mani-skill-nightly 2025.7.25.329__py3-none-any.whl → 2025.7.27.104__py3-none-any.whl

mani_skill/agents/__init__.py

@@ -1 +1,3 @@
-from .registration import REGISTERED_AGENTS
+from .base_agent import BaseAgent
+from .multi_agent import MultiAgent
+from .registration import REGISTERED_AGENTS, register_agent

mani_skill/envs/sapien_env.py

@@ -16,9 +16,7 @@ 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
-from mani_skill.agents.multi_agent import MultiAgent
+from mani_skill.agents import REGISTERED_AGENTS, BaseAgent, MultiAgent
 from mani_skill.envs.scene import ManiSkillScene
 from mani_skill.envs.utils.observations import (
     parse_obs_mode_to_struct,
@@ -37,12 +35,11 @@ from mani_skill.sensors.camera import (
     update_camera_configs_from_dict,
 )
 from mani_skill.sensors.depth_camera import StereoDepthCamera, StereoDepthCameraConfig
-from mani_skill.utils import common, gym_utils, sapien_utils
+from mani_skill.utils import common, gym_utils, sapien_utils, tree
 from mani_skill.utils.structs import Actor, Articulation
 from mani_skill.utils.structs.pose import Pose
 from mani_skill.utils.structs.types import Array, SimConfig
 from mani_skill.utils.visualization.misc import tile_images
-from mani_skill.viewer import create_viewer
 
 
 class BaseEnv(gym.Env):
@@ -316,6 +313,8 @@ class BaseEnv(gym.Env):
         self._elapsed_steps = (
             torch.zeros(self.num_envs, device=self.device, dtype=torch.int32)
         )
+        self._last_obs = None
+        """the last observation returned by the environment"""
         obs, _ = self.reset(seed=[2022 + i for i in range(self.num_envs)], options=dict(reconfigure=True))
 
         self._init_raw_obs = common.to_cpu_tensor(obs)
@@ -739,7 +738,7 @@ class BaseEnv(gym.Env):
         # 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
         if self.scene.can_render(): self._setup_sensors(options)
         if self.render_mode == "human" and self._viewer is None:
-            self._viewer = create_viewer(self._viewer_camera_config)
+            self._viewer = sapien_utils.create_viewer(self._viewer_camera_config)
         if self._viewer is not None:
             self._setup_viewer()
         self._reconfig_counter = self.reconfiguration_freq
@@ -850,7 +849,11 @@ class BaseEnv(gym.Env):
         options["reconfigure"] is True, will call self._reconfigure() which deletes the entire physx scene and reconstructs everything.
         Users building custom tasks generally do not need to override this function.
 
-        Returns the first observation and a info dictionary. The info dictionary is of type
+        If options["reset_to_env_states"] is given, we expect there to be options["reset_to_env_states"]["env_states"] and optionally options["reset_to_env_states"]["obs"], both with
+        batch size equal to the number of environments being reset. "env_states" can be a dictionary or flat tensor and we skip calling the environment's _initialize_episode function which
+        generates the initial state on a normal reset. If "obs" is given we skip calling the environment's get_obs function which can save some compute/time.
+
+        Returns the observations and an info dictionary. The info dictionary is of type
 
 
         .. highlight:: python
@@ -917,12 +920,22 @@ class BaseEnv(gym.Env):
         if self.agent is not None:
             self.agent.reset()
 
-        if seed is not None or self._enhanced_determinism:
-            with torch.random.fork_rng():
-                torch.manual_seed(self._episode_seed[0])
-                self._initialize_episode(env_idx, options)
+        # we either reset to given env states or use the environment's defined _initialize_episode function to generate the initial state
+        reset_to_env_states_obs = None
+        if "reset_to_env_states" in options:
+            env_states = options["reset_to_env_states"]["env_states"]
+            reset_to_env_states_obs = options["reset_to_env_states"].get("obs", None)
+            if isinstance(env_states, dict):
+                self.set_state_dict(env_states, env_idx)
+            else:
+                self.set_state(env_states, env_idx)
         else:
-            self._initialize_episode(env_idx, options)
+            if seed is not None or self._enhanced_determinism:
+                with torch.random.fork_rng():
+                    torch.manual_seed(self._episode_seed[0])
+                    self._initialize_episode(env_idx, options)
+            else:
+                self._initialize_episode(env_idx, options)
         # reset the reset mask back to all ones so any internal code in maniskill can continue to manipulate all scenes at once as usual
         self.scene._reset_mask = torch.ones(
             self.num_envs, dtype=bool, device=self.device
@@ -942,9 +955,13 @@ class BaseEnv(gym.Env):
                 self.agent.controller.reset()
 
         info = self.get_info()
-        obs = self.get_obs(info)
-
+        if reset_to_env_states_obs is None:
+            obs = self.get_obs(info)
+        else:
+            obs = self._last_obs
+            tree.replace(obs, env_idx, common.to_tensor(reset_to_env_states_obs, device=self.device))
         info["reconfigure"] = reconfigure
+        self._last_obs = obs
         return obs, info
 
     def _set_main_rng(self, seed):
@@ -1031,7 +1048,7 @@ class BaseEnv(gym.Env):
                 terminated = info["fail"].clone()
             else:
                 terminated = torch.zeros(self.num_envs, dtype=bool, device=self.device)
-
+        self._last_obs = obs
         return (
             obs,
             reward,
@@ -1324,7 +1341,7 @@ class BaseEnv(gym.Env):
         for obj in self._hidden_objects:
             obj.show_visual()
         if self._viewer is None:
-            self._viewer = create_viewer(self._viewer_camera_config)
+            self._viewer = sapien_utils.create_viewer(self._viewer_camera_config)
             self._setup_viewer()
         if self.gpu_sim_enabled and self.scene._gpu_sim_initialized:
             self.scene.px.sync_poses_gpu_to_cpu()

mani_skill/envs/tasks/drawing/__init__.py

@@ -1,3 +1,3 @@
-from .draw import *
-from .draw_triangle import *
-from .draw_svg import *
+from .draw import TableTopFreeDrawEnv
+from .draw_svg import DrawSVGEnv
+from .draw_triangle import DrawTriangleEnv

mani_skill/envs/tasks/humanoid/__init__.py

@@ -1,3 +1,3 @@
-from .humanoid_pick_place import *
+from .humanoid_pick_place import HumanoidPlaceAppleInBowl
 from .humanoid_stand import HumanoidStandEnv
 from .transport_box import TransportBoxEnv

mani_skill/trajectory/utils/__init__.py

@@ -6,8 +6,6 @@ Utils for working with ManiSkill trajectory files
 import h5py
 import numpy as np
 
-from mani_skill.utils.structs.types import Array
-
 
 def _get_dict_len(x):
     if isinstance(x, dict) or isinstance(x, h5py.Group):

mani_skill/utils/building/actors/__init__.py

@@ -1,35 +1,11 @@
-from mani_skill.envs.scene import ManiSkillScene
-from mani_skill.utils.building.actor_builder import ActorBuilder
-
-from .common import *
-
-
-def get_actor_builder(
-    scene: ManiSkillScene, id: str, add_collision: bool = True, add_visual: bool = True
-) -> ActorBuilder:
-    """Builds an actor or returns an actor builder given an ID specifying which dataset/source and then the actor ID
-
-    Currently these IDs are hardcoded for a few datasets. The new Shapedex platform for hosting and managing all assets will be
-    integrated in the future
-
-    Args:
-        scene: The ManiSkillScene. If building a custom task this is generally just self.scene
-        id (str): The unique ID identifying the dataset and the ID of the actor in that dataset to build. The format should be
-            "<dataset_id>:<actor_id_in_dataset>"
-        add_collision (bool): Whether to include the collision shapes/meshes
-        add_visual (bool): Whether to include visual shapes/meshes
-    """
-    splits = id.split(":")
-    dataset_source = splits[0]
-    actor_id = ":".join(splits[1:])
-
-    if dataset_source == "ycb":
-        from mani_skill.utils.building.actors.ycb import get_ycb_builder
-
-        builder = get_ycb_builder(
-            scene=scene, id=actor_id, add_collision=add_collision, add_visual=add_visual
-        )
-    else:
-        raise RuntimeError(f"No dataset with id {dataset_source} was found")
-
-    return builder
+from .common import (
+    build_box,
+    build_colorful_cube,
+    build_cube,
+    build_cylinder,
+    build_fourcolor_peg,
+    build_red_white_target,
+    build_sphere,
+    build_twocolor_peg,
+    get_actor_builder,
+)

mani_skill/utils/building/actors/common.py

@@ -14,6 +14,36 @@ from mani_skill.utils.structs.pose import Pose
 from mani_skill.utils.structs.types import Array
 
 
+def get_actor_builder(
+    scene: ManiSkillScene, id: str, add_collision: bool = True, add_visual: bool = True
+) -> ActorBuilder:
+    """Returns an :py:class:`~mani_skill.utils.building.actor_builder.ActorBuilder` given an ID specifying which dataset/source and then the ID of the asset.
+
+    Currently these IDs are hardcoded for a few datasets. We may add more actor datasets in the future for easy loading by users
+
+    Args:
+        scene: The ManiSkillScene. If building a custom task this is generally just self.scene
+        id (str): The unique ID identifying the dataset and the ID of the actor in that dataset to build. The format should be
+            "<dataset_id>:<actor_id_in_dataset>"
+        add_collision (bool): Whether to include the collision shapes/meshes
+        add_visual (bool): Whether to include visual shapes/meshes
+    """
+    splits = id.split(":")
+    dataset_source = splits[0]
+    actor_id = ":".join(splits[1:])
+
+    if dataset_source == "ycb":
+        from mani_skill.utils.building.actors.ycb import get_ycb_builder
+
+        builder = get_ycb_builder(
+            scene=scene, id=actor_id, add_collision=add_collision, add_visual=add_visual
+        )
+    else:
+        raise RuntimeError(f"No dataset with id {dataset_source} was found")
+
+    return builder
+
+
 def _build_by_type(
     builder: ActorBuilder,
     name,

mani_skill/utils/download_demo.py

@@ -46,8 +46,6 @@ for env_id in [
         raw_dataset_url=f"https://huggingface.co/datasets/haosulab/ManiSkill_Demonstrations/resolve/main/demos/{env_id}.zip?download=true"
     )
 
-pbar = None
-
 
 def tqdmhook(t):
     last_b = [0]

mani_skill/utils/sapien_utils.py

@@ -3,6 +3,7 @@ Utilities that work with the simulation / SAPIEN
 """
 from __future__ import annotations
 
+import sys
 from typing import TYPE_CHECKING, Dict, List, Tuple, TypeVar
 
 import numpy as np
@@ -10,15 +11,16 @@ import sapien
 import sapien.physx as physx
 import sapien.render
 import sapien.wrapper.urdf_loader
+import torch
+from sapien.utils import Viewer
 
+from mani_skill.render import SAPIEN_RENDER_SYSTEM
 from mani_skill.utils.geometry.rotation_conversions import matrix_to_quaternion
 from mani_skill.utils.structs.pose import Pose
 
 if TYPE_CHECKING:
     from mani_skill.utils.structs.actor import Actor
-    from mani_skill.envs.scene import ManiSkillScene
-
-import torch
+    from mani_skill.sensors.camera import CameraConfig
 
 from mani_skill.utils.structs.types import Array, Device
 
@@ -115,7 +117,6 @@ def parse_urdf_config(config_dict: dict) -> Dict:
 
     Args:
         config_dict (dict): a dict containing link physical properties.
-        scene (ManiSkillScene): the simulation scene
 
     Returns:
         Dict: urdf config passed to `sapien.URDFLoader.load`.
@@ -436,3 +437,42 @@ def is_state_dict_consistent(state_dict: dict):
                     if v.shape[0] != batch_size:
                         return False
     return True
+
+
+def create_viewer(viewer_camera_config: CameraConfig):
+    """Creates a viewer with the given camera config"""
+    if SAPIEN_RENDER_SYSTEM == "3.0":
+        sapien.render.set_viewer_shader_dir(
+            viewer_camera_config.shader_config.shader_pack
+        )
+        if viewer_camera_config.shader_config.shader_pack[:2] == "rt":
+            sapien.render.set_ray_tracing_denoiser(
+                viewer_camera_config.shader_config.shader_pack_config[
+                    "ray_tracing_denoiser"
+                ]
+            )
+            sapien.render.set_ray_tracing_path_depth(
+                viewer_camera_config.shader_config.shader_pack_config[
+                    "ray_tracing_path_depth"
+                ]
+            )
+            sapien.render.set_ray_tracing_samples_per_pixel(
+                viewer_camera_config.shader_config.shader_pack_config[
+                    "ray_tracing_samples_per_pixel"
+                ]
+            )
+        viewer = Viewer(
+            resolutions=(viewer_camera_config.width, viewer_camera_config.height)
+        )
+        if sys.platform == "darwin":  # macOS
+            viewer.window.set_content_scale(1)
+    elif SAPIEN_RENDER_SYSTEM == "3.1":
+        # TODO (stao): figure out how shader pack configs can be set at run time
+        viewer = Viewer(
+            resolutions=(viewer_camera_config.width, viewer_camera_config.height),
+            shader_pack=sapien.render.get_shader_pack(
+                viewer_camera_config.shader_config.shader_pack
+            ),
+        )
+
+    return viewer

mani_skill/utils/structs/articulation.py

@@ -888,7 +888,7 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
             else:
                 gx, gy = self.get_joint_target_indices(joint_indices)
             self.px.cuda_articulation_target_qpos.torch()[
-                gx[self.scene._reset_mask], gy[self.scene._reset_mask]
+                gx[self.scene._reset_mask[self._scene_idxs]], gy[self.scene._reset_mask[self._scene_idxs]]
             ] = targets
         else:
             for i, joint in enumerate(joints):
@@ -911,7 +911,9 @@ class Articulation(BaseStruct[physx.PhysxArticulation]):
                 gx, gy = self.get_joint_target_indices(joints)
             else:
                 gx, gy = self.get_joint_target_indices(joint_indices)
-            self.px.cuda_articulation_target_qvel.torch()[gx, gy] = targets
+            self.px.cuda_articulation_target_qvel.torch()[
+                gx[self.scene._reset_mask[self._scene_idxs]], gy[self.scene._reset_mask[self._scene_idxs]]
+            ] = targets
         else:
             for i, joint in enumerate(joints):
                 joint.set_drive_velocity_target(targets[0, i])

mani_skill/utils/tree.py

@@ -0,0 +1,24 @@
+import torch
+
+
+# NOTE (stao): when tensordict is used we should replace all of this
+def slice(x, i):
+    if isinstance(x, dict):
+        return {k: slice(v, i) for k, v in x.items()}
+    else:
+        return x[i]
+
+
+def cat(x: list):
+    if isinstance(x[0], dict):
+        return {k: cat([d[k] for d in x]) for k in x[0].keys()}
+    else:
+        return torch.cat(x, dim=0)
+
+
+def replace(x, i, y):
+    if isinstance(x, dict):
+        for k, v in x.items():
+            replace(v, i, y[k])
+    else:
+        x[i] = y

mani_skill/utils/wrappers/__init__.py

@@ -1,3 +1,5 @@
+from .action_repeat import ActionRepeatWrapper
+from .cached_reset import CachedResetWrapper
 from .flatten import (
     FlattenActionSpaceWrapper,
     FlattenObservationWrapper,
@@ -6,4 +8,3 @@ from .flatten import (
 from .frame_stack import FrameStack
 from .gymnasium import CPUGymWrapper
 from .record import RecordEpisode
-from .action_repeat import ActionRepeatWrapper

mani_skill/utils/wrappers/cached_reset.py

@@ -0,0 +1,151 @@
+from dataclasses import asdict, dataclass
+from typing import List, Optional, Union
+
+import dacite
+import gymnasium as gym
+import torch
+
+from mani_skill.envs.sapien_env import BaseEnv
+from mani_skill.utils import common, tree
+from mani_skill.utils.structs.types import Device
+
+
+@dataclass
+class CachedResetsConfig:
+    num_resets: Optional[int] = None
+    """The number of reset states to cache. If none it will cache `num_envs` number of reset states."""
+    device: Optional[Device] = None
+    """The device to cache the reset states on. If none it will use the base environment's device."""
+    seed: Optional[int] = None
+    """The seed to use for generating the cached reset states."""
+
+    def dict(self):
+        return {k: v for k, v in asdict(self).items()}
+
+
+class CachedResetWrapper(gym.Wrapper):
+    """
+    Cached reset wrapper for ManiSkill3 environments. Caching resets allows you to skip slower parts of the reset function call and boost environment FPS as a result.
+
+    Args:
+        env: The environment to wrap.
+        reset_to_env_states: A dictionary with keys "env_states" and optionally "obs". "env_states" is a dictionary of environment states to reset to.
+            "obs" contains the corresponding observations generated at those env states. If reset_to_env_states is not provided, the wrapper will sample reset states
+            from the environment using the given seed.
+        config: A dictionary or a `CachedResetsConfig` object that contains the configuration for the cached resets.
+    """
+
+    def __init__(
+        self,
+        env: gym.Env,
+        reset_to_env_states: Optional[dict] = None,
+        config: Union[CachedResetsConfig, dict] = CachedResetsConfig(),
+    ):
+        super().__init__(env)
+        self.num_envs = self.base_env.num_envs
+        if isinstance(config, CachedResetsConfig):
+            config = config.dict()
+        self.cached_resets_config = dacite.from_dict(
+            data_class=CachedResetsConfig,
+            data=config,
+            config=dacite.Config(strict=True),
+        )
+        cached_data_device = self.cached_resets_config.device
+        if cached_data_device is None:
+            cached_data_device = self.base_env.device
+        self._num_cached_resets = 0
+        if reset_to_env_states is not None:
+            self._cached_resets_env_states = reset_to_env_states["env_states"]
+            self._cached_resets_obs_buffer = reset_to_env_states.get("obs", None)
+            self._num_cached_resets = len(self._cached_resets_env_states)
+        else:
+            if self.cached_resets_config.num_resets is None:
+                self.cached_resets_config.num_resets = 16384
+            self._cached_resets_env_states = []
+            self._cached_resets_obs_buffer = []
+            while self._num_cached_resets < self.cached_resets_config.num_resets:
+                obs, _ = self.env.reset(
+                    seed=self.cached_resets_config.seed,
+                    options=dict(
+                        env_idx=torch.arange(
+                            0,
+                            min(
+                                self.cached_resets_config.num_resets
+                                - self._num_cached_resets,
+                                self.num_envs,
+                            ),
+                            device=self.base_env.device,
+                        )
+                    ),
+                )
+                state = self.env.get_wrapper_attr("get_state_dict")()
+                if (
+                    self.cached_resets_config.num_resets - self._num_cached_resets
+                    < self.num_envs
+                ):
+                    obs = tree.slice(
+                        obs,
+                        slice(
+                            0,
+                            self.cached_resets_config.num_resets
+                            - self._num_cached_resets,
+                        ),
+                    )
+                    state = tree.slice(
+                        state,
+                        slice(
+                            0,
+                            self.cached_resets_config.num_resets
+                            - self._num_cached_resets,
+                        ),
+                    )
+                self._cached_resets_obs_buffer.append(
+                    common.to_tensor(obs, device=self.cached_resets_config.device)
+                )
+                self._cached_resets_env_states.append(
+                    common.to_tensor(state, device=self.cached_resets_config.device)
+                )
+                self._num_cached_resets += self.num_envs
+            self._cached_resets_env_states = tree.cat(self._cached_resets_env_states)
+            self._cached_resets_obs_buffer = tree.cat(self._cached_resets_obs_buffer)
+
+        self._cached_resets_env_states = common.to_tensor(
+            self._cached_resets_env_states, device=cached_data_device
+        )
+        if self._cached_resets_obs_buffer is not None:
+            self._cached_resets_obs_buffer = common.to_tensor(
+                self._cached_resets_obs_buffer, device=cached_data_device
+            )
+
+    @property
+    def base_env(self) -> BaseEnv:
+        return self.env.unwrapped
+
+    def reset(
+        self,
+        *args,
+        seed: Optional[Union[int, List[int]]] = None,
+        options: Optional[dict] = None,
+        **kwargs
+    ):
+        env_idx = None
+        if options is None:
+            options = dict()
+        if "env_idx" in options:
+            env_idx = options["env_idx"]
+        if self._cached_resets_env_states is not None:
+            sampled_ids = torch.randint(
+                0,
+                self._num_cached_resets,
+                size=(len(env_idx) if env_idx is not None else self.num_envs,),
+                device=self.base_env.device,
+            )
+            options["reset_to_env_states"] = dict(
+                env_states=tree.slice(self._cached_resets_env_states, sampled_ids),
+            )
+            if self._cached_resets_obs_buffer is not None:
+                options["reset_to_env_states"]["obs"] = tree.slice(
+                    self._cached_resets_obs_buffer, sampled_ids
+                )
+        obs, info = self.env.reset(seed=seed, options=options)
+        return obs, info

mani_skill/utils/wrappers/record.py

@@ -357,16 +357,15 @@ class RecordEpisode(gym.Wrapper):
         self,
         *args,
         seed: Optional[Union[int, List[int]]] = None,
-        options: Optional[dict] = dict(),
+        options: Optional[dict] = None,
         **kwargs,
     ):
-
         if self.save_on_reset:
             if self.save_video and self.num_envs == 1:
                 self.flush_video()
             # if doing a full reset then we flush all trajectories including incompleted ones
             if self._trajectory_buffer is not None:
-                if "env_idx" not in options:
+                if options is None or "env_idx" not in options:
                     self.flush_trajectory(env_idxs_to_flush=np.arange(self.num_envs))
                 else:
                     self.flush_trajectory(
@@ -415,7 +414,7 @@ class RecordEpisode(gym.Wrapper):
             if self.record_env_state:
                 first_step.state = common.to_numpy(common.batch(state_dict))
             env_idx = np.arange(self.num_envs)
-            if "env_idx" in options:
+            if options is not None and "env_idx" in options:
                 env_idx = common.to_numpy(options["env_idx"])
             if self._trajectory_buffer is None:
                 # Initialize trajectory buffer on the first episode based on given observation (which should be generated after all wrappers)

mani_skill/vector/wrappers/gymnasium.py

@@ -11,6 +11,7 @@ from mani_skill.utils.structs.types import Array
 
 if TYPE_CHECKING:
     from gymnasium import Env
+
     from mani_skill.envs.sapien_env import BaseEnv
 
 
@@ -18,8 +19,6 @@ class ManiSkillVectorEnv(VectorEnv):
     """
     Gymnasium Vector Env implementation for ManiSkill environments running on the GPU for parallel simulation and optionally parallel rendering
 
-    Note that currently this also assumes modeling tasks as infinite horizon (e.g. terminations is always False, only reset when timelimit is reached)
-
     Args:
         env: The environment created via gym.make / after wrappers are applied. If a string is given, we use gym.make(env) to create an environment
         num_envs: The number of parallel environments. This is only used if the env argument is a string
@@ -89,10 +88,10 @@ class ManiSkillVectorEnv(VectorEnv):
         self,
         *,
         seed: Optional[Union[int, List[int]]] = None,
-        options: Optional[dict] = dict(),
+        options: Optional[dict] = None,
     ):
         obs, info = self._env.reset(seed=seed, options=options)
-        if "env_idx" in options:
+        if options is not None and "env_idx" in options:
             env_idx = options["env_idx"]
             mask = torch.zeros(self.num_envs, dtype=bool, device=self.base_env.device)
             mask[env_idx] = True

{mani_skill_nightly-2025.7.25.329.dist-info → mani_skill_nightly-2025.7.27.104.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.7.25.329
+Version: 2025.7.27.104
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors
@@ -52,6 +52,7 @@ Requires-Dist: sphinx-subfigure; extra == "docs"
 Requires-Dist: sphinxcontrib-video; extra == "docs"
 Requires-Dist: sphinx-togglebutton; extra == "docs"
 Requires-Dist: sphinx-design; extra == "docs"
+Requires-Dist: sphinx-autoapi; extra == "docs"
 
 # ManiSkill 3 (Beta)
 

{mani_skill_nightly-2025.7.25.329.dist-info → mani_skill_nightly-2025.7.27.104.dist-info}/RECORD

@@ -1,5 +1,5 @@
 mani_skill/__init__.py,sha256=_wZjMWSlWZYeAAEjiHAHa5W6uq7Eh4fbny8HwlYSJhQ,2101
-mani_skill/agents/__init__.py,sha256=6u7nUfWDqWmD_ieNhECfhV6mIyf4SmMdumexE2lRlsU,44
+mani_skill/agents/__init__.py,sha256=87Xa-eaPbbVm6LmD1111yXSBuRkcoTG0g_5RdkaFiGI,130
 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=AFygr2797M5Hhk4qMoLuFmFk7msqnp82bFuSyP1j8JA,3341
@@ -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=VFP2hMAfaocOnOKl0xpuy95dJV_LhJBTqcNceBB2z-0,73858
+mani_skill/envs/sapien_env.py,sha256=jjA3wjqjTeB7C4tUKZEE5vSAVf1qPcYw5ARD3ItybfA,75226
 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
@@ -570,7 +570,7 @@ mani_skill/envs/tasks/digital_twins/bridge_dataset_eval/base_env.py,sha256=L7eQ8
 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
-mani_skill/envs/tasks/drawing/__init__.py,sha256=eZ7CnzIWBOHUihvOKStSQK94eKSv5wchRdSodiDYBlw,72
+mani_skill/envs/tasks/drawing/__init__.py,sha256=b2HaUu5UwcWHetjcn6hKlKFokUMd1ZGIljOg-kPeo54,114
 mani_skill/envs/tasks/drawing/draw.py,sha256=WlhxJjt0-DlkxC3t-o0M8BoOwdwWpM9reupFg5OqiZc,8146
 mani_skill/envs/tasks/drawing/draw_svg.py,sha256=UKnVl_tMfUNHmOg24Ny-wFynb5CaZC0uIHvW9sBxbyo,16206
 mani_skill/envs/tasks/drawing/draw_triangle.py,sha256=aOSc37tHZrU_96W_Pj0mNpxOTopHyMvCVps-gihE0qc,15528
@@ -585,7 +585,7 @@ mani_skill/envs/tasks/fmb/assets/purple_u.glb,sha256=lQZAv2qipX0QpYLyQuVWNKUFs8n
 mani_skill/envs/tasks/fmb/assets/purple_u.ply,sha256=KwY2eUKF5Ci5cQ9aYUVAulO3RyRZ5AxhZZcbsaZoXTE,807
 mani_skill/envs/tasks/fmb/assets/reorienting_fixture.glb,sha256=n8_3KXNqa--hmCLhaK2d5kwM0ujTnt0hD5HLVC1_0xs,8764
 mani_skill/envs/tasks/fmb/assets/yellow_peg.glb,sha256=QgMb8lGcpQh_-BLweRhYZ5gI3V4LjueZvZm3yVBTacE,1700
-mani_skill/envs/tasks/humanoid/__init__.py,sha256=sU7DtnY15uZLrthoGFo3KOFvISjkIhobzByI7szdv9I,123
+mani_skill/envs/tasks/humanoid/__init__.py,sha256=18pnVy_csZjYmV2IbvMTGg3UjiTxI9anm1bDAnM2hmo,146
 mani_skill/envs/tasks/humanoid/humanoid_pick_place.py,sha256=k8OyBB2wnXuFHrBgp-YMIb5TDtBHIgZHkimRckMv-eo,10692
 mani_skill/envs/tasks/humanoid/humanoid_stand.py,sha256=azpTPczHIiyECYH672qzp2RtcAFCsuUjxF2o5gMbK2U,4808
 mani_skill/envs/tasks/humanoid/transport_box.py,sha256=w9E41h1h7gLKx9PE0a6vtXkSo_9GgYnr03hChdpFD2w,12260
@@ -637,11 +637,8 @@ 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/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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
-mani_skill/evaluation/solution.py,sha256=e_Aa0f4sSQ56KXL7tVDPUKf7WTjcuFc5X4J76p884Zs,1269
 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
@@ -706,20 +703,20 @@ mani_skill/trajectory/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3h
 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=ABiM4pMSkTAhU1L2fdaY-Mwnw2Hzg8p1rAaWf3ijWOE,27681
-mani_skill/trajectory/utils/__init__.py,sha256=Nchv09IpXv0FOgpf7Ng1Ekus6ZfAh3kI0KJs-79QOig,1515
+mani_skill/trajectory/utils/__init__.py,sha256=-Efv2GEzTnFHd3SxqQtaZLaMRGrCc-P1ClmgLhoV4gs,1465
 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
 mani_skill/utils/README.md,sha256=A2UG1u5-4LLi-Fkc4lCcEBjSHwxY0xst2Xtvyw4q-0c,1519
 mani_skill/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/utils/common.py,sha256=PYzgQRpTFnqKj2brD0mfGuOICLPsruEDXqs9D7u8Trg,13118
 mani_skill/utils/download_asset.py,sha256=vP7dsho4Fc-b-Ydm9vj6opFmORa-2Svd69w1izuk5go,8060
-mani_skill/utils/download_demo.py,sha256=ndnnc1TfyuLVb-odrA50HvuZemXZf-zZlqyFTinx-mA,4467
+mani_skill/utils/download_demo.py,sha256=Hu-JSkxQpsoLhxZeM-m2NIeDiBUA2YMoA6cJH0HrVaE,4454
 mani_skill/utils/gym_utils.py,sha256=rAYNyxJtF1bSghi_EDPlqgnYZQwG0RklobgaPztSEvw,5922
 mani_skill/utils/io_utils.py,sha256=VJ93qoHxzFWIljAp9043pJqETmEGmxzt_DoYtE5Hd_I,1615
 mani_skill/utils/logging_utils.py,sha256=Iomnw2VrJ56A6kvyIm9Zhgp94Qf-WOf9WuMAGNB-2fc,1765
-mani_skill/utils/precompile_mpm.py,sha256=D497m_0mcNifeBEV7wmG5gHU_SstNpOoHIb-OQiqvUA,291
 mani_skill/utils/registration.py,sha256=u8ftfGvQP4qzlKNqLQjGi3cRF_-h6Rz-28xbLkW_YJ4,9718
-mani_skill/utils/sapien_utils.py,sha256=QMV0jRZO51KzIMB5CVW_Ne-4fPw0-mqM4a3yhNZaMYo,16430
+mani_skill/utils/sapien_utils.py,sha256=bUo4jFvWbxjJxXY-cjcR7Q2ZAhAcArlPaElYI2f3RUI,18025
+mani_skill/utils/tree.py,sha256=jFyqCqVkarR6AaTDissVo33nOfbPfkZp8CsqEQmCV9Q,515
 mani_skill/utils/assets/README.md,sha256=5kkmsIiV64ySEGO34HaAlpjXTyrGs1KTV5WnofK46G0,70
 mani_skill/utils/assets/__init__.py,sha256=gQVKwAczcImTXArSltBWKlSUUuguO12sZYO3Jh5KLso,159
 mani_skill/utils/assets/data.py,sha256=xEuibRoEPBDN_vEU-MM5UWf6VDb1omE6BfZKPvlMPdI,8807
@@ -730,8 +727,8 @@ mani_skill/utils/building/articulation_builder.py,sha256=ubRJYjINo7XTQ9IfE45Ie3C
 mani_skill/utils/building/ground.py,sha256=YaVt9xQfsqG0GRjKWe0o1e7pdPzmN-PN8FQOdzdargU,4365
 mani_skill/utils/building/mjcf_loader.py,sha256=FY--8z4JWjDHCM6XYLSC8W14MHVywV0SzOTiHzWafbs,4452
 mani_skill/utils/building/urdf_loader.py,sha256=llYoiRDU5gTi7sgi8Fv-Zjwdo7SoLpmtG4gJJEpn85g,4905
-mani_skill/utils/building/actors/__init__.py,sha256=G7aFAkb2f7c6hUcljJ17GIvlzUzVlpIOg6AZkTWFbDg,1420
-mani_skill/utils/building/actors/common.py,sha256=E2T6fUxAh5It3welkTkMQ_ptkDq8dh06-klJCtagK80,9290
+mani_skill/utils/building/actors/__init__.py,sha256=2jOgWQV_spgIfZIKHPEf4FFOvBISYVUadumqWHCZDP8,218
+mani_skill/utils/building/actors/common.py,sha256=MxTb8nDqNFVcAJQn3SoLf8piltE5cuavArGG5VlxxNA,10586
 mani_skill/utils/building/actors/ycb.py,sha256=6iHSpHicdfXlk7RmVEthUEzGStfj6cSGOHoHSc37Pjc,1347
 mani_skill/utils/building/articulations/__init__.py,sha256=jC8rbOFzLnMkC0O-Je2RDMQlDdu3Muw8P9gbnTgLHU4,1147
 mani_skill/utils/building/articulations/partnet_mobility.py,sha256=gVlAVFOpaqE3HKUNJ2DYQTYySldK39ysPCfxPKIXyb0,2455
@@ -756,6 +753,8 @@ mani_skill/utils/scene_builder/ai2thor/metadata/ArchitecTHOR.json,sha256=mbPJWHd
 mani_skill/utils/scene_builder/ai2thor/metadata/ProcTHOR.json,sha256=OYnCKrlYdbChbF2cSfNUeI0GH2z-X6ZkQtoskRAaqtQ,605697
 mani_skill/utils/scene_builder/ai2thor/metadata/RoboTHOR.json,sha256=v92NpbBGBMisvu1dA382vML-OBp2spTj94Y71QffgbQ,3612
 mani_skill/utils/scene_builder/ai2thor/metadata/iTHOR.json,sha256=wAvoEM_JC2EpaegMs5hv9hbRQ-G4CC78_loeEh4jQZc,7488
+mani_skill/utils/scene_builder/control/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+mani_skill/utils/scene_builder/control/planar/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/utils/scene_builder/control/planar/scene_builder.py,sha256=9zG6SLx7aySYcru73lpK-Y8X5IvFiWYiV4M9RSFIPSY,1075
 mani_skill/utils/scene_builder/kitchen_counter/__init__.py,sha256=TFMKaUyPqRlIJyWfvs_POQHdiqWwdM-O-ssZjkxhHBA,54
 mani_skill/utils/scene_builder/kitchen_counter/scene_builder.py,sha256=bbI5c4ax9YtFLUTMD86HAnqdm9oSUN49b-5FROx-NP0,1464
@@ -767,6 +766,7 @@ mani_skill/utils/scene_builder/replicacad/metadata/scene_configs.json,sha256=DIm
 mani_skill/utils/scene_builder/replicacad/rearrange/__init__.py,sha256=6wrAvNhnpkXOSYACdzTe4FveGDfycCINEHbTUbHRszE,284
 mani_skill/utils/scene_builder/replicacad/rearrange/scene_builder.py,sha256=G1bqkiIoKrUXWbxxZqVDwLzJM-NcXnvct6PcWlRiBv8,17469
 mani_skill/utils/scene_builder/replicacad/rearrange/variants.py,sha256=x5bn_aE-uReI_ZRHUzQBMlDzhKWSS1w2tSiHosF8BAw,1170
+mani_skill/utils/scene_builder/robocasa/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/utils/scene_builder/robocasa/scene_builder.py,sha256=1Dc4fZ5l4WKNAc-qYsfDnOGC1qW3C2HjJ6mTCHYqO9o,40749
 mani_skill/utils/scene_builder/robocasa/fixtures/accessories.py,sha256=SjG_r7coAKRJ7WttUP-bfSwuz4sZUX-4z8D28xhdYQE,7857
 mani_skill/utils/scene_builder/robocasa/fixtures/cabinet.py,sha256=TwG625RjTaM_DqTxxjyvYxPnPnoJsUcTpV8zEtJvw8A,46314
@@ -785,7 +785,6 @@ mani_skill/utils/scene_builder/robocasa/fixtures/others.py,sha256=PP1_r66uckZK1v
 mani_skill/utils/scene_builder/robocasa/fixtures/sink.py,sha256=-ci0XTadmyZ2iIWq4ckk7J__YxerScSvvRq-bpSY5tM,4274
 mani_skill/utils/scene_builder/robocasa/fixtures/stove.py,sha256=aQ7PpZ3RVYTpj0OxeA6hTFEm8uY-Vp9APQHHExZmS4c,6871
 mani_skill/utils/scene_builder/robocasa/fixtures/windows.py,sha256=WiVaFjZ6JTjb6Zy2BMpffsRXC2WEPkMzhCNSXY5FjW8,12953
-mani_skill/utils/scene_builder/robocasa/objects/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/utils/scene_builder/robocasa/objects/kitchen_object_utils.py,sha256=Y-9SjooCfr76Rt_T6U1-57pCDQg-aaPI0jNJ5rLHIo8,14459
 mani_skill/utils/scene_builder/robocasa/objects/kitchen_objects.py,sha256=qjiON5GEXN3SCtgN2vZKmOe5bv3H-CMnIrPD926Rh4A,48332
 mani_skill/utils/scene_builder/robocasa/objects/objects.py,sha256=zVhcvuOSmm7bYMOxUgPdCErwXFaRjXHJCC1ohA2L4tc,3581
@@ -801,7 +800,7 @@ mani_skill/utils/scene_builder/table/assets/table.glb,sha256=yw69itZDjBFg8JXZAr9
 mani_skill/utils/structs/README.md,sha256=qnYKimp_ZkgNcduURrYQxVTimNmq_usDMKoQ8VtMdCs,286
 mani_skill/utils/structs/__init__.py,sha256=BItR3Xe0z6xCrMHAEaH0AAAVyeonsQ3q-DJUyRUibAA,524
 mani_skill/utils/structs/actor.py,sha256=L0p6vkr8rGtJmF22xAq8Q7nhXKnDD5dahzODSAko0bg,17394
-mani_skill/utils/structs/articulation.py,sha256=DfNu3irWZ7LWoMCQAR4t0F8QRnojYhmPBnk2LNYoTtw,38341
+mani_skill/utils/structs/articulation.py,sha256=QvWQsHdgCUCiGHVfUzZOeEqJ_OQsbi7CrxkCgjy3wyM,38491
 mani_skill/utils/structs/articulation_joint.py,sha256=xDQkCAXM3XZ56YgFqLwH5Ec8aFqhR5BqMSvDYCS0bzw,12972
 mani_skill/utils/structs/base.py,sha256=meGQK5Y4KtHKLnp9VeOZS2gtwg9tE55whuEeqOguBaI,19465
 mani_skill/utils/structs/decorators.py,sha256=Lv6wQ989dOnreo2tB-qopDnkeBp_jsn1pmfUR-OY8VQ,535
@@ -815,20 +814,20 @@ 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=XCQdTP2RQ95UXrDjy1QxgcKEuevceGU_5KUGl636J6I,276
+mani_skill/utils/wrappers/__init__.py,sha256=QfSTw9RNtQEtEAzD1RLx0WXjNjIS7wVM2IIkSkLT6Xw,321
 mani_skill/utils/wrappers/action_repeat.py,sha256=RhCtzt3fYCtD-CClIOhAzdycGwVTXP_FG61yEf-QLqY,3542
+mani_skill/utils/wrappers/cached_reset.py,sha256=KV9Sd-mIK9NM_nes-7HtO3HAkkuflctVnUejSN77ecE,6272
 mani_skill/utils/wrappers/flatten.py,sha256=GuHJ3fCOdj9G_jm--XgG8k0p2G1eJx4LY1tesQQjnkg,4913
 mani_skill/utils/wrappers/frame_stack.py,sha256=pCp83HqXnFxbsKRYgwXreNBHnhD-yF0R2_7jdtGOTWQ,4213
 mani_skill/utils/wrappers/gymnasium.py,sha256=p0kl29kkedD2arIvGskClKhYDBAH97mZO4rTepz62jQ,4174
-mani_skill/utils/wrappers/record.py,sha256=757N7D6m6bH02BjIlLvFxGwbQDqDouiRv7F_6Prp57k,37322
+mani_skill/utils/wrappers/record.py,sha256=73g-dvnFrXcFy7t2BksgH8UqBUVBZG8BbCNPEbdtBSc,37362
 mani_skill/utils/wrappers/visual_encoders.py,sha256=ISLO5ceaRkINhvce92VuZMDMCU3I4F7cQWFW2aVP-14,2205
 mani_skill/vector/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mani_skill/vector/wrappers/gymnasium.py,sha256=aNPB-2oGDLep8qzdsuTSIlwGGO0OGQAQ193LefOGoTk,7434
+mani_skill/vector/wrappers/gymnasium.py,sha256=voHNmYg5Jyy-laMSC2Fd8VggQvhXw3NnfYLbD9QDXAc,7305
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
-mani_skill/viewer/__init__.py,sha256=srvDBsk4LQU75K2VIttrhiQ68p_ro7PSDqQRls2PY5c,1722
-mani_skill_nightly-2025.7.25.329.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.7.25.329.dist-info/METADATA,sha256=ZORmjNSU7HXw-F69GCdOiTQnUMeQKOaCBbpJIfaMCP8,9271
-mani_skill_nightly-2025.7.25.329.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.7.25.329.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.7.25.329.dist-info/RECORD,,
+mani_skill_nightly-2025.7.27.104.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.7.27.104.dist-info/METADATA,sha256=4hFvpXpBe32gKSjBcFIvT4UjJCORr8wxCvMeMuApQeg,9318
+mani_skill_nightly-2025.7.27.104.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.7.27.104.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.7.27.104.dist-info/RECORD,,

mani_skill/evaluation/__init__.py

@@ -1 +0,0 @@
-from .solution import BasePolicy

mani_skill/evaluation/evaluator.py

@@ -1,129 +0,0 @@
-from typing import Callable, List, Type
-
-import gymnasium as gym
-import numpy as np
-
-from mani_skill.envs.sapien_env import BaseEnv
-from mani_skill.utils import common, gym_utils
-
-from .solution import BasePolicy
-
-
-class BaseEvaluator:
-    env: gym.Env
-    policy: BasePolicy
-
-    MAX_EPISODE_STEPS = 1000
-
-    def setup(
-        self,
-        env_id: str,
-        policy_cls: Type[BasePolicy],
-        render_mode="cameras",
-        env_kwargs=None,
-    ):
-        """Setup environment and policy."""
-        self.env_id = env_id
-        self.env_kwargs = {} if env_kwargs is None else env_kwargs
-
-        obs_mode = policy_cls.get_obs_mode(env_id)
-        control_mode = policy_cls.get_control_mode(env_id)
-
-        self.env: BaseEnv = gym.make(
-            self.env_id,
-            obs_mode=obs_mode,
-            control_mode=control_mode,
-            render_mode=render_mode,
-            **self.env_kwargs
-        )
-        self.policy = policy_cls(
-            self.env_id, self.env.observation_space, self.env.action_space
-        )
-        self.result = dict()
-
-    def evaluate_episode(self, reset_kwargs, render=False):
-        """Evaluate a single episode."""
-        env = self.env
-        policy = self.policy
-
-        obs, _ = env.reset(**reset_kwargs)
-        policy.reset(obs)
-        # NOTE(jigu): Use for-loop rather than while-loop
-        # in case time limit is not correctly set.
-        for _ in range(self.MAX_EPISODE_STEPS):
-            action = policy.act(obs)
-            # NOTE(jigu): render after action in case action is needed to visualize
-            if render:
-                env.render()
-            obs, reward, terminated, truncated, info = env.step(action)
-            if terminated or truncated:
-                if render:
-                    env.render()
-                assert "success" in info, sorted(info.keys())
-                metrics = gym_utils.extract_scalars_from_info(
-                    info, "TimeLimit.truncated"
-                )
-                return metrics
-
-    def evaluate_episodes(self, episode_cfgs: List[dict], callback: Callable = None):
-        """Evaluate episodes according to configurations.
-
-        Args:
-            episode_cfgs (List[dict]): a list of episode configurations.
-                The configuration should contain "reset_kwargs".
-            callback (Callable, optional): callback function to report progress.
-                It accepts two arguments:
-                    int: the number of completed episodes
-                    dict: the results of the latest evaluated episode
-        """
-        for i, episode_cfg in enumerate(episode_cfgs):
-            episode_id = episode_cfg.get("episode_id", i)
-            reset_kwargs = episode_cfg.get("reset_kwargs", {})
-            metrics = self.evaluate_episode(reset_kwargs)
-            if metrics is None:
-                raise RuntimeError(
-                    "Episode {}: check whether time limit is set".format(episode_id)
-                )
-            if episode_id in self.result:
-                raise RuntimeError("Episode id {} is not unique.".format(episode_id))
-            self.result[episode_id] = metrics
-
-            if callback is not None:
-                callback(i + 1, metrics)
-
-    def close(self):
-        self.env.close()
-
-    def generate_dummy_config(self, env_id, num_episodes: int):
-        """Generate dummy configuration."""
-        env_info = dict(env_id=env_id)
-        episodes = [dict(episode_id=i) for i in range(num_episodes)]
-        return dict(env_info=env_info, episodes=episodes)
-
-    def merge_result(self):
-        merged_result = common.merge_dicts(self.result.values())
-        merged_metrics = {k: np.mean(v) for k, v in merged_result.items()}
-        return merged_metrics
-
-    def export_to_csv(self, path):
-        """Average results and export to a csv file."""
-        import csv
-
-        import tabulate
-
-        merged_metrics = self.merge_result()
-        headers = ["env_id"] + list(merged_metrics.keys())
-        data = [[self.env_id] + list(merged_metrics.values())]
-        print(tabulate(data, headers=headers, tablefmt="psql", floatfmt=".4f"))
-
-        with open(path, "w") as f:
-            csv_writer = csv.writer(f)
-            csv_writer.writerow(headers)
-            csv_writer.writerows(data)
-        print("The evaluation result is saved to {}.".format(path))
-
-    def submit(self):
-        raise NotImplementedError
-
-    def error(self, *args, **kwargs):
-        raise NotImplementedError

mani_skill/evaluation/run_evaluation.py

@@ -1,147 +0,0 @@
-import os
-import sys
-
-from tqdm import tqdm
-
-from mani_skill.evaluation.evaluator import BaseEvaluator
-from mani_skill.utils.io_utils import dump_json, load_json, write_txt
-from mani_skill.utils.wrappers import RecordEpisode
-
-
-class Evaluator(BaseEvaluator):
-    """Local evaluation."""
-
-    def __init__(self, output_dir: str, record_dir=None):
-        if os.path.exists(output_dir):
-            print(f"{output_dir} already exists.")
-        os.makedirs(output_dir, exist_ok=True)
-        self.output_dir = output_dir
-
-        self.record_dir = record_dir
-
-    def setup(self, *args, **kwargs):
-        super().setup(*args, **kwargs)
-        if self.record_dir is not None:
-            self.env = RecordEpisode(self.env, self.record_dir, clean_on_close=False)
-
-    def submit(self):
-        # Export per-episode results
-        json_path = os.path.join(self.output_dir, "episode_results.json")
-        dump_json(json_path, self.result)
-        print("The per-episode evaluation result is saved to {}.".format(json_path))
-
-        # Export average result
-        json_path = os.path.join(self.output_dir, "average_metrics.json")
-        merged_metrics = self.merge_result()
-        self.merged_metrics = merged_metrics
-        dump_json(json_path, merged_metrics)
-        print("The averaged evaluation result is saved to {}.".format(json_path))
-
-    def error(self, *args):
-        write_txt(os.path.join(self.output_dir, "error.log"), args)
-
-
-class TqdmCallback:
-    def __init__(self, n: int):
-        self.n = n
-        self.pbar = tqdm(total=n)
-
-    def __call__(self, i, metrics):
-        self.pbar.update()
-
-
-def parse_args():
-    import argparse
-
-    parser = argparse.ArgumentParser()
-    parser.add_argument(
-        "-e", "--env-id", type=str, required=True, help="Environment ID"
-    )
-    parser.add_argument(
-        "-o",
-        "--output-dir",
-        type=str,
-        required=True,
-        help="Directory to save evaluation results.",
-    )
-    parser.add_argument(
-        "--config-file",
-        type=str,
-        help="Path to the config file. If None, use the dummy config.",
-    )
-    # For debug only
-    parser.add_argument("-n", "--num-episodes", type=int, help="Number of episodes.")
-    parser.add_argument(
-        "--use-random-policy",
-        action="store_true",
-        help="Whether to use a random policy.",
-    )
-    parser.add_argument(
-        "--record-dir",
-        type=str,
-        help="Directory to record videos and trajectories. If it is '@', use the output directory.",
-    )
-
-    args = parser.parse_args()
-    return args
-
-
-def main():
-    args = parse_args()
-
-    if args.record_dir == "@":
-        args.record_dir = args.output_dir
-    evaluator = Evaluator(args.output_dir, record_dir=args.record_dir)
-
-    # ---------------------------------------------------------------------------- #
-    # Load evaluation configuration
-    # ---------------------------------------------------------------------------- #
-    try:
-        if args.config_file is not None:
-            config = load_json(args.config_file)
-            config_env_id = config["env_info"]["env_id"]
-            assert config_env_id == args.env_id, (config_env_id, args.env_id)
-        else:  # For debug
-            config = evaluator.generate_dummy_config(args.env_id, args.num_episodes)
-    except:
-        exc_info = sys.exc_info()
-        print("Fail to load evaluation configuration.", exc_info[:-1])
-        evaluator.error("Fail to load evaluation configuration.", str(exc_info[0]))
-        exit(1)
-
-    # ---------------------------------------------------------------------------- #
-    # Import user policy
-    # ---------------------------------------------------------------------------- #
-    if args.use_random_policy:
-        from mani_skill.evaluation.solution import RandomPolicy
-
-        UserPolicy = RandomPolicy
-    else:
-        try:
-            from user_solution import UserPolicy
-        except:
-            exc_info = sys.exc_info()
-            print("Fail to import UserPolicy", exc_info[:-1])
-            evaluator.error("Fail to import UserPolicy", str(exc_info[0]))
-            exit(2)
-
-    # ---------------------------------------------------------------------------- #
-    # Main
-    # ---------------------------------------------------------------------------- #
-    env_kwargs = config["env_info"].get("env_kwargs")
-    evaluator.setup(
-        args.env_id, UserPolicy, render_mode="cameras", env_kwargs=env_kwargs
-    )
-
-    episodes = config["episodes"]
-    if args.num_episodes is not None:
-        episodes = episodes[: args.num_episodes]
-    cb = TqdmCallback(len(episodes))
-    evaluator.evaluate_episodes(episodes, callback=cb)
-
-    evaluator.submit()
-    evaluator.close()
-
-
-if __name__ == "__main__":
-    main()

mani_skill/evaluation/solution.py

@@ -1,42 +0,0 @@
-import numpy as np
-from gymnasium import spaces
-
-
-class BasePolicy:
-    def __init__(
-        self, env_id: str, observation_space: spaces.Space, action_space: spaces.Space
-    ) -> None:
-        self.env_id = env_id
-        self.observation_space = observation_space
-        self.action_space = action_space
-        # NOTE(jigu): Do not assume that gym.make(env_id) works during evaluation
-
-    def reset(self, observations):
-        """Called at the beginning of an episode."""
-
-    def act(self, observations) -> np.ndarray:
-        """Act based on the observations."""
-        raise NotImplementedError
-
-    @classmethod
-    def get_obs_mode(cls, env_id: str) -> str:
-        """Get the observation mode for the policy. Define the observation space."""
-        raise NotImplementedError
-
-    @classmethod
-    def get_control_mode(cls, env_id) -> str:
-        """Get the control mode for the policy. Define the action space."""
-        raise NotImplementedError
-
-
-class RandomPolicy(BasePolicy):
-    def act(self, observations):
-        return self.action_space.sample()
-
-    @classmethod
-    def get_obs_mode(cls, env_id: str) -> str:
-        return "rgbd"
-
-    @classmethod
-    def get_control_mode(cls, env_id: str) -> str:
-        return None  # use default one

mani_skill/utils/precompile_mpm.py

@@ -1,13 +0,0 @@
-import gymnasium as gym
-
-from mani_skill.envs import mpm
-
-ENV_IDS = ["Excavate-v0", "Fill-v0", "Pour-v0", "Hang-v0", "Write-v0", "Pinch-v0"]
-
-
-if __name__ == "__main__":
-    for env_id in ENV_IDS:
-        env = gym.make(env_id)
-        env.reset()
-        env.step(None)
-        env.close()

mani_skill/viewer/__init__.py

@@ -1,46 +0,0 @@
-import sapien
-from sapien.utils import Viewer
-import sys
-
-from mani_skill.render import SAPIEN_RENDER_SYSTEM
-from mani_skill.sensors.camera import CameraConfig
-
-
-def create_viewer(viewer_camera_config: CameraConfig):
-    """Creates a viewer with the given camera config"""
-    if SAPIEN_RENDER_SYSTEM == "3.0":
-        sapien.render.set_viewer_shader_dir(
-            viewer_camera_config.shader_config.shader_pack
-        )
-        if viewer_camera_config.shader_config.shader_pack[:2] == "rt":
-            sapien.render.set_ray_tracing_denoiser(
-                viewer_camera_config.shader_config.shader_pack_config[
-                    "ray_tracing_denoiser"
-                ]
-            )
-            sapien.render.set_ray_tracing_path_depth(
-                viewer_camera_config.shader_config.shader_pack_config[
-                    "ray_tracing_path_depth"
-                ]
-            )
-            sapien.render.set_ray_tracing_samples_per_pixel(
-                viewer_camera_config.shader_config.shader_pack_config[
-                    "ray_tracing_samples_per_pixel"
-                ]
-            )
-        viewer = Viewer(
-            resolutions=(viewer_camera_config.width, viewer_camera_config.height)
-        )
-        if sys.platform == 'darwin':  # macOS
-            viewer.window.set_content_scale(1)
-    elif SAPIEN_RENDER_SYSTEM == "3.1":
-        # TODO (stao): figure out how shader pack configs can be set at run time
-        viewer = Viewer(
-            resolutions=(viewer_camera_config.width, viewer_camera_config.height),
-            shader_pack=sapien.render.get_shader_pack(
-                viewer_camera_config.shader_config.shader_pack
-            ),
-        )
-        
-
-    return viewer