mani-skill-nightly 2025.5.3.1612__py3-none-any.whl → 2025.5.4.511__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-2025.5.4.511.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.5.3.1612
+Version: 2025.5.4.511
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors
@@ -74,7 +74,7 @@ ManiSkill is a powerful unified framework for robot simulation and training powe
 - Real2sim environments for scalably evaluating real-world policies 100x faster via GPU simulation.
 - Many tuned robot learning baselines in Reinforcement Learning (e.g. PPO, SAC, [TD-MPC2](https://github.com/nicklashansen/tdmpc2)), Imitation Learning (e.g. Behavior Cloning, [Diffusion Policy](https://github.com/real-stanford/diffusion_policy)), and large Vision Language Action (VLA) models (e.g. [Octo](https://github.com/octo-models/octo), [RDT-1B](https://github.com/thu-ml/RoboticsDiffusionTransformer), [RT-x](https://robotics-transformer-x.github.io/))
 
-For more details we encourage you to take a look at our [paper](https://arxiv.org/abs/2410.00425).
+For more details we encourage you to take a look at our [paper](https://arxiv.org/abs/2410.00425), published at [RSS 2025](https://roboticsconference.org/).
 
 There are more features to be added to ManiSkill 3, see [our roadmap](https://maniskill.readthedocs.io/en/latest/roadmap/index.html) for planned features that will be added over time before the official v3 is released.
 
@@ -129,9 +129,9 @@ If you use ManiSkill3 (versions `mani_skill>=3.0.0`) in your work please cite ou
 ```
 @article{taomaniskill3,
   title={ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI},
-  author={Stone Tao and Fanbo Xiang and Arth Shukla and Yuzhe Qin and Xander Hinrichsen and Xiaodi Yuan and Chen Bao and Xinsong Lin and Yulin Liu and Tse-kai Chan and Yuan Gao and Xuanlin Li and Tongzhou Mu and Nan Xiao and Arnav Gurha and Zhiao Huang and Roberto Calandra and Rui Chen and Shan Luo and Hao Su},
-  journal = {arXiv preprint arXiv:2410.00425},
-  year={2024},
+  author={Stone Tao and Fanbo Xiang and Arth Shukla and Yuzhe Qin and Xander Hinrichsen and Xiaodi Yuan and Chen Bao and Xinsong Lin and Yulin Liu and Tse-kai Chan and Yuan Gao and Xuanlin Li and Tongzhou Mu and Nan Xiao and Arnav Gurha and Viswesh Nagaswamy Rajesh and Yong Woo Choi and Yen-Ru Chen and Zhiao Huang and Roberto Calandra and Rui Chen and Shan Luo and Hao Su},
+  journal = {Robotics: Science and Systems},
+  year={2025},
 } 
 ```
 

{mani_skill_nightly-2025.5.3.1612.dist-info → mani_skill_nightly-2025.5.4.511.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
-mani_skill_nightly-2025.5.3.1612.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.5.3.1612.dist-info/METADATA,sha256=4nixw1uljNAUYQ0gC6Th21pC-pStemPbqA4SlftUBdU,9291
-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-2025.5.4.511.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.5.4.511.dist-info/METADATA,sha256=BjXzqAlJ3thIUtZrU8Vwt7zjwVMQlDiO8tfwKsf_FQA,9409
+mani_skill_nightly-2025.5.4.511.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.5.4.511.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.5.4.511.dist-info/RECORD,,