mani-skill-nightly 2025.6.28.814__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

@@ -98,12 +98,18 @@ class BaseEnv(gym.Env):
         sim_backend (str): By default this is "auto". If sim_backend is "auto", then if ``num_envs == 1``, we use the PhysX CPU sim backend, otherwise
             we use the PhysX GPU sim backend and automatically pick a GPU to use.
             Can also be "physx_cpu" or "physx_cuda" to force usage of a particular sim backend.
-            To select a particular GPU to run the simulation on, you can pass "cuda:n" where n is the ID of the GPU,
+            To select a particular GPU to run the simulation on, you can pass "physx_cuda:n" where n is the ID of the GPU,
             similar to the way PyTorch selects GPUs.
             Note that if this is "physx_cpu", num_envs can only be equal to 1.
 
-        render_backend (str): By default this is "gpu". If render_backend is "gpu", then we auto select a GPU to render with.
-            It can be "cuda:n" where n is the ID of the GPU to render with. If this is "cpu", then we render on the CPU.
+        render_backend (str): By default this is "gpu". If render_backend is "gpu" or it's alias "sapien_cuda", then we auto select a GPU to render with.
+            It can be "sapien_cuda:n" where n is the ID of the GPU to render with. If this is "cpu" or "sapien_cpu", then we try to render on the CPU.
+            If this is "none" or None, then we disable rendering.
+
+            Note that some environments may require rendering functionalities to work. Moreover
+            it is sometimes difficult to determine before running an environment if your machine can render or not. If you encounter some issue with
+            rendering you can first try to double check your NVIDIA drivers / Vulkan drivers are setup correctly. If you don't need to do rendering
+            you can simply disable it by setting render_backend to "none" or None.
 
         parallel_in_single_scene (bool): By default this is False. If True, rendered images and the GUI will show all objects in one view.
             This is only really useful for generating cool videos showing all environments at once but it is not recommended
@@ -1235,7 +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/envs/utils/system/backend.py

@@ -3,6 +3,7 @@ Utilities for determining the simulation backend and devices
 """
 import platform
 from dataclasses import dataclass
+from typing import Union
 
 import sapien
 import torch
@@ -18,8 +19,8 @@ class BackendInfo:
     """the device on which the physics simulation is running"""
     sim_backend: str
     """the backend name of the physics simulation"""
-    render_device: sapien.Device
-    """the device on which the renderer is running"""
+    render_device: Union[sapien.Device, None]
+    """the device on which the renderer is running. If none then we disable rendering."""
     render_backend: str
     """the backend name of the renderer"""
 
@@ -70,6 +71,8 @@ def parse_sim_and_render_backend(sim_backend: str, render_backend: str) -> Backe
             render_device = sapien.Device("cpu")
         elif render_backend[:4] == "cuda":
             render_device = sapien.Device(render_backend)
+        elif render_backend == "none" or render_backend is None:
+            render_device = None
         else:
             # handle special cases such as for AMD gpus, render_backend must be defined as pci:... instead as cuda is not available.
             render_device = sapien.Device(render_backend)

mani_skill/examples/demo_random_action.py

@@ -25,6 +25,9 @@ class Args:
     sim_backend: Annotated[str, tyro.conf.arg(aliases=["-b"])] = "auto"
     """Which simulation backend to use. Can be 'auto', 'cpu', 'gpu'"""
 
+    render_backend: Annotated[str, tyro.conf.arg(aliases=["-rb"])] = "gpu"
+    """Which render backend to use. Can be 'gpu', 'cpu', 'none'"""
+
     reward_mode: Optional[str] = None
     """Reward mode"""
 
@@ -77,6 +80,7 @@ def main(args: Args):
         viewer_camera_configs=dict(shader_pack=args.shader),
         num_envs=args.num_envs,
         sim_backend=args.sim_backend,
+        render_backend=args.render_backend,
         enable_shadow=True,
         parallel_in_single_scene=parallel_in_single_scene,
     )
@@ -103,7 +107,7 @@ def main(args: Args):
     obs, _ = env.reset(seed=args.seed, options=dict(reconfigure=True))
     if args.seed is not None and env.action_space is not None:
             env.action_space.seed(args.seed[0])
-    if args.render_mode is not None:
+    if args.render_mode == "human":
         viewer = env.render()
         if isinstance(viewer, sapien.utils.Viewer):
             viewer.paused = args.pause
@@ -116,7 +120,7 @@ def main(args: Args):
             print("terminated", terminated)
             print("truncated", truncated)
             print("info", info)
-        if args.render_mode is not None:
+        if args.render_mode == "human":
             env.render()
         if args.render_mode is None or args.render_mode != "human":
             if (terminated | truncated).any():

mani_skill/render/utils.py

@@ -1,11 +1,14 @@
 import platform
+from typing import Union
 
 import sapien
 
 
-def can_render(device: sapien.Device) -> bool:
+def can_render(device: Union[sapien.Device, None]) -> 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()
+    # NOTE (stao): sapien's can_render function is not always accurate. The alternative at the moment is to let the user
+    # try to render and if there is a bug, tell the user to disable rendering by setting render_backend to "none" or None.
+    return device is not None

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-2025.6.28.814.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: 2025.6.28.814
+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-2025.6.28.814.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=bUAojljJsacImzMB2DH6WR0Lf_lHqRJ7lzJMKIOYu88,73056
+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
@@ -636,7 +636,7 @@ mani_skill/envs/utils/randomization/pose.py,sha256=9PPg-QMorHVe3fV4e3T-BRYu0E_8I
 mani_skill/envs/utils/randomization/samplers.py,sha256=EOkF18mmDC7fA2hgj8QC2Ag0gnf4H-4MIjOCDvTMpCE,3665
 mani_skill/envs/utils/rewards/__init__.py,sha256=66MV5YCbnpF4ac_SvTVJ000RxM1AIsclX7OatiA-Wak,22
 mani_skill/envs/utils/rewards/common.py,sha256=1lfJNWG3x7UjarHLteLXa8DCzbe_L7nYBMOBo5D9CRQ,3647
-mani_skill/envs/utils/system/backend.py,sha256=Ak_cKmYp2TKPT7PLGil25Unhij_gWtwp1aXWzTgyuVY,3137
+mani_skill/envs/utils/system/backend.py,sha256=9xk-ef8779Cj27THXkVM-sxEMQWH8bUrWiwgaf-MKCo,3309
 mani_skill/evaluation/__init__.py,sha256=PCMN6dc9zgFKuXTPmkAUEahP3XG65cKRLGMXrk5IeXY,33
 mani_skill/evaluation/evaluator.py,sha256=1EN6qAiGx3taB4vCeArUp33UZjLvBt1Ke6iUW8Z8aV0,4493
 mani_skill/evaluation/run_evaluation.py,sha256=yorphrlJKEGycHfQS8equnJHRsyjDuv77ZGNpg9wvCs,4780
@@ -644,7 +644,7 @@ mani_skill/evaluation/solution.py,sha256=e_Aa0f4sSQ56KXL7tVDPUKf7WTjcuFc5X4J76p8
 mani_skill/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/examples/demo_manual_control.py,sha256=Z17ER37oehS8VgtDO_4dwiy5jDgL93nT9IdCsNDf0Es,8275
 mani_skill/examples/demo_manual_control_continuous.py,sha256=tnCnKX2v1iIhtXwvWR2NzXgpf3e0y2-qAO91jJBLIO0,9679
-mani_skill/examples/demo_random_action.py,sha256=_8JY0J6qAQFQVTO1Tz_M_M4TFXveop4O-v0Itc2XCBg,5293
+mani_skill/examples/demo_random_action.py,sha256=PAgSIrd6Ek3DM0XMs4ax-by1mMzXz2U1RsTavdzgNk8,5478
 mani_skill/examples/demo_reset_distribution.py,sha256=m1I5WQptBJrXvFPdUi7TIzR_Q--_wGAFkbcKNKWlq2U,2988
 mani_skill/examples/demo_robot.py,sha256=bIeHztjM0R6yJT699WQ6jkhv6LjsiP4GWa3Whyom_qM,4881
 mani_skill/examples/demo_vis_pcd.py,sha256=50YT-YVeX4sEsXxHh0S9Ju_kra8ZcUzPfFpG3EgK2o4,2139
@@ -694,7 +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/utils.py,sha256=l-Kt3LTACw6Q_A7jhss0Eoc5t2LfHaFmDiH55DhLMuU,638
 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
@@ -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-2025.6.28.814.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.6.28.814.dist-info/METADATA,sha256=bqsgK9hvrbKC_i-tneGhNaw-JVbfPmqv-n8yWct6XEU,9271
-mani_skill_nightly-2025.6.28.814.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.6.28.814.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.6.28.814.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,,