Add upright atomic action by skywhite1024 · Pull Request #302 · DexForce/EmbodiChain

skywhite1024 · 2026-06-12T08:16:27Z

Summary

Add UprightAction and UprightActionCfg to atomic action exports.
Implement upright atomic action flow: grasp, final approach, close/hold, lift, rotate to upright object pose, place/press, release, and retreat.
Add scripts/tutorials/atomic_action/upright_atomic_action.py as the demo entry point.

Review Updates

Rebased the branch onto main.
Removed grasp-generator related changes from this PR:
- no core.py candidate-grasp API changes
- no antipodal_generator.py default/config changes
- no n_top_grasps, n_deviated_approach_directions, or NMS changes
Dropped the unrelated articulation.py change; joint armature behavior remains unchanged from main.
Current PR diff is limited to:
- embodichain/lab/sim/atomic_actions/__init__.py
- embodichain/lab/sim/atomic_actions/actions.py
- scripts/tutorials/atomic_action/upright_atomic_action.py

Validation

git diff --check origin/main...HEAD
python3 -m py_compile embodichain/lab/sim/atomic_actions/__init__.py embodichain/lab/sim/atomic_actions/actions.py scripts/tutorials/atomic_action/upright_atomic_action.py
conda run -n embodichain040 black --check --target-version py310 embodichain/lab/sim/atomic_actions/__init__.py embodichain/lab/sim/atomic_actions/actions.py scripts/tutorials/atomic_action/upright_atomic_action.py

)

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yuecideng · 2026-06-12T14:46:41Z

                drive_args["max_velocity"] = max_velocity[i].cpu().numpy()
            if friction is not None:
                drive_args["joint_friction"] = friction[i].cpu().numpy()
-            if armature is not None:


Please do not modify unrelated file.

Dropped the unrelated Articulation change. This PR no longer modifies articulation.py.

Copilot

Pull request overview

This PR introduces a new “upright” atomic action to the simulator atomic-actions layer, and provides a tutorial script that demonstrates grasping a fallen object, rotating it upright, placing/pressing it onto a support surface, releasing, and retreating.

Changes:

Added UprightAction / UprightActionCfg and exported them via the atomic actions package.
Implemented an upright manipulation trajectory pipeline (approach → final approach/pre-close → close/hold → lift/rotate upright → place/press/hold → release → retreat).
Added scripts/tutorials/atomic_action/upright_atomic_action.py as the demo entry point.

Reviewed changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 7 comments.

File	Description
`embodichain/lab/sim/atomic_actions/__init__.py`	Exports the new upright action/config from the atomic actions package.
`embodichain/lab/sim/atomic_actions/actions.py`	Implements `UprightActionCfg`/`UprightAction` and improves hand-qpos interpolation/batching helpers used by grasp-like actions.
`scripts/tutorials/atomic_action/upright_atomic_action.py`	Adds a runnable tutorial showcasing grasp and upright action flows.

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        # Resolve grasp pose
        if isinstance(target, ObjectSemantics):
-            is_success, grasp_xpos, open_length = self._resolve_grasp_pose(target)
+            is_success, grasp_xpos, _ = self._resolve_grasp_pose(target)
        else:
            is_success, grasp_xpos = self._resolve_pose_target(


+        if not torch.all(is_success).item():
+            logger.log_warning(
+                "Failed to resolve grasp pose, using default approach pose"
+            )
+            return False, torch.empty(0), self.joint_ids


+        original_hit_point_pairs = generator._hit_point_pairs
+        try:
+            generator._hit_point_pairs = hit_point_pairs[valid_mask]
+            filtered_success, filtered_grasp_xpos, filtered_open_length = (
+                semantics.affordance.get_best_grasp_poses(


+            (pair_axes_world * approach_direction.view(1, 1, 3)).sum(dim=-1)
+        )
+        if max_axis_dot is not None:
+            valid_mask &= torch.all(pair_axis_dot <= max_axis_dot, dim=0)
+        valid_count = int(valid_mask.sum().item())


+"""
+This script demonstrates the creation and simulation of a robot that grasps a rigid mug
+in a simulated environment using the SimulationManager and grasp planning utilities.
+"""


+    parser.add_argument(
+        "--demo_mode",
+        type=str,
+        choices=["grasp", "upright"],
+        default="grasp",
+        help="Select the tutorial scenario to run.",
+    )


    "PickUpAction",
    "PlaceAction",
+    "UprightAction",
    "MoveActionCfg",
    "PickUpActionCfg",


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)

0497711

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

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fix: correct the link of website (#249)

72e9731

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

c824c86

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upgrade pytorch kinematics (#244)

8e92c08

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

72b5bb9

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Improve API reference detail and coverage (#252)

fc54598

Fix pytorch solver qpos mapping (#253)

c5e6f00

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

23a1208

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

076fc65

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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

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Fix PyPI release workflow (#259)

c6ce00f

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

e11eb4e

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yuecideng and others added 17 commits May 23, 2026 00:58

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

1773778

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

standardize lerobot key (#280)

fef305e

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

Fix rigid object init ordering and reset after GPU physics setup (#283)

bc1a8b3

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Add YAML support for gym and RL training configs (#284)

389cfa9

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

Add per-link articulation physics configuration (#278)

590211c

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Fix base solver fk (#285)

3e4d4ee

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

feat: add agent context routing system for EmbodiChain (#288)

98c12d5

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Add neural network IK solver (#286)

d93e61a

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

Add joint armature support for articulations (#290)

70dfc53

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

Align window controls with DexSim defaults (#291)

1b86641

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

Improve installation guide and deduplicate gensim install docs (#293)

044877e

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Fix recording for PourWater (#292)

1819048

Auto-select default renderer based on GPU (#294)

cb3240b

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Refine sim ready asset generation format (#296)

1535304

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

Simplify RenderCfg to use render_iterations_per_frame (#298)

044e046

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

fix simready error (#299)

f42a343

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

Adapt new runner (#295)

3f35bcd

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

yuecideng requested review from matafela and yuecideng June 12, 2026 08:48

yuecideng changed the base branch from cj/upgrade-grasp-generator to main June 12, 2026 11:26

yuecideng requested changes Jun 12, 2026

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skywhite1024 changed the title ~~[codex] Add upright atomic action~~ Add upright atomic action Jun 14, 2026

skywhite1024 added 2 commits June 14, 2026 12:51

Add upright atomic action

dcc800f

Address upright action review feedback

a12bcb2

skywhite1024 force-pushed the ljd/upright_atomic_action branch from 9061744 to a12bcb2 Compare June 14, 2026 05:44

yuecideng marked this pull request as ready for review June 14, 2026 05:52

Copilot AI review requested due to automatic review settings June 14, 2026 05:52

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yuecideng force-pushed the main branch from bbe65f1 to f50efc3 Compare June 15, 2026 04:10

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Add upright atomic action#302

Add upright atomic action#302
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skywhite1024 commented Jun 12, 2026 •

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skywhite1024 commented Jun 12, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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skywhite1024 commented Jun 12, 2026 •

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