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diff --git a/maniskill3_environment_assets/plates/kalas_mug/kalas_mug053.obj b/maniskill3_environment_assets/plates/kalas_mug/kalas_mug053.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate009.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate009.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate016.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate016.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate019.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate019.obj
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate046.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate046.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/kalas_plate/kalas_plate047.obj b/maniskill3_environment_assets/plates/kalas_plate/kalas_plate047.obj
new file mode 100644
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diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack023.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack023.obj
new file mode 100644
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+f 13 11 8
+f 13 8 5
+f 14 12 11
+f 14 5 12
+f 14 13 5
+f 14 11 13
diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack030.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c2dd8984e1599c0a8ee74eb768521e2659889b
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack030.obj
@@ -0,0 +1,41 @@
+v 0.192729784 0.060793362 0.018193441
+v -0.018181509 0.062134860 -0.003714402
+v 0.018184127 0.069916725 0.018137256
+v -0.018232647 0.047922883 0.002416360
+v 0.192729784 0.062134860 -0.003714402
+v -0.018181509 0.060793362 0.018193441
+v 0.192749802 0.047148385 0.003636478
+v 0.105456146 0.070910828 0.003633400
+v 0.018187138 0.070862695 0.003653434
+v 0.192729784 0.047972811 0.002422512
+v -0.018207333 0.047068080 0.003699139
+v 0.156365768 0.069904734 0.018136518
+v 0.192729784 0.059593373 0.017788587
+v 0.156184566 0.070822362 0.003645842
+v -0.018181509 0.059593373 0.017788587
+f 5 4 2
+f 6 2 4
+f 6 1 3
+f 7 5 1
+f 8 5 2
+f 9 6 3
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 10 7 4
+f 10 4 5
+f 10 5 7
+f 11 4 7
+f 12 8 3
+f 12 3 1
+f 12 1 5
+f 13 11 7
+f 13 7 1
+f 13 1 6
+f 14 12 5
+f 14 5 8
+f 14 8 12
+f 15 13 6
+f 15 11 13
+f 15 6 4
+f 15 4 11
diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack045.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack045.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e56e35c725b800dc5a1d56579a321c105c22e281
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack045.obj
@@ -0,0 +1,38 @@
+v -0.179524718 0.060427447 0.083398884
+v -0.170165779 0.048035906 0.083621478
+v -0.170910376 0.076680466 0.032649614
+v -0.178183179 0.071336721 0.017754517
+v -0.183965925 0.043825654 0.040406180
+v -0.178183179 0.076680466 0.032649614
+v -0.175630003 0.057395573 0.083097984
+v -0.181437695 0.045517161 0.083829440
+v -0.167522153 0.049368281 0.040177123
+v -0.170910376 0.062134860 0.018104008
+v -0.178183179 0.054862057 0.025376811
+v -0.170910376 0.071336721 0.017754517
+v -0.178183179 0.062134860 0.018104008
+v -0.168486970 0.056539667 0.028999001
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 9 2 5
+f 11 10 9
+f 11 9 5
+f 12 10 4
+f 12 4 3
+f 13 11 5
+f 13 5 4
+f 13 4 10
+f 13 10 11
+f 14 12 3
+f 14 3 9
+f 14 9 10
+f 14 10 12
diff --git a/maniskill3_environment_assets/plates/stamling_rack/stamling_rack060.obj b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack060.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1553019101b48408c382b87c96cd072791360d0
--- /dev/null
+++ b/maniskill3_environment_assets/plates/stamling_rack/stamling_rack060.obj
@@ -0,0 +1,20 @@
+v 0.214548193 0.076680466 0.018104008
+v 0.214134441 0.068533879 0.018035268
+v 0.214548193 0.076680466 -0.003714402
+v -0.149091966 0.072503000 -0.000078000
+v -0.149091966 0.069951615 0.018143331
+v 0.214685601 0.069697847 -0.000078000
+v -0.149085898 0.071286964 0.017787902
+v -0.149091966 0.071096003 -0.000078000
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 8 6 2
+f 8 2 5
diff --git a/maniskill3_environment_assets/robots/trifinger/cube_multicolor_rrc.urdf b/maniskill3_environment_assets/robots/trifinger/cube_multicolor_rrc.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bb6ab75863c654809e486bfa89962f81b1004caa
--- /dev/null
+++ b/maniskill3_environment_assets/robots/trifinger/cube_multicolor_rrc.urdf
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<robot name="object">
+  <link name="object">
+    <visual>
+      <origin xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/cube_multicolor.obj" scale=".065 .065 .065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0"/>
+      <geometry>
+        <box size="0.065 0.065 0.065"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <density value="291.3"/>
+    </inertial>
+  </link>
+</robot>
diff --git a/maniskill3_environment_assets/robots/trifinger/robot_properties_fingers/urdf/pro/trifingerpro_with_stage.urdf b/maniskill3_environment_assets/robots/trifinger/robot_properties_fingers/urdf/pro/trifingerpro_with_stage.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..04d605fb438058cef539b84c0bfc81011dcf7244
--- /dev/null
+++ b/maniskill3_environment_assets/robots/trifinger/robot_properties_fingers/urdf/pro/trifingerpro_with_stage.urdf
@@ -0,0 +1,762 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robot_properties_fingers/xacro/pro/trifingerpro_with_stage.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="trifingerpro_with_stage">
+  <!--
+    Frames are defined such that they all align with the base frame when all
+    joints are at position zero.
+
+    In zero-configuration the origins of all joints are in one line.
+
+    In zero-configuration the origin of the base link is exactly above the
+    finger tip which should make it easy to place the finger in the world.
+    -->
+  <material name="fingerpro_shell">
+    <!-- colour from image -->
+    <color rgba="0.804 0.764 0.761 1.0"/>
+  </material>
+  <material name="fingerpro_tip">
+    <!-- colour from image -->
+    <color rgba="0.33 0.36 0.37 1.0"/>
+  </material>
+  <material name="fingerpro_motor">
+    <color rgba="0.17 0.17 0.17 1.0"/>
+  </material>
+  <material name="center_holder_material">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <!-- Define the global base_link and place all other objects relative to it. -->
+  <link name="base_link">
+    <!-- add inertial to suppress warning -->
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <!-- Define the upper holder -->
+  <link name="upper_holder_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/center_axis_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="center_holder_material"/>
+    </visual>
+    <!-- add inertial to suppress warning -->
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="base_to_upper_holder_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="upper_holder_link"/>
+    <origin xyz="0 0 0.29"/>
+  </joint>
+  <!--
+        Fixed links for the finger base (parts where the upper link is mounted).
+        Note: Link Frames already coincide with the joint location
+        -->
+  <link name="finger_base_link_0">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006 0.122 0.000"/>
+      <mass value="0.26689"/>
+      <inertia ixx="0.00102362" ixy="0.00000889" ixz="-0.00000019" iyx="0.00000889" iyy="0.00006450" iyz="0.00000106" izx="-0.00000019" izy="0.00000106" izz="0.00102225"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_visuals_0">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.01569 0.1643 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.015 0.083 0"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.008 0.124 0"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.0085 0.050 0"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_upper_visuals_joint_0" type="fixed">
+    <parent link="finger_upper_link_0"/>
+    <child link="finger_upper_link_visuals_0"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+  <link name="finger_middle_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.03935008 -0.00012438 -0.08666705"/>
+      <mass value="0.27163"/>
+      <inertia ixx="0.00094060" ixy="-0.00000046" ixz="-0.00003479" iyx="-0.00000046" iyy="0.00094824" iyz="0.00000164" izx="-0.00003479" izy="0.00000164" izz="0.00007573"/>
+    </inertial>
+  </link>
+  <link name="finger_middle_link_visuals_0">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.0488 0 -0.0462"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.0488 0 -0.13"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin xyz="0.025 0 -0.09"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.024 0 -0.16"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_middle_visuals_joint_0" type="fixed">
+    <parent link="finger_middle_link_0"/>
+    <child link="finger_middle_link_visuals_0"/>
+  </joint>
+  <link name="finger_lower_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01632700 -0.00001095 -0.04284052"/>
+      <mass value="0.05569"/>
+      <inertia ixx="0.00013626" ixy="0.00000000" ixz="-0.00000662" iyx="0.00000000" iyy="0.00013372" iyz="0.00000004" izx="-0.00000662" izy="0.00000004" izz="0.00000667"/>
+    </inertial>
+  </link>
+  <!-- fixed link for finger tip -->
+  <link name="finger_tip_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_tip"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.031"/>
+      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
+    </inertial>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
+      <mass value="0.0092"/>
+      <inertia ixx="0.00000155" ixy="0.00000000" ixz="0.00000000" iyx="0.00000000" iyy="0.00000155" iyz="0.00000000" izx="0.00000000" izy="0.00000000" izz="0.00000032"/>
+    </inertial>
+  </link>
+  <joint name="finger_lower_to_tip_joint_0" type="fixed">
+    <parent link="finger_lower_link_0"/>
+    <child link="finger_tip_link_0"/>
+    <origin xyz="0.019 0 -0.16"/>
+  </joint>
+  <!-- kinematics -->
+  <!-- NOTE: Joint limits are set according to soft limits in the
+             configuration of the real robot (i.e. not according to physical
+             limits). -->
+  <joint name="finger_base_to_upper_joint_0" type="revolute">
+    <parent link="finger_base_link_0"/>
+    <child link="finger_upper_link_0"/>
+    <limit effort="1000" lower="-0.33" upper="1.0" velocity="1000"/>
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="finger_upper_to_middle_joint_0" type="revolute">
+    <parent link="finger_upper_link_0"/>
+    <child link="finger_middle_link_0"/>
+    <limit effort="1000" lower="0.0" upper="1.57" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.01685 0.0505 0"/>
+  </joint>
+  <joint name="finger_middle_to_lower_joint_0" type="revolute">
+    <parent link="finger_middle_link_0"/>
+    <child link="finger_lower_link_0"/>
+    <limit effort="1000" lower="-2.7" upper="0.0" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.05015 0 -0.16"/>
+  </joint>
+  <!--
+        Fixed links for the finger base (parts where the upper link is mounted).
+        Note: Link Frames already coincide with the joint location
+        -->
+  <link name="finger_base_link_120">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_120">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006 0.122 0.000"/>
+      <mass value="0.26689"/>
+      <inertia ixx="0.00102362" ixy="0.00000889" ixz="-0.00000019" iyx="0.00000889" iyy="0.00006450" iyz="0.00000106" izx="-0.00000019" izy="0.00000106" izz="0.00102225"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_visuals_120">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.01569 0.1643 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.015 0.083 0"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.008 0.124 0"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.0085 0.050 0"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_upper_visuals_joint_120" type="fixed">
+    <parent link="finger_upper_link_120"/>
+    <child link="finger_upper_link_visuals_120"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+  <link name="finger_middle_link_120">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.03935008 -0.00012438 -0.08666705"/>
+      <mass value="0.27163"/>
+      <inertia ixx="0.00094060" ixy="-0.00000046" ixz="-0.00003479" iyx="-0.00000046" iyy="0.00094824" iyz="0.00000164" izx="-0.00003479" izy="0.00000164" izz="0.00007573"/>
+    </inertial>
+  </link>
+  <link name="finger_middle_link_visuals_120">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.0488 0 -0.0462"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.0488 0 -0.13"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin xyz="0.025 0 -0.09"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.024 0 -0.16"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_middle_visuals_joint_120" type="fixed">
+    <parent link="finger_middle_link_120"/>
+    <child link="finger_middle_link_visuals_120"/>
+  </joint>
+  <link name="finger_lower_link_120">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01632700 -0.00001095 -0.04284052"/>
+      <mass value="0.05569"/>
+      <inertia ixx="0.00013626" ixy="0.00000000" ixz="-0.00000662" iyx="0.00000000" iyy="0.00013372" iyz="0.00000004" izx="-0.00000662" izy="0.00000004" izz="0.00000667"/>
+    </inertial>
+  </link>
+  <!-- fixed link for finger tip -->
+  <link name="finger_tip_link_120">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_tip"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.031"/>
+      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
+    </inertial>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
+      <mass value="0.0092"/>
+      <inertia ixx="0.00000155" ixy="0.00000000" ixz="0.00000000" iyx="0.00000000" iyy="0.00000155" iyz="0.00000000" izx="0.00000000" izy="0.00000000" izz="0.00000032"/>
+    </inertial>
+  </link>
+  <joint name="finger_lower_to_tip_joint_120" type="fixed">
+    <parent link="finger_lower_link_120"/>
+    <child link="finger_tip_link_120"/>
+    <origin xyz="0.019 0 -0.16"/>
+  </joint>
+  <!-- kinematics -->
+  <!-- NOTE: Joint limits are set according to soft limits in the
+             configuration of the real robot (i.e. not according to physical
+             limits). -->
+  <joint name="finger_base_to_upper_joint_120" type="revolute">
+    <parent link="finger_base_link_120"/>
+    <child link="finger_upper_link_120"/>
+    <limit effort="1000" lower="-0.33" upper="1.0" velocity="1000"/>
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="finger_upper_to_middle_joint_120" type="revolute">
+    <parent link="finger_upper_link_120"/>
+    <child link="finger_middle_link_120"/>
+    <limit effort="1000" lower="0.0" upper="1.57" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.01685 0.0505 0"/>
+  </joint>
+  <joint name="finger_middle_to_lower_joint_120" type="revolute">
+    <parent link="finger_middle_link_120"/>
+    <child link="finger_lower_link_120"/>
+    <limit effort="1000" lower="-2.7" upper="0.0" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.05015 0 -0.16"/>
+  </joint>
+  <!--
+        Fixed links for the finger base (parts where the upper link is mounted).
+        Note: Link Frames already coincide with the joint location
+        -->
+  <link name="finger_base_link_240">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_240">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/prox-sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.006 0.122 0.000"/>
+      <mass value="0.26689"/>
+      <inertia ixx="0.00102362" ixy="0.00000889" ixz="-0.00000019" iyx="0.00000889" iyy="0.00006450" iyz="0.00000106" izx="-0.00000019" izy="0.00000106" izz="0.00102225"/>
+    </inertial>
+  </link>
+  <link name="finger_upper_link_visuals_240">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.01569 0.1643 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.015 0.083 0"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.008 0.124 0"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.0085 0.050 0"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_upper_visuals_joint_240" type="fixed">
+    <parent link="finger_upper_link_240"/>
+    <child link="finger_upper_link_visuals_240"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+  <link name="finger_middle_link_240">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/int_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.03935008 -0.00012438 -0.08666705"/>
+      <mass value="0.27163"/>
+      <inertia ixx="0.00094060" ixy="-0.00000046" ixz="-0.00003479" iyx="-0.00000046" iyy="0.00094824" iyz="0.00000164" izx="-0.00003479" izy="0.00000164" izz="0.00007573"/>
+    </inertial>
+  </link>
+  <link name="finger_middle_link_visuals_240">
+    <!-- motor -->
+    <visual>
+      <origin xyz="0.0488 0 -0.0462"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/motor_sim.stl"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- end stop -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.0488 0 -0.13"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.005"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- cables -->
+    <visual>
+      <origin xyz="0.025 0 -0.09"/>
+      <geometry>
+        <cylinder length="0.12" radius="0.002"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <!-- opening on lower joint -->
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.024 0 -0.16"/>
+      <geometry>
+        <cylinder length="0.002" radius="0.014"/>
+      </geometry>
+      <material name="fingerpro_motor"/>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="finger_middle_visuals_joint_240" type="fixed">
+    <parent link="finger_middle_link_240"/>
+    <child link="finger_middle_link_visuals_240"/>
+  </joint>
+  <link name="finger_lower_link_240">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_shell"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_link_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01632700 -0.00001095 -0.04284052"/>
+      <mass value="0.05569"/>
+      <inertia ixx="0.00013626" ixy="0.00000000" ixz="-0.00000662" iyx="0.00000000" iyy="0.00013372" iyz="0.00000004" izx="-0.00000662" izy="0.00000004" izz="0.00000667"/>
+    </inertial>
+  </link>
+  <!-- fixed link for finger tip -->
+  <link name="finger_tip_link_240">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="fingerpro_tip"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.031"/>
+      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
+    </inertial>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
+      <mass value="0.0092"/>
+      <inertia ixx="0.00000155" ixy="0.00000000" ixz="0.00000000" iyx="0.00000000" iyy="0.00000155" iyz="0.00000000" izx="0.00000000" izy="0.00000000" izz="0.00000032"/>
+    </inertial>
+  </link>
+  <joint name="finger_lower_to_tip_joint_240" type="fixed">
+    <parent link="finger_lower_link_240"/>
+    <child link="finger_tip_link_240"/>
+    <origin xyz="0.019 0 -0.16"/>
+  </joint>
+  <!-- kinematics -->
+  <!-- NOTE: Joint limits are set according to soft limits in the
+             configuration of the real robot (i.e. not according to physical
+             limits). -->
+  <joint name="finger_base_to_upper_joint_240" type="revolute">
+    <parent link="finger_base_link_240"/>
+    <child link="finger_upper_link_240"/>
+    <limit effort="1000" lower="-0.33" upper="1.0" velocity="1000"/>
+    <axis xyz="0 1 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="finger_upper_to_middle_joint_240" type="revolute">
+    <parent link="finger_upper_link_240"/>
+    <child link="finger_middle_link_240"/>
+    <limit effort="1000" lower="0.0" upper="1.57" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.01685 0.0505 0"/>
+  </joint>
+  <joint name="finger_middle_to_lower_joint_240" type="revolute">
+    <parent link="finger_middle_link_240"/>
+    <child link="finger_lower_link_240"/>
+    <limit effort="1000" lower="-2.7" upper="0.0" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.05015 0 -0.16"/>
+  </joint>
+  <joint name="holder_to_finger_0" type="fixed">
+    <parent link="upper_holder_link"/>
+    <child link="finger_base_link_0"/>
+    <origin rpy="0 0 0.0" xyz="0 0 0"/>
+  </joint>
+  <joint name="holder_to_finger_120" type="fixed">
+    <parent link="upper_holder_link"/>
+    <child link="finger_base_link_120"/>
+    <origin rpy="0 0 -2.0943951023931953" xyz="0 0 0"/>
+  </joint>
+  <joint name="holder_to_finger_240" type="fixed">
+    <parent link="upper_holder_link"/>
+    <child link="finger_base_link_240"/>
+    <origin rpy="0 0 -4.1887902047863905" xyz="0 0 0"/>
+  </joint>
+  <material name="table_material">
+    <color rgba="0.31 0.27 0.25 1.0"/>
+  </material>
+  <material name="boundary_material">
+    <color rgba="0.95 0.95 0.95 1.0"/>
+  </material>
+  <link name="table_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/stl/trifinger_table_without_border.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="table_material"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/stl/trifinger_table_without_border.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.09628333333333333" ixy="0" ixz="0" iyy="0.08403333333333332" iyz="0" izz="0.18028333333333335"/>
+    </inertial>
+  </link>
+  <link name="boundary_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/stl/high_table_boundary.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="boundary_material"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/stl/high_table_boundary.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.05708333333333333" ixy="0" ixz="0" iyy="0.05708333333333333" iyz="0" izz="0.10453333333333334"/>
+    </inertial>
+  </link>
+  <joint name="base_to_table" type="fixed">
+    <parent link="base_link"/>
+    <child link="table_link"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+  <joint name="table_to_boundary" type="fixed">
+    <parent link="table_link"/>
+    <child link="boundary_link"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+</robot>
diff --git a/maniskill3_environment_assets/robots/trifinger/table_without_border.urdf b/maniskill3_environment_assets/robots/trifinger/table_without_border.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..631f3f618e84a81669c12cb32c5b3a1b2a955d87
--- /dev/null
+++ b/maniskill3_environment_assets/robots/trifinger/table_without_border.urdf
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/felixwidmaier/ws/fingers/workspace/src/catkin/robots/robot_properties/robot_properties_fingers/xacro/trifinger_stage.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="trifinger_stage">
+  <link name="base_link">
+  </link>
+  <material name="table_material">
+    <color rgba="0.31 0.27 0.25 1.0"/>
+  </material>
+  <link name="table_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/trifinger_table_without_border.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="table_material"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robot_properties_fingers/meshes/trifinger_table_without_border.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.0962833333333" ixy="0" ixz="0" iyy="0.0840333333333" iyz="0" izz="0.180283333333"/>
+    </inertial>
+  </link>
+  <joint name="base_to_table" type="fixed">
+    <parent link="base_link"/>
+    <child link="table_link"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+</robot>
diff --git a/msx_assets/object/014_lemon/collision.obj b/msx_assets/object/014_lemon/collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac2c5f640ae39a6b9cca2928f58043bb531df7a
--- /dev/null
+++ b/msx_assets/object/014_lemon/collision.obj
@@ -0,0 +1,6159 @@
+# https://github.com/mikedh/trimesh
+v 0.00518506 0.03018787 0.00064741
+v 0.00481045 0.03018787 0.00036551
+v 0.00493532 0.03012277 0.00123221
+v 0.00740299 0.02962637 0.00370171
+v 0.00888953 0.02962637 0.00221891
+v 0.00888953 0.02962637 0.00073621
+v 0.00740299 0.02962637 -0.00296029
+v 0.00518506 0.02962637 -0.00444309
+v 0.00369852 0.02962637 -0.00518449
+v 0.00221792 0.02962637 -0.00518449
+v 0.00148060 0.02962637 -0.00444309
+v 0.00073733 0.02962637 -0.00296029
+v 0.00073733 0.02962637 0.00000001
+v 0.00221792 0.02962637 0.00296031
+v 0.00518506 0.02962637 0.00444311
+v 0.00369852 0.02962637 0.00370171
+v 0.00740299 0.02888767 0.00666731
+v 0.00888953 0.02888767 0.00592591
+v 0.00962686 0.02888767 0.00518451
+v 0.01110745 0.02888767 0.00296031
+v 0.01185072 0.02888767 0.00147761
+v 0.01037013 0.02888767 -0.00296029
+v 0.00740299 0.02888767 -0.00666729
+v 0.01110745 0.02814887 -0.00666729
+v 0.00888953 0.02888767 -0.00518449
+v 0.00592239 0.02888767 -0.00740339
+v 0.00592239 0.02814887 -0.00962759
+v 0.00296119 0.02814887 -0.00962759
+v 0.00221792 0.02888767 -0.00740339
+v 0.00184926 0.02944317 -0.00555519
+v -0.00296120 0.02814887 -0.00666729
+v -0.00148060 0.02888767 -0.00444309
+v -0.00221790 0.02888767 -0.00296029
+v -0.00221790 0.02888767 0.00073621
+v -0.00148060 0.02888767 0.00221891
+v 0.00073733 0.02888767 0.00518451
+v 0.00148060 0.02888767 0.00592591
+v -0.00073730 0.02888767 0.00370171
+v 0.00296119 0.02888767 0.00666731
+v 0.00592239 0.02814887 0.00888621
+v 0.00814626 0.02814887 0.00814481
+v 0.00962686 0.02814887 0.00740341
+v 0.01073879 0.02777657 0.00777411
+v 0.00999552 0.02851527 0.00629661
+v 0.01148206 0.02851527 0.00407241
+v 0.01333132 0.02814887 0.00221891
+v 0.01283779 0.02839717 0.00172821
+v 0.01333132 0.02814887 0.00073621
+v 0.01185072 0.02814887 -0.00444309
+v 0.00962686 0.02814887 -0.00814479
+v 0.00814626 0.02814887 -0.00888619
+v 0.01110745 0.02795977 -0.00749739
+v 0.01037013 0.02795977 -0.00823879
+v 0.01037013 0.02814887 -0.00740339
+v 0.01308753 0.02716197 -0.00765399
+v 0.01258805 0.02722107 -0.00823879
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diff --git a/msx_assets/object/014_lemon/material_0.mtl b/msx_assets/object/014_lemon/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/014_lemon/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
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+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/014_lemon/textured.mtl b/msx_assets/object/014_lemon/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/014_lemon/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/014_lemon/textured.obj b/msx_assets/object/014_lemon/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00cfdd6ec389d045bd50b6b28b7a5aadf06db1c1
--- /dev/null
+++ b/msx_assets/object/014_lemon/textured.obj
@@ -0,0 +1,33133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/msx_assets/object/040_large_marker/textured.obj b/msx_assets/object/040_large_marker/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97746845b254e63ddb0d7be1ba0240f994aceaca
--- /dev/null
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diff --git a/msx_assets/object/058_golf_ball/collision.obj b/msx_assets/object/058_golf_ball/collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..555fcb10ac2e705b4fbb3d890a0683c88e44c2d1
--- /dev/null
+++ b/msx_assets/object/058_golf_ball/collision.obj
@@ -0,0 +1,6876 @@
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\ No newline at end of file
diff --git a/msx_assets/object/058_golf_ball/material_0.mtl b/msx_assets/object/058_golf_ball/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/058_golf_ball/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/058_golf_ball/textured.mtl b/msx_assets/object/058_golf_ball/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/058_golf_ball/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/058_golf_ball/textured.obj b/msx_assets/object/058_golf_ball/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed73baaf6b138d6383dcdd42f40ed2b275dc0bd1
--- /dev/null
+++ b/msx_assets/object/058_golf_ball/textured.obj
@@ -0,0 +1,33131 @@
+# https://github.com/mikedh/trimesh
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diff --git a/msx_assets/object/065-b_cups/collision.obj b/msx_assets/object/065-b_cups/collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b14762e51f78bfadae859377bb80af67dad5eea
--- /dev/null
+++ b/msx_assets/object/065-b_cups/collision.obj
@@ -0,0 +1,3799 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/msx_assets/object/065-b_cups/material_0.mtl b/msx_assets/object/065-b_cups/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/065-b_cups/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/065-b_cups/textured.mtl b/msx_assets/object/065-b_cups/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/065-b_cups/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/065-j_cups/collision.obj b/msx_assets/object/065-j_cups/collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d5062e4f5258b6b84cdfe81f122577c4e6ad8a2
--- /dev/null
+++ b/msx_assets/object/065-j_cups/collision.obj
@@ -0,0 +1,5391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/msx_assets/object/065-j_cups/material_0.mtl b/msx_assets/object/065-j_cups/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/065-j_cups/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/065-j_cups/textured.mtl b/msx_assets/object/065-j_cups/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/065-j_cups/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/065-j_cups/textured.obj b/msx_assets/object/065-j_cups/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36296ec1753844f4613ea632bcf5ff34d6d77817
--- /dev/null
+++ b/msx_assets/object/065-j_cups/textured.obj
@@ -0,0 +1,33147 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/msx_assets/object/073-c_lego_duplo/collision.obj b/msx_assets/object/073-c_lego_duplo/collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a21affe9e885d3efcd44c1ac4e10cd4d653907d2
--- /dev/null
+++ b/msx_assets/object/073-c_lego_duplo/collision.obj
@@ -0,0 +1,4202 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/msx_assets/object/073-c_lego_duplo/material_0.mtl b/msx_assets/object/073-c_lego_duplo/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/073-c_lego_duplo/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/073-c_lego_duplo/textured.mtl b/msx_assets/object/073-c_lego_duplo/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/073-c_lego_duplo/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/073-c_lego_duplo/textured.obj b/msx_assets/object/073-c_lego_duplo/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40df38a4e126514ba917a5080451ee8b3041da0f
--- /dev/null
+++ b/msx_assets/object/073-c_lego_duplo/textured.obj
@@ -0,0 +1,34659 @@
+# https://github.com/mikedh/trimesh
+mtllib material_0.mtl
+usemtl material_0
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diff --git a/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02018.obj b/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe00fe5a493eafbec71796dd28b2b5d9e1cfc4fc
--- /dev/null
+++ b/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02018.obj
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diff --git a/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02019.obj b/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12d3348110d54822eb3d7d64fb3e4810f02c5797
--- /dev/null
+++ b/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02019.obj
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diff --git a/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02037.obj b/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aad85f46dd37fae2a46dab570f01d7376e5ca0e
--- /dev/null
+++ b/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02037.obj
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diff --git a/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02045.obj b/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02045.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a04b6238813d502d65d1f7978ab10a845576a9d4
--- /dev/null
+++ b/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02045.obj
@@ -0,0 +1,20 @@
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diff --git a/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02046.obj b/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02046.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92459086b8cf8f1d751f7f333c48378260693cee
--- /dev/null
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diff --git a/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02049.obj b/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02049.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7712160c018ebd7baa4aa36dacad1b23653cf7cd
--- /dev/null
+++ b/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02049.obj
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diff --git a/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02052.obj b/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02052.obj
new file mode 100644
index 0000000000000000000000000000000000000000..010fe1947613764b33cf290a6f999d00a4995a2d
--- /dev/null
+++ b/msx_assets/object/storage_rack_02/rack_convex/storage_rack_02052.obj
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diff --git a/project/ManiSkill3/src/maniskill2_benchmark/franka_robot_wrapper/franka_robot_wrapper/franka_gym/agents.py b/project/ManiSkill3/src/maniskill2_benchmark/franka_robot_wrapper/franka_robot_wrapper/franka_gym/agents.py
new file mode 100644
index 0000000000000000000000000000000000000000..1f884338b2cba1ccbc7f5024ca8ccf7f74129c18
--- /dev/null
+++ b/project/ManiSkill3/src/maniskill2_benchmark/franka_robot_wrapper/franka_robot_wrapper/franka_gym/agents.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+import random
+import numpy as np
+from franka_gym.utils import *
+import tf
+import copy
+
+MAX_JOINT_VELs = max_joint_vel = (np.ones(7)*0.13).tolist()
+MAX_CART_VELs = [0.008, 0.008, 0.008, 0.02]
+
+def clamp_action(action):
+    for i in range(action.shape[0]):
+        action[i] = min(
+            max(action[i], -MAX_JOINT_VELs[i]), MAX_JOINT_VELs[i]
+        )
+    return action
+
+
+class ExpertAgent:
+    def __init__(self):
+        self.nnnn = 5
+
+    def act(self, ee_states, ref_ee_states, jacobian, add_noise=True):
+        # quaternion vector from franka robot gym env:  [x,y,z,w, x, y, z]
+        # quaternion vector required in pytransform3d: (x, y, z, qw, qx, qy, qz)
+        ct = pbvs6(ee_states, ref_ee_states)
+        joint_vel = np.matmul(np.linalg.pinv(jacobian), np.expand_dims(ct, axis=1))
+        # print(joint_vel)
+        action = np.squeeze(joint_vel)  # [random.uniform(-max_vel * 0.2, max_vel * 0.2) for max_vel in MAX_JOINT_VELs]
+        sigma = 0.1
+        if add_noise:
+            action += np.random.normal(0, sigma, len(action))
+        return clamp_action(action)
+
+
+class RandomAgent:
+    def __init__(self, ref_pos):
+        self.random_target = self.initialize_random_target(copy.deepcopy(ref_pos))
+
+    def initialize_random_target(self, ref_pos):
+        # uniformly sample from ref_state, x [-0.2, 0.2], y[-0.2, 0.2], z[0, 0.2]
+        # rotation, roll, pitch, yaw [-70,70]
+        # quaternion vector from franka robot gym env:  [x,y,z,w, x, y, z]
+        random_xy = np.random.uniform(-0.10, 0.10, 2)
+        random_z = np.random.uniform(0, 0.2, 1)[0]
+        ref_pos[0:2] += random_xy
+        ref_pos[2] += random_z
+        rotation_angle = np.radians(10)
+        random_eulers = np.random.uniform(-rotation_angle, rotation_angle, 3)
+        eulers = tf.transformations.euler_from_quaternion((ref_pos[4], ref_pos[5], ref_pos[6], ref_pos[3]))
+        eulers = np.array(eulers) + random_eulers
+        quaternions = tf.transformations.quaternion_from_euler(eulers[0], eulers[1], eulers[2])  # tf output quaternion as x, y, z, w
+        ref_pos[3:7] = np.array([quaternions[3], quaternions[0], quaternions[1], quaternions[2]])
+        return ref_pos
+
+    def act(self, ee_states, ref_ee_states=None, jacobian=None, add_noise=True):
+        ct = pbvs6(ee_states, self.random_target)
+        joint_vel = np.matmul(np.linalg.pinv(jacobian), np.expand_dims(ct, axis=1))
+        # print(joint_vel)
+        action = np.squeeze(joint_vel)  # [random.uniform(-max_vel * 0.2, max_vel * 0.2) for max_vel in MAX_JOINT_VELs]
+        sigma = 0.1
+        if add_noise:
+            action += np.random.normal(0, sigma, len(action))*0.5
+        # add clamp to fix max vels
+        return clamp_action(action)
diff --git a/project/ManiSkill3/src/maniskill2_benchmark/franka_robot_wrapper/franka_robot_wrapper/franka_gym/data_collection.py b/project/ManiSkill3/src/maniskill2_benchmark/franka_robot_wrapper/franka_robot_wrapper/franka_gym/data_collection.py
new file mode 100644
index 0000000000000000000000000000000000000000..853edce8c8c00e7787f3c9865d77cb9529a3f06d
--- /dev/null
+++ b/project/ManiSkill3/src/maniskill2_benchmark/franka_robot_wrapper/franka_robot_wrapper/franka_gym/data_collection.py
@@ -0,0 +1,121 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import time
+import pickle
+import random
+from franka_gym.utils import *
+from franka_gym.agents import *
+import franka_gym
+import gym
+import os
+import argparse
+import gc
+import time
+import matplotlib.pyplot as plt
+from pynput import keyboard
+
+path = '/home/franka/prompt_retriever/data'
+
+if not os.path.exists(path):
+    os.mkdir(path)
+
+
+def parse_arguments():
+    parser = argparse.ArgumentParser(description='args')
+    parser.add_argument('-c', '--config', help='config file.', default='example.yaml')
+    args = parser.parse_args()
+    return args
+
+
+def save(obj, path):
+    with open(path, 'wb') as f:
+        pickle.dump(obj, f)
+
+
+def on_release(key):
+    global run_episode
+
+    if key == keyboard.Key.esc:
+        run_episode = False;
+
+
+def collect_episode(grasp=0):
+    episode_info = []
+    global run_episode
+
+    while run_episode:
+        action = np.ones(8) * 0.0
+        action[-1] = grasp
+        next_obs, reward, done, info = env.step(action)
+        next_obs['image'] = None
+        next_obs['depth'] = None
+        episode_info.append(next_obs)
+        print(next_obs['joint_pos'])
+
+        if done:
+            print('task done, break!')
+            break
+
+    run_episode = True
+
+    return episode_info
+
+
+if __name__ == "__main__":
+    global run_episode
+    args = parse_arguments()
+    config_file_path = 'configs/' + args.config
+    configs = configure(config_file_path)
+    conf_exp = configs['experiment']
+    # if not os.path.exists(conf_exp['save-dir']):
+    #     os.mkdir(conf_exp['save-dir'])
+
+    env = gym.make(conf_exp['env-name'], config_file=config_file_path)
+    
+    # 0.013 is nice, 0.13 is too fast
+    max_joint_vel = (np.ones(7) * 0.03).tolist()
+    while True:
+        input("Press Enter to continue...")
+        episodes_ran = sorted(os.listdir(path), key=lambda x: int(x))
+        i_episode = 0
+        if len(episodes_ran) == 0:
+            i_episode = '0'
+            episode_path = os.path.join(path, i_episode)
+        else:
+            for e in episodes_ran:
+                episode_path = os.path.join(path, e)
+                if os.path.exists(os.path.join(episode_path, 'obs.pkl')):
+                    continue
+                i_episode = e
+                break
+            else:
+                i_episode = int(episodes_ran[-1]) + 1
+                episode_path = os.path.join(path, str(i_episode))
+
+        print("Running {}".format(i_episode))
+
+        listener = keyboard.Listener(on_release=on_release)
+        # run listener in background so that the while loop gets executed
+        listener.start()
+
+        if not os.path.exists(episode_path):
+            os.mkdir(episode_path)
+
+        obs = env.reset()
+        run_episode = True
+        episode_info = {}
+
+        print('Reaching ...')
+        episode_info['reach'] = collect_episode()
+        print('Grasping ...')
+        episode_info['grasp'] = collect_episode(1)
+        print('Placing ...')
+        episode_info['place'] = collect_episode(1)
+        print('Releasing ...')
+        episode_info['release'] = collect_episode()
+        print('Pressing ...')
+        episode_info['button'] = collect_episode(1)
+
+        print('Saving episode ...')
+        save(episode_info, os.path.join(episode_path, 'obs.pkl'))
+    env.close()
diff --git a/project/ManiSkill3/src/maniskill2_benchmark/franka_robot_wrapper/franka_robot_wrapper/franka_gym/utils.py b/project/ManiSkill3/src/maniskill2_benchmark/franka_robot_wrapper/franka_robot_wrapper/franka_gym/utils.py
new file mode 100644
index 0000000000000000000000000000000000000000..41a3ee0c4e83d814722ea01ab2801fa905872c8f
--- /dev/null
+++ b/project/ManiSkill3/src/maniskill2_benchmark/franka_robot_wrapper/franka_robot_wrapper/franka_gym/utils.py
@@ -0,0 +1,309 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+# =============================================================================
+# Created By  : Jun Jin
+# Created Date: Thu May 14 MDT 2020
+# Revised Date: N/A
+# =============================================================================
+"""
+utils functions
+Copyright (c) 2019, Huawei Canada Inc.
+All rights reserved.
+"""
+
+import os
+import numpy as np
+import collections
+import math
+import random
+from collections import namedtuple
+from PIL import Image
+import pickle
+import time
+import yaml
+import pytransform3d.rotations as pr
+import pytransform3d.transformations as pt
+import time
+
+
+def configure(config_file):
+    """
+    Opens and reads the config file and stores the data in dictionary form as an instance attribute.
+
+    :param config_file: (.yaml) file consisting of simulation config
+    """
+    with open(config_file) as config:
+        try:
+            return yaml.safe_load(config)
+        except Exception as err:
+            print('Error Configuration File:{}'.format(err))
+            raise err
+
+
+def numpy_img_normalize(obs):
+    obs = obs.transpose((2, 0, 1)) / 255  # transform to C X H X W for pytorch support
+    obs += -(np.min(obs))
+    obs_max = np.max(obs)
+    if obs_max != 0:
+        obs /= np.max(obs) / 2
+    obs += -1
+    return obs
+
+
+def numpy_normalize(obs):
+    obs += -(np.min(obs))
+    obs_max = np.max(obs)
+    if obs_max != 0:
+        obs /= np.max(obs) / 2
+    obs += -1
+    return obs
+
+def numpy_img_to_torch(obs):
+    return obs.transpose((2, 0, 1)) / 255
+
+
+def grey_scale_img_norm(grey_scale_img):
+    obs = grey_scale_img/255
+    obs += -(np.min(obs))
+    obs_max = np.max(obs)
+    if obs_max != 0:
+        obs /= np.max(obs) / 2
+    obs += -1
+    return np.expand_dims(obs,0)
+
+def smoothly_move_to_position(robot, target_joints, control_frequency=30, motion_duration=4):
+    initial_pose = robot.joint_angles()  # get current joint angles of the robot
+    # print(initial_pose)
+    max_iterations = int(motion_duration * control_frequency)
+    for i in range(max_iterations):
+        vals = robot.joint_angles()
+        elapsed_time = i/control_frequency
+        ratio = math.exp(2*elapsed_time - 4)/(math.exp(2*elapsed_time - 4)+1)   # ration [0, 1]
+        #ratio = 1
+        for j in robot.joint_names():
+            vals[j] = initial_pose[j] + (target_joints[j] - initial_pose[j]) * ratio
+        robot.set_joint_positions(vals) # set joint positions for the robot.
+        time.sleep(1/control_frequency)
+    # fine tuning for accuracy, TODO
+    return True
+
+def smoothly_move_to_position_vel(robot, robot_status, target_joints, control_frequency=20, motion_duration=1):
+    def dict_to_numpy(dict_joints, robot):
+        numpy_joints = []
+        for j in robot.joint_names():
+            numpy_joints.append(dict_joints[j])
+        return np.array(numpy_joints)
+    
+    initial_pose = robot.joint_angles()  # get current joint angles of the robot
+    # print(initial_pose)
+    max_iterations = int(motion_duration * control_frequency)
+    robot_status.enable()
+    MAX_JOINT_VELs = 1
+    diff = np.linalg.norm(dict_to_numpy(robot.joint_angles(), robot) - dict_to_numpy(target_joints, robot))
+    while diff > 1e-3:
+        for _ in range(max_iterations):
+            vals = robot.joint_angles()
+            ratio = 1
+            for j in robot.joint_names():
+                vals[j] = (target_joints[j] - vals[j])*ratio
+                vals[j] = np.clip(vals[j], -MAX_JOINT_VELs, MAX_JOINT_VELs)
+            robot.set_joint_velocities(vals) # set joint positions for the robot.
+            time.sleep(1/control_frequency)
+        diff = np.linalg.norm(dict_to_numpy(robot.joint_angles(), robot) - dict_to_numpy(target_joints, robot))
+        # print('current diff', diff)
+    
+    # diff=[]
+    # vals = robot.joint_angles()
+    # for j in robot.joint_names():
+    #     diff.append(target_joints[j] - vals[j])
+    # print('rest error diff in joints')
+    # print(diff)
+    # fine tuning for accuracy, TODO
+    return True
+
+def scalar_out_of_range(scalar, range):
+    if scalar < range[0] or scalar > range[1]:
+        return True
+    else:
+        return False
+
+def random_val_continous(arg):
+    """
+    Will check if a value should be random, and randoimize it if so.
+
+    Parameters
+    ----------
+    arg : list or float
+        The value to possibly be randomized
+    Returns
+    -------
+    float
+        If arg is a list it is a random number between arg[0] and arg[1],
+        otherwise it is arg.
+    """
+    if isinstance(arg,list):
+        return random.uniform(*arg)
+    else:
+        return arg
+
+def extract_values(dict, ordered_keys):
+    values = []
+    for key in ordered_keys:
+        values.append(dict[key])
+    return values
+
+def generate_random_target_robot_pose(bullet_client, slot_id, yaw_bound=[-math.pi, math.pi]):
+    slot_pos, _ = bullet_client.getBasePositionAndOrientation(slot_id)
+    x, y, z = slot_pos
+    z = 0.9
+    orn_euler = [math.pi, 0, random.uniform(yaw_bound[0], yaw_bound[1])]
+    upright_orientation = bullet_client.getQuaternionFromEuler(orn_euler)
+    bullet_client.addUserDebugLine([x, y, z - 0.5], [x, y, z], lineColorRGB=[1, 0, 0])
+    return [x, y, z], upright_orientation
+
+def generate_skew_mat(v):
+    """
+    Returns the corresponding skew symmetric matrix from a 2-vector
+    """
+    skew_matrix=np.array([[0,-v[2],v[1]],[v[2],0,-v[0]],[-v[1],v[0],0]])
+    return skew_matrix
+
+def pbvs(current_pos, ref_pos, _lambda=0.1):
+    """
+
+    :param current_pos: from pybullet, [x, y, z, qx,qy,qz,qw]
+    :param ref_pos: from pybullet, [x, y, z, qx,qy,qz,qw]
+    :return:
+    """
+    current_pos = np.concatenate((current_pos[0:3], current_pos[6:7], current_pos[3:6]), axis=0)
+    tf_current_pos = pt.transform_from_pq(current_pos)
+    ref_pos = np.concatenate((ref_pos[0:3], ref_pos[6:7], ref_pos[3:6]), axis=0)
+    tf_ref_pos = pt.transform_from_pq(ref_pos)
+    tf_ref_pos_inv = pt.invert_transform(tf_ref_pos)
+    tf_current2ref = pt.concat(tf_ref_pos_inv, tf_current_pos)  # current to world + world to ref = current to ref
+    rotation_current2ref = tf_current2ref[0:3, 0:3]
+    translation_current2ref = tf_current2ref[0:3, 3]
+    # (x, y, z, angle). The angle is constrained to [0, pi].
+    axis_angle = pr.axis_angle_from_matrix(rotation_current2ref)
+    linear_vel = np.matmul(rotation_current2ref.T, translation_current2ref)
+    angular_vel = axis_angle[3] * axis_angle[0:3]
+    error_xyz = np.array(ref_pos[0:3]) - np.array(current_pos[0:3])
+    print(np.squeeze(error_xyz))
+    return (-1) * _lambda * np.hstack((linear_vel, angular_vel))
+
+
+def pbvs2(current_pos, ref_pos, _lambda=0.1):
+    current_pos = np.concatenate((current_pos[0:3], current_pos[6:7], current_pos[3:6]), axis=0)
+    print('current pos')
+    print(current_pos[0:3])
+    tf_current_pos = pt.transform_from_pq(current_pos)
+    ref_pos = np.concatenate((ref_pos[0:3], ref_pos[6:7], ref_pos[3:6]), axis=0)
+    # print('ref pos')
+    # print(ref_pos)
+    tf_ref_pos = pt.transform_from_pq(ref_pos)
+    R_rotated = np.dot(tf_current_pos[0:3, 0:3].T, tf_ref_pos[0:3, 0:3])
+    axis_angle = pr.axis_angle_from_matrix(R_rotated)
+    theta, u = axis_angle[3], axis_angle[0:3]
+    feature_current = np.concatenate((tf_current_pos[0:3, 3], theta * u), axis=0)
+    feature_target = np.concatenate((tf_ref_pos[0:3, 3], np.zeros(3)), axis=0)
+    error = feature_current - feature_target
+    # print(np.squeeze(error))
+
+    # interaction matrix
+    axis_angle = pr.axis_angle_from_matrix(tf_current_pos[0:3, 0:3])
+    theta, u = axis_angle[3], axis_angle[0:3]
+    L_top = np.concatenate((-np.identity(3), generate_skew_mat(tf_ref_pos[0:3, 3])), axis=1)
+    L_bottom = np.concatenate((np.zeros((3, 3)), (np.identity(3) - theta / 2 * generate_skew_mat(u) + (
+                1 - (np.sinc(theta) / (np.sinc(theta / 2) * np.sinc(theta / 2)))) * np.dot(generate_skew_mat(u),
+                                                                                           generate_skew_mat(u)))),
+                              axis=1)
+
+    L = np.concatenate((L_top, L_bottom), axis=0)
+    vel = -_lambda * np.dot(np.linalg.pinv(L), error)
+    next_pos = np.array(current_pos[0:3]) + vel[0:3]
+    print('next pos')
+    print(next_pos)
+    return vel
+
+
+def go_to_position(pos, ortn, env):
+    """
+
+    :param pos:
+    :param ortn:  [x,y,z,w]
+    :param env:
+    :return:
+    """
+    joint_poses = env.franka_robot.use_inverse_kinematics(pos, ortn, True)
+    joint_poses[7:] = [0, 0]
+    # env.franka_robot.apply_action_pos(joint_poses)
+    # for _ in range(100):
+    #     env.bullet_client.stepSimulation()
+    # reset_robot_pose(env.franka_robot, joint_poses)
+
+def expert_vel(current_pos, ref_pos, env, _lambda=0.1):
+    current_xyz = np.array(current_pos[0:3])
+    current_eulers = np.array(env.bullet_client.getEulerFromQuaternion(current_pos[3:7]))
+    ref_xyz = np.array(ref_pos[0:3])
+    next_xyz = current_xyz + (ref_xyz - current_xyz) * _lambda
+    ref_eulers = np.array(env.bullet_client.getEulerFromQuaternion(ref_pos[3:7]))
+    next_eulers = current_eulers + (ref_eulers - current_eulers) * _lambda
+    next_q_xyzw = env.bullet_client.getQuaternionFromEuler(next_eulers)
+    # current_q = np.concatenate((current_pos[4:5], current_pos[2:4]), axis=0)
+    #
+    # ref_q = np.concatenate((ref_pos[4:5], ref_pos[2:4]), axis=0)
+    # # w, x, y, z
+    # next_q_wxyz = pr.quaternion_slerp(current_q, ref_q, _lambda)
+    # next_q_xyzw = np.concatenate((ref_pos[1:4], ref_pos[0:1]), axis=0)
+    go_to_position(next_xyz, next_q_xyzw, env)
+
+
+def pbvs4(current_pos, ref_pos, _lambda=0.1):
+    """
+
+    :param current_pos: from pybullet, [x, y, z, qx,qy,qz,qw]
+    :param ref_pos: from pybullet, [x, y, z, qx,qy,qz,qw]
+    :return:
+    """
+    current_xyz = np.array(current_pos[0:3])
+    ref_xyz = np.array(ref_pos[0:3])
+    error = (ref_xyz - current_xyz) * _lambda
+    next_xyz = current_xyz + error
+    residual_error = np.linalg.norm(ref_xyz - current_xyz)
+    print('current | target | error | next')
+    print('[{:+.4f}] [{:+.4f}|{:+.4f}|{:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}|{:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}|{:+.4f}|{:+.4f}]'.format(residual_error, current_xyz[0], ref_xyz[0], error[0], next_xyz[0], current_xyz[1], ref_xyz[1], error[1], next_xyz[1], current_xyz[2], ref_xyz[2], error[2], next_xyz[2]))
+    return error
+
+def change_qxyzw2qwxyz(q):
+    new_q = np.concatenate((q[3:4], q[0:3]), axis=0)
+    return new_q
+
+def pbvs5(current_pos, ref_pos, _lambda=0.1):
+    current_qxyzw = change_qxyzw2qwxyz(current_pos[3:7])
+    ref_qxyzw = change_qxyzw2qwxyz(ref_pos[3:7])
+    next_qxyzw = pr.quaternion_slerp(current_qxyzw, ref_qxyzw, _lambda)
+    #  (w, x, y, z)
+    # Compute the rotation in angle-axis format that rotates next_qxyzw into current_qxyzw.
+    (x, y, z, angle) = pr.quaternion_diff(current_qxyzw, ref_qxyzw)
+    error = (-1) * _lambda * angle * np.array([x,y,z])
+    print('current | target | error | next')
+    print('[{:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}]'.format(current_pos[3], ref_pos[3], current_pos[4], ref_pos[4],current_pos[5], ref_pos[5],current_pos[6], ref_pos[6]))
+    return error
+
+
+def pbvs6(current_pos, ref_pos, _lambda_xyz=1.2, _lambda_orn=1.2):
+    current_xyz = np.array(current_pos[0:3])
+    ref_xyz = np.array(ref_pos[0:3])  # + [0,0,0.005]
+    residual_error = np.linalg.norm(ref_xyz - current_xyz)
+    if residual_error<0.008:
+        ref_xyz = np.array(ref_pos[0:3]) - [0, 0, 0.001]
+    error_xyz = (ref_xyz - current_xyz)*_lambda_xyz
+    # next_xyz = current_xyz + error_xyz
+    current_qxyzw = current_pos[3:7]
+    ref_qxyzw = ref_pos[3:7]
+    # Compute the rotation in angle-axis format that rotates next_qxyzw into current_qxyzw.
+    (x, y, z, angle) = pr.quaternion_diff(current_qxyzw, ref_qxyzw)
+    error_orn = (-1) * _lambda_orn * angle * np.array([x, y, z])
+    # print('current | target')
+    # print('[xyz {:+.4f}] [{:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}], q [{:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}, {:+.4f}|{:+.4f}]'.format(residual_error, current_xyz[0], ref_xyz[0], current_xyz[1], ref_xyz[1], current_xyz[2], ref_xyz[2], current_pos[2], ref_pos[2], current_pos[4], ref_pos[4],current_pos[5], ref_pos[5],current_pos[4], ref_pos[4]))
+    return np.hstack((error_xyz, error_orn))
diff --git a/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/pkg_resources/__init__.py b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/pkg_resources/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..926765b8870704128577a990c7826f2cc4cc2f18
--- /dev/null
+++ b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/pkg_resources/__init__.py
@@ -0,0 +1,3713 @@
+"""
+Package resource API
+--------------------
+
+A resource is a logical file contained within a package, or a logical
+subdirectory thereof.  The package resource API expects resource names
+to have their path parts separated with ``/``, *not* whatever the local
+path separator is.  Do not use os.path operations to manipulate resource
+names being passed into the API.
+
+The package resource API is designed to work with normal filesystem packages,
+.egg files, and unpacked .egg files.  It can also work in a limited way with
+.zip files and with custom PEP 302 loaders that support the ``get_data()``
+method.
+
+This module is deprecated. Users are directed to :mod:`importlib.resources`,
+:mod:`importlib.metadata` and :pypi:`packaging` instead.
+"""
+
+from __future__ import annotations
+
+import sys
+
+if sys.version_info < (3, 9):  # noqa: UP036 # Check for unsupported versions
+    raise RuntimeError("Python 3.9 or later is required")
+
+import _imp
+import collections
+import email.parser
+import errno
+import functools
+import importlib
+import importlib.abc
+import importlib.machinery
+import inspect
+import io
+import ntpath
+import operator
+import os
+import pkgutil
+import platform
+import plistlib
+import posixpath
+import re
+import stat
+import tempfile
+import textwrap
+import time
+import types
+import warnings
+import zipfile
+import zipimport
+from collections.abc import Iterable, Iterator, Mapping, MutableSequence
+from pkgutil import get_importer
+from typing import (
+    TYPE_CHECKING,
+    Any,
+    BinaryIO,
+    Callable,
+    Literal,
+    NamedTuple,
+    NoReturn,
+    Protocol,
+    TypeVar,
+    Union,
+    overload,
+)
+
+sys.path.extend(((vendor_path := os.path.join(os.path.dirname(os.path.dirname(__file__)), 'setuptools', '_vendor')) not in sys.path) * [vendor_path])  # fmt: skip
+# workaround for #4476
+sys.modules.pop('backports', None)
+
+# capture these to bypass sandboxing
+from os import open as os_open, utime  # isort: skip
+from os.path import isdir, split  # isort: skip
+
+try:
+    from os import mkdir, rename, unlink
+
+    WRITE_SUPPORT = True
+except ImportError:
+    # no write support, probably under GAE
+    WRITE_SUPPORT = False
+
+import packaging.markers
+import packaging.requirements
+import packaging.specifiers
+import packaging.utils
+import packaging.version
+from jaraco.text import drop_comment, join_continuation, yield_lines
+from platformdirs import user_cache_dir as _user_cache_dir
+
+if TYPE_CHECKING:
+    from _typeshed import BytesPath, StrOrBytesPath, StrPath
+    from _typeshed.importlib import LoaderProtocol
+    from typing_extensions import Self, TypeAlias
+
+warnings.warn(
+    "pkg_resources is deprecated as an API. "
+    "See https://setuptools.pypa.io/en/latest/pkg_resources.html. "
+    "The pkg_resources package is slated for removal as early as "
+    "2025-11-30. Refrain from using this package or pin to "
+    "Setuptools<81.",
+    UserWarning,
+    stacklevel=2,
+)
+
+_T = TypeVar("_T")
+_DistributionT = TypeVar("_DistributionT", bound="Distribution")
+# Type aliases
+_NestedStr: TypeAlias = Union[str, Iterable[Union[str, Iterable["_NestedStr"]]]]
+_StrictInstallerType: TypeAlias = Callable[["Requirement"], "_DistributionT"]
+_InstallerType: TypeAlias = Callable[["Requirement"], Union["Distribution", None]]
+_PkgReqType: TypeAlias = Union[str, "Requirement"]
+_EPDistType: TypeAlias = Union["Distribution", _PkgReqType]
+_MetadataType: TypeAlias = Union["IResourceProvider", None]
+_ResolvedEntryPoint: TypeAlias = Any  # Can be any attribute in the module
+_ResourceStream: TypeAlias = Any  # TODO / Incomplete: A readable file-like object
+# Any object works, but let's indicate we expect something like a module (optionally has __loader__ or __file__)
+_ModuleLike: TypeAlias = Union[object, types.ModuleType]
+# Any: Should be _ModuleLike but we end up with issues where _ModuleLike doesn't have _ZipLoaderModule's __loader__
+_ProviderFactoryType: TypeAlias = Callable[[Any], "IResourceProvider"]
+_DistFinderType: TypeAlias = Callable[[_T, str, bool], Iterable["Distribution"]]
+_NSHandlerType: TypeAlias = Callable[[_T, str, str, types.ModuleType], Union[str, None]]
+_AdapterT = TypeVar(
+    "_AdapterT", _DistFinderType[Any], _ProviderFactoryType, _NSHandlerType[Any]
+)
+
+
+class _ZipLoaderModule(Protocol):
+    __loader__: zipimport.zipimporter
+
+
+_PEP440_FALLBACK = re.compile(r"^v?(?P<safe>(?:[0-9]+!)?[0-9]+(?:\.[0-9]+)*)", re.I)
+
+
+class PEP440Warning(RuntimeWarning):
+    """
+    Used when there is an issue with a version or specifier not complying with
+    PEP 440.
+    """
+
+
+parse_version = packaging.version.Version
+
+_state_vars: dict[str, str] = {}
+
+
+def _declare_state(vartype: str, varname: str, initial_value: _T) -> _T:
+    _state_vars[varname] = vartype
+    return initial_value
+
+
+def __getstate__() -> dict[str, Any]:
+    state = {}
+    g = globals()
+    for k, v in _state_vars.items():
+        state[k] = g['_sget_' + v](g[k])
+    return state
+
+
+def __setstate__(state: dict[str, Any]) -> dict[str, Any]:
+    g = globals()
+    for k, v in state.items():
+        g['_sset_' + _state_vars[k]](k, g[k], v)
+    return state
+
+
+def _sget_dict(val):
+    return val.copy()
+
+
+def _sset_dict(key, ob, state) -> None:
+    ob.clear()
+    ob.update(state)
+
+
+def _sget_object(val):
+    return val.__getstate__()
+
+
+def _sset_object(key, ob, state) -> None:
+    ob.__setstate__(state)
+
+
+_sget_none = _sset_none = lambda *args: None
+
+
+def get_supported_platform():
+    """Return this platform's maximum compatible version.
+
+    distutils.util.get_platform() normally reports the minimum version
+    of macOS that would be required to *use* extensions produced by
+    distutils.  But what we want when checking compatibility is to know the
+    version of macOS that we are *running*.  To allow usage of packages that
+    explicitly require a newer version of macOS, we must also know the
+    current version of the OS.
+
+    If this condition occurs for any other platform with a version in its
+    platform strings, this function should be extended accordingly.
+    """
+    plat = get_build_platform()
+    m = macosVersionString.match(plat)
+    if m is not None and sys.platform == "darwin":
+        try:
+            major_minor = '.'.join(_macos_vers()[:2])
+            build = m.group(3)
+            plat = f'macosx-{major_minor}-{build}'
+        except ValueError:
+            # not macOS
+            pass
+    return plat
+
+
+__all__ = [
+    # Basic resource access and distribution/entry point discovery
+    'require',
+    'run_script',
+    'get_provider',
+    'get_distribution',
+    'load_entry_point',
+    'get_entry_map',
+    'get_entry_info',
+    'iter_entry_points',
+    'resource_string',
+    'resource_stream',
+    'resource_filename',
+    'resource_listdir',
+    'resource_exists',
+    'resource_isdir',
+    # Environmental control
+    'declare_namespace',
+    'working_set',
+    'add_activation_listener',
+    'find_distributions',
+    'set_extraction_path',
+    'cleanup_resources',
+    'get_default_cache',
+    # Primary implementation classes
+    'Environment',
+    'WorkingSet',
+    'ResourceManager',
+    'Distribution',
+    'Requirement',
+    'EntryPoint',
+    # Exceptions
+    'ResolutionError',
+    'VersionConflict',
+    'DistributionNotFound',
+    'UnknownExtra',
+    'ExtractionError',
+    # Warnings
+    'PEP440Warning',
+    # Parsing functions and string utilities
+    'parse_requirements',
+    'parse_version',
+    'safe_name',
+    'safe_version',
+    'get_platform',
+    'compatible_platforms',
+    'yield_lines',
+    'split_sections',
+    'safe_extra',
+    'to_filename',
+    'invalid_marker',
+    'evaluate_marker',
+    # filesystem utilities
+    'ensure_directory',
+    'normalize_path',
+    # Distribution "precedence" constants
+    'EGG_DIST',
+    'BINARY_DIST',
+    'SOURCE_DIST',
+    'CHECKOUT_DIST',
+    'DEVELOP_DIST',
+    # "Provider" interfaces, implementations, and registration/lookup APIs
+    'IMetadataProvider',
+    'IResourceProvider',
+    'FileMetadata',
+    'PathMetadata',
+    'EggMetadata',
+    'EmptyProvider',
+    'empty_provider',
+    'NullProvider',
+    'EggProvider',
+    'DefaultProvider',
+    'ZipProvider',
+    'register_finder',
+    'register_namespace_handler',
+    'register_loader_type',
+    'fixup_namespace_packages',
+    'get_importer',
+    # Warnings
+    'PkgResourcesDeprecationWarning',
+    # Deprecated/backward compatibility only
+    'run_main',
+    'AvailableDistributions',
+]
+
+
+class ResolutionError(Exception):
+    """Abstract base for dependency resolution errors"""
+
+    def __repr__(self) -> str:
+        return self.__class__.__name__ + repr(self.args)
+
+
+class VersionConflict(ResolutionError):
+    """
+    An already-installed version conflicts with the requested version.
+
+    Should be initialized with the installed Distribution and the requested
+    Requirement.
+    """
+
+    _template = "{self.dist} is installed but {self.req} is required"
+
+    @property
+    def dist(self) -> Distribution:
+        return self.args[0]
+
+    @property
+    def req(self) -> Requirement:
+        return self.args[1]
+
+    def report(self):
+        return self._template.format(**locals())
+
+    def with_context(
+        self, required_by: set[Distribution | str]
+    ) -> Self | ContextualVersionConflict:
+        """
+        If required_by is non-empty, return a version of self that is a
+        ContextualVersionConflict.
+        """
+        if not required_by:
+            return self
+        args = self.args + (required_by,)
+        return ContextualVersionConflict(*args)
+
+
+class ContextualVersionConflict(VersionConflict):
+    """
+    A VersionConflict that accepts a third parameter, the set of the
+    requirements that required the installed Distribution.
+    """
+
+    _template = VersionConflict._template + ' by {self.required_by}'
+
+    @property
+    def required_by(self) -> set[str]:
+        return self.args[2]
+
+
+class DistributionNotFound(ResolutionError):
+    """A requested distribution was not found"""
+
+    _template = (
+        "The '{self.req}' distribution was not found "
+        "and is required by {self.requirers_str}"
+    )
+
+    @property
+    def req(self) -> Requirement:
+        return self.args[0]
+
+    @property
+    def requirers(self) -> set[str] | None:
+        return self.args[1]
+
+    @property
+    def requirers_str(self):
+        if not self.requirers:
+            return 'the application'
+        return ', '.join(self.requirers)
+
+    def report(self):
+        return self._template.format(**locals())
+
+    def __str__(self) -> str:
+        return self.report()
+
+
+class UnknownExtra(ResolutionError):
+    """Distribution doesn't have an "extra feature" of the given name"""
+
+
+_provider_factories: dict[type[_ModuleLike], _ProviderFactoryType] = {}
+
+PY_MAJOR = f'{sys.version_info.major}.{sys.version_info.minor}'
+EGG_DIST = 3
+BINARY_DIST = 2
+SOURCE_DIST = 1
+CHECKOUT_DIST = 0
+DEVELOP_DIST = -1
+
+
+def register_loader_type(
+    loader_type: type[_ModuleLike], provider_factory: _ProviderFactoryType
+) -> None:
+    """Register `provider_factory` to make providers for `loader_type`
+
+    `loader_type` is the type or class of a PEP 302 ``module.__loader__``,
+    and `provider_factory` is a function that, passed a *module* object,
+    returns an ``IResourceProvider`` for that module.
+    """
+    _provider_factories[loader_type] = provider_factory
+
+
+@overload
+def get_provider(moduleOrReq: str) -> IResourceProvider: ...
+@overload
+def get_provider(moduleOrReq: Requirement) -> Distribution: ...
+def get_provider(moduleOrReq: str | Requirement) -> IResourceProvider | Distribution:
+    """Return an IResourceProvider for the named module or requirement"""
+    if isinstance(moduleOrReq, Requirement):
+        return working_set.find(moduleOrReq) or require(str(moduleOrReq))[0]
+    try:
+        module = sys.modules[moduleOrReq]
+    except KeyError:
+        __import__(moduleOrReq)
+        module = sys.modules[moduleOrReq]
+    loader = getattr(module, '__loader__', None)
+    return _find_adapter(_provider_factories, loader)(module)
+
+
+@functools.cache
+def _macos_vers():
+    version = platform.mac_ver()[0]
+    # fallback for MacPorts
+    if version == '':
+        plist = '/System/Library/CoreServices/SystemVersion.plist'
+        if os.path.exists(plist):
+            with open(plist, 'rb') as fh:
+                plist_content = plistlib.load(fh)
+            if 'ProductVersion' in plist_content:
+                version = plist_content['ProductVersion']
+    return version.split('.')
+
+
+def _macos_arch(machine):
+    return {'PowerPC': 'ppc', 'Power_Macintosh': 'ppc'}.get(machine, machine)
+
+
+def get_build_platform():
+    """Return this platform's string for platform-specific distributions"""
+    from sysconfig import get_platform
+
+    plat = get_platform()
+    if sys.platform == "darwin" and not plat.startswith('macosx-'):
+        try:
+            version = _macos_vers()
+            machine = _macos_arch(os.uname()[4].replace(" ", "_"))
+            return f"macosx-{version[0]}.{version[1]}-{machine}"
+        except ValueError:
+            # if someone is running a non-Mac darwin system, this will fall
+            # through to the default implementation
+            pass
+    return plat
+
+
+macosVersionString = re.compile(r"macosx-(\d+)\.(\d+)-(.*)")
+darwinVersionString = re.compile(r"darwin-(\d+)\.(\d+)\.(\d+)-(.*)")
+# XXX backward compat
+get_platform = get_build_platform
+
+
+def compatible_platforms(provided: str | None, required: str | None) -> bool:
+    """Can code for the `provided` platform run on the `required` platform?
+
+    Returns true if either platform is ``None``, or the platforms are equal.
+
+    XXX Needs compatibility checks for Linux and other unixy OSes.
+    """
+    if provided is None or required is None or provided == required:
+        # easy case
+        return True
+
+    # macOS special cases
+    reqMac = macosVersionString.match(required)
+    if reqMac:
+        provMac = macosVersionString.match(provided)
+
+        # is this a Mac package?
+        if not provMac:
+            # this is backwards compatibility for packages built before
+            # setuptools 0.6. All packages built after this point will
+            # use the new macOS designation.
+            provDarwin = darwinVersionString.match(provided)
+            if provDarwin:
+                dversion = int(provDarwin.group(1))
+                macosversion = f"{reqMac.group(1)}.{reqMac.group(2)}"
+                if (
+                    dversion == 7
+                    and macosversion >= "10.3"
+                    or dversion == 8
+                    and macosversion >= "10.4"
+                ):
+                    return True
+            # egg isn't macOS or legacy darwin
+            return False
+
+        # are they the same major version and machine type?
+        if provMac.group(1) != reqMac.group(1) or provMac.group(3) != reqMac.group(3):
+            return False
+
+        # is the required OS major update >= the provided one?
+        if int(provMac.group(2)) > int(reqMac.group(2)):
+            return False
+
+        return True
+
+    # XXX Linux and other platforms' special cases should go here
+    return False
+
+
+@overload
+def get_distribution(dist: _DistributionT) -> _DistributionT: ...
+@overload
+def get_distribution(dist: _PkgReqType) -> Distribution: ...
+def get_distribution(dist: Distribution | _PkgReqType) -> Distribution:
+    """Return a current distribution object for a Requirement or string"""
+    if isinstance(dist, str):
+        dist = Requirement.parse(dist)
+    if isinstance(dist, Requirement):
+        dist = get_provider(dist)
+    if not isinstance(dist, Distribution):
+        raise TypeError("Expected str, Requirement, or Distribution", dist)
+    return dist
+
+
+def load_entry_point(dist: _EPDistType, group: str, name: str) -> _ResolvedEntryPoint:
+    """Return `name` entry point of `group` for `dist` or raise ImportError"""
+    return get_distribution(dist).load_entry_point(group, name)
+
+
+@overload
+def get_entry_map(
+    dist: _EPDistType, group: None = None
+) -> dict[str, dict[str, EntryPoint]]: ...
+@overload
+def get_entry_map(dist: _EPDistType, group: str) -> dict[str, EntryPoint]: ...
+def get_entry_map(dist: _EPDistType, group: str | None = None):
+    """Return the entry point map for `group`, or the full entry map"""
+    return get_distribution(dist).get_entry_map(group)
+
+
+def get_entry_info(dist: _EPDistType, group: str, name: str) -> EntryPoint | None:
+    """Return the EntryPoint object for `group`+`name`, or ``None``"""
+    return get_distribution(dist).get_entry_info(group, name)
+
+
+class IMetadataProvider(Protocol):
+    def has_metadata(self, name: str) -> bool:
+        """Does the package's distribution contain the named metadata?"""
+        ...
+
+    def get_metadata(self, name: str) -> str:
+        """The named metadata resource as a string"""
+        ...
+
+    def get_metadata_lines(self, name: str) -> Iterator[str]:
+        """Yield named metadata resource as list of non-blank non-comment lines
+
+        Leading and trailing whitespace is stripped from each line, and lines
+        with ``#`` as the first non-blank character are omitted."""
+        ...
+
+    def metadata_isdir(self, name: str) -> bool:
+        """Is the named metadata a directory?  (like ``os.path.isdir()``)"""
+        ...
+
+    def metadata_listdir(self, name: str) -> list[str]:
+        """List of metadata names in the directory (like ``os.listdir()``)"""
+        ...
+
+    def run_script(self, script_name: str, namespace: dict[str, Any]) -> None:
+        """Execute the named script in the supplied namespace dictionary"""
+        ...
+
+
+class IResourceProvider(IMetadataProvider, Protocol):
+    """An object that provides access to package resources"""
+
+    def get_resource_filename(
+        self, manager: ResourceManager, resource_name: str
+    ) -> str:
+        """Return a true filesystem path for `resource_name`
+
+        `manager` must be a ``ResourceManager``"""
+        ...
+
+    def get_resource_stream(
+        self, manager: ResourceManager, resource_name: str
+    ) -> _ResourceStream:
+        """Return a readable file-like object for `resource_name`
+
+        `manager` must be a ``ResourceManager``"""
+        ...
+
+    def get_resource_string(
+        self, manager: ResourceManager, resource_name: str
+    ) -> bytes:
+        """Return the contents of `resource_name` as :obj:`bytes`
+
+        `manager` must be a ``ResourceManager``"""
+        ...
+
+    def has_resource(self, resource_name: str) -> bool:
+        """Does the package contain the named resource?"""
+        ...
+
+    def resource_isdir(self, resource_name: str) -> bool:
+        """Is the named resource a directory?  (like ``os.path.isdir()``)"""
+        ...
+
+    def resource_listdir(self, resource_name: str) -> list[str]:
+        """List of resource names in the directory (like ``os.listdir()``)"""
+        ...
+
+
+class WorkingSet:
+    """A collection of active distributions on sys.path (or a similar list)"""
+
+    def __init__(self, entries: Iterable[str] | None = None) -> None:
+        """Create working set from list of path entries (default=sys.path)"""
+        self.entries: list[str] = []
+        self.entry_keys: dict[str | None, list[str]] = {}
+        self.by_key: dict[str, Distribution] = {}
+        self.normalized_to_canonical_keys: dict[str, str] = {}
+        self.callbacks: list[Callable[[Distribution], object]] = []
+
+        if entries is None:
+            entries = sys.path
+
+        for entry in entries:
+            self.add_entry(entry)
+
+    @classmethod
+    def _build_master(cls):
+        """
+        Prepare the master working set.
+        """
+        ws = cls()
+        try:
+            from __main__ import __requires__
+        except ImportError:
+            # The main program does not list any requirements
+            return ws
+
+        # ensure the requirements are met
+        try:
+            ws.require(__requires__)
+        except VersionConflict:
+            return cls._build_from_requirements(__requires__)
+
+        return ws
+
+    @classmethod
+    def _build_from_requirements(cls, req_spec):
+        """
+        Build a working set from a requirement spec. Rewrites sys.path.
+        """
+        # try it without defaults already on sys.path
+        # by starting with an empty path
+        ws = cls([])
+        reqs = parse_requirements(req_spec)
+        dists = ws.resolve(reqs, Environment())
+        for dist in dists:
+            ws.add(dist)
+
+        # add any missing entries from sys.path
+        for entry in sys.path:
+            if entry not in ws.entries:
+                ws.add_entry(entry)
+
+        # then copy back to sys.path
+        sys.path[:] = ws.entries
+        return ws
+
+    def add_entry(self, entry: str) -> None:
+        """Add a path item to ``.entries``, finding any distributions on it
+
+        ``find_distributions(entry, True)`` is used to find distributions
+        corresponding to the path entry, and they are added.  `entry` is
+        always appended to ``.entries``, even if it is already present.
+        (This is because ``sys.path`` can contain the same value more than
+        once, and the ``.entries`` of the ``sys.path`` WorkingSet should always
+        equal ``sys.path``.)
+        """
+        self.entry_keys.setdefault(entry, [])
+        self.entries.append(entry)
+        for dist in find_distributions(entry, True):
+            self.add(dist, entry, False)
+
+    def __contains__(self, dist: Distribution) -> bool:
+        """True if `dist` is the active distribution for its project"""
+        return self.by_key.get(dist.key) == dist
+
+    def find(self, req: Requirement) -> Distribution | None:
+        """Find a distribution matching requirement `req`
+
+        If there is an active distribution for the requested project, this
+        returns it as long as it meets the version requirement specified by
+        `req`.  But, if there is an active distribution for the project and it
+        does *not* meet the `req` requirement, ``VersionConflict`` is raised.
+        If there is no active distribution for the requested project, ``None``
+        is returned.
+        """
+        dist: Distribution | None = None
+
+        candidates = (
+            req.key,
+            self.normalized_to_canonical_keys.get(req.key),
+            safe_name(req.key).replace(".", "-"),
+        )
+
+        for candidate in filter(None, candidates):
+            dist = self.by_key.get(candidate)
+            if dist:
+                req.key = candidate
+                break
+
+        if dist is not None and dist not in req:
+            # XXX add more info
+            raise VersionConflict(dist, req)
+        return dist
+
+    def iter_entry_points(
+        self, group: str, name: str | None = None
+    ) -> Iterator[EntryPoint]:
+        """Yield entry point objects from `group` matching `name`
+
+        If `name` is None, yields all entry points in `group` from all
+        distributions in the working set, otherwise only ones matching
+        both `group` and `name` are yielded (in distribution order).
+        """
+        return (
+            entry
+            for dist in self
+            for entry in dist.get_entry_map(group).values()
+            if name is None or name == entry.name
+        )
+
+    def run_script(self, requires: str, script_name: str) -> None:
+        """Locate distribution for `requires` and run `script_name` script"""
+        ns = sys._getframe(1).f_globals
+        name = ns['__name__']
+        ns.clear()
+        ns['__name__'] = name
+        self.require(requires)[0].run_script(script_name, ns)
+
+    def __iter__(self) -> Iterator[Distribution]:
+        """Yield distributions for non-duplicate projects in the working set
+
+        The yield order is the order in which the items' path entries were
+        added to the working set.
+        """
+        seen = set()
+        for item in self.entries:
+            if item not in self.entry_keys:
+                # workaround a cache issue
+                continue
+
+            for key in self.entry_keys[item]:
+                if key not in seen:
+                    seen.add(key)
+                    yield self.by_key[key]
+
+    def add(
+        self,
+        dist: Distribution,
+        entry: str | None = None,
+        insert: bool = True,
+        replace: bool = False,
+    ) -> None:
+        """Add `dist` to working set, associated with `entry`
+
+        If `entry` is unspecified, it defaults to the ``.location`` of `dist`.
+        On exit from this routine, `entry` is added to the end of the working
+        set's ``.entries`` (if it wasn't already present).
+
+        `dist` is only added to the working set if it's for a project that
+        doesn't already have a distribution in the set, unless `replace=True`.
+        If it's added, any callbacks registered with the ``subscribe()`` method
+        will be called.
+        """
+        if insert:
+            dist.insert_on(self.entries, entry, replace=replace)
+
+        if entry is None:
+            entry = dist.location
+        keys = self.entry_keys.setdefault(entry, [])
+        keys2 = self.entry_keys.setdefault(dist.location, [])
+        if not replace and dist.key in self.by_key:
+            # ignore hidden distros
+            return
+
+        self.by_key[dist.key] = dist
+        normalized_name = packaging.utils.canonicalize_name(dist.key)
+        self.normalized_to_canonical_keys[normalized_name] = dist.key
+        if dist.key not in keys:
+            keys.append(dist.key)
+        if dist.key not in keys2:
+            keys2.append(dist.key)
+        self._added_new(dist)
+
+    @overload
+    def resolve(
+        self,
+        requirements: Iterable[Requirement],
+        env: Environment | None,
+        installer: _StrictInstallerType[_DistributionT],
+        replace_conflicting: bool = False,
+        extras: tuple[str, ...] | None = None,
+    ) -> list[_DistributionT]: ...
+    @overload
+    def resolve(
+        self,
+        requirements: Iterable[Requirement],
+        env: Environment | None = None,
+        *,
+        installer: _StrictInstallerType[_DistributionT],
+        replace_conflicting: bool = False,
+        extras: tuple[str, ...] | None = None,
+    ) -> list[_DistributionT]: ...
+    @overload
+    def resolve(
+        self,
+        requirements: Iterable[Requirement],
+        env: Environment | None = None,
+        installer: _InstallerType | None = None,
+        replace_conflicting: bool = False,
+        extras: tuple[str, ...] | None = None,
+    ) -> list[Distribution]: ...
+    def resolve(
+        self,
+        requirements: Iterable[Requirement],
+        env: Environment | None = None,
+        installer: _InstallerType | None | _StrictInstallerType[_DistributionT] = None,
+        replace_conflicting: bool = False,
+        extras: tuple[str, ...] | None = None,
+    ) -> list[Distribution] | list[_DistributionT]:
+        """List all distributions needed to (recursively) meet `requirements`
+
+        `requirements` must be a sequence of ``Requirement`` objects.  `env`,
+        if supplied, should be an ``Environment`` instance.  If
+        not supplied, it defaults to all distributions available within any
+        entry or distribution in the working set.  `installer`, if supplied,
+        will be invoked with each requirement that cannot be met by an
+        already-installed distribution; it should return a ``Distribution`` or
+        ``None``.
+
+        Unless `replace_conflicting=True`, raises a VersionConflict exception
+        if
+        any requirements are found on the path that have the correct name but
+        the wrong version.  Otherwise, if an `installer` is supplied it will be
+        invoked to obtain the correct version of the requirement and activate
+        it.
+
+        `extras` is a list of the extras to be used with these requirements.
+        This is important because extra requirements may look like `my_req;
+        extra = "my_extra"`, which would otherwise be interpreted as a purely
+        optional requirement.  Instead, we want to be able to assert that these
+        requirements are truly required.
+        """
+
+        # set up the stack
+        requirements = list(requirements)[::-1]
+        # set of processed requirements
+        processed = set()
+        # key -> dist
+        best: dict[str, Distribution] = {}
+        to_activate: list[Distribution] = []
+
+        req_extras = _ReqExtras()
+
+        # Mapping of requirement to set of distributions that required it;
+        # useful for reporting info about conflicts.
+        required_by = collections.defaultdict[Requirement, set[str]](set)
+
+        while requirements:
+            # process dependencies breadth-first
+            req = requirements.pop(0)
+            if req in processed:
+                # Ignore cyclic or redundant dependencies
+                continue
+
+            if not req_extras.markers_pass(req, extras):
+                continue
+
+            dist = self._resolve_dist(
+                req, best, replace_conflicting, env, installer, required_by, to_activate
+            )
+
+            # push the new requirements onto the stack
+            new_requirements = dist.requires(req.extras)[::-1]
+            requirements.extend(new_requirements)
+
+            # Register the new requirements needed by req
+            for new_requirement in new_requirements:
+                required_by[new_requirement].add(req.project_name)
+                req_extras[new_requirement] = req.extras
+
+            processed.add(req)
+
+        # return list of distros to activate
+        return to_activate
+
+    def _resolve_dist(
+        self, req, best, replace_conflicting, env, installer, required_by, to_activate
+    ) -> Distribution:
+        dist = best.get(req.key)
+        if dist is None:
+            # Find the best distribution and add it to the map
+            dist = self.by_key.get(req.key)
+            if dist is None or (dist not in req and replace_conflicting):
+                ws = self
+                if env is None:
+                    if dist is None:
+                        env = Environment(self.entries)
+                    else:
+                        # Use an empty environment and workingset to avoid
+                        # any further conflicts with the conflicting
+                        # distribution
+                        env = Environment([])
+                        ws = WorkingSet([])
+                dist = best[req.key] = env.best_match(
+                    req, ws, installer, replace_conflicting=replace_conflicting
+                )
+                if dist is None:
+                    requirers = required_by.get(req, None)
+                    raise DistributionNotFound(req, requirers)
+            to_activate.append(dist)
+        if dist not in req:
+            # Oops, the "best" so far conflicts with a dependency
+            dependent_req = required_by[req]
+            raise VersionConflict(dist, req).with_context(dependent_req)
+        return dist
+
+    @overload
+    def find_plugins(
+        self,
+        plugin_env: Environment,
+        full_env: Environment | None,
+        installer: _StrictInstallerType[_DistributionT],
+        fallback: bool = True,
+    ) -> tuple[list[_DistributionT], dict[Distribution, Exception]]: ...
+    @overload
+    def find_plugins(
+        self,
+        plugin_env: Environment,
+        full_env: Environment | None = None,
+        *,
+        installer: _StrictInstallerType[_DistributionT],
+        fallback: bool = True,
+    ) -> tuple[list[_DistributionT], dict[Distribution, Exception]]: ...
+    @overload
+    def find_plugins(
+        self,
+        plugin_env: Environment,
+        full_env: Environment | None = None,
+        installer: _InstallerType | None = None,
+        fallback: bool = True,
+    ) -> tuple[list[Distribution], dict[Distribution, Exception]]: ...
+    def find_plugins(
+        self,
+        plugin_env: Environment,
+        full_env: Environment | None = None,
+        installer: _InstallerType | None | _StrictInstallerType[_DistributionT] = None,
+        fallback: bool = True,
+    ) -> tuple[
+        list[Distribution] | list[_DistributionT],
+        dict[Distribution, Exception],
+    ]:
+        """Find all activatable distributions in `plugin_env`
+
+        Example usage::
+
+            distributions, errors = working_set.find_plugins(
+                Environment(plugin_dirlist)
+            )
+            # add plugins+libs to sys.path
+            map(working_set.add, distributions)
+            # display errors
+            print('Could not load', errors)
+
+        The `plugin_env` should be an ``Environment`` instance that contains
+        only distributions that are in the project's "plugin directory" or
+        directories. The `full_env`, if supplied, should be an ``Environment``
+        contains all currently-available distributions.  If `full_env` is not
+        supplied, one is created automatically from the ``WorkingSet`` this
+        method is called on, which will typically mean that every directory on
+        ``sys.path`` will be scanned for distributions.
+
+        `installer` is a standard installer callback as used by the
+        ``resolve()`` method. The `fallback` flag indicates whether we should
+        attempt to resolve older versions of a plugin if the newest version
+        cannot be resolved.
+
+        This method returns a 2-tuple: (`distributions`, `error_info`), where
+        `distributions` is a list of the distributions found in `plugin_env`
+        that were loadable, along with any other distributions that are needed
+        to resolve their dependencies.  `error_info` is a dictionary mapping
+        unloadable plugin distributions to an exception instance describing the
+        error that occurred. Usually this will be a ``DistributionNotFound`` or
+        ``VersionConflict`` instance.
+        """
+
+        plugin_projects = list(plugin_env)
+        # scan project names in alphabetic order
+        plugin_projects.sort()
+
+        error_info: dict[Distribution, Exception] = {}
+        distributions: dict[Distribution, Exception | None] = {}
+
+        if full_env is None:
+            env = Environment(self.entries)
+            env += plugin_env
+        else:
+            env = full_env + plugin_env
+
+        shadow_set = self.__class__([])
+        # put all our entries in shadow_set
+        list(map(shadow_set.add, self))
+
+        for project_name in plugin_projects:
+            for dist in plugin_env[project_name]:
+                req = [dist.as_requirement()]
+
+                try:
+                    resolvees = shadow_set.resolve(req, env, installer)
+
+                except ResolutionError as v:
+                    # save error info
+                    error_info[dist] = v
+                    if fallback:
+                        # try the next older version of project
+                        continue
+                    else:
+                        # give up on this project, keep going
+                        break
+
+                else:
+                    list(map(shadow_set.add, resolvees))
+                    distributions.update(dict.fromkeys(resolvees))
+
+                    # success, no need to try any more versions of this project
+                    break
+
+        sorted_distributions = list(distributions)
+        sorted_distributions.sort()
+
+        return sorted_distributions, error_info
+
+    def require(self, *requirements: _NestedStr) -> list[Distribution]:
+        """Ensure that distributions matching `requirements` are activated
+
+        `requirements` must be a string or a (possibly-nested) sequence
+        thereof, specifying the distributions and versions required.  The
+        return value is a sequence of the distributions that needed to be
+        activated to fulfill the requirements; all relevant distributions are
+        included, even if they were already activated in this working set.
+        """
+        needed = self.resolve(parse_requirements(requirements))
+
+        for dist in needed:
+            self.add(dist)
+
+        return needed
+
+    def subscribe(
+        self, callback: Callable[[Distribution], object], existing: bool = True
+    ) -> None:
+        """Invoke `callback` for all distributions
+
+        If `existing=True` (default),
+        call on all existing ones, as well.
+        """
+        if callback in self.callbacks:
+            return
+        self.callbacks.append(callback)
+        if not existing:
+            return
+        for dist in self:
+            callback(dist)
+
+    def _added_new(self, dist) -> None:
+        for callback in self.callbacks:
+            callback(dist)
+
+    def __getstate__(
+        self,
+    ) -> tuple[
+        list[str],
+        dict[str | None, list[str]],
+        dict[str, Distribution],
+        dict[str, str],
+        list[Callable[[Distribution], object]],
+    ]:
+        return (
+            self.entries[:],
+            self.entry_keys.copy(),
+            self.by_key.copy(),
+            self.normalized_to_canonical_keys.copy(),
+            self.callbacks[:],
+        )
+
+    def __setstate__(self, e_k_b_n_c) -> None:
+        entries, keys, by_key, normalized_to_canonical_keys, callbacks = e_k_b_n_c
+        self.entries = entries[:]
+        self.entry_keys = keys.copy()
+        self.by_key = by_key.copy()
+        self.normalized_to_canonical_keys = normalized_to_canonical_keys.copy()
+        self.callbacks = callbacks[:]
+
+
+class _ReqExtras(dict["Requirement", tuple[str, ...]]):
+    """
+    Map each requirement to the extras that demanded it.
+    """
+
+    def markers_pass(self, req: Requirement, extras: tuple[str, ...] | None = None):
+        """
+        Evaluate markers for req against each extra that
+        demanded it.
+
+        Return False if the req has a marker and fails
+        evaluation. Otherwise, return True.
+        """
+        return not req.marker or any(
+            req.marker.evaluate({'extra': extra})
+            for extra in self.get(req, ()) + (extras or ("",))
+        )
+
+
+class Environment:
+    """Searchable snapshot of distributions on a search path"""
+
+    def __init__(
+        self,
+        search_path: Iterable[str] | None = None,
+        platform: str | None = get_supported_platform(),
+        python: str | None = PY_MAJOR,
+    ) -> None:
+        """Snapshot distributions available on a search path
+
+        Any distributions found on `search_path` are added to the environment.
+        `search_path` should be a sequence of ``sys.path`` items.  If not
+        supplied, ``sys.path`` is used.
+
+        `platform` is an optional string specifying the name of the platform
+        that platform-specific distributions must be compatible with.  If
+        unspecified, it defaults to the current platform.  `python` is an
+        optional string naming the desired version of Python (e.g. ``'3.6'``);
+        it defaults to the current version.
+
+        You may explicitly set `platform` (and/or `python`) to ``None`` if you
+        wish to map *all* distributions, not just those compatible with the
+        running platform or Python version.
+        """
+        self._distmap: dict[str, list[Distribution]] = {}
+        self.platform = platform
+        self.python = python
+        self.scan(search_path)
+
+    def can_add(self, dist: Distribution) -> bool:
+        """Is distribution `dist` acceptable for this environment?
+
+        The distribution must match the platform and python version
+        requirements specified when this environment was created, or False
+        is returned.
+        """
+        py_compat = (
+            self.python is None
+            or dist.py_version is None
+            or dist.py_version == self.python
+        )
+        return py_compat and compatible_platforms(dist.platform, self.platform)
+
+    def remove(self, dist: Distribution) -> None:
+        """Remove `dist` from the environment"""
+        self._distmap[dist.key].remove(dist)
+
+    def scan(self, search_path: Iterable[str] | None = None) -> None:
+        """Scan `search_path` for distributions usable in this environment
+
+        Any distributions found are added to the environment.
+        `search_path` should be a sequence of ``sys.path`` items.  If not
+        supplied, ``sys.path`` is used.  Only distributions conforming to
+        the platform/python version defined at initialization are added.
+        """
+        if search_path is None:
+            search_path = sys.path
+
+        for item in search_path:
+            for dist in find_distributions(item):
+                self.add(dist)
+
+    def __getitem__(self, project_name: str) -> list[Distribution]:
+        """Return a newest-to-oldest list of distributions for `project_name`
+
+        Uses case-insensitive `project_name` comparison, assuming all the
+        project's distributions use their project's name converted to all
+        lowercase as their key.
+
+        """
+        distribution_key = project_name.lower()
+        return self._distmap.get(distribution_key, [])
+
+    def add(self, dist: Distribution) -> None:
+        """Add `dist` if we ``can_add()`` it and it has not already been added"""
+        if self.can_add(dist) and dist.has_version():
+            dists = self._distmap.setdefault(dist.key, [])
+            if dist not in dists:
+                dists.append(dist)
+                dists.sort(key=operator.attrgetter('hashcmp'), reverse=True)
+
+    @overload
+    def best_match(
+        self,
+        req: Requirement,
+        working_set: WorkingSet,
+        installer: _StrictInstallerType[_DistributionT],
+        replace_conflicting: bool = False,
+    ) -> _DistributionT: ...
+    @overload
+    def best_match(
+        self,
+        req: Requirement,
+        working_set: WorkingSet,
+        installer: _InstallerType | None = None,
+        replace_conflicting: bool = False,
+    ) -> Distribution | None: ...
+    def best_match(
+        self,
+        req: Requirement,
+        working_set: WorkingSet,
+        installer: _InstallerType | None | _StrictInstallerType[_DistributionT] = None,
+        replace_conflicting: bool = False,
+    ) -> Distribution | None:
+        """Find distribution best matching `req` and usable on `working_set`
+
+        This calls the ``find(req)`` method of the `working_set` to see if a
+        suitable distribution is already active.  (This may raise
+        ``VersionConflict`` if an unsuitable version of the project is already
+        active in the specified `working_set`.)  If a suitable distribution
+        isn't active, this method returns the newest distribution in the
+        environment that meets the ``Requirement`` in `req`.  If no suitable
+        distribution is found, and `installer` is supplied, then the result of
+        calling the environment's ``obtain(req, installer)`` method will be
+        returned.
+        """
+        try:
+            dist = working_set.find(req)
+        except VersionConflict:
+            if not replace_conflicting:
+                raise
+            dist = None
+        if dist is not None:
+            return dist
+        for dist in self[req.key]:
+            if dist in req:
+                return dist
+        # try to download/install
+        return self.obtain(req, installer)
+
+    @overload
+    def obtain(
+        self,
+        requirement: Requirement,
+        installer: _StrictInstallerType[_DistributionT],
+    ) -> _DistributionT: ...
+    @overload
+    def obtain(
+        self,
+        requirement: Requirement,
+        installer: Callable[[Requirement], None] | None = None,
+    ) -> None: ...
+    @overload
+    def obtain(
+        self,
+        requirement: Requirement,
+        installer: _InstallerType | None = None,
+    ) -> Distribution | None: ...
+    def obtain(
+        self,
+        requirement: Requirement,
+        installer: Callable[[Requirement], None]
+        | _InstallerType
+        | None
+        | _StrictInstallerType[_DistributionT] = None,
+    ) -> Distribution | None:
+        """Obtain a distribution matching `requirement` (e.g. via download)
+
+        Obtain a distro that matches requirement (e.g. via download).  In the
+        base ``Environment`` class, this routine just returns
+        ``installer(requirement)``, unless `installer` is None, in which case
+        None is returned instead.  This method is a hook that allows subclasses
+        to attempt other ways of obtaining a distribution before falling back
+        to the `installer` argument."""
+        return installer(requirement) if installer else None
+
+    def __iter__(self) -> Iterator[str]:
+        """Yield the unique project names of the available distributions"""
+        for key in self._distmap.keys():
+            if self[key]:
+                yield key
+
+    def __iadd__(self, other: Distribution | Environment) -> Self:
+        """In-place addition of a distribution or environment"""
+        if isinstance(other, Distribution):
+            self.add(other)
+        elif isinstance(other, Environment):
+            for project in other:
+                for dist in other[project]:
+                    self.add(dist)
+        else:
+            raise TypeError(f"Can't add {other!r} to environment")
+        return self
+
+    def __add__(self, other: Distribution | Environment) -> Self:
+        """Add an environment or distribution to an environment"""
+        new = self.__class__([], platform=None, python=None)
+        for env in self, other:
+            new += env
+        return new
+
+
+# XXX backward compatibility
+AvailableDistributions = Environment
+
+
+class ExtractionError(RuntimeError):
+    """An error occurred extracting a resource
+
+    The following attributes are available from instances of this exception:
+
+    manager
+        The resource manager that raised this exception
+
+    cache_path
+        The base directory for resource extraction
+
+    original_error
+        The exception instance that caused extraction to fail
+    """
+
+    manager: ResourceManager
+    cache_path: str
+    original_error: BaseException | None
+
+
+class ResourceManager:
+    """Manage resource extraction and packages"""
+
+    extraction_path: str | None = None
+
+    def __init__(self) -> None:
+        # acts like a set
+        self.cached_files: dict[str, Literal[True]] = {}
+
+    def resource_exists(
+        self, package_or_requirement: _PkgReqType, resource_name: str
+    ) -> bool:
+        """Does the named resource exist?"""
+        return get_provider(package_or_requirement).has_resource(resource_name)
+
+    def resource_isdir(
+        self, package_or_requirement: _PkgReqType, resource_name: str
+    ) -> bool:
+        """Is the named resource an existing directory?"""
+        return get_provider(package_or_requirement).resource_isdir(resource_name)
+
+    def resource_filename(
+        self, package_or_requirement: _PkgReqType, resource_name: str
+    ) -> str:
+        """Return a true filesystem path for specified resource"""
+        return get_provider(package_or_requirement).get_resource_filename(
+            self, resource_name
+        )
+
+    def resource_stream(
+        self, package_or_requirement: _PkgReqType, resource_name: str
+    ) -> _ResourceStream:
+        """Return a readable file-like object for specified resource"""
+        return get_provider(package_or_requirement).get_resource_stream(
+            self, resource_name
+        )
+
+    def resource_string(
+        self, package_or_requirement: _PkgReqType, resource_name: str
+    ) -> bytes:
+        """Return specified resource as :obj:`bytes`"""
+        return get_provider(package_or_requirement).get_resource_string(
+            self, resource_name
+        )
+
+    def resource_listdir(
+        self, package_or_requirement: _PkgReqType, resource_name: str
+    ) -> list[str]:
+        """List the contents of the named resource directory"""
+        return get_provider(package_or_requirement).resource_listdir(resource_name)
+
+    def extraction_error(self) -> NoReturn:
+        """Give an error message for problems extracting file(s)"""
+
+        old_exc = sys.exc_info()[1]
+        cache_path = self.extraction_path or get_default_cache()
+
+        tmpl = textwrap.dedent(
+            """
+            Can't extract file(s) to egg cache
+
+            The following error occurred while trying to extract file(s)
+            to the Python egg cache:
+
+              {old_exc}
+
+            The Python egg cache directory is currently set to:
+
+              {cache_path}
+
+            Perhaps your account does not have write access to this directory?
+            You can change the cache directory by setting the PYTHON_EGG_CACHE
+            environment variable to point to an accessible directory.
+            """
+        ).lstrip()
+        err = ExtractionError(tmpl.format(**locals()))
+        err.manager = self
+        err.cache_path = cache_path
+        err.original_error = old_exc
+        raise err
+
+    def get_cache_path(self, archive_name: str, names: Iterable[StrPath] = ()) -> str:
+        """Return absolute location in cache for `archive_name` and `names`
+
+        The parent directory of the resulting path will be created if it does
+        not already exist.  `archive_name` should be the base filename of the
+        enclosing egg (which may not be the name of the enclosing zipfile!),
+        including its ".egg" extension.  `names`, if provided, should be a
+        sequence of path name parts "under" the egg's extraction location.
+
+        This method should only be called by resource providers that need to
+        obtain an extraction location, and only for names they intend to
+        extract, as it tracks the generated names for possible cleanup later.
+        """
+        extract_path = self.extraction_path or get_default_cache()
+        target_path = os.path.join(extract_path, archive_name + '-tmp', *names)
+        try:
+            _bypass_ensure_directory(target_path)
+        except Exception:
+            self.extraction_error()
+
+        self._warn_unsafe_extraction_path(extract_path)
+
+        self.cached_files[target_path] = True
+        return target_path
+
+    @staticmethod
+    def _warn_unsafe_extraction_path(path) -> None:
+        """
+        If the default extraction path is overridden and set to an insecure
+        location, such as /tmp, it opens up an opportunity for an attacker to
+        replace an extracted file with an unauthorized payload. Warn the user
+        if a known insecure location is used.
+
+        See Distribute #375 for more details.
+        """
+        if os.name == 'nt' and not path.startswith(os.environ['windir']):
+            # On Windows, permissions are generally restrictive by default
+            #  and temp directories are not writable by other users, so
+            #  bypass the warning.
+            return
+        mode = os.stat(path).st_mode
+        if mode & stat.S_IWOTH or mode & stat.S_IWGRP:
+            msg = (
+                "Extraction path is writable by group/others "
+                "and vulnerable to attack when "
+                "used with get_resource_filename ({path}). "
+                "Consider a more secure "
+                "location (set with .set_extraction_path or the "
+                "PYTHON_EGG_CACHE environment variable)."
+            ).format(**locals())
+            warnings.warn(msg, UserWarning)
+
+    def postprocess(self, tempname: StrOrBytesPath, filename: StrOrBytesPath) -> None:
+        """Perform any platform-specific postprocessing of `tempname`
+
+        This is where Mac header rewrites should be done; other platforms don't
+        have anything special they should do.
+
+        Resource providers should call this method ONLY after successfully
+        extracting a compressed resource.  They must NOT call it on resources
+        that are already in the filesystem.
+
+        `tempname` is the current (temporary) name of the file, and `filename`
+        is the name it will be renamed to by the caller after this routine
+        returns.
+        """
+
+        if os.name == 'posix':
+            # Make the resource executable
+            mode = ((os.stat(tempname).st_mode) | 0o555) & 0o7777
+            os.chmod(tempname, mode)
+
+    def set_extraction_path(self, path: str) -> None:
+        """Set the base path where resources will be extracted to, if needed.
+
+        If you do not call this routine before any extractions take place, the
+        path defaults to the return value of ``get_default_cache()``.  (Which
+        is based on the ``PYTHON_EGG_CACHE`` environment variable, with various
+        platform-specific fallbacks.  See that routine's documentation for more
+        details.)
+
+        Resources are extracted to subdirectories of this path based upon
+        information given by the ``IResourceProvider``.  You may set this to a
+        temporary directory, but then you must call ``cleanup_resources()`` to
+        delete the extracted files when done.  There is no guarantee that
+        ``cleanup_resources()`` will be able to remove all extracted files.
+
+        (Note: you may not change the extraction path for a given resource
+        manager once resources have been extracted, unless you first call
+        ``cleanup_resources()``.)
+        """
+        if self.cached_files:
+            raise ValueError("Can't change extraction path, files already extracted")
+
+        self.extraction_path = path
+
+    def cleanup_resources(self, force: bool = False) -> list[str]:
+        """
+        Delete all extracted resource files and directories, returning a list
+        of the file and directory names that could not be successfully removed.
+        This function does not have any concurrency protection, so it should
+        generally only be called when the extraction path is a temporary
+        directory exclusive to a single process.  This method is not
+        automatically called; you must call it explicitly or register it as an
+        ``atexit`` function if you wish to ensure cleanup of a temporary
+        directory used for extractions.
+        """
+        # XXX
+        return []
+
+
+def get_default_cache() -> str:
+    """
+    Return the ``PYTHON_EGG_CACHE`` environment variable
+    or a platform-relevant user cache dir for an app
+    named "Python-Eggs".
+    """
+    return os.environ.get('PYTHON_EGG_CACHE') or _user_cache_dir(appname='Python-Eggs')
+
+
+def safe_name(name: str) -> str:
+    """Convert an arbitrary string to a standard distribution name
+
+    Any runs of non-alphanumeric/. characters are replaced with a single '-'.
+    """
+    return re.sub('[^A-Za-z0-9.]+', '-', name)
+
+
+def safe_version(version: str) -> str:
+    """
+    Convert an arbitrary string to a standard version string
+    """
+    try:
+        # normalize the version
+        return str(packaging.version.Version(version))
+    except packaging.version.InvalidVersion:
+        version = version.replace(' ', '.')
+        return re.sub('[^A-Za-z0-9.]+', '-', version)
+
+
+def _forgiving_version(version) -> str:
+    """Fallback when ``safe_version`` is not safe enough
+    >>> parse_version(_forgiving_version('0.23ubuntu1'))
+    <Version('0.23.dev0+sanitized.ubuntu1')>
+    >>> parse_version(_forgiving_version('0.23-'))
+    <Version('0.23.dev0+sanitized')>
+    >>> parse_version(_forgiving_version('0.-_'))
+    <Version('0.dev0+sanitized')>
+    >>> parse_version(_forgiving_version('42.+?1'))
+    <Version('42.dev0+sanitized.1')>
+    >>> parse_version(_forgiving_version('hello world'))
+    <Version('0.dev0+sanitized.hello.world')>
+    """
+    version = version.replace(' ', '.')
+    match = _PEP440_FALLBACK.search(version)
+    if match:
+        safe = match["safe"]
+        rest = version[len(safe) :]
+    else:
+        safe = "0"
+        rest = version
+    local = f"sanitized.{_safe_segment(rest)}".strip(".")
+    return f"{safe}.dev0+{local}"
+
+
+def _safe_segment(segment):
+    """Convert an arbitrary string into a safe segment"""
+    segment = re.sub('[^A-Za-z0-9.]+', '-', segment)
+    segment = re.sub('-[^A-Za-z0-9]+', '-', segment)
+    return re.sub(r'\.[^A-Za-z0-9]+', '.', segment).strip(".-")
+
+
+def safe_extra(extra: str) -> str:
+    """Convert an arbitrary string to a standard 'extra' name
+
+    Any runs of non-alphanumeric characters are replaced with a single '_',
+    and the result is always lowercased.
+    """
+    return re.sub('[^A-Za-z0-9.-]+', '_', extra).lower()
+
+
+def to_filename(name: str) -> str:
+    """Convert a project or version name to its filename-escaped form
+
+    Any '-' characters are currently replaced with '_'.
+    """
+    return name.replace('-', '_')
+
+
+def invalid_marker(text: str) -> SyntaxError | Literal[False]:
+    """
+    Validate text as a PEP 508 environment marker; return an exception
+    if invalid or False otherwise.
+    """
+    try:
+        evaluate_marker(text)
+    except SyntaxError as e:
+        e.filename = None
+        e.lineno = None
+        return e
+    return False
+
+
+def evaluate_marker(text: str, extra: str | None = None) -> bool:
+    """
+    Evaluate a PEP 508 environment marker.
+    Return a boolean indicating the marker result in this environment.
+    Raise SyntaxError if marker is invalid.
+
+    This implementation uses the 'pyparsing' module.
+    """
+    try:
+        marker = packaging.markers.Marker(text)
+        return marker.evaluate()
+    except packaging.markers.InvalidMarker as e:
+        raise SyntaxError(e) from e
+
+
+class NullProvider:
+    """Try to implement resources and metadata for arbitrary PEP 302 loaders"""
+
+    egg_name: str | None = None
+    egg_info: str | None = None
+    loader: LoaderProtocol | None = None
+
+    def __init__(self, module: _ModuleLike) -> None:
+        self.loader = getattr(module, '__loader__', None)
+        self.module_path = os.path.dirname(getattr(module, '__file__', ''))
+
+    def get_resource_filename(
+        self, manager: ResourceManager, resource_name: str
+    ) -> str:
+        return self._fn(self.module_path, resource_name)
+
+    def get_resource_stream(
+        self, manager: ResourceManager, resource_name: str
+    ) -> BinaryIO:
+        return io.BytesIO(self.get_resource_string(manager, resource_name))
+
+    def get_resource_string(
+        self, manager: ResourceManager, resource_name: str
+    ) -> bytes:
+        return self._get(self._fn(self.module_path, resource_name))
+
+    def has_resource(self, resource_name: str) -> bool:
+        return self._has(self._fn(self.module_path, resource_name))
+
+    def _get_metadata_path(self, name):
+        return self._fn(self.egg_info, name)
+
+    def has_metadata(self, name: str) -> bool:
+        if not self.egg_info:
+            return False
+
+        path = self._get_metadata_path(name)
+        return self._has(path)
+
+    def get_metadata(self, name: str) -> str:
+        if not self.egg_info:
+            return ""
+        path = self._get_metadata_path(name)
+        value = self._get(path)
+        try:
+            return value.decode('utf-8')
+        except UnicodeDecodeError as exc:
+            # Include the path in the error message to simplify
+            # troubleshooting, and without changing the exception type.
+            exc.reason += f' in {name} file at path: {path}'
+            raise
+
+    def get_metadata_lines(self, name: str) -> Iterator[str]:
+        return yield_lines(self.get_metadata(name))
+
+    def resource_isdir(self, resource_name: str) -> bool:
+        return self._isdir(self._fn(self.module_path, resource_name))
+
+    def metadata_isdir(self, name: str) -> bool:
+        return bool(self.egg_info and self._isdir(self._fn(self.egg_info, name)))
+
+    def resource_listdir(self, resource_name: str) -> list[str]:
+        return self._listdir(self._fn(self.module_path, resource_name))
+
+    def metadata_listdir(self, name: str) -> list[str]:
+        if self.egg_info:
+            return self._listdir(self._fn(self.egg_info, name))
+        return []
+
+    def run_script(self, script_name: str, namespace: dict[str, Any]) -> None:
+        script = 'scripts/' + script_name
+        if not self.has_metadata(script):
+            raise ResolutionError(
+                "Script {script!r} not found in metadata at {self.egg_info!r}".format(
+                    **locals()
+                ),
+            )
+
+        script_text = self.get_metadata(script).replace('\r\n', '\n')
+        script_text = script_text.replace('\r', '\n')
+        script_filename = self._fn(self.egg_info, script)
+        namespace['__file__'] = script_filename
+        if os.path.exists(script_filename):
+            source = _read_utf8_with_fallback(script_filename)
+            code = compile(source, script_filename, 'exec')
+            exec(code, namespace, namespace)
+        else:
+            from linecache import cache
+
+            cache[script_filename] = (
+                len(script_text),
+                0,
+                script_text.split('\n'),
+                script_filename,
+            )
+            script_code = compile(script_text, script_filename, 'exec')
+            exec(script_code, namespace, namespace)
+
+    def _has(self, path) -> bool:
+        raise NotImplementedError(
+            "Can't perform this operation for unregistered loader type"
+        )
+
+    def _isdir(self, path) -> bool:
+        raise NotImplementedError(
+            "Can't perform this operation for unregistered loader type"
+        )
+
+    def _listdir(self, path) -> list[str]:
+        raise NotImplementedError(
+            "Can't perform this operation for unregistered loader type"
+        )
+
+    def _fn(self, base: str | None, resource_name: str):
+        if base is None:
+            raise TypeError(
+                "`base` parameter in `_fn` is `None`. Either override this method or check the parameter first."
+            )
+        self._validate_resource_path(resource_name)
+        if resource_name:
+            return os.path.join(base, *resource_name.split('/'))
+        return base
+
+    @staticmethod
+    def _validate_resource_path(path) -> None:
+        """
+        Validate the resource paths according to the docs.
+        https://setuptools.pypa.io/en/latest/pkg_resources.html#basic-resource-access
+
+        >>> warned = getfixture('recwarn')
+        >>> warnings.simplefilter('always')
+        >>> vrp = NullProvider._validate_resource_path
+        >>> vrp('foo/bar.txt')
+        >>> bool(warned)
+        False
+        >>> vrp('../foo/bar.txt')
+        >>> bool(warned)
+        True
+        >>> warned.clear()
+        >>> vrp('/foo/bar.txt')
+        >>> bool(warned)
+        True
+        >>> vrp('foo/../../bar.txt')
+        >>> bool(warned)
+        True
+        >>> warned.clear()
+        >>> vrp('foo/f../bar.txt')
+        >>> bool(warned)
+        False
+
+        Windows path separators are straight-up disallowed.
+        >>> vrp(r'\\foo/bar.txt')
+        Traceback (most recent call last):
+        ...
+        ValueError: Use of .. or absolute path in a resource path \
+is not allowed.
+
+        >>> vrp(r'C:\\foo/bar.txt')
+        Traceback (most recent call last):
+        ...
+        ValueError: Use of .. or absolute path in a resource path \
+is not allowed.
+
+        Blank values are allowed
+
+        >>> vrp('')
+        >>> bool(warned)
+        False
+
+        Non-string values are not.
+
+        >>> vrp(None)
+        Traceback (most recent call last):
+        ...
+        AttributeError: ...
+        """
+        invalid = (
+            os.path.pardir in path.split(posixpath.sep)
+            or posixpath.isabs(path)
+            or ntpath.isabs(path)
+            or path.startswith("\\")
+        )
+        if not invalid:
+            return
+
+        msg = "Use of .. or absolute path in a resource path is not allowed."
+
+        # Aggressively disallow Windows absolute paths
+        if (path.startswith("\\") or ntpath.isabs(path)) and not posixpath.isabs(path):
+            raise ValueError(msg)
+
+        # for compatibility, warn; in future
+        # raise ValueError(msg)
+        issue_warning(
+            msg[:-1] + " and will raise exceptions in a future release.",
+            DeprecationWarning,
+        )
+
+    def _get(self, path) -> bytes:
+        if hasattr(self.loader, 'get_data') and self.loader:
+            # Already checked get_data exists
+            return self.loader.get_data(path)  # type: ignore[attr-defined]
+        raise NotImplementedError(
+            "Can't perform this operation for loaders without 'get_data()'"
+        )
+
+
+register_loader_type(object, NullProvider)
+
+
+def _parents(path):
+    """
+    yield all parents of path including path
+    """
+    last = None
+    while path != last:
+        yield path
+        last = path
+        path, _ = os.path.split(path)
+
+
+class EggProvider(NullProvider):
+    """Provider based on a virtual filesystem"""
+
+    def __init__(self, module: _ModuleLike) -> None:
+        super().__init__(module)
+        self._setup_prefix()
+
+    def _setup_prefix(self):
+        # Assume that metadata may be nested inside a "basket"
+        # of multiple eggs and use module_path instead of .archive.
+        eggs = filter(_is_egg_path, _parents(self.module_path))
+        egg = next(eggs, None)
+        egg and self._set_egg(egg)
+
+    def _set_egg(self, path: str) -> None:
+        self.egg_name = os.path.basename(path)
+        self.egg_info = os.path.join(path, 'EGG-INFO')
+        self.egg_root = path
+
+
+class DefaultProvider(EggProvider):
+    """Provides access to package resources in the filesystem"""
+
+    def _has(self, path) -> bool:
+        return os.path.exists(path)
+
+    def _isdir(self, path) -> bool:
+        return os.path.isdir(path)
+
+    def _listdir(self, path):
+        return os.listdir(path)
+
+    def get_resource_stream(
+        self, manager: object, resource_name: str
+    ) -> io.BufferedReader:
+        return open(self._fn(self.module_path, resource_name), 'rb')
+
+    def _get(self, path) -> bytes:
+        with open(path, 'rb') as stream:
+            return stream.read()
+
+    @classmethod
+    def _register(cls) -> None:
+        loader_names = (
+            'SourceFileLoader',
+            'SourcelessFileLoader',
+        )
+        for name in loader_names:
+            loader_cls = getattr(importlib.machinery, name, type(None))
+            register_loader_type(loader_cls, cls)
+
+
+DefaultProvider._register()
+
+
+class EmptyProvider(NullProvider):
+    """Provider that returns nothing for all requests"""
+
+    # A special case, we don't want all Providers inheriting from NullProvider to have a potentially None module_path
+    module_path: str | None = None  # type: ignore[assignment]
+
+    _isdir = _has = lambda self, path: False
+
+    def _get(self, path) -> bytes:
+        return b''
+
+    def _listdir(self, path):
+        return []
+
+    def __init__(self) -> None:
+        pass
+
+
+empty_provider = EmptyProvider()
+
+
+class ZipManifests(dict[str, "MemoizedZipManifests.manifest_mod"]):
+    """
+    zip manifest builder
+    """
+
+    # `path` could be `StrPath | IO[bytes]` but that violates the LSP for `MemoizedZipManifests.load`
+    @classmethod
+    def build(cls, path: str) -> dict[str, zipfile.ZipInfo]:
+        """
+        Build a dictionary similar to the zipimport directory
+        caches, except instead of tuples, store ZipInfo objects.
+
+        Use a platform-specific path separator (os.sep) for the path keys
+        for compatibility with pypy on Windows.
+        """
+        with zipfile.ZipFile(path) as zfile:
+            items = (
+                (
+                    name.replace('/', os.sep),
+                    zfile.getinfo(name),
+                )
+                for name in zfile.namelist()
+            )
+            return dict(items)
+
+    load = build
+
+
+class MemoizedZipManifests(ZipManifests):
+    """
+    Memoized zipfile manifests.
+    """
+
+    class manifest_mod(NamedTuple):
+        manifest: dict[str, zipfile.ZipInfo]
+        mtime: float
+
+    def load(self, path: str) -> dict[str, zipfile.ZipInfo]:  # type: ignore[override] # ZipManifests.load is a classmethod
+        """
+        Load a manifest at path or return a suitable manifest already loaded.
+        """
+        path = os.path.normpath(path)
+        mtime = os.stat(path).st_mtime
+
+        if path not in self or self[path].mtime != mtime:
+            manifest = self.build(path)
+            self[path] = self.manifest_mod(manifest, mtime)
+
+        return self[path].manifest
+
+
+class ZipProvider(EggProvider):
+    """Resource support for zips and eggs"""
+
+    eagers: list[str] | None = None
+    _zip_manifests = MemoizedZipManifests()
+    # ZipProvider's loader should always be a zipimporter or equivalent
+    loader: zipimport.zipimporter
+
+    def __init__(self, module: _ZipLoaderModule) -> None:
+        super().__init__(module)
+        self.zip_pre = self.loader.archive + os.sep
+
+    def _zipinfo_name(self, fspath):
+        # Convert a virtual filename (full path to file) into a zipfile subpath
+        # usable with the zipimport directory cache for our target archive
+        fspath = fspath.rstrip(os.sep)
+        if fspath == self.loader.archive:
+            return ''
+        if fspath.startswith(self.zip_pre):
+            return fspath[len(self.zip_pre) :]
+        raise AssertionError(f"{fspath} is not a subpath of {self.zip_pre}")
+
+    def _parts(self, zip_path):
+        # Convert a zipfile subpath into an egg-relative path part list.
+        # pseudo-fs path
+        fspath = self.zip_pre + zip_path
+        if fspath.startswith(self.egg_root + os.sep):
+            return fspath[len(self.egg_root) + 1 :].split(os.sep)
+        raise AssertionError(f"{fspath} is not a subpath of {self.egg_root}")
+
+    @property
+    def zipinfo(self):
+        return self._zip_manifests.load(self.loader.archive)
+
+    def get_resource_filename(
+        self, manager: ResourceManager, resource_name: str
+    ) -> str:
+        if not self.egg_name:
+            raise NotImplementedError(
+                "resource_filename() only supported for .egg, not .zip"
+            )
+        # no need to lock for extraction, since we use temp names
+        zip_path = self._resource_to_zip(resource_name)
+        eagers = self._get_eager_resources()
+        if '/'.join(self._parts(zip_path)) in eagers:
+            for name in eagers:
+                self._extract_resource(manager, self._eager_to_zip(name))
+        return self._extract_resource(manager, zip_path)
+
+    @staticmethod
+    def _get_date_and_size(zip_stat):
+        size = zip_stat.file_size
+        # ymdhms+wday, yday, dst
+        date_time = zip_stat.date_time + (0, 0, -1)
+        # 1980 offset already done
+        timestamp = time.mktime(date_time)
+        return timestamp, size
+
+    # FIXME: 'ZipProvider._extract_resource' is too complex (12)
+    def _extract_resource(self, manager: ResourceManager, zip_path) -> str:  # noqa: C901
+        if zip_path in self._index():
+            for name in self._index()[zip_path]:
+                last = self._extract_resource(manager, os.path.join(zip_path, name))
+            # return the extracted directory name
+            return os.path.dirname(last)
+
+        timestamp, _size = self._get_date_and_size(self.zipinfo[zip_path])
+
+        if not WRITE_SUPPORT:
+            raise OSError(
+                '"os.rename" and "os.unlink" are not supported on this platform'
+            )
+        try:
+            if not self.egg_name:
+                raise OSError(
+                    '"egg_name" is empty. This likely means no egg could be found from the "module_path".'
+                )
+            real_path = manager.get_cache_path(self.egg_name, self._parts(zip_path))
+
+            if self._is_current(real_path, zip_path):
+                return real_path
+
+            outf, tmpnam = _mkstemp(
+                ".$extract",
+                dir=os.path.dirname(real_path),
+            )
+            os.write(outf, self.loader.get_data(zip_path))
+            os.close(outf)
+            utime(tmpnam, (timestamp, timestamp))
+            manager.postprocess(tmpnam, real_path)
+
+            try:
+                rename(tmpnam, real_path)
+
+            except OSError:
+                if os.path.isfile(real_path):
+                    if self._is_current(real_path, zip_path):
+                        # the file became current since it was checked above,
+                        #  so proceed.
+                        return real_path
+                    # Windows, del old file and retry
+                    elif os.name == 'nt':
+                        unlink(real_path)
+                        rename(tmpnam, real_path)
+                        return real_path
+                raise
+
+        except OSError:
+            # report a user-friendly error
+            manager.extraction_error()
+
+        return real_path
+
+    def _is_current(self, file_path, zip_path):
+        """
+        Return True if the file_path is current for this zip_path
+        """
+        timestamp, size = self._get_date_and_size(self.zipinfo[zip_path])
+        if not os.path.isfile(file_path):
+            return False
+        stat = os.stat(file_path)
+        if stat.st_size != size or stat.st_mtime != timestamp:
+            return False
+        # check that the contents match
+        zip_contents = self.loader.get_data(zip_path)
+        with open(file_path, 'rb') as f:
+            file_contents = f.read()
+        return zip_contents == file_contents
+
+    def _get_eager_resources(self):
+        if self.eagers is None:
+            eagers = []
+            for name in ('native_libs.txt', 'eager_resources.txt'):
+                if self.has_metadata(name):
+                    eagers.extend(self.get_metadata_lines(name))
+            self.eagers = eagers
+        return self.eagers
+
+    def _index(self):
+        try:
+            return self._dirindex
+        except AttributeError:
+            ind = {}
+            for path in self.zipinfo:
+                parts = path.split(os.sep)
+                while parts:
+                    parent = os.sep.join(parts[:-1])
+                    if parent in ind:
+                        ind[parent].append(parts[-1])
+                        break
+                    else:
+                        ind[parent] = [parts.pop()]
+            self._dirindex = ind
+            return ind
+
+    def _has(self, fspath) -> bool:
+        zip_path = self._zipinfo_name(fspath)
+        return zip_path in self.zipinfo or zip_path in self._index()
+
+    def _isdir(self, fspath) -> bool:
+        return self._zipinfo_name(fspath) in self._index()
+
+    def _listdir(self, fspath):
+        return list(self._index().get(self._zipinfo_name(fspath), ()))
+
+    def _eager_to_zip(self, resource_name: str):
+        return self._zipinfo_name(self._fn(self.egg_root, resource_name))
+
+    def _resource_to_zip(self, resource_name: str):
+        return self._zipinfo_name(self._fn(self.module_path, resource_name))
+
+
+register_loader_type(zipimport.zipimporter, ZipProvider)
+
+
+class FileMetadata(EmptyProvider):
+    """Metadata handler for standalone PKG-INFO files
+
+    Usage::
+
+        metadata = FileMetadata("/path/to/PKG-INFO")
+
+    This provider rejects all data and metadata requests except for PKG-INFO,
+    which is treated as existing, and will be the contents of the file at
+    the provided location.
+    """
+
+    def __init__(self, path: StrPath) -> None:
+        self.path = path
+
+    def _get_metadata_path(self, name):
+        return self.path
+
+    def has_metadata(self, name: str) -> bool:
+        return name == 'PKG-INFO' and os.path.isfile(self.path)
+
+    def get_metadata(self, name: str) -> str:
+        if name != 'PKG-INFO':
+            raise KeyError("No metadata except PKG-INFO is available")
+
+        with open(self.path, encoding='utf-8', errors="replace") as f:
+            metadata = f.read()
+        self._warn_on_replacement(metadata)
+        return metadata
+
+    def _warn_on_replacement(self, metadata) -> None:
+        replacement_char = '�'
+        if replacement_char in metadata:
+            tmpl = "{self.path} could not be properly decoded in UTF-8"
+            msg = tmpl.format(**locals())
+            warnings.warn(msg)
+
+    def get_metadata_lines(self, name: str) -> Iterator[str]:
+        return yield_lines(self.get_metadata(name))
+
+
+class PathMetadata(DefaultProvider):
+    """Metadata provider for egg directories
+
+    Usage::
+
+        # Development eggs:
+
+        egg_info = "/path/to/PackageName.egg-info"
+        base_dir = os.path.dirname(egg_info)
+        metadata = PathMetadata(base_dir, egg_info)
+        dist_name = os.path.splitext(os.path.basename(egg_info))[0]
+        dist = Distribution(basedir, project_name=dist_name, metadata=metadata)
+
+        # Unpacked egg directories:
+
+        egg_path = "/path/to/PackageName-ver-pyver-etc.egg"
+        metadata = PathMetadata(egg_path, os.path.join(egg_path,'EGG-INFO'))
+        dist = Distribution.from_filename(egg_path, metadata=metadata)
+    """
+
+    def __init__(self, path: str, egg_info: str) -> None:
+        self.module_path = path
+        self.egg_info = egg_info
+
+
+class EggMetadata(ZipProvider):
+    """Metadata provider for .egg files"""
+
+    def __init__(self, importer: zipimport.zipimporter) -> None:
+        """Create a metadata provider from a zipimporter"""
+
+        self.zip_pre = importer.archive + os.sep
+        self.loader = importer
+        if importer.prefix:
+            self.module_path = os.path.join(importer.archive, importer.prefix)
+        else:
+            self.module_path = importer.archive
+        self._setup_prefix()
+
+
+_distribution_finders: dict[type, _DistFinderType[Any]] = _declare_state(
+    'dict', '_distribution_finders', {}
+)
+
+
+def register_finder(
+    importer_type: type[_T], distribution_finder: _DistFinderType[_T]
+) -> None:
+    """Register `distribution_finder` to find distributions in sys.path items
+
+    `importer_type` is the type or class of a PEP 302 "Importer" (sys.path item
+    handler), and `distribution_finder` is a callable that, passed a path
+    item and the importer instance, yields ``Distribution`` instances found on
+    that path item.  See ``pkg_resources.find_on_path`` for an example."""
+    _distribution_finders[importer_type] = distribution_finder
+
+
+def find_distributions(path_item: str, only: bool = False) -> Iterable[Distribution]:
+    """Yield distributions accessible via `path_item`"""
+    importer = get_importer(path_item)
+    finder = _find_adapter(_distribution_finders, importer)
+    return finder(importer, path_item, only)
+
+
+def find_eggs_in_zip(
+    importer: zipimport.zipimporter, path_item: str, only: bool = False
+) -> Iterator[Distribution]:
+    """
+    Find eggs in zip files; possibly multiple nested eggs.
+    """
+    if importer.archive.endswith('.whl'):
+        # wheels are not supported with this finder
+        # they don't have PKG-INFO metadata, and won't ever contain eggs
+        return
+    metadata = EggMetadata(importer)
+    if metadata.has_metadata('PKG-INFO'):
+        yield Distribution.from_filename(path_item, metadata=metadata)
+    if only:
+        # don't yield nested distros
+        return
+    for subitem in metadata.resource_listdir(''):
+        if _is_egg_path(subitem):
+            subpath = os.path.join(path_item, subitem)
+            dists = find_eggs_in_zip(zipimport.zipimporter(subpath), subpath)
+            yield from dists
+        elif subitem.lower().endswith(('.dist-info', '.egg-info')):
+            subpath = os.path.join(path_item, subitem)
+            submeta = EggMetadata(zipimport.zipimporter(subpath))
+            submeta.egg_info = subpath
+            yield Distribution.from_location(path_item, subitem, submeta)
+
+
+register_finder(zipimport.zipimporter, find_eggs_in_zip)
+
+
+def find_nothing(
+    importer: object | None, path_item: str | None, only: bool | None = False
+):
+    return ()
+
+
+register_finder(object, find_nothing)
+
+
+def find_on_path(importer: object | None, path_item, only=False):
+    """Yield distributions accessible on a sys.path directory"""
+    path_item = _normalize_cached(path_item)
+
+    if _is_unpacked_egg(path_item):
+        yield Distribution.from_filename(
+            path_item,
+            metadata=PathMetadata(path_item, os.path.join(path_item, 'EGG-INFO')),
+        )
+        return
+
+    entries = (os.path.join(path_item, child) for child in safe_listdir(path_item))
+
+    # scan for .egg and .egg-info in directory
+    for entry in sorted(entries):
+        fullpath = os.path.join(path_item, entry)
+        factory = dist_factory(path_item, entry, only)
+        yield from factory(fullpath)
+
+
+def dist_factory(path_item, entry, only):
+    """Return a dist_factory for the given entry."""
+    lower = entry.lower()
+    is_egg_info = lower.endswith('.egg-info')
+    is_dist_info = lower.endswith('.dist-info') and os.path.isdir(
+        os.path.join(path_item, entry)
+    )
+    is_meta = is_egg_info or is_dist_info
+    return (
+        distributions_from_metadata
+        if is_meta
+        else find_distributions
+        if not only and _is_egg_path(entry)
+        else resolve_egg_link
+        if not only and lower.endswith('.egg-link')
+        else NoDists()
+    )
+
+
+class NoDists:
+    """
+    >>> bool(NoDists())
+    False
+
+    >>> list(NoDists()('anything'))
+    []
+    """
+
+    def __bool__(self) -> Literal[False]:
+        return False
+
+    def __call__(self, fullpath: object):
+        return iter(())
+
+
+def safe_listdir(path: StrOrBytesPath):
+    """
+    Attempt to list contents of path, but suppress some exceptions.
+    """
+    try:
+        return os.listdir(path)
+    except (PermissionError, NotADirectoryError):
+        pass
+    except OSError as e:
+        # Ignore the directory if does not exist, not a directory or
+        # permission denied
+        if e.errno not in (errno.ENOTDIR, errno.EACCES, errno.ENOENT):
+            raise
+    return ()
+
+
+def distributions_from_metadata(path: str):
+    root = os.path.dirname(path)
+    if os.path.isdir(path):
+        if len(os.listdir(path)) == 0:
+            # empty metadata dir; skip
+            return
+        metadata: _MetadataType = PathMetadata(root, path)
+    else:
+        metadata = FileMetadata(path)
+    entry = os.path.basename(path)
+    yield Distribution.from_location(
+        root,
+        entry,
+        metadata,
+        precedence=DEVELOP_DIST,
+    )
+
+
+def non_empty_lines(path):
+    """
+    Yield non-empty lines from file at path
+    """
+    for line in _read_utf8_with_fallback(path).splitlines():
+        line = line.strip()
+        if line:
+            yield line
+
+
+def resolve_egg_link(path):
+    """
+    Given a path to an .egg-link, resolve distributions
+    present in the referenced path.
+    """
+    referenced_paths = non_empty_lines(path)
+    resolved_paths = (
+        os.path.join(os.path.dirname(path), ref) for ref in referenced_paths
+    )
+    dist_groups = map(find_distributions, resolved_paths)
+    return next(dist_groups, ())
+
+
+if hasattr(pkgutil, 'ImpImporter'):
+    register_finder(pkgutil.ImpImporter, find_on_path)
+
+register_finder(importlib.machinery.FileFinder, find_on_path)
+
+_namespace_handlers: dict[type, _NSHandlerType[Any]] = _declare_state(
+    'dict', '_namespace_handlers', {}
+)
+_namespace_packages: dict[str | None, list[str]] = _declare_state(
+    'dict', '_namespace_packages', {}
+)
+
+
+def register_namespace_handler(
+    importer_type: type[_T], namespace_handler: _NSHandlerType[_T]
+) -> None:
+    """Register `namespace_handler` to declare namespace packages
+
+    `importer_type` is the type or class of a PEP 302 "Importer" (sys.path item
+    handler), and `namespace_handler` is a callable like this::
+
+        def namespace_handler(importer, path_entry, moduleName, module):
+            # return a path_entry to use for child packages
+
+    Namespace handlers are only called if the importer object has already
+    agreed that it can handle the relevant path item, and they should only
+    return a subpath if the module __path__ does not already contain an
+    equivalent subpath.  For an example namespace handler, see
+    ``pkg_resources.file_ns_handler``.
+    """
+    _namespace_handlers[importer_type] = namespace_handler
+
+
+def _handle_ns(packageName, path_item):
+    """Ensure that named package includes a subpath of path_item (if needed)"""
+
+    importer = get_importer(path_item)
+    if importer is None:
+        return None
+
+    # use find_spec (PEP 451) and fall-back to find_module (PEP 302)
+    try:
+        spec = importer.find_spec(packageName)
+    except AttributeError:
+        # capture warnings due to #1111
+        with warnings.catch_warnings():
+            warnings.simplefilter("ignore")
+            loader = importer.find_module(packageName)
+    else:
+        loader = spec.loader if spec else None
+
+    if loader is None:
+        return None
+    module = sys.modules.get(packageName)
+    if module is None:
+        module = sys.modules[packageName] = types.ModuleType(packageName)
+        module.__path__ = []
+        _set_parent_ns(packageName)
+    elif not hasattr(module, '__path__'):
+        raise TypeError("Not a package:", packageName)
+    handler = _find_adapter(_namespace_handlers, importer)
+    subpath = handler(importer, path_item, packageName, module)
+    if subpath is not None:
+        path = module.__path__
+        path.append(subpath)
+        importlib.import_module(packageName)
+        _rebuild_mod_path(path, packageName, module)
+    return subpath
+
+
+def _rebuild_mod_path(orig_path, package_name, module: types.ModuleType) -> None:
+    """
+    Rebuild module.__path__ ensuring that all entries are ordered
+    corresponding to their sys.path order
+    """
+    sys_path = [_normalize_cached(p) for p in sys.path]
+
+    def safe_sys_path_index(entry):
+        """
+        Workaround for #520 and #513.
+        """
+        try:
+            return sys_path.index(entry)
+        except ValueError:
+            return float('inf')
+
+    def position_in_sys_path(path):
+        """
+        Return the ordinal of the path based on its position in sys.path
+        """
+        path_parts = path.split(os.sep)
+        module_parts = package_name.count('.') + 1
+        parts = path_parts[:-module_parts]
+        return safe_sys_path_index(_normalize_cached(os.sep.join(parts)))
+
+    new_path = sorted(orig_path, key=position_in_sys_path)
+    new_path = [_normalize_cached(p) for p in new_path]
+
+    if isinstance(module.__path__, list):
+        module.__path__[:] = new_path
+    else:
+        module.__path__ = new_path
+
+
+def declare_namespace(packageName: str) -> None:
+    """Declare that package 'packageName' is a namespace package"""
+
+    msg = (
+        f"Deprecated call to `pkg_resources.declare_namespace({packageName!r})`.\n"
+        "Implementing implicit namespace packages (as specified in PEP 420) "
+        "is preferred to `pkg_resources.declare_namespace`. "
+        "See https://setuptools.pypa.io/en/latest/references/"
+        "keywords.html#keyword-namespace-packages"
+    )
+    warnings.warn(msg, DeprecationWarning, stacklevel=2)
+
+    _imp.acquire_lock()
+    try:
+        if packageName in _namespace_packages:
+            return
+
+        path: MutableSequence[str] = sys.path
+        parent, _, _ = packageName.rpartition('.')
+
+        if parent:
+            declare_namespace(parent)
+            if parent not in _namespace_packages:
+                __import__(parent)
+            try:
+                path = sys.modules[parent].__path__
+            except AttributeError as e:
+                raise TypeError("Not a package:", parent) from e
+
+        # Track what packages are namespaces, so when new path items are added,
+        # they can be updated
+        _namespace_packages.setdefault(parent or None, []).append(packageName)
+        _namespace_packages.setdefault(packageName, [])
+
+        for path_item in path:
+            # Ensure all the parent's path items are reflected in the child,
+            # if they apply
+            _handle_ns(packageName, path_item)
+
+    finally:
+        _imp.release_lock()
+
+
+def fixup_namespace_packages(path_item: str, parent: str | None = None) -> None:
+    """Ensure that previously-declared namespace packages include path_item"""
+    _imp.acquire_lock()
+    try:
+        for package in _namespace_packages.get(parent, ()):
+            subpath = _handle_ns(package, path_item)
+            if subpath:
+                fixup_namespace_packages(subpath, package)
+    finally:
+        _imp.release_lock()
+
+
+def file_ns_handler(
+    importer: object,
+    path_item: StrPath,
+    packageName: str,
+    module: types.ModuleType,
+):
+    """Compute an ns-package subpath for a filesystem or zipfile importer"""
+
+    subpath = os.path.join(path_item, packageName.split('.')[-1])
+    normalized = _normalize_cached(subpath)
+    for item in module.__path__:
+        if _normalize_cached(item) == normalized:
+            break
+    else:
+        # Only return the path if it's not already there
+        return subpath
+
+
+if hasattr(pkgutil, 'ImpImporter'):
+    register_namespace_handler(pkgutil.ImpImporter, file_ns_handler)
+
+register_namespace_handler(zipimport.zipimporter, file_ns_handler)
+register_namespace_handler(importlib.machinery.FileFinder, file_ns_handler)
+
+
+def null_ns_handler(
+    importer: object,
+    path_item: str | None,
+    packageName: str | None,
+    module: _ModuleLike | None,
+) -> None:
+    return None
+
+
+register_namespace_handler(object, null_ns_handler)
+
+
+@overload
+def normalize_path(filename: StrPath) -> str: ...
+@overload
+def normalize_path(filename: BytesPath) -> bytes: ...
+def normalize_path(filename: StrOrBytesPath) -> str | bytes:
+    """Normalize a file/dir name for comparison purposes"""
+    return os.path.normcase(os.path.realpath(os.path.normpath(_cygwin_patch(filename))))
+
+
+def _cygwin_patch(filename: StrOrBytesPath):  # pragma: nocover
+    """
+    Contrary to POSIX 2008, on Cygwin, getcwd (3) contains
+    symlink components. Using
+    os.path.abspath() works around this limitation. A fix in os.getcwd()
+    would probably better, in Cygwin even more so, except
+    that this seems to be by design...
+    """
+    return os.path.abspath(filename) if sys.platform == 'cygwin' else filename
+
+
+if TYPE_CHECKING:
+    # https://github.com/python/mypy/issues/16261
+    # https://github.com/python/typeshed/issues/6347
+    @overload
+    def _normalize_cached(filename: StrPath) -> str: ...
+    @overload
+    def _normalize_cached(filename: BytesPath) -> bytes: ...
+    def _normalize_cached(filename: StrOrBytesPath) -> str | bytes: ...
+
+else:
+
+    @functools.cache
+    def _normalize_cached(filename):
+        return normalize_path(filename)
+
+
+def _is_egg_path(path):
+    """
+    Determine if given path appears to be an egg.
+    """
+    return _is_zip_egg(path) or _is_unpacked_egg(path)
+
+
+def _is_zip_egg(path):
+    return (
+        path.lower().endswith('.egg')
+        and os.path.isfile(path)
+        and zipfile.is_zipfile(path)
+    )
+
+
+def _is_unpacked_egg(path):
+    """
+    Determine if given path appears to be an unpacked egg.
+    """
+    return path.lower().endswith('.egg') and os.path.isfile(
+        os.path.join(path, 'EGG-INFO', 'PKG-INFO')
+    )
+
+
+def _set_parent_ns(packageName) -> None:
+    parts = packageName.split('.')
+    name = parts.pop()
+    if parts:
+        parent = '.'.join(parts)
+        setattr(sys.modules[parent], name, sys.modules[packageName])
+
+
+MODULE = re.compile(r"\w+(\.\w+)*$").match
+EGG_NAME = re.compile(
+    r"""
+    (?P<name>[^-]+) (
+        -(?P<ver>[^-]+) (
+            -py(?P<pyver>[^-]+) (
+                -(?P<plat>.+)
+            )?
+        )?
+    )?
+    """,
+    re.VERBOSE | re.IGNORECASE,
+).match
+
+
+class EntryPoint:
+    """Object representing an advertised importable object"""
+
+    def __init__(
+        self,
+        name: str,
+        module_name: str,
+        attrs: Iterable[str] = (),
+        extras: Iterable[str] = (),
+        dist: Distribution | None = None,
+    ) -> None:
+        if not MODULE(module_name):
+            raise ValueError("Invalid module name", module_name)
+        self.name = name
+        self.module_name = module_name
+        self.attrs = tuple(attrs)
+        self.extras = tuple(extras)
+        self.dist = dist
+
+    def __str__(self) -> str:
+        s = f"{self.name} = {self.module_name}"
+        if self.attrs:
+            s += ':' + '.'.join(self.attrs)
+        if self.extras:
+            extras = ','.join(self.extras)
+            s += f' [{extras}]'
+        return s
+
+    def __repr__(self) -> str:
+        return f"EntryPoint.parse({str(self)!r})"
+
+    @overload
+    def load(
+        self,
+        require: Literal[True] = True,
+        env: Environment | None = None,
+        installer: _InstallerType | None = None,
+    ) -> _ResolvedEntryPoint: ...
+    @overload
+    def load(
+        self,
+        require: Literal[False],
+        *args: Any,
+        **kwargs: Any,
+    ) -> _ResolvedEntryPoint: ...
+    def load(
+        self,
+        require: bool = True,
+        *args: Environment | _InstallerType | None,
+        **kwargs: Environment | _InstallerType | None,
+    ) -> _ResolvedEntryPoint:
+        """
+        Require packages for this EntryPoint, then resolve it.
+        """
+        if not require or args or kwargs:
+            warnings.warn(
+                "Parameters to load are deprecated.  Call .resolve and "
+                ".require separately.",
+                PkgResourcesDeprecationWarning,
+                stacklevel=2,
+            )
+        if require:
+            # We could pass `env` and `installer` directly,
+            # but keeping `*args` and `**kwargs` for backwards compatibility
+            self.require(*args, **kwargs)  # type: ignore[arg-type]
+        return self.resolve()
+
+    def resolve(self) -> _ResolvedEntryPoint:
+        """
+        Resolve the entry point from its module and attrs.
+        """
+        module = __import__(self.module_name, fromlist=['__name__'], level=0)
+        try:
+            return functools.reduce(getattr, self.attrs, module)
+        except AttributeError as exc:
+            raise ImportError(str(exc)) from exc
+
+    def require(
+        self,
+        env: Environment | None = None,
+        installer: _InstallerType | None = None,
+    ) -> None:
+        if not self.dist:
+            error_cls = UnknownExtra if self.extras else AttributeError
+            raise error_cls("Can't require() without a distribution", self)
+
+        # Get the requirements for this entry point with all its extras and
+        # then resolve them. We have to pass `extras` along when resolving so
+        # that the working set knows what extras we want. Otherwise, for
+        # dist-info distributions, the working set will assume that the
+        # requirements for that extra are purely optional and skip over them.
+        reqs = self.dist.requires(self.extras)
+        items = working_set.resolve(reqs, env, installer, extras=self.extras)
+        list(map(working_set.add, items))
+
+    pattern = re.compile(
+        r'\s*'
+        r'(?P<name>.+?)\s*'
+        r'=\s*'
+        r'(?P<module>[\w.]+)\s*'
+        r'(:\s*(?P<attr>[\w.]+))?\s*'
+        r'(?P<extras>\[.*\])?\s*$'
+    )
+
+    @classmethod
+    def parse(cls, src: str, dist: Distribution | None = None) -> Self:
+        """Parse a single entry point from string `src`
+
+        Entry point syntax follows the form::
+
+            name = some.module:some.attr [extra1, extra2]
+
+        The entry name and module name are required, but the ``:attrs`` and
+        ``[extras]`` parts are optional
+        """
+        m = cls.pattern.match(src)
+        if not m:
+            msg = "EntryPoint must be in 'name=module:attrs [extras]' format"
+            raise ValueError(msg, src)
+        res = m.groupdict()
+        extras = cls._parse_extras(res['extras'])
+        attrs = res['attr'].split('.') if res['attr'] else ()
+        return cls(res['name'], res['module'], attrs, extras, dist)
+
+    @classmethod
+    def _parse_extras(cls, extras_spec):
+        if not extras_spec:
+            return ()
+        req = Requirement.parse('x' + extras_spec)
+        if req.specs:
+            raise ValueError
+        return req.extras
+
+    @classmethod
+    def parse_group(
+        cls,
+        group: str,
+        lines: _NestedStr,
+        dist: Distribution | None = None,
+    ) -> dict[str, Self]:
+        """Parse an entry point group"""
+        if not MODULE(group):
+            raise ValueError("Invalid group name", group)
+        this: dict[str, Self] = {}
+        for line in yield_lines(lines):
+            ep = cls.parse(line, dist)
+            if ep.name in this:
+                raise ValueError("Duplicate entry point", group, ep.name)
+            this[ep.name] = ep
+        return this
+
+    @classmethod
+    def parse_map(
+        cls,
+        data: str | Iterable[str] | dict[str, str | Iterable[str]],
+        dist: Distribution | None = None,
+    ) -> dict[str, dict[str, Self]]:
+        """Parse a map of entry point groups"""
+        _data: Iterable[tuple[str | None, str | Iterable[str]]]
+        if isinstance(data, dict):
+            _data = data.items()
+        else:
+            _data = split_sections(data)
+        maps: dict[str, dict[str, Self]] = {}
+        for group, lines in _data:
+            if group is None:
+                if not lines:
+                    continue
+                raise ValueError("Entry points must be listed in groups")
+            group = group.strip()
+            if group in maps:
+                raise ValueError("Duplicate group name", group)
+            maps[group] = cls.parse_group(group, lines, dist)
+        return maps
+
+
+def _version_from_file(lines):
+    """
+    Given an iterable of lines from a Metadata file, return
+    the value of the Version field, if present, or None otherwise.
+    """
+
+    def is_version_line(line):
+        return line.lower().startswith('version:')
+
+    version_lines = filter(is_version_line, lines)
+    line = next(iter(version_lines), '')
+    _, _, value = line.partition(':')
+    return safe_version(value.strip()) or None
+
+
+class Distribution:
+    """Wrap an actual or potential sys.path entry w/metadata"""
+
+    PKG_INFO = 'PKG-INFO'
+
+    def __init__(
+        self,
+        location: str | None = None,
+        metadata: _MetadataType = None,
+        project_name: str | None = None,
+        version: str | None = None,
+        py_version: str | None = PY_MAJOR,
+        platform: str | None = None,
+        precedence: int = EGG_DIST,
+    ) -> None:
+        self.project_name = safe_name(project_name or 'Unknown')
+        if version is not None:
+            self._version = safe_version(version)
+        self.py_version = py_version
+        self.platform = platform
+        self.location = location
+        self.precedence = precedence
+        self._provider = metadata or empty_provider
+
+    @classmethod
+    def from_location(
+        cls,
+        location: str,
+        basename: StrPath,
+        metadata: _MetadataType = None,
+        **kw: int,  # We could set `precedence` explicitly, but keeping this as `**kw` for full backwards and subclassing compatibility
+    ) -> Distribution:
+        project_name, version, py_version, platform = [None] * 4
+        basename, ext = os.path.splitext(basename)
+        if ext.lower() in _distributionImpl:
+            cls = _distributionImpl[ext.lower()]
+
+            match = EGG_NAME(basename)
+            if match:
+                project_name, version, py_version, platform = match.group(
+                    'name', 'ver', 'pyver', 'plat'
+                )
+        return cls(
+            location,
+            metadata,
+            project_name=project_name,
+            version=version,
+            py_version=py_version,
+            platform=platform,
+            **kw,
+        )._reload_version()
+
+    def _reload_version(self):
+        return self
+
+    @property
+    def hashcmp(self):
+        return (
+            self._forgiving_parsed_version,
+            self.precedence,
+            self.key,
+            self.location,
+            self.py_version or '',
+            self.platform or '',
+        )
+
+    def __hash__(self) -> int:
+        return hash(self.hashcmp)
+
+    def __lt__(self, other: Distribution) -> bool:
+        return self.hashcmp < other.hashcmp
+
+    def __le__(self, other: Distribution) -> bool:
+        return self.hashcmp <= other.hashcmp
+
+    def __gt__(self, other: Distribution) -> bool:
+        return self.hashcmp > other.hashcmp
+
+    def __ge__(self, other: Distribution) -> bool:
+        return self.hashcmp >= other.hashcmp
+
+    def __eq__(self, other: object) -> bool:
+        if not isinstance(other, self.__class__):
+            # It's not a Distribution, so they are not equal
+            return False
+        return self.hashcmp == other.hashcmp
+
+    def __ne__(self, other: object) -> bool:
+        return not self == other
+
+    # These properties have to be lazy so that we don't have to load any
+    # metadata until/unless it's actually needed.  (i.e., some distributions
+    # may not know their name or version without loading PKG-INFO)
+
+    @property
+    def key(self):
+        try:
+            return self._key
+        except AttributeError:
+            self._key = key = self.project_name.lower()
+            return key
+
+    @property
+    def parsed_version(self):
+        if not hasattr(self, "_parsed_version"):
+            try:
+                self._parsed_version = parse_version(self.version)
+            except packaging.version.InvalidVersion as ex:
+                info = f"(package: {self.project_name})"
+                if hasattr(ex, "add_note"):
+                    ex.add_note(info)  # PEP 678
+                    raise
+                raise packaging.version.InvalidVersion(f"{str(ex)} {info}") from None
+
+        return self._parsed_version
+
+    @property
+    def _forgiving_parsed_version(self):
+        try:
+            return self.parsed_version
+        except packaging.version.InvalidVersion as ex:
+            self._parsed_version = parse_version(_forgiving_version(self.version))
+
+            notes = "\n".join(getattr(ex, "__notes__", []))  # PEP 678
+            msg = f"""!!\n\n
+            *************************************************************************
+            {str(ex)}\n{notes}
+
+            This is a long overdue deprecation.
+            For the time being, `pkg_resources` will use `{self._parsed_version}`
+            as a replacement to avoid breaking existing environments,
+            but no future compatibility is guaranteed.
+
+            If you maintain package {self.project_name} you should implement
+            the relevant changes to adequate the project to PEP 440 immediately.
+            *************************************************************************
+            \n\n!!
+            """
+            warnings.warn(msg, DeprecationWarning)
+
+            return self._parsed_version
+
+    @property
+    def version(self):
+        try:
+            return self._version
+        except AttributeError as e:
+            version = self._get_version()
+            if version is None:
+                path = self._get_metadata_path_for_display(self.PKG_INFO)
+                msg = f"Missing 'Version:' header and/or {self.PKG_INFO} file at path: {path}"
+                raise ValueError(msg, self) from e
+
+            return version
+
+    @property
+    def _dep_map(self):
+        """
+        A map of extra to its list of (direct) requirements
+        for this distribution, including the null extra.
+        """
+        try:
+            return self.__dep_map
+        except AttributeError:
+            self.__dep_map = self._filter_extras(self._build_dep_map())
+        return self.__dep_map
+
+    @staticmethod
+    def _filter_extras(
+        dm: dict[str | None, list[Requirement]],
+    ) -> dict[str | None, list[Requirement]]:
+        """
+        Given a mapping of extras to dependencies, strip off
+        environment markers and filter out any dependencies
+        not matching the markers.
+        """
+        for extra in list(filter(None, dm)):
+            new_extra: str | None = extra
+            reqs = dm.pop(extra)
+            new_extra, _, marker = extra.partition(':')
+            fails_marker = marker and (
+                invalid_marker(marker) or not evaluate_marker(marker)
+            )
+            if fails_marker:
+                reqs = []
+            new_extra = safe_extra(new_extra) or None
+
+            dm.setdefault(new_extra, []).extend(reqs)
+        return dm
+
+    def _build_dep_map(self):
+        dm = {}
+        for name in 'requires.txt', 'depends.txt':
+            for extra, reqs in split_sections(self._get_metadata(name)):
+                dm.setdefault(extra, []).extend(parse_requirements(reqs))
+        return dm
+
+    def requires(self, extras: Iterable[str] = ()) -> list[Requirement]:
+        """List of Requirements needed for this distro if `extras` are used"""
+        dm = self._dep_map
+        deps: list[Requirement] = []
+        deps.extend(dm.get(None, ()))
+        for ext in extras:
+            try:
+                deps.extend(dm[safe_extra(ext)])
+            except KeyError as e:
+                raise UnknownExtra(f"{self} has no such extra feature {ext!r}") from e
+        return deps
+
+    def _get_metadata_path_for_display(self, name):
+        """
+        Return the path to the given metadata file, if available.
+        """
+        try:
+            # We need to access _get_metadata_path() on the provider object
+            # directly rather than through this class's __getattr__()
+            # since _get_metadata_path() is marked private.
+            path = self._provider._get_metadata_path(name)
+
+        # Handle exceptions e.g. in case the distribution's metadata
+        # provider doesn't support _get_metadata_path().
+        except Exception:
+            return '[could not detect]'
+
+        return path
+
+    def _get_metadata(self, name):
+        if self.has_metadata(name):
+            yield from self.get_metadata_lines(name)
+
+    def _get_version(self):
+        lines = self._get_metadata(self.PKG_INFO)
+        return _version_from_file(lines)
+
+    def activate(self, path: list[str] | None = None, replace: bool = False) -> None:
+        """Ensure distribution is importable on `path` (default=sys.path)"""
+        if path is None:
+            path = sys.path
+        self.insert_on(path, replace=replace)
+        if path is sys.path and self.location is not None:
+            fixup_namespace_packages(self.location)
+            for pkg in self._get_metadata('namespace_packages.txt'):
+                if pkg in sys.modules:
+                    declare_namespace(pkg)
+
+    def egg_name(self):
+        """Return what this distribution's standard .egg filename should be"""
+        filename = f"{to_filename(self.project_name)}-{to_filename(self.version)}-py{self.py_version or PY_MAJOR}"
+
+        if self.platform:
+            filename += '-' + self.platform
+        return filename
+
+    def __repr__(self) -> str:
+        if self.location:
+            return f"{self} ({self.location})"
+        else:
+            return str(self)
+
+    def __str__(self) -> str:
+        try:
+            version = getattr(self, 'version', None)
+        except ValueError:
+            version = None
+        version = version or "[unknown version]"
+        return f"{self.project_name} {version}"
+
+    def __getattr__(self, attr: str):
+        """Delegate all unrecognized public attributes to .metadata provider"""
+        if attr.startswith('_'):
+            raise AttributeError(attr)
+        return getattr(self._provider, attr)
+
+    def __dir__(self):
+        return list(
+            set(super().__dir__())
+            | set(attr for attr in self._provider.__dir__() if not attr.startswith('_'))
+        )
+
+    @classmethod
+    def from_filename(
+        cls,
+        filename: StrPath,
+        metadata: _MetadataType = None,
+        **kw: int,  # We could set `precedence` explicitly, but keeping this as `**kw` for full backwards and subclassing compatibility
+    ) -> Distribution:
+        return cls.from_location(
+            _normalize_cached(filename), os.path.basename(filename), metadata, **kw
+        )
+
+    def as_requirement(self):
+        """Return a ``Requirement`` that matches this distribution exactly"""
+        if isinstance(self.parsed_version, packaging.version.Version):
+            spec = f"{self.project_name}=={self.parsed_version}"
+        else:
+            spec = f"{self.project_name}==={self.parsed_version}"
+
+        return Requirement.parse(spec)
+
+    def load_entry_point(self, group: str, name: str) -> _ResolvedEntryPoint:
+        """Return the `name` entry point of `group` or raise ImportError"""
+        ep = self.get_entry_info(group, name)
+        if ep is None:
+            raise ImportError(f"Entry point {(group, name)!r} not found")
+        return ep.load()
+
+    @overload
+    def get_entry_map(self, group: None = None) -> dict[str, dict[str, EntryPoint]]: ...
+    @overload
+    def get_entry_map(self, group: str) -> dict[str, EntryPoint]: ...
+    def get_entry_map(self, group: str | None = None):
+        """Return the entry point map for `group`, or the full entry map"""
+        if not hasattr(self, "_ep_map"):
+            self._ep_map = EntryPoint.parse_map(
+                self._get_metadata('entry_points.txt'), self
+            )
+        if group is not None:
+            return self._ep_map.get(group, {})
+        return self._ep_map
+
+    def get_entry_info(self, group: str, name: str) -> EntryPoint | None:
+        """Return the EntryPoint object for `group`+`name`, or ``None``"""
+        return self.get_entry_map(group).get(name)
+
+    # FIXME: 'Distribution.insert_on' is too complex (13)
+    def insert_on(  # noqa: C901
+        self,
+        path: list[str],
+        loc=None,
+        replace: bool = False,
+    ) -> None:
+        """Ensure self.location is on path
+
+        If replace=False (default):
+            - If location is already in path anywhere, do nothing.
+            - Else:
+              - If it's an egg and its parent directory is on path,
+                insert just ahead of the parent.
+              - Else: add to the end of path.
+        If replace=True:
+            - If location is already on path anywhere (not eggs)
+              or higher priority than its parent (eggs)
+              do nothing.
+            - Else:
+              - If it's an egg and its parent directory is on path,
+                insert just ahead of the parent,
+                removing any lower-priority entries.
+              - Else: add it to the front of path.
+        """
+
+        loc = loc or self.location
+        if not loc:
+            return
+
+        nloc = _normalize_cached(loc)
+        bdir = os.path.dirname(nloc)
+        npath = [(p and _normalize_cached(p) or p) for p in path]
+
+        for p, item in enumerate(npath):
+            if item == nloc:
+                if replace:
+                    break
+                else:
+                    # don't modify path (even removing duplicates) if
+                    # found and not replace
+                    return
+            elif item == bdir and self.precedence == EGG_DIST:
+                # if it's an .egg, give it precedence over its directory
+                # UNLESS it's already been added to sys.path and replace=False
+                if (not replace) and nloc in npath[p:]:
+                    return
+                if path is sys.path:
+                    self.check_version_conflict()
+                path.insert(p, loc)
+                npath.insert(p, nloc)
+                break
+        else:
+            if path is sys.path:
+                self.check_version_conflict()
+            if replace:
+                path.insert(0, loc)
+            else:
+                path.append(loc)
+            return
+
+        # p is the spot where we found or inserted loc; now remove duplicates
+        while True:
+            try:
+                np = npath.index(nloc, p + 1)
+            except ValueError:
+                break
+            else:
+                del npath[np], path[np]
+                # ha!
+                p = np
+
+        return
+
+    def check_version_conflict(self):
+        if self.key == 'setuptools':
+            # ignore the inevitable setuptools self-conflicts  :(
+            return
+
+        nsp = dict.fromkeys(self._get_metadata('namespace_packages.txt'))
+        loc = normalize_path(self.location)
+        for modname in self._get_metadata('top_level.txt'):
+            if (
+                modname not in sys.modules
+                or modname in nsp
+                or modname in _namespace_packages
+            ):
+                continue
+            if modname in ('pkg_resources', 'setuptools', 'site'):
+                continue
+            fn = getattr(sys.modules[modname], '__file__', None)
+            if fn and (
+                normalize_path(fn).startswith(loc) or fn.startswith(self.location)
+            ):
+                continue
+            issue_warning(
+                f"Module {modname} was already imported from {fn}, "
+                f"but {self.location} is being added to sys.path",
+            )
+
+    def has_version(self) -> bool:
+        try:
+            self.version
+        except ValueError:
+            issue_warning("Unbuilt egg for " + repr(self))
+            return False
+        except SystemError:
+            # TODO: remove this except clause when python/cpython#103632 is fixed.
+            return False
+        return True
+
+    def clone(self, **kw: str | int | IResourceProvider | None) -> Self:
+        """Copy this distribution, substituting in any changed keyword args"""
+        names = 'project_name version py_version platform location precedence'
+        for attr in names.split():
+            kw.setdefault(attr, getattr(self, attr, None))
+        kw.setdefault('metadata', self._provider)
+        # Unsafely unpacking. But keeping **kw for backwards and subclassing compatibility
+        return self.__class__(**kw)  # type:ignore[arg-type]
+
+    @property
+    def extras(self):
+        return [dep for dep in self._dep_map if dep]
+
+
+class EggInfoDistribution(Distribution):
+    def _reload_version(self):
+        """
+        Packages installed by distutils (e.g. numpy or scipy),
+        which uses an old safe_version, and so
+        their version numbers can get mangled when
+        converted to filenames (e.g., 1.11.0.dev0+2329eae to
+        1.11.0.dev0_2329eae). These distributions will not be
+        parsed properly
+        downstream by Distribution and safe_version, so
+        take an extra step and try to get the version number from
+        the metadata file itself instead of the filename.
+        """
+        md_version = self._get_version()
+        if md_version:
+            self._version = md_version
+        return self
+
+
+class DistInfoDistribution(Distribution):
+    """
+    Wrap an actual or potential sys.path entry
+    w/metadata, .dist-info style.
+    """
+
+    PKG_INFO = 'METADATA'
+    EQEQ = re.compile(r"([\(,])\s*(\d.*?)\s*([,\)])")
+
+    @property
+    def _parsed_pkg_info(self):
+        """Parse and cache metadata"""
+        try:
+            return self._pkg_info
+        except AttributeError:
+            metadata = self.get_metadata(self.PKG_INFO)
+            self._pkg_info = email.parser.Parser().parsestr(metadata)
+            return self._pkg_info
+
+    @property
+    def _dep_map(self):
+        try:
+            return self.__dep_map
+        except AttributeError:
+            self.__dep_map = self._compute_dependencies()
+            return self.__dep_map
+
+    def _compute_dependencies(self) -> dict[str | None, list[Requirement]]:
+        """Recompute this distribution's dependencies."""
+        self.__dep_map: dict[str | None, list[Requirement]] = {None: []}
+
+        reqs: list[Requirement] = []
+        # Including any condition expressions
+        for req in self._parsed_pkg_info.get_all('Requires-Dist') or []:
+            reqs.extend(parse_requirements(req))
+
+        def reqs_for_extra(extra):
+            for req in reqs:
+                if not req.marker or req.marker.evaluate({'extra': extra}):
+                    yield req
+
+        common = types.MappingProxyType(dict.fromkeys(reqs_for_extra(None)))
+        self.__dep_map[None].extend(common)
+
+        for extra in self._parsed_pkg_info.get_all('Provides-Extra') or []:
+            s_extra = safe_extra(extra.strip())
+            self.__dep_map[s_extra] = [
+                r for r in reqs_for_extra(extra) if r not in common
+            ]
+
+        return self.__dep_map
+
+
+_distributionImpl = {
+    '.egg': Distribution,
+    '.egg-info': EggInfoDistribution,
+    '.dist-info': DistInfoDistribution,
+}
+
+
+def issue_warning(*args, **kw):
+    level = 1
+    g = globals()
+    try:
+        # find the first stack frame that is *not* code in
+        # the pkg_resources module, to use for the warning
+        while sys._getframe(level).f_globals is g:
+            level += 1
+    except ValueError:
+        pass
+    warnings.warn(stacklevel=level + 1, *args, **kw)
+
+
+def parse_requirements(strs: _NestedStr) -> map[Requirement]:
+    """
+    Yield ``Requirement`` objects for each specification in `strs`.
+
+    `strs` must be a string, or a (possibly-nested) iterable thereof.
+    """
+    return map(Requirement, join_continuation(map(drop_comment, yield_lines(strs))))
+
+
+class RequirementParseError(packaging.requirements.InvalidRequirement):
+    "Compatibility wrapper for InvalidRequirement"
+
+
+class Requirement(packaging.requirements.Requirement):
+    # prefer variable length tuple to set (as found in
+    # packaging.requirements.Requirement)
+    extras: tuple[str, ...]  # type: ignore[assignment]
+
+    def __init__(self, requirement_string: str) -> None:
+        """DO NOT CALL THIS UNDOCUMENTED METHOD; use Requirement.parse()!"""
+        super().__init__(requirement_string)
+        self.unsafe_name = self.name
+        project_name = safe_name(self.name)
+        self.project_name, self.key = project_name, project_name.lower()
+        self.specs = [(spec.operator, spec.version) for spec in self.specifier]
+        self.extras = tuple(map(safe_extra, self.extras))
+        self.hashCmp = (
+            self.key,
+            self.url,
+            self.specifier,
+            frozenset(self.extras),
+            str(self.marker) if self.marker else None,
+        )
+        self.__hash = hash(self.hashCmp)
+
+    def __eq__(self, other: object) -> bool:
+        return isinstance(other, Requirement) and self.hashCmp == other.hashCmp
+
+    def __ne__(self, other: object) -> bool:
+        return not self == other
+
+    def __contains__(
+        self, item: Distribution | packaging.specifiers.UnparsedVersion
+    ) -> bool:
+        if isinstance(item, Distribution):
+            if item.key != self.key:
+                return False
+
+            version = item.version
+        else:
+            version = item
+
+        # Allow prereleases always in order to match the previous behavior of
+        # this method. In the future this should be smarter and follow PEP 440
+        # more accurately.
+        return self.specifier.contains(
+            version,
+            prereleases=True,
+        )
+
+    def __hash__(self) -> int:
+        return self.__hash
+
+    def __repr__(self) -> str:
+        return f"Requirement.parse({str(self)!r})"
+
+    @staticmethod
+    def parse(s: str | Iterable[str]) -> Requirement:
+        (req,) = parse_requirements(s)
+        return req
+
+
+def _always_object(classes):
+    """
+    Ensure object appears in the mro even
+    for old-style classes.
+    """
+    if object not in classes:
+        return classes + (object,)
+    return classes
+
+
+def _find_adapter(registry: Mapping[type, _AdapterT], ob: object) -> _AdapterT:
+    """Return an adapter factory for `ob` from `registry`"""
+    types = _always_object(inspect.getmro(getattr(ob, '__class__', type(ob))))
+    for t in types:
+        if t in registry:
+            return registry[t]
+    # _find_adapter would previously return None, and immediately be called.
+    # So we're raising a TypeError to keep backward compatibility if anyone depended on that behaviour.
+    raise TypeError(f"Could not find adapter for {registry} and {ob}")
+
+
+def ensure_directory(path: StrOrBytesPath) -> None:
+    """Ensure that the parent directory of `path` exists"""
+    dirname = os.path.dirname(path)
+    os.makedirs(dirname, exist_ok=True)
+
+
+def _bypass_ensure_directory(path) -> None:
+    """Sandbox-bypassing version of ensure_directory()"""
+    if not WRITE_SUPPORT:
+        raise OSError('"os.mkdir" not supported on this platform.')
+    dirname, filename = split(path)
+    if dirname and filename and not isdir(dirname):
+        _bypass_ensure_directory(dirname)
+        try:
+            mkdir(dirname, 0o755)
+        except FileExistsError:
+            pass
+
+
+def split_sections(s: _NestedStr) -> Iterator[tuple[str | None, list[str]]]:
+    """Split a string or iterable thereof into (section, content) pairs
+
+    Each ``section`` is a stripped version of the section header ("[section]")
+    and each ``content`` is a list of stripped lines excluding blank lines and
+    comment-only lines.  If there are any such lines before the first section
+    header, they're returned in a first ``section`` of ``None``.
+    """
+    section = None
+    content: list[str] = []
+    for line in yield_lines(s):
+        if line.startswith("["):
+            if line.endswith("]"):
+                if section or content:
+                    yield section, content
+                section = line[1:-1].strip()
+                content = []
+            else:
+                raise ValueError("Invalid section heading", line)
+        else:
+            content.append(line)
+
+    # wrap up last segment
+    yield section, content
+
+
+def _mkstemp(*args, **kw):
+    old_open = os.open
+    try:
+        # temporarily bypass sandboxing
+        os.open = os_open
+        return tempfile.mkstemp(*args, **kw)
+    finally:
+        # and then put it back
+        os.open = old_open
+
+
+# Silence the PEP440Warning by default, so that end users don't get hit by it
+# randomly just because they use pkg_resources. We want to append the rule
+# because we want earlier uses of filterwarnings to take precedence over this
+# one.
+warnings.filterwarnings("ignore", category=PEP440Warning, append=True)
+
+
+class PkgResourcesDeprecationWarning(Warning):
+    """
+    Base class for warning about deprecations in ``pkg_resources``
+
+    This class is not derived from ``DeprecationWarning``, and as such is
+    visible by default.
+    """
+
+
+# Ported from ``setuptools`` to avoid introducing an import inter-dependency:
+_LOCALE_ENCODING = "locale" if sys.version_info >= (3, 10) else None
+
+
+# This must go before calls to `_call_aside`. See https://github.com/pypa/setuptools/pull/4422
+def _read_utf8_with_fallback(file: str, fallback_encoding=_LOCALE_ENCODING) -> str:
+    """See setuptools.unicode_utils._read_utf8_with_fallback"""
+    try:
+        with open(file, "r", encoding="utf-8") as f:
+            return f.read()
+    except UnicodeDecodeError:  # pragma: no cover
+        msg = f"""\
+        ********************************************************************************
+        `encoding="utf-8"` fails with {file!r}, trying `encoding={fallback_encoding!r}`.
+
+        This fallback behaviour is considered **deprecated** and future versions of
+        `setuptools/pkg_resources` may not implement it.
+
+        Please encode {file!r} with "utf-8" to ensure future builds will succeed.
+
+        If this file was produced by `setuptools` itself, cleaning up the cached files
+        and re-building/re-installing the package with a newer version of `setuptools`
+        (e.g. by updating `build-system.requires` in its `pyproject.toml`)
+        might solve the problem.
+        ********************************************************************************
+        """
+        # TODO: Add a deadline?
+        #       See comment in setuptools.unicode_utils._Utf8EncodingNeeded
+        warnings.warn(msg, PkgResourcesDeprecationWarning, stacklevel=2)
+        with open(file, "r", encoding=fallback_encoding) as f:
+            return f.read()
+
+
+# from jaraco.functools 1.3
+def _call_aside(f, *args, **kwargs):
+    f(*args, **kwargs)
+    return f
+
+
+@_call_aside
+def _initialize(g=globals()) -> None:
+    "Set up global resource manager (deliberately not state-saved)"
+    manager = ResourceManager()
+    g['_manager'] = manager
+    g.update(
+        (name, getattr(manager, name))
+        for name in dir(manager)
+        if not name.startswith('_')
+    )
+
+
+@_call_aside
+def _initialize_master_working_set() -> None:
+    """
+    Prepare the master working set and make the ``require()``
+    API available.
+
+    This function has explicit effects on the global state
+    of pkg_resources. It is intended to be invoked once at
+    the initialization of this module.
+
+    Invocation by other packages is unsupported and done
+    at their own risk.
+    """
+    working_set = _declare_state('object', 'working_set', WorkingSet._build_master())
+
+    require = working_set.require
+    iter_entry_points = working_set.iter_entry_points
+    add_activation_listener = working_set.subscribe
+    run_script = working_set.run_script
+    # backward compatibility
+    run_main = run_script
+    # Activate all distributions already on sys.path with replace=False and
+    # ensure that all distributions added to the working set in the future
+    # (e.g. by calling ``require()``) will get activated as well,
+    # with higher priority (replace=True).
+    tuple(dist.activate(replace=False) for dist in working_set)
+    add_activation_listener(
+        lambda dist: dist.activate(replace=True),
+        existing=False,
+    )
+    working_set.entries = []
+    # match order
+    list(map(working_set.add_entry, sys.path))
+    globals().update(locals())
+
+
+if TYPE_CHECKING:
+    # All of these are set by the @_call_aside methods above
+    __resource_manager = ResourceManager()  # Won't exist at runtime
+    resource_exists = __resource_manager.resource_exists
+    resource_isdir = __resource_manager.resource_isdir
+    resource_filename = __resource_manager.resource_filename
+    resource_stream = __resource_manager.resource_stream
+    resource_string = __resource_manager.resource_string
+    resource_listdir = __resource_manager.resource_listdir
+    set_extraction_path = __resource_manager.set_extraction_path
+    cleanup_resources = __resource_manager.cleanup_resources
+
+    working_set = WorkingSet()
+    require = working_set.require
+    iter_entry_points = working_set.iter_entry_points
+    add_activation_listener = working_set.subscribe
+    run_script = working_set.run_script
+    run_main = run_script
diff --git a/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/pkg_resources/api_tests.txt b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/pkg_resources/api_tests.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d72b85aa375b3a19cb3d36ccb1dd8d205c425938
--- /dev/null
+++ b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/pkg_resources/api_tests.txt
@@ -0,0 +1,424 @@
+Pluggable Distributions of Python Software
+==========================================
+
+Distributions
+-------------
+
+A "Distribution" is a collection of files that represent a "Release" of a
+"Project" as of a particular point in time, denoted by a
+"Version"::
+
+    >>> import sys, pkg_resources
+    >>> from pkg_resources import Distribution
+    >>> Distribution(project_name="Foo", version="1.2")
+    Foo 1.2
+
+Distributions have a location, which can be a filename, URL, or really anything
+else you care to use::
+
+    >>> dist = Distribution(
+    ...     location="http://example.com/something",
+    ...     project_name="Bar", version="0.9"
+    ... )
+
+    >>> dist
+    Bar 0.9 (http://example.com/something)
+
+
+Distributions have various introspectable attributes::
+
+    >>> dist.location
+    'http://example.com/something'
+
+    >>> dist.project_name
+    'Bar'
+
+    >>> dist.version
+    '0.9'
+
+    >>> dist.py_version == '{}.{}'.format(*sys.version_info)
+    True
+
+    >>> print(dist.platform)
+    None
+
+Including various computed attributes::
+
+    >>> from pkg_resources import parse_version
+    >>> dist.parsed_version == parse_version(dist.version)
+    True
+
+    >>> dist.key    # case-insensitive form of the project name
+    'bar'
+
+Distributions are compared (and hashed) by version first::
+
+    >>> Distribution(version='1.0') == Distribution(version='1.0')
+    True
+    >>> Distribution(version='1.0') == Distribution(version='1.1')
+    False
+    >>> Distribution(version='1.0') <  Distribution(version='1.1')
+    True
+
+but also by project name (case-insensitive), platform, Python version,
+location, etc.::
+
+    >>> Distribution(project_name="Foo",version="1.0") == \
+    ... Distribution(project_name="Foo",version="1.0")
+    True
+
+    >>> Distribution(project_name="Foo",version="1.0") == \
+    ... Distribution(project_name="foo",version="1.0")
+    True
+
+    >>> Distribution(project_name="Foo",version="1.0") == \
+    ... Distribution(project_name="Foo",version="1.1")
+    False
+
+    >>> Distribution(project_name="Foo",py_version="2.3",version="1.0") == \
+    ... Distribution(project_name="Foo",py_version="2.4",version="1.0")
+    False
+
+    >>> Distribution(location="spam",version="1.0") == \
+    ... Distribution(location="spam",version="1.0")
+    True
+
+    >>> Distribution(location="spam",version="1.0") == \
+    ... Distribution(location="baz",version="1.0")
+    False
+
+
+
+Hash and compare distribution by prio/plat
+
+Get version from metadata
+provider capabilities
+egg_name()
+as_requirement()
+from_location, from_filename (w/path normalization)
+
+Releases may have zero or more "Requirements", which indicate
+what releases of another project the release requires in order to
+function.  A Requirement names the other project, expresses some criteria
+as to what releases of that project are acceptable, and lists any "Extras"
+that the requiring release may need from that project.  (An Extra is an
+optional feature of a Release, that can only be used if its additional
+Requirements are satisfied.)
+
+
+
+The Working Set
+---------------
+
+A collection of active distributions is called a Working Set.  Note that a
+Working Set can contain any importable distribution, not just pluggable ones.
+For example, the Python standard library is an importable distribution that
+will usually be part of the Working Set, even though it is not pluggable.
+Similarly, when you are doing development work on a project, the files you are
+editing are also a Distribution.  (And, with a little attention to the
+directory names used,  and including some additional metadata, such a
+"development distribution" can be made pluggable as well.)
+
+    >>> from pkg_resources import WorkingSet
+
+A working set's entries are the sys.path entries that correspond to the active
+distributions.  By default, the working set's entries are the items on
+``sys.path``::
+
+    >>> ws = WorkingSet()
+    >>> ws.entries == sys.path
+    True
+
+But you can also create an empty working set explicitly, and add distributions
+to it::
+
+    >>> ws = WorkingSet([])
+    >>> ws.add(dist)
+    >>> ws.entries
+    ['http://example.com/something']
+    >>> dist in ws
+    True
+    >>> Distribution('foo',version="") in ws
+    False
+
+And you can iterate over its distributions::
+
+    >>> list(ws)
+    [Bar 0.9 (http://example.com/something)]
+
+Adding the same distribution more than once is a no-op::
+
+    >>> ws.add(dist)
+    >>> list(ws)
+    [Bar 0.9 (http://example.com/something)]
+
+For that matter, adding multiple distributions for the same project also does
+nothing, because a working set can only hold one active distribution per
+project -- the first one added to it::
+
+    >>> ws.add(
+    ...     Distribution(
+    ...         'http://example.com/something', project_name="Bar",
+    ...         version="7.2"
+    ...     )
+    ... )
+    >>> list(ws)
+    [Bar 0.9 (http://example.com/something)]
+
+You can append a path entry to a working set using ``add_entry()``::
+
+    >>> ws.entries
+    ['http://example.com/something']
+    >>> ws.add_entry(pkg_resources.__file__)
+    >>> ws.entries
+    ['http://example.com/something', '...pkg_resources...']
+
+Multiple additions result in multiple entries, even if the entry is already in
+the working set (because ``sys.path`` can contain the same entry more than
+once)::
+
+    >>> ws.add_entry(pkg_resources.__file__)
+    >>> ws.entries
+    ['...example.com...', '...pkg_resources...', '...pkg_resources...']
+
+And you can specify the path entry a distribution was found under, using the
+optional second parameter to ``add()``::
+
+    >>> ws = WorkingSet([])
+    >>> ws.add(dist,"foo")
+    >>> ws.entries
+    ['foo']
+
+But even if a distribution is found under multiple path entries, it still only
+shows up once when iterating the working set:
+
+    >>> ws.add_entry(ws.entries[0])
+    >>> list(ws)
+    [Bar 0.9 (http://example.com/something)]
+
+You can ask a WorkingSet to ``find()`` a distribution matching a requirement::
+
+    >>> from pkg_resources import Requirement
+    >>> print(ws.find(Requirement.parse("Foo==1.0")))   # no match, return None
+    None
+
+    >>> ws.find(Requirement.parse("Bar==0.9"))  # match, return distribution
+    Bar 0.9 (http://example.com/something)
+
+Note that asking for a conflicting version of a distribution already in a
+working set triggers a ``pkg_resources.VersionConflict`` error:
+
+    >>> try:
+    ...     ws.find(Requirement.parse("Bar==1.0"))
+    ... except pkg_resources.VersionConflict as exc:
+    ...     print(str(exc))
+    ... else:
+    ...     raise AssertionError("VersionConflict was not raised")
+    (Bar 0.9 (http://example.com/something), Requirement.parse('Bar==1.0'))
+
+You can subscribe a callback function to receive notifications whenever a new
+distribution is added to a working set.  The callback is immediately invoked
+once for each existing distribution in the working set, and then is called
+again for new distributions added thereafter::
+
+    >>> def added(dist): print("Added %s" % dist)
+    >>> ws.subscribe(added)
+    Added Bar 0.9
+    >>> foo12 = Distribution(project_name="Foo", version="1.2", location="f12")
+    >>> ws.add(foo12)
+    Added Foo 1.2
+
+Note, however, that only the first distribution added for a given project name
+will trigger a callback, even during the initial ``subscribe()`` callback::
+
+    >>> foo14 = Distribution(project_name="Foo", version="1.4", location="f14")
+    >>> ws.add(foo14)   # no callback, because Foo 1.2 is already active
+
+    >>> ws = WorkingSet([])
+    >>> ws.add(foo12)
+    >>> ws.add(foo14)
+    >>> ws.subscribe(added)
+    Added Foo 1.2
+
+And adding a callback more than once has no effect, either::
+
+    >>> ws.subscribe(added)     # no callbacks
+
+    # and no double-callbacks on subsequent additions, either
+    >>> just_a_test = Distribution(project_name="JustATest", version="0.99")
+    >>> ws.add(just_a_test)
+    Added JustATest 0.99
+
+
+Finding Plugins
+---------------
+
+``WorkingSet`` objects can be used to figure out what plugins in an
+``Environment`` can be loaded without any resolution errors::
+
+    >>> from pkg_resources import Environment
+
+    >>> plugins = Environment([])   # normally, a list of plugin directories
+    >>> plugins.add(foo12)
+    >>> plugins.add(foo14)
+    >>> plugins.add(just_a_test)
+
+In the simplest case, we just get the newest version of each distribution in
+the plugin environment::
+
+    >>> ws = WorkingSet([])
+    >>> ws.find_plugins(plugins)
+    ([JustATest 0.99, Foo 1.4 (f14)], {})
+
+But if there's a problem with a version conflict or missing requirements, the
+method falls back to older versions, and the error info dict will contain an
+exception instance for each unloadable plugin::
+
+    >>> ws.add(foo12)   # this will conflict with Foo 1.4
+    >>> ws.find_plugins(plugins)
+    ([JustATest 0.99, Foo 1.2 (f12)], {Foo 1.4 (f14): VersionConflict(...)})
+
+But if you disallow fallbacks, the failed plugin will be skipped instead of
+trying older versions::
+
+    >>> ws.find_plugins(plugins, fallback=False)
+    ([JustATest 0.99], {Foo 1.4 (f14): VersionConflict(...)})
+
+
+
+Platform Compatibility Rules
+----------------------------
+
+On the Mac, there are potential compatibility issues for modules compiled
+on newer versions of macOS than what the user is running. Additionally,
+macOS will soon have two platforms to contend with: Intel and PowerPC.
+
+Basic equality works as on other platforms::
+
+    >>> from pkg_resources import compatible_platforms as cp
+    >>> reqd = 'macosx-10.4-ppc'
+    >>> cp(reqd, reqd)
+    True
+    >>> cp("win32", reqd)
+    False
+
+Distributions made on other machine types are not compatible::
+
+    >>> cp("macosx-10.4-i386", reqd)
+    False
+
+Distributions made on earlier versions of the OS are compatible, as
+long as they are from the same top-level version. The patchlevel version
+number does not matter::
+
+    >>> cp("macosx-10.4-ppc", reqd)
+    True
+    >>> cp("macosx-10.3-ppc", reqd)
+    True
+    >>> cp("macosx-10.5-ppc", reqd)
+    False
+    >>> cp("macosx-9.5-ppc", reqd)
+    False
+
+Backwards compatibility for packages made via earlier versions of
+setuptools is provided as well::
+
+    >>> cp("darwin-8.2.0-Power_Macintosh", reqd)
+    True
+    >>> cp("darwin-7.2.0-Power_Macintosh", reqd)
+    True
+    >>> cp("darwin-8.2.0-Power_Macintosh", "macosx-10.3-ppc")
+    False
+
+
+Environment Markers
+-------------------
+
+    >>> from pkg_resources import invalid_marker as im, evaluate_marker as em
+    >>> import os
+
+    >>> print(im("sys_platform"))
+    Expected marker operator, one of <=, <, !=, ==, >=, >, ~=, ===, in, not in
+        sys_platform
+                    ^
+
+    >>> print(im("sys_platform=="))
+    Expected a marker variable or quoted string
+        sys_platform==
+                      ^
+
+    >>> print(im("sys_platform=='win32'"))
+    False
+
+    >>> print(im("sys=='x'"))
+    Expected a marker variable or quoted string
+        sys=='x'
+        ^
+
+    >>> print(im("(extra)"))
+    Expected marker operator, one of <=, <, !=, ==, >=, >, ~=, ===, in, not in
+        (extra)
+              ^
+
+    >>> print(im("(extra"))
+    Expected marker operator, one of <=, <, !=, ==, >=, >, ~=, ===, in, not in
+        (extra
+              ^
+
+    >>> print(im("os.open('foo')=='y'"))
+    Expected a marker variable or quoted string
+        os.open('foo')=='y'
+        ^
+
+    >>> print(im("'x'=='y' and os.open('foo')=='y'"))   # no short-circuit!
+    Expected a marker variable or quoted string
+        'x'=='y' and os.open('foo')=='y'
+                     ^
+
+    >>> print(im("'x'=='x' or os.open('foo')=='y'"))   # no short-circuit!
+    Expected a marker variable or quoted string
+        'x'=='x' or os.open('foo')=='y'
+                    ^
+
+    >>> print(im("r'x'=='x'"))
+    Expected a marker variable or quoted string
+        r'x'=='x'
+        ^
+
+    >>> print(im("'''x'''=='x'"))
+    Expected marker operator, one of <=, <, !=, ==, >=, >, ~=, ===, in, not in
+        '''x'''=='x'
+          ^
+
+    >>> print(im('"""x"""=="x"'))
+    Expected marker operator, one of <=, <, !=, ==, >=, >, ~=, ===, in, not in
+        """x"""=="x"
+          ^
+
+    >>> print(im(r"x\n=='x'"))
+    Expected a marker variable or quoted string
+        x\n=='x'
+        ^
+
+    >>> print(im("os.open=='y'"))
+    Expected a marker variable or quoted string
+        os.open=='y'
+        ^
+
+    >>> em("sys_platform=='win32'") == (sys.platform=='win32')
+    True
+
+    >>> em("python_version >= '2.7'")
+    True
+
+    >>> em("python_version > '2.6'")
+    True
+
+    >>> im("implementation_name=='cpython'")
+    False
+
+    >>> im("platform_python_implementation=='CPython'")
+    False
+
+    >>> im("implementation_version=='3.5.1'")
+    False
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