Add reusable demo utilities and DemoBase lifecycle class - #354
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yuecideng wants to merge 19 commits into
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Add reusable demo utilities and DemoBase lifecycle class#354yuecideng wants to merge 19 commits into
yuecideng wants to merge 19 commits into
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Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Claude <noreply@anthropic.com>
yuecideng
added
enhancement
Multi-environment demos (e.g. examples/sim/demo) need to forward num_envs to SimulationManagerCfg. Add a num_envs parameter to create_default_sim and unit-test it alongside maybe_init_gpu_physics and the default-light path. Co-Authored-By: Claude <noreply@anthropic.com>
Migrate press_softbody, pick_up_cloth, grasp_cup_to_caffe and scoop_ice to the DemoBase lifecycle and shared demo_utils helpers (add_demo_args, create_default_sim, maybe_open_window, maybe_init_gpu_physics, maybe_wait_for_user). This completes the demo utility rollout called for in the demo-base design spec. Behavior is preserved (robot/object configs, IK seeds, trajectory interpolation and sim.update step counts are unchanged) with three intentional improvements: - Guaranteed sim.destroy() via DemoBase.main() try/finally, fixing the exit-time segfault (exit 139) that violated the sim-shutdown contract. - Respect --headless consistently (no hardcoded headless=True) and open the window via maybe_open_window. - --auto_play skips interactive prompts and the keep-alive loop so demos terminate for headless integration runs. press_softbody and pick_up_cloth run end-to-end headless --auto_play with a clean exit (exit 0). Co-Authored-By: Claude <noreply@anthropic.com>
Add a 'Writing Demo Scripts' tutorial covering add_demo_args, create_default_sim, DemoRecording, replay_trajectory and the DemoBase lifecycle, and register it in the tutorial toctree. Expose demo_utils and demo_base in the API reference (autosummary + automodule sections) so the tutorial cross-references resolve. Co-Authored-By: Claude <noreply@anthropic.com>
Sync the demo-base feature with the latest main (44 commits), which refactored atomic actions in parallel: - #346 refactor atomic actions into a primitives package - #349 env-batched parallel motion generation (AtomicActionEngine.run now returns a (B,) success tensor; compute_ik returns a batched success tensor) - #371 simplify atomic action tutorials (extract helpers into tutorial_utils.py, flat style) Conflict resolution (7 files: 6 atomic_action tutorials + tutorial_utils.py): - tutorial_utils.py: take main's version. It is a strict superset of the PR's (keeps create_ur5_gripper_robot_cfg, make_ur5_solver_cfg, draw_axis_marker, start/stop_auto_play_recording and adds create_tutorial_simulation, add_ur5_gripper_robot, create_toppra_motion_generator, prepare_tutorial_scene, env-batched replay_trajectory, broadcast_pose_batch, etc.). - 6 tutorials: keep the PR's DemoBase migration and adapt to main's env-batched API. engine.run success changed from a scalar is_success to a (B,) tensor, so the guard is now 'if not success.all():' (compute_ik already used torch.all). Target constructor params (qpos/name/xpos/semantics/object_target_pose) match main's core.py. This also restores the sim.destroy() cleanup that main's flat tutorials lack (DemoBase.main try/finally), avoiding the exit-time segfault. Verified: 19 unit tests pass; move_joints and pickup run headless --auto_play end-to-end with a clean exit (exit 0). Co-Authored-By: Claude <noreply@anthropic.com>
yuecideng
marked this pull request as ready for review
July 28, 2026 15:50
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Description
This PR introduces a shared demo utility layer for simulation scripts and refactors the six
scripts/tutorials/atomic_action/tutorials to use it.New components:
embodichain.lab.sim.utility.demo_utils: argument parsing, default simulation setup, recording context manager, trajectory replay, and window/user helpers.embodichain.lab.sim.demo_base.DemoBase: optional lifecycle base class for demos.The existing
scripts/tutorials/atomic_action/tutorial_utils.pynow re-exports generic helpers while keeping UR5-specific configuration functions. All six atomic-action tutorials were migrated toDemoBaseand the shared helpers; behavior is preserved.Dependencies: None
Type of change
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black .command to format the code base.