MacOS Support and mani_skill-nightly package

[StoneT2000]

Exciting news, we now have experimental MacOS support!

This comes with the new mani_skill-nightly package which is updated daily and a simpler alternative to pip installing from git for the latest updates on ManiSkill.

For MacOS users this means you can run the CPU simulation + standard rendering on your own machines now. You can open up the standard GUI and play around with environments, and it will make it easier for you to design custom environments / model your own robots! To get started with ManiSkill/SAPIEN on MacOS read the new docs here: https://maniskill.readthedocs.io/en/latest/user_guide/getting_started/macos_install.html

GPU simulation via the physx_cuda backend is not supported (since mac does not support cuda). But we are looking into possibly supporting Mujoco / MJX (and now MujocoWarp) as another backend which will eventually let macos users run GPU parallelized sims as well.