[BugFix] Windows/wsl bug fixes

README.md

@@ -49,6 +49,19 @@ We also have a quick start [colab notebook](https://colab.research.google.com/gi
 
 For a full list of example scripts you can run see [the docs](https://maniskill.readthedocs.io/en/latest/user_guide/demos/index.html).
 
+## System Support
+
+We currently best support Linux based systems. There is limited support for windows and no support for MacOS at the moment. We are working on trying to support more features on other systems but this may take some time. Most constraints stem from what the [SAPIEN](https://github.com/haosulab/SAPIEN/) package is capable of supporting.
+
+| System / GPU         | CPU Sim | GPU Sim | Rendering |
+| -------------------- | ------- | ------- | --------- |
+| Linux / NVIDIA GPU   | ✅      | ✅      | ✅        |
+| Windows / NVIDIA GPU | ✅      | ❌      | ✅        |
+| Windows / AMD GPU    | ✅      | ❌      | ✅        |
+| WSL / Anything       | ✅      | ❌      | ❌        |
+| MacOS / Anything     | ❌      | ❌      | ❌        |
+
+
 ## License
 
 All rigid body environments in ManiSkill are licensed under fully permissive licenses (e.g., Apache-2.0).

docs/source/user_guide/getting_started/installation.md

@@ -24,7 +24,8 @@ pip install torch torchvision torchaudio
 ```
 
 :::{note}
-While state-based simulation does not require any additional dependencies, a GPU with the Vulkan driver installed is required to enable rendering in ManiSkill. See [here](#vulkan) for how to install and configure Vulkan on Ubuntu.
+While state-based simulation does not require any additional dependencies, a GPU with the Vulkan driver installed is required to enable rendering in ManiSkill. See [here](#vulkan) for how to install and configure Vulkan on Ubuntu. Furthermore we currently best support linux machines with NVIDIA GPUs, with limited support on other systems, see the [system requirements](#system-support) section for details.
+
 :::
 
 The rigid-body tasks, powered by SAPIEN, are ready to use after installation. Test your installation:
@@ -87,6 +88,18 @@ the GPU connected to your display (e.g., monitor screen).
 All soft-body tasks require runtime compilation and cache generation. The cache is generated in parallel. Thus, to avoid race conditions, before you create soft-body tasks in parallel, please make sure the cache is already generated. You can generate cache in advance by `python -m mani_skill.utils.precompile_mpm -e {ENV_ID}` (or without an option for all soft-body tasks).
 ::: -->
 
+## System Support
+
+We currently best support Linux based systems. There is limited support for windows and no support for MacOS at the moment. We are working on trying to support more features on other systems but this may take some time. Most constraints stem from what the [SAPIEN](https://github.com/haosulab/SAPIEN/) package is capable of supporting.
+
+| System / GPU         | CPU Sim | GPU Sim | Rendering |
+| -------------------- | ------- | ------- | --------- |
+| Linux / NVIDIA GPU   | ✅      | ✅      | ✅        |
+| Windows / NVIDIA GPU | ✅      | ❌      | ✅        |
+| Windows / AMD GPU    | ✅      | ❌      | ✅        |
+| WSL / Anything       | ✅      | ❌      | ❌        |
+| MacOS / Anything     | ❌      | ❌      | ❌        |
+
 ## Troubleshooting
 
 (vulkan)=

mani_skill/agents/controllers/pd_ee_pose.py

@@ -1,7 +1,11 @@
 from dataclasses import dataclass
 from typing import List, Sequence, Union
 
-import fast_kinematics
+try:
+    import fast_kinematics
+except:
+    # not all systems support the fast_kinematics package at the moment
+    fast_kinematics = None
 import numpy as np
 import sapien.physx as physx
 import torch
@@ -42,6 +46,10 @@ def _initialize_joints(self):
         self.ee_link_idx = self.articulation.get_links().index(self.ee_link)
 
         if physx.is_gpu_enabled():
+            assert (
+                fast_kinematics is not None
+            ), "fast_kinematics is not installed. This is likely because your system does not support the fast_kinematics library which provides GPU accelerated inverse kinematics solvers"
+
             self.fast_kinematics_model = fast_kinematics.FastKinematics(
                 self.config.urdf_path, self.scene.num_envs, self.config.ee_link
             )

mani_skill/envs/sapien_env.py

@@ -724,14 +724,14 @@ def _set_main_rng(self, seed):
         if seed is None:
             if self._main_seed is not None:
                 return
-            seed = np.random.RandomState().randint(2**32)
+            seed = np.random.RandomState().randint(2**31)
         self._main_seed = seed
         self._main_rng = np.random.RandomState(self._main_seed)
 
     def _set_episode_rng(self, seed):
         """Set the random generator for current episode."""
         if seed is None:
-            self._episode_seed = self._main_rng.randint(2**32)
+            self._episode_seed = self._main_rng.randint(2**31)
         else:
             self._episode_seed = seed
         self._episode_rng = np.random.RandomState(self._episode_seed)

setup.py

@@ -39,8 +39,8 @@
         "opencv-python",
         "imageio",
         "imageio[ffmpeg]",
-        "mplib>=0.1.1",
-        "fast_kinematics==0.2.2",
+        "mplib>=0.1.1;platform_system=='Linux'",
+        "fast_kinematics==0.2.2;platform_system=='Linux'",
         "IPython",
         "huggingface_hub",  # we use HF to version control some assets/datasets more easily
     ],