Simplify RenderCfg to use render_iterations_per_frame#298
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Remove enable_denoiser and map spp directly to DexSim's raytrace_config.render_iterations_per_frame, aligning with the current DexSim ray-tracing API. Co-authored-by: Cursor <cursoragent@cursor.com>
yuecideng
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Pull request overview
This PR aligns EmbodiChain’s render quality configuration with the current DexSim ray-tracing API by removing denoiser toggling and driving ray-tracing quality via a single per-frame iteration control.
Changes:
- Removed
RenderCfg.enable_denoiserand adjustedRenderCfg.sppdefault from64to1. - Updated
SimulationManager._convert_sim_config()to mapRenderCfg.spptoworld_config.raytrace_config.render_iterations_per_frame. - Expanded the
sppdocstring to include the'rt'renderer (but it still needs to reflect the new semantics).
Reviewed changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
embodichain/lab/sim/sim_manager.py |
Maps RenderCfg.spp to DexSim raytrace per-frame iterations. |
embodichain/lab/sim/cfg.py |
Simplifies RenderCfg by removing denoiser config and changing spp default/description. |
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| world_config.renderer = sim_config.render_cfg.to_dexsim_flags() | ||
| if sim_config.render_cfg.enable_denoiser is False: | ||
| world_config.raytrace_config.spp = sim_config.render_cfg.spp | ||
| world_config.raytrace_config.open_denoise = False | ||
| world_config.raytrace_config.render_iterations_per_frame = ( | ||
| sim_config.render_cfg.spp | ||
| ) |
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| spp: int = 1 | ||
| """Samples per pixel for ray tracing rendering. This parameter is only valid when renderer is 'hybrid', 'fast-rt' or 'rt'.""" |
yuecideng
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Jun 15, 2026
Co-authored-by: Cursor <cursoragent@cursor.com>
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Description
This PR simplifies
RenderCfgray-tracing quality controls to align with the current DexSim API.enable_denoiserfield fromRenderCfg.sppdirectly toworld_config.raytrace_config.render_iterations_per_frameinSimulationManager.sppfrom64to1, matching DexSim's default render iteration count.sppdocstring to include the'rt'renderer.Previously, EmbodiChain only applied
sppand disabled denoising whenenable_denoiser=False. DexSim now exposesrender_iterations_per_frameas the canonical control for per-frame ray-tracing iterations, as used in DexSim renderer examples.Dependencies: Requires a DexSim build that supports
raytrace_config.render_iterations_per_frame.Type of change
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Checklist
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