mani_skill.envs.utils.system.backend#

Utilities for determining the simulation backend and devices

Attributes#

CPU_SIM_BACKENDS

render_backend_name_mapping

sim_backend_name_mapping

Classes#

BackendInfo

Functions#

parse_backend_device_id(backend)

parse_sim_and_render_backend(sim_backend, render_backend)

Module Contents#

class mani_skill.envs.utils.system.backend.BackendInfo[source]#
device: torch.device[source]#

the device in which to return all simulation data on

render_backend: str[source]#

the backend name of the renderer

render_device: sapien.Device | None[source]#

the device on which the renderer is running. If none then we disable rendering.

sim_backend: str[source]#

the backend name of the physics simulation

sim_device: sapien.Device[source]#

the device on which the physics simulation is running

mani_skill.envs.utils.system.backend.parse_backend_device_id(backend)[source]#
Parameters:

backend (str) –

Return type:

tuple[str, int]

mani_skill.envs.utils.system.backend.parse_sim_and_render_backend(sim_backend, render_backend)[source]#
Parameters:

  • sim_backend (str) –

  • render_backend (str) –

Return type:

BackendInfo

mani_skill.envs.utils.system.backend.CPU_SIM_BACKENDS[source]#
mani_skill.envs.utils.system.backend.render_backend_name_mapping[source]#
mani_skill.envs.utils.system.backend.sim_backend_name_mapping[source]#