mani-skill-nightly 2025.6.16.1805__py3-none-any.whl → 2025.6.18.444__py3-none-any.whl

mani_skill/envs/sapien_env.py

@@ -14,6 +14,7 @@ import sapien.utils.viewer.control_window
 import torch
 from gymnasium.vector.utils import batch_space
 
+import mani_skill.render.utils as render_utils
 from mani_skill import logger
 from mani_skill.agents import REGISTERED_AGENTS
 from mani_skill.agents.base_agent import BaseAgent
@@ -1154,7 +1155,7 @@ class BaseEnv(gym.Env):
                     scene_idx // scene_grid_length - scene_grid_length // 2,
                 )
                 systems = [physx_system]
-                if self._render_device.can_render():
+                if render_utils.can_render(self._render_device):
                     systems.append(sapien.render.RenderSystem(self._render_device))
                 scene = sapien.Scene(
                     systems=systems
@@ -1171,7 +1172,7 @@ class BaseEnv(gym.Env):
         else:
             physx_system = physx.PhysxCpuSystem()
             systems = [physx_system]
-            if self._render_device.can_render():
+            if render_utils.can_render(self._render_device):
                 systems.append(sapien.render.RenderSystem(self._render_device))
             sub_scenes = [
                 sapien.Scene(systems)

mani_skill/envs/scene.py

@@ -1,4 +1,3 @@
-import platform
 from dataclasses import dataclass
 from functools import cached_property
 from typing import Any, Dict, List, Optional, Tuple, Union
@@ -10,6 +9,7 @@ import sapien.render
 import torch
 from sapien.render import RenderCameraComponent
 
+import mani_skill.render.utils as render_utils
 from mani_skill.envs.utils.system.backend import BackendInfo
 from mani_skill.render import SAPIEN_RENDER_SYSTEM
 from mani_skill.sensors.base_sensor import BaseSensor
@@ -118,10 +118,7 @@ class ManiSkillScene:
 
     def can_render(self):
         """Whether or not this Scene object permits rendering, depending on the rendering device selected"""
-        # NOTE (stao): currently sapien can't tell if the render device can render or not for MacOS
-        if platform.system() == "Darwin":
-            return True
-        return self.backend.render_device.can_render()
+        return render_utils.can_render(self.backend.render_device)
 
     # -------------------------------------------------------------------------- #
     # Functions from sapien.Scene

mani_skill/render/utils.py

@@ -0,0 +1,11 @@
+import platform
+
+import sapien
+
+
+def can_render(device: sapien.Device) -> bool:
+    """Whether or not this device can render, depending on the rendering device selected"""
+    # NOTE (stao): currently sapien can't tell if the render device can render or not for MacOS
+    if platform.system() == "Darwin":
+        return True
+    return device.can_render()

mani_skill/utils/wrappers/__init__.py

@@ -6,3 +6,4 @@ from .flatten import (
 from .frame_stack import FrameStack
 from .gymnasium import CPUGymWrapper
 from .record import RecordEpisode
+from .action_repeat import ActionRepeatWrapper

{mani_skill_nightly-2025.6.16.1805.dist-info → mani_skill_nightly-2025.6.18.444.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.6.16.1805
+Version: 2025.6.18.444
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.6.16.1805.dist-info → mani_skill_nightly-2025.6.18.444.dist-info}/RECORD

@@ -539,8 +539,8 @@ mani_skill/assets/robots/xarm7/meshes/visual/link7.glb,sha256=aZatACOv20VJbi2tOE
 mani_skill/assets/robots/xarm7/meshes/visual/link_base.glb,sha256=vcy2lN1V72jIsSDRT0ZKVskR_0pVOXtDvBkxO2GENWs,467668
 mani_skill/envs/__init__.py,sha256=YPlttBErTcf9vSnkZ54EQ8vTABSfFFrBdUY0AkF4vmg,43
 mani_skill/envs/minimal_template.py,sha256=9THHWA1vkHatptc9g5Ojh-UBUKWQmLHVeq4fcaqv2aY,2200
-mani_skill/envs/sapien_env.py,sha256=v8lCSNk23cELq48gsZp4EtGtRC9iqhLgEpuQDhFimiw,72985
-mani_skill/envs/scene.py,sha256=3hnj4Ueh84IOLQqpVCfKQIXRiNkbzpI4-39o4EyVIbQ,48588
+mani_skill/envs/sapien_env.py,sha256=bUAojljJsacImzMB2DH6WR0Lf_lHqRJ7lzJMKIOYu88,73056
+mani_skill/envs/scene.py,sha256=4ZAIJs61fwPPhfDvc3v845sj_Ftsd1sSYaju10KnXbQ,48465
 mani_skill/envs/sim2real_env.py,sha256=3mkQX4TonE2pUC5_Atmx0IYDH2_v6GSwOPJvQMEvCNY,19214
 mani_skill/envs/template.py,sha256=0wnwKjnGOF7RvTR5Gz4VopaUiFxnIioXwmb4nPVxAs8,11939
 mani_skill/envs/scenes/__init__.py,sha256=uL2T3AuoUkqe2FXmFjo4OQAMQDsePa6qVjCjEzJLqtE,868
@@ -694,6 +694,7 @@ mani_skill/examples/teleoperation/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeR
 mani_skill/examples/teleoperation/interactive_panda.py,sha256=NsGy_ghtXl3HPbwLjKINkizOXqX_rMr30lUfscmhyQ4,10423
 mani_skill/render/__init__.py,sha256=Uy6h1bzammUO8QVPVCDcuCuhnuN3e5votaho45drAGw,118
 mani_skill/render/shaders.py,sha256=g2VcASiyrP7nVDv_MlmY9CeYbNr7QDvUBdCjuDMjqQ0,7103
+mani_skill/render/utils.py,sha256=4bg90j9RRMNA9hTm8-jwc8a5C4_6r4Zwnf-0SgiFNUY,357
 mani_skill/render/version.py,sha256=Ew2TTCrI60sL_cjEpr6iuPHKKMgTMtFoWRW_MevBJ_4,254
 mani_skill/sensors/__init__.py,sha256=TW2wkhHN28dHOXujxiDO2Ill_EhJdE0e2MEbgZw7JY0,95
 mani_skill/sensors/base_sensor.py,sha256=oq_v_dPA6VC69Eq-JDo1Teq692P6KZR_omU9rQ63L_k,1665
@@ -812,7 +813,7 @@ mani_skill/utils/visualization/__init__.py,sha256=0QF97UR8d7poMHo6m52DsAUXAmUb3S
 mani_skill/utils/visualization/jupyter_utils.py,sha256=dXXUQz-rFTOV_Xq5yA6YE6cXg7DPw15YStw37NgB5Qc,1322
 mani_skill/utils/visualization/misc.py,sha256=KrDCef7F5GmGOdiBQ4qFUnmUTe-7-nNBz2DVBGFD8YU,5041
 mani_skill/utils/visualization/renderer.py,sha256=afFWwSQEeL-9c5CsBT1uug-zugGjOr1FDzmvd45-9dk,1646
-mani_skill/utils/wrappers/__init__.py,sha256=f6HDHHoM8gyNgX5RwTr2u3oGlAeHqawRvVNQiWXEJfI,229
+mani_skill/utils/wrappers/__init__.py,sha256=XCQdTP2RQ95UXrDjy1QxgcKEuevceGU_5KUGl636J6I,276
 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
@@ -824,8 +825,8 @@ mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJ
 mani_skill/vector/wrappers/gymnasium.py,sha256=0kNe_iquf8J3503obkbmCKNaYr5m3cPrC_hBZS0Nl9Y,7408
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
 mani_skill/viewer/__init__.py,sha256=srvDBsk4LQU75K2VIttrhiQ68p_ro7PSDqQRls2PY5c,1722
-mani_skill_nightly-2025.6.16.1805.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.6.16.1805.dist-info/METADATA,sha256=QRUBqpRJtE7x1xKWoXS4_Bof-zsHQ0mt_9-zlsECbAE,9272
-mani_skill_nightly-2025.6.16.1805.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.6.16.1805.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.6.16.1805.dist-info/RECORD,,
+mani_skill_nightly-2025.6.18.444.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.6.18.444.dist-info/METADATA,sha256=kGoAdEtOt8dgt1ZufaW9FnRMK2mbnnbysAqipP_CnPc,9271
+mani_skill_nightly-2025.6.18.444.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.6.18.444.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.6.18.444.dist-info/RECORD,,