union[trimesh.Trimesh, None]:
         """
         Returns the collision mesh of the first managed articulation object. Note results of this are not cached or optimized at the moment
-        so this function can be slow if called too often
+        so this function can be slow if called too often. Some articulations have no collision meshes, in which case this function returns None
 
         Args:
             to_world_frame (bool): Whether to transform the collision mesh pose to the world frame
         """
-        return self.get_collision_meshes(to_world_frame=to_world_frame, first_only=True)
+        mesh = self.get_collision_meshes(to_world_frame=to_world_frame, first_only=True)
+        if isinstance(mesh, trimesh.Trimesh):
+            return mesh
+        return None
 
     def get_collision_meshes(
         self, to_world_frame: bool = True, first_only: bool = False
-    ) -> List[trimesh.Trimesh]:
+    ) -> Union[List[trimesh.Trimesh], trimesh.Trimesh]:
         """
         Returns the collision mesh of each managed articulation object. Note results of this are not cached or optimized at the moment
         so this function can be slow if called too often
@@ -340,7 +345,8 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
         Args:
             to_world_frame (bool): Whether to transform the collision mesh pose to the world frame
             first_only (bool): Whether to return the collision mesh of just the first articulation managed by this object. If True,
-                this also returns a single Trimesh.Mesh object instead of a list
+                this also returns a single Trimesh.Mesh object instead of a list. This can be useful for efficiency reasons if you know
+                ahead of time all of the managed actors have the same collision mesh
         """
         assert (
             not self.merged
@@ -365,9 +371,12 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
                         link_mesh.apply_transform(pose.sp.to_transformation_matrix())
                     art_meshes.append(link_mesh)
             mesh = merge_meshes(art_meshes)
-            meshes.append(mesh)
+            if mesh is not None:
+                meshes.append(mesh)
             if first_only:
                 break
+        if len(meshes) == 0:
+            return []
         if first_only:
             return meshes[0]
         return meshes

mani_skill/utils/wrappers/action_repeat.py

@@ -0,0 +1,85 @@
+import torch
+import gymnasium as gym
+from mani_skill.envs.sapien_env import BaseEnv
+from mani_skill.utils.structs.types import Array
+
+
+class ActionRepeatWrapper(gym.Wrapper):
+    def __init__(self, env: BaseEnv, repeat: int):
+        """
+        Environment wrapper that repeats the action for a number of steps.
+        This wrapper will perform the same action at most repeat times, if the environment is done before repeating the action repeat times, then we only return valid data (up to the done=True).
+
+        Args:
+            env (BaseEnv): The base environment to wrap.
+            repeat (int): The number of times to repeat the action, repeat=1 means no action repeat (we use perform 1 action per step), repeat=2 means the action is repeated twice, so the environment will step twice with the same action.
+        """
+        super().__init__(env)
+        self.repeat = repeat
+
+    @property
+    def num_envs(self):
+        return self.base_env.num_envs
+
+    @property
+    def base_env(self) -> BaseEnv:
+        return self.env.unwrapped
+
+    def step(self, action):
+        final_obs, final_rew, final_terminations, final_truncations, infos = (
+            super().step(action)
+        )
+
+        is_obs_dict = isinstance(final_obs, dict)
+
+        dones = torch.logical_or(final_terminations, final_truncations)
+        not_dones = ~dones
+
+        if not_dones.any():
+            for _ in range(self.repeat - 1):
+                new_obs, new_rew, new_terminations, new_truncations, new_infos = (
+                    super().step(action)
+                )
+
+                if is_obs_dict:
+                    self._update_dict_values(
+                        from_dict=new_obs, to_dict=final_obs, not_dones=not_dones
+                    )
+                else:
+                    final_obs[not_dones] = new_obs[not_dones]
+
+                final_rew[not_dones] += new_rew[not_dones]
+                final_terminations[not_dones] = torch.logical_or(
+                    final_terminations, new_terminations
+                )[not_dones]
+                final_truncations[not_dones] = torch.logical_or(
+                    final_truncations, new_truncations
+                )[not_dones]
+                self._update_dict_values(
+                    from_dict=new_infos, to_dict=infos, not_dones=not_dones
+                )
+
+                dones = torch.logical_or(final_terminations, final_truncations)
+                not_dones = ~dones
+
+                if dones.all():
+                    break
+
+        return final_obs, final_rew, final_terminations, final_truncations, infos
+
+    def _update_dict_values(self, from_dict: dict, to_dict: dict, not_dones: Array):
+        """
+        Recursively updates the values of a dictionary with the values from another dictionary but only for the envs that are not done.
+        This allows us to update the observation and info dictionaries with new values only for the environments that are not done.
+        If a sub-env becomes done, its future step data will be discarded since not_dones will be false for this sub-environment.
+        Therefore the final observation/info will come from the true last step of the sub-env.
+        """
+        for k, v in from_dict.items():
+            if isinstance(v, dict):
+                self._update_dict_values(
+                    from_dict=v, to_dict=to_dict[k], not_dones=not_dones
+                )
+            elif isinstance(v, Array):
+                to_dict[k][not_dones] = v[not_dones]
+            else:
+                to_dict[k] = v

{mani_skill_nightly-2025.5.3.1548.dist-info → mani_skill_nightly-2025.5.3.1619.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.5.3.1548
+Version: 2025.5.3.1619
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.5.3.1548.dist-info → mani_skill_nightly-2025.5.3.1619.dist-info}/RECORD

@@ -587,7 +587,7 @@ mani_skill/envs/tasks/humanoid/assets/cardboard_box/01.png,sha256=UAzLp_o885YkTu
 mani_skill/envs/tasks/humanoid/assets/cardboard_box/box.mtl,sha256=E7F4ELdSP2Yd62T_rF_-gN1xa6N6Eo3AqAb17R5TSa8,219
 mani_skill/envs/tasks/humanoid/assets/cardboard_box/textured.obj,sha256=XQEt4EeMiW4kx4GhNOYk8TPi7lSuS6XTEBQjWSsxKJ0,12723
 mani_skill/envs/tasks/mobile_manipulation/__init__.py,sha256=GQajIA-t_p_9Hrhkj5-MEEmbGfaIkCYgaDepVUdhJ2Q,98
-mani_skill/envs/tasks/mobile_manipulation/open_cabinet_drawer.py,sha256=RBSjXseWSulU76gMIkDdAAhghZ2Wp38qF3hxb21UI8I,15925
+mani_skill/envs/tasks/mobile_manipulation/open_cabinet_drawer.py,sha256=xokzhopVVnNJJjm0kyw7OlvrdADmIz7rkxyXG6XPj9E,15938
 mani_skill/envs/tasks/mobile_manipulation/robocasa/__init__.py,sha256=mjpK3FNM5GnR4CaWfD1i2gVk5tU4N6tTkDm2pCqsfoo,40
 mani_skill/envs/tasks/mobile_manipulation/robocasa/kitchen.py,sha256=fXLoTIDgk-0eEaH7TrCODYWfVOVkGP6cRzinyfKEkWc,25625
 mani_skill/envs/tasks/quadruped/__init__.py,sha256=_AHS3H9Cj2XT7--5jwW1NMmVWbZxRpdGDNXudT6OrZM,92
@@ -784,8 +784,8 @@ 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=ImzUZULVnsaBksk5Zu2FD-GgYpfg1u4XZcH1jCtd-vQ,16772
-mani_skill/utils/structs/articulation.py,sha256=6olG0RxQ84J8p7479Mn3bdy6tsMKLpWKMu3NRbbgzfo,34235
+mani_skill/utils/structs/actor.py,sha256=L0p6vkr8rGtJmF22xAq8Q7nhXKnDD5dahzODSAko0bg,17394
+mani_skill/utils/structs/articulation.py,sha256=c7e_Rfkhskg_Rqz1bkesqHCTzNubObLGZQS0BkkFZF0,34691
 mani_skill/utils/structs/articulation_joint.py,sha256=TY6joQ0RpnVlHbQHdtx_QQYqTWgFHLiZ642SSWZUuTw,11736
 mani_skill/utils/structs/base.py,sha256=meGQK5Y4KtHKLnp9VeOZS2gtwg9tE55whuEeqOguBaI,19465
 mani_skill/utils/structs/decorators.py,sha256=Lv6wQ989dOnreo2tB-qopDnkeBp_jsn1pmfUR-OY8VQ,535
@@ -800,6 +800,7 @@ mani_skill/utils/visualization/jupyter_utils.py,sha256=dXXUQz-rFTOV_Xq5yA6YE6cXg
 mani_skill/utils/visualization/misc.py,sha256=KrDCef7F5GmGOdiBQ4qFUnmUTe-7-nNBz2DVBGFD8YU,5041
 mani_skill/utils/visualization/renderer.py,sha256=-Z18-fXe5NLBYBYXFB9m2EDKdhOkAdDVWSs9vjxGCSQ,1245
 mani_skill/utils/wrappers/__init__.py,sha256=f6HDHHoM8gyNgX5RwTr2u3oGlAeHqawRvVNQiWXEJfI,229
+mani_skill/utils/wrappers/action_repeat.py,sha256=RhCtzt3fYCtD-CClIOhAzdycGwVTXP_FG61yEf-QLqY,3542
 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
@@ -810,8 +811,8 @@ 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-2025.5.3.1548.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.5.3.1548.dist-info/METADATA,sha256=MFsr_RXRUCYN__3kPl9e6aAwQ8wkLN_Cwe4dC4thaB4,9291
-mani_skill_nightly-2025.5.3.1548.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.5.3.1548.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.5.3.1548.dist-info/RECORD,,
+mani_skill_nightly-2025.5.3.1619.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.5.3.1619.dist-info/METADATA,sha256=_GtuLPVaaiZsUUCPLl9Twf3rCk5MAQnQkGuxVJ5hjsY,9291
+mani_skill_nightly-2025.5.3.1619.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.5.3.1619.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.5.3.1619.dist-info/RECORD,,