[BugFix] Add fix for mac devices not being recognized as being capable of rendering (#1137)

Author: StoneT2000

mani_skill/envs/sapien_env.py

@@ -14,6 +14,7 @@
 import torch
 from gymnasium.vector.utils import batch_space
 
+import mani_skill.render.utils as render_utils
 from mani_skill import logger
 from mani_skill.agents import REGISTERED_AGENTS
 from mani_skill.agents.base_agent import BaseAgent
@@ -1154,7 +1155,7 @@ def _setup_scene(self):
                     scene_idx // scene_grid_length - scene_grid_length // 2,
                 )
                 systems = [physx_system]
-                if self._render_device.can_render():
+                if render_utils.can_render(self._render_device):
                     systems.append(sapien.render.RenderSystem(self._render_device))
                 scene = sapien.Scene(
                     systems=systems
@@ -1171,7 +1172,7 @@ def _setup_scene(self):
         else:
             physx_system = physx.PhysxCpuSystem()
             systems = [physx_system]
-            if self._render_device.can_render():
+            if render_utils.can_render(self._render_device):
                 systems.append(sapien.render.RenderSystem(self._render_device))
             sub_scenes = [
                 sapien.Scene(systems)

mani_skill/envs/scene.py

@@ -1,4 +1,3 @@
-import platform
 from dataclasses import dataclass
 from functools import cached_property
 from typing import Any, Dict, List, Optional, Tuple, Union
@@ -10,6 +9,7 @@
 import torch
 from sapien.render import RenderCameraComponent
 
+import mani_skill.render.utils as render_utils
 from mani_skill.envs.utils.system.backend import BackendInfo
 from mani_skill.render import SAPIEN_RENDER_SYSTEM
 from mani_skill.sensors.base_sensor import BaseSensor
@@ -118,10 +118,7 @@ def __init__(
 
     def can_render(self):
         """Whether or not this Scene object permits rendering, depending on the rendering device selected"""
-        # NOTE (stao): currently sapien can't tell if the render device can render or not for MacOS
-        if platform.system() == "Darwin":
-            return True
-        return self.backend.render_device.can_render()
+        return render_utils.can_render(self.backend.render_device)
 
     # -------------------------------------------------------------------------- #
     # Functions from sapien.Scene

mani_skill/render/utils.py

@@ -0,0 +1,11 @@
+import platform
+
+import sapien
+
+
+def can_render(device: sapien.Device) -> bool:
+    """Whether or not this device can render, depending on the rendering device selected"""
+    # NOTE (stao): currently sapien can't tell if the render device can render or not for MacOS
+    if platform.system() == "Darwin":
+        return True
+    return device.can_render()