mani_skill.utils.wrappers.cached_reset
======================================

.. py:module:: mani_skill.utils.wrappers.cached_reset


Classes
-------

.. autoapisummary::

   mani_skill.utils.wrappers.cached_reset.CachedResetWrapper
   mani_skill.utils.wrappers.cached_reset.CachedResetsConfig


Module Contents
---------------

.. py:class:: CachedResetWrapper(env, reset_to_env_states = None, config = CachedResetsConfig())

   Bases: :py:obj:`gymnasium.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.

   :param env: The environment to wrap.
   :param 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.
   :param config: A dictionary or a `CachedResetsConfig` object that contains the configuration for the cached resets.


   .. py:method:: reset(*args, seed = None, options = None, **kwargs)

      Uses the :meth:`reset` of the :attr:`env` that can be overwritten to change the returned data.



   .. py:attribute:: _cached_resets_env_states


   .. py:attribute:: _num_cached_resets
      :value: 0



   .. py:property:: base_env
      :type: mani_skill.envs.sapien_env.BaseEnv



   .. py:attribute:: cached_resets_config


   .. py:attribute:: num_envs


.. py:class:: CachedResetsConfig

   .. py:attribute:: device
      :type:  Optional[mani_skill.utils.structs.types.Device]
      :value: None


      The device to cache the reset states on. If none it will use the base environment's device.


   .. py:attribute:: num_resets
      :type:  Optional[int]
      :value: None


      The number of reset states to cache. If none it will cache `num_envs` number of reset states.


   .. py:attribute:: seed
      :type:  Optional[int]
      :value: None


      The seed to use for generating the cached reset states.