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fix atomic action #273

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Merged
yuecideng merged 2 commits into from
May 21, 2026
Merged

fix atomic action #273

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8d24186
fix atomic_actions.py
XuanchaoPENG May 20, 2026
5deac39
Merge branch 'main' into xuanchao/fix-atomic-action
yuecideng May 21, 2026
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22 changes: 11 additions & 11 deletions scripts/tutorials/sim/atomic_actions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@
3. Running a pick → place → move sequence with execute_static()

Run with:
python atomic_actions.py [--num_envs N] [--enable_rt]
python atomic_actions.py [--num_envs N] [--renderer hybrid|fast-rt|rt]
"""

import argparse
Expand All @@ -40,8 +40,10 @@
from embodichain.lab.sim.shapes import MeshCfg
from embodichain.lab.sim.solvers import PytorchSolverCfg
from embodichain.data import get_data_path
from embodichain.lab.gym.utils.gym_utils import add_env_launcher_args_to_parser
from embodichain.lab.sim.cfg import (
JointDrivePropertiesCfg,
RenderCfg,
RobotCfg,
RigidObjectCfg,
RigidBodyAttributesCfg,
Expand Down Expand Up @@ -79,12 +81,7 @@ def parse_arguments():
parser = argparse.ArgumentParser(
description="Create and simulate a robot in SimulationManager"
)
parser.add_argument(
"--enable_rt", action="store_true", help="Enable ray tracing rendering"
)
parser.add_argument(
"--num_envs", type=int, default=1, help="Number of parallel environments"
)
add_env_launcher_args_to_parser(parser)
return parser.parse_args()


Expand All @@ -98,14 +95,16 @@ def initialize_simulation(args):
Returns:
SimulationManager: Configured simulation manager instance.
"""
config = SimulationManagerCfg(
sim_cfg = SimulationManagerCfg(
width=1920,
height=1080,
headless=True,
sim_device="cuda",
enable_rt=args.enable_rt,
physics_dt=1.0 / 100.0,
num_envs=args.num_envs,
render_cfg=RenderCfg(renderer=args.renderer),
)
sim = SimulationManager(config)
sim = SimulationManager(sim_cfg)

light = sim.add_light(
cfg=LightCfg(uid="main_light", intensity=50.0, init_pos=(0, 0, 2.0))
Expand Down Expand Up @@ -253,7 +252,8 @@ def main():
)

sim.init_gpu_physics()
sim.open_window()
if not args.headless:
sim.open_window()

# ------------------------------------------------------------------ #
# Step 5: Describe the mug with ObjectSemantics #
Expand Down
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