Adapt DexSim v0.4.0

[yuecideng]

Description

Type of change

• Enhancement (non-breaking change which improves an existing 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.

[Copilot]

Pull request overview

This PR updates EmbodiChain’s simulation/rendering integration to align with DexSim v0.4.0 by replacing the previous enable_rt-style flags with a structured rendering configuration (RenderCfg) and propagating that change through tests, examples, CLI helpers, configs, and docs.

Changes:

• Introduce RenderCfg and migrate SimulationManagerCfg rendering settings to render_cfg.
• Update scripts/examples/tests to use --renderer and/or RenderCfg(renderer=...) instead of --enable_rt.
• Apply broad formatting/whitespace cleanup across multiple modules and docs.

Reviewed changes

Copilot reviewed 80 out of 80 changed files in this pull request and generated 33 comments.

Show a summary per file

File	Description
tests/sim/sensors/test_stereo.py	Migrate stereo camera tests to RenderCfg/renderer-based configuration
tests/sim/sensors/test_contact.py	Migrate contact sensor tests to RenderCfg/renderer-based configuration
tests/sim/sensors/test_camera.py	Migrate camera tests to RenderCfg/renderer-based configuration
tests/sim/objects/test_usd.py	Update USD object tests to use render_cfg
tests/sim/objects/test_soft_object.py	Update soft object tests to use render_cfg
tests/sim/objects/test_robot.py	Whitespace cleanup
tests/gym/envs/test_embodied_env.py	Update env tests to use render_cfg and renderer arg
tests/gym/envs/managers/test_dataset_functors.py	Whitespace cleanup
tests/common.py	Whitespace cleanup
tests/agents/test_shared_rollout.py	Update sim config to use render_cfg
scripts/tutorials/sim/import_usd.py	Update tutorial script to new env launcher args + RenderCfg
scripts/tutorials/sim/gizmo_robot.py	Update tutorial script to new env launcher args + RenderCfg
scripts/tutorials/sim/export_usd.py	Update tutorial script to new env launcher args + RenderCfg
scripts/tutorials/sim/create_softbody.py	Update tutorial script to new env launcher args + RenderCfg
scripts/tutorials/sim/create_sensor.py	Update tutorial script to new env launcher args + RenderCfg
scripts/tutorials/sim/create_scene.py	Update tutorial script to new env launcher args + RenderCfg
scripts/tutorials/sim/create_robot.py	Update tutorial script to new env launcher args + RenderCfg
scripts/tutorials/sim/create_rigid_object_group.py	Update tutorial script to new env launcher args + RenderCfg
scripts/tutorials/gym/random_reach.py	Replace ad-hoc CLI args with shared env launcher args
scripts/tutorials/gym/modular_env.py	Update modular env example to pass renderer/device/headless/num_envs
examples/sim/utility/workspace_analyzer/analyze_plane_workspace.py	Whitespace cleanup
examples/sim/sensors/create_contact_sensor.py	Update example to use env launcher args + RenderCfg
examples/sim/sensors/batch_camera.py	Update example to use env launcher args + RenderCfg
examples/sim/scene/scene_demo.py	Update scene demo CLI and rendering config to renderer-based setup
examples/sim/gizmo/gizmo_w1.py	Update gizmo example CLI and rendering config
examples/sim/gizmo/gizmo_scene.py	Update gizmo example CLI and rendering config
examples/sim/gizmo/gizmo_robot.py	Update gizmo example CLI and rendering config
examples/sim/gizmo/gizmo_object.py	Update gizmo example CLI and rendering config
examples/sim/gizmo/gizmo_camera.py	Update gizmo example CLI and rendering config
examples/sim/demo/scoop_ice.py	Update demo to use env launcher args + renderer configuration
examples/sim/demo/press_softbody.py	Update demo to use env launcher args + renderer configuration
examples/sim/demo/grasp_cup_to_caffe.py	Update demo to use env launcher args + renderer configuration
examples/agents/datasets/online_dataset_demo.py	Adjust demo engine config keys for renderer-based setup
embodichain/utils/warp/kinematics/opw_solver.py	Whitespace cleanup
embodichain/utils/configclass.py	Whitespace cleanup
embodichain/utils/init.py	Whitespace cleanup
embodichain/toolkits/urdf_assembly/component.py	Whitespace cleanup
embodichain/lab/sim/utility/workspace_analyzer/visualizers/voxel_visualizer.py	Whitespace cleanup
embodichain/lab/sim/utility/workspace_analyzer/visualizers/sphere_visualizer.py	Whitespace cleanup
embodichain/lab/sim/utility/workspace_analyzer/visualizers/base_visualizer.py	Whitespace cleanup
embodichain/lab/sim/utility/workspace_analyzer/samplers/base_sampler.py	Whitespace cleanup
embodichain/lab/sim/utility/workspace_analyzer/constraints/workspace_constraint.py	Whitespace cleanup
embodichain/lab/sim/utility/workspace_analyzer/constraints/base_constraint.py	Whitespace cleanup
embodichain/lab/sim/utility/workspace_analyzer/configs/init.py	Whitespace cleanup
embodichain/lab/sim/utility/workspace_analyzer/caches/cache_manager.py	Whitespace cleanup
embodichain/lab/sim/utility/workspace_analyzer/caches/base_cache.py	Whitespace cleanup
embodichain/lab/sim/types.py	Whitespace cleanup
embodichain/lab/sim/solvers/pinocchio_solver.py	Whitespace cleanup
embodichain/lab/sim/solvers/opw_solver.py	Whitespace cleanup
embodichain/lab/sim/solvers/differential_solver.py	Whitespace cleanup
embodichain/lab/sim/sim_manager.py	Replace old RT flags with render_cfg, update renderer wiring and behavior
embodichain/lab/sim/robots/dexforce_w1/utils.py	Whitespace cleanup
embodichain/lab/sim/objects/gizmo.py	Whitespace cleanup
embodichain/lab/sim/cfg.py	Add RenderCfg configclass and DexSim renderer flag mapping
embodichain/lab/sim/atom_actions.py	Whitespace cleanup
embodichain/lab/scripts/run_agent.py	Whitespace cleanup
embodichain/lab/gym/utils/gym_utils.py	Update shared CLI args + config merging to use renderer/RenderCfg
embodichain/lab/gym/envs/tasks/tableware/pour_water/action_bank.py	Whitespace cleanup
embodichain/lab/gym/envs/managers/randomization/spatial.py	Whitespace cleanup
embodichain/lab/gym/envs/managers/randomization/physics.py	Whitespace cleanup
embodichain/lab/gym/envs/embodied_env.py	Whitespace cleanup
embodichain/lab/gym/envs/action_bank/utils.py	Whitespace cleanup
embodichain/data/assets/scene_assets.py	Whitespace cleanup
embodichain/data/assets/robot_assets.py	Whitespace cleanup
embodichain/data/assets/obj_assets.py	Whitespace cleanup
embodichain/data/assets/materials.py	Whitespace cleanup
embodichain/data/assets/eef_assets.py	Whitespace cleanup
embodichain/agents/rl/train.py	Switch trainer config handling from enable_rt to renderer/RenderCfg
embodichain/agents/rl/models/mlp.py	Whitespace cleanup
embodichain/agents/engine/data.py	Switch engine sim config from enable_rt to renderer/RenderCfg
embodichain/agents/datasets/sampler.py	Whitespace cleanup
embodichain/agents/datasets/online_data.py	Whitespace cleanup
docs/sync_readme.py	Formatting tweak
docs/source/tutorial/sensor.rst	Update tutorial CLI docs from --enable_rt to --renderer
docs/source/tutorial/robot.rst	Update tutorial CLI docs from --enable_rt to --renderer
docs/source/tutorial/gizmo.rst	Update tutorial CLI docs from --enable_rt to --renderer
docs/source/overview/sim/sim_manager.md	Update sim manager docs to reflect renderer configuration changes
configs/agents/rl/push_cube/train_config.json	Replace enable_rt with renderer and reformat JSON
configs/agents/rl/basic/cart_pole/train_config_grpo.json	Replace enable_rt with renderer and reformat JSON
configs/agents/rl/basic/cart_pole/train_config.json	Replace enable_rt with renderer and reformat JSON

---

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[Copilot]

Pull request overview

This PR adapts the simulation stack and surrounding tooling to DexSim v0.4.0 by replacing the legacy enable_rt flag with a structured rendering configuration (RenderCfg) and a --renderer CLI option across tests, examples, and training/engine code.

Changes:

• Introduce RenderCfg and migrate SimulationManagerCfg from enable_rt to render_cfg.
• Update CLI utilities and many scripts/examples to use --renderer (legacy/hybrid/fast-rt).
• Refresh tests/configs/docs to reflect the new rendering configuration.

Reviewed changes

Copilot reviewed 81 out of 81 changed files in this pull request and generated 15 comments.

Show a summary per file

File	Description
tests/sim/sensors/test_stereo.py	Migrate stereo sensor tests to new rendering config (currently has call-site issues).
tests/sim/sensors/test_contact.py	Migrate contact sensor tests to new rendering config (currently has call-site issues).
tests/sim/sensors/test_camera.py	Migrate camera sensor tests to new rendering config (currently has call-site issues).
tests/sim/objects/test_usd.py	Update SimulationManagerCfg construction for new renderer config.
tests/sim/objects/test_soft_object.py	Update SimulationManagerCfg construction for new renderer config.
tests/sim/objects/test_robot.py	Whitespace cleanup.
tests/gym/envs/test_embodied_env.py	Update env test sim config for new renderer config (currently has call-site issues).
tests/gym/envs/managers/test_dataset_functors.py	Whitespace cleanup.
tests/common.py	Whitespace cleanup.
tests/agents/test_shared_rollout.py	Update env sim config to use render_cfg in rollout test.
scripts/tutorials/sim/import_usd.py	Switch to shared CLI args + renderer config (currently hard-codes values).
scripts/tutorials/sim/gizmo_robot.py	Switch to shared CLI args + RenderCfg(renderer=args.renderer).
scripts/tutorials/sim/export_usd.py	Switch to shared CLI args + renderer gating for lighting.
scripts/tutorials/sim/create_softbody.py	Switch to shared CLI args + RenderCfg(renderer=args.renderer).
scripts/tutorials/sim/create_sensor.py	Switch to shared CLI args + RenderCfg(renderer=args.renderer).
scripts/tutorials/sim/create_scene.py	Switch to shared CLI args + RenderCfg(renderer=args.renderer).
scripts/tutorials/sim/create_robot.py	Switch to shared CLI args + RenderCfg(renderer=args.renderer).
scripts/tutorials/sim/create_rigid_object_group.py	Switch to shared CLI args + RenderCfg(renderer=args.renderer).
scripts/tutorials/gym/random_reach.py	Use shared CLI args for env launching.
scripts/tutorials/gym/modular_env.py	Add renderer option and build sim config from shared CLI args.
examples/sim/utility/workspace_analyzer/analyze_plane_workspace.py	Whitespace cleanup.
examples/sim/sensors/create_contact_sensor.py	Switch to shared CLI args + renderer config.
examples/sim/sensors/batch_camera.py	Switch to shared CLI args + renderer config.
examples/sim/scene/scene_demo.py	Switch to shared CLI args + renderer config.
examples/sim/gizmo/gizmo_w1.py	Switch to shared CLI args + renderer config.
examples/sim/gizmo/gizmo_scene.py	Switch to shared CLI args + renderer config.
examples/sim/gizmo/gizmo_robot.py	Switch to shared CLI args + renderer config.
examples/sim/gizmo/gizmo_object.py	Switch to shared CLI args + renderer config.
examples/sim/gizmo/gizmo_camera.py	Switch to shared CLI args + renderer config.
examples/sim/demo/scoop_ice.py	Add shared CLI args and pass renderer into sim initialization.
examples/sim/demo/press_softbody.py	Switch to shared CLI args + renderer config.
examples/sim/demo/grasp_cup_to_caffe.py	Switch to shared CLI args + renderer config + lighting gate.
examples/agents/datasets/online_dataset_demo.py	Update gym config handling for renderer (currently contains invalid syntax).
embodichain/utils/warp/kinematics/opw_solver.py	Whitespace cleanup.
embodichain/utils/configclass.py	Whitespace cleanup.
embodichain/utils/init.py	Whitespace cleanup.
embodichain/toolkits/urdf_assembly/component.py	Whitespace cleanup.
embodichain/lab/sim/utility/workspace_analyzer/visualizers/voxel_visualizer.py	Whitespace cleanup.
embodichain/lab/sim/utility/workspace_analyzer/visualizers/sphere_visualizer.py	Whitespace cleanup.
embodichain/lab/sim/utility/workspace_analyzer/visualizers/base_visualizer.py	Whitespace cleanup.
embodichain/lab/sim/utility/workspace_analyzer/samplers/base_sampler.py	Whitespace cleanup.
embodichain/lab/sim/utility/workspace_analyzer/constraints/workspace_constraint.py	Whitespace cleanup.
embodichain/lab/sim/utility/workspace_analyzer/constraints/base_constraint.py	Whitespace cleanup.
embodichain/lab/sim/utility/workspace_analyzer/configs/init.py	Whitespace cleanup.
embodichain/lab/sim/utility/workspace_analyzer/caches/cache_manager.py	Whitespace cleanup.
embodichain/lab/sim/utility/workspace_analyzer/caches/base_cache.py	Whitespace cleanup.
embodichain/lab/sim/utility/sim_utils.py	Extend RT detection + (currently) breaks SDF path due to missing import.
embodichain/lab/sim/types.py	Whitespace cleanup.
embodichain/lab/sim/solvers/pinocchio_solver.py	Whitespace cleanup.
embodichain/lab/sim/solvers/opw_solver.py	Whitespace cleanup.
embodichain/lab/sim/solvers/differential_solver.py	Whitespace cleanup.
embodichain/lab/sim/sim_manager.py	Replace enable_rt with render_cfg and update renderer/RT logic.
embodichain/lab/sim/robots/dexforce_w1/utils.py	Whitespace cleanup.
embodichain/lab/sim/objects/gizmo.py	Whitespace cleanup.
embodichain/lab/sim/cfg.py	Add RenderCfg and renderer mapping into DexSim flags.
embodichain/lab/sim/atom_actions.py	Whitespace cleanup.
embodichain/lab/scripts/run_agent.py	Whitespace cleanup.
embodichain/lab/gym/utils/gym_utils.py	Add --renderer, merge into config, and build sim cfg with RenderCfg.
embodichain/lab/gym/envs/tasks/tableware/pour_water/action_bank.py	Whitespace cleanup.
embodichain/lab/gym/envs/managers/randomization/spatial.py	Whitespace cleanup.
embodichain/lab/gym/envs/managers/randomization/physics.py	Whitespace cleanup.
embodichain/lab/gym/envs/embodied_env.py	Whitespace cleanup.
embodichain/lab/gym/envs/action_bank/utils.py	Whitespace cleanup.
embodichain/data/assets/scene_assets.py	Whitespace cleanup.
embodichain/data/assets/robot_assets.py	Whitespace cleanup.
embodichain/data/assets/obj_assets.py	Whitespace cleanup.
embodichain/data/assets/materials.py	Whitespace cleanup.
embodichain/data/assets/eef_assets.py	Whitespace cleanup.
embodichain/agents/rl/train.py	Replace trainer enable_rt with renderer and wire into RenderCfg.
embodichain/agents/rl/models/mlp.py	Whitespace cleanup.
embodichain/agents/engine/data.py	Replace engine sim config enable_rt with RenderCfg(renderer=...).
embodichain/agents/datasets/sampler.py	Whitespace cleanup.
embodichain/agents/datasets/online_data.py	Whitespace cleanup.
docs/sync_readme.py	Formatting tweak.
docs/source/tutorial/sensor.rst	Update CLI docs from --enable_rt to --renderer (needs example fix).
docs/source/tutorial/robot.rst	Update CLI docs from --enable_rt to --renderer (needs example fix).
docs/source/tutorial/gizmo.rst	Update CLI docs from --enable_rt to --renderer (needs wording/example fix).
docs/source/overview/sim/sim_manager.md	Update config docs for renderer (currently incorrect type/fields).
configs/agents/rl/push_cube/train_config.json	Replace enable_rt with renderer.
configs/agents/rl/basic/cart_pole/train_config.json	Replace enable_rt with renderer.
configs/agents/rl/basic/cart_pole/train_config_grpo.json	Replace enable_rt with renderer and formatting changes.

Comments suppressed due to low confidence (3)

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

• build_env_cfg_from_args imports RenderCfg from embodichain.lab.sim, but the package embodichain.lab.sim doesn't export RenderCfg (only SimulationManager* via sim_manager.__all__). This will raise ImportError. Import it from embodichain.lab.sim.cfg or export RenderCfg in embodichain/lab/sim/__init__.py.

    from embodichain.utils.utility import load_json
    from embodichain.lab.gym.envs import EmbodiedEnvCfg
    from embodichain.lab.sim import RenderCfg, SimulationManagerCfg

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

    cfg: EmbodiedEnvCfg = config_to_cfg(

embodichain/lab/gym/utils/gym_utils.py:801

• --gym_config was changed to required=False, but build_env_cfg_from_args unconditionally calls load_json(args.gym_config). This makes run_env.py / run_agent.py fail later with a less clear error if the flag is omitted. Either keep it required for CLIs that need it, or add an explicit check with a helpful error message when args.gym_config is 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(

docs/source/overview/sim/sim_manager.md:40

• The SimulationManagerCfg table documents renderer as a bool with default False, but the code now uses render_cfg: RenderCfg (and CLI uses a string backend name). Please update the parameter name/type/default and describe the new RenderCfg fields (renderer/enable_denoiser/spp).

| `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). |
| `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. |
| `thread_mode` | `ThreadMode` | `RENDER_SHARE_ENGINE` | The threading mode for the simulation engine. |

---

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[Copilot]

setup_simulation now takes renderer (string) but the tests call it with a render_cfg= keyword argument, which will raise TypeError: setup_simulation() got an unexpected keyword argument 'render_cfg'. Update call sites to pass renderer="legacy"/"fast-rt"/... (or change setup_simulation to accept render_cfg).

[Copilot]

There are two classes named TestCameraRaster (and two named TestCameraFastRT) in the same module; the latter definition overwrites the former, so one set of tests will never run. Rename them to distinct CPU/CUDA variants (e.g., TestCameraRasterCPU/TestCameraRasterCUDA).

[Copilot]

setup_simulation takes renderer (string), but the derived test classes call it with render_cfg=..., which will fail with an unexpected keyword argument. Pass renderer="legacy" / renderer="fast-rt" instead (or update the helper signature).

[Copilot]

The module defines TestStereoCameraRaster twice and TestStereoCameraFastRT twice; later definitions overwrite earlier ones, so tests are silently dropped. Use distinct class names for CPU vs CUDA variants.

[Copilot]

setup_simulation signature was changed to accept renderer, but all setup methods call it with render_cfg=... which will raise TypeError. Adjust call sites to pass renderer="legacy"/"fast-rt" (or accept render_cfg in the helper).

[Copilot]

add_env_launcher_args_to_parser docstring claims --renderer defaults to 'legacy', but the actual argparse default is 'hybrid'. Please align the docstring with the code (and update any other docs that mention the default).

[Copilot]

The script now parses common launcher args, but the simulation config still hard-codes headless=True (ignoring --headless) and hard-codes the renderer to "fast-rt" via an always-true conditional. Use headless=args.headless and RenderCfg(renderer=args.renderer) so CLI flags actually take effect.

[Copilot]

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

[Copilot]

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

[Copilot]

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).