mani-skill-nightly 2025.6.19.816__py3-none-any.whl → 2025.6.28.417__py3-none-any.whl

mani_skill/envs/tasks/digital_twins/base_env.py

@@ -94,17 +94,17 @@ class BaseDigitalTwinEnv(BaseEnv):
 
     def _after_reconfigure(self, options: dict):
         super()._after_reconfigure(options)
-        # after reconfiguration in CPU/GPU sim we have initialized all ids of objects in the scene.
-        # and can now get the list of segmentation ids to keep
+        self._objects_to_remove_from_greenscreen = []
 
         if self.rgb_overlay_mode != "none":
+            # after reconfiguration in CPU/GPU sim we have initialized all ids of objects in the scene.
+            # and can now get the list of segmentation ids to keep
             per_scene_ids = []
             for object in self._objects_to_remove_from_greenscreen:
                 per_scene_ids.append(object.per_scene_id)
             self._segmentation_ids_to_keep = torch.unique(
                 torch.concatenate(per_scene_ids)
             )
-            self._objects_to_remove_from_greenscreen = []
 
             # load the overlay images
             for camera_name in self.rgb_overlay_paths.keys():

mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/base_env.py

@@ -195,6 +195,10 @@ class BaseBridgeEnv(BaseDigitalTwinEnv):
         self.model_db: Dict[str, Dict] = io_utils.load_json(
             BRIDGE_DATASET_ASSET_PATH / "custom/" / self.MODEL_JSON
         )
+        
+        self.consecutive_grasp = None
+        self.episode_stats = None
+        
         super().__init__(
             robot_uids=robot_cls,
             **kwargs,
@@ -454,17 +458,21 @@ class BaseBridgeEnv(BaseDigitalTwinEnv):
             )[0, :, 0]
             """target object bbox size (3, )"""
 
+            if self.consecutive_grasp is None:
+                self.consecutive_grasp = torch.zeros(self.num_envs, dtype=torch.int32).to(self.device)
+            if self.episode_stats is None:
+                self.episode_stats = dict(
+                    moved_correct_obj=torch.zeros((self.num_envs,), dtype=torch.bool).to(self.device),
+                    moved_wrong_obj=torch.zeros((self.num_envs,), dtype=torch.bool).to(self.device),
+                    is_src_obj_grasped=torch.zeros((self.num_envs,), dtype=torch.bool).to(self.device),
+                    consecutive_grasp=torch.zeros((self.num_envs,), dtype=torch.bool).to(self.device),
+                )
             # stats to track
-            self.consecutive_grasp = torch.zeros((b,), dtype=torch.int32)
-            self.episode_stats = dict(
-                # all_obj_keep_height=torch.zeros((b,), dtype=torch.bool),
-                moved_correct_obj=torch.zeros((b,), dtype=torch.bool),
-                moved_wrong_obj=torch.zeros((b,), dtype=torch.bool),
-                # near_tgt_obj=torch.zeros((b,), dtype=torch.bool),
-                is_src_obj_grasped=torch.zeros((b,), dtype=torch.bool),
-                # is_closest_to_tgt=torch.zeros((b,), dtype=torch.bool),
-                consecutive_grasp=torch.zeros((b,), dtype=torch.bool),
-            )
+            self.consecutive_grasp[env_idx] = 0
+            self.episode_stats["moved_correct_obj"][env_idx] = 0
+            self.episode_stats["moved_wrong_obj"][env_idx] = 0
+            self.episode_stats["is_src_obj_grasped"][env_idx] = 0
+            self.episode_stats["consecutive_grasp"][env_idx] = 0
 
     def _settle(self, t: int = 0.5):
         """run the simulation for some steps to help settle the objects"""

{mani_skill_nightly-2025.6.19.816.dist-info → mani_skill_nightly-2025.6.28.417.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.6.19.816
+Version: 2025.6.28.417
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.6.19.816.dist-info → mani_skill_nightly-2025.6.28.417.dist-info}/RECORD

@@ -564,9 +564,9 @@ mani_skill/envs/tasks/dexterity/__init__.py,sha256=wXXGA6ZdY5HExcnf3Dux4sMFUgmWj
 mani_skill/envs/tasks/dexterity/rotate_single_object_in_hand.py,sha256=cKnlWB5EcTjNVi53wSkqxVgVUYhuRm5QJcPmg9sP-iI,14165
 mani_skill/envs/tasks/dexterity/rotate_valve.py,sha256=SwSaOUXPZJEC5UdrcLGYwat2m3YUQFpHQ_WHCD77890,11659
 mani_skill/envs/tasks/digital_twins/__init__.py,sha256=_yWWBFH-P69UTPvo9GRa8Ux_FXOjLWdkiK3rs2ojX3o,60
-mani_skill/envs/tasks/digital_twins/base_env.py,sha256=cMHO3jp_NSYiCc5enrRHQLILTJL3LQ2A9Og8xNaQ01w,8273
+mani_skill/envs/tasks/digital_twins/base_env.py,sha256=m9cSMdEdUvFMg2F8-iV0pOOAT61byTQL2RIYNmNv09k,8277
 mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/__init__.py,sha256=2okxye0Tg_kmmKNXP7h4MlAxxGS5cJE3OKAo4LIVAcs,172
-mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/base_env.py,sha256=HFjZwcMOSNduDmyD-qo9zVeHqHOdXdx0H11japbTpEI,21997
+mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/base_env.py,sha256=L7eQ8MuelfcrOwGL2Tw9RUik-15ycuelaCVooE9wuOQ,22433
 mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/put_on_in_scene.py,sha256=kDKEX-e1Hq5kZiBs9xfEzU2jjx35eHWriAAYFJcBbgE,9419
 mani_skill/envs/tasks/digital_twins/so100_arm/__init__.py,sha256=uehHSCaHoZDB9awMtF81r4A-X4fM6NFmErzOsgzgSs4,42
 mani_skill/envs/tasks/digital_twins/so100_arm/grasp_cube.py,sha256=Uv2wTMUyfh8ygG4g6WfPj5E8jaDUyBZ789lPPCRBJjM,22386
@@ -825,8 +825,8 @@ mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJ
 mani_skill/vector/wrappers/gymnasium.py,sha256=aNPB-2oGDLep8qzdsuTSIlwGGO0OGQAQ193LefOGoTk,7434
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
 mani_skill/viewer/__init__.py,sha256=srvDBsk4LQU75K2VIttrhiQ68p_ro7PSDqQRls2PY5c,1722
-mani_skill_nightly-2025.6.19.816.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.6.19.816.dist-info/METADATA,sha256=_HGozNM1-AXbTM_baK1DTJwIo-9-1A1EGeFPtQIsmvY,9271
-mani_skill_nightly-2025.6.19.816.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.6.19.816.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.6.19.816.dist-info/RECORD,,
+mani_skill_nightly-2025.6.28.417.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.6.28.417.dist-info/METADATA,sha256=nNpbmnlISX8GtLBWIHzBymmPf83ATeo8tcPMSOHZkV0,9271
+mani_skill_nightly-2025.6.28.417.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.6.28.417.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.6.28.417.dist-info/RECORD,,