mani-skill-nightly 2025.6.15.2226__py3-none-any.whl → 2025.6.15.2254__py3-none-any.whl

mani_skill/envs/sapien_env.py

@@ -1153,8 +1153,11 @@ class BaseEnv(gym.Env):
                     scene_idx % scene_grid_length - scene_grid_length // 2,
                     scene_idx // scene_grid_length - scene_grid_length // 2,
                 )
+                systems = [physx_system]
+                if self._render_device.can_render():
+                    systems.append(sapien.render.RenderSystem(self._render_device))
                 scene = sapien.Scene(
-                    systems=[physx_system, sapien.render.RenderSystem(self._render_device)]
+                    systems=systems
                 )
                 physx_system.set_scene_offset(
                     scene,
@@ -1182,6 +1185,9 @@ class BaseEnv(gym.Env):
             backend=self.backend
         )
         self.scene.px.timestep = 1.0 / self._sim_freq
+        if not self.scene.can_render():
+            if self.render_mode is not None:
+                logger.warning(f'The chosen render mode is "{self.render_mode}", but selected rendering device "{self.scene.backend.render_device}" does not support rendering')
 
     def _clear(self):
         """Clear the simulation scene instance and other buffers.

mani_skill/envs/utils/system/backend.py

@@ -76,7 +76,7 @@ def parse_sim_and_render_backend(sim_backend: str, render_backend: str) -> Backe
     except RuntimeError as e:
         if str(e) == 'failed to find device "cuda"':
             logger.warning(
-                f"Requested to use render device {render_backend}, but CUDA device was not found. Falling back to cpu device. Rendering might be disabled."
+                f'Requested to use render device "{render_backend}", but CUDA device was not found. Falling back to "cpu" device. Rendering might be disabled.'
             )
             render_device = sapien.Device("cpu")
             render_backend = "sapien_cpu"

mani_skill/utils/scene_builder/table/scene_builder.py

@@ -46,9 +46,16 @@ class TableSceneBuilder(SceneBuilder):
         #     .find_component_by_type(sapien.render.RenderBodyComponent)
         #     .compute_global_aabb_tight()
         # )
-        self.table_length = 1
-        self.table_width = 1
-        self.table_height = 1
+        # value of the call above is saved below
+        aabb = np.array(
+            [
+                [-0.7402168, -1.2148621, -0.91964257],
+                [0.4688596, 1.2030163, 3.5762787e-07],
+            ]
+        )
+        self.table_length = aabb[1, 0] - aabb[0, 0]
+        self.table_width = aabb[1, 1] - aabb[0, 1]
+        self.table_height = aabb[1, 2] - aabb[0, 2]
         floor_width = 100
         if self.scene.parallel_in_single_scene:
             floor_width = 500

{mani_skill_nightly-2025.6.15.2226.dist-info → mani_skill_nightly-2025.6.15.2254.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.6.15.2226
+Version: 2025.6.15.2254
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.6.15.2226.dist-info → mani_skill_nightly-2025.6.15.2254.dist-info}/RECORD

@@ -539,7 +539,7 @@ mani_skill/assets/robots/xarm7/meshes/visual/link7.glb,sha256=aZatACOv20VJbi2tOE
 mani_skill/assets/robots/xarm7/meshes/visual/link_base.glb,sha256=vcy2lN1V72jIsSDRT0ZKVskR_0pVOXtDvBkxO2GENWs,467668
 mani_skill/envs/__init__.py,sha256=YPlttBErTcf9vSnkZ54EQ8vTABSfFFrBdUY0AkF4vmg,43
 mani_skill/envs/minimal_template.py,sha256=9THHWA1vkHatptc9g5Ojh-UBUKWQmLHVeq4fcaqv2aY,2200
-mani_skill/envs/sapien_env.py,sha256=aZWIZFZomo_oj5tXmrZ0VSrQZl0TRSCgVrj1lvgmNgQ,72601
+mani_skill/envs/sapien_env.py,sha256=v8lCSNk23cELq48gsZp4EtGtRC9iqhLgEpuQDhFimiw,72985
 mani_skill/envs/scene.py,sha256=EFMX4ygcbgy3V621aglyZoUKoCCRaaZ0ff2fcP6Y_ls,48406
 mani_skill/envs/sim2real_env.py,sha256=3mkQX4TonE2pUC5_Atmx0IYDH2_v6GSwOPJvQMEvCNY,19214
 mani_skill/envs/template.py,sha256=0wnwKjnGOF7RvTR5Gz4VopaUiFxnIioXwmb4nPVxAs8,11939
@@ -636,7 +636,7 @@ mani_skill/envs/utils/randomization/pose.py,sha256=9PPg-QMorHVe3fV4e3T-BRYu0E_8I
 mani_skill/envs/utils/randomization/samplers.py,sha256=EOkF18mmDC7fA2hgj8QC2Ag0gnf4H-4MIjOCDvTMpCE,3665
 mani_skill/envs/utils/rewards/__init__.py,sha256=66MV5YCbnpF4ac_SvTVJ000RxM1AIsclX7OatiA-Wak,22
 mani_skill/envs/utils/rewards/common.py,sha256=1lfJNWG3x7UjarHLteLXa8DCzbe_L7nYBMOBo5D9CRQ,3647
-mani_skill/envs/utils/system/backend.py,sha256=E6vUq2QqUUbLndxDlv5B_Jkk_mRdKTybBLN0gOjVXwE,3133
+mani_skill/envs/utils/system/backend.py,sha256=Ak_cKmYp2TKPT7PLGil25Unhij_gWtwp1aXWzTgyuVY,3137
 mani_skill/evaluation/__init__.py,sha256=PCMN6dc9zgFKuXTPmkAUEahP3XG65cKRLGMXrk5IeXY,33
 mani_skill/evaluation/evaluator.py,sha256=1EN6qAiGx3taB4vCeArUp33UZjLvBt1Ke6iUW8Z8aV0,4493
 mani_skill/evaluation/run_evaluation.py,sha256=yorphrlJKEGycHfQS8equnJHRsyjDuv77ZGNpg9wvCs,4780
@@ -792,7 +792,7 @@ mani_skill/utils/scene_builder/robocasa/utils/placement_samplers.py,sha256=ZUbue
 mani_skill/utils/scene_builder/robocasa/utils/scene_registry.py,sha256=16ZHhI1mgDGy3373aMVRliN8pcvrVigNJIMExyTxE1c,3770
 mani_skill/utils/scene_builder/robocasa/utils/scene_utils.py,sha256=a8HnoRtbwmqQyvLQCHUXKj951G2_wlzodW_eD_CBvsc,6293
 mani_skill/utils/scene_builder/table/__init__.py,sha256=g5qmrh4wZ7V_PuKv-ZU9RVwNQUbQhCshAFInAyRLuZc,45
-mani_skill/utils/scene_builder/table/scene_builder.py,sha256=L7S4kAmiyEuqBhi8ZkhHkMh3tEWnUZnL29CjQKdL49A,10076
+mani_skill/utils/scene_builder/table/scene_builder.py,sha256=fxs_Z-s9dj-CQMgrhdQReH6hzUAdvIgfat-BwYcjjIg,10364
 mani_skill/utils/scene_builder/table/assets/Dining_Table_204_1.glb,sha256=IleHi35xfR8O9atKehqjWiuC9McjEFRCBKHRF85w_Tg,150524
 mani_skill/utils/scene_builder/table/assets/table.glb,sha256=yw69itZDjBFg8JXZAr9VQV-dZD-MaZChhqBSJR_nlRo,3891588
 mani_skill/utils/structs/README.md,sha256=qnYKimp_ZkgNcduURrYQxVTimNmq_usDMKoQ8VtMdCs,286
@@ -824,8 +824,8 @@ mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJ
 mani_skill/vector/wrappers/gymnasium.py,sha256=0kNe_iquf8J3503obkbmCKNaYr5m3cPrC_hBZS0Nl9Y,7408
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
 mani_skill/viewer/__init__.py,sha256=srvDBsk4LQU75K2VIttrhiQ68p_ro7PSDqQRls2PY5c,1722
-mani_skill_nightly-2025.6.15.2226.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.6.15.2226.dist-info/METADATA,sha256=uTzXdbYN_PI0rEtbbSAY2V52zSzwGu3q7YMFBrJ2dZo,9272
-mani_skill_nightly-2025.6.15.2226.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.6.15.2226.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.6.15.2226.dist-info/RECORD,,
+mani_skill_nightly-2025.6.15.2254.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.6.15.2254.dist-info/METADATA,sha256=o4sBBURehoEiN8jSqZ9kKy-stJH0zbN5rCNhowOXXRo,9272
+mani_skill_nightly-2025.6.15.2254.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.6.15.2254.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.6.15.2254.dist-info/RECORD,,