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Adapt DexSim v0.4.0 #182

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f2ea7dc
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yuecideng Mar 13, 2026
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yuecideng Mar 14, 2026
4c731a4
Merge branch 'main' into yueci/adapt-dexsim040
yuecideng Mar 15, 2026
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yuecideng Mar 15, 2026
f007de1
Merge branch 'main' into yueci/adapt-dexsim040
yuecideng Mar 20, 2026
845d016
Merge branch 'yueci/adapt-dexsim040' of https://github.com/DexForce/E…
yuecideng Mar 20, 2026
fa7c447
Merge remote-tracking branch 'origin/main' into yueci/adapt-dexsim040
yuecideng Mar 23, 2026
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yuecideng Mar 23, 2026
3cf05d1
Merge remote-tracking branch 'origin/main' into yueci/adapt-dexsim040
yuecideng Mar 25, 2026
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yuecideng Mar 26, 2026
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yuecideng Mar 27, 2026
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yuecideng Mar 30, 2026
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yuecideng Mar 30, 2026
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yuecideng Mar 30, 2026
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yuecideng Mar 31, 2026
8052e9b
Merge branch 'main' into yueci/adapt-dexsim040
yuecideng Mar 31, 2026
b0d9579
Fix gizmo fault (#211)
WaferLi Mar 31, 2026
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yuecideng Apr 1, 2026
f97a624
revert update in articulation
Apr 1, 2026
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yuecideng Apr 1, 2026
087be6b
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WaferLi Apr 2, 2026
2d21153
Merge branch 'yueci/fix-gizmo-issue' into yueci/adapt-dexsim040
yuecideng Apr 2, 2026
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yuecideng Apr 2, 2026
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yuecideng Apr 2, 2026
27bd025
fix pick_up_cloth
Apr 3, 2026
3c642f6
update pick_up_cloth
Apr 3, 2026
02231a3
update grasp cup to caffe
Apr 3, 2026
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yuecideng Apr 3, 2026
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yuecideng Apr 3, 2026
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Merge branch 'yueci/adapt-dexsim040' of https://github.com/DexForce/E…
yuecideng Apr 3, 2026
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48 changes: 37 additions & 11 deletions configs/agents/rl/basic/cart_pole/train_config.json
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Original file line number Diff line number Diff line change
@@ -1,11 +1,10 @@
{
{
"trainer": {
"exp_name": "cart_pole_ppo",
"gym_config": "configs/agents/rl/basic/cart_pole/gym_config.json",
"seed": 42,
"device": "cuda:0",
"headless": true,
"enable_rt": false,
"gpu_id": 0,
"num_envs": 64,
"iterations": 1000,
Expand All @@ -22,30 +21,57 @@
"interval_step": 1,
"params": {
"name": "main_cam",
"resolution": [640, 480],
"eye": [-1.4, 1.4, 2.5],
"target": [0, 0, 0.7],
"up": [0, 0, 1],
"intrinsics": [600, 600, 320, 240],
"resolution": [
640,
480
],
"eye": [
-1.4,
1.4,
2.5
],
"target": [
0,
0,
0.7
],
"up": [
0,
0,
1
],
"intrinsics": [
600,
600,
320,
240
],
"save_path": "./outputs/videos/eval"
}
}
}
}
},
"renderer": "legacy"
},
"policy": {
"name": "actor_critic",
"actor": {
"type": "mlp",
"network_cfg": {
"hidden_sizes": [256, 256],
"hidden_sizes": [
256,
256
],
"activation": "relu"
}
},
"critic": {
"type": "mlp",
"network_cfg": {
"hidden_sizes": [256, 256],
"hidden_sizes": [
256,
256
],
"activation": "relu"
}
}
Expand All @@ -64,4 +90,4 @@
"max_grad_norm": 0.5
}
}
}
}
41 changes: 32 additions & 9 deletions configs/agents/rl/basic/cart_pole/train_config_grpo.json
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,6 @@
"seed": 42,
"device": "cuda:0",
"headless": true,
"enable_rt": false,
"gpu_id": 0,
"num_envs": 64,
"iterations": 1000,
Expand All @@ -23,23 +22,47 @@
"interval_step": 1,
"params": {
"name": "main_cam",
"resolution": [640, 480],
"eye": [-1.4, 1.4, 2.5],
"target": [0, 0, 0.7],
"up": [0, 0, 1],
"intrinsics": [600, 600, 320, 240],
"resolution": [
640,
480
],
"eye": [
-1.4,
1.4,
2.5
],
"target": [
0,
0,
0.7
],
"up": [
0,
0,
1
],
"intrinsics": [
600,
600,
320,
240
],
"save_path": "./outputs/videos/eval"
}
}
}
}
},
"renderer": "legacy"
},
"policy": {
"name": "actor_only",
"actor": {
"type": "mlp",
"network_cfg": {
"hidden_sizes": [256, 256],
"hidden_sizes": [
256,
256
],
"activation": "relu"
}
}
Expand All @@ -55,7 +78,7 @@
"ent_coef": 0.01,
"kl_coef": 0.0,
"group_size": 4,
"eps": 1e-8,
"eps": 1e-08,
"reset_every_rollout": true,
"max_grad_norm": 0.5,
"truncate_at_first_done": true
Expand Down
48 changes: 37 additions & 11 deletions configs/agents/rl/push_cube/train_config.json
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Original file line number Diff line number Diff line change
@@ -1,11 +1,10 @@
{
{
"trainer": {
"exp_name": "push_cube_ppo",
"gym_config": "configs/agents/rl/push_cube/gym_config.json",
"seed": 42,
"device": "cuda:0",
"headless": true,
"enable_rt": false,
"gpu_id": 0,
"num_envs": 64,
"iterations": 1000,
Expand All @@ -25,30 +24,57 @@
"interval_step": 1,
"params": {
"name": "main_cam",
"resolution": [640, 480],
"eye": [-1.4, 1.4, 2.0],
"target": [0, 0, 0],
"up": [0, 0, 1],
"intrinsics": [600, 600, 320, 240],
"resolution": [
640,
480
],
"eye": [
-1.4,
1.4,
2.0
],
"target": [
0,
0,
0
],
"up": [
0,
0,
1
],
"intrinsics": [
600,
600,
320,
240
],
"save_path": "./outputs/videos/eval"
}
}
}
}
},
"renderer": "legacy"
},
"policy": {
"name": "actor_critic",
"actor": {
"type": "mlp",
"network_cfg": {
"hidden_sizes": [256, 256],
"hidden_sizes": [
256,
256
],
"activation": "relu"
}
},
"critic": {
"type": "mlp",
"network_cfg": {
"hidden_sizes": [256, 256],
"hidden_sizes": [
256,
256
],
"activation": "relu"
}
}
Expand All @@ -67,4 +93,4 @@
"max_grad_norm": 0.5
}
}
}
}
2 changes: 1 addition & 1 deletion docs/source/overview/sim/sim_manager.md
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Expand Up @@ -33,7 +33,7 @@ sim_config = SimulationManagerCfg(
| `width` | `int` | `1920` | The width of the simulation window. |
| `height` | `int` | `1080` | The height of the simulation window. |
| `headless` | `bool` | `False` | Whether to run the simulation in headless mode (no Window). |
| `enable_rt` | `bool` | `False` | Whether to enable ray tracing rendering. |
| `renderer` | `bool` | `False` | Whether to enable ray tracing rendering. |
| `enable_denoiser` | `bool` | `True` | Whether to enable denoising for ray tracing rendering. |
| `spp` | `int` | `64` | Samples per pixel for ray tracing rendering. Only valid when ray tracing is enabled and denoiser is False. |
Comment on lines +36 to 38
Comment on lines +36 to 38
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Copilot AI Mar 31, 2026

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The docs table still describes renderer as a bool with default False, and still documents enable_denoiser/spp as top-level SimulationManagerCfg fields. In the code, rendering is now configured via render_cfg: RenderCfg with renderer: Literal[...] and enable_denoiser/spp nested under it. Please update the parameter table to reflect the new API (including the correct type/default).

Suggested change
| `renderer` | `bool` | `False` | Whether to enable ray tracing rendering. |
| `enable_denoiser` | `bool` | `True` | Whether to enable denoising for ray tracing rendering. |
| `spp` | `int` | `64` | Samples per pixel for ray tracing rendering. Only valid when ray tracing is enabled and denoiser is False. |
| `render_cfg` | `RenderCfg` | `RenderCfg()` | Rendering configuration (renderer type, denoiser, samples per pixel, and other rendering options). |

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Comment on lines 35 to 38
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The config table is now inaccurate: SimulationManagerCfg doesn’t have a boolean renderer flag, and denoiser/spp live under RenderCfg / render_cfg. Update the table row(s) to reflect the new API (field name, type, default).

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| `gpu_id` | `int` | `0` | The gpu index that the simulation engine will be used. Affects gpu physics device. |
Comment on lines 35 to 39
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This configuration table still documents the old ray-tracing flags (and lists renderer as a bool). Rendering is now configured via render_cfg: RenderCfg on SimulationManagerCfg, so this section should be updated to match the new API.

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2 changes: 1 addition & 1 deletion docs/source/tutorial/gizmo.rst
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Expand Up @@ -213,7 +213,7 @@ Command-line options:
- ``--device cpu|cuda``: Choose simulation device
- ``--num_envs N``: Number of parallel environments
- ``--headless``: Run without GUI for automated testing
- ``--enable_rt``: Enable ray tracing for better visuals
- ``--renderer``: Enable ray tracing for better visuals
Comment on lines 213 to +216
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The docs say --renderer "Enable ray tracing" but the flag actually selects the backend and requires a value (legacy/hybrid/fast-rt). Update wording and example usage to reflect this (e.g. --renderer fast-rt).

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The CLI docs list --renderer as a flag (“Enable ray tracing…”), but the actual argument expects a value (legacy|hybrid|fast-rt). Update this bullet to document the accepted values (and that legacy disables RT).

Suggested change
- ``--renderer``: Enable ray tracing for better visuals
- ``--renderer legacy|hybrid|fast-rt``: Select renderer backend (``legacy`` disables ray tracing)

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Comment on lines +216 to 217
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The CLI option is now --renderer with explicit choices, but this bullet reads like a boolean toggle. Consider documenting it as --renderer {legacy,hybrid,fast-rt} and explaining what each value does (and/or the default) to match the new argparse contract.

Suggested change
- ``--renderer``: Enable ray tracing for better visuals
- ``--renderer {legacy,hybrid,fast-rt}``: Select rendering backend (default: ``fast-rt``)
- ``legacy``: Classic rasterized renderer, compatible with older hardware
- ``hybrid``: Mixed rasterization and ray tracing for balanced quality and performance
- ``fast-rt``: Optimized real-time ray tracing for highest visual quality

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Once running:

Expand Down
2 changes: 1 addition & 1 deletion docs/source/tutorial/robot.rst
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Expand Up @@ -116,7 +116,7 @@ You can customize the simulation with various command-line options:
python scripts/tutorials/sim/create_robot.py --headless

# Enable ray tracing rendering
python scripts/tutorials/sim/create_robot.py --enable_rt
python scripts/tutorials/sim/create_robot.py --renderer
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The documentation shows --renderer without a value. Since --renderer expects a backend name (legacy/hybrid/fast-rt), update the example to pass a value (e.g. --renderer hybrid).

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

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Comment on lines 118 to 120
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The example command is incomplete: --renderer requires a value (e.g. --renderer fast-rt or --renderer hybrid). Update this snippet so it’s runnable.

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The simulation will show the robot moving through different poses, demonstrating basic joint control capabilities.

Expand Down
2 changes: 1 addition & 1 deletion docs/source/tutorial/sensor.rst
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Expand Up @@ -89,7 +89,7 @@ You can customize the simulation with the following command-line options:
python scripts/tutorials/sim/create_sensor.py --headless

# Enable ray tracing rendering
python scripts/tutorials/sim/create_sensor.py --enable_rt
python scripts/tutorials/sim/create_sensor.py --renderer
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The documentation shows --renderer without a value. Since --renderer takes a choice (legacy/hybrid/fast-rt), the example should include an explicit value (e.g. --renderer fast-rt).

Suggested change
python scripts/tutorials/sim/create_sensor.py --renderer
python scripts/tutorials/sim/create_sensor.py --renderer fast-rt

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# Attach the camera to the robot end-effector
python scripts/tutorials/sim/create_sensor.py --attach_sensor
Expand Down
1 change: 1 addition & 0 deletions docs/sync_readme.py
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Expand Up @@ -3,6 +3,7 @@

Idempotent copy. Exit code 0 on success.
"""

import shutil
from pathlib import Path
import sys
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1 change: 0 additions & 1 deletion embodichain/agents/datasets/online_data.py
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Expand Up @@ -24,7 +24,6 @@
from embodichain.agents.engine.data import OnlineDataEngine
from embodichain.agents.datasets.sampler import ChunkSizeSampler


__all__ = [
"OnlineDataset",
]
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1 change: 0 additions & 1 deletion embodichain/agents/datasets/sampler.py
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Expand Up @@ -20,7 +20,6 @@
from abc import ABC, abstractmethod
from typing import Callable, Iterator, List, Optional, Union


__all__ = [
"ChunkSizeSampler",
"UniformChunkSampler",
Expand Down
3 changes: 2 additions & 1 deletion embodichain/agents/engine/data.py
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Expand Up @@ -25,6 +25,7 @@
from tensordict import TensorDict
from tqdm import tqdm

from embodichain.lab.sim.cfg import RenderCfg
from embodichain.utils.logger import log_info, log_error
from embodichain.utils import configclass

Expand Down Expand Up @@ -112,7 +113,7 @@ def _sim_worker_fn(
env_cfg.sim_cfg = SimulationManagerCfg(
headless=gym_config.get("headless", True),
sim_device=gym_config.get("device", "cpu"),
enable_rt=gym_config.get("enable_rt", True),
render_cfg=RenderCfg(renderer=gym_config.get("renderer", "legacy")),
gpu_id=gym_config.get("gpu_id", 0),
)

Expand Down
1 change: 0 additions & 1 deletion embodichain/agents/rl/models/mlp.py
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Expand Up @@ -22,7 +22,6 @@
import torch
import torch.nn as nn


ActivationName = Union[str, None]


Expand Down
14 changes: 7 additions & 7 deletions embodichain/agents/rl/train.py
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Expand Up @@ -37,6 +37,7 @@
from embodichain.utils.utility import load_json
from embodichain.utils.module_utils import find_function_from_modules
from embodichain.lab.sim import SimulationManagerCfg
from embodichain.lab.sim.cfg import RenderCfg
from embodichain.lab.gym.envs.managers.cfg import EventCfg


Expand Down Expand Up @@ -113,7 +114,7 @@ def train_from_config(config_path: str, distributed: bool | None = None):
save_freq = int(trainer_cfg.get("save_freq", 50000))
num_eval_episodes = int(trainer_cfg.get("num_eval_episodes", 5))
headless = bool(trainer_cfg.get("headless", True))
enable_rt = bool(trainer_cfg.get("enable_rt", False))
renderer = trainer_cfg.get("renderer", "legacy")
gpu_id = int(trainer_cfg.get("gpu_id", 0))
num_envs = trainer_cfg.get("num_envs", None)
wandb_project_name = trainer_cfg.get("wandb_project_name", "embodichain-generic")
Expand Down Expand Up @@ -205,13 +206,12 @@ def train_from_config(config_path: str, distributed: bool | None = None):
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
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When distributed=True, the process GPU is set via local_rank, but gym_env_cfg.sim_cfg.gpu_id is then overwritten with the config-file gpu_id (not local_rank). This can desync the engine GPU selection from the actual process device. Keep gpu_id=local_rank in distributed mode (or at least don’t override the earlier gpu_index).

Suggested change
gym_env_cfg.sim_cfg.gpu_id = gpu_id
if device.type != "cuda" and hasattr(gym_env_cfg.sim_cfg, "gpu_id"):
gym_env_cfg.sim_cfg.gpu_id = gpu_id

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if rank == 0:
logger.log_info(
f"Loaded gym_config from {gym_config_path} (env_id={gym_config_data['id']}, num_envs={gym_env_cfg.num_envs}, headless={gym_env_cfg.sim_cfg.headless}, enable_rt={gym_env_cfg.sim_cfg.enable_rt}, sim_device={gym_env_cfg.sim_cfg.sim_device})"
)
logger.log_info(
f"Loaded gym_config from {gym_config_path} (env_id={gym_config_data['id']}, num_envs={gym_env_cfg.num_envs}, headless={gym_env_cfg.sim_cfg.headless}, renderer={gym_env_cfg.sim_cfg.render_cfg.renderer}, sim_device={gym_env_cfg.sim_cfg.sim_device})"
)

env = build_env(gym_config_data["id"], base_env_cfg=gym_env_cfg)
sample_obs, _ = env.reset()
Expand Down
1 change: 0 additions & 1 deletion embodichain/data/assets/eef_assets.py
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Expand Up @@ -23,7 +23,6 @@
EMBODICHAIN_DEFAULT_DATA_ROOT,
)


eef_assets = "eef_assets"


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1 change: 0 additions & 1 deletion embodichain/data/assets/materials.py
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Expand Up @@ -27,7 +27,6 @@
EMBODICHAIN_DEFAULT_DATA_ROOT,
)


material_assets = "materials"


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1 change: 0 additions & 1 deletion embodichain/data/assets/obj_assets.py
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Expand Up @@ -23,7 +23,6 @@
EMBODICHAIN_DEFAULT_DATA_ROOT,
)


obj_assets = "obj_assets"


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1 change: 0 additions & 1 deletion embodichain/data/assets/robot_assets.py
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Expand Up @@ -23,7 +23,6 @@
EMBODICHAIN_DEFAULT_DATA_ROOT,
)


robot_assets = "robot_assets"


Expand Down
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