Add headless window capture API#281

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yuecideng wants to merge 44 commits into

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feat/window-capture

yuecideng commented May 25, 2026 •

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Description

Adds SimulationManager.capture_window() for single-frame RGB capture using the same hidden-camera approach as viewer window recording. When a viewer window is open, the capture camera follows the current viewer pose; in headless runs it renders from a provided pose or a default look-at pose.

Also updates scripts/tutorials/sim/create_scene.py with --capture-window, --capture-path, and --max-steps so the feature can be verified non-interactively.

Fixes #

Type of change

New feature (non-breaking change which adds functionality)
Enhancement (non-breaking change which improves an existing functionality)

Screenshots

Not applicable. Verification writes ./outputs/window_capture/create_scene_verify.png locally.

Verification

python -m py_compile embodichain/lab/sim/sim_manager.py scripts/tutorials/sim/create_scene.py
black --check embodichain/lab/sim/sim_manager.py scripts/tutorials/sim/create_scene.py
python scripts/tutorials/sim/create_scene.py --headless --max-steps 5 --capture-window --capture-path ./outputs/window_capture/create_scene_verify.png
Verified generated image is 1920x1080 RGB and nonblank.

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.

yuecideng and others added 30 commits

April 12, 2026 14:58


          Docs: rewrite install guide and make lerobot a required dependency (#227

8d20b8d


          Update cobotmagic arm asset. (#228)

d2a8dad

Co-authored-by: chenjian <chenjian@dexforce.com>


          Fix opw solver (#229)

987d04f

Co-authored-by: chenjian <chenjian@dexforce.com>


          Fix crashing when no grasp pose found. (#232)

80368bd

Co-authored-by: chenjian <chenjian@dexforce.com>


          add rl benchmark (#231)

59021a4

Co-authored-by: chenjian <chenjian@dexforce.com>


          Enhance workspace analyzer computational efficiency (#230)

d860435

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>


          Update CobotMagic default safe margin (#235)

d52ea77

Co-authored-by: chenjian <chenjian@dexforce.com>


          Fix demo action shape normalization and control-part mapping (#237)

d5bf930


          Refine URDF assembly component prefixes and name casing policy (#236)

3bb2592

Co-authored-by: Jietao Chen <chenjietao@dexforce.com>
Co-authored-by: Yueci Deng <dengyueci@qq.com>


          Refactor: benchmark (#233)

50843a5

Co-authored-by: chenjian <chenjian@dexforce.com>


          Update pytorch kinematic solver benchmark param (#240)

e0e16ae

Co-authored-by: chenjian <chenjian@dexforce.com>


          fix plan_trajectory (#242)

Co-authored-by: yuanhaonan <yuanhaonan@dexforce.top>


          docs: add NVIDIA driver guide and mesh loading tutorial (#245)

ccce98a


          Add multi-version documentation build support (#234)

386dc66


          Fix README docs link (#246)

9fb2204


          docs: add AI coding agent skills and cross-reference throughout docum…

06258f1

…entation (#247)

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
Co-authored-by: Copilot <copilot@github.com>


          fix: correct the link of website (#249)

72e9731


          docs: upgrade README badges and add auto-sync to introduction.rst (#250)

c824c86

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>


          upgrade pytorch kinematics (#244)

8e92c08

Co-authored-by: chenjian <chenjian@dexforce.com>
Co-authored-by: yuecideng <dengyueci@qq.com>


          chore: upgrade black to 26.3.1 and fix code style (#251)

72b5bb9

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>


          Improve API reference detail and coverage (#252)

fc54598


          feat: Add atomic action abstraction layer for embodied AI motion gene…

168f11c

…ration (#239)

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
Co-authored-by: Chen Jian <mtfl1996@outlook.com>
Co-authored-by: chenjian <chenjian@dexforce.com>
Co-authored-by: Copilot <copilot@github.com>


          Fix pytorch solver qpos mapping (#253)

c5e6f00

Co-authored-by: chenjian <chenjian@dexforce.com>


          docs: Remove AI coding agent skills references (#254)

23a1208

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>


          docs: add data generation tutorial for synthesized data pipeline (#238)

076fc65

Co-authored-by: Yueci Deng <dengyueci@qq.com>


          Update skills structure and roadmap docs (#257)

f81b8a6


          Adapt dexsim v0.4.0 (#226)

9e34ec1

Co-authored-by: WaferLi <63717327+WaferLi@users.noreply.github.com>
Co-authored-by: liwenfeng <liwenfeng@dexforce.top>
Co-authored-by: chenjian <chenjian@dexforce.com>
Co-authored-by: daojun <lookangela@qq.com>
Co-authored-by: Chen Jian <mtfl1996@outlook.com>


          docs: add uv installation support and update dependencies (#258)

72ffe43

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>


          Fix PyPI release workflow (#259)

c6ce00f


          docs: improve navigation, cross-references, and guides (#262)

e11eb4e

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>

yuecideng and others added 14 commits

May 12, 2026 16:46


          Fix multiversion docs overwrite on main branch push (#263)

a251699

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>


          docs: add academic publications page (#265)

6e5f745

Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>


          Fix multiversion docs overwrite on main push (#266)

c322584

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>


          ci: fix docs deployment to use GitHub Actions Pages source

5cdd9c2

The publish job was left with the JamesIves/gh-pages-branch approach
from a prior iteration, while GitHub Pages source had drifted to
main/docs (serving raw Sphinx source, not built HTML).

Changes:
- Replace actions/upload-artifact@v4 (name: docs-build) with
  actions/upload-pages-artifact@v3 — required by actions/deploy-pages
- Replace the entire JamesIves publish job with a minimal
  actions/deploy-pages@v4 job (pages: write + id-token: write)
- GitHub Pages source switched to build_type=workflow (GitHub Actions)
  via API, so deploy-pages is the authoritative deployment mechanism

The shared full-site cache in the build job (from the previous fix)
is preserved and continues to ensure all versioned dirs survive across
main-branch pushes.

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>


          ci: fix multiversion docs deployment (#267)

2a8b56c

Co-authored-by: Claude Opus 4.7 <noreply@anthropic.com>


          fix opw tcp (#261)

5bc76ce

Co-authored-by: chenjian <chenjian@dexforce.com>


          Annotate full mesh (#260)

c3f5b4d

Co-authored-by: chenjian <chenjian@dexforce.com>


          Adapt DexSim v0.4.1 (#272)

83ef059

Co-authored-by: Claude Opus 4.7 <noreply@anthropic.com>


          Add emissive light mode to randomize_indirect_lighting (#274)

498dce9

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>


          fix atomic action (#273)

d46bedb

Co-authored-by: Yueci Deng <dengyueci@qq.com>


          sim-ready pipeline (#271)

77963fa

Co-authored-by: Yueci Deng <dengyueci@qq.com>


          Fix multi-version GitHub Pages docs deployment (#277)

Co-authored-by: Cursor <cursoragent@cursor.com>


          Add headless window capture API

6c30f2c

wip

a0b76be

yuecideng force-pushed the main branch from bbe65f1 to f50efc3 Compare

June 15, 2026 04:10

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