From pip (stable version):

# `mani-skill2` or `mani_skill2` is equivalent for pip
pip install mani-skill2

From github (latest commit):

pip install --upgrade git+

From source:

git clone
cd ManiSkill2 && pip install -e .


A GPU with the Vulkan driver installed is required to enable rendering in ManiSkill2. See here for how to install and configure Vulkan on Ubuntu.

The rigid-body environments, powered by SAPIEN, are ready to use after installation. Test your installation:

# Run an episode (at most 200 steps) of "PickCube-v0" (a rigid-body environment) with random actions
# Or specify an environment by "-e ${ENV_ID}"
python -m mani_skill2.examples.demo_random_action

Besides, we provide a docker image (haosulab/mani-skill2) on Docker Hub, and its corresponding Dockerfile.

Warp (ManiSkill2-version)


The following section is to install NVIDIA Warp for soft-body environments. You can skip it if you do not need soft-body environments yet.

The soft-body environments in ManiSkill2 are supported by SAPIEN and customized NVIDIA Warp. CUDA toolkit >= 11.3 and gcc are required. You can download and install the CUDA toolkit from the offical website.

Assuming the CUDA toolkit is installed at /usr/local/cuda, you need to ensure CUDA_PATH or CUDA_HOME is set properly:

export CUDA_PATH=/usr/local/cuda

# The following command should print a CUDA compiler version >= 11.3
${CUDA_PATH}/bin/nvcc --version

# The following command should output a valid gcc version
gcc --version


If nvcc is included in $PATH, we will try to figure out the variable CUDA_PATH automatically.

After CUDA is properly set up, compile Warp customized for ManiSkill2:

# If you encounter "ModuleNotFoundError: No module named 'warp'", please add warp_maniskill to the python path. 
export PYTHONPATH=/path/to/ManiSkill2/warp_maniskill:$PYTHONPATH
# is generated under warp_maniskill/warp/bin
python -m warp_maniskill.build_lib

For soft-body environments, you need to make sure only 1 CUDA device is visible:

# Select the first CUDA device. Change 0 to other integer for other device.

If multiple CUDA devices are visible, the environment will give an error. If you want to interactively visualize the environment, you need to assign the id of the GPU connected to your display (e.g., monitor screen).


All soft-body environments require runtime compilation and cache generation. The cache is generated in parallel. Thus, to avoid race conditions, before you create soft-body environments in parallel, please make sure the cache is already generated. You can generate cache in advance by python -m mani_skill2.utils.precompile_mpm -e {ENV_ID} (or without an option for all soft-body environments).



To install Vulkan on Ubuntu:

sudo apt-get install libvulkan1

To test your installation of Vulkan:

sudo apt-get install vulkan-utils

If vulkaninfo fails to show the information about Vulkan, please check whether the following files exist:

  • /usr/share/vulkan/icd.d/nvidia_icd.json

  • /usr/share/glvnd/egl_vendor.d/10_nvidia.json

  • /etc/vulkan/implicit_layer.d/nvidia_layers.json (optional, but necessary for some GPUs like A100)

If /usr/share/vulkan/icd.d/nvidia_icd.json does not exist, try to create the file with the following content:

    "file_format_version" : "1.0.0",
    "ICD": {
        "library_path": "",
        "api_version" : "1.2.155"

If /usr/share/glvnd/egl_vendor.d/10_nvidia.json does not exist, you can try sudo apt-get install libglvnd-dev. 10_nvidia.json contains the following content:

    "file_format_version" : "1.0.0",
    "ICD" : {
        "library_path" : ""

If /etc/vulkan/implicit_layer.d/nvidia_layers.json does not exist, try to create the file with the following content:

    "file_format_version" : "1.0.0",
    "layer": {
        "name": "VK_LAYER_NV_optimus",
        "type": "INSTANCE",
        "library_path": "",
        "api_version" : "1.2.155",
        "implementation_version" : "1",
        "description" : "NVIDIA Optimus layer",
        "functions": {
            "vkGetInstanceProcAddr": "vk_optimusGetInstanceProcAddr",
            "vkGetDeviceProcAddr": "vk_optimusGetDeviceProcAddr"
        "enable_environment": {
            "__NV_PRIME_RENDER_OFFLOAD": "1"
        "disable_environment": {
            "DISABLE_LAYER_NV_OPTIMUS_1": ""

More discussions can be found here.

The following errors can happen if the Vulkan driver is broken. Try to reinstall it following the above instructions.

  • RuntimeError: vk::Instance::enumeratePhysicalDevices: ErrorInitializationFailed

  • Some required Vulkan extension is not present. You may not use the renderer to render, however, CPU resources will be still available.

  • Segmentation fault (core dumped)


If the soft-body environment throws a memory error, you can try compiling Warp in the debug mode.

PYTHONPATH="$PWD"/warp_maniskill:$PYTHONPATH python -m warp_maniskill.build_lib --mode debug

Remember to compile again in the release mode after you finish debugging. In the debug mode, if the error becomes unsupported toolchain, it means you have a conflicting CUDA version.


If mani_skill2 is installed through pip, run pip uninstall mani-skill2.


There might exist some cache files (e.g., compiled shared library files, convex meshes generated by SAPIEN) generated in the package directory. To fully uninstall mani_skill2, please remove those files manually.