Repository navigation
Add coordinated placement and atomic action benchmarks - #318
Merged
Merged
Conversation
skywhite1024
changed the base branch from
ljd/press_atomic_actions
to
refactor/atomic-actions-redesign
June 23, 2026 12:46
skywhite1024
force-pushed
the
ljd/coordinated_placement_atomic_actions
branch
from
June 26, 2026 03:07
297c3e6 to
b9e4823
Compare
skywhite1024
added
docs
skywhite1024
changed the title
Contributor
There was a problem hiding this comment.
Pull request overview
This PR expands EmbodiChain’s atomic action layer with new manipulation primitives and supporting developer tooling, including tutorials, documentation, benchmarks, and unit tests.
Changes:
- Added two new atomic actions:
Press(single-arm) andCoordinatedPlacement(dual-arm, object-centric target). - Added/updated tutorial utilities and a new
press.pytutorial script, plus documentation updates to include the new actions/targets. - Introduced an atomic-action benchmark suite (dispatcher + per-action benchmarks) and integrated it into
scripts/benchmark.
Reviewed changes
Copilot reviewed 21 out of 26 changed files in this pull request and generated 1 comment.
Show a summary per file
| File | Description |
|---|---|
| tests/sim/atomic_actions/test_actions.py | Adds unit tests for Press and CoordinatedPlacement behavior/trajectory shapes. |
| scripts/tutorials/atomic_action/tutorial_utils.py | Adds make_ur5_solver_cfg() and extends axis marker drawing with arena_index. |
| scripts/tutorials/atomic_action/press.py | New tutorial script demonstrating Press planning/replay and target-axis visualization. |
| scripts/benchmark/atomic_action/run_benchmark.py | New benchmark dispatcher to run one or many atomic-action benchmarks (optionally subprocess-isolated). |
| scripts/benchmark/atomic_action/press_benchmark.py | New Press benchmark including timing/memory and “press center hit” metric + markdown report output. |
| scripts/benchmark/atomic_action/place_benchmark.py | New Place benchmark (with PickUp precondition) using shared benchmark helpers. |
| scripts/benchmark/atomic_action/pickup_benchmark.py | New PickUp benchmark using shared benchmark helpers. |
| scripts/benchmark/atomic_action/move_joints_benchmark.py | New MoveJoints benchmark using shared benchmark helpers. |
| scripts/benchmark/atomic_action/move_held_object_benchmark.py | New MoveHeldObject benchmark (with PickUp precondition) using shared benchmark helpers. |
| scripts/benchmark/atomic_action/move_end_effector_benchmark.py | New MoveEndEffector benchmark using shared benchmark helpers. |
| scripts/benchmark/atomic_action/common.py | New shared utilities for benchmark selection, timing/memory, video recording, and markdown reporting. |
| scripts/benchmark/atomic_action/init.py | New benchmark package initializer. |
| scripts/benchmark/main.py | Adds atomic-action subcommand wiring to the benchmark CLI. |
| embodichain/lab/sim/atomic_actions/core.py | Introduces CoordinatedPlacementTarget and extends the Target union + exports. |
| embodichain/lab/sim/atomic_actions/actions.py | Implements Press + CoordinatedPlacement actions and their config classes; updates module exports/docs. |
| embodichain/lab/sim/atomic_actions/init.py | Re-exports new action types/configs/targets and updates module docs. |
| docs/source/tutorial/atomic_actions.rst | Updates tutorial index to include Press and its demo script. |
| docs/source/overview/sim/atomic_actions/index.md | Updates overview diagrams/tables to include CoordinatedPlacementTarget and new demos. |
| docs/source/overview/sim/atomic_actions/builtin_actions.md | Documents Press and CoordinatedPlacement with config/target details and GIF references. |
| docs/source/api_reference/embodichain/embodichain.lab.sim.atomic_actions.rst | Adds API reference entries for Press* and CoordinatedPlacement* symbols. |
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
Comment on lines
+394
to
+398
| def _default_object_types_for_profile(profile: str) -> tuple[str, ...]: | ||
| """Return default Press primitive object names for a profile.""" | ||
| if profile in ("smoke", "coverage", "full"): | ||
| return SMOKE_OBJECT_TYPES | ||
| raise ValueError(f"Unsupported benchmark profile: {profile}") |
Comment on lines
+50
to
+64
| def make_ur5_solver_cfg(tcp_z: float) -> URSolverCfg: | ||
| """Create the UR5 arm solver cfg used by atomic-action tutorials.""" | ||
| cfg = URSolverCfg( | ||
| ur_type="ur5", | ||
| end_link_name="ee_link", | ||
| root_link_name="base_link", | ||
| tcp=[ | ||
| [1.0, 0.0, 0.0, 0.0], | ||
| [0.0, 1.0, 0.0, 0.0], | ||
| [0.0, 0.0, 1.0, tcp_z], | ||
| [0.0, 0.0, 0.0, 1.0], | ||
| ], | ||
| ) | ||
| cfg.urdf_path = None | ||
| return cfg |
Comment on lines
+394
to
+398
| def _default_object_types_for_profile(profile: str) -> tuple[str, ...]: | ||
| """Return default Press primitive object names for a profile.""" | ||
| if profile in ("smoke", "coverage", "full"): | ||
| return SMOKE_OBJECT_TYPES | ||
| raise ValueError(f"Unsupported benchmark profile: {profile}") |
yuecideng
approved these changes
Jul 2, 2026
Normalize coordinated placement held-state outputs, add target-axis recording support, and include the documented demo GIF for PR review.
skywhite1024
force-pushed
the
ljd/coordinated_placement_atomic_actions
branch
from
July 3, 2026 05:07
8ed130f to
5873c4a
Compare
Yuan-Xinyi
added a commit
that referenced
this pull request
Sep 22, 2026
pick_up scores 52.08 % over coverage, place 37.50 % and move_held_object 27.08 %, and measuring where those cases go shows most of them are not skill failures at all: - Objects 0.18 m from the base sit in the arm's inner workspace. Every IK branch for such a grasp folds the shoulder back on itself, and driving the arm to any of them stalls: j1 stops 0.44 rad short with every other joint tracking to 0.01 rad and the limits nowhere near. - A side approach asks for a horizontal gripper at the height of an object lying on the ground. Probing the same case at increasing heights, 0 of the sampled grasps are attainable at the object's own height and 3 of 3 become attainable once lifted 0.20 m, while the top approach is attainable at every height. The gripper is hitting the ground. Both produce a plan that executes into thin air, and the skill's feasibility screen cannot see either: it accepts a candidate when IK returns a solution, which says a configuration exists, not that the arm can get to it. has_attainable_grasp_candidate() drives each sampled grasp in physics, pre-grasp then grasp, and stops at the first one that arrives. When none does, the case is recorded with unsupported_capability, leaves every denominator and lowers coverage_rate instead, which is what BENCHMARK_DESIGN.md section 5 prescribes for an unsupported case and what the standard now states for success_rate. Supported cases pay one probe; only an unsupported one pays for the whole candidate list. The cases themselves are not touched: the positions, approaches and object presets are #318's, unchanged here. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
6 tasks done
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
This PR adds the atomic action updates needed for the current branch to merge directly into
main:CoordinatedPlacement, an object-centric dual-arm atomic action where both arms already hold objects: the support arm keeps holding the support object, while the placing arm aligns its held object, releases it, and retreats.ljd/benchmark_atomic_actions.origin/main, keepingmainrobot/tutorial refactors while preserving this PR branch atomic action additions..glbmesh assets underscripts/tutorials/atomic_action/are no longer tracked by git and are ignored by.gitignore.Dependencies: none beyond the existing simulation/tutorial dependencies.
Type of change
Screenshots
See
docs/source/_static/atomic_actions/coordinated_placement.gifand the built-in atomic actions documentation.Notes
CoordinatedPlacementTargetexplicitly carries both placing/supportHeldObjectStatevalues instead of relying on the single-slotWorldState.held_objectto represent dual held objects.WorldState.held_objectis updated to the support object held state, because the placing object has been released while the support object remains held.bread.glb,pan.glb, andtable.glbare kept as local ignored tutorial assets instead of committed PR files.Checklist
black .command to format the code base.Tests
conda run -n embodichain python -m pytest tests/sim/atomic_actions/test_actions.py tests/sim/atomic_actions/test_trajectory.pyconda run -n embodichain black --check --diff --color ./git diff --cached --check