mani-skill-nightly 2025.6.28.2040__py3-none-any.whl → 2025.6.28.2124__py3-none-any.whl

mani_skill/agents/base_agent.py

@@ -340,6 +340,18 @@ class BaseAgent:
             obs.update(controller=controller_state)
         return obs
 
+    def get_controller_state(self):
+        """
+        Get the state of the controller.
+        """
+        return self.controller.get_state()
+
+    def set_controller_state(self, state: Array):
+        """
+        Set the state of the controller.
+        """
+        self.controller.set_state(state)
+
     def get_state(self) -> Dict:
         """Get current state, including robot state and controller state"""
         state = dict()
@@ -353,7 +365,7 @@ class BaseAgent:
         state["robot_qvel"] = self.robot.get_qvel()
 
         # controller state
-        state["controller"] = self.controller.get_state()
+        state["controller"] = self.get_controller_state()
 
         return state
 
@@ -368,7 +380,7 @@ class BaseAgent:
         self.robot.set_qvel(state["robot_qvel"])
 
         if not ignore_controller and "controller" in state:
-            self.controller.set_state(state["controller"])
+            self.set_controller_state(state["controller"])
         if self.device.type == "cuda":
             self.scene._gpu_apply_all()
             self.scene.px.gpu_update_articulation_kinematics()

mani_skill/agents/multi_agent.py

@@ -70,6 +70,18 @@ class MultiAgent(BaseAgent, Generic[T]):
         for agent in self.agents:
             agent.controller.before_simulation_step()
 
+    def get_controller_state(self):
+        """
+        Get the state of the controller.
+        """
+        return {
+            uid: agent.get_controller_state() for uid, agent in self.agents_dict.items()
+        }
+
+    def set_controller_state(self, state: Dict):
+        for uid, agent in self.agents_dict.items():
+            agent.set_controller_state(state[uid])
+
     # -------------------------------------------------------------------------- #
     # Other
     # -------------------------------------------------------------------------- #

mani_skill/envs/sapien_env.py

@@ -1241,7 +1241,10 @@ class BaseEnv(gym.Env):
         Get environment state dictionary. Override to include task information (e.g., goal)
         """
         sim_state = self.scene.get_sim_state()
-        controller_state = self.agent.controller.get_state()
+        controller_state = self.agent.get_controller_state()
+        # Remove any empty keys from controller_state
+        if isinstance(self.agent.controller, dict):
+            controller_state = {k: v for k, v in controller_state.items() if len(v) > 0}
         if len(controller_state) > 0:
             sim_state["controller"] = controller_state
         return sim_state

mani_skill/envs/tasks/tabletop/plug_charger.py

@@ -1,4 +1,4 @@
-from typing import Any, Dict, Union
+from typing import Dict, Union
 
 import numpy as np
 import sapien
@@ -42,6 +42,7 @@ class PlugChargerEnv(BaseEnv):
 
     SUPPORTED_ROBOTS = ["panda_wristcam"]
     agent: Union[PandaWristCam]
+    SUPPORTED_REWARD_MODES = ["none", "sparse"]
 
     def __init__(
         self, *args, robot_uids="panda_wristcam", robot_init_qpos_noise=0.02, **kwargs
@@ -199,7 +200,10 @@ class PlugChargerEnv(BaseEnv):
                 )
                 qpos = (
                     torch.normal(
-                        0, self.robot_init_qpos_noise, (b, len(qpos)), device=self.device
+                        0,
+                        self.robot_init_qpos_noise,
+                        (b, len(qpos)),
+                        device=self.device,
                     )
                     + qpos
                 )

mani_skill/trajectory/replay_trajectory.py

@@ -27,6 +27,7 @@ from mani_skill.trajectory.merge_trajectory import merge_trajectories
 from mani_skill.trajectory.utils.actions import conversion as action_conversion
 from mani_skill.utils import common, io_utils, wrappers
 from mani_skill.utils.logging_utils import logger
+from mani_skill.utils.wrappers.flatten import FlattenActionSpaceWrapper
 from mani_skill.utils.wrappers.record import RecordEpisode
 
 
@@ -399,6 +400,11 @@ def _main(
     json_path = traj_path.replace(".h5", ".json")
     json_data = io_utils.load_json(json_path)
     env = gym.make(env_id, **env_kwargs)
+    if isinstance(env.action_space, gym.spaces.Dict):
+        logger.warning(
+            "We currently do not track which wrappers are used when recording trajectories but majority of the time in multi-agent envs with dictionary action spaces the actions are stored as flat vectors. We will flatten the action space with the ManiSkill provided FlattenActionSpaceWrapper. If you do not want this behavior you can copy the replay trajectory code yourself and modify it as needed."
+        )
+        env = FlattenActionSpaceWrapper(env)
     # TODO (support adding wrappers to the recorded data?)
 
     # if pbar is not None:

{mani_skill_nightly-2025.6.28.2040.dist-info → mani_skill_nightly-2025.6.28.2124.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.6.28.2040
+Version: 2025.6.28.2124
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.6.28.2040.dist-info → mani_skill_nightly-2025.6.28.2124.dist-info}/RECORD

@@ -1,8 +1,8 @@
 mani_skill/__init__.py,sha256=_wZjMWSlWZYeAAEjiHAHa5W6uq7Eh4fbny8HwlYSJhQ,2101
 mani_skill/agents/__init__.py,sha256=6u7nUfWDqWmD_ieNhECfhV6mIyf4SmMdumexE2lRlsU,44
-mani_skill/agents/base_agent.py,sha256=rnBMYAtEhjfVHeYUx28yWU9Y1tIxXVETBv2IqSiyt8w,18098
+mani_skill/agents/base_agent.py,sha256=pnaE1VWJSpdzlsFPmcG5VVLLX9sWtPnl1ZM3ZIy2kXM,18400
 mani_skill/agents/base_real_agent.py,sha256=DD9SXZa7er5zF7wdm97IO_0W4xbdw-66iLC8j86ykYw,8549
-mani_skill/agents/multi_agent.py,sha256=OL7sPDwP1Gfn870W3LRNhwsPp7Gy52sdYI4LySvaGzQ,2970
+mani_skill/agents/multi_agent.py,sha256=AFygr2797M5Hhk4qMoLuFmFk7msqnp82bFuSyP1j8JA,3341
 mani_skill/agents/registration.py,sha256=rtu9vAys_Qz76d9LsDFpqanZxaFiLSPZajA3uHF9HHQ,1331
 mani_skill/agents/utils.py,sha256=U8wdgsNHRa-RtlC3HQM8_Agn9P82TIe3ZrXetaMMU_U,1912
 mani_skill/agents/controllers/__init__.py,sha256=tsd27dW6brQBm563CddUGtFMBNAxe_MCpTqqR5VyJaY,1103
@@ -539,7 +539,7 @@ 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=4fuabvPy9uCC_x3DTehdgOgyIDqIZDjzbhBsz6iiakQ,73663
+mani_skill/envs/sapien_env.py,sha256=VFP2hMAfaocOnOKl0xpuy95dJV_LhJBTqcNceBB2z-0,73858
 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
@@ -613,7 +613,7 @@ mani_skill/envs/tasks/tabletop/pick_cube.py,sha256=wC2DdKKxROaG2oWovbKGlPyuKLd21
 mani_skill/envs/tasks/tabletop/pick_cube_cfgs.py,sha256=ns0bhw6nrJElSR9nGruGYECyzeAJgq4nd2HraEHI5A0,2564
 mani_skill/envs/tasks/tabletop/pick_single_ycb.py,sha256=mrqEoOa9UVF34Z5fpsvjcr683diUffsKEjJ9Zh0qfFU,10409
 mani_skill/envs/tasks/tabletop/place_sphere.py,sha256=J3ReBFK7TyZQlleIFspz7Pl1wqAzaYoveGZfNNL5DVM,10101
-mani_skill/envs/tasks/tabletop/plug_charger.py,sha256=nqxrafAtziJGjwBVhB3OjfA4UxVSIoJxrAWzA9_YMuY,10347
+mani_skill/envs/tasks/tabletop/plug_charger.py,sha256=So0WttpXKU_1okVCgB00htqa_fxPcJZERhFSKqspA_o,10463
 mani_skill/envs/tasks/tabletop/poke_cube.py,sha256=KV6mp-Xgm9h4GYUcAUop2AZ4IECTdQKEMRRd9NThyBo,9343
 mani_skill/envs/tasks/tabletop/pull_cube.py,sha256=tyy9KOgBjQOHjFrVK2-hNQPCPDjJ7Y61ZtbwPX_6gvk,5548
 mani_skill/envs/tasks/tabletop/pull_cube_tool.py,sha256=NaZpdbYYL4zC41GVY__eq4uRIQpVXthzAqe5oSq8YWU,9951
@@ -703,7 +703,7 @@ mani_skill/sensors/depth_camera.py,sha256=KCT7DMqQacVag_24MjkKAml87T6FtDqNS0TJFf
 mani_skill/trajectory/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/trajectory/dataset.py,sha256=nrG3jkhdzRqAdjxC_c8Z4FxpkvW3A9XPvUp9-Ux_u38,6351
 mani_skill/trajectory/merge_trajectory.py,sha256=zsjRMTsiIirZGIV4KrtYOM2-zoOAzd7ObZEdWGJzZbE,3685
-mani_skill/trajectory/replay_trajectory.py,sha256=AtmsIV4Oj_vh6MDbHV5Kyrlv7J6mXSHvAWwjuFBVMZo,27074
+mani_skill/trajectory/replay_trajectory.py,sha256=ABiM4pMSkTAhU1L2fdaY-Mwnw2Hzg8p1rAaWf3ijWOE,27681
 mani_skill/trajectory/utils/__init__.py,sha256=Nchv09IpXv0FOgpf7Ng1Ekus6ZfAh3kI0KJs-79QOig,1515
 mani_skill/trajectory/utils/actions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/trajectory/utils/actions/conversion.py,sha256=x88C64ke44gB-HEbqq_gSRFv34L7irSwT_wYttkQUn8,12922
@@ -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-2025.6.28.2040.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.6.28.2040.dist-info/METADATA,sha256=4tsIGDJelHdLjtIrbdK0CdaI_2nhI4o_PC1xEW4chpM,9272
-mani_skill_nightly-2025.6.28.2040.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.6.28.2040.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.6.28.2040.dist-info/RECORD,,
+mani_skill_nightly-2025.6.28.2124.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.6.28.2124.dist-info/METADATA,sha256=0QTuTb7HR5inib2hW2OYYBETNZ_Y7ogG9F7OA2DO0yo,9272
+mani_skill_nightly-2025.6.28.2124.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.6.28.2124.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.6.28.2124.dist-info/RECORD,,