add lots of init py files

mani_skill2/agents/robots/anymal/__init__.py

@@ -0,0 +1 @@
+from .anymal_c import ANYmalC

mani_skill2/agents/robots/anymal/anymal_c.py

@@ -1,3 +1,4 @@
+# TODO (stao): Anymal may not be modelled correctly or efficiently at the moment
 import torch
 
 from mani_skill2 import PACKAGE_ASSET_DIR, format_path

mani_skill2/envs/sapien_env.py

@@ -21,7 +21,7 @@
 from mani_skill2.agents.base_agent import BaseAgent
 from mani_skill2.agents.multi_agent import MultiAgent
 from mani_skill2.envs.scene import ManiSkillScene
-from mani_skill2.envs.utils.observations.observations import (
+from mani_skill2.envs.utils.observations import (
     sensor_data_to_pointcloud,
     sensor_data_to_rgbd,
 )

mani_skill2/envs/tasks/__init__.py

@@ -1,6 +1,6 @@
-from .dexterity import RotateValveEnv
+from .dexterity import RotateSingleObjectInHand, RotateValveEnv
 from .empty_env import EmptyEnv
-from .fmb.fmb import FMBAssembly1Env
+from .fmb import FMBAssembly1Env
 from .open_cabinet_drawer import OpenCabinetDoorEnv, OpenCabinetDrawerEnv
 from .pick_cube import PickCubeEnv
 from .pick_single_ycb import PickSingleYCBEnv
@@ -10,4 +10,3 @@
 from .stack_cube import StackCubeEnv
 from .two_robot_pick_cube import TwoRobotPickCube
 from .two_robot_stack_cube import TwoRobotStackCube
-from .dexterity import RotateValveEnv, RotateSingleObjectInHand

mani_skill2/envs/tasks/fmb/__init__.py

@@ -0,0 +1 @@
+from .fmb import FMBAssembly1Env

mani_skill2/envs/tasks/fmb/fmb.py

@@ -18,7 +18,8 @@
 from mani_skill2.utils.scene_builder.table.table_scene_builder import TableSceneBuilder
 
 
-@register_env("FMBAssembly1-v0", max_episode_steps=200)
+# TODO (stao): Complete this task example
+# @register_env("FMBAssembly1-v0", max_episode_steps=200)
 class FMBAssembly1Env(BaseEnv):
     """
     Task Description

mani_skill2/envs/utils/__init__.py

@@ -0,0 +1 @@
+from .observations import *

mani_skill2/utils/scene_builder/replicacad/__init__.py

@@ -0,0 +1 @@
+from .scene_builder import ReplicaCADSceneBuilder

mani_skill2/utils/structs/__init__.py

@@ -0,0 +1,12 @@
+from .actor import Actor
+from .articulation import Articulation
+from .base import (
+    BaseStruct,
+    PhysxRigidBodyComponentStruct,
+    PhysxRigidDynamicComponentStruct,
+)
+from .joint import Joint
+from .link import Link
+from .pose import Pose
+from .render_camera import RenderCamera
+from .types import *

manualtest/visual_all_envs_cpu.py

@@ -2,6 +2,7 @@
 import numpy as np
 import sapien
 
+# cd ManiSkill2 && pip uninstall -y mani_skill2 && pip install . && cd ..
 import mani_skill2.envs
 from mani_skill2.utils.sapien_utils import to_numpy
 from mani_skill2.utils.wrappers import RecordEpisode

setup.py

@@ -41,6 +41,7 @@
     package_data={
         "mani_skill2": [
             "assets/**",
+            "envs/**/*/assets/**",
             "envs/mpm/shader/**",
             "envs/mpm/RopeInit.pkl",
         ],