mani-skill-nightly 2025.5.3.1612__py3-none-any.whl → 2025.5.3.1619__py3-none-any.whl

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-2025.5.3.1612.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: 2025.5.3.1612
+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-2025.5.3.1612.dist-info → mani_skill_nightly-2025.5.3.1619.dist-info}/RECORD

@@ -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
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-mani_skill_nightly-2025.5.3.1612.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.5.3.1612.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.5.3.1612.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,,