[Feature] Update to new sapien 3 linux package (#1194)

* update

* update based on sapien 42f295073878600fcd898ffe7ab351eac433e41e

based on haosulab/SAPIEN@42f2950

* updated based on sapien 72ae940cdfc81cb4ee65b62339a28a86a7406cc5, expose collision stack size

haosulab/SAPIEN@72ae940

* Update sapien_env.py

* updated based on sapien f3ca0417c501e1a70ebba08c156bbdb6019175ef, fix link lin/angular velocity orders

haosulab/SAPIEN@f3ca041

Author: StoneT2000

mani_skill/envs/sapien_env.py

@@ -264,7 +264,16 @@ def __init__(
         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/utils/building/actor_builder.py

@@ -160,6 +160,7 @@ def build_physx_component(self, link_parent=None):
                 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 @@ def angular_damping(self, arg1: float) -> None:
     @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 @@ def linear_damping(self, arg1: float) -> None:
     @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 @@ def set_locked_motion_axes(self, axes: Array) -> None:
     @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 @@ def is_sleeping(self):
     @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()}

setup.py

@@ -47,7 +47,7 @@ def get_dependencies():
         "pynvml",  # gpu monitoring
         "tyro>=0.8.5",  # nice, typed, command line arg parser
         "huggingface_hub",  # we use HF to version control some assets/datasets more easily
-        "sapien>=3.0.0.b1;platform_system=='Linux'",
+        "sapien>=3.0.0;platform_system=='Linux'",
         "sapien>=3.0.0.b1;platform_system=='Windows'",
     ]
     # NOTE (stao): until sapien is uploaded to pypi with mac support, users need to install manually below as so