mani-skill-nightly 2025.7.27.104__py3-none-any.whl → 2025.8.1.232__py3-none-any.whl

mani_skill/envs/sapien_env.py

@@ -264,7 +264,16 @@ class BaseEnv(gym.Env):
         common.dict_merge(merged_gpu_sim_config, sim_config)
         self.sim_config = dacite.from_dict(data_class=SimConfig, data=merged_gpu_sim_config, config=dacite.Config(strict=True))
         """the final sim config after merging user overrides with the environment default"""
-        physx.set_gpu_memory_config(**self.sim_config.gpu_memory_config.dict())
+        gpu_mem_config = self.sim_config.gpu_memory_config.dict()
+
+        # NOTE (stao): there isn't a easy way to check of collision_stack_size is supported for the installed sapien3 version
+        # to get around that we just try and except. To be removed once mac/windows platforms can upgrade to latest sapien versions
+        try:
+            physx.set_gpu_memory_config(**gpu_mem_config)
+        except TypeError:
+            gpu_mem_config.pop("collision_stack_size")
+            physx.set_gpu_memory_config(**gpu_mem_config)
+
         sapien.render.set_log_level(os.getenv("MS_RENDERER_LOG_LEVEL", "warn"))
 
         # Set simulation and control frequency

mani_skill/envs/utils/system/backend.py

@@ -43,7 +43,16 @@ render_backend_name_mapping = {
 }
 
 
+def parse_backend_device_id(backend: str) -> tuple[str, int]:
+    if ":" in backend:
+        return backend.split(":")
+    return backend, None
+
+
 def parse_sim_and_render_backend(sim_backend: str, render_backend: str) -> BackendInfo:
+    # Parse sim_backend string to check for CUDA device specification
+    sim_backend, sim_device_id = parse_backend_device_id(sim_backend)
+    render_backend, render_device_id = parse_backend_device_id(render_backend)
     sim_backend = sim_backend_name_mapping[sim_backend]
     render_backend = render_backend_name_mapping.get(render_backend, render_backend)
     if sim_backend == "physx_cpu":
@@ -51,7 +60,11 @@ def parse_sim_and_render_backend(sim_backend: str, render_backend: str) -> Backe
         sim_device = sapien.Device("cpu")
     elif sim_backend == "physx_cuda":
         device = torch.device("cuda")
-        sim_device = sapien.Device("cuda")
+        sim_device = (
+            sapien.Device(f"cuda:{sim_device_id}")
+            if sim_device_id is not None
+            else sapien.Device("cuda")
+        )
     elif sim_backend[:4] == "cuda":
         device = torch.device(sim_backend)
         sim_device = sapien.Device(sim_backend)
@@ -66,7 +79,11 @@ def parse_sim_and_render_backend(sim_backend: str, render_backend: str) -> Backe
                 "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")
+            render_device = (
+                sapien.Device(f"cuda:{render_device_id}")
+                if render_device_id is not None
+                else sapien.Device("cuda")
+            )
         elif render_backend == "sapien_cpu":
             render_device = sapien.Device("cpu")
         elif render_backend[:4] == "cuda":

mani_skill/utils/building/actor_builder.py

@@ -160,6 +160,7 @@ class ActorBuilder(SAPIENActorBuilder):
                 component.cmass_local_pose = self._cmass_local_pose
                 component.inertia = self._inertia
 
+        component.name = self.name
         return component
 
     def build_dynamic(self, name):

mani_skill/utils/structs/base.py

@@ -206,9 +206,6 @@ class PhysxRigidBodyComponentStruct(PhysxRigidBaseComponentStruct[T], Generic[T]
     @property
     def angular_velocity(self) -> torch.Tensor:
         if self.scene.gpu_sim_enabled:
-            # NOTE (stao): Currently physx has a bug that sapien inherits where link bodies on the GPU put linear/angular velocities in the wrong order...
-            if isinstance(self._objs[0], physx.PhysxArticulationLinkComponent):
-                return self._body_data[self._body_data_index, 7:10]
             return self._body_data[self._body_data_index, 10:13]
         else:
             return torch.tensor(
@@ -263,9 +260,8 @@ class PhysxRigidBodyComponentStruct(PhysxRigidBaseComponentStruct[T], Generic[T]
     @property
     def linear_velocity(self) -> torch.Tensor:
         if self.scene.gpu_sim_enabled:
-            # NOTE (stao): Currently physx has a bug that sapien inherits where link bodies on the GPU put linear/angular velocities in the wrong order...
-            if isinstance(self._objs[0], physx.PhysxArticulationLinkComponent):
-                return self._body_data[self._body_data_index, 10:13]
+            # NOTE (stao): SAPIEN version 3.0.0b1 gpu sim has a bug inherited from physx where linear/angular velocities are in the wrong order
+            # for link entities, namely 7:10 was angular velocity and 10:13 was linear velocity. SAPIEN 3.0.0 and above fixes this
             return self._body_data[self._body_data_index, 7:10]
         else:
             return torch.from_numpy(self._bodies[0].linear_velocity[None, :])
@@ -358,9 +354,6 @@ class PhysxRigidDynamicComponentStruct(PhysxRigidBodyComponentStruct[T], Generic
     @property
     def angular_velocity(self) -> torch.Tensor:
         if self.scene.gpu_sim_enabled:
-            # NOTE (stao): Currently physx has a bug that sapien inherits where link bodies on the GPU put linear/angular velocities in the wrong order...
-            if isinstance(self._objs[0], physx.PhysxArticulationLinkComponent):
-                return self._body_data[self._body_data_index, 7:10]
             return self._body_data[self._body_data_index, 10:13]
         else:
             return torch.from_numpy(self._bodies[0].angular_velocity[None, :])
@@ -429,9 +422,6 @@ class PhysxRigidDynamicComponentStruct(PhysxRigidBodyComponentStruct[T], Generic
     @property
     def linear_velocity(self) -> torch.Tensor:
         if self.scene.gpu_sim_enabled:
-            # NOTE (stao): Currently physx has a bug that sapien inherits where link bodies on the GPU put linear/angular velocities in the wrong order...
-            if isinstance(self._objs[0], physx.PhysxArticulationLinkComponent):
-                return self._body_data[self._body_data_index, 10:13]
             return self._body_data[self._body_data_index, 7:10]
         else:
             return torch.tensor(

mani_skill/utils/structs/types.py

@@ -27,6 +27,8 @@ class GPUMemoryConfig:
     )  # 262144 is SAPIEN default but most tasks work with 2**25
     found_lost_aggregate_pairs_capacity: int = 2**10
     total_aggregate_pairs_capacity: int = 2**10
+    collision_stack_size: int = 64 * 64 * 1024  # this is the same default as SAPIEN
+    """Increase this if you get 'Collision stack overflow detected'"""
 
     def dict(self):
         return {k: v for k, v in asdict(self).items()}

{mani_skill_nightly-2025.7.27.104.dist-info → mani_skill_nightly-2025.8.1.232.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.7.27.104
+Version: 2025.8.1.232
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors
@@ -27,7 +27,7 @@ Requires-Dist: tyro>=0.8.5
 Requires-Dist: huggingface-hub
 Requires-Dist: mplib==0.1.1; platform_system == "Linux"
 Requires-Dist: fast-kinematics==0.2.2; platform_system == "Linux"
-Requires-Dist: sapien>=3.0.0.b1; platform_system == "Linux"
+Requires-Dist: sapien>=3.0.0; platform_system == "Linux"
 Requires-Dist: sapien>=3.0.0.b1; platform_system == "Windows"
 Provides-Extra: dev
 Requires-Dist: pytest; extra == "dev"

{mani_skill_nightly-2025.7.27.104.dist-info → mani_skill_nightly-2025.8.1.232.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=jjA3wjqjTeB7C4tUKZEE5vSAVf1qPcYw5ARD3ItybfA,75226
+mani_skill/envs/sapien_env.py,sha256=uaRiPL6srGB3ZAGC791HiT8RYmDYhBxvOuDy7dwGags,75682
 mani_skill/envs/scene.py,sha256=4ZAIJs61fwPPhfDvc3v845sj_Ftsd1sSYaju10KnXbQ,48465
 mani_skill/envs/sim2real_env.py,sha256=3mkQX4TonE2pUC5_Atmx0IYDH2_v6GSwOPJvQMEvCNY,19214
 mani_skill/envs/template.py,sha256=0wnwKjnGOF7RvTR5Gz4VopaUiFxnIioXwmb4nPVxAs8,11939
@@ -638,7 +638,7 @@ mani_skill/envs/utils/randomization/samplers.py,sha256=EOkF18mmDC7fA2hgj8QC2Ag0g
 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/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-mani_skill/envs/utils/system/backend.py,sha256=9xk-ef8779Cj27THXkVM-sxEMQWH8bUrWiwgaf-MKCo,3309
+mani_skill/envs/utils/system/backend.py,sha256=Y4QoJpHseUdOjyXbT-lWfYUOC7iTeXBfLOc2zj9b5Pw,3938
 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
@@ -722,7 +722,7 @@ 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=BKfGpqsvwE1nTQqpMUiq36NQyLB6mga0OqYYnwR0fWw,14971
+mani_skill/utils/building/actor_builder.py,sha256=WHaJKmN9FsIOPjUYnRrOsaD5jhWN_EnncOPOxE1lz-c,15006
 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
@@ -802,13 +802,13 @@ mani_skill/utils/structs/__init__.py,sha256=BItR3Xe0z6xCrMHAEaH0AAAVyeonsQ3q-DJU
 mani_skill/utils/structs/actor.py,sha256=L0p6vkr8rGtJmF22xAq8Q7nhXKnDD5dahzODSAko0bg,17394
 mani_skill/utils/structs/articulation.py,sha256=QvWQsHdgCUCiGHVfUzZOeEqJ_OQsbi7CrxkCgjy3wyM,38491
 mani_skill/utils/structs/articulation_joint.py,sha256=xDQkCAXM3XZ56YgFqLwH5Ec8aFqhR5BqMSvDYCS0bzw,12972
-mani_skill/utils/structs/base.py,sha256=meGQK5Y4KtHKLnp9VeOZS2gtwg9tE55whuEeqOguBaI,19465
+mani_skill/utils/structs/base.py,sha256=R3L8s3acMUmzQTeP5iYISHp3CXVeJFg1Nml8wF0Zm40,18526
 mani_skill/utils/structs/decorators.py,sha256=Lv6wQ989dOnreo2tB-qopDnkeBp_jsn1pmfUR-OY8VQ,535
 mani_skill/utils/structs/drive.py,sha256=UPQDkGbXS-CMRsZ1MHCb9s1vfAo5nqsywF83wKBVzSY,7505
 mani_skill/utils/structs/link.py,sha256=Syq2_PSwmQGj1KOkmRjmDETIus_SR6qXorc2mnsDq38,13792
 mani_skill/utils/structs/pose.py,sha256=76Sjrs-y3f8YhnuqMZNih-NxcnhnfomIbnNW1SWqK6A,11938
 mani_skill/utils/structs/render_camera.py,sha256=cNdi_DMsrHDqO-vHjwEIMVFxVvPHNTmVZe0sCQ1XMbI,12599
-mani_skill/utils/structs/types.py,sha256=eDezQSxtu8IyjIe4k6m8amQn7eYIuP9iLatXbr7FYH8,3810
+mani_skill/utils/structs/types.py,sha256=XnrIjvv-W41iNDVkCzXdHXa7SogfZMLaKozK213zSJ8,3966
 mani_skill/utils/visualization/UbuntuSansMono-Regular.ttf,sha256=y_4ls2KucNhIA6CDNgSSAjUxGGSvLQqRrzacKfdpW-0,118780
 mani_skill/utils/visualization/__init__.py,sha256=0QF97UR8d7poMHo6m52DsAUXAmUb3SDr1B21bx33EEU,163
 mani_skill/utils/visualization/jupyter_utils.py,sha256=dXXUQz-rFTOV_Xq5yA6YE6cXg7DPw15YStw37NgB5Qc,1322
@@ -826,8 +826,8 @@ mani_skill/vector/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU
 mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/vector/wrappers/gymnasium.py,sha256=voHNmYg5Jyy-laMSC2Fd8VggQvhXw3NnfYLbD9QDXAc,7305
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
-mani_skill_nightly-2025.7.27.104.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.7.27.104.dist-info/METADATA,sha256=4hFvpXpBe32gKSjBcFIvT4UjJCORr8wxCvMeMuApQeg,9318
-mani_skill_nightly-2025.7.27.104.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.7.27.104.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.7.27.104.dist-info/RECORD,,
+mani_skill_nightly-2025.8.1.232.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.8.1.232.dist-info/METADATA,sha256=ZKHBibNOAWE2kWditR-8ENuazRMlxZ0GUUQfh_DE_YA,9314
+mani_skill_nightly-2025.8.1.232.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.8.1.232.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.8.1.232.dist-info/RECORD,,