feat(gen_sim): add Scene Engine and Gradio workspace by XuanchaoPENG · Pull Request #457 · DexForce/EmbodiChain

XuanchaoPENG · 2026-08-05T06:55:52Z

Description

This PR introduces an image-to-scene generation workflow for EmbodiChain, together with a Gradio-based workspace for running and previewing generative-simulation workflows.

Key changes:

Add Scene Engine, which reconstructs tabletop scenes from an input image by performing scene understanding, segmentation, geometry generation, layout refinement, and scene export.
Add embodichain scene-engine and embodichain preview-scene CLI commands.
Add a Gradio workspace with managed pipeline execution and Viser scene previews.
Add Scene Engine configuration through embodichain/gen_sim/.env and an example environment file.
Add the scene-engine optional dependency group; extend the gensim extra with Scene Engine dependencies.

Fixes # (issue)

Type of change

New feature (non-breaking change which adds functionality)

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.

…_scene_engine

…ain into muzi/feat_scene_engine

…e_dev

…nchao/gradio

# Conflicts: # .github/workflows/main.yml # embodichain/gen_sim/scene_engine/pipeline/utils/scene_exporter.py # pyproject.toml # tests/gen_sim/scene_engine/test_scene_core_and_export.py

greptile-apps · 2026-08-06T11:20:24Z

Greptile Summary

The PR adds an image-to-scene generation workflow and a Gradio workspace for running, managing, and previewing Scene Engine, SimReady, Articraft, and Action Engine pipelines.

Adds shared GenSim environment loading and configuration.
Adds session-aware subprocess lifecycle management and Viser previews.
Adds Articraft/Codex and SimReady asset-generation interfaces.
Adds optional dependency groups and focused configuration/UI tests.

Confidence Score: 4/5

The PR is not yet safe to merge because Articraft preview readiness can still accept an unrelated listener and Codex still has write access to other sessions’ records.

The current preview check proves only that some service is listening on the selected port, while the released probe socket leaves the ownership race reachable. Codex is also granted workspace-write access to the entire shared Articraft output directory, so prompt instructions do not prevent cross-session record modification.

Files Needing Attention: embodichain/gen_sim/gradio_ui/app_articraft.py

Important Files Changed

Filename	Overview
embodichain/gen_sim/env.py	Adds optional shared dotenv discovery and loading; the missing-file startup failure is now guarded and tested.
embodichain/gen_sim/gradio_ui/app_processes.py	Adds per-session subprocess ownership, termination helpers, output redaction, and credential-minimized Codex environments.
embodichain/gen_sim/gradio_ui/app_articraft.py	Adds Codex-backed articulation generation and Viser previews, but previously reported listener-ownership and shared-output write boundaries remain unresolved.
embodichain/gen_sim/gradio_ui/app_asset_engine.py	Adds session-scoped SimReady execution and Articraft integration; the prior missing import and cross-session reset failures are fixed.
embodichain/gen_sim/gradio_ui/app_workflows.py	Implements Scene and Action Engine execution, generated-scene management, and Viser preview orchestration.
pyproject.toml	Adds Scene Engine dependencies and extends the GenSim optional dependency group.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
    U[Gradio workspace] --> S[Scene Engine]
    U --> A[Asset Engine]
    U --> X[Action Engine]
    A --> R[SimReady]
    A --> C[Articraft and Codex]
    S --> E[Scene exports]
    R --> M[Processed assets]
    C --> M
    E --> V[Viser previews]
    M --> V
    X --> V

_{Reviews (4): Last reviewed commit: "delete gradio test" | Re-trigger Greptile}

yuecideng · 2026-08-07T04:23:34Z

        target="embodichain.workspace_cache_cli:main",
        help="Inspect and clean workspace analyzer caches.",
    ),
-    Command(


Recovery this command

yuecideng

Review focused on the new Gradio workspace. The inline comments cover security, data-loss, runtime, packaging, and CI blockers. Local validation also found that pytest tests/test_main.py fails because analyze-workspace is no longer registered, while pytest tests/gen_sim fails during collection because of the duplicate test_config.py module name. The existing inline thread on embodichain/__main__.py already calls out restoring that command, so I did not duplicate it.

yuecideng · 2026-08-07T05:44:27Z

+            server_name=SERVER_NAME,
+            server_port=SERVER_PORT,
+            allowed_paths=[
+                str(EMBODICHAIN_ROOT),


Blocking security issue: this exposes the entire repository through Gradio while the server defaults to 0.0.0.0 and no authentication is configured. Gradio treats every file below an allowed directory as publicly servable, so this includes embodichain/gen_sim/.env and its API credentials. Please whitelist only the generated artifact/assets directories, explicitly block secret paths, and either bind to localhost by default or require authentication.

yuecideng · 2026-08-07T05:44:27Z

+        key=lambda item: len(item.parts),
+        reverse=True,
+    ):
+        if path.is_file() and path.suffix.lower() not in VIDEO_SUFFIXES:


OUTPUTS_DIR is the repository-wide outputs/ directory, so this loop deletes every non-video file below it whenever Reset or Auto cleanup runs. That includes unrelated RL checkpoints, debug reports, trajectories, and datasets. Please track and remove only artifacts created by the current Gradio run instead of recursively cleaning this shared directory.

yuecideng · 2026-08-07T05:44:27Z

+
+def configured_lerobot_roots() -> list[Path]:
+    roots: list[Path] = []
+    env_root = os.environ.get("EMBODICHAIN_DATASET_ROOT")


This function cannot run: os is not imported, and CURRENT_PATHS referenced below is not defined or imported by this module either. monitor_simulation() calls this path after DexSim exits but before clearing runtime.sim_process, so every completion raises NameError and leaves the UI/Auto loop stuck in a running state. Please import or pass these dependencies explicitly and make the runtime cleanup execute in a finally path.

yuecideng · 2026-08-07T05:44:28Z

+                f"Port {self._port} is unavailable without a visible listener."
+            )
+
+        self._signal_listeners(listener_pids, signal.SIGTERM, "stop")


This treats every process listening on the configured port as a stale Articraft preview and sends it SIGTERM, later escalating to SIGKILL, without verifying ownership. A normal port collision can therefore terminate an unrelated user service. Please terminate only self._process (or another registered child owned by this app); otherwise report that the port is already in use.

yuecideng · 2026-08-07T05:44:28Z

+        ValueError: If the file contains an invalid ``KEY=VALUE`` entry.
+    """
+    target_env = os.environ if env is None else env
+    env_path = find_gen_sim_env_file()


When neither EMBODICHAIN_ENV_FILE nor embodichain/gen_sim/.env exists, find_gen_sim_env_file() falls through and returns None, so this immediately raises AttributeError: 'NoneType' object has no attribute 'is_file'. A clean checkout only contains .env.example. Please return Path | None and guard None here, or always return the documented fallback path.

yuecideng · 2026-08-07T05:44:28Z

+def build_pipeline_env() -> dict[str, str]:
+    env = os.environ.copy()
+    configure_direct_network_env(env)
+    configure_simready_llm_env(env)


build_pipeline_env() is used by Scene Engine, DexSim, Viser, and Articraft preview processes as well as SimReady, but this unconditionally maps SIMREADY_OPENAI_* over OPENAI_*. If separate endpoints are configured as supported by .env.example, Scene Engine will receive the SimReady model, URL, and key. Please apply this mapping only to the SimReady command.

yuecideng · 2026-08-07T05:44:28Z

+            return "stopped"
+
+        with runtime_lock:
+            simulation_completed = (


sim_returncode is recorded by the monitor but never checked here. A non-zero DexSim exit still satisfies sim_started && sim_finished && sim_process is None, so Auto records the round as completed and continues to later phases. Please require runtime.sim_returncode == 0 and also propagate a non-zero exit to the failed phase/last_error.

yuecideng · 2026-08-07T05:44:28Z

+
+import pytest
+
+from embodichain.gen_sim.scene_engine.cli import start


This new test module has the same basename as tests/gen_sim/simready_pipeline/test_config.py, and neither parent directory is a Python package. With the repository's default pytest import mode, pytest tests/gen_sim fails during collection with an import-file-mismatch error. Please rename this file (for example, test_scene_engine_cli_config.py) or make the test directories packages/use importlib mode.

yuecideng · 2026-08-07T05:44:28Z

+from pathlib import Path
+from typing import Any, Iterable
+
+import gradio as gr


Gradio is now a direct runtime dependency of this feature, but neither the core dependency list nor the gensim extra declares it. A clean pip install .[gensim] therefore cannot reliably launch this UI. Please add a supported Gradio version to an appropriate optional extra and document that installation path.

yuecideng · 2026-08-07T06:25:15Z

 /gym_project/
+.debug_engine/
+
+# Local Gradio UI dependencies, generated Articraft records, and bytecode


Add Gradio dependancies

…ion engine

MuziWong and others added 30 commits July 29, 2026 11:30

Add a new feature: gen_sim/scene_engine

61001a7

Using vhacd by default in the simulation environment

ad708e8

RAN black

b664562

style(geometry-generation): fix CI formatting

fe6c1af

Updated geometry generation client

4c0cfc7

Modified the gym export to scene export

a67ac77

Make the 2D AABB optimization more robust

c630f16

Add optional --config in cli

8ae888d

Register scene-engine and preview-scene in embodichain.__main__.COMMANDS

c38c0fc

Fixed with the suggestion from Copilot

b86c3b5

Added __init__.py and ran black.

c99182c

Merge branch 'main' of github.com:DexForce/EmbodiChain into muzi/feat…

e7f3fbe

…_scene_engine

Fix import bug

79442f5

Add Viser support

a0f6797

Merge branch 'muzi/feat_scene_engine' of github.com:DexForce/EmbodiCh…

db438e7

…ain into muzi/feat_scene_engine

test(scene_engine): add unit coverage

d1b363a

Add test for the newly-modified scene-preview

23947e5

docs(scene_engine): add usage documentation

b0774a4

Change logger

ede8172

Correct the table id verification comment, make it more clear

73e285e

Delete a bad comment line in scene_segmentation_utils.py

244ab1b

Align the doc with the scene_engine_config

930af9b

Align the scene_engine config setup with the simready_pipeline

05f8a1a

fix(scene_engine): validate geometry output object IDs

d0d39ca

fix(scene_engine): restrict preview mesh paths

114734d

Add Gradio UI with managed Viser previews

b61ef2f

add conda support

693e1eb

add scene engine

ab2ad30

add .env

93096a5

add clean process

93abb7a

XuanchaoPENG and others added 13 commits August 4, 2026 12:27

Merge branch 'muzi/feat_scene_engine' into xuanchao/gradio

c3f672d

Update the datastructure + Reformatted the pipeline

2436a37

Read .env for now

5eb9134

Deleted all docs and all tests

2c9477d

Deleted json config in setup.py

2d64a80

Merge remote-tracking branch 'origin/main' into muzi/feat_scene_engin…

f51bc5d

…e_dev

Added md + rst in docs/

82acb65

Modified help, description and epilog

8979f68

Added test files

4f4102b

Added extra dependencies in gen_sim: scene_engine + Added CI

d710331

Merge remote-tracking branch 'origin/muzi/feat_scene_engine' into xua…

4347d6e

…nchao/gradio

fix bug

44539f3

run black

9b0c5eb

yuecideng self-requested a review August 6, 2026 08:23

XuanchaoPENG added 2 commits August 6, 2026 18:36

Merge branch 'main' into xuanchao/gradio

3ef309e

# Conflicts: # .github/workflows/main.yml # embodichain/gen_sim/scene_engine/pipeline/utils/scene_exporter.py # pyproject.toml # tests/gen_sim/scene_engine/test_scene_core_and_export.py

add log

3e3c50b

greptile-apps Bot reviewed Aug 6, 2026

View reviewed changes

Comment thread embodichain/gen_sim/env.py

Comment thread embodichain/gen_sim/gradio_ui/app_articraft.py Outdated

Comment thread embodichain/gen_sim/gradio_ui/app_articraft.py Outdated

Comment thread embodichain/gen_sim/gradio_ui/app_asset_engine.py Outdated

yuecideng reviewed Aug 7, 2026

View reviewed changes

XuanchaoPENG added 7 commits August 10, 2026 10:46

delete demo

e5d9d20

fix simready config

f508f18

fix config and session isolation

14bbf52

Merge remote-tracking branch 'origin/main' into xuanchao/gradio

b5ad4fa

change the logic of engine isolation and add the stop function in act…

0d78765

…ion engine

refine stop process

edbe95c

fix gradio version

d8862e8

greptile-apps Bot reviewed Aug 10, 2026

View reviewed changes

Comment thread embodichain/gen_sim/gradio_ui/app_asset_engine.py

Comment thread embodichain/gen_sim/gradio_ui/app_articraft.py

Comment thread embodichain/gen_sim/gradio_ui/app_articraft.py

delete gradio test

2c9a023


		import pytest

		from embodichain.gen_sim.scene_engine.cli import start

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XuanchaoPENG commented Aug 5, 2026

Description

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Checklist

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greptile-apps Bot commented Aug 6, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Greptile Summary

Confidence Score: 4/5

Important Files Changed

Flowchart

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greptile-apps Bot commented Aug 6, 2026 •

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