mani-skill-nightly 2025.8.1.232__py3-none-any.whl → 2025.8.4.1648__py3-none-any.whl

mani_skill/agents/base_agent.py

@@ -358,7 +358,7 @@ class BaseAgent:
 
         # robot state
         root_link = self.robot.get_links()[0]
-        state["robot_root_pose"] = root_link.get_pose()
+        state["robot_root_pose"] = root_link.pose
         state["robot_root_vel"] = root_link.get_linear_velocity()
         state["robot_root_qvel"] = root_link.get_angular_velocity()
         state["robot_qpos"] = self.robot.get_qpos()

mani_skill/utils/wrappers/cached_reset.py

@@ -19,9 +19,6 @@ class CachedResetsConfig:
     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):
     """
@@ -42,9 +39,11 @@ class CachedResetWrapper(gym.Wrapper):
         config: Union[CachedResetsConfig, dict] = CachedResetsConfig(),
     ):
         super().__init__(env)
+
+        # setup config
         self.num_envs = self.base_env.num_envs
         if isinstance(config, CachedResetsConfig):
-            config = config.dict()
+            config = config.asdict()
         self.cached_resets_config = dacite.from_dict(
             data_class=CachedResetsConfig,
             data=config,
@@ -53,6 +52,8 @@ class CachedResetWrapper(gym.Wrapper):
         cached_data_device = self.cached_resets_config.device
         if cached_data_device is None:
             cached_data_device = self.base_env.device
+
+        # cache env_states and optionally obs
         self._num_cached_resets = 0
         if reset_to_env_states is not None:
             self._cached_resets_env_states = reset_to_env_states["env_states"]
@@ -60,12 +61,12 @@ class CachedResetWrapper(gym.Wrapper):
             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_config.num_resets = self.num_envs
             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,
+                    seed=self.cached_resets_config.seed if self._num_cached_resets == 0 else None,
                     options=dict(
                         env_idx=torch.arange(
                             0,

{mani_skill_nightly-2025.8.1.232.dist-info → mani_skill_nightly-2025.8.4.1648.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.8.1.232
+Version: 2025.8.4.1648
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.8.1.232.dist-info → mani_skill_nightly-2025.8.4.1648.dist-info}/RECORD

@@ -1,6 +1,6 @@
 mani_skill/__init__.py,sha256=_wZjMWSlWZYeAAEjiHAHa5W6uq7Eh4fbny8HwlYSJhQ,2101
 mani_skill/agents/__init__.py,sha256=87Xa-eaPbbVm6LmD1111yXSBuRkcoTG0g_5RdkaFiGI,130
-mani_skill/agents/base_agent.py,sha256=pnaE1VWJSpdzlsFPmcG5VVLLX9sWtPnl1ZM3ZIy2kXM,18400
+mani_skill/agents/base_agent.py,sha256=ZcWWkW5E3KbGZ-kV__XeVkRutsjAk_TMlK4ikVkL378,18394
 mani_skill/agents/base_real_agent.py,sha256=DD9SXZa7er5zF7wdm97IO_0W4xbdw-66iLC8j86ykYw,8549
 mani_skill/agents/multi_agent.py,sha256=AFygr2797M5Hhk4qMoLuFmFk7msqnp82bFuSyP1j8JA,3341
 mani_skill/agents/registration.py,sha256=rtu9vAys_Qz76d9LsDFpqanZxaFiLSPZajA3uHF9HHQ,1331
@@ -816,7 +816,7 @@ mani_skill/utils/visualization/misc.py,sha256=KrDCef7F5GmGOdiBQ4qFUnmUTe-7-nNBz2
 mani_skill/utils/visualization/renderer.py,sha256=afFWwSQEeL-9c5CsBT1uug-zugGjOr1FDzmvd45-9dk,1646
 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/cached_reset.py,sha256=TRnIlF9MAgiCMrzlX5r-xdVuuPij1V9rMLiDrG10hM4,6319
 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
@@ -826,8 +826,8 @@ mani_skill/vector/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU
 mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/vector/wrappers/gymnasium.py,sha256=voHNmYg5Jyy-laMSC2Fd8VggQvhXw3NnfYLbD9QDXAc,7305
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
-mani_skill_nightly-2025.8.1.232.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.8.1.232.dist-info/METADATA,sha256=ZKHBibNOAWE2kWditR-8ENuazRMlxZ0GUUQfh_DE_YA,9314
-mani_skill_nightly-2025.8.1.232.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.8.1.232.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.8.1.232.dist-info/RECORD,,
+mani_skill_nightly-2025.8.4.1648.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.8.4.1648.dist-info/METADATA,sha256=dZZ9GV1bNZy-lldmxGEdT3a9cb1hVBG6-D7MOelJH58,9315
+mani_skill_nightly-2025.8.4.1648.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.8.4.1648.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.8.4.1648.dist-info/RECORD,,