Adapt DexSim v0.4.0

configs/agents/rl/basic/cart_pole/train_config.json

@@ -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,
@@ -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"
             }
         }
@@ -64,4 +90,4 @@
             "max_grad_norm": 0.5
         }
     }
-}
+}

configs/agents/rl/basic/cart_pole/train_config_grpo.json

@@ -5,7 +5,6 @@
         "seed": 42,
         "device": "cuda:0",
         "headless": true,
-        "enable_rt": false,
         "gpu_id": 0,
         "num_envs": 64,
         "iterations": 1000,
@@ -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"
             }
         }
@@ -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

configs/agents/rl/push_cube/train_config.json

@@ -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,
@@ -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"
             }
         }
@@ -67,4 +93,4 @@
             "max_grad_norm": 0.5
         }
     }
-}
+}

docs/source/overview/sim/sim_manager.md

@@ -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. |
 | `gpu_id` | `int` | `0` | The gpu index that the simulation engine will be used. Affects gpu physics device. |

docs/source/tutorial/gizmo.rst

@@ -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
 
 Once running:
 

docs/source/tutorial/robot.rst

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

docs/source/tutorial/sensor.rst

@@ -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
 
    # Attach the camera to the robot end-effector
    python scripts/tutorials/sim/create_sensor.py --attach_sensor

docs/sync_readme.py

@@ -3,6 +3,7 @@
 
 Idempotent copy. Exit code 0 on success.
 """
+
 import shutil
 from pathlib import Path
 import sys

embodichain/agents/datasets/online_data.py

@@ -24,7 +24,6 @@
 from embodichain.agents.engine.data import OnlineDataEngine
 from embodichain.agents.datasets.sampler import ChunkSizeSampler
 
-
 __all__ = [
     "OnlineDataset",
 ]

embodichain/agents/datasets/sampler.py

@@ -20,7 +20,6 @@
 from abc import ABC, abstractmethod
 from typing import Callable, Iterator, List, Optional, Union
 
-
 __all__ = [
     "ChunkSizeSampler",
     "UniformChunkSampler",

embodichain/agents/engine/data.py

@@ -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
 
@@ -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),
     )
 

embodichain/agents/rl/models/mlp.py

@@ -22,7 +22,6 @@
 import torch
 import torch.nn as nn
 
-
 ActivationName = Union[str, None]
 
 

embodichain/agents/rl/train.py

@@ -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
 
 
@@ -73,7 +74,7 @@ def train_from_config(config_path: str):
     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")
@@ -158,11 +159,11 @@ def train_from_config(config_path: str):
     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.render_cfg = RenderCfg(renderer=renderer)
     gym_env_cfg.sim_cfg.gpu_id = gpu_id
 
     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})"
+        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)

embodichain/data/assets/eef_assets.py

@@ -23,7 +23,6 @@
     EMBODICHAIN_DEFAULT_DATA_ROOT,
 )
 
-
 eef_assets = "eef_assets"
 
 

embodichain/data/assets/materials.py

@@ -27,7 +27,6 @@
     EMBODICHAIN_DEFAULT_DATA_ROOT,
 )
 
-
 material_assets = "materials"
 
 

embodichain/data/assets/obj_assets.py

@@ -23,7 +23,6 @@
     EMBODICHAIN_DEFAULT_DATA_ROOT,
 )
 
-
 obj_assets = "obj_assets"
 
 

embodichain/data/assets/robot_assets.py

@@ -23,7 +23,6 @@
     EMBODICHAIN_DEFAULT_DATA_ROOT,
 )
 
-
 robot_assets = "robot_assets"
 
 

embodichain/data/assets/scene_assets.py

@@ -23,7 +23,6 @@
     EMBODICHAIN_DEFAULT_DATA_ROOT,
 )
 
-
 scene_assets = "scene_assets"