mani_skill.utils.wrappers.cached_reset

Classes

CachedResetWrapper	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.
CachedResetsConfig

Module Contents

class mani_skill.utils.wrappers.cached_reset.CachedResetWrapper(env, reset_to_env_states=None, config=CachedResetsConfig())

Bases: 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.

Parameters:

• env (gymnasium.Env) – The environment to wrap.

• reset_to_env_states (Optional[dict]) – 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 (Union[CachedResetsConfig, dict]) – A dictionary or a CachedResetsConfig object that contains the configuration for the cached resets.

reset(*args, seed=None, options=None, **kwargs)

Uses the reset() of the env that can be overwritten to change the returned data.

Parameters:

• seed (Optional[Union[int, list[int]]]) –

• options (Optional[dict]) –

_cached_resets_env_states

_num_cached_resets = 0

property base_env: mani_skill.envs.sapien_env.BaseEnv

Return type:

mani_skill.envs.sapien_env.BaseEnv

cached_resets_config

num_envs

class mani_skill.utils.wrappers.cached_reset.CachedResetsConfig

device: mani_skill.utils.structs.types.Device | None = None

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

num_resets: int | None = None

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

seed: int | None = None

The seed to use for generating the cached reset states.