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haosulab / ManiSkill

SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark
https://maniskill.ai/
Apache License 2.0
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To disable rendering during replay on Windows #674

Open SkyRainWind opened 5 days ago

SkyRainWind commented 5 days ago

Hello, thanks for your brilliant work!

After I grabbed raw datasets, I have troubles transfering trajectories to other control mode(say, I would like to use python -m mani_skill2.trajectory.replay_trajectory --traj-path demos/v0/rigid_body/PickCube-v0/trajectory.h5 --save-traj --target-control-mode pd_ee_delta_pose --obs-mode rgbd command to obtain a new trajectory called trajectory.rgbd.pd_ee_delta_pose.h5).

I use windows connecting to remote server and I disabled x11 forwarding. Is it possible to disable rendering when replaying trajectories?

Compilation information are listed below.

$ python -m mani_skill2.trajectory.replay_trajectory --traj-path demos/v0/rigid_body/PickCube-v0/trajectory.h5 --save-traj --target-control-mode pd_ee_delta_pose

0step [00:00, ?step/s][2024-11-01 21:53:44.939] [svulkan2] [error] GLFW error: X11: The DISPLAY environment variable is missing

[2024-11-01 21:53:44.939] [svulkan2] [warning] Continue without GLFW.

Traceback (most recent call last):
  File "<frozen runpy>", line 198, in _run_module_as_main
  File "<frozen runpy>", line 88, in _run_code
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/trajectory/replay_trajectory.py", line 530, in <module>
    main(parse_args())
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/trajectory/replay_trajectory.py", line 524, in main
    _main(args)
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/trajectory/replay_trajectory.py", line 350, in _main
    ori_env = gym.make(env_id, **ori_env_kwargs)
              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/gymnasium/envs/registration.py", line 802, in make
    env = env_creator(**env_spec_kwargs)
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/utils/registration.py", line 92, in make
    env = env_spec.make(**kwargs)
          ^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/utils/registration.py", line 34, in make
    return self.cls(**_kwargs)
           ^^^^^^^^^^^^^^^^^^^
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/envs/pick_and_place/pick_cube.py", line 22, in __init__
    super().__init__(*args, **kwargs)
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/envs/pick_and_place/base_env.py", line 27, in __init__
    super().__init__(*args, **kwargs)
  File "/home/shizuru/anaconda3/envs/pcm/lib/python3.11/site-packages/mani_skill2/envs/sapien_env.py", line 107, in __init__
    self._renderer = sapien.SapienRenderer(**renderer_kwargs)
                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
RuntimeError: Cannot find a suitable rendering device
StoneT2000 commented 5 days ago

Is this on docker? Did you check vulkan is installed correctly following our troubleshooting guide: https://maniskill.readthedocs.io/en/latest/user_guide/getting_started/installation.html#troubleshooting

I also recommend upgrading to ManiSkill 3 instead, we have the same PickCube demonstrations as before.

SkyRainWind commented 5 days ago

Thanks for your timely reply! I use vscode terminal directly without docker, and the problem remains after I checked troubleshooting. The detailed outputs of vulkaninfo are listed below.

Click to toggle contents of `vulkaninfo` ``` $ vulkaninfo 'DISPLAY' environment variable not set... skipping surface info error: XDG_RUNTIME_DIR not set in the environment. error: XDG_RUNTIME_DIR not set in the environment. error: XDG_RUNTIME_DIR not set in the environment. error: XDG_RUNTIME_DIR not set in the environment. error: XDG_RUNTIME_DIR not set in the environment. WARNING: lavapipe is not a conformant vulkan implementation, testing use only. ========== VULKANINFO ========== Vulkan Instance Version: 1.2.131 Instance Extensions: count = 18 ==================== VK_EXT_acquire_xlib_display : extension revision 1 VK_EXT_debug_report : extension revision 10 VK_EXT_debug_utils : extension revision 1 VK_EXT_direct_mode_display : extension revision 1 VK_EXT_display_surface_counter : extension revision 1 VK_KHR_device_group_creation : extension revision 1 VK_KHR_display : extension revision 23 VK_KHR_external_fence_capabilities : extension revision 1 VK_KHR_external_memory_capabilities : extension revision 1 VK_KHR_external_semaphore_capabilities : extension revision 1 VK_KHR_get_display_properties2 : extension revision 1 VK_KHR_get_physical_device_properties2 : extension revision 2 VK_KHR_get_surface_capabilities2 : extension revision 1 VK_KHR_surface : extension revision 25 VK_KHR_surface_protected_capabilities : extension revision 1 VK_KHR_wayland_surface : extension revision 6 VK_KHR_xcb_surface : extension revision 6 VK_KHR_xlib_surface : extension revision 6 Layers: count = 3 ======= VK_LAYER_LUNARG_standard_validation (LunarG Standard Validation Layer) Vulkan version 1.0.131, layer version 1: Layer Extensions: count = 0 Devices: count = 1 GPU id : 0 (llvmpipe (LLVM 12.0.0, 256 bits)) Layer-Device Extensions: count = 0 VK_LAYER_MESA_device_select (Linux device selection layer) Vulkan version 1.2.73, layer version 1: Layer Extensions: count = 0 Devices: count = 1 GPU id : 0 (llvmpipe (LLVM 12.0.0, 256 bits)) Layer-Device Extensions: count = 0 VK_LAYER_MESA_overlay (Mesa Overlay layer) Vulkan version 1.1.73, layer version 1: Layer Extensions: count = 0 Devices: count = 1 GPU id : 0 (llvmpipe (LLVM 12.0.0, 256 bits)) Layer-Device Extensions: count = 0 Presentable Surfaces: ===================== error: XDG_RUNTIME_DIR not set in the environment. error: XDG_RUNTIME_DIR not set in the environment. error: XDG_RUNTIME_DIR not set in the environment. error: XDG_RUNTIME_DIR not set in the environment. Groups: ======= Device Group Properties (Group 0): physicalDeviceCount: count = 1 llvmpipe (LLVM 12.0.0, 256 bits) (ID: 0) subsetAllocation = 0 Device Group Present Capabilities (Group 0): WARNING: lavapipe is not a conformant vulkan implementation, testing use only. llvmpipe (LLVM 12.0.0, 256 bits) (ID: 0) Can present images from the following devices: llvmpipe (LLVM 12.0.0, 256 bits) (ID: 0) Present modes: DEVICE_GROUP_PRESENT_MODE_LOCAL_BIT_KHR Device Properties and Extensions: ================================= GPU0: VkPhysicalDeviceProperties: --------------------------- apiVersion = 4198582 (1.1.182) driverVersion = 1 (0x0001) vendorID = 0x10005 deviceID = 0x0000 deviceType = PHYSICAL_DEVICE_TYPE_CPU deviceName = llvmpipe (LLVM 12.0.0, 256 bits) VkPhysicalDeviceLimits: ----------------------- maxImageDimension1D = 16384 maxImageDimension2D = 16384 maxImageDimension3D = 4096 maxImageDimensionCube = 32768 maxImageArrayLayers = 2048 maxTexelBufferElements = 134217728 maxUniformBufferRange = 65536 maxStorageBufferRange = 134217728 maxPushConstantsSize = 128 maxMemoryAllocationCount = 4294967295 maxSamplerAllocationCount = 32768 bufferImageGranularity = 0x00000040 sparseAddressSpaceSize = 0x00000000 maxBoundDescriptorSets = 8 maxPerStageDescriptorSamplers = 32 maxPerStageDescriptorUniformBuffers = 15 maxPerStageDescriptorStorageBuffers = 16 maxPerStageDescriptorSampledImages = 128 maxPerStageDescriptorStorageImages = 16 maxPerStageDescriptorInputAttachments = 8 maxPerStageResources = 128 maxDescriptorSetSamplers = 32768 maxDescriptorSetUniformBuffers = 256 maxDescriptorSetUniformBuffersDynamic = 256 maxDescriptorSetStorageBuffers = 256 maxDescriptorSetStorageBuffersDynamic = 256 maxDescriptorSetSampledImages = 256 maxDescriptorSetStorageImages = 256 maxDescriptorSetInputAttachments = 256 maxVertexInputAttributes = 32 maxVertexInputBindings = 32 maxVertexInputAttributeOffset = 2047 maxVertexInputBindingStride = 2048 maxVertexOutputComponents = 128 maxTessellationGenerationLevel = 64 maxTessellationPatchSize = 32 maxTessellationControlPerVertexInputComponents = 128 maxTessellationControlPerVertexOutputComponents = 128 maxTessellationControlPerPatchOutputComponents = 128 maxTessellationControlTotalOutputComponents = 4096 maxTessellationEvaluationInputComponents = 128 maxTessellationEvaluationOutputComponents = 128 maxGeometryShaderInvocations = 32 maxGeometryInputComponents = 64 maxGeometryOutputComponents = 128 maxGeometryOutputVertices = 1024 maxGeometryTotalOutputComponents = 1024 maxFragmentInputComponents = 128 maxFragmentOutputAttachments = 8 maxFragmentDualSrcAttachments = 2 maxFragmentCombinedOutputResources = 8 maxComputeSharedMemorySize = 32768 maxComputeWorkGroupCount: count = 3 65535 65535 65535 maxComputeWorkGroupInvocations = 1024 maxComputeWorkGroupSize: count = 3 1024 1024 1024 subPixelPrecisionBits = 8 subTexelPrecisionBits = 8 mipmapPrecisionBits = 8 maxDrawIndexedIndexValue = 4294967295 maxDrawIndirectCount = 4294967295 maxSamplerLodBias = 16 maxSamplerAnisotropy = 16 maxViewports = 16 maxViewportDimensions: count = 2 16384 16384 viewportBoundsRange: count = 2 -32768 32768 viewportSubPixelBits = 0 minMemoryMapAlignment = 64 minTexelBufferOffsetAlignment = 0x00000010 minUniformBufferOffsetAlignment = 0x00000010 minStorageBufferOffsetAlignment = 0x00000010 minTexelOffset = -32 maxTexelOffset = 31 minTexelGatherOffset = -32 maxTexelGatherOffset = 31 minInterpolationOffset = -2 maxInterpolationOffset = 2 subPixelInterpolationOffsetBits = 8 maxFramebufferWidth = 16384 maxFramebufferHeight = 16384 maxFramebufferLayers = 2048 framebufferColorSampleCounts: SAMPLE_COUNT_1_BIT SAMPLE_COUNT_4_BIT framebufferDepthSampleCounts: SAMPLE_COUNT_1_BIT SAMPLE_COUNT_4_BIT framebufferStencilSampleCounts: SAMPLE_COUNT_1_BIT SAMPLE_COUNT_4_BIT framebufferNoAttachmentsSampleCounts: SAMPLE_COUNT_1_BIT SAMPLE_COUNT_4_BIT maxColorAttachments = 8 sampledImageColorSampleCounts: SAMPLE_COUNT_1_BIT SAMPLE_COUNT_4_BIT sampledImageIntegerSampleCounts: SAMPLE_COUNT_1_BIT SAMPLE_COUNT_4_BIT sampledImageDepthSampleCounts: SAMPLE_COUNT_1_BIT SAMPLE_COUNT_4_BIT sampledImageStencilSampleCounts: SAMPLE_COUNT_1_BIT SAMPLE_COUNT_4_BIT storageImageSampleCounts: SAMPLE_COUNT_1_BIT SAMPLE_COUNT_4_BIT maxSampleMaskWords = 1 timestampComputeAndGraphics = true timestampPeriod = 1 maxClipDistances = 8 maxCullDistances = 8 maxCombinedClipAndCullDistances = 8 discreteQueuePriorities = 2 pointSizeRange: count = 2 0 255 lineWidthRange: count = 2 1 255 pointSizeGranularity = 0.125 lineWidthGranularity = 0.0078125 strictLines = true standardSampleLocations = true optimalBufferCopyOffsetAlignment = 0x00000080 optimalBufferCopyRowPitchAlignment = 0x00000080 nonCoherentAtomSize = 0x00000040 VkPhysicalDeviceSparseProperties: --------------------------------- residencyStandard2DBlockShape = false residencyStandard2DMultisampleBlockShape = false residencyStandard3DBlockShape = false residencyAlignedMipSize = false residencyNonResidentStrict = false VkPhysicalDeviceDriverPropertiesKHR: ------------------------------------ driverID = UNKNOWN_VkDriverId driverName = llvmpipe driverInfo = Mesa 21.2.6 (LLVM 12.0.0) conformanceVersion = 1.0.0.0 VkPhysicalDeviceIDProperties: ----------------------------- deviceUUID = 00000000-0000-0000-0000-000000000000 driverUUID = 00000000-0000-0000-0000-000000000000 deviceNodeMask = 0 deviceLUIDValid = false VkPhysicalDeviceLineRasterizationPropertiesEXT: ----------------------------------------------- lineSubPixelPrecisionBits = 8 VkPhysicalDeviceMaintenance3Properties: --------------------------------------- maxPerSetDescriptors = 1024 maxMemoryAllocationSize = 0x80000000 VkPhysicalDeviceMultiviewProperties: ------------------------------------ maxMultiviewViewCount = 6 maxMultiviewInstanceIndex = 2147483647 VkPhysicalDevicePointClippingProperties: ---------------------------------------- pointClippingBehavior = POINT_CLIPPING_BEHAVIOR_ALL_CLIP_PLANES VkPhysicalDeviceProtectedMemoryProperties: ------------------------------------------ protectedNoFault = false VkPhysicalDevicePushDescriptorPropertiesKHR: -------------------------------------------- maxPushDescriptors = 32 VkPhysicalDeviceSamplerFilterMinmaxPropertiesEXT: ------------------------------------------------- filterMinmaxSingleComponentFormats = true filterMinmaxImageComponentMapping = true VkPhysicalDeviceSubgroupProperties: ----------------------------------- subgroupSize = 8 supportedStages: SHADER_STAGE_FRAGMENT_BIT SHADER_STAGE_COMPUTE_BIT SHADER_STAGE_ALL_GRAPHICS SHADER_STAGE_ALL supportedOperations: SUBGROUP_FEATURE_BASIC_BIT SUBGROUP_FEATURE_VOTE_BIT SUBGROUP_FEATURE_ARITHMETIC_BIT SUBGROUP_FEATURE_BALLOT_BIT quadOperationsInAllStages = false VkPhysicalDeviceTransformFeedbackPropertiesEXT: ----------------------------------------------- maxTransformFeedbackStreams = 4 maxTransformFeedbackBuffers = 4 maxTransformFeedbackBufferSize = 0xffffffff maxTransformFeedbackStreamDataSize = 512 maxTransformFeedbackBufferDataSize = 512 maxTransformFeedbackBufferDataStride = 512 transformFeedbackQueries = true transformFeedbackStreamsLinesTriangles = false transformFeedbackRasterizationStreamSelect = false transformFeedbackDraw = true VkPhysicalDeviceVertexAttributeDivisorPropertiesEXT: ---------------------------------------------------- maxVertexAttribDivisor = 4294967295 Device Extensions: count = 54 ------------------ VK_EXT_calibrated_timestamps : extension revision 2 VK_EXT_conditional_rendering : extension revision 2 VK_EXT_custom_border_color : extension revision 12 VK_EXT_extended_dynamic_state : extension revision 1 VK_EXT_extended_dynamic_state2 : extension revision 1 VK_EXT_host_query_reset : extension revision 1 VK_EXT_index_type_uint8 : extension revision 1 VK_EXT_line_rasterization : extension revision 1 VK_EXT_multi_draw : extension revision 1 VK_EXT_post_depth_coverage : extension revision 1 VK_EXT_private_data : extension revision 1 VK_EXT_provoking_vertex : extension revision 1 VK_EXT_sampler_filter_minmax : extension revision 2 VK_EXT_scalar_block_layout : extension revision 1 VK_EXT_separate_stencil_usage : extension revision 1 VK_EXT_shader_stencil_export : extension revision 1 VK_EXT_shader_viewport_index_layer : extension revision 1 VK_EXT_transform_feedback : extension revision 1 VK_EXT_vertex_attribute_divisor : extension revision 3 VK_EXT_vertex_input_dynamic_state : extension revision 2 VK_GOOGLE_decorate_string : extension revision 1 VK_GOOGLE_hlsl_functionality1 : extension revision 1 VK_KHR_16bit_storage : extension revision 1 VK_KHR_8bit_storage : extension revision 1 VK_KHR_bind_memory2 : extension revision 1 VK_KHR_buffer_device_address : extension revision 1 VK_KHR_copy_commands2 : extension revision 1 VK_KHR_create_renderpass2 : extension revision 1 VK_KHR_dedicated_allocation : extension revision 3 VK_KHR_descriptor_update_template : extension revision 1 VK_KHR_device_group : extension revision 4 VK_KHR_draw_indirect_count : extension revision 1 VK_KHR_driver_properties : extension revision 1 VK_KHR_external_fence : extension revision 1 VK_KHR_external_memory : extension revision 1 VK_KHR_external_semaphore : extension revision 1 VK_KHR_get_memory_requirements2 : extension revision 1 VK_KHR_image_format_list : extension revision 1 VK_KHR_imageless_framebuffer : extension revision 1 VK_KHR_incremental_present : extension revision 2 VK_KHR_maintenance1 : extension revision 2 VK_KHR_maintenance2 : extension revision 1 VK_KHR_maintenance3 : extension revision 1 VK_KHR_multiview : extension revision 1 VK_KHR_push_descriptor : extension revision 2 VK_KHR_relaxed_block_layout : extension revision 1 VK_KHR_sampler_mirror_clamp_to_edge : extension revision 3 VK_KHR_separate_depth_stencil_layouts : extension revision 1 VK_KHR_shader_atomic_int64 : extension revision 1 VK_KHR_shader_draw_parameters : extension revision 1 VK_KHR_storage_buffer_storage_class : extension revision 1 VK_KHR_swapchain : extension revision 70 VK_KHR_uniform_buffer_standard_layout : extension revision 1 VK_KHR_variable_pointers : extension revision 1 VkQueueFamilyProperties: ======================== queueProperties[0]: ------------------ minImageTransferGranularity = (1,1,1) queueCount = 1 queueFlags = QUEUE_GRAPHICS | QUEUE_COMPUTE | QUEUE_TRANSFER timestampValidBits = 64 present support = false VkPhysicalDeviceMemoryProperties: ================================= memoryHeaps: count = 1 memoryHeaps[0]: size = 2147483648 (0x80000000) (2.00 GiB) budget = 0 usage = 0 flags: MEMORY_HEAP_DEVICE_LOCAL_BIT memoryTypes: count = 1 memoryTypes[0]: heapIndex = 0 propertyFlags = 0x000f: MEMORY_PROPERTY_DEVICE_LOCAL_BIT MEMORY_PROPERTY_HOST_VISIBLE_BIT MEMORY_PROPERTY_HOST_COHERENT_BIT MEMORY_PROPERTY_HOST_CACHED_BIT usable for: IMAGE_TILING_OPTIMAL: color images, FORMAT_D16_UNORM, FORMAT_X8_D24_UNORM_PACK32, FORMAT_D32_SFLOAT, FORMAT_S8_UINT, FORMAT_D24_UNORM_S8_UINT, FORMAT_D32_SFLOAT_S8_UINT IMAGE_TILING_LINEAR: color images VkPhysicalDeviceFeatures: ========================= robustBufferAccess = true fullDrawIndexUint32 = true imageCubeArray = true independentBlend = true geometryShader = true tessellationShader = true sampleRateShading = true dualSrcBlend = true logicOp = true multiDrawIndirect = true drawIndirectFirstInstance = true depthClamp = true depthBiasClamp = true fillModeNonSolid = true depthBounds = false wideLines = true largePoints = true alphaToOne = true multiViewport = true samplerAnisotropy = false textureCompressionETC2 = false textureCompressionASTC_LDR = false textureCompressionBC = true occlusionQueryPrecise = true pipelineStatisticsQuery = true vertexPipelineStoresAndAtomics = true fragmentStoresAndAtomics = true shaderTessellationAndGeometryPointSize = true shaderImageGatherExtended = true shaderStorageImageExtendedFormats = true shaderStorageImageMultisample = true shaderStorageImageReadWithoutFormat = false shaderStorageImageWriteWithoutFormat = true shaderUniformBufferArrayDynamicIndexing = false shaderSampledImageArrayDynamicIndexing = false shaderStorageBufferArrayDynamicIndexing = false shaderStorageImageArrayDynamicIndexing = false shaderClipDistance = true shaderCullDistance = true shaderFloat64 = true shaderInt64 = true shaderInt16 = true shaderResourceResidency = false shaderResourceMinLod = false sparseBinding = false sparseResidencyBuffer = false sparseResidencyImage2D = false sparseResidencyImage3D = false sparseResidency2Samples = false sparseResidency4Samples = false sparseResidency8Samples = false sparseResidency16Samples = false sparseResidencyAliased = false variableMultisampleRate = false inheritedQueries = false VkPhysicalDevice16BitStorageFeatures: ------------------------------------- storageBuffer16BitAccess = true uniformAndStorageBuffer16BitAccess = true storagePushConstant16 = true storageInputOutput16 = false VkPhysicalDevice8BitStorageFeaturesKHR: --------------------------------------- storageBuffer8BitAccess = true uniformAndStorageBuffer8BitAccess = true storagePushConstant8 = true VkPhysicalDeviceBufferDeviceAddressFeaturesKHR: ----------------------------------------------- bufferDeviceAddress = true bufferDeviceAddressCaptureReplay = false bufferDeviceAddressMultiDevice = false VkPhysicalDeviceConditionalRenderingFeaturesEXT: ------------------------------------------------ conditionalRendering = true inheritedConditionalRendering = false VkPhysicalDeviceHostQueryResetFeaturesEXT: ------------------------------------------ hostQueryReset = true VkPhysicalDeviceImagelessFramebufferFeaturesKHR: ------------------------------------------------ imagelessFramebuffer = true VkPhysicalDeviceIndexTypeUint8FeaturesEXT: ------------------------------------------ indexTypeUint8 = true VkPhysicalDeviceLineRasterizationFeaturesEXT: --------------------------------------------- rectangularLines = true bresenhamLines = true smoothLines = true stippledRectangularLines = true stippledBresenhamLines = true stippledSmoothLines = true VkPhysicalDeviceMultiviewFeatures: ---------------------------------- multiview = true multiviewGeometryShader = true multiviewTessellationShader = true VkPhysicalDeviceProtectedMemoryFeatures: ---------------------------------------- protectedMemory = false VkPhysicalDeviceSamplerYcbcrConversionFeatures: ----------------------------------------------- samplerYcbcrConversion = false VkPhysicalDeviceScalarBlockLayoutFeaturesEXT: --------------------------------------------- scalarBlockLayout = true VkPhysicalDeviceSeparateDepthStencilLayoutsFeaturesKHR: ------------------------------------------------------- separateDepthStencilLayouts = true VkPhysicalDeviceShaderAtomicInt64FeaturesKHR: --------------------------------------------- shaderBufferInt64Atomics = true shaderSharedInt64Atomics = true VkPhysicalDeviceShaderDrawParametersFeatures: --------------------------------------------- shaderDrawParameters = true VkPhysicalDeviceTransformFeedbackFeaturesEXT: --------------------------------------------- transformFeedback = true geometryStreams = true VkPhysicalDeviceUniformBufferStandardLayoutFeaturesKHR: ------------------------------------------------------- uniformBufferStandardLayout = true VkPhysicalDeviceVariablePointersFeatures: ----------------------------------------- variablePointersStorageBuffer = true variablePointers = false VkPhysicalDeviceVertexAttributeDivisorFeaturesEXT: -------------------------------------------------- vertexAttributeInstanceRateDivisor = true vertexAttributeInstanceRateZeroDivisor = false ```

I would like to try Maniskill 3. However, the paper i follow currently uses Maniskill 2, so i've kept the compatibility.