mani-skill-nightly 2025.6.15.814__py3-none-any.whl → 2025.6.15.2226__py3-none-any.whl

mani_skill/envs/sapien_env.py

@@ -726,11 +726,11 @@ class BaseEnv(gym.Env):
         self._load_agent(options)
 
         self._load_scene(options)
-        self._load_lighting(options)
+        if self.scene.can_render(): self._load_lighting(options)
 
         self.scene._setup(enable_gpu=self.gpu_sim_enabled)
         # for GPU sim, we have to setup sensors after we call setup gpu in order to enable loading mounted sensors as they depend on GPU buffer data
-        self._setup_sensors(options)
+        if self.scene.can_render(): self._setup_sensors(options)
         if self.render_mode == "human" and self._viewer is None:
             self._viewer = create_viewer(self._viewer_camera_config)
         if self._viewer is not None:
@@ -1167,8 +1167,11 @@ class BaseEnv(gym.Env):
                 sub_scenes.append(scene)
         else:
             physx_system = physx.PhysxCpuSystem()
+            systems = [physx_system]
+            if self._render_device.can_render():
+                systems.append(sapien.render.RenderSystem(self._render_device))
             sub_scenes = [
-                sapien.Scene([physx_system, sapien.render.RenderSystem(self._render_device)])
+                sapien.Scene(systems)
             ]
         # create a "global" scene object that users can work with that is linked with all other scenes created
         self.scene = ManiSkillScene(

mani_skill/envs/scene.py

@@ -115,6 +115,10 @@ class ManiSkillScene:
         )
         """state dict registry that map actor/articulation names to Actor/Articulation struct references. Only these structs are used for the environment state"""
 
+    def can_render(self):
+        """Whether or not this Scene object permits rendering, depending on the rendering device selected"""
+        return self.backend.render_device.can_render()
+
     # -------------------------------------------------------------------------- #
     # Functions from sapien.Scene
     # -------------------------------------------------------------------------- #

mani_skill/envs/utils/system/backend.py

@@ -44,7 +44,7 @@ render_backend_name_mapping = {
 
 def parse_sim_and_render_backend(sim_backend: str, render_backend: str) -> BackendInfo:
     sim_backend = sim_backend_name_mapping[sim_backend]
-    render_backend = render_backend_name_mapping[render_backend]
+    render_backend = render_backend_name_mapping.get(render_backend, render_backend)
     if sim_backend == "physx_cpu":
         device = torch.device("cpu")
         sim_device = sapien.Device("cpu")
@@ -57,21 +57,31 @@ def parse_sim_and_render_backend(sim_backend: str, render_backend: str) -> Backe
     else:
         raise ValueError(f"Invalid simulation backend: {sim_backend}")
 
-    if platform.system() == "Darwin":
-        render_device = sapien.Device("cpu")
-        render_backend = "sapien_cpu"
-        logger.warning(
-            "Detected MacOS system, forcing render backend to be sapien_cpu and render device to be MacOS compatible."
-        )
-    elif render_backend == "sapien_cuda":
-        render_device = sapien.Device("cuda")
-    elif render_backend == "sapien_cpu":
-        render_device = sapien.Device("cpu")
-    elif render_backend[:4] == "cuda":
-        render_device = sapien.Device(render_backend)
-    else:
-        # handle special cases such as for AMD gpus, render_backend must be defined as pci:... instead as cuda is not available.
-        render_device = sapien.Device(render_backend)
+    try:
+        if platform.system() == "Darwin":
+            render_device = sapien.Device("cpu")
+            render_backend = "sapien_cpu"
+            logger.warning(
+                "Detected MacOS system, forcing render backend to be sapien_cpu and render device to be MacOS compatible."
+            )
+        elif render_backend == "sapien_cuda":
+            render_device = sapien.Device("cuda")
+        elif render_backend == "sapien_cpu":
+            render_device = sapien.Device("cpu")
+        elif render_backend[:4] == "cuda":
+            render_device = sapien.Device(render_backend)
+        else:
+            # handle special cases such as for AMD gpus, render_backend must be defined as pci:... instead as cuda is not available.
+            render_device = sapien.Device(render_backend)
+    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."
+            )
+            render_device = sapien.Device("cpu")
+            render_backend = "sapien_cpu"
+        else:
+            raise
     return BackendInfo(
         device=device,
         sim_device=sim_device,

mani_skill/examples/demo_random_action.py

@@ -53,6 +53,8 @@ class Args:
     """Seed(s) for random actions and simulator. Can be a single integer or a list of integers. Default is None (no seeds)"""
 
 def main(args: Args):
+    if args.render_mode == "none":
+        args.render_mode = None
     np.set_printoptions(suppress=True, precision=3)
     verbose = not args.quiet
     if isinstance(args.seed, int):

mani_skill/utils/building/actor_builder.py

@@ -179,11 +179,12 @@ class ActorBuilder(SAPIENActorBuilder):
         build the raw sapien entity. Modifies original SAPIEN function to accept new procedurally generated render components
         """
         entity = sapien.Entity()
-        if self.visual_records or len(self._procedural_shapes) > 0:
-            render_component = self.build_render_component()
-            for shape in self._procedural_shapes:
-                render_component.attach(shape)
-            entity.add_component(render_component)
+        if self.scene.can_render():
+            if self.visual_records or len(self._procedural_shapes) > 0:
+                render_component = self.build_render_component()
+                for shape in self._procedural_shapes:
+                    render_component.attach(shape)
+                entity.add_component(render_component)
         entity.add_component(self.build_physx_component())
         entity.name = self.name
         return entity

mani_skill/utils/building/articulation_builder.py

@@ -78,8 +78,9 @@ class ArticulationBuilder(SapienArticulationBuilder):
             )
 
             entity.add_component(link_component)
-            if b.visual_records:
-                entity.add_component(b.build_render_component())
+            if self.scene.can_render():
+                if b.visual_records:
+                    entity.add_component(b.build_render_component())
             entity.name = b.name
 
             link_component.name = f"{name_prefix}{b.name}"

mani_skill/utils/building/ground.py

@@ -43,65 +43,79 @@ def build_ground(
         ground.set_scene_idxs([0])
     actor = ground.build_static(name=name)
 
-    # generate a grid of right triangles that form 1x1 meter squares centered at (0, 0, 0)
-    floor_length = floor_width if floor_length is None else floor_length
-    num_verts = (floor_width + 1) * (floor_length + 1)
-    vertices = np.zeros((num_verts, 3))
-    floor_half_width = floor_width / 2
-    floor_half_length = floor_length / 2
-    xrange = np.arange(start=-floor_half_width, stop=floor_half_width + 1)
-    yrange = np.arange(start=-floor_half_length, stop=floor_half_length + 1)
-    xx, yy = np.meshgrid(xrange, yrange)
-    xys = np.stack((yy, xx), axis=2).reshape(-1, 2)
-    vertices[:, 0] = xys[:, 0] + xy_origin[0]
-    vertices[:, 1] = xys[:, 1] + xy_origin[1]
-    vertices[:, 2] = altitude
-    normals = np.zeros((len(vertices), 3))
-    normals[:, 2] = 1
+    if scene.can_render():
+        # generate a grid of right triangles that form 1x1 meter squares centered at (0, 0, 0)
+        floor_length = floor_width if floor_length is None else floor_length
+        num_verts = (floor_width + 1) * (floor_length + 1)
+        vertices = np.zeros((num_verts, 3))
+        floor_half_width = floor_width / 2
+        floor_half_length = floor_length / 2
+        xrange = np.arange(start=-floor_half_width, stop=floor_half_width + 1)
+        yrange = np.arange(start=-floor_half_length, stop=floor_half_length + 1)
+        xx, yy = np.meshgrid(xrange, yrange)
+        xys = np.stack((yy, xx), axis=2).reshape(-1, 2)
+        vertices[:, 0] = xys[:, 0] + xy_origin[0]
+        vertices[:, 1] = xys[:, 1] + xy_origin[1]
+        vertices[:, 2] = altitude
+        normals = np.zeros((len(vertices), 3))
+        normals[:, 2] = 1
 
-    mat = sapien.render.RenderMaterial()
-    mat.base_color_texture = sapien.render.RenderTexture2D(
-        filename=texture_file,
-        mipmap_levels=mipmap_levels,
-    )
-    uv_scale = floor_width / texture_square_len
-    uvs = np.zeros((len(vertices), 2))
-    uvs[:, 0] = (xys[:, 0] * uv_scale + floor_half_width) / floor_width
-    uvs[:, 1] = (xys[:, 1] * uv_scale + floor_half_width) / floor_width
+        mat = sapien.render.RenderMaterial()
+        mat.base_color_texture = sapien.render.RenderTexture2D(
+            filename=texture_file,
+            mipmap_levels=mipmap_levels,
+        )
+        uv_scale = floor_width / texture_square_len
+        uvs = np.zeros((len(vertices), 2))
+        uvs[:, 0] = (xys[:, 0] * uv_scale + floor_half_width) / floor_width
+        uvs[:, 1] = (xys[:, 1] * uv_scale + floor_half_width) / floor_width
 
-    # TODO: This is fast but still two for loops which is a little annoying
-    triangles = []
-    for i in range(floor_length):
-        triangles.append(
-            np.stack(
-                [
-                    np.arange(floor_width) + i * (floor_width + 1),
-                    np.arange(floor_width) + 1 + floor_width + i * (floor_width + 1),
-                    np.arange(floor_width) + 1 + i * (floor_width + 1),
-                ],
-                axis=1,
+        # TODO: This is fast but still two for loops which is a little annoying
+        triangles = []
+        for i in range(floor_length):
+            triangles.append(
+                np.stack(
+                    [
+                        np.arange(floor_width) + i * (floor_width + 1),
+                        np.arange(floor_width)
+                        + 1
+                        + floor_width
+                        + i * (floor_width + 1),
+                        np.arange(floor_width) + 1 + i * (floor_width + 1),
+                    ],
+                    axis=1,
+                )
             )
-        )
-    for i in range(floor_length):
-        triangles.append(
-            np.stack(
-                [
-                    np.arange(floor_width) + 1 + floor_width + i * (floor_width + 1),
-                    np.arange(floor_width) + floor_width + 2 + i * (floor_width + 1),
-                    np.arange(floor_width) + 1 + i * (floor_width + 1),
-                ],
-                axis=1,
+        for i in range(floor_length):
+            triangles.append(
+                np.stack(
+                    [
+                        np.arange(floor_width)
+                        + 1
+                        + floor_width
+                        + i * (floor_width + 1),
+                        np.arange(floor_width)
+                        + floor_width
+                        + 2
+                        + i * (floor_width + 1),
+                        np.arange(floor_width) + 1 + i * (floor_width + 1),
+                    ],
+                    axis=1,
+                )
             )
-        )
-    triangles = np.concatenate(triangles)
+        triangles = np.concatenate(triangles)
 
-    shape = sapien.render.RenderShapeTriangleMesh(
-        vertices=vertices, triangles=triangles, normals=normals, uvs=uvs, material=mat
-    )
+        shape = sapien.render.RenderShapeTriangleMesh(
+            vertices=vertices,
+            triangles=triangles,
+            normals=normals,
+            uvs=uvs,
+            material=mat,
+        )
 
-    for obj in actor._objs:
-        floor_comp = sapien.render.RenderBodyComponent()
-        floor_comp.attach(shape)
-        obj.add_component(floor_comp)
+        for obj in actor._objs:
+            floor_comp = sapien.render.RenderBodyComponent()
+            floor_comp.attach(shape)
+            obj.add_component(floor_comp)
 
     return actor

mani_skill/utils/scene_builder/table/scene_builder.py

@@ -41,14 +41,14 @@ class TableSceneBuilder(SceneBuilder):
             p=[-0.12, 0, -0.9196429], q=euler2quat(0, 0, np.pi / 2)
         )
         table = builder.build_kinematic(name="table-workspace")
-        aabb = (
-            table._objs[0]
-            .find_component_by_type(sapien.render.RenderBodyComponent)
-            .compute_global_aabb_tight()
-        )
-        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]
+        # aabb = (
+        #     table._objs[0]
+        #     .find_component_by_type(sapien.render.RenderBodyComponent)
+        #     .compute_global_aabb_tight()
+        # )
+        self.table_length = 1
+        self.table_width = 1
+        self.table_height = 1
         floor_width = 100
         if self.scene.parallel_in_single_scene:
             floor_width = 500

{mani_skill_nightly-2025.6.15.814.dist-info → mani_skill_nightly-2025.6.15.2226.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.6.15.814
+Version: 2025.6.15.2226
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.6.15.814.dist-info → mani_skill_nightly-2025.6.15.2226.dist-info}/RECORD

@@ -539,8 +539,8 @@ 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=cnJlWCqf1cajCCkok5cDClUKiGtbwpIcDAJmrw8Hfgs,72435
-mani_skill/envs/scene.py,sha256=_E3n86SmGloC7xSGHF37Pbc-42RC54hSXYlj4s8F4WA,48215
+mani_skill/envs/sapien_env.py,sha256=aZWIZFZomo_oj5tXmrZ0VSrQZl0TRSCgVrj1lvgmNgQ,72601
+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
 mani_skill/envs/scenes/__init__.py,sha256=uL2T3AuoUkqe2FXmFjo4OQAMQDsePa6qVjCjEzJLqtE,868
@@ -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=C2QzC2KnI205ZYuVUNIqxnwTFE-rtAQ81UWtn7FSywA,2640
+mani_skill/envs/utils/system/backend.py,sha256=E6vUq2QqUUbLndxDlv5B_Jkk_mRdKTybBLN0gOjVXwE,3133
 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
@@ -644,7 +644,7 @@ mani_skill/evaluation/solution.py,sha256=e_Aa0f4sSQ56KXL7tVDPUKf7WTjcuFc5X4J76p8
 mani_skill/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/examples/demo_manual_control.py,sha256=Z17ER37oehS8VgtDO_4dwiy5jDgL93nT9IdCsNDf0Es,8275
 mani_skill/examples/demo_manual_control_continuous.py,sha256=tnCnKX2v1iIhtXwvWR2NzXgpf3e0y2-qAO91jJBLIO0,9679
-mani_skill/examples/demo_random_action.py,sha256=qdpndV31mWxRK_340TGDXYQAV4CAkKc4DaFHmPM_7Jw,5226
+mani_skill/examples/demo_random_action.py,sha256=_8JY0J6qAQFQVTO1Tz_M_M4TFXveop4O-v0Itc2XCBg,5293
 mani_skill/examples/demo_reset_distribution.py,sha256=m1I5WQptBJrXvFPdUi7TIzR_Q--_wGAFkbcKNKWlq2U,2988
 mani_skill/examples/demo_robot.py,sha256=bIeHztjM0R6yJT699WQ6jkhv6LjsiP4GWa3Whyom_qM,4881
 mani_skill/examples/demo_vis_pcd.py,sha256=50YT-YVeX4sEsXxHh0S9Ju_kra8ZcUzPfFpG3EgK2o4,2139
@@ -722,9 +722,9 @@ mani_skill/utils/assets/__init__.py,sha256=gQVKwAczcImTXArSltBWKlSUUuguO12sZYO3J
 mani_skill/utils/assets/data.py,sha256=xEuibRoEPBDN_vEU-MM5UWf6VDb1omE6BfZKPvlMPdI,8807
 mani_skill/utils/building/__init__.py,sha256=quCI5WYGhzGLMVg_NDyYv2G_MxRTBL8R6XD4a6iY8qc,218
 mani_skill/utils/building/_mjcf_loader.py,sha256=SqzSoRootFvItHrzwrDuSHScePxbaPqWb7262M7HzIU,37011
-mani_skill/utils/building/actor_builder.py,sha256=BSRLXMfxbFyT_R5-WFNGcTFFa0e2HToLqQFvpOy9DqA,14915
-mani_skill/utils/building/articulation_builder.py,sha256=ur-UTrRoy9mVAkJnaeeGwTSQMTNciumTVmreeEBtLEM,8444
-mani_skill/utils/building/ground.py,sha256=tVMon30rnOFqT-uIacZ2bOF1gxiRUIhKx4gDZU0sptg,3849
+mani_skill/utils/building/actor_builder.py,sha256=BKfGpqsvwE1nTQqpMUiq36NQyLB6mga0OqYYnwR0fWw,14971
+mani_skill/utils/building/articulation_builder.py,sha256=ubRJYjINo7XTQ9IfE45Ie3CZGl79rmzYi_Kpq86Czrs,8492
+mani_skill/utils/building/ground.py,sha256=YaVt9xQfsqG0GRjKWe0o1e7pdPzmN-PN8FQOdzdargU,4365
 mani_skill/utils/building/mjcf_loader.py,sha256=FY--8z4JWjDHCM6XYLSC8W14MHVywV0SzOTiHzWafbs,4452
 mani_skill/utils/building/urdf_loader.py,sha256=llYoiRDU5gTi7sgi8Fv-Zjwdo7SoLpmtG4gJJEpn85g,4905
 mani_skill/utils/building/actors/__init__.py,sha256=G7aFAkb2f7c6hUcljJ17GIvlzUzVlpIOg6AZkTWFbDg,1420
@@ -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=J24fto2sbT0lhYHthG8xqHRtjehAkYAz_HNmGK35dL8,10132
+mani_skill/utils/scene_builder/table/scene_builder.py,sha256=L7S4kAmiyEuqBhi8ZkhHkMh3tEWnUZnL29CjQKdL49A,10076
 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-2025.6.15.814.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.6.15.814.dist-info/METADATA,sha256=_B19z91S7409FmPhIRjp53sKOvfUFfEb9r48DRZzhOM,9271
-mani_skill_nightly-2025.6.15.814.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.6.15.814.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.6.15.814.dist-info/RECORD,,
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