Fix ManiSkill docs build and extras install

docs/conf.py

@@ -55,6 +55,7 @@
     warnings.simplefilter("ignore", SimulatorInterfaceWarning)
     import scenic.simulators.carla.model
     import scenic.simulators.lgsvl.model
+    import scenic.simulators.maniskill.model
     import scenic.simulators.metadrive.model
 veneer.deactivate()
 
@@ -108,7 +109,15 @@
 autosummary_generate = True
 autodoc_inherit_docstrings = False
 autodoc_member_order = "bysource"
-autodoc_mock_imports = ["carla", "lgsvl", "metadrive"]
+autodoc_mock_imports = [
+    "carla",
+    "lgsvl",
+    "metadrive",
+    "mani_skill",
+    "torch",
+    "sapien",
+    "gymnasium",
+]
 autodoc_typehints = "description"
 autodoc_type_aliases = {
     "Vectorlike": "`scenic.domains.driving.roads.Vectorlike`",

pyproject.toml

@@ -63,7 +63,7 @@ maniskill = [
 	"mani-skill >= 3.0.0b20",
 	"torch >= 2.0.0",
 	"sapien >= 3.0.0",
-	"gymnasium >= 0.29.0",
+	"gymnasium >= 1.0.0",
 	"coacd >= 1.0.0",
 ]
 test = [	# minimum dependencies for running tests (used for tox virtualenvs)

src/scenic/core/utils.py

@@ -19,6 +19,19 @@
 
 sqrt2 = math.sqrt(2)
 
+
+def buildingScenicDocumentation():
+    """Return True if Scenic's Sphinx docs are currently being built.
+
+    This relies on docs/conf.py setting ``sphinx._buildingScenicDocs = True``
+    before importing Scenic, and avoids importing Sphinx here.
+    """
+    sphinx = sys.modules.get("sphinx")
+    if sphinx is None:
+        return False
+    return bool(getattr(sphinx, "_buildingScenicDocs", False))
+
+
 if sys.version_info >= (3, 12):
     from itertools import batched
 else:

src/scenic/simulators/lgsvl/model.scenic

@@ -2,15 +2,14 @@
 
 from scenic.domains.driving.model import *
 from scenic.simulators.lgsvl.behaviors import *
+from scenic.core.utils import buildingScenicDocumentation
 
 # Deprecation error on import, but allow for doc building.
-try:
-    import sphinx
-    if not sphinx._buildingScenicDocs:
-        raise RuntimeError("The LGSVL Simulator interface was deprecated in Scenic 3."
-            " To continue to use the interface, please use Scenic 2.")
-except ModuleNotFoundError:
-    pass
+if not buildingScenicDocumentation():
+    raise RuntimeError(
+        "The LGSVL Simulator interface was deprecated in Scenic 3."
+        " To continue to use the interface, please use Scenic 2."
+    )
 
 try:
     import lgsvl

src/scenic/simulators/maniskill/simulator.py

@@ -5,26 +5,35 @@
 import tempfile
 from typing import Optional
 
+import numpy as np
+
+from scenic.core.simulators import Simulation, Simulator
+from scenic.core.utils import buildingScenicDocumentation
+from scenic.core.vectors import Orientation, Vector
+
+try:
+    import mani_skill
+except ImportError as e:
+    raise ModuleNotFoundError(
+        "ManiSkill scenarios require the optional ManiSkill dependencies. "
+        "Install with `pip install scenic[maniskill]`."
+    ) from e
+
 import gymnasium as gym
 from mani_skill.envs.sapien_env import BaseEnv
 from mani_skill.sensors.camera import CameraConfig
 from mani_skill.utils import sapien_utils
 from mani_skill.utils.building.ground import build_ground
 from mani_skill.utils.registration import register_env
-import numpy as np
 import sapien
 import torch
 
-from scenic.core.simulators import Simulation, Simulator
-from scenic.core.vectors import Orientation, Vector
-
 # Default camera configuration
 DEFAULT_CAMERA_EYE = [0.0, -1.0, 1.0]
 DEFAULT_CAMERA_TARGET = [0.0, 0.0, 0.0]
 DEFAULT_ROBOT_POSITION = [0.0, 0.0, 0.0]
 
 
-@register_env("ScenicEnv")
 class ScenicEnv(BaseEnv):
     """Custom ManiSkill environment for Scenic scenarios."""
 
@@ -52,9 +61,7 @@ def _default_sensor_configs(self):
             return self.scene_camera_configs
 
         # Fallback to default camera configuration
-        pose = sapien_utils.look_at(
-            eye=DEFAULT_CAMERA_EYE, target=DEFAULT_CAMERA_TARGET
-        )
+        pose = sapien_utils.look_at(eye=DEFAULT_CAMERA_EYE, target=DEFAULT_CAMERA_TARGET)
         return [
             CameraConfig(
                 "base_camera",
@@ -68,9 +75,7 @@ def _default_sensor_configs(self):
             )
         ]
 
-    def _load_agent(
-        self, options: dict, initial_agent_poses=None, build_separate=False
-    ):
+    def _load_agent(self, options: dict, initial_agent_poses=None, build_separate=False):
         """Load the robot agent into the scene."""
         super()._load_agent(options, sapien.Pose(p=DEFAULT_ROBOT_POSITION))
 
@@ -194,6 +199,11 @@ def compute_normalized_dense_reward(self, obs, action, info: dict):
         return 1.0
 
 
+# Register the ManiSkill environment in normal runs, but skip this during doc builds.
+if not buildingScenicDocumentation():
+    ScenicEnv = register_env("ScenicEnv")(ScenicEnv)
+
+
 class ManiSkillSimulator(Simulator):
     """Simulator interface for ManiSkill."""
 

src/scenic/syntax/translator.py

@@ -41,7 +41,7 @@
 from scenic.core.errors import InvalidScenarioError, PythonCompileError
 from scenic.core.lazy_eval import needsLazyEvaluation
 import scenic.core.pruning as pruning
-from scenic.core.utils import cached_property
+from scenic.core.utils import buildingScenicDocumentation, cached_property
 from scenic.syntax.compiler import compileScenicAST
 from scenic.syntax.parser import parse_string
 import scenic.syntax.veneer as veneer
@@ -439,8 +439,7 @@ def __setstate__(self, state):
 # getting confused. (Autodoc doesn't expect modules to have that attribute,
 # and we can't del it.) We only do this during Sphinx runs since it seems to
 # sometimes break pickling of the modules.
-sphinx = sys.modules.get("sphinx")
-buildingDocs = sphinx and getattr(sphinx, "_buildingScenicDocs", False)
+buildingDocs = buildingScenicDocumentation()
 if buildingDocs:
     ScenicModule.__module__ = None