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Update physics step update for some spatial functors #144

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Merged
yuecideng merged 5 commits into from
Feb 20, 2026
Merged

Update physics step update for some spatial functors #144

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5a18d94
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yuecideng Feb 19, 2026
78c6495
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yuecideng Feb 20, 2026
3f2b303
Merge remote-tracking branch 'origin/main' into yueci/physics-step
yuecideng Feb 20, 2026
536c17a
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yuecideng Feb 20, 2026
eff2f65
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yuecideng Feb 20, 2026
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15 changes: 12 additions & 3 deletions embodichain/lab/gym/envs/managers/randomization/spatial.py
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Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,7 @@ def randomize_rigid_object_pose(
rotation_range: tuple[list[float], list[float]] | None = None,
relative_position: bool = True,
relative_rotation: bool = False,
physics_update_step: int = -1,
) -> None:
"""Randomize the pose of a rigid object in the environment.

Expand All @@ -122,6 +123,7 @@ def randomize_rigid_object_pose(
The rotation is represented as Euler angles (roll, pitch, yaw) in degree.
relative_position (bool): Whether to randomize the position relative to the object's initial position. Default is True.
relative_rotation (bool): Whether to randomize the rotation relative to the object's initial rotation. Default is False.
physics_update_step (int): The number of physics update steps to apply after randomization. Default is -1 (no update).
"""

if entity_cfg.uid not in env.sim.get_rigid_object_uid_list():
Expand Down Expand Up @@ -155,6 +157,9 @@ def randomize_rigid_object_pose(
rigid_object.set_local_pose(pose, env_ids=env_ids)
rigid_object.clear_dynamics()

if physics_update_step > 0:
env.sim.update(step=physics_update_step)


def randomize_robot_eef_pose(
env: EmbodiedEnv,
Expand Down Expand Up @@ -202,6 +207,7 @@ def set_random_eef_pose(joint_ids: List[int], robot: Robot) -> None:
)

new_qpos[ret == False] = current_qpos[ret == False]
robot.set_qpos(new_qpos, env_ids=env_ids, joint_ids=joint_ids, target=False)
robot.set_qpos(new_qpos, env_ids=env_ids, joint_ids=joint_ids)

robot = env.sim.get_robot(entity_cfg.uid)
Expand All @@ -215,8 +221,8 @@ def set_random_eef_pose(joint_ids: List[int], robot: Robot) -> None:
joint_ids = robot.get_joint_ids(part)
set_random_eef_pose(joint_ids, robot)

# simulate 10 steps to let the robot reach the target pose.
env.sim.update(step=10)
# simulate 1 steps to let the robot reach the target pose.
env.sim.update(step=1)


def randomize_robot_qpos(
Expand Down Expand Up @@ -264,8 +270,11 @@ def randomize_robot_qpos(
else:
current_qpos = qpos

robot.set_qpos(
qpos=current_qpos, env_ids=env_ids, joint_ids=joint_ids, target=False
)
robot.set_qpos(qpos=current_qpos, env_ids=env_ids, joint_ids=joint_ids)
env.sim.update(step=100)
env.sim.update(step=1)


def randomize_target_pose(
Expand Down
3 changes: 3 additions & 0 deletions embodichain/lab/gym/utils/gym_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -803,6 +803,9 @@ def build_env_cfg_from_args(
)
cfg.filter_visual_rand = args.filter_visual_rand
cfg.filter_dataset_saving = args.filter_dataset_saving
if args.preview:
# In preview mode, we typically don't want to save data
cfg.filter_dataset_saving = True

action_config = {}
if args.action_config is not None:
Expand Down