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+1,16 @@ +import warnings + +from .compilers.C import msvc + +__all__ = ["MSVCCompiler"] + +MSVCCompiler = msvc.Compiler + + +def __getattr__(name): + if name == '_get_vc_env': + warnings.warn( + "_get_vc_env is private; find an alternative (pypa/distutils#340)" + ) + return msvc._get_vc_env + raise AttributeError(name) diff --git a/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/core.py b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/core.py new file mode 100644 index 0000000000000000000000000000000000000000..bd62546bdd9d35dcc46e0b46a46b0c61a43fd0ba --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/core.py @@ -0,0 +1,289 @@ +"""distutils.core + +The only module that needs to be imported to use the Distutils; provides +the 'setup' function (which is to be called from the setup script). Also +indirectly provides the Distribution and Command classes, although they are +really defined in distutils.dist and distutils.cmd. +""" + +from __future__ import annotations + +import os +import sys +import tokenize +from collections.abc import Iterable + +from .cmd import Command +from .debug import DEBUG + +# Mainly import these so setup scripts can "from distutils.core import" them. +from .dist import Distribution +from .errors import ( + CCompilerError, + DistutilsArgError, + DistutilsError, + DistutilsSetupError, +) +from .extension import Extension + +__all__ = ['Distribution', 'Command', 'Extension', 'setup'] + +# This is a barebones help message generated displayed when the user +# runs the setup script with no arguments at all. More useful help +# is generated with various --help options: global help, list commands, +# and per-command help. +USAGE = """\ +usage: %(script)s [global_opts] cmd1 [cmd1_opts] [cmd2 [cmd2_opts] ...] + or: %(script)s --help [cmd1 cmd2 ...] + or: %(script)s --help-commands + or: %(script)s cmd --help +""" + + +def gen_usage(script_name): + script = os.path.basename(script_name) + return USAGE % locals() + + +# Some mild magic to control the behaviour of 'setup()' from 'run_setup()'. +_setup_stop_after = None +_setup_distribution = None + +# Legal keyword arguments for the setup() function +setup_keywords = ( + 'distclass', + 'script_name', + 'script_args', + 'options', + 'name', + 'version', + 'author', + 'author_email', + 'maintainer', + 'maintainer_email', + 'url', + 'license', + 'description', + 'long_description', + 'keywords', + 'platforms', + 'classifiers', + 'download_url', + 'requires', + 'provides', + 'obsoletes', +) + +# Legal keyword arguments for the Extension constructor +extension_keywords = ( + 'name', + 'sources', + 'include_dirs', + 'define_macros', + 'undef_macros', + 'library_dirs', + 'libraries', + 'runtime_library_dirs', + 'extra_objects', + 'extra_compile_args', + 'extra_link_args', + 'swig_opts', + 'export_symbols', + 'depends', + 'language', +) + + +def setup(**attrs): # noqa: C901 + """The gateway to the Distutils: do everything your setup script needs + to do, in a highly flexible and user-driven way. Briefly: create a + Distribution instance; find and parse config files; parse the command + line; run each Distutils command found there, customized by the options + supplied to 'setup()' (as keyword arguments), in config files, and on + the command line. + + The Distribution instance might be an instance of a class supplied via + the 'distclass' keyword argument to 'setup'; if no such class is + supplied, then the Distribution class (in dist.py) is instantiated. + All other arguments to 'setup' (except for 'cmdclass') are used to set + attributes of the Distribution instance. + + The 'cmdclass' argument, if supplied, is a dictionary mapping command + names to command classes. Each command encountered on the command line + will be turned into a command class, which is in turn instantiated; any + class found in 'cmdclass' is used in place of the default, which is + (for command 'foo_bar') class 'foo_bar' in module + 'distutils.command.foo_bar'. The command class must provide a + 'user_options' attribute which is a list of option specifiers for + 'distutils.fancy_getopt'. Any command-line options between the current + and the next command are used to set attributes of the current command + object. + + When the entire command-line has been successfully parsed, calls the + 'run()' method on each command object in turn. This method will be + driven entirely by the Distribution object (which each command object + has a reference to, thanks to its constructor), and the + command-specific options that became attributes of each command + object. + """ + + global _setup_stop_after, _setup_distribution + + # Determine the distribution class -- either caller-supplied or + # our Distribution (see below). + klass = attrs.get('distclass') + if klass: + attrs.pop('distclass') + else: + klass = Distribution + + if 'script_name' not in attrs: + attrs['script_name'] = os.path.basename(sys.argv[0]) + if 'script_args' not in attrs: + attrs['script_args'] = sys.argv[1:] + + # Create the Distribution instance, using the remaining arguments + # (ie. everything except distclass) to initialize it + try: + _setup_distribution = dist = klass(attrs) + except DistutilsSetupError as msg: + if 'name' not in attrs: + raise SystemExit(f"error in setup command: {msg}") + else: + raise SystemExit("error in {} setup command: {}".format(attrs['name'], msg)) + + if _setup_stop_after == "init": + return dist + + # Find and parse the config file(s): they will override options from + # the setup script, but be overridden by the command line. + dist.parse_config_files() + + if DEBUG: + print("options (after parsing config files):") + dist.dump_option_dicts() + + if _setup_stop_after == "config": + return dist + + # Parse the command line and override config files; any + # command-line errors are the end user's fault, so turn them into + # SystemExit to suppress tracebacks. + try: + ok = dist.parse_command_line() + except DistutilsArgError as msg: + raise SystemExit(gen_usage(dist.script_name) + f"\nerror: {msg}") + + if DEBUG: + print("options (after parsing command line):") + dist.dump_option_dicts() + + if _setup_stop_after == "commandline": + return dist + + # And finally, run all the commands found on the command line. + if ok: + return run_commands(dist) + + return dist + + +# setup () + + +def run_commands(dist): + """Given a Distribution object run all the commands, + raising ``SystemExit`` errors in the case of failure. + + This function assumes that either ``sys.argv`` or ``dist.script_args`` + is already set accordingly. + """ + try: + dist.run_commands() + except KeyboardInterrupt: + raise SystemExit("interrupted") + except OSError as exc: + if DEBUG: + sys.stderr.write(f"error: {exc}\n") + raise + else: + raise SystemExit(f"error: {exc}") + + except (DistutilsError, CCompilerError) as msg: + if DEBUG: + raise + else: + raise SystemExit("error: " + str(msg)) + + return dist + + +def run_setup(script_name, script_args: Iterable[str] | None = None, stop_after="run"): + """Run a setup script in a somewhat controlled environment, and + return the Distribution instance that drives things. This is useful + if you need to find out the distribution meta-data (passed as + keyword args from 'script' to 'setup()', or the contents of the + config files or command-line. + + 'script_name' is a file that will be read and run with 'exec()'; + 'sys.argv[0]' will be replaced with 'script' for the duration of the + call. 'script_args' is a list of strings; if supplied, + 'sys.argv[1:]' will be replaced by 'script_args' for the duration of + the call. + + 'stop_after' tells 'setup()' when to stop processing; possible + values: + init + stop after the Distribution instance has been created and + populated with the keyword arguments to 'setup()' + config + stop after config files have been parsed (and their data + stored in the Distribution instance) + commandline + stop after the command-line ('sys.argv[1:]' or 'script_args') + have been parsed (and the data stored in the Distribution) + run [default] + stop after all commands have been run (the same as if 'setup()' + had been called in the usual way + + Returns the Distribution instance, which provides all information + used to drive the Distutils. + """ + if stop_after not in ('init', 'config', 'commandline', 'run'): + raise ValueError(f"invalid value for 'stop_after': {stop_after!r}") + + global _setup_stop_after, _setup_distribution + _setup_stop_after = stop_after + + save_argv = sys.argv.copy() + g = {'__file__': script_name, '__name__': '__main__'} + try: + try: + sys.argv[0] = script_name + if script_args is not None: + sys.argv[1:] = script_args + # tokenize.open supports automatic encoding detection + with tokenize.open(script_name) as f: + code = f.read().replace(r'\r\n', r'\n') + exec(code, g) + finally: + sys.argv = save_argv + _setup_stop_after = None + except SystemExit: + # Hmm, should we do something if exiting with a non-zero code + # (ie. error)? + pass + + if _setup_distribution is None: + raise RuntimeError( + "'distutils.core.setup()' was never called -- " + f"perhaps '{script_name}' is not a Distutils setup script?" + ) + + # I wonder if the setup script's namespace -- g and l -- would be of + # any interest to callers? + # print "_setup_distribution:", _setup_distribution + return _setup_distribution + + +# run_setup () diff --git a/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/dist.py b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/dist.py new file mode 100644 index 0000000000000000000000000000000000000000..37b788df92549877684c2311ed1c71634f14dcd2 --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/dist.py @@ -0,0 +1,1386 @@ +"""distutils.dist + +Provides the Distribution class, which represents the module distribution +being built/installed/distributed. +""" + +from __future__ import annotations + +import contextlib +import logging +import os +import pathlib +import re +import sys +import warnings +from collections.abc import Iterable, MutableMapping +from email import message_from_file +from typing import ( + IO, + TYPE_CHECKING, + Any, + ClassVar, + Literal, + TypeVar, + Union, + overload, +) + +from packaging.utils import canonicalize_name, canonicalize_version + +from ._log import log +from .debug import DEBUG +from .errors import ( + DistutilsArgError, + DistutilsClassError, + DistutilsModuleError, + DistutilsOptionError, +) +from .fancy_getopt import FancyGetopt, translate_longopt +from .util import check_environ, rfc822_escape, strtobool + +if TYPE_CHECKING: + from _typeshed import SupportsWrite + from typing_extensions import TypeAlias + + # type-only import because of mutual dependence between these modules + from .cmd import Command + +_CommandT = TypeVar("_CommandT", bound="Command") +_OptionsList: TypeAlias = list[ + Union[tuple[str, Union[str, None], str, int], tuple[str, Union[str, None], str]] +] + + +# Regex to define acceptable Distutils command names. This is not *quite* +# the same as a Python NAME -- I don't allow leading underscores. The fact +# that they're very similar is no coincidence; the default naming scheme is +# to look for a Python module named after the command. +command_re = re.compile(r'^[a-zA-Z]([a-zA-Z0-9_]*)$') + + +def _ensure_list(value: str | Iterable[str], fieldname) -> str | list[str]: + if isinstance(value, str): + # a string containing comma separated values is okay. It will + # be converted to a list by Distribution.finalize_options(). + pass + elif not isinstance(value, list): + # passing a tuple or an iterator perhaps, warn and convert + typename = type(value).__name__ + msg = "Warning: '{fieldname}' should be a list, got type '{typename}'" + msg = msg.format(**locals()) + log.warning(msg) + value = list(value) + return value + + +class Distribution: + """The core of the Distutils. Most of the work hiding behind 'setup' + is really done within a Distribution instance, which farms the work out + to the Distutils commands specified on the command line. + + Setup scripts will almost never instantiate Distribution directly, + unless the 'setup()' function is totally inadequate to their needs. + However, it is conceivable that a setup script might wish to subclass + Distribution for some specialized purpose, and then pass the subclass + to 'setup()' as the 'distclass' keyword argument. If so, it is + necessary to respect the expectations that 'setup' has of Distribution. + See the code for 'setup()', in core.py, for details. + """ + + # 'global_options' describes the command-line options that may be + # supplied to the setup script prior to any actual commands. + # Eg. "./setup.py -n" or "./setup.py --quiet" both take advantage of + # these global options. This list should be kept to a bare minimum, + # since every global option is also valid as a command option -- and we + # don't want to pollute the commands with too many options that they + # have minimal control over. + # The fourth entry for verbose means that it can be repeated. + global_options: ClassVar[_OptionsList] = [ + ('verbose', 'v', "run verbosely (default)", 1), + ('quiet', 'q', "run quietly (turns verbosity off)"), + ('dry-run', 'n', "don't actually do anything"), + ('help', 'h', "show detailed help message"), + ('no-user-cfg', None, 'ignore pydistutils.cfg in your home directory'), + ] + + # 'common_usage' is a short (2-3 line) string describing the common + # usage of the setup script. + common_usage: ClassVar[str] = """\ +Common commands: (see '--help-commands' for more) + + setup.py build will build the package underneath 'build/' + setup.py install will install the package +""" + + # options that are not propagated to the commands + display_options: ClassVar[_OptionsList] = [ + ('help-commands', None, "list all available commands"), + ('name', None, "print package name"), + ('version', 'V', "print package version"), + ('fullname', None, "print -"), + ('author', None, "print the author's name"), + ('author-email', None, "print the author's email address"), + ('maintainer', None, "print the maintainer's name"), + ('maintainer-email', None, "print the maintainer's email address"), + ('contact', None, "print the maintainer's name if known, else the author's"), + ( + 'contact-email', + None, + "print the maintainer's email address if known, else the author's", + ), + ('url', None, "print the URL for this package"), + ('license', None, "print the license of the package"), + ('licence', None, "alias for --license"), + ('description', None, "print the package description"), + ('long-description', None, "print the long package description"), + ('platforms', None, "print the list of platforms"), + ('classifiers', None, "print the list of classifiers"), + ('keywords', None, "print the list of keywords"), + ('provides', None, "print the list of packages/modules provided"), + ('requires', None, "print the list of packages/modules required"), + ('obsoletes', None, "print the list of packages/modules made obsolete"), + ] + display_option_names: ClassVar[list[str]] = [ + translate_longopt(x[0]) for x in display_options + ] + + # negative options are options that exclude other options + negative_opt: ClassVar[dict[str, str]] = {'quiet': 'verbose'} + + # -- Creation/initialization methods ------------------------------- + + # Can't Unpack a TypedDict with optional properties, so using Any instead + def __init__(self, attrs: MutableMapping[str, Any] | None = None) -> None: # noqa: C901 + """Construct a new Distribution instance: initialize all the + attributes of a Distribution, and then use 'attrs' (a dictionary + mapping attribute names to values) to assign some of those + attributes their "real" values. (Any attributes not mentioned in + 'attrs' will be assigned to some null value: 0, None, an empty list + or dictionary, etc.) Most importantly, initialize the + 'command_obj' attribute to the empty dictionary; this will be + filled in with real command objects by 'parse_command_line()'. + """ + + # Default values for our command-line options + self.verbose = True + self.dry_run = False + self.help = False + for attr in self.display_option_names: + setattr(self, attr, False) + + # Store the distribution meta-data (name, version, author, and so + # forth) in a separate object -- we're getting to have enough + # information here (and enough command-line options) that it's + # worth it. Also delegate 'get_XXX()' methods to the 'metadata' + # object in a sneaky and underhanded (but efficient!) way. + self.metadata = DistributionMetadata() + for basename in self.metadata._METHOD_BASENAMES: + method_name = "get_" + basename + setattr(self, method_name, getattr(self.metadata, method_name)) + + # 'cmdclass' maps command names to class objects, so we + # can 1) quickly figure out which class to instantiate when + # we need to create a new command object, and 2) have a way + # for the setup script to override command classes + self.cmdclass: dict[str, type[Command]] = {} + + # 'command_packages' is a list of packages in which commands + # are searched for. The factory for command 'foo' is expected + # to be named 'foo' in the module 'foo' in one of the packages + # named here. This list is searched from the left; an error + # is raised if no named package provides the command being + # searched for. (Always access using get_command_packages().) + self.command_packages: str | list[str] | None = None + + # 'script_name' and 'script_args' are usually set to sys.argv[0] + # and sys.argv[1:], but they can be overridden when the caller is + # not necessarily a setup script run from the command-line. + self.script_name: str | os.PathLike[str] | None = None + self.script_args: list[str] | None = None + + # 'command_options' is where we store command options between + # parsing them (from config files, the command-line, etc.) and when + # they are actually needed -- ie. when the command in question is + # instantiated. It is a dictionary of dictionaries of 2-tuples: + # command_options = { command_name : { option : (source, value) } } + self.command_options: dict[str, dict[str, tuple[str, str]]] = {} + + # 'dist_files' is the list of (command, pyversion, file) that + # have been created by any dist commands run so far. This is + # filled regardless of whether the run is dry or not. pyversion + # gives sysconfig.get_python_version() if the dist file is + # specific to a Python version, 'any' if it is good for all + # Python versions on the target platform, and '' for a source + # file. pyversion should not be used to specify minimum or + # maximum required Python versions; use the metainfo for that + # instead. + self.dist_files: list[tuple[str, str, str]] = [] + + # These options are really the business of various commands, rather + # than of the Distribution itself. We provide aliases for them in + # Distribution as a convenience to the developer. + self.packages = None + self.package_data: dict[str, list[str]] = {} + self.package_dir = None + self.py_modules = None + self.libraries = None + self.headers = None + self.ext_modules = None + self.ext_package = None + self.include_dirs = None + self.extra_path = None + self.scripts = None + self.data_files = None + self.password = '' + + # And now initialize bookkeeping stuff that can't be supplied by + # the caller at all. 'command_obj' maps command names to + # Command instances -- that's how we enforce that every command + # class is a singleton. + self.command_obj: dict[str, Command] = {} + + # 'have_run' maps command names to boolean values; it keeps track + # of whether we have actually run a particular command, to make it + # cheap to "run" a command whenever we think we might need to -- if + # it's already been done, no need for expensive filesystem + # operations, we just check the 'have_run' dictionary and carry on. + # It's only safe to query 'have_run' for a command class that has + # been instantiated -- a false value will be inserted when the + # command object is created, and replaced with a true value when + # the command is successfully run. Thus it's probably best to use + # '.get()' rather than a straight lookup. + self.have_run: dict[str, bool] = {} + + # Now we'll use the attrs dictionary (ultimately, keyword args from + # the setup script) to possibly override any or all of these + # distribution options. + + if attrs: + # Pull out the set of command options and work on them + # specifically. Note that this order guarantees that aliased + # command options will override any supplied redundantly + # through the general options dictionary. + options = attrs.get('options') + if options is not None: + del attrs['options'] + for command, cmd_options in options.items(): + opt_dict = self.get_option_dict(command) + for opt, val in cmd_options.items(): + opt_dict[opt] = ("setup script", val) + + if 'licence' in attrs: + attrs['license'] = attrs['licence'] + del attrs['licence'] + msg = "'licence' distribution option is deprecated; use 'license'" + warnings.warn(msg) + + # Now work on the rest of the attributes. Any attribute that's + # not already defined is invalid! + for key, val in attrs.items(): + if hasattr(self.metadata, "set_" + key): + getattr(self.metadata, "set_" + key)(val) + elif hasattr(self.metadata, key): + setattr(self.metadata, key, val) + elif hasattr(self, key): + setattr(self, key, val) + else: + msg = f"Unknown distribution option: {key!r}" + warnings.warn(msg) + + # no-user-cfg is handled before other command line args + # because other args override the config files, and this + # one is needed before we can load the config files. + # If attrs['script_args'] wasn't passed, assume false. + # + # This also make sure we just look at the global options + self.want_user_cfg = True + + if self.script_args is not None: + # Coerce any possible iterable from attrs into a list + self.script_args = list(self.script_args) + for arg in self.script_args: + if not arg.startswith('-'): + break + if arg == '--no-user-cfg': + self.want_user_cfg = False + break + + self.finalize_options() + + def get_option_dict(self, command): + """Get the option dictionary for a given command. If that + command's option dictionary hasn't been created yet, then create it + and return the new dictionary; otherwise, return the existing + option dictionary. + """ + dict = self.command_options.get(command) + if dict is None: + dict = self.command_options[command] = {} + return dict + + def dump_option_dicts(self, header=None, commands=None, indent: str = "") -> None: + from pprint import pformat + + if commands is None: # dump all command option dicts + commands = sorted(self.command_options.keys()) + + if header is not None: + self.announce(indent + header) + indent = indent + " " + + if not commands: + self.announce(indent + "no commands known yet") + return + + for cmd_name in commands: + opt_dict = self.command_options.get(cmd_name) + if opt_dict is None: + self.announce(indent + f"no option dict for '{cmd_name}' command") + else: + self.announce(indent + f"option dict for '{cmd_name}' command:") + out = pformat(opt_dict) + for line in out.split('\n'): + self.announce(indent + " " + line) + + # -- Config file finding/parsing methods --------------------------- + + def find_config_files(self): + """Find as many configuration files as should be processed for this + platform, and return a list of filenames in the order in which they + should be parsed. The filenames returned are guaranteed to exist + (modulo nasty race conditions). + + There are multiple possible config files: + - distutils.cfg in the Distutils installation directory (i.e. + where the top-level Distutils __inst__.py file lives) + - a file in the user's home directory named .pydistutils.cfg + on Unix and pydistutils.cfg on Windows/Mac; may be disabled + with the ``--no-user-cfg`` option + - setup.cfg in the current directory + - a file named by an environment variable + """ + check_environ() + files = [str(path) for path in self._gen_paths() if os.path.isfile(path)] + + if DEBUG: + self.announce("using config files: {}".format(', '.join(files))) + + return files + + def _gen_paths(self): + # The system-wide Distutils config file + sys_dir = pathlib.Path(sys.modules['distutils'].__file__).parent + yield sys_dir / "distutils.cfg" + + # The per-user config file + prefix = '.' * (os.name == 'posix') + filename = prefix + 'pydistutils.cfg' + if self.want_user_cfg: + with contextlib.suppress(RuntimeError): + yield pathlib.Path('~').expanduser() / filename + + # All platforms support local setup.cfg + yield pathlib.Path('setup.cfg') + + # Additional config indicated in the environment + with contextlib.suppress(TypeError): + yield pathlib.Path(os.getenv("DIST_EXTRA_CONFIG")) + + def parse_config_files(self, filenames=None): # noqa: C901 + from configparser import ConfigParser + + # Ignore install directory options if we have a venv + if sys.prefix != sys.base_prefix: + ignore_options = [ + 'install-base', + 'install-platbase', + 'install-lib', + 'install-platlib', + 'install-purelib', + 'install-headers', + 'install-scripts', + 'install-data', + 'prefix', + 'exec-prefix', + 'home', + 'user', + 'root', + ] + else: + ignore_options = [] + + ignore_options = frozenset(ignore_options) + + if filenames is None: + filenames = self.find_config_files() + + if DEBUG: + self.announce("Distribution.parse_config_files():") + + parser = ConfigParser() + for filename in filenames: + if DEBUG: + self.announce(f" reading {filename}") + parser.read(filename, encoding='utf-8') + for section in parser.sections(): + options = parser.options(section) + opt_dict = self.get_option_dict(section) + + for opt in options: + if opt != '__name__' and opt not in ignore_options: + val = parser.get(section, opt) + opt = opt.replace('-', '_') + opt_dict[opt] = (filename, val) + + # Make the ConfigParser forget everything (so we retain + # the original filenames that options come from) + parser.__init__() + + # If there was a "global" section in the config file, use it + # to set Distribution options. + + if 'global' in self.command_options: + for opt, (_src, val) in self.command_options['global'].items(): + alias = self.negative_opt.get(opt) + try: + if alias: + setattr(self, alias, not strtobool(val)) + elif opt in ('verbose', 'dry_run'): # ugh! + setattr(self, opt, strtobool(val)) + else: + setattr(self, opt, val) + except ValueError as msg: + raise DistutilsOptionError(msg) + + # -- Command-line parsing methods ---------------------------------- + + def parse_command_line(self): + """Parse the setup script's command line, taken from the + 'script_args' instance attribute (which defaults to 'sys.argv[1:]' + -- see 'setup()' in core.py). This list is first processed for + "global options" -- options that set attributes of the Distribution + instance. Then, it is alternately scanned for Distutils commands + and options for that command. Each new command terminates the + options for the previous command. The allowed options for a + command are determined by the 'user_options' attribute of the + command class -- thus, we have to be able to load command classes + in order to parse the command line. Any error in that 'options' + attribute raises DistutilsGetoptError; any error on the + command-line raises DistutilsArgError. If no Distutils commands + were found on the command line, raises DistutilsArgError. Return + true if command-line was successfully parsed and we should carry + on with executing commands; false if no errors but we shouldn't + execute commands (currently, this only happens if user asks for + help). + """ + # + # We now have enough information to show the Macintosh dialog + # that allows the user to interactively specify the "command line". + # + toplevel_options = self._get_toplevel_options() + + # We have to parse the command line a bit at a time -- global + # options, then the first command, then its options, and so on -- + # because each command will be handled by a different class, and + # the options that are valid for a particular class aren't known + # until we have loaded the command class, which doesn't happen + # until we know what the command is. + + self.commands = [] + parser = FancyGetopt(toplevel_options + self.display_options) + parser.set_negative_aliases(self.negative_opt) + parser.set_aliases({'licence': 'license'}) + args = parser.getopt(args=self.script_args, object=self) + option_order = parser.get_option_order() + logging.getLogger().setLevel(logging.WARN - 10 * self.verbose) + + # for display options we return immediately + if self.handle_display_options(option_order): + return + while args: + args = self._parse_command_opts(parser, args) + if args is None: # user asked for help (and got it) + return + + # Handle the cases of --help as a "global" option, ie. + # "setup.py --help" and "setup.py --help command ...". For the + # former, we show global options (--verbose, --dry-run, etc.) + # and display-only options (--name, --version, etc.); for the + # latter, we omit the display-only options and show help for + # each command listed on the command line. + if self.help: + self._show_help( + parser, display_options=len(self.commands) == 0, commands=self.commands + ) + return + + # Oops, no commands found -- an end-user error + if not self.commands: + raise DistutilsArgError("no commands supplied") + + # All is well: return true + return True + + def _get_toplevel_options(self): + """Return the non-display options recognized at the top level. + + This includes options that are recognized *only* at the top + level as well as options recognized for commands. + """ + return self.global_options + [ + ( + "command-packages=", + None, + "list of packages that provide distutils commands", + ), + ] + + def _parse_command_opts(self, parser, args): # noqa: C901 + """Parse the command-line options for a single command. + 'parser' must be a FancyGetopt instance; 'args' must be the list + of arguments, starting with the current command (whose options + we are about to parse). Returns a new version of 'args' with + the next command at the front of the list; will be the empty + list if there are no more commands on the command line. Returns + None if the user asked for help on this command. + """ + # late import because of mutual dependence between these modules + from distutils.cmd import Command + + # Pull the current command from the head of the command line + command = args[0] + if not command_re.match(command): + raise SystemExit(f"invalid command name '{command}'") + self.commands.append(command) + + # Dig up the command class that implements this command, so we + # 1) know that it's a valid command, and 2) know which options + # it takes. + try: + cmd_class = self.get_command_class(command) + except DistutilsModuleError as msg: + raise DistutilsArgError(msg) + + # Require that the command class be derived from Command -- want + # to be sure that the basic "command" interface is implemented. + if not issubclass(cmd_class, Command): + raise DistutilsClassError( + f"command class {cmd_class} must subclass Command" + ) + + # Also make sure that the command object provides a list of its + # known options. + if not ( + hasattr(cmd_class, 'user_options') + and isinstance(cmd_class.user_options, list) + ): + msg = ( + "command class %s must provide " + "'user_options' attribute (a list of tuples)" + ) + raise DistutilsClassError(msg % cmd_class) + + # If the command class has a list of negative alias options, + # merge it in with the global negative aliases. + negative_opt = self.negative_opt + if hasattr(cmd_class, 'negative_opt'): + negative_opt = negative_opt.copy() + negative_opt.update(cmd_class.negative_opt) + + # Check for help_options in command class. They have a different + # format (tuple of four) so we need to preprocess them here. + if hasattr(cmd_class, 'help_options') and isinstance( + cmd_class.help_options, list + ): + help_options = fix_help_options(cmd_class.help_options) + else: + help_options = [] + + # All commands support the global options too, just by adding + # in 'global_options'. + parser.set_option_table( + self.global_options + cmd_class.user_options + help_options + ) + parser.set_negative_aliases(negative_opt) + (args, opts) = parser.getopt(args[1:]) + if hasattr(opts, 'help') and opts.help: + self._show_help(parser, display_options=False, commands=[cmd_class]) + return + + if hasattr(cmd_class, 'help_options') and isinstance( + cmd_class.help_options, list + ): + help_option_found = 0 + for help_option, _short, _desc, func in cmd_class.help_options: + if hasattr(opts, parser.get_attr_name(help_option)): + help_option_found = 1 + if callable(func): + func() + else: + raise DistutilsClassError( + f"invalid help function {func!r} for help option '{help_option}': " + "must be a callable object (function, etc.)" + ) + + if help_option_found: + return + + # Put the options from the command-line into their official + # holding pen, the 'command_options' dictionary. + opt_dict = self.get_option_dict(command) + for name, value in vars(opts).items(): + opt_dict[name] = ("command line", value) + + return args + + def finalize_options(self) -> None: + """Set final values for all the options on the Distribution + instance, analogous to the .finalize_options() method of Command + objects. + """ + for attr in ('keywords', 'platforms'): + value = getattr(self.metadata, attr) + if value is None: + continue + if isinstance(value, str): + value = [elm.strip() for elm in value.split(',')] + setattr(self.metadata, attr, value) + + def _show_help( + self, parser, global_options=True, display_options=True, commands: Iterable = () + ): + """Show help for the setup script command-line in the form of + several lists of command-line options. 'parser' should be a + FancyGetopt instance; do not expect it to be returned in the + same state, as its option table will be reset to make it + generate the correct help text. + + If 'global_options' is true, lists the global options: + --verbose, --dry-run, etc. If 'display_options' is true, lists + the "display-only" options: --name, --version, etc. Finally, + lists per-command help for every command name or command class + in 'commands'. + """ + # late import because of mutual dependence between these modules + from distutils.cmd import Command + from distutils.core import gen_usage + + if global_options: + if display_options: + options = self._get_toplevel_options() + else: + options = self.global_options + parser.set_option_table(options) + parser.print_help(self.common_usage + "\nGlobal options:") + print() + + if display_options: + parser.set_option_table(self.display_options) + parser.print_help( + "Information display options (just display information, ignore any commands)" + ) + print() + + for command in commands: + if isinstance(command, type) and issubclass(command, Command): + klass = command + else: + klass = self.get_command_class(command) + if hasattr(klass, 'help_options') and isinstance(klass.help_options, list): + parser.set_option_table( + klass.user_options + fix_help_options(klass.help_options) + ) + else: + parser.set_option_table(klass.user_options) + parser.print_help(f"Options for '{klass.__name__}' command:") + print() + + print(gen_usage(self.script_name)) + + def handle_display_options(self, option_order): + """If there were any non-global "display-only" options + (--help-commands or the metadata display options) on the command + line, display the requested info and return true; else return + false. + """ + from distutils.core import gen_usage + + # User just wants a list of commands -- we'll print it out and stop + # processing now (ie. if they ran "setup --help-commands foo bar", + # we ignore "foo bar"). + if self.help_commands: + self.print_commands() + print() + print(gen_usage(self.script_name)) + return 1 + + # If user supplied any of the "display metadata" options, then + # display that metadata in the order in which the user supplied the + # metadata options. + any_display_options = 0 + is_display_option = set() + for option in self.display_options: + is_display_option.add(option[0]) + + for opt, val in option_order: + if val and opt in is_display_option: + opt = translate_longopt(opt) + value = getattr(self.metadata, "get_" + opt)() + if opt in ('keywords', 'platforms'): + print(','.join(value)) + elif opt in ('classifiers', 'provides', 'requires', 'obsoletes'): + print('\n'.join(value)) + else: + print(value) + any_display_options = 1 + + return any_display_options + + def print_command_list(self, commands, header, max_length) -> None: + """Print a subset of the list of all commands -- used by + 'print_commands()'. + """ + print(header + ":") + + for cmd in commands: + klass = self.cmdclass.get(cmd) + if not klass: + klass = self.get_command_class(cmd) + try: + description = klass.description + except AttributeError: + description = "(no description available)" + + print(f" {cmd:<{max_length}} {description}") + + def print_commands(self) -> None: + """Print out a help message listing all available commands with a + description of each. The list is divided into "standard commands" + (listed in distutils.command.__all__) and "extra commands" + (mentioned in self.cmdclass, but not a standard command). The + descriptions come from the command class attribute + 'description'. + """ + import distutils.command + + std_commands = distutils.command.__all__ + is_std = set(std_commands) + + extra_commands = [cmd for cmd in self.cmdclass.keys() if cmd not in is_std] + + max_length = 0 + for cmd in std_commands + extra_commands: + if len(cmd) > max_length: + max_length = len(cmd) + + self.print_command_list(std_commands, "Standard commands", max_length) + if extra_commands: + print() + self.print_command_list(extra_commands, "Extra commands", max_length) + + def get_command_list(self): + """Get a list of (command, description) tuples. + The list is divided into "standard commands" (listed in + distutils.command.__all__) and "extra commands" (mentioned in + self.cmdclass, but not a standard command). The descriptions come + from the command class attribute 'description'. + """ + # Currently this is only used on Mac OS, for the Mac-only GUI + # Distutils interface (by Jack Jansen) + import distutils.command + + std_commands = distutils.command.__all__ + is_std = set(std_commands) + + extra_commands = [cmd for cmd in self.cmdclass.keys() if cmd not in is_std] + + rv = [] + for cmd in std_commands + extra_commands: + klass = self.cmdclass.get(cmd) + if not klass: + klass = self.get_command_class(cmd) + try: + description = klass.description + except AttributeError: + description = "(no description available)" + rv.append((cmd, description)) + return rv + + # -- Command class/object methods ---------------------------------- + + def get_command_packages(self): + """Return a list of packages from which commands are loaded.""" + pkgs = self.command_packages + if not isinstance(pkgs, list): + if pkgs is None: + pkgs = '' + pkgs = [pkg.strip() for pkg in pkgs.split(',') if pkg != ''] + if "distutils.command" not in pkgs: + pkgs.insert(0, "distutils.command") + self.command_packages = pkgs + return pkgs + + def get_command_class(self, command: str) -> type[Command]: + """Return the class that implements the Distutils command named by + 'command'. First we check the 'cmdclass' dictionary; if the + command is mentioned there, we fetch the class object from the + dictionary and return it. Otherwise we load the command module + ("distutils.command." + command) and fetch the command class from + the module. The loaded class is also stored in 'cmdclass' + to speed future calls to 'get_command_class()'. + + Raises DistutilsModuleError if the expected module could not be + found, or if that module does not define the expected class. + """ + klass = self.cmdclass.get(command) + if klass: + return klass + + for pkgname in self.get_command_packages(): + module_name = f"{pkgname}.{command}" + klass_name = command + + try: + __import__(module_name) + module = sys.modules[module_name] + except ImportError: + continue + + try: + klass = getattr(module, klass_name) + except AttributeError: + raise DistutilsModuleError( + f"invalid command '{command}' (no class '{klass_name}' in module '{module_name}')" + ) + + self.cmdclass[command] = klass + return klass + + raise DistutilsModuleError(f"invalid command '{command}'") + + @overload + def get_command_obj( + self, command: str, create: Literal[True] = True + ) -> Command: ... + @overload + def get_command_obj( + self, command: str, create: Literal[False] + ) -> Command | None: ... + def get_command_obj(self, command: str, create: bool = True) -> Command | None: + """Return the command object for 'command'. Normally this object + is cached on a previous call to 'get_command_obj()'; if no command + object for 'command' is in the cache, then we either create and + return it (if 'create' is true) or return None. + """ + cmd_obj = self.command_obj.get(command) + if not cmd_obj and create: + if DEBUG: + self.announce( + "Distribution.get_command_obj(): " + f"creating '{command}' command object" + ) + + klass = self.get_command_class(command) + cmd_obj = self.command_obj[command] = klass(self) + self.have_run[command] = False + + # Set any options that were supplied in config files + # or on the command line. (NB. support for error + # reporting is lame here: any errors aren't reported + # until 'finalize_options()' is called, which means + # we won't report the source of the error.) + options = self.command_options.get(command) + if options: + self._set_command_options(cmd_obj, options) + + return cmd_obj + + def _set_command_options(self, command_obj, option_dict=None): # noqa: C901 + """Set the options for 'command_obj' from 'option_dict'. Basically + this means copying elements of a dictionary ('option_dict') to + attributes of an instance ('command'). + + 'command_obj' must be a Command instance. If 'option_dict' is not + supplied, uses the standard option dictionary for this command + (from 'self.command_options'). + """ + command_name = command_obj.get_command_name() + if option_dict is None: + option_dict = self.get_option_dict(command_name) + + if DEBUG: + self.announce(f" setting options for '{command_name}' command:") + for option, (source, value) in option_dict.items(): + if DEBUG: + self.announce(f" {option} = {value} (from {source})") + try: + bool_opts = [translate_longopt(o) for o in command_obj.boolean_options] + except AttributeError: + bool_opts = [] + try: + neg_opt = command_obj.negative_opt + except AttributeError: + neg_opt = {} + + try: + is_string = isinstance(value, str) + if option in neg_opt and is_string: + setattr(command_obj, neg_opt[option], not strtobool(value)) + elif option in bool_opts and is_string: + setattr(command_obj, option, strtobool(value)) + elif hasattr(command_obj, option): + setattr(command_obj, option, value) + else: + raise DistutilsOptionError( + f"error in {source}: command '{command_name}' has no such option '{option}'" + ) + except ValueError as msg: + raise DistutilsOptionError(msg) + + @overload + def reinitialize_command( + self, command: str, reinit_subcommands: bool = False + ) -> Command: ... + @overload + def reinitialize_command( + self, command: _CommandT, reinit_subcommands: bool = False + ) -> _CommandT: ... + def reinitialize_command( + self, command: str | Command, reinit_subcommands=False + ) -> Command: + """Reinitializes a command to the state it was in when first + returned by 'get_command_obj()': ie., initialized but not yet + finalized. This provides the opportunity to sneak option + values in programmatically, overriding or supplementing + user-supplied values from the config files and command line. + You'll have to re-finalize the command object (by calling + 'finalize_options()' or 'ensure_finalized()') before using it for + real. + + 'command' should be a command name (string) or command object. If + 'reinit_subcommands' is true, also reinitializes the command's + sub-commands, as declared by the 'sub_commands' class attribute (if + it has one). See the "install" command for an example. Only + reinitializes the sub-commands that actually matter, ie. those + whose test predicates return true. + + Returns the reinitialized command object. + """ + from distutils.cmd import Command + + if not isinstance(command, Command): + command_name = command + command = self.get_command_obj(command_name) + else: + command_name = command.get_command_name() + + if not command.finalized: + return command + command.initialize_options() + command.finalized = False + self.have_run[command_name] = False + self._set_command_options(command) + + if reinit_subcommands: + for sub in command.get_sub_commands(): + self.reinitialize_command(sub, reinit_subcommands) + + return command + + # -- Methods that operate on the Distribution ---------------------- + + def announce(self, msg, level: int = logging.INFO) -> None: + log.log(level, msg) + + def run_commands(self) -> None: + """Run each command that was seen on the setup script command line. + Uses the list of commands found and cache of command objects + created by 'get_command_obj()'. + """ + for cmd in self.commands: + self.run_command(cmd) + + # -- Methods that operate on its Commands -------------------------- + + def run_command(self, command: str) -> None: + """Do whatever it takes to run a command (including nothing at all, + if the command has already been run). Specifically: if we have + already created and run the command named by 'command', return + silently without doing anything. If the command named by 'command' + doesn't even have a command object yet, create one. Then invoke + 'run()' on that command object (or an existing one). + """ + # Already been here, done that? then return silently. + if self.have_run.get(command): + return + + log.info("running %s", command) + cmd_obj = self.get_command_obj(command) + cmd_obj.ensure_finalized() + cmd_obj.run() + self.have_run[command] = True + + # -- Distribution query methods ------------------------------------ + + def has_pure_modules(self) -> bool: + return len(self.packages or self.py_modules or []) > 0 + + def has_ext_modules(self) -> bool: + return self.ext_modules and len(self.ext_modules) > 0 + + def has_c_libraries(self) -> bool: + return self.libraries and len(self.libraries) > 0 + + def has_modules(self) -> bool: + return self.has_pure_modules() or self.has_ext_modules() + + def has_headers(self) -> bool: + return self.headers and len(self.headers) > 0 + + def has_scripts(self) -> bool: + return self.scripts and len(self.scripts) > 0 + + def has_data_files(self) -> bool: + return self.data_files and len(self.data_files) > 0 + + def is_pure(self) -> bool: + return ( + self.has_pure_modules() + and not self.has_ext_modules() + and not self.has_c_libraries() + ) + + # -- Metadata query methods ---------------------------------------- + + # If you're looking for 'get_name()', 'get_version()', and so forth, + # they are defined in a sneaky way: the constructor binds self.get_XXX + # to self.metadata.get_XXX. The actual code is in the + # DistributionMetadata class, below. + if TYPE_CHECKING: + # Unfortunately this means we need to specify them manually or not expose statically + def _(self) -> None: + self.get_name = self.metadata.get_name + self.get_version = self.metadata.get_version + self.get_fullname = self.metadata.get_fullname + self.get_author = self.metadata.get_author + self.get_author_email = self.metadata.get_author_email + self.get_maintainer = self.metadata.get_maintainer + self.get_maintainer_email = self.metadata.get_maintainer_email + self.get_contact = self.metadata.get_contact + self.get_contact_email = self.metadata.get_contact_email + self.get_url = self.metadata.get_url + self.get_license = self.metadata.get_license + self.get_licence = self.metadata.get_licence + self.get_description = self.metadata.get_description + self.get_long_description = self.metadata.get_long_description + self.get_keywords = self.metadata.get_keywords + self.get_platforms = self.metadata.get_platforms + self.get_classifiers = self.metadata.get_classifiers + self.get_download_url = self.metadata.get_download_url + self.get_requires = self.metadata.get_requires + self.get_provides = self.metadata.get_provides + self.get_obsoletes = self.metadata.get_obsoletes + + # Default attributes generated in __init__ from self.display_option_names + help_commands: bool + name: str | Literal[False] + version: str | Literal[False] + fullname: str | Literal[False] + author: str | Literal[False] + author_email: str | Literal[False] + maintainer: str | Literal[False] + maintainer_email: str | Literal[False] + contact: str | Literal[False] + contact_email: str | Literal[False] + url: str | Literal[False] + license: str | Literal[False] + licence: str | Literal[False] + description: str | Literal[False] + long_description: str | Literal[False] + platforms: str | list[str] | Literal[False] + classifiers: str | list[str] | Literal[False] + keywords: str | list[str] | Literal[False] + provides: list[str] | Literal[False] + requires: list[str] | Literal[False] + obsoletes: list[str] | Literal[False] + + +class DistributionMetadata: + """Dummy class to hold the distribution meta-data: name, version, + author, and so forth. + """ + + _METHOD_BASENAMES = ( + "name", + "version", + "author", + "author_email", + "maintainer", + "maintainer_email", + "url", + "license", + "description", + "long_description", + "keywords", + "platforms", + "fullname", + "contact", + "contact_email", + "classifiers", + "download_url", + # PEP 314 + "provides", + "requires", + "obsoletes", + ) + + def __init__( + self, path: str | bytes | os.PathLike[str] | os.PathLike[bytes] | None = None + ) -> None: + if path is not None: + self.read_pkg_file(open(path)) + else: + self.name: str | None = None + self.version: str | None = None + self.author: str | None = None + self.author_email: str | None = None + self.maintainer: str | None = None + self.maintainer_email: str | None = None + self.url: str | None = None + self.license: str | None = None + self.description: str | None = None + self.long_description: str | None = None + self.keywords: str | list[str] | None = None + self.platforms: str | list[str] | None = None + self.classifiers: str | list[str] | None = None + self.download_url: str | None = None + # PEP 314 + self.provides: str | list[str] | None = None + self.requires: str | list[str] | None = None + self.obsoletes: str | list[str] | None = None + + def read_pkg_file(self, file: IO[str]) -> None: + """Reads the metadata values from a file object.""" + msg = message_from_file(file) + + def _read_field(name: str) -> str | None: + value = msg[name] + if value and value != "UNKNOWN": + return value + return None + + def _read_list(name): + values = msg.get_all(name, None) + if values == []: + return None + return values + + metadata_version = msg['metadata-version'] + self.name = _read_field('name') + self.version = _read_field('version') + self.description = _read_field('summary') + # we are filling author only. + self.author = _read_field('author') + self.maintainer = None + self.author_email = _read_field('author-email') + self.maintainer_email = None + self.url = _read_field('home-page') + self.license = _read_field('license') + + if 'download-url' in msg: + self.download_url = _read_field('download-url') + else: + self.download_url = None + + self.long_description = _read_field('description') + self.description = _read_field('summary') + + if 'keywords' in msg: + self.keywords = _read_field('keywords').split(',') + + self.platforms = _read_list('platform') + self.classifiers = _read_list('classifier') + + # PEP 314 - these fields only exist in 1.1 + if metadata_version == '1.1': + self.requires = _read_list('requires') + self.provides = _read_list('provides') + self.obsoletes = _read_list('obsoletes') + else: + self.requires = None + self.provides = None + self.obsoletes = None + + def write_pkg_info(self, base_dir: str | os.PathLike[str]) -> None: + """Write the PKG-INFO file into the release tree.""" + with open( + os.path.join(base_dir, 'PKG-INFO'), 'w', encoding='UTF-8' + ) as pkg_info: + self.write_pkg_file(pkg_info) + + def write_pkg_file(self, file: SupportsWrite[str]) -> None: + """Write the PKG-INFO format data to a file object.""" + version = '1.0' + if ( + self.provides + or self.requires + or self.obsoletes + or self.classifiers + or self.download_url + ): + version = '1.1' + + # required fields + file.write(f'Metadata-Version: {version}\n') + file.write(f'Name: {self.get_name()}\n') + file.write(f'Version: {self.get_version()}\n') + + def maybe_write(header, val): + if val: + file.write(f"{header}: {val}\n") + + # optional fields + maybe_write("Summary", self.get_description()) + maybe_write("Home-page", self.get_url()) + maybe_write("Author", self.get_contact()) + maybe_write("Author-email", self.get_contact_email()) + maybe_write("License", self.get_license()) + maybe_write("Download-URL", self.download_url) + maybe_write("Description", rfc822_escape(self.get_long_description() or "")) + maybe_write("Keywords", ",".join(self.get_keywords())) + + self._write_list(file, 'Platform', self.get_platforms()) + self._write_list(file, 'Classifier', self.get_classifiers()) + + # PEP 314 + self._write_list(file, 'Requires', self.get_requires()) + self._write_list(file, 'Provides', self.get_provides()) + self._write_list(file, 'Obsoletes', self.get_obsoletes()) + + def _write_list(self, file, name, values): + values = values or [] + for value in values: + file.write(f'{name}: {value}\n') + + # -- Metadata query methods ---------------------------------------- + + def get_name(self) -> str: + return self.name or "UNKNOWN" + + def get_version(self) -> str: + return self.version or "0.0.0" + + def get_fullname(self) -> str: + return self._fullname(self.get_name(), self.get_version()) + + @staticmethod + def _fullname(name: str, version: str) -> str: + """ + >>> DistributionMetadata._fullname('setup.tools', '1.0-2') + 'setup_tools-1.0.post2' + >>> DistributionMetadata._fullname('setup-tools', '1.2post2') + 'setup_tools-1.2.post2' + >>> DistributionMetadata._fullname('setup-tools', '1.0-r2') + 'setup_tools-1.0.post2' + >>> DistributionMetadata._fullname('setup.tools', '1.0.post') + 'setup_tools-1.0.post0' + >>> DistributionMetadata._fullname('setup.tools', '1.0+ubuntu-1') + 'setup_tools-1.0+ubuntu.1' + """ + return "{}-{}".format( + canonicalize_name(name).replace('-', '_'), + canonicalize_version(version, strip_trailing_zero=False), + ) + + def get_author(self) -> str | None: + return self.author + + def get_author_email(self) -> str | None: + return self.author_email + + def get_maintainer(self) -> str | None: + return self.maintainer + + def get_maintainer_email(self) -> str | None: + return self.maintainer_email + + def get_contact(self) -> str | None: + return self.maintainer or self.author + + def get_contact_email(self) -> str | None: + return self.maintainer_email or self.author_email + + def get_url(self) -> str | None: + return self.url + + def get_license(self) -> str | None: + return self.license + + get_licence = get_license + + def get_description(self) -> str | None: + return self.description + + def get_long_description(self) -> str | None: + return self.long_description + + def get_keywords(self) -> str | list[str]: + return self.keywords or [] + + def set_keywords(self, value: str | Iterable[str]) -> None: + self.keywords = _ensure_list(value, 'keywords') + + def get_platforms(self) -> str | list[str] | None: + return self.platforms + + def set_platforms(self, value: str | Iterable[str]) -> None: + self.platforms = _ensure_list(value, 'platforms') + + def get_classifiers(self) -> str | list[str]: + return self.classifiers or [] + + def set_classifiers(self, value: str | Iterable[str]) -> None: + self.classifiers = _ensure_list(value, 'classifiers') + + def get_download_url(self) -> str | None: + return self.download_url + + # PEP 314 + def get_requires(self) -> str | list[str]: + return self.requires or [] + + def set_requires(self, value: Iterable[str]) -> None: + import distutils.versionpredicate + + for v in value: + distutils.versionpredicate.VersionPredicate(v) + self.requires = list(value) + + def get_provides(self) -> str | list[str]: + return self.provides or [] + + def set_provides(self, value: Iterable[str]) -> None: + value = [v.strip() for v in value] + for v in value: + import distutils.versionpredicate + + distutils.versionpredicate.split_provision(v) + self.provides = value + + def get_obsoletes(self) -> str | list[str]: + return self.obsoletes or [] + + def set_obsoletes(self, value: Iterable[str]) -> None: + import distutils.versionpredicate + + for v in value: + distutils.versionpredicate.VersionPredicate(v) + self.obsoletes = list(value) + + +def fix_help_options(options): + """Convert a 4-tuple 'help_options' list as found in various command + classes to the 3-tuple form required by FancyGetopt. + """ + return [opt[0:3] for opt in options] diff --git a/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/fancy_getopt.py b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/fancy_getopt.py new file mode 100644 index 0000000000000000000000000000000000000000..1a1d3a05da544b98ff84d03ecbee1185b2eb45f7 --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/fancy_getopt.py @@ -0,0 +1,471 @@ +"""distutils.fancy_getopt + +Wrapper around the standard getopt module that provides the following +additional features: + * short and long options are tied together + * options have help strings, so fancy_getopt could potentially + create a complete usage summary + * options set attributes of a passed-in object +""" + +from __future__ import annotations + +import getopt +import re +import string +import sys +from collections.abc import Sequence +from typing import Any + +from .errors import DistutilsArgError, DistutilsGetoptError + +# Much like command_re in distutils.core, this is close to but not quite +# the same as a Python NAME -- except, in the spirit of most GNU +# utilities, we use '-' in place of '_'. (The spirit of LISP lives on!) +# The similarities to NAME are again not a coincidence... +longopt_pat = r'[a-zA-Z](?:[a-zA-Z0-9-]*)' +longopt_re = re.compile(rf'^{longopt_pat}$') + +# For recognizing "negative alias" options, eg. "quiet=!verbose" +neg_alias_re = re.compile(f"^({longopt_pat})=!({longopt_pat})$") + +# This is used to translate long options to legitimate Python identifiers +# (for use as attributes of some object). +longopt_xlate = str.maketrans('-', '_') + + +class FancyGetopt: + """Wrapper around the standard 'getopt()' module that provides some + handy extra functionality: + * short and long options are tied together + * options have help strings, and help text can be assembled + from them + * options set attributes of a passed-in object + * boolean options can have "negative aliases" -- eg. if + --quiet is the "negative alias" of --verbose, then "--quiet" + on the command line sets 'verbose' to false + """ + + def __init__(self, option_table=None): + # The option table is (currently) a list of tuples. The + # tuples may have 3 or four values: + # (long_option, short_option, help_string [, repeatable]) + # if an option takes an argument, its long_option should have '=' + # appended; short_option should just be a single character, no ':' + # in any case. If a long_option doesn't have a corresponding + # short_option, short_option should be None. All option tuples + # must have long options. + self.option_table = option_table + + # 'option_index' maps long option names to entries in the option + # table (ie. those 3-tuples). + self.option_index = {} + if self.option_table: + self._build_index() + + # 'alias' records (duh) alias options; {'foo': 'bar'} means + # --foo is an alias for --bar + self.alias = {} + + # 'negative_alias' keeps track of options that are the boolean + # opposite of some other option + self.negative_alias = {} + + # These keep track of the information in the option table. We + # don't actually populate these structures until we're ready to + # parse the command-line, since the 'option_table' passed in here + # isn't necessarily the final word. + self.short_opts = [] + self.long_opts = [] + self.short2long = {} + self.attr_name = {} + self.takes_arg = {} + + # And 'option_order' is filled up in 'getopt()'; it records the + # original order of options (and their values) on the command-line, + # but expands short options, converts aliases, etc. + self.option_order = [] + + def _build_index(self): + self.option_index.clear() + for option in self.option_table: + self.option_index[option[0]] = option + + def set_option_table(self, option_table): + self.option_table = option_table + self._build_index() + + def add_option(self, long_option, short_option=None, help_string=None): + if long_option in self.option_index: + raise DistutilsGetoptError( + f"option conflict: already an option '{long_option}'" + ) + else: + option = (long_option, short_option, help_string) + self.option_table.append(option) + self.option_index[long_option] = option + + def has_option(self, long_option): + """Return true if the option table for this parser has an + option with long name 'long_option'.""" + return long_option in self.option_index + + def get_attr_name(self, long_option): + """Translate long option name 'long_option' to the form it + has as an attribute of some object: ie., translate hyphens + to underscores.""" + return long_option.translate(longopt_xlate) + + def _check_alias_dict(self, aliases, what): + assert isinstance(aliases, dict) + for alias, opt in aliases.items(): + if alias not in self.option_index: + raise DistutilsGetoptError( + f"invalid {what} '{alias}': option '{alias}' not defined" + ) + if opt not in self.option_index: + raise DistutilsGetoptError( + f"invalid {what} '{alias}': aliased option '{opt}' not defined" + ) + + def set_aliases(self, alias): + """Set the aliases for this option parser.""" + self._check_alias_dict(alias, "alias") + self.alias = alias + + def set_negative_aliases(self, negative_alias): + """Set the negative aliases for this option parser. + 'negative_alias' should be a dictionary mapping option names to + option names, both the key and value must already be defined + in the option table.""" + self._check_alias_dict(negative_alias, "negative alias") + self.negative_alias = negative_alias + + def _grok_option_table(self): # noqa: C901 + """Populate the various data structures that keep tabs on the + option table. Called by 'getopt()' before it can do anything + worthwhile. + """ + self.long_opts = [] + self.short_opts = [] + self.short2long.clear() + self.repeat = {} + + for option in self.option_table: + if len(option) == 3: + long, short, help = option + repeat = 0 + elif len(option) == 4: + long, short, help, repeat = option + else: + # the option table is part of the code, so simply + # assert that it is correct + raise ValueError(f"invalid option tuple: {option!r}") + + # Type- and value-check the option names + if not isinstance(long, str) or len(long) < 2: + raise DistutilsGetoptError( + f"invalid long option '{long}': must be a string of length >= 2" + ) + + if not ((short is None) or (isinstance(short, str) and len(short) == 1)): + raise DistutilsGetoptError( + f"invalid short option '{short}': must a single character or None" + ) + + self.repeat[long] = repeat + self.long_opts.append(long) + + if long[-1] == '=': # option takes an argument? + if short: + short = short + ':' + long = long[0:-1] + self.takes_arg[long] = True + else: + # Is option is a "negative alias" for some other option (eg. + # "quiet" == "!verbose")? + alias_to = self.negative_alias.get(long) + if alias_to is not None: + if self.takes_arg[alias_to]: + raise DistutilsGetoptError( + f"invalid negative alias '{long}': " + f"aliased option '{alias_to}' takes a value" + ) + + self.long_opts[-1] = long # XXX redundant?! + self.takes_arg[long] = False + + # If this is an alias option, make sure its "takes arg" flag is + # the same as the option it's aliased to. + alias_to = self.alias.get(long) + if alias_to is not None: + if self.takes_arg[long] != self.takes_arg[alias_to]: + raise DistutilsGetoptError( + f"invalid alias '{long}': inconsistent with " + f"aliased option '{alias_to}' (one of them takes a value, " + "the other doesn't" + ) + + # Now enforce some bondage on the long option name, so we can + # later translate it to an attribute name on some object. Have + # to do this a bit late to make sure we've removed any trailing + # '='. + if not longopt_re.match(long): + raise DistutilsGetoptError( + f"invalid long option name '{long}' " + "(must be letters, numbers, hyphens only" + ) + + self.attr_name[long] = self.get_attr_name(long) + if short: + self.short_opts.append(short) + self.short2long[short[0]] = long + + def getopt(self, args: Sequence[str] | None = None, object=None): # noqa: C901 + """Parse command-line options in args. Store as attributes on object. + + If 'args' is None or not supplied, uses 'sys.argv[1:]'. If + 'object' is None or not supplied, creates a new OptionDummy + object, stores option values there, and returns a tuple (args, + object). If 'object' is supplied, it is modified in place and + 'getopt()' just returns 'args'; in both cases, the returned + 'args' is a modified copy of the passed-in 'args' list, which + is left untouched. + """ + if args is None: + args = sys.argv[1:] + if object is None: + object = OptionDummy() + created_object = True + else: + created_object = False + + self._grok_option_table() + + short_opts = ' '.join(self.short_opts) + try: + opts, args = getopt.getopt(args, short_opts, self.long_opts) + except getopt.error as msg: + raise DistutilsArgError(msg) + + for opt, val in opts: + if len(opt) == 2 and opt[0] == '-': # it's a short option + opt = self.short2long[opt[1]] + else: + assert len(opt) > 2 and opt[:2] == '--' + opt = opt[2:] + + alias = self.alias.get(opt) + if alias: + opt = alias + + if not self.takes_arg[opt]: # boolean option? + assert val == '', "boolean option can't have value" + alias = self.negative_alias.get(opt) + if alias: + opt = alias + val = 0 + else: + val = 1 + + attr = self.attr_name[opt] + # The only repeating option at the moment is 'verbose'. + # It has a negative option -q quiet, which should set verbose = False. + if val and self.repeat.get(attr) is not None: + val = getattr(object, attr, 0) + 1 + setattr(object, attr, val) + self.option_order.append((opt, val)) + + # for opts + if created_object: + return args, object + else: + return args + + def get_option_order(self): + """Returns the list of (option, value) tuples processed by the + previous run of 'getopt()'. Raises RuntimeError if + 'getopt()' hasn't been called yet. + """ + if self.option_order is None: + raise RuntimeError("'getopt()' hasn't been called yet") + else: + return self.option_order + + def generate_help(self, header=None): # noqa: C901 + """Generate help text (a list of strings, one per suggested line of + output) from the option table for this FancyGetopt object. + """ + # Blithely assume the option table is good: probably wouldn't call + # 'generate_help()' unless you've already called 'getopt()'. + + # First pass: determine maximum length of long option names + max_opt = 0 + for option in self.option_table: + long = option[0] + short = option[1] + ell = len(long) + if long[-1] == '=': + ell = ell - 1 + if short is not None: + ell = ell + 5 # " (-x)" where short == 'x' + if ell > max_opt: + max_opt = ell + + opt_width = max_opt + 2 + 2 + 2 # room for indent + dashes + gutter + + # Typical help block looks like this: + # --foo controls foonabulation + # Help block for longest option looks like this: + # --flimflam set the flim-flam level + # and with wrapped text: + # --flimflam set the flim-flam level (must be between + # 0 and 100, except on Tuesdays) + # Options with short names will have the short name shown (but + # it doesn't contribute to max_opt): + # --foo (-f) controls foonabulation + # If adding the short option would make the left column too wide, + # we push the explanation off to the next line + # --flimflam (-l) + # set the flim-flam level + # Important parameters: + # - 2 spaces before option block start lines + # - 2 dashes for each long option name + # - min. 2 spaces between option and explanation (gutter) + # - 5 characters (incl. space) for short option name + + # Now generate lines of help text. (If 80 columns were good enough + # for Jesus, then 78 columns are good enough for me!) + line_width = 78 + text_width = line_width - opt_width + big_indent = ' ' * opt_width + if header: + lines = [header] + else: + lines = ['Option summary:'] + + for option in self.option_table: + long, short, help = option[:3] + text = wrap_text(help, text_width) + if long[-1] == '=': + long = long[0:-1] + + # Case 1: no short option at all (makes life easy) + if short is None: + if text: + lines.append(f" --{long:<{max_opt}} {text[0]}") + else: + lines.append(f" --{long:<{max_opt}}") + + # Case 2: we have a short option, so we have to include it + # just after the long option + else: + opt_names = f"{long} (-{short})" + if text: + lines.append(f" --{opt_names:<{max_opt}} {text[0]}") + else: + lines.append(f" --{opt_names:<{max_opt}}") + + for ell in text[1:]: + lines.append(big_indent + ell) + return lines + + def print_help(self, header=None, file=None): + if file is None: + file = sys.stdout + for line in self.generate_help(header): + file.write(line + "\n") + + +def fancy_getopt(options, negative_opt, object, args: Sequence[str] | None): + parser = FancyGetopt(options) + parser.set_negative_aliases(negative_opt) + return parser.getopt(args, object) + + +WS_TRANS = {ord(_wschar): ' ' for _wschar in string.whitespace} + + +def wrap_text(text, width): + """wrap_text(text : string, width : int) -> [string] + + Split 'text' into multiple lines of no more than 'width' characters + each, and return the list of strings that results. + """ + if text is None: + return [] + if len(text) <= width: + return [text] + + text = text.expandtabs() + text = text.translate(WS_TRANS) + chunks = re.split(r'( +|-+)', text) + chunks = [ch for ch in chunks if ch] # ' - ' results in empty strings + lines = [] + + while chunks: + cur_line = [] # list of chunks (to-be-joined) + cur_len = 0 # length of current line + + while chunks: + ell = len(chunks[0]) + if cur_len + ell <= width: # can squeeze (at least) this chunk in + cur_line.append(chunks[0]) + del chunks[0] + cur_len = cur_len + ell + else: # this line is full + # drop last chunk if all space + if cur_line and cur_line[-1][0] == ' ': + del cur_line[-1] + break + + if chunks: # any chunks left to process? + # if the current line is still empty, then we had a single + # chunk that's too big too fit on a line -- so we break + # down and break it up at the line width + if cur_len == 0: + cur_line.append(chunks[0][0:width]) + chunks[0] = chunks[0][width:] + + # all-whitespace chunks at the end of a line can be discarded + # (and we know from the re.split above that if a chunk has + # *any* whitespace, it is *all* whitespace) + if chunks[0][0] == ' ': + del chunks[0] + + # and store this line in the list-of-all-lines -- as a single + # string, of course! + lines.append(''.join(cur_line)) + + return lines + + +def translate_longopt(opt): + """Convert a long option name to a valid Python identifier by + changing "-" to "_". + """ + return opt.translate(longopt_xlate) + + +class OptionDummy: + """Dummy class just used as a place to hold command-line option + values as instance attributes.""" + + def __init__(self, options: Sequence[Any] = []): + """Create a new OptionDummy instance. The attributes listed in + 'options' will be initialized to None.""" + for opt in options: + setattr(self, opt, None) + + +if __name__ == "__main__": + text = """\ +Tra-la-la, supercalifragilisticexpialidocious. +How *do* you spell that odd word, anyways? +(Someone ask Mary -- she'll know [or she'll +say, "How should I know?"].)""" + + for w in (10, 20, 30, 40): + print(f"width: {w}") + print("\n".join(wrap_text(text, w))) + print() diff --git a/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/unixccompiler.py b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/unixccompiler.py new file mode 100644 index 0000000000000000000000000000000000000000..20b8ce6b9bba21bd709b77249bdcae5b4119e9ca --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/mani_skill2_repo/.eggs/setuptools-80.9.0-py3.10.egg/setuptools/_distutils/unixccompiler.py @@ -0,0 +1,9 @@ +import importlib + +from .compilers.C import unix + +UnixCCompiler = unix.Compiler + +# ensure import of unixccompiler implies ccompiler imported +# (pypa/setuptools#4871) +importlib.import_module('distutils.ccompiler') diff --git a/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/legacy/ms2/scene_generator_env.py b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/legacy/ms2/scene_generator_env.py new file mode 100644 index 0000000000000000000000000000000000000000..a7ef0da393f13ef2fb0065a193af05227bb8baa3 --- /dev/null +++ b/project/ManiSkill3/src/maniskill2_benchmark/msx_envs/msx_envs/legacy/ms2/scene_generator_env.py @@ -0,0 +1,583 @@ +from collections import defaultdict +from functools import partial +import os +import pathlib +from typing import Callable, Final, Literal + + +import numpy as np +import json +import sapien.core as sapien +from transforms3d.euler import euler2quat +from sapien.core import Pose +from transforms3d.quaternions import qmult + +import yaml +from mani_skill2 import format_path +from mani_skill2.envs.sapien_env import BaseEnv +from mani_skill2.utils.io_utils import load_json +from mani_skill2.utils.geometry import get_axis_aligned_bbox_for_actor +from mani_skill2.utils.registration import register_env +from mani_skill2.sensors.camera import CameraConfig +from mani_skill2.utils.sapien_utils import ( + look_at, + vectorize_pose, +) +from cfdp.utils.object_placement import PlacementBounds, ObjectBoundingBox, find_valid_position_2d + + +from cfdp.envs import assets +from cfdp.envs.random_obstacle_reach_env import RandomObstacleReachEnv + + +OUT_OF_BOUNDS: Final = np.array([0, 0, -900]) +OBJECTS_KEY = 'objects' + +@register_env( + "SceneGenerator-v0", + max_episode_steps=1, +) +class SceneGeneratorEnv(RandomObstacleReachEnv): + """This environment generates actors at runtime and outputs the new scene to a YAML config. + + This config can be retrieved in info['gen_scene'] on reset. + """ + def __init__( + self, + *args, + distractor_count: int, + object_place_bounds: tuple[tuple[float, float], tuple[float, float], tuple[float]] | None = None, + asset_root=str(pathlib.Path(assets.__file__).parent), + base_object_config_path: str | pathlib.Path, + model_config="asset_tables.yaml", + scene_config_serialization_mode: Literal["yaml", "json", "dict"] = "yaml", + distractor_rotation_axes: tuple[bool, bool, bool] = (False, False, True), + minimum_object_aabb_separation=0.05, # this can be below 0 + table_scale: list[float, float] = [1.0, 1.0], + **kwargs + + ): + self.asset_root = asset_root + self.model_configs = model_config + self.base_scene_config_path=base_object_config_path + self.table_scale = table_scale + + model_db_path = self._get_asset_path(self.model_configs) + # Load object configurations before calling parent's __init__ + with open(model_db_path, 'r') as f: + self.model_db = yaml.safe_load(f) + + object_config_path = self._get_asset_path(self.base_scene_config_path) + + # Load object configurations before calling parent's __init__ + with open(object_config_path, 'r') as f: + self.base_object_configs = yaml.safe_load(f) + self.base_object_configs[OBJECTS_KEY] = _key_hierarchy_dict(self.base_object_configs[OBJECTS_KEY]) + + self._initial_actor_states = {} + self._distractor_count = distractor_count + self._object_place_bounds = object_place_bounds + self._minimum_object_aabb_separation = minimum_object_aabb_separation + + self.scene_serializer_func: Callable[[str], dict] + if scene_config_serialization_mode == "json": + self.scene_serializer_func = partial( + json.dumps, + allow_nan=False, + ) + elif scene_config_serialization_mode == "yaml": + self.scene_serializer_func = partial( + yaml.dump, + encoding='utf-8', + allow_unicode=True, + # sort_keys=False, + # default_flow_style=None, + # indent=4, + # width=120, + ) + elif scene_config_serialization_mode == "dict": + # Just passthrough + self.scene_serializer_func = lambda d: d + else: + raise ValueError("Invalid serialization mode. Choose from 'json', 'yaml', or 'dict'") + + self.new_distractors = [] + self._generated_object_configs = { + OBJECTS_KEY: defaultdict(dict), + } + self._generated_object_configs[OBJECTS_KEY].update(self.base_object_configs[OBJECTS_KEY]) + + self.ycb_objects: dict[str, sapien.Actor] = {} + self.obstacle_actors: dict[str, sapien.Actor] = {} + self.distractor_rotation_axes = distractor_rotation_axes + + super().__init__(*args, **kwargs) + self.goal_thresh = 0.01 + self.min_goal_dist = 0.2 + + def _get_asset_path(self, asset): + resolved_asset = format_path(asset) + return ( + str(pathlib.Path(self.asset_root) / resolved_asset) + if not os.path.isabs(asset) + else resolved_asset + ) + + def _settle(self, t): + # step the simulation and let the scene settle for t seconds + settle(self, t) + + def _load_actors(self): + """Load actors only, state is set later in _initialize().""" + self._add_ground(render=self.bg_name is None, altitude=-0.8) + self.goal_site = self._build_sphere_site(radius=0.01) + + # Clear previous obstacles + self.obstacles = [] + all_points = [] + + self._load_base_scene_actors() + self._load_new_obstacles() + self._load_new_ycb_distractors() + + # Process each obstacle configuration + for obstacle_config in self.obstacle_configs: + obstacle_type = obstacle_config.get('type', 'box') + if obstacle_type == 'box': + obstacle, points = self._create_box_obstacle(obstacle_config) + elif obstacle_type == 'sphere': + obstacle, points = self._create_sphere_obstacle(obstacle_config) + elif obstacle_type == 'mesh': + obstacle, points = self._create_mesh_obstacle(obstacle_config) + else: + raise ValueError(f"Unsupported obstacle type: {obstacle_type}") + + self.obstacles.append(obstacle) + all_points.append(points) + + if all_points: + self.obstacle_point_cloud = np.vstack(all_points) + + def _initialize_actors(self): + """Initialize the actor state.""" + super()._initialize_actors() + + self._initialize_base_scene_actors() + if self._object_place_bounds is None: + # self._discover_table_bounds() + self._scale_table_bounds(scales=self.table_scale) + self._initialize_new_scene_actors() + + def _discover_table_bounds(self): + """Discover the bounds of the table.""" + bbox_min, bbox_max = get_axis_aligned_bbox_for_actor(self.ycb_objects['table']) + self._object_place_bounds = [bbox_min[:2].tolist(), bbox_max[:2].tolist(), [2]] + + def _scale_table_bounds(self, scales: list[float] = [1.0, 1.0]): + """Scale the table bounds by the given factors. + + Args: + scales: Scale factors [scale_x, scale_y] for x and y dimensions + """ + scale_x, scale_y = scales + bbox_min, bbox_max = get_axis_aligned_bbox_for_actor(self.ycb_objects['table']) + center_x = (bbox_max[0] + bbox_min[0]) / 2 + center_y = (bbox_max[1] + bbox_min[1]) / 2 + + half_width = (bbox_max[0] - bbox_min[0]) / 2 + half_length = (bbox_max[1] - bbox_min[1]) / 2 + + scaled_min = [ + center_x - half_width * scale_x, + center_y - half_length * scale_y + ] + scaled_max = [ + center_x + half_width * scale_x, + center_y + half_length * scale_y + ] + + self._object_place_bounds = [scaled_min, scaled_max, [2]] + + def _set_env_ycb_obj_attr(self, name, obj): + setattr(self, f"ycb_object_{name}", obj) + self.ycb_objects[name] = obj + + def _set_env_obstacle_obj_attr(self, name, obj): + setattr(self, f"obstacle_object_{name}", obj) + self.obstacle_actors[name] = obj + + def _load_actor_helper(self, + scene: sapien.Scene, + scale: float | tuple[float, float, float] | None = None, + physical_material: sapien.PhysicalMaterial = None, + density: float | None = None, + visual_mesh_path: str | None = None, + collision_mesh_path: str | None = None, + ): + """Load an actor from a model ID.""" + builder = scene.create_actor_builder() + + if isinstance(scale, (int, float)): + scale = (scale, scale, scale) + + if visual_mesh_path is not None: + obj_visual_path = self._get_asset_path(visual_mesh_path) + builder.add_visual_from_file( + filename=obj_visual_path, + scale=scale + ) + + obj_collision_path = self._get_asset_path(collision_mesh_path) + builder.add_multiple_collisions_from_file( + filename=obj_collision_path, + scale=scale, + material=physical_material, + density=density or 1000, + ) + + return builder + + def _load_base_scene_actors(self): + for name, obj_config in self.base_object_configs[OBJECTS_KEY].items(): + builder = self._load_actor_helper( + scene=self._scene, + scale = obj_config.get('scale', [1.0]*3), + visual_mesh_path=obj_config.get('visual', {}).get('path'), + collision_mesh_path = obj_config.get('collision', {}).get('path'), + ) + # Build actor as static or dynamic based on config + if obj_config.get('static', True): + obj = builder.build_static(name) + else: + obj = builder.build(name) + + # Set these object somewhere far away + # obj.set_pose(sapien.Pose(OUT_OF_BOUNDS)) + self._set_env_ycb_obj_attr(name, obj) + + def _load_new_ycb_distractors(self): + ycb_asset_table = self.model_db['ycb'] + model_keys = list(ycb_asset_table.keys()) + self.new_distractors = [ + str(s) + for s + in self._episode_rng.choice( + model_keys, + self._distractor_count, + replace=False + ) + ] + + for name in self.new_distractors: + scale=ycb_asset_table[name].get('scale', 1.0) + visual_mesh_path=ycb_asset_table[name].get('visual_mesh_path') + collision_mesh_path=ycb_asset_table[name].get('collision_mesh_path') + builder = self._load_actor_helper( + scene=self._scene, + scale=scale, + visual_mesh_path=visual_mesh_path, + collision_mesh_path=collision_mesh_path, + ) + obj = builder.build(name) + # Set these object somewhere far away + # obj.set_pose(sapien.Pose(OUT_OF_BOUNDS)) + self._set_env_ycb_obj_attr(name, obj) + + self._generated_object_configs[OBJECTS_KEY][name].update( + { + 'visual': { + 'path': visual_mesh_path, + }, + 'collision': { + 'path': collision_mesh_path, + }, + 'scale': scale, + } + ) + + def _load_new_obstacles(self): + obstacle_asset_table = self.model_db['obstacles'] + if obstacle_asset_table is None: + self.new_obstacles = [] + return + model_keys = list(obstacle_asset_table.keys()) + self.new_obstacles = [str(s) for s in model_keys] + + for name in self.new_obstacles: + # scale = [np.random.uniform(low=0.4, high=0.6), + # np.random.uniform(low=0.4, high=0.7), + # np.random.uniform(low=0.6, high=1.1)] + scale = [np.random.uniform(low=0.3, high=0.5), + np.random.uniform(low=0.4, high=0.6), + np.random.uniform(low=0.4, high=0.9)] + print("scale: ", scale) + scale=obstacle_asset_table[name].get('scale', scale) + visual_mesh_path=obstacle_asset_table[name].get('visual_mesh_path') + collision_mesh_path=obstacle_asset_table[name].get('collision_mesh_path') + builder = self._load_actor_helper( + scene=self._scene, + scale=scale, + visual_mesh_path=visual_mesh_path, + collision_mesh_path=collision_mesh_path, + ) + obj = builder.build(name) + # Set these object somewhere far away + # obj.set_pose(sapien.Pose(OUT_OF_BOUNDS)) + # self._set_env_ycb_obj_attr(name, obj) + self._set_env_obstacle_obj_attr(name, obj) + + self._generated_object_configs[OBJECTS_KEY][name].update( + { + 'visual': { + 'path': visual_mesh_path, + }, + 'collision': { + 'path': collision_mesh_path, + }, + 'scale': scale, + } + ) + + def _initialize_base_scene_actors(self): + actors = {a.name: a for a in self.get_actors()} + + for name, obj_config in self.base_object_configs[OBJECTS_KEY].items(): + obj = actors.get(name) + assert isinstance(obj, (sapien.Actor, sapien.ActorStatic)) + obj.set_pose(sapien.Pose( + obj_config['pose']['position'], + obj_config['pose']['quaternion'] + )) + + def _initialize_new_scene_actors(self): + """Set the initial state of the newly generated objects.""" + assert self._object_place_bounds is not None, f"Table bounds must be initialized." + placed_objects = [ + (actor, ObjectBoundingBox(*(local_bbox_for_actor(actor=actor)))) + for actor + in [self.ycb_objects[actor_name] for actor_name in self.base_object_configs[OBJECTS_KEY] if actor_name != 'table'] + ] + placement_bounds=PlacementBounds(*self._object_place_bounds) + + for actor_name in self.new_distractors: + actor = self.ycb_objects[actor_name] + actor.set_pose(sapien.Pose([100, 100, -50])) + + + placed_obstacles = [(actor, ObjectBoundingBox(*(local_bbox_for_actor(actor=actor)))) for actor in self.obstacle_actors.values()] + for obs_actor_name in self.new_obstacles: + obs_actor = self.obstacle_actors[obs_actor_name] + # Generate random yaw angle between -30 and 30 degrees + yaw = self._episode_rng.uniform(-np.pi/4, np.pi/4) + # Create quaternion with only yaw rotation + quat = euler2quat(0, 0, yaw) + obs_actor.set_pose(sapien.Pose(obs_actor.pose.p, quat)) + bb_min, bb_max = local_bbox_for_actor(actor=obs_actor) + bbox = ObjectBoundingBox(bb_min, bb_max) + success = False + while not success: + valid_position_2d = find_valid_position_2d( + placement_bounds=placement_bounds, + actor=obs_actor, + actor_local_bbox=bbox, + placed_objects=placed_obstacles, + rng=self._episode_rng, + retries=5000, # worst case + # minimum_aabb_separation=self._minimum_object_aabb_separation, + minimum_aabb_separation=0.03, + ) + z = (- bb_min[2]) + valid_position = np.hstack([valid_position_2d, z]) + print(f"Valid position1: {valid_position}") + obs_actor.set_pose(sapien.Pose(valid_position, quat)) + self._settle_distractor(distractor_obj=obs_actor, motion_lock_axes=(1, 1, 0, 1, 1, 1)) + if obs_actor.pose.p[2] > 0 and obs_actor.pose.p[2] < 0.4: # if z is unnormal resample it + success = True + + for actor_name in self.new_distractors: + actor = self.ycb_objects[actor_name] + euler = np.random.uniform(low=-np.pi/2, high=np.pi/2, size=(3,)) + euler = np.multiply(euler, np.array(self.distractor_rotation_axes, dtype=np.int8)) + quat = euler2quat(*euler) + actor.set_pose(sapien.Pose(actor.pose.p, quat)) + bb_min, bb_max = local_bbox_for_actor(actor=actor) + bbox = ObjectBoundingBox(bb_min, bb_max) + valid_position_2d = find_valid_position_2d( + placement_bounds=placement_bounds, + actor=actor, + actor_local_bbox=bbox, + placed_objects=placed_objects, + rng=self._episode_rng, + retries=1000, # worst case + minimum_aabb_separation=self._minimum_object_aabb_separation, + ) + ground_level = 0 + # Move up by the min z of the bounding box + z = ground_level + (- bb_min[2]) + # just be lazy and give a little more height + z += 0.05 + # If there is less than 0 separation we may want objects to be more likely to stack + if self._minimum_object_aabb_separation < 0: + z += 0.3 + # valid_position = self._find_valid_position(placed_objects, distractor_model_id, distractor_model_scale, self._distractor_pos_random, retries=100000) + if valid_position_2d is None: + print(f"Warning: Default to placing randomly. Could not find a valid position for distractor {actor_name} after maximum attempts.") + valid_position_2d = placement_bounds.random_in(rng=self._episode_rng) + ## HACK: add extra height to hopefully stack up + z += 0.3 + valid_position = np.hstack([valid_position_2d, z]) + # Find a valid position + actor.set_pose(sapien.Pose(valid_position, actor.pose.q)) + self._settle_distractor(distractor_obj=actor) + + # get updated AABB + final_bbox = ObjectBoundingBox(*(local_bbox_for_actor(actor=actor))) + placed_objects = placed_objects + [(actor, final_bbox)] + + # Unlock motion + for actor_name, actor in self.ycb_objects.items(): + if isinstance(actor, sapien.ActorStatic): + continue + actor.lock_motion(0, 0, 0, 0, 0, 0) + actor.set_velocity(np.zeros(3)) + actor.set_angular_velocity(np.zeros(3)) + self._settle(0.5) + + lin_vel, ang_vel = 0.0, 0.0 + for actor_name, actor in self.ycb_objects.items(): + if isinstance(actor, sapien.ActorStatic): + continue + lin_vel += np.linalg.norm(actor.velocity) + ang_vel += np.linalg.norm(actor.angular_velocity) + if lin_vel > 1e-3 or ang_vel > 1e-2: + self._settle(1.5) + + for obs_actor_name in self.new_obstacles: + obs_actor = self.obstacle_actors[obs_actor_name] + print("pose at the end: ", obs_actor.pose) + + + def _serialize_actors(self) -> dict: + """Serialize the actors to a hierarchy. + + This is useful for saving and loading the scene state. Example: + ```yaml + # yaml + objects: + - name: table + visual: + path: object/table/desktable.glb + collision: + path: "object/table/desktable.obj" # same as visual in this case + scale: [2.0, 1.0, 1.5] + pose: + position: [0.4, 0, -0.75] + quaternion: [0, 0, 0.7071068, 0.7071068] + ``` + """ + actors_dict = self._generated_object_configs.copy() + for actor_name, actor in self.ycb_objects.items(): + actors_dict[OBJECTS_KEY][actor_name].update({ + + 'pose': { + 'position': actor.pose.p.tolist(), + 'quaternion': actor.pose.q.tolist(), + } + }) + + for obstacle_name, obstacle in self.obstacle_actors.items(): + actors_dict[OBJECTS_KEY][obstacle_name].update({ + 'pose': { + 'position': obstacle.pose.p.tolist(), + 'quaternion': obstacle.pose.q.tolist(), + } + }) + # convert back to list version + actors_dict[OBJECTS_KEY] = _list_hierarchy_dict(actors_dict[OBJECTS_KEY]) + + return self.scene_serializer_func(actors_dict) + + + def reset(self, seed=None, options=None): + obs, info = super().reset(seed, options) + info['scene_config'] = self._serialize_actors() + return obs, info + + def _settle_distractor( + self, + distractor_obj: sapien.Actor, + motion_lock_axes=(1, 1, 0, 0, 0, 0), + ): + return settle_distractor( + env=self, + distractor_obj=distractor_obj, + t=0.5, + drop_height=0.5, + unlock_at_end=False, + motion_lock_axes=motion_lock_axes, + ) + + def _initialize_agent(self): + """Higher EE pos.""" + qpos = np.array( + [0.0, 0, 0, -np.pi * 2 / 3, 0, np.pi * 2 / 3, np.pi / 4, 0.04, 0.04] + ) + # fmt: on + qpos[:-2] += self._episode_rng.normal( + 0, self.robot_init_qpos_noise, len(qpos) - 2 + ) + self.agent.reset(qpos) + self.agent.robot.set_pose(Pose([0, 0, 0])) + #make the robot invisible + for actor in self.agent.robot.get_links(): + actor.hide_visual() + + def _register_render_cameras(self): + if self.robot_uid == "panda": + # pose = look_at([1.3, 0.4, 0.8], [0.0, 0.0, 0.4]) + # pose = look_at([-0.2, 0.0, 1.5], [0.4, 0.0, 0.0])# Top-down view + pose = look_at([2.0, 0.5, 0.6], [0, -0.1, 0.2]) #side view + return CameraConfig("render_camera", pose.p, pose.q, 1024, 1024, 1, 0.01, 10) + +def _list_hierarchy_dict(dict_obj: dict): + return [{'name': k, **v} for k, v in dict_obj.items() if isinstance(v, dict)] + +def _key_hierarchy_dict(list_obj: list, on_key: str = 'name'): + return {v[on_key]: v for v in list_obj if v.get(on_key) is not None} + + +def settle_distractor( + env: BaseEnv, + distractor_obj: sapien.Actor, + t: float, + drop_height: float = 0.5, + unlock_at_end: bool = False, + motion_lock_axes: tuple[int, int, int, int, int, int] = (1, 1, 0, 1, 1, 0), + up: np.ndarray = np.array([0., 0., 1.]), +): + drop = up * drop_height + distractor_obj.set_pose(sapien.Pose(distractor_obj.pose.p + drop, distractor_obj.pose.q)) + distractor_obj.set_velocity(np.zeros(3)) + distractor_obj.set_angular_velocity(np.zeros(3)) + # Lock x and y and pitch and roll + assert len(motion_lock_axes) == 6, f"`{motion_lock_axes=}` must be a tuple of length 6" + distractor_obj.lock_motion(*motion_lock_axes) + + # Let distractor objects fall onto the table + settle(env, t) + + if unlock_at_end: + distractor_obj.lock_motion(*[0]*6) + + +def settle(env: BaseEnv, t): + # step the simulation and let the scene settle for t seconds + sim_steps = int(env.sim_freq * t) + for _ in range(sim_steps): + env._scene.step() + +def local_bbox_for_actor(actor: sapien.Actor) -> tuple[np.ndarray, np.ndarray]: + mins, maxs = get_axis_aligned_bbox_for_actor(actor) + mins -= actor.pose.p + maxs -= actor.pose.p + return mins, maxs \ No newline at end of file diff --git a/project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/PickClutterYCB-v1_rt_thumb_first.png b/project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/PickClutterYCB-v1_rt_thumb_first.png new file mode 100644 index 0000000000000000000000000000000000000000..d1c53d0a435e41641bd3b84f29e1ecaedcbd84d2 --- /dev/null +++ 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