Issue with render-mode="human" during PPO_rgb training in ManiSkill 3.0.0b10

[chanmi2]

I am encountering an issue when trying to render the training process in real-time with render-mode="human" while running PPO training using ppo_rgb.py in ManiSkill 3.0.0b10. My goal is to visualize the process via the SAPIEN simulator (not just saved videos) using the following command:

python examples/baselines/ppo/ppo_rgb.py --env_id="PickCube-v1" --num_envs=256 --update_epochs=8 --num_minibatches=8 --total_timesteps=10_000_000 --capture_video --render-mode="human"

However, this leads to the following error:

RuntimeError: Modifying a scene (add/remove object/camera) is not allowed after creating the batched render system.

I would like to ask if there is a way to properly configure the environment for real-time rendering during PPO training with multiple parallel environments, or if any adjustments to the script are required to enable this functionality.

Additionally, I am trying to set num_envs to 1 for evaluation. However, when setting render_mode="human", the following error occurs:

RuntimeError: Modifying a scene (add/remove object/camera) is not allowed after creating the batched render system.

I would appreciate it if you could let me know how to resolve this issue.