mani-skill-nightly 2025.6.14.2053__py3-none-any.whl → 2025.6.15.2223__py3-none-any.whl
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- mani_skill/envs/sapien_env.py +6 -3
- mani_skill/envs/scene.py +4 -0
- mani_skill/envs/utils/system/backend.py +1 -1
- mani_skill/examples/demo_random_action.py +2 -0
- mani_skill/utils/building/actor_builder.py +6 -5
- mani_skill/utils/building/articulation_builder.py +3 -2
- mani_skill/utils/building/ground.py +68 -54
- mani_skill/utils/scene_builder/table/scene_builder.py +8 -8
- {mani_skill_nightly-2025.6.14.2053.dist-info → mani_skill_nightly-2025.6.15.2223.dist-info}/METADATA +1 -1
- {mani_skill_nightly-2025.6.14.2053.dist-info → mani_skill_nightly-2025.6.15.2223.dist-info}/RECORD +13 -13
- {mani_skill_nightly-2025.6.14.2053.dist-info → mani_skill_nightly-2025.6.15.2223.dist-info}/LICENSE +0 -0
- {mani_skill_nightly-2025.6.14.2053.dist-info → mani_skill_nightly-2025.6.15.2223.dist-info}/WHEEL +0 -0
- {mani_skill_nightly-2025.6.14.2053.dist-info → mani_skill_nightly-2025.6.15.2223.dist-info}/top_level.txt +0 -0
mani_skill/envs/sapien_env.py
CHANGED
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@@ -726,11 +726,11 @@ class BaseEnv(gym.Env):
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self._load_agent(options)
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self._load_scene(options)
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self._load_lighting(options)
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if self.scene.can_render(): self._load_lighting(options)
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self.scene._setup(enable_gpu=self.gpu_sim_enabled)
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# for GPU sim, we have to setup sensors after we call setup gpu in order to enable loading mounted sensors as they depend on GPU buffer data
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self._setup_sensors(options)
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if self.scene.can_render(): self._setup_sensors(options)
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if self.render_mode == "human" and self._viewer is None:
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self._viewer = create_viewer(self._viewer_camera_config)
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if self._viewer is not None:
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@@ -1167,8 +1167,11 @@ class BaseEnv(gym.Env):
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sub_scenes.append(scene)
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else:
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physx_system = physx.PhysxCpuSystem()
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systems = [physx_system]
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if self._render_device.can_render():
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systems.append(sapien.render.RenderSystem(self._render_device))
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sub_scenes = [
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sapien.Scene(
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sapien.Scene(systems)
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]
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# create a "global" scene object that users can work with that is linked with all other scenes created
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self.scene = ManiSkillScene(
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mani_skill/envs/scene.py
CHANGED
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@@ -115,6 +115,10 @@ class ManiSkillScene:
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)
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"""state dict registry that map actor/articulation names to Actor/Articulation struct references. Only these structs are used for the environment state"""
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def can_render(self):
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"""Whether or not this Scene object permits rendering, depending on the rendering device selected"""
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return self.backend.render_device.can_render()
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# -------------------------------------------------------------------------- #
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# Functions from sapien.Scene
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# -------------------------------------------------------------------------- #
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def parse_sim_and_render_backend(sim_backend: str, render_backend: str) -> BackendInfo:
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sim_backend = sim_backend_name_mapping[sim_backend]
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render_backend = render_backend_name_mapping
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render_backend = render_backend_name_mapping.get(render_backend, render_backend)
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if sim_backend == "physx_cpu":
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device = torch.device("cpu")
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sim_device = sapien.Device("cpu")
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"""Seed(s) for random actions and simulator. Can be a single integer or a list of integers. Default is None (no seeds)"""
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def main(args: Args):
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if args.render_mode == "none":
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args.render_mode = None
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np.set_printoptions(suppress=True, precision=3)
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verbose = not args.quiet
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if isinstance(args.seed, int):
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@@ -179,11 +179,12 @@ class ActorBuilder(SAPIENActorBuilder):
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build the raw sapien entity. Modifies original SAPIEN function to accept new procedurally generated render components
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"""
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entity = sapien.Entity()
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if self.
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if self.scene.can_render():
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if self.visual_records or len(self._procedural_shapes) > 0:
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render_component = self.build_render_component()
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for shape in self._procedural_shapes:
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render_component.attach(shape)
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entity.add_component(render_component)
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entity.add_component(self.build_physx_component())
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entity.name = self.name
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return entity
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@@ -78,8 +78,9 @@ class ArticulationBuilder(SapienArticulationBuilder):
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entity.add_component(link_component)
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if
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if self.scene.can_render():
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if b.visual_records:
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entity.add_component(b.build_render_component())
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entity.name = b.name
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link_component.name = f"{name_prefix}{b.name}"
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ground.set_scene_idxs([0])
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actor = ground.build_static(name=name)
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if scene.can_render():
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# generate a grid of right triangles that form 1x1 meter squares centered at (0, 0, 0)
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floor_length = floor_width if floor_length is None else floor_length
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num_verts = (floor_width + 1) * (floor_length + 1)
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vertices = np.zeros((num_verts, 3))
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floor_half_width = floor_width / 2
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floor_half_length = floor_length / 2
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xrange = np.arange(start=-floor_half_width, stop=floor_half_width + 1)
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yrange = np.arange(start=-floor_half_length, stop=floor_half_length + 1)
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xx, yy = np.meshgrid(xrange, yrange)
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xys = np.stack((yy, xx), axis=2).reshape(-1, 2)
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vertices[:, 0] = xys[:, 0] + xy_origin[0]
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vertices[:, 1] = xys[:, 1] + xy_origin[1]
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vertices[:, 2] = altitude
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normals = np.zeros((len(vertices), 3))
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normals[:, 2] = 1
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mat = sapien.render.RenderMaterial()
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mat.base_color_texture = sapien.render.RenderTexture2D(
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filename=texture_file,
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mipmap_levels=mipmap_levels,
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)
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uv_scale = floor_width / texture_square_len
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uvs = np.zeros((len(vertices), 2))
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uvs[:, 0] = (xys[:, 0] * uv_scale + floor_half_width) / floor_width
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uvs[:, 1] = (xys[:, 1] * uv_scale + floor_half_width) / floor_width
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triangles = []
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for i in range(floor_length):
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triangles.append(
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+ 1
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+ i * (floor_width + 1),
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],
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vertices=vertices,
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triangles=triangles,
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normals=normals,
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uvs=uvs,
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return actor
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@@ -41,14 +41,14 @@ class TableSceneBuilder(SceneBuilder):
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table = builder.build_kinematic(name="table-workspace")
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{mani_skill_nightly-2025.6.14.2053.dist-info → mani_skill_nightly-2025.6.15.2223.dist-info}/RECORD
RENAMED
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@@ -539,8 +539,8 @@ mani_skill/assets/robots/xarm7/meshes/visual/link7.glb,sha256=aZatACOv20VJbi2tOE
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mani_skill/assets/robots/xarm7/meshes/visual/link_base.glb,sha256=vcy2lN1V72jIsSDRT0ZKVskR_0pVOXtDvBkxO2GENWs,467668
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mani_skill/envs/__init__.py,sha256=YPlttBErTcf9vSnkZ54EQ8vTABSfFFrBdUY0AkF4vmg,43
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mani_skill/envs/minimal_template.py,sha256=9THHWA1vkHatptc9g5Ojh-UBUKWQmLHVeq4fcaqv2aY,2200
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mani_skill/envs/sapien_env.py,sha256=
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mani_skill/envs/scene.py,sha256=
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mani_skill/envs/sapien_env.py,sha256=aZWIZFZomo_oj5tXmrZ0VSrQZl0TRSCgVrj1lvgmNgQ,72601
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mani_skill/envs/scene.py,sha256=EFMX4ygcbgy3V621aglyZoUKoCCRaaZ0ff2fcP6Y_ls,48406
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mani_skill/envs/sim2real_env.py,sha256=3mkQX4TonE2pUC5_Atmx0IYDH2_v6GSwOPJvQMEvCNY,19214
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mani_skill/envs/template.py,sha256=0wnwKjnGOF7RvTR5Gz4VopaUiFxnIioXwmb4nPVxAs8,11939
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mani_skill/envs/scenes/__init__.py,sha256=uL2T3AuoUkqe2FXmFjo4OQAMQDsePa6qVjCjEzJLqtE,868
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mani_skill/envs/utils/randomization/samplers.py,sha256=EOkF18mmDC7fA2hgj8QC2Ag0gnf4H-4MIjOCDvTMpCE,3665
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mani_skill/envs/utils/rewards/__init__.py,sha256=66MV5YCbnpF4ac_SvTVJ000RxM1AIsclX7OatiA-Wak,22
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mani_skill/envs/utils/rewards/common.py,sha256=1lfJNWG3x7UjarHLteLXa8DCzbe_L7nYBMOBo5D9CRQ,3647
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mani_skill/envs/utils/system/backend.py,sha256=
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mani_skill/envs/utils/system/backend.py,sha256=f8eaCmaYcXGrNQuuDK2fYji-cHxyBB6PbxKlKo7W6gQ,2660
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mani_skill/evaluation/__init__.py,sha256=PCMN6dc9zgFKuXTPmkAUEahP3XG65cKRLGMXrk5IeXY,33
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mani_skill/evaluation/evaluator.py,sha256=1EN6qAiGx3taB4vCeArUp33UZjLvBt1Ke6iUW8Z8aV0,4493
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mani_skill/evaluation/run_evaluation.py,sha256=yorphrlJKEGycHfQS8equnJHRsyjDuv77ZGNpg9wvCs,4780
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mani_skill/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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mani_skill/examples/demo_manual_control.py,sha256=Z17ER37oehS8VgtDO_4dwiy5jDgL93nT9IdCsNDf0Es,8275
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mani_skill/examples/demo_manual_control_continuous.py,sha256=tnCnKX2v1iIhtXwvWR2NzXgpf3e0y2-qAO91jJBLIO0,9679
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mani_skill/examples/demo_random_action.py,sha256=
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mani_skill/examples/demo_random_action.py,sha256=_8JY0J6qAQFQVTO1Tz_M_M4TFXveop4O-v0Itc2XCBg,5293
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mani_skill/examples/demo_reset_distribution.py,sha256=m1I5WQptBJrXvFPdUi7TIzR_Q--_wGAFkbcKNKWlq2U,2988
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mani_skill/examples/demo_robot.py,sha256=bIeHztjM0R6yJT699WQ6jkhv6LjsiP4GWa3Whyom_qM,4881
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mani_skill/examples/demo_vis_pcd.py,sha256=50YT-YVeX4sEsXxHh0S9Ju_kra8ZcUzPfFpG3EgK2o4,2139
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mani_skill/utils/assets/data.py,sha256=xEuibRoEPBDN_vEU-MM5UWf6VDb1omE6BfZKPvlMPdI,8807
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mani_skill/utils/building/__init__.py,sha256=quCI5WYGhzGLMVg_NDyYv2G_MxRTBL8R6XD4a6iY8qc,218
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mani_skill/utils/building/_mjcf_loader.py,sha256=SqzSoRootFvItHrzwrDuSHScePxbaPqWb7262M7HzIU,37011
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mani_skill/utils/building/actor_builder.py,sha256=
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mani_skill/utils/building/articulation_builder.py,sha256=
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mani_skill/utils/building/ground.py,sha256=
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mani_skill/utils/building/actor_builder.py,sha256=BKfGpqsvwE1nTQqpMUiq36NQyLB6mga0OqYYnwR0fWw,14971
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mani_skill/utils/building/articulation_builder.py,sha256=ubRJYjINo7XTQ9IfE45Ie3CZGl79rmzYi_Kpq86Czrs,8492
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mani_skill/utils/building/ground.py,sha256=YaVt9xQfsqG0GRjKWe0o1e7pdPzmN-PN8FQOdzdargU,4365
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mani_skill/utils/building/mjcf_loader.py,sha256=FY--8z4JWjDHCM6XYLSC8W14MHVywV0SzOTiHzWafbs,4452
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mani_skill/utils/building/urdf_loader.py,sha256=llYoiRDU5gTi7sgi8Fv-Zjwdo7SoLpmtG4gJJEpn85g,4905
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mani_skill/utils/building/actors/__init__.py,sha256=G7aFAkb2f7c6hUcljJ17GIvlzUzVlpIOg6AZkTWFbDg,1420
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mani_skill/utils/scene_builder/robocasa/utils/scene_registry.py,sha256=16ZHhI1mgDGy3373aMVRliN8pcvrVigNJIMExyTxE1c,3770
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mani_skill/utils/scene_builder/robocasa/utils/scene_utils.py,sha256=a8HnoRtbwmqQyvLQCHUXKj951G2_wlzodW_eD_CBvsc,6293
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mani_skill/utils/scene_builder/table/__init__.py,sha256=g5qmrh4wZ7V_PuKv-ZU9RVwNQUbQhCshAFInAyRLuZc,45
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mani_skill/utils/scene_builder/table/scene_builder.py,sha256=
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mani_skill/utils/scene_builder/table/scene_builder.py,sha256=L7S4kAmiyEuqBhi8ZkhHkMh3tEWnUZnL29CjQKdL49A,10076
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mani_skill/utils/scene_builder/table/assets/Dining_Table_204_1.glb,sha256=IleHi35xfR8O9atKehqjWiuC9McjEFRCBKHRF85w_Tg,150524
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mani_skill/utils/scene_builder/table/assets/table.glb,sha256=yw69itZDjBFg8JXZAr9VQV-dZD-MaZChhqBSJR_nlRo,3891588
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mani_skill/utils/structs/README.md,sha256=qnYKimp_ZkgNcduURrYQxVTimNmq_usDMKoQ8VtMdCs,286
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mani_skill/vector/wrappers/gymnasium.py,sha256=0kNe_iquf8J3503obkbmCKNaYr5m3cPrC_hBZS0Nl9Y,7408
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mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
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mani_skill/viewer/__init__.py,sha256=srvDBsk4LQU75K2VIttrhiQ68p_ro7PSDqQRls2PY5c,1722
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mani_skill_nightly-2025.6.15.2223.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
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mani_skill_nightly-2025.6.15.2223.dist-info/METADATA,sha256=Pqmxr5pMUY9mIq10F0gW9GlI7aQc0GF78W7vlCUGaO0,9272
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mani_skill_nightly-2025.6.15.2223.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
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mani_skill_nightly-2025.6.15.2223.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
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mani_skill_nightly-2025.6.15.2223.dist-info/RECORD,,
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{mani_skill_nightly-2025.6.14.2053.dist-info → mani_skill_nightly-2025.6.15.2223.dist-info}/LICENSE
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{mani_skill_nightly-2025.6.14.2053.dist-info → mani_skill_nightly-2025.6.15.2223.dist-info}/WHEEL
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