mani-skill-nightly 2025.3.19.2322__py3-none-any.whl → 2025.3.20.0__py3-none-any.whl

mani_skill/examples/benchmarking/gpu_sim.py

@@ -1,11 +1,10 @@
-import argparse
+import sys
 from dataclasses import dataclass
 from pathlib import Path
 from typing import Annotated, Optional
 import gymnasium as gym
 import numpy as np
 import torch
-import tqdm
 import tyro
 
 import mani_skill.envs
@@ -81,7 +80,8 @@ def main(args: Args):
                 env = CPUGymWrapper(env, )
                 return env
             return _init
-        env = AsyncVectorEnv([make_env() for _ in range(num_envs)], context="forkserver") if args.num_envs > 1 else make_env()()
+        # mac os system does not work with forkserver when using visual observations
+        env = AsyncVectorEnv([make_env() for _ in range(num_envs)], context="forkserver" if sys.platform == "darwin" else None) if args.num_envs > 1 else make_env()()
         base_env = make_env()().unwrapped
 
     base_env.print_sim_details()

mani_skill/examples/benchmarking/profiling.py

@@ -31,14 +31,19 @@ class Profiler:
         self.output_format = output_format
         self.synchronize_torch = synchronize_torch
         self.stats = dict()
+        
         # Initialize NVML
-        pynvml.nvmlInit()
-
-        # Get handle for the first GPU (index 0)
-        self.handle = pynvml.nvmlDeviceGetHandleByIndex(0)
+        self._gpu_handle = None
+        try:
+            pynvml.nvmlInit()
+            # Get handle for the first GPU (index 0)
+            self._gpu_handle = pynvml.nvmlDeviceGetHandleByIndex(0)
+        except pynvml.NVMLError_LibraryNotFound as e:
+            print(f"NVML could not be initialized for pynvml: {e}. Not tracking GPU memory anymore.")
 
         # Get the PID of the current process
         self.current_pid = os.getpid()
+        self._torch_cuda_available = torch.cuda.is_available()
 
     def log(self, msg):
         """log a message to stdout"""
@@ -88,7 +93,8 @@ class Profiler:
         process = psutil.Process(os.getpid())
         cpu_mem_use = process.memory_info().rss
         gpu_mem_use = self.get_current_process_gpu_memory()
-        torch.cuda.synchronize()
+        if self._torch_cuda_available:
+            torch.cuda.synchronize()
         stime = time.time()
         yield
         dt = time.time() - stime
@@ -103,26 +109,29 @@ class Profiler:
             cpu_mem_use=cpu_mem_use,
             gpu_mem_use=gpu_mem_use,
         )
-        torch.cuda.synchronize()
+        if self._torch_cuda_available:
+            torch.cuda.synchronize()
 
     def log_stats(self, name: str):
         stats = self.stats[name]
+        gpu_use_str = f"{stats['gpu_mem_use'] / (1024**2):0.3f} MB" if stats['gpu_mem_use'] is not None else 'N/A'
         self.log(
             f"{name}: {stats['fps']:0.3f} steps/s, {stats['psps']:0.3f} parallel steps/s, {stats['total_steps']} steps in {stats['dt']:0.3f}s"
         )
         self.log(
-            f"{' ' * 4}CPU mem: {stats['cpu_mem_use'] / (1024**2):0.3f} MB, GPU mem: {stats['gpu_mem_use'] / (1024**2):0.3f} MB"
+            f"{' ' * 4}CPU mem: {stats['cpu_mem_use'] / (1024**2):0.3f} MB, GPU mem: {gpu_use_str}"
         )
 
     def get_current_process_gpu_memory(self):
         # Get all processes running on the GPU
-        processes = pynvml.nvmlDeviceGetComputeRunningProcesses(self.handle)
-
-        # Iterate through the processes to find the current process
-        for process in processes:
-            if process.pid == self.current_pid:
-                memory_usage = process.usedGpuMemory
-                return memory_usage
+        if self._gpu_handle is not None:
+            processes = pynvml.nvmlDeviceGetComputeRunningProcesses(self._gpu_handle)
+            # Iterate through the processes to find the current process
+            for process in processes:
+                if process.pid == self.current_pid:
+                    memory_usage = process.usedGpuMemory
+                    return memory_usage
+        return None
 def images_to_video(
     images: List[np.ndarray],
     output_dir: str,

{mani_skill_nightly-2025.3.19.2322.dist-info → mani_skill_nightly-2025.3.20.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.3.19.2322
+Version: 2025.3.20.0
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.3.19.2322.dist-info → mani_skill_nightly-2025.3.20.0.dist-info}/RECORD

@@ -524,10 +524,10 @@ mani_skill/examples/demo_vis_pcd.py,sha256=QTerAyva4glh3y2fBDX_ZPmkMd114gYztQnL3
 mani_skill/examples/demo_vis_segmentation.py,sha256=HESY-_XjQbofBZQbUl_fuAupQpr3H4ZerPzwGBBR12I,4281
 mani_skill/examples/demo_vis_textures.py,sha256=m1hcOFQyMXu_C8ncnVHdhEksKBs-0e6Hb3UJvkPHG-4,3437
 mani_skill/examples/benchmarking/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mani_skill/examples/benchmarking/gpu_sim.py,sha256=mF0XTk80FTgf0fGjYuSnXBmMb6-kwDqi_UZdB_5qRC8,9829
+mani_skill/examples/benchmarking/gpu_sim.py,sha256=_Dm7IbjQgWtvq-T3XxJ0-aeFMDAB8QWgcqTA24OsdIQ,9935
 mani_skill/examples/benchmarking/isaac_lab_gpu_sim.py,sha256=tATuRyJi37xHzCzbs-B3e0PS-l9oYj9FcLJC9F9Dtec,5581
 mani_skill/examples/benchmarking/plot_results.py,sha256=jnfFOTar_VE6VnBJr5rQa715Uhv7AyzQMcRjX283BE4,12454
-mani_skill/examples/benchmarking/profiling.py,sha256=e1pEsG24pije_lkQ1fBdwp0yoZ2Tepn0_OrLSJqxtXo,8106
+mani_skill/examples/benchmarking/profiling.py,sha256=ROtHXNrqHAlJkqc-30wynrQ3GxvYjuIIDJ_ozbClcQA,8656
 mani_skill/examples/benchmarking/envs/__init__.py,sha256=lW_XjPqNAGLRaFbssHiOnSBboTTJO_--0GVduOh18Q8,101
 mani_skill/examples/benchmarking/envs/isaaclab/__init__.py,sha256=ncUw7bBTKE1zi6c4lHor_S7X8E4iaxMIjlI3YPpGgcw,867
 mani_skill/examples/benchmarking/envs/isaaclab/cartpole_state.py,sha256=0R72HnNVK45Qi6wQo_BtHfMIqkoSjo08jEdkLMyO05s,5292
@@ -687,8 +687,8 @@ mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJ
 mani_skill/vector/wrappers/gymnasium.py,sha256=v1MDPIrVACBKCulrpdXBK2jDZQI7LKYFZgGgaCC5avY,7408
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
 mani_skill/viewer/__init__.py,sha256=0l9mfA-65WLaiAg4bcJqzwfKH5Eom5UtkxU68NyR2Jc,1609
-mani_skill_nightly-2025.3.19.2322.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.3.19.2322.dist-info/METADATA,sha256=UI4E12ZZzkM06R2CIl_TsjwtoX7WqlQLgglVVRBOzBU,9292
-mani_skill_nightly-2025.3.19.2322.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.3.19.2322.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.3.19.2322.dist-info/RECORD,,
+mani_skill_nightly-2025.3.20.0.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.3.20.0.dist-info/METADATA,sha256=UPlTWgrPgcws4NAEL0lAIJgGIeMwu9XiRuMePVJD41I,9289
+mani_skill_nightly-2025.3.20.0.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.3.20.0.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.3.20.0.dist-info/RECORD,,