Adapt dexsim v0.4.0 by yuecideng · Pull Request #226 · DexForce/EmbodiChain

yuecideng · 2026-04-10T15:42:59Z

Description

Type of change

Bug fix (non-breaking change which fixes an issue)
Enhancement (non-breaking change which improves an existing functionality)
New feature (non-breaking change which adds functionality)
Breaking change (existing functionality will not work without user modification)
Documentation update

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist

I have run the black . command to format the code base.
I have made corresponding changes to the documentation
I have added tests that prove my fix is effective or that my feature works
Dependencies have been updated, if applicable.

…mbodiChain into yueci/adapt-dexsim040

Co-authored-by: liwenfeng <liwenfeng@dexforce.top>

Copilot

Pull request overview

Copilot reviewed 110 out of 110 changed files in this pull request and generated 8 comments.

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Copilot · 2026-04-21T09:06:56Z

 class ContactTest:
-    def setup_simulation(self, sim_device, enable_rt):
+    def setup_simulation(self, sim_device):
        sim_cfg = SimulationManagerCfg(
            width=1920,
            height=1080,
            num_envs=2,
            headless=True,
            physics_dt=1.0 / 100.0,  # Physics timestep (100 Hz)
            sim_device=sim_device,
-            enable_rt=enable_rt,  # Enable ray tracing for better visuals
        )


The Raster/FastRT subclasses no longer differ (no renderer selection is passed into SimulationManagerCfg), and RenderCfg is imported but unused. Consider wiring render_cfg=RenderCfg(renderer=...) into SimulationManagerCfg so the tests actually exercise the intended backends and the imports/class names remain meaningful.

Copilot · 2026-04-21T09:06:57Z

+    def to_dexsim_flags(self):
+        if self.renderer == "legacy":
+            return Renderer.FILAMENT
+        elif self.renderer == "hybrid":
+            return Renderer.HYBRID
+        elif self.renderer == "fast-rt":
+            return Renderer.FASTRT
+        elif self.renderer == "rt":
+            return Renderer.OFFLINERT
+        else:
+            logger.log_error(
+                f"Invalid renderer type '{self.renderer}' specified. Must be one of 'legacy', 'hybrid', 'fast-rt', or 'rt'."
+            )
+


RenderCfg.to_dexsim_flags() logs an error for an unknown renderer but returns None, which can propagate into world_config.renderer and fail later in hard-to-debug ways. Prefer raising a ValueError (or returning a safe default) to enforce invalid values are handled immediately.

Copilot · 2026-04-21T09:06:57Z

    if device.type == "cuda":
        gpu_index = device.index
        if gpu_index is None:
            gpu_index = torch.cuda.current_device()
        gym_env_cfg.sim_cfg.sim_device = torch.device(f"cuda:{gpu_index}")
        if hasattr(gym_env_cfg.sim_cfg, "gpu_id"):
            gym_env_cfg.sim_cfg.gpu_id = gpu_index
    else:
        gym_env_cfg.sim_cfg.sim_device = torch.device("cpu")
    gym_env_cfg.sim_cfg.headless = headless
-    gym_env_cfg.sim_cfg.enable_rt = enable_rt
-    gym_env_cfg.sim_cfg.gpu_id = local_rank if distributed else gpu_id
+    gym_env_cfg.sim_cfg.render_cfg = RenderCfg(renderer=renderer)
+    gym_env_cfg.sim_cfg.gpu_id = gpu_id



gym_env_cfg.sim_cfg.gpu_id is first set from the resolved CUDA device index (via gpu_index), but then immediately overwritten with the trainer config's gpu_id. This can break multi-GPU/distributed runs where each rank must target a distinct GPU. Consider only setting gpu_id once (derived from device/local_rank), or make the override conditional so it can’t undo the device-based selection.

Copilot · 2026-04-21T09:06:57Z

+# Global default renderer settings for simulation
+DEFAULT_RENDERER: Literal["legacy", "hybrid", "fast-rt", "rt"] = "hybrid"
+
+
+@configclass
+class RenderCfg:
+    renderer: Literal["legacy", "hybrid", "fast-rt", "rt"] = field(
+        default_factory=lambda: DEFAULT_RENDERER
+    )
+    """Renderer backend to use for the simulation. Options are 'legacy', 'hybrid', 'fast-rt', and 'rt'.
+
+    Note: 
+    - 'legacy' is the traditional rasterization-based renderer and the default for backward compatibility.
+    - 'hybrid' uses ray tracing for shadows and reflections while keeping rasterization for primary rendering, 
+        providing a balance between performance and visual quality.
+    - 'fast-rt' is a fully ray-traced renderer for maximum visual fidelity, but may have higher computational cost.
+    - 'rt' is an offline ray-traced renderer for maximum visual fidelity, suitable for high-quality rendering tasks.
+    """


DEFAULT_RENDERER is set to "hybrid", but the RenderCfg docstring says "legacy" is the default for backward compatibility. Either change DEFAULT_RENDERER to "legacy" or update the docstring (and any other docs) so the stated default matches runtime behavior.

Copilot · 2026-04-21T09:06:57Z

 def add_env_launcher_args_to_parser(parser: argparse.ArgumentParser) -> None:
    """Add common environment launcher arguments to an existing argparse parser.

    This function adds the following arguments to the provided parser:
        --num_envs: Number of environments to run in parallel (default: 1)
        --device: Device to run the environment on (default: 'cpu')
        --headless: Whether to perform the simulation in headless mode (default: False)
-        --enable_rt: Whether to use RTX rendering backend for the simulation (default: False)
+        --renderer: Renderer backend to use for the simulation. Options are 'legacy', 'hybrid', and 'fast-rt'. (default: 'legacy')
        --gpu_id: The GPU ID to use for the simulation (default: 0)
        --gym_config: Path to gym config file (default: '')
        --action_config: Path to action config file (default: None)
        --preview: Whether to preview the environment after launching (default: False)
        --filter_visual_rand: Whether to filter out visual randomization (default: False)
        --filter_dataset_saving: Whether to filter out dataset saving (default: False)

    Note:
        1. In preview mode, the environment will be launched and keep running in a loop for user interaction.

    Args:
        parser (argparse.ArgumentParser): The parser to which arguments will be added.
    """
    parser.add_argument(
        "--num_envs",
        help="The number of environments to run in parallel.",
        default=1,
        type=int,
    )
    parser.add_argument(
        "--device",
        type=str,
        default="cpu",
        help="Device to run the environment on, e.g., 'cpu' or 'cuda'.",
    )
    parser.add_argument(
        "--headless",
        help="Whether to perform the simulation in headless mode.",
        default=False,
        action="store_true",
    )
+    parser.add_argument(
+        "--renderer",
+        type=str,
+        choices=["legacy", "hybrid", "fast-rt", "rt"],
+        default="hybrid",
+        help="Renderer backend to use for the simulation.",
+    )


The add_env_launcher_args_to_parser docstring says the default renderer is 'legacy', but the argparse option sets default="hybrid". Please align the docstring with the actual default (or change the default to match the documented behavior).

Copilot · 2026-04-21T09:06:58Z

 def _build_env_cfg(
    gym_config_path: str,
    num_envs: int | None,
    headless: bool,
-    enable_rt: bool,
    device: torch.device,
    gpu_id: int,
 ):
    gym_config_data = load_json(gym_config_path)
    gym_env_cfg = config_to_cfg(
        gym_config_data, manager_modules=DEFAULT_MANAGER_MODULES
    )
    if num_envs is not None:
        gym_env_cfg.num_envs = int(num_envs)
    if gym_env_cfg.sim_cfg is None:
        gym_env_cfg.sim_cfg = SimulationManagerCfg()
    gym_env_cfg.seed = getattr(gym_env_cfg, "seed", None)
    gym_env_cfg.sim_cfg.headless = headless
-    gym_env_cfg.sim_cfg.enable_rt = enable_rt
    gym_env_cfg.sim_cfg.gpu_id = gpu_id
    gym_env_cfg.sim_cfg.sim_device = device
    return gym_config_data, gym_env_cfg


_build_env_cfg() no longer accepts enable_rt, but it also never sets sim_cfg.render_cfg from config/CLI. This changes behavior vs. previous defaults (often raster/legacy) and makes the renderer impossible to control from the benchmark runtime. Consider threading a renderer argument through and setting gym_env_cfg.sim_cfg.render_cfg = RenderCfg(renderer=renderer) (or reading it from the loaded config).

Copilot · 2026-04-21T09:06:58Z

+def pytest_addoption(parser):
+    parser.addoption(
+        "--renderer",
+        action="store",
+        default=None,
+        help="Specify the renderer backend: legacy, hybrid, or fast-rt",
+    )
+
+
+def pytest_configure(config):
+    renderer = config.getoption("--renderer")
+    if renderer:
+        if renderer not in ["legacy", "hybrid", "fast-rt"]:
+            pytest.exit(
+                f"Invalid renderer: {renderer}. Must be one of 'legacy', 'hybrid', 'fast-rt'"
+            )


Pytest --renderer validation rejects "rt", but the rest of the codebase/CLI accepts it (e.g., add_env_launcher_args_to_parser(... choices=[..., "rt"])). Consider adding "rt" here (and updating the help/error text) so tests can be run against the offline RT backend too.

Copilot · 2026-04-21T09:06:58Z

    # Configure the simulation
    sim_cfg = SimulationManagerCfg(
        width=1920,
        height=1080,
        num_envs=args.num_envs,
-        headless=args.headless,
+        headless=True,
        physics_dt=1.0 / 100.0,  # Physics timestep (100 Hz)
        sim_device=args.device,
-        enable_rt=args.enable_rt,  # Enable ray tracing for better visuals
+        render_cfg=RenderCfg(
+            renderer=args.renderer
+        ),  # Enable ray tracing for better visuals
    )


SimulationManagerCfg is created with headless=True unconditionally, but later logic uses args.headless to decide whether to open a window. This is inconsistent (the manager may never create a window even when --headless is false). Pass headless=args.headless into SimulationManagerCfg so the CLI flag actually takes effect.

Co-authored-by: chenjian <chenjian@dexforce.com>

Copilot

Pull request overview

Copilot reviewed 111 out of 111 changed files in this pull request and generated 1 comment.

Comments suppressed due to low confidence (1)

embodichain/lab/gym/utils/gym_utils.py:862

--gym_config is now required=False with default "", but build_env_cfg_from_args() unconditionally calls load_json(args.gym_config), which will raise FileNotFoundError when the flag is omitted. Either make --gym_config required again, or add a real default/guard (e.g., error with a clear message when empty).

    parser.add_argument(
        "--gym_config",
        type=str,
        help="Path to gym config file.",
        default="",
        required=False,
    )
    parser.add_argument(
        "--action_config", type=str, help="Path to action config file.", default=None
    )
    parser.add_argument(
        "--preview",
        help="Whether to preview the environment after launching.",
        default=False,
        action="store_true",
    )
    parser.add_argument(
        "--filter_visual_rand",
        help="Whether to filter out visual randomization.",
        default=False,
        action="store_true",
    )
    parser.add_argument(
        "--filter_dataset_saving",
        help="Whether to filter out dataset saving.",
        default=False,
        action="store_true",
    )


def merge_args_with_gym_config(args: argparse.Namespace, gym_config: dict) -> dict:
    """Merge command-line arguments with gym configuration.

    Command-line arguments will override the corresponding values in the gym configuration.

    Args:
        args (argparse.Namespace): The parsed command-line arguments.
        gym_config (dict): The original gym configuration dictionary.

    Returns:
        dict: The merged gym configuration dictionary.
    """
    merged_config = deepcopy(gym_config)
    merged_config["num_envs"] = args.num_envs
    merged_config["device"] = args.device
    merged_config["headless"] = args.headless
    merged_config["renderer"] = args.renderer
    merged_config["gpu_id"] = args.gpu_id
    merged_config["arena_space"] = args.arena_space
    return merged_config


def build_env_cfg_from_args(
    args: argparse.Namespace,
) -> tuple["EmbodiedEnvCfg", dict, dict]:
    """Build environment configuration from command-line arguments.

    Args:
        args (argparse.Namespace): The parsed command-line arguments.

    Returns:
        tuple[EmbodiedEnvCfg, dict, dict]: A tuple containing the environment configuration object,
            the original gym configuration dictionary, and the action configuration dictionary.
    """
    from embodichain.utils.utility import load_json
    from embodichain.lab.gym.envs import EmbodiedEnvCfg
    from embodichain.lab.sim import SimulationManagerCfg
    from embodichain.lab.sim.cfg import RenderCfg

    gym_config = load_json(args.gym_config)
    gym_config = merge_args_with_gym_config(args, gym_config)

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Copilot · 2026-04-22T07:11:12Z

        choices=["dynamic", "kinematic", "static"],
-        default="kinematic",
+        default="dynamic",
        help="Body type for rigid objects (default: kinematic).",


The --body_type argument now defaults to "dynamic", but the help string still says "(default: kinematic)". Update the help text (or revert the default) so CLI usage information is accurate.

Suggested change

help="Body type for rigid objects (default: kinematic).",

help="Body type for rigid objects (default: dynamic).",

….4.0

Copilot

Pull request overview

Copilot reviewed 110 out of 110 changed files in this pull request and generated 5 comments.

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Copilot · 2026-04-23T10:56:22Z

+# Global default renderer settings for simulation
+DEFAULT_RENDERER: Literal["legacy", "hybrid", "fast-rt", "rt"] = "hybrid"
+
+
+@configclass
+class RenderCfg:
+    renderer: Literal["legacy", "hybrid", "fast-rt", "rt"] = field(
+        default_factory=lambda: DEFAULT_RENDERER
+    )
+    """Renderer backend to use for the simulation. Options are 'legacy', 'hybrid', 'fast-rt', and 'rt'.
+
+    Note: 
+    - 'legacy' is the traditional rasterization-based renderer and the default for backward compatibility.
+    - 'hybrid' uses ray tracing for shadows and reflections while keeping rasterization for primary rendering, 


DEFAULT_RENDERER is set to "hybrid", but the RenderCfg docstring says "legacy" is the default for backward compatibility. Please align the code and docstring (either change the default constant or update the documentation to match the actual default).

Copilot · 2026-04-23T10:56:22Z


   # Enable ray tracing rendering
-   python scripts/tutorials/sim/create_robot.py --enable_rt
+   python scripts/tutorials/sim/create_robot.py --renderer


The docs show --renderer being used as a flag, but the CLI expects a value (e.g., --renderer hybrid or --renderer fast-rt). As written, this example command will fail argument parsing; please include an explicit renderer argument in the example.

Suggested change

python scripts/tutorials/sim/create_robot.py --renderer

python scripts/tutorials/sim/create_robot.py --renderer hybrid

Copilot · 2026-04-23T10:56:23Z

        if sim_config.headless is False:
            self._window = self._world.get_windows()
-            self._register_default_window_control()
+            # self._register_default_window_control()



The call to _register_default_window_control() is now commented out during initialization. Since there are no remaining call sites, default window interactions (selection/raycast helper) appear to be disabled even when a window is created. If this was done to work around an engine issue, consider guarding it behind a config flag or restricting it to the affected renderer mode instead of disabling it globally.

Copilot · 2026-04-23T10:56:23Z

    parser.add_argument(
        "--gym_config",
        type=str,
        help="Path to gym config file.",
        default="",
-        required=True,
+        required=False,
    )


--gym_config is now marked required=False, but build_env_cfg_from_args() unconditionally calls load_json(args.gym_config). This means run-env/run-agent can now parse successfully without --gym_config and then fail later with a confusing file error. Consider keeping --gym_config required for those CLIs, or add an explicit validation/error message in build_env_cfg_from_args when it is missing/empty.

Copilot

Pull request overview

Copilot reviewed 111 out of 111 changed files in this pull request and generated 6 comments.

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Copilot · 2026-04-29T09:34:22Z

 class TestContactFastRT(ContactTest):
    def setup_method(self):
-        self.setup_simulation("cpu", enable_rt=True)
+        self.setup_simulation("cpu")



TestContactFastRT* currently configures the simulation exactly the same way as the raster tests (no render_cfg override), so it doesn't actually test the fast-rt renderer path. Either set render_cfg=RenderCfg(renderer="fast-rt") for the FastRT variants, or remove/parameterize these classes and rely on the --renderer pytest option in tests/conftest.py.

Copilot · 2026-04-29T09:34:22Z

    config = SimulationManagerCfg(
        headless=True,
        sim_device=args.device,
        arena_space=3.0,
-        enable_rt=args.enable_rt,
+        render_cfg=RenderCfg(renderer=args.renderer),


SimulationManagerCfg is constructed with headless=True, but later the script checks if not args.headless: sim.open_window(). As written, --headless won't control window creation and the window may not open as intended. Use headless=args.headless when building SimulationManagerCfg (or remove the open_window() branch if the script is meant to always run headless).

Copilot · 2026-04-29T09:34:22Z

    sim_cfg = SimulationManagerCfg(
        width=1920,
        height=1080,
        headless=True,
        physics_dt=1.0 / 100.0,  # Physics timestep (100 Hz)


SimulationManagerCfg is constructed with headless=True, but later the script checks if not args.headless: sim.open_window(). As written, --headless won't control window creation and the window may not open as intended. Use headless=args.headless when building SimulationManagerCfg (or remove the open_window() branch if the script is meant to always run headless).

Copilot · 2026-04-29T09:34:23Z

@@ -61,7 +52,7 @@ def main():
        height=1080,
        physics_dt=1.0 / 100.0,


This tutorial adds common launcher args (including --headless), but SimulationManagerCfg is constructed without headless=args.headless. As a result, --headless is ignored and the script always opens a window. Please wire args.headless into SimulationManagerCfg and only call open_window() when headless is False.

Copilot · 2026-04-29T09:34:23Z

    config = SimulationManagerCfg(
        headless=True,
        sim_device=args.device,
        arena_space=3.0,
-        enable_rt=args.enable_rt,
+        render_cfg=RenderCfg(renderer=args.renderer),


SimulationManagerCfg is constructed with headless=True, but later the script checks if not args.headless: sim.open_window(). As written, --headless won't control window creation and the window may not open as intended. Use headless=args.headless when building SimulationManagerCfg (or remove the open_window() branch if the script is meant to always run headless).

Copilot · 2026-04-29T09:34:23Z

        height=1080,
        num_envs=args.num_envs,
-        headless=args.headless,
+        headless=True,
        physics_dt=1.0 / 100.0,  # Physics timestep (100 Hz)
        sim_device=args.device,


SimulationManagerCfg is created with headless=True, but later the script does if not args.headless: sim.open_window(). With the current config, --headless won't control window creation and the window may never open. Use headless=args.headless when constructing sim_cfg (or remove the window-opening branch if always headless is intended).

….4.0

Copilot

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Copilot reviewed 112 out of 112 changed files in this pull request and generated 8 comments.

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Copilot · 2026-04-30T15:30:24Z

+# Global default renderer settings for simulation
+DEFAULT_RENDERER: Literal["legacy", "hybrid", "fast-rt", "rt"] = "hybrid"
+
+
+@configclass
+class RenderCfg:
+    renderer: Literal["legacy", "hybrid", "fast-rt", "rt"] = field(
+        default_factory=lambda: DEFAULT_RENDERER
+    )
+    """Renderer backend to use for the simulation. Options are 'legacy', 'hybrid', 'fast-rt', and 'rt'.
+
+    Note: 
+    - 'legacy' is the traditional rasterization-based renderer and the default for backward compatibility.
+    - 'hybrid' uses ray tracing for shadows and reflections while keeping rasterization for primary rendering, 
+        providing a balance between performance and visual quality.
+    - 'fast-rt' is a fully ray-traced renderer for maximum visual fidelity, but may have higher computational cost.
+    - 'rt' is an offline ray-traced renderer for maximum visual fidelity, suitable for high-quality rendering tasks.
+    """


DEFAULT_RENDERER is set to "hybrid", but the RenderCfg docstring states 'legacy' is the default for backward compatibility. This mismatch is likely to change behavior for existing callers/tests (CPU headless runs may unexpectedly use RT backends). Align the constant and documentation (e.g., default to legacy unless explicitly overridden).

Copilot · 2026-04-30T15:30:25Z


   # Enable ray tracing rendering
-   python scripts/tutorials/sim/create_sensor.py --enable_rt
+   python scripts/tutorials/sim/create_sensor.py --renderer



This example now documents --renderer as a flag, but the CLI requires a value (e.g. --renderer fast-rt). Update the command example to include a concrete backend value, and consider mentioning available choices.

Copilot · 2026-04-30T15:30:25Z

+    def setup_simulation(self, sim_device):
        # Setup SimulationManager
        config = SimulationManagerCfg(
-            headless=True, sim_device=sim_device, enable_rt=enable_rt, num_envs=NUM_ENVS
+            headless=True,
+            sim_device=sim_device,
+            num_envs=NUM_ENVS,
        )


The TestStereoCameraFastRT* classes no longer enable an RT backend; SimulationManagerCfg is created without render_cfg, so these tests won’t actually validate FastRT behavior (and RenderCfg import is unused). Pass an explicit render_cfg=RenderCfg(renderer=...) per variant.

Copilot · 2026-04-30T15:30:25Z

  trainer:
    gym_config: configs/agents/rl/basic/cart_pole/gym_config.json
    exp_name: cart_pole
    device: cpu
    headless: true
-    enable_rt: false
    gpu_id: 0
    num_envs: 64
    iterations: 200


These benchmark configs removed enable_rt but don’t specify the replacement renderer field. If the previous intent was “no RT”, add renderer: legacy under trainer to preserve behavior and avoid silently switching to the global default renderer.

Copilot · 2026-04-30T15:30:26Z

        """Open the simulation window."""
        self._world.open_window()
        self._window = self._world.get_windows()
-        self._register_default_window_control()
+        # self._register_default_window_control()
        self.is_window_opened = True


The default window controls are never registered when opening a window because the call is commented out. This makes _register_default_window_control() effectively unused and may break expected interactions in RT mode. Consider restoring the call (it already no-ops for non-RT) or removing the helper if intentionally deprecated.

Copilot · 2026-04-30T15:30:26Z

+    def setup_simulation(self, sim_device):
        # Setup SimulationManager
        config = SimulationManagerCfg(
-            headless=True, sim_device=sim_device, enable_rt=enable_rt, num_envs=NUM_ENVS
+            headless=True,
+            sim_device=sim_device,
+            num_envs=NUM_ENVS,
        )


The TestCameraFastRT* classes no longer enable an RT backend; all variants call setup_simulation() which builds SimulationManagerCfg without render_cfg. As a result, these tests won’t exercise FastRT vs raster differences (and the RenderCfg import is unused). Consider passing render_cfg=RenderCfg(renderer=...) based on the test variant.

Copilot · 2026-04-30T15:30:26Z

  trainer:
    gym_config: configs/agents/rl/push_cube/gym_config.json
    exp_name: push_cube
    device: cpu
    headless: true
-    enable_rt: false
    gpu_id: 0
    num_envs: 64
    iterations: 200


These benchmark configs removed enable_rt but don’t specify the replacement renderer field. If the previous intent was “no RT”, add renderer: legacy under trainer to preserve behavior and avoid silently switching to the global default renderer.

Copilot · 2026-04-30T15:30:27Z

+        env = self._env.sim.get_env()
+        env.clean_materials()


This code shadows the env argument and calls clean_materials() on the raw dexsim env, which bypasses SimulationManager.clean_materials() (and its _visual_materials cache). Prefer calling env.sim.clean_materials() (or similar) and avoid reassigning env to a different type.

Suggested change

env = self._env.sim.get_env()

env.clean_materials()

env.sim.clean_materials()

yuecideng and others added 30 commits March 13, 2026 20:23

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Fix gizmo fault (#211)

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Co-authored-by: liwenfeng <liwenfeng@dexforce.top>

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fix pick_up_cloth

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matafela and others added 2 commits April 21, 2026 19:39

Fix pick up cloth example. (#241)

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Co-authored-by: chenjian <chenjian@dexforce.com>

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yuecideng added 4 commits April 22, 2026 16:11

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	help="Body type for rigid objects (default: kinematic).",
	help="Body type for rigid objects (default: dynamic).",

	python scripts/tutorials/sim/create_robot.py --renderer
	python scripts/tutorials/sim/create_robot.py --renderer hybrid

		@@ -61,7 +52,7 @@ def main():
		height=1080,
		physics_dt=1.0 / 100.0,

	env = self._env.sim.get_env()
	env.clean_materials()
	env.sim.clean_materials()

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