Public API Supplement ===================== .. This page is maintained by the update-api-docs agent skill. docs/scripts/check_api_docs.py reads it but never writes it. This page lists module exports declared through ``__all__`` that are not covered by a more focused API-reference page. Prefer curated pages for APIs that need deeper explanations or examples. Sphinx obtains signatures and summaries here from the canonical Python docstrings. embodichain.agents.mllm.task_program -------------------------------------- Strict MLLM entry points that inject host-owned integration settings before decoding and compiling the constrained Task Program schema surface. .. currentmodule:: embodichain.agents.mllm.task_program .. autosummary:: compile_mllm_task_program decode_mllm_task_program embodichain.data.assets.planner_assets -------------------------------------- .. currentmodule:: embodichain.data.assets.planner_assets .. autosummary:: download_neural_planner_checkpoint embodichain.data.assets.solver_assets ------------------------------------- .. currentmodule:: embodichain.data.assets.solver_assets .. autosummary:: download_neural_ik_checkpoint embodichain.data_pipeline.depth_video ------------------------------------- .. currentmodule:: embodichain.data_pipeline.depth_video .. autosummary:: DEFAULT_DEPTH_MIN DEFAULT_DEPTH_MAX DEFAULT_DEPTH_SHIFT DEFAULT_DEPTH_USE_LOG DEFAULT_DEPTH_PIX_FMT DEPTH_METER_UNIT DEPTH_MILLIMETER_UNIT DEPTH_QMAX embodichain.gen_sim.env ----------------------- .. currentmodule:: embodichain.gen_sim.env .. autosummary:: find_gen_sim_env_file get_embodichain_root load_gen_sim_env embodichain.gen_sim.gradio_ui.app_articraft ------------------------------------------- .. currentmodule:: embodichain.gen_sim.gradio_ui.app_articraft .. autosummary:: build_articraft_panel cleanup_articraft_session configure_articraft_environment generate_articraft_asset reset_articraft_asset embodichain.gen_sim.gradio_ui.app_asset_engine ---------------------------------------------- .. currentmodule:: embodichain.gen_sim.gradio_ui.app_asset_engine .. autosummary:: build_asset_engine_panel cleanup_asset_engine_session prepare_asset_input_preview reset_simready_asset run_simready_asset embodichain.gen_sim.gradio_ui.app_commands ------------------------------------------ .. currentmodule:: embodichain.gen_sim.gradio_ui.app_commands .. autosummary:: build_run_agent_command embodichain.gen_sim.gradio_ui.app_env ------------------------------------- .. currentmodule:: embodichain.gen_sim.gradio_ui.app_env .. autosummary:: ACTION_ENGINE_VISER_PORT ARTICULATION_SERVER_BASE_URL ARTICULATION_SERVER_POLL_INTERVAL_S ARTICULATION_SERVER_TASK_TIMEOUT_S ARTICULATION_SERVER_TIMEOUT_S ARTICRAFT_CONDA_ENV ARTICRAFT_OUTPUT_ROOT ARTICRAFT_REPOSITORY_URL ARTICRAFT_ROOT DIRECT_NO_PROXY_VALUE EMBODICHAIN_ROOT GRADIO_AUTH_PASSWORD GRADIO_AUTH_USERNAME PROXY_ENV_KEYS SCENE_ENGINE_VISER_PORT SERVER_NAME SERVER_PORT SIMREADY_OPENAI_API_KEY SIMREADY_OPENAI_BASE_URL SIMREADY_OPENAI_MODEL build_gradio_allowed_paths build_gradio_blocked_paths configure_direct_network_env configure_simready_llm_env get_inherited_network_env get_gradio_auth validate_gradio_artifact_root embodichain.gen_sim.gradio_ui.app_media --------------------------------------- .. currentmodule:: embodichain.gen_sim.gradio_ui.app_media .. autosummary:: latest_audience_output_video embodichain.gen_sim.gradio_ui.app_processes ------------------------------------------- .. currentmodule:: embodichain.gen_sim.gradio_ui.app_processes .. autosummary:: SessionProcessRegistry build_codex_env build_pipeline_env build_run_agent_command force_stop_all_child_processes get_request_session_id kill_process_group read_process_output register_managed_process run_agent_cli_supports_robot_profile start_pipeline terminate_process_group redact_sensitive_text embodichain.gen_sim.gradio_ui.app_services ------------------------------------------ .. currentmodule:: embodichain.gen_sim.gradio_ui.app_services .. autosummary:: build_app embodichain.gen_sim.gradio_ui.app_state --------------------------------------- .. currentmodule:: embodichain.gen_sim.gradio_ui.app_state .. autosummary:: PHASES Phase RuntimeState SessionRuntimeRegistry runtime_lock runtime_registry set_runtime_phase_locked embodichain.gen_sim.gradio_ui.app_ui ------------------------------------ .. currentmodule:: embodichain.gen_sim.gradio_ui.app_ui .. autosummary:: build_app embodichain.gen_sim.gradio_ui.app_workflows ------------------------------------------- .. currentmodule:: embodichain.gen_sim.gradio_ui.app_workflows .. autosummary:: cleanup_workflow_session format_status preview_editable_scene preview_saved_scene refresh_saved_scenes reset_scene_engine run_action_engine_from_current run_scene_edit run_scene_engine stop_action_engine ui_snapshot embodichain.gen_sim.gradio_ui.gradio_app ---------------------------------------- .. currentmodule:: embodichain.gen_sim.gradio_ui.gradio_app .. autosummary:: main embodichain.gen_sim.scene_engine.core.scene_edit_plan ----------------------------------------------------- .. currentmodule:: embodichain.gen_sim.scene_engine.core.scene_edit_plan .. autosummary:: SceneEditOperation SceneEditPlan embodichain.gen_sim.scene_engine.pipeline.editing.scene_edit_asset_preparation ------------------------------------------------------------------------------- .. currentmodule:: embodichain.gen_sim.scene_engine.pipeline.editing.scene_edit_asset_preparation .. autosummary:: prepare_scene_edit_assets embodichain.gen_sim.simready_pipeline.cli.start ----------------------------------------------- .. currentmodule:: embodichain.gen_sim.simready_pipeline.cli.start .. autosummary:: cli_ingest_single main embodichain.lab.gym.envs.base_env --------------------------------- .. currentmodule:: embodichain.lab.gym.envs.base_env .. autosummary:: BaseEnv EnvCfg embodichain.lab.gym.envs.demo ----------------------------- .. currentmodule:: embodichain.lab.gym.envs.demo .. autosummary:: DEMO_ANNOTATION_KEYS DEMO_SCHEMA_VERSION DemoExecutionCfg DemoEpisodeResult DemoOutputMode DemoSegment DemoSegmentOutcomeKind DemoSegmentResult execute_demo_episode resolve_demo_segments embodichain.lab.gym.envs.embodied_env ------------------------------------- .. currentmodule:: embodichain.lab.gym.envs.embodied_env .. autosummary:: EmbodiedEnvCfg EmbodiedEnv embodichain.lab.task_program.integrations.simulation.handover ------------------------------------------------------------- .. currentmodule:: embodichain.lab.task_program.integrations.simulation.handover .. autosummary:: ConfiguredHandOverPoseProvider embodichain.lab.gym.envs.managers.action_manager ------------------------------------------------ .. currentmodule:: embodichain.lab.gym.envs.managers.action_manager .. autosummary:: ActionTerm ActionManager embodichain.lab.gym.envs.managers.actions ----------------------------------------- .. currentmodule:: embodichain.lab.gym.envs.managers.actions .. autosummary:: DeltaQposTerm QposTerm QposDenormalizedTerm QposNormalizedTerm EefPoseTerm QvelTerm QfTerm embodichain.lab.gym.envs.wrapper.replay --------------------------------------- .. currentmodule:: embodichain.lab.gym.envs.wrapper.replay .. autosummary:: ReplayWrapper embodichain.lab.gym.utils ------------------------- .. currentmodule:: embodichain.lab.gym.utils .. autosummary:: EnvProfiler EnvProfilerCfg capture_trajectory_state restore_trajectory_state embodichain.lab.gym.utils.gym_utils ----------------------------------- .. currentmodule:: embodichain.lab.gym.utils.gym_utils .. autosummary:: DEFAULT_MANAGER_MODULES add_env_launcher_args_to_parser assign_data_to_dict batch build_env_cfg_from_args cat_tensor_with_ids clip_and_scale_action config_to_cfg convert_observation_to_space dict_array_to_torch_inplace fetch_data_from_dict flatten_state_dict get_dtype_bounds get_manager_modules init_rollout_buffer_from_config init_rollout_buffer_from_gym_space map_qpos_to_eef_pose merge_args_with_gym_config register_manager_modules to_cpu_tensor to_tensor embodichain.lab.gym.utils.profiler ---------------------------------- .. currentmodule:: embodichain.lab.gym.utils.profiler .. autosummary:: EnvProfilerCfg EnvProfiler embodichain.lab.gym.utils.trajectory_state ------------------------------------------ .. currentmodule:: embodichain.lab.gym.utils.trajectory_state .. autosummary:: capture_trajectory_state restore_trajectory_state embodichain.lab.scripts.analyze_workspace ----------------------------------------- .. currentmodule:: embodichain.lab.scripts.analyze_workspace .. autosummary:: build_sim_cfg build_robot_cfg build_preset_robot_cfg build_analyzer_config preview_cache parse_args main cli embodichain.lab.scripts.preview_asset ------------------------------------- .. currentmodule:: embodichain.lab.scripts.preview_asset .. autosummary:: build_sim_cfg cli load_assets main preview embodichain.lab.scripts.preview_joint_control --------------------------------------------- .. currentmodule:: embodichain.lab.scripts.preview_joint_control .. autosummary:: ArticulationPreviewController embodichain.lab.scripts.preview_lerobot_data -------------------------------------------- .. currentmodule:: embodichain.lab.scripts.preview_lerobot_data .. autosummary:: EpisodePreview SegmentPreview build_episode_preview cli inspect_dataset main resolve_dataset_root embodichain.lab.scripts.run_env ------------------------------- .. currentmodule:: embodichain.lab.scripts.run_env .. autosummary:: cli generate_and_execute_action_list generate_function main preview embodichain.lab.sim ------------------- .. currentmodule:: embodichain.lab.sim .. autosummary:: VisualMaterialCfg VisualMaterial VisualMaterialInst ReuseSegmentState BatchEntity SimulationManager SimulationManagerCfg SIM_CACHE_DIR MATERIAL_CACHE_DIR CONVEX_DECOMP_DIR REACHABLE_XPOS_DIR embodichain.lab.sim.atomic_actions ---------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions .. autosummary:: ActionPlanningServices Affordance AntipodalAffordance AssembleAffordance BUILTIN_ACTION_TYPES CoordinatedPickmentOptions CoordinatedPlacementOptions DynamicCollisionMode EntityState EffectVerifier GRASP_COMMAND HandOverOptions InteractionPoints MoveEndEffectorOptions MoveHeldObjectOptions MoveJointsOptions ObjectActionGoal OPEN_COMMAND PickUpOptions PlaceOptions PoseGoalValue PushObject PushObjectGoal PushObjectOptions PushObjectToolCalibration RigidObjectSceneProvider RigidObjectSceneProviderCfg RunnerStepCallback SceneProvider SceneSnapshotSupplier embodichain.lab.sim.atomic_actions.affordance --------------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.affordance .. autosummary:: Affordance AntipodalAffordance AxisAlignAffordance SlideAffordance PressAffordance TwistAffordance InteractionPoints AssembleAffordance .. automodule:: embodichain.lab.sim.atomic_actions.affordance :members: :no-index: embodichain.lab.sim.atomic_actions.bindings ------------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.bindings .. autosummary:: ActionBinding EndpointBinding JointPositionTarget RuntimeEndpointTarget embodichain.lab.sim.atomic_actions.control ------------------------------------------ .. currentmodule:: embodichain.lab.sim.atomic_actions.control .. autosummary:: ActionControlOverrides ControlCommand ControlPartCommandProfile GRASP_COMMAND JointPositionCommand OPEN_COMMAND embodichain.lab.sim.atomic_actions.core --------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.core .. autosummary:: AtomicAction ObjectSemantics SkillDescriptor resolve_runtime_device embodichain.lab.sim.atomic_actions.effects ------------------------------------------ .. currentmodule:: embodichain.lab.sim.atomic_actions.effects .. autosummary:: StateDelta embodichain.lab.sim.atomic_actions.engine ----------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.engine .. autosummary:: AtomicActionEngine embodichain.lab.sim.atomic_actions.execution -------------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.execution .. autosummary:: ExecutionEvent ExecutionEventKind ExecutionPlanAttempt ExecutionSession ExecutionStatus ExecutionTick embodichain.lab.sim.atomic_actions.verification ------------------------------------------------ .. currentmodule:: embodichain.lab.sim.atomic_actions.verification .. autosummary:: EffectExpectationResult EffectVerificationRequest EffectVerificationResult HeldObjectGuardRequest HeldObjectGuardResult PhaseEffectGateRequest PhaseEffectGateResult embodichain.lab.sim.atomic_actions.goals ---------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.goals .. autosummary:: ObjectActionGoal PoseGoalValue SceneEntityPose collect_scene_dependencies resolve_pose_goal validate_pose_goal validate_pose_tensor .. automodule:: embodichain.lab.sim.atomic_actions.goals :members: :no-index: embodichain.lab.sim.atomic_actions.invocation --------------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.invocation .. autosummary:: ActionInvocation ActionOptions GoalT OptionsT PhaseEffectGateRequirement ResolvedActionRequest embodichain.lab.sim.atomic_actions.plans ---------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.plans .. autosummary:: ActionPlan CompiledTrajectory EffectVerificationRequirement PlannerDiagnostics PlanningFailure TimedTrajectory TrajectorySegment normalize_success_mask embodichain.lab.sim.atomic_actions.policies ------------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.policies .. autosummary:: DynamicCollisionMode MotionPolicy RecoveryPolicy embodichain.lab.sim.atomic_actions.primitives --------------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.primitives .. autosummary:: BUILTIN_ACTION_TYPES embodichain.lab.sim.atomic_actions.requirements ----------------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.requirements .. autosummary:: BATCH_INVERSE_KINEMATICS_CAPABILITY CARTESIAN_POSE_CAPABILITY DisjointResourceSlots DisjointSlotEndpoints FORWARD_KINEMATICS_CAPABILITY GRASP_CAPABILITY INVERSE_KINEMATICS_CAPABILITY JOINT_POSITION_CAPABILITY SkillBindingContract SkillEndpointRequirement SkillResourceSlot embodichain.lab.sim.atomic_actions.runner ----------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.runner .. autosummary:: CommandAckStatus CommandAcknowledgement CommandDispatch CommandOperation CommandSink EffectVerifier ExecutionClock ExecutionRunner ExecutionRunnerCfg HeldObjectGuardVerifier MonotonicExecutionClock ObservationProvider PhaseEffectGateVerifier RunnerStatus RunnerStep RunnerStepCallback embodichain.lab.sim.atomic_actions.runtime ------------------------------------------ .. currentmodule:: embodichain.lab.sim.atomic_actions.runtime .. autosummary:: ActionPlanningServices embodichain.lab.sim.atomic_actions.runtime_commands --------------------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.runtime_commands .. autosummary:: EndpointCommand JointPositionPayload RuntimeCommandFrame RuntimeCommandPayload TimedCommandSequence embodichain.lab.sim.atomic_actions.scene ---------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.scene .. autosummary:: SceneProvider embodichain.lab.sim.atomic_actions.sim_adapter ---------------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.sim_adapter .. autosummary:: create_simulation_atomic_action_engine RigidObjectSceneProvider RigidObjectSceneProviderCfg SceneSnapshotSupplier SimulationExecutionAdapter embodichain.lab.sim.atomic_actions.state ---------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.state .. autosummary:: EntityState HeldObjectState PlanningContext RobotObservation SceneSnapshot TaskState .. automodule:: embodichain.lab.sim.atomic_actions.state :members: :no-index: embodichain.lab.sim.atomic_actions.trajectory_ops ------------------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.trajectory_ops .. autosummary:: axis_translation_keyframes build_joint_plan_states build_pose_plan_states interpolate_hand_qpos interpolate_joint_trajectory resolve_joint_target resolve_pose_target split_three_segments to_full_robot_trajectory translate_pose_world embodichain.lab.sim.atomic_actions.transports --------------------------------------------- .. currentmodule:: embodichain.lab.sim.atomic_actions.transports .. autosummary:: EndpointCommandRouter EndpointCommandTransport embodichain.lab.sim.objects.articulation ---------------------------------------- .. currentmodule:: embodichain.lab.sim.objects.articulation .. autosummary:: ArticulationData Articulation ArticulationJointKinematics embodichain.lab.sim.objects.cloth_object ---------------------------------------- .. currentmodule:: embodichain.lab.sim.objects.cloth_object .. autosummary:: ClothBodyData ClothObject ClothObjectCfg embodichain.lab.sim.objects.constraint -------------------------------------- .. currentmodule:: embodichain.lab.sim.objects.constraint .. autosummary:: RigidConstraint embodichain.lab.sim.objects.gizmo --------------------------------- .. currentmodule:: embodichain.lab.sim.objects.gizmo Native robot targets use DexSim's controller with Newton IK by default. Set ``GizmoCfg.ik_solver="embodichain"`` to reuse the robot control part's configured solver, including PinkSolver; Viser uses the same solver adapter. .. autosummary:: Gizmo GizmoCfg create_robot_ik_gizmo_controller embodichain.lab.sim.objects.rigid_object ---------------------------------------- .. currentmodule:: embodichain.lab.sim.objects.rigid_object .. autosummary:: RigidBodyData RigidObject RigidObjectCfg embodichain.lab.sim.objects.rigid_object_group ---------------------------------------------- .. currentmodule:: embodichain.lab.sim.objects.rigid_object_group .. autosummary:: RigidBodyGroupData RigidObjectGroup RigidObjectGroupCfg embodichain.lab.sim.objects.robot --------------------------------- .. currentmodule:: embodichain.lab.sim.objects.robot .. autosummary:: ControlGroup Robot embodichain.lab.sim.objects.soft_object --------------------------------------- .. currentmodule:: embodichain.lab.sim.objects.soft_object .. autosummary:: SoftBodyData SoftObject SoftObjectCfg embodichain.lab.sim.motion.planners.base_planner ------------------------------------------------ .. currentmodule:: embodichain.lab.sim.motion.planners.base_planner .. autosummary:: BasePlannerCfg CollisionWorldInfo PlanOptions BasePlanner validate_plan_options embodichain.lab.sim.motion.planners.curobo.curobo_planner --------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.planners.curobo.curobo_planner .. autosummary:: CuroboAutoGenCfg CuroboPlanOptions CuroboPlanner CuroboPlannerCfg CuroboWorldCfg embodichain.lab.sim.motion.planners.curobo.curobo_yaml ------------------------------------------------------ .. currentmodule:: embodichain.lab.sim.motion.planners.curobo.curobo_yaml .. autosummary:: generate_curobo_robot_yaml generate_curobo_world_yaml embodichain.lab.sim.motion.planners.neural_planner -------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.planners.neural_planner .. autosummary:: NeuralPlanner NeuralPlannerCfg NeuralPlanOptions embodichain.lab.sim.motion.planners.toppra_planner -------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.planners.toppra_planner .. autosummary:: ToppraPlanner ToppraPlannerCfg ToppraPlanOptions embodichain.lab.sim.motion.planners.utils ----------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.planners.utils .. autosummary:: TrajectorySampleMethod MovePart MoveType PlanState PlanResult normalize_success_mask calculate_point_allocations interpolate_xpos interpolate_xpos_batched embodichain.lab.sim.robots.cobotmagic ------------------------------------- .. currentmodule:: embodichain.lab.sim.robots.cobotmagic .. autosummary:: CobotMagicCfg embodichain.lab.sim.robots.dexforce_w1.hand_specs ------------------------------------------------- .. currentmodule:: embodichain.lab.sim.robots.dexforce_w1.hand_specs .. autosummary:: W1HandSideSpec W1HandSpec get_default_w1_hand_version get_w1_hand_spec normalize_w1_hand_mappings embodichain.lab.sim.robots.dexforce_w1.specs -------------------------------------------- .. currentmodule:: embodichain.lab.sim.robots.dexforce_w1.specs .. autosummary:: W1VersionSpec get_w1_version_spec embodichain.lab.sim.robots.dexforce_w1.types -------------------------------------------- .. currentmodule:: embodichain.lab.sim.robots.dexforce_w1.types .. autosummary:: DexforceW1Version DexforceW1HandVersion DexforceW1ArmSide DexforceW1Type DexforceW1HandBrand embodichain.lab.sim.robots.dexforce_w1.utils -------------------------------------------- .. currentmodule:: embodichain.lab.sim.robots.dexforce_w1.utils .. autosummary:: ChassisManager TorsoManager HeadManager ArmManager HandManager EyesManager build_dexforce_w1_assembly_urdf_cfg embodichain.lab.sim.robots.dual_arm ----------------------------------- .. currentmodule:: embodichain.lab.sim.robots.dual_arm .. autosummary:: DualArmRobotCfg build_dual_arm_cfg resolve_mounts embodichain.lab.sim.robots.franka_panda --------------------------------------- .. currentmodule:: embodichain.lab.sim.robots.franka_panda .. autosummary:: FrankaPandaCfg embodichain.lab.sim.robots.ur_robot ----------------------------------- .. currentmodule:: embodichain.lab.sim.robots.ur_robot .. autosummary:: URRobotCfg embodichain.lab.sim.sensors.camera ---------------------------------- .. currentmodule:: embodichain.lab.sim.sensors.camera .. autosummary:: Camera CameraCfg embodichain.lab.sim.sim_manager ------------------------------- .. currentmodule:: embodichain.lab.sim.sim_manager .. autosummary:: SIM_CACHE_DIR MATERIAL_CACHE_DIR CONVEX_DECOMP_DIR REACHABLE_XPOS_DIR embodichain.lab.task_program.semantics.calls ------------------------------------------------ .. currentmodule:: embodichain.lab.task_program.semantics.calls .. autosummary:: DeclarativeValue HandOver Pick Place PlaceRelationTarget RegisteredSemanticCall SemanticCallCatalog SemanticCallDescriptor SemanticCallSpec SemanticPose builtin_semantic_call_catalog .. automodule:: embodichain.lab.task_program.semantics.calls :members: :no-index: embodichain.lab.task_program.semantics.integration ------------------------------------------------------ .. currentmodule:: embodichain.lab.task_program.semantics.integration .. autosummary:: BoundSemanticCall LinkedSemanticCall PathPart SceneEntityManifest SceneManifest SemanticDiagnostic SemanticIntegrationManifest SemanticValidationError .. automodule:: embodichain.lab.task_program.semantics.integration :members: :no-index: embodichain.lab.task_program.semantics.effects -------------------------------------------------- .. automodule:: embodichain.lab.task_program.semantics.effects :members: :no-index: embodichain.lab.task_program.semantics.evidence --------------------------------------------------- .. automodule:: embodichain.lab.task_program.semantics.evidence :members: :no-index: embodichain.lab.task_program.semantics.profiles --------------------------------------------------- .. currentmodule:: embodichain.lab.task_program.semantics.profiles .. autosummary:: AmbiguousSkillBindingError BoundRobotSkillProfile ControlPartEndpoint ControlPartEndpointAdapter EffectAssurance EndpointResolution ProfileValidationError ResourceEndpoint ResourceEndpointAdapter ResolvedRobotResource ResolvedResourceEndpoint ResolvedSkillBinding ResourceBinding ResourceClaim RobotResource RobotSkillProfile SkillPolicyPreset UnsupportedSkillError WorkflowRecoveryPolicy embodichain.lab.task_program.semantics.scene ------------------------------------------------ .. currentmodule:: embodichain.lab.task_program.semantics.scene .. autosummary:: AmbiguousSceneAffordanceError GRASP_AFFORDANCE_CAPABILITY PLACE_IN_AFFORDANCE_CAPABILITY PLACE_ON_AFFORDANCE_CAPABILITY RegistrySceneProvider SceneAffordanceRef SceneArticulationRef SceneCollisionRole SceneCollisionWorldMode SceneDynamics SceneEntityRef SceneEntityMetadata SceneEntityRegistration SceneEntityStateProvider SceneGeometryProvider SceneLinkRef SceneObjectRef SceneRegistry UnsupportedSceneAffordanceError .. automodule:: embodichain.lab.task_program.semantics.scene :members: :no-index: embodichain.lab.sim.motion.solvers.neural_ik_solver --------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.solvers.neural_ik_solver .. autosummary:: NeuralIKSolverCfg NeuralIKSolver embodichain.lab.sim.motion.solvers.null_space_posture_task ---------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.solvers.null_space_posture_task .. autosummary:: NullSpacePostureTask embodichain.lab.sim.motion.solvers.pink_solver ---------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.solvers.pink_solver .. autosummary:: PinkSolver PinkSolverCfg embodichain.lab.sim.motion.solvers.srs_solver --------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.solvers.srs_solver .. autosummary:: SRSSolver SRSSolverCfg embodichain.lab.sim.utility.render_utils ---------------------------------------- .. currentmodule:: embodichain.lab.sim.utility.render_utils .. autosummary:: select_default_renderer embodichain.lab.sim.motion.workspace.caches.cache_utils ------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.caches.cache_utils .. autosummary:: clean_all_sessions clean_session format_size get_cache_root get_dir_size list_sessions main show_session_info show_total_size embodichain.lab.sim.motion.workspace.caches.results_cache --------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.caches.results_cache .. autosummary:: DEFAULT_RESULTS_CACHE_DIR ResultsCache compute_cache_key serialize_results deserialize_results embodichain.lab.sim.motion.workspace.constraints.base_constraint ---------------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.constraints.base_constraint .. autosummary:: IConstraintChecker BaseConstraintChecker embodichain.lab.sim.motion.workspace.constraints.workspace_constraint --------------------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.constraints.workspace_constraint .. autosummary:: WorkspaceConstraintChecker embodichain.lab.sim.motion.workspace.samplers.base_sampler ---------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.samplers.base_sampler .. autosummary:: ISampler BaseSampler embodichain.lab.sim.motion.workspace.samplers.gaussian_sampler -------------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.samplers.gaussian_sampler .. autosummary:: GaussianSampler embodichain.lab.sim.motion.workspace.samplers.halton_sampler ------------------------------------------------------------ .. currentmodule:: embodichain.lab.sim.motion.workspace.samplers.halton_sampler .. autosummary:: HaltonSampler embodichain.lab.sim.motion.workspace.samplers.importance_sampler ---------------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.samplers.importance_sampler .. autosummary:: ImportanceSampler embodichain.lab.sim.motion.workspace.samplers.iniform_sampler ------------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.samplers.iniform_sampler .. autosummary:: UniformSampler embodichain.lab.sim.motion.workspace.samplers.lhs_sampler --------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.samplers.lhs_sampler .. autosummary:: LatinHypercubeSampler embodichain.lab.sim.motion.workspace.samplers.random_sampler ------------------------------------------------------------ .. currentmodule:: embodichain.lab.sim.motion.workspace.samplers.random_sampler .. autosummary:: RandomSampler embodichain.lab.sim.motion.workspace.samplers.sobol_sampler ----------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.samplers.sobol_sampler .. autosummary:: SobolSampler embodichain.lab.sim.motion.workspace.visualizers.axis_visualizer ---------------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.visualizers.axis_visualizer .. autosummary:: AxisVisualizer embodichain.lab.sim.motion.workspace.visualizers.base_visualizer ---------------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.visualizers.base_visualizer .. autosummary:: IVisualizer BaseVisualizer embodichain.lab.sim.motion.workspace.visualizers.point_cloud_visualizer ----------------------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.visualizers.point_cloud_visualizer .. autosummary:: PointCloudVisualizer embodichain.lab.sim.motion.workspace.visualizers.sphere_visualizer ------------------------------------------------------------------ .. currentmodule:: embodichain.lab.sim.motion.workspace.visualizers.sphere_visualizer .. autosummary:: SphereVisualizer embodichain.lab.sim.motion.workspace.visualizers.visualizer_factory ------------------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.visualizers.visualizer_factory .. autosummary:: VisualizerFactory create_visualizer embodichain.lab.sim.motion.workspace.visualizers.voxel_visualizer ----------------------------------------------------------------- .. currentmodule:: embodichain.lab.sim.motion.workspace.visualizers.voxel_visualizer .. autosummary:: VoxelVisualizer embodichain.lab.visualization.backends -------------------------------------- .. currentmodule:: embodichain.lab.visualization.backends .. autosummary:: VisualizationBackend ViserBackend embodichain.lab.visualization.backends.base ------------------------------------------- .. currentmodule:: embodichain.lab.visualization.backends.base .. autosummary:: VisualizationBackend embodichain.lab.visualization.backends.viser -------------------------------------------- .. currentmodule:: embodichain.lab.visualization.backends.viser .. autosummary:: ViserBackend embodichain.lab.visualization.cfg --------------------------------- .. currentmodule:: embodichain.lab.visualization.cfg .. autosummary:: VisualizationCfg ViserServerCfg embodichain.lab.visualization.cli --------------------------------- .. currentmodule:: embodichain.lab.visualization.cli .. autosummary:: add_viser_args_to_parser visualization_cfg_from_args embodichain.lab.visualization.picker ------------------------------------ .. currentmodule:: embodichain.lab.visualization.picker Browser picking caches triangle geometry and returns the closest node hit by a world-space ray. The Viser worker pairs this geometry with poses from the same scene revision before producing a pick command. .. autosummary:: ScenePicker .. autoclass:: ScenePicker :members: embodichain.lab.visualization.protocol -------------------------------------- .. currentmodule:: embodichain.lab.visualization.protocol .. autosummary:: SCHEMA_VERSION CameraImage CameraImageFrame CameraSpec DynamicMeshUpdate FrameOverlay GizmoCommand GizmoSpec GizmoState JointControlCommand JointControlProvider JointControlSpec JointControlState MeshGeometry PickCommand PointCloudOverlay SceneFrame SceneManifest SceneNode SceneOverlays TargetOverlay TrajectoryOverlay estimate_camera_image_frame_bytes estimate_frame_bytes estimate_manifest_bytes pose_to_position_wxyz embodichain.lab.visualization.runtime ------------------------------------- .. currentmodule:: embodichain.lab.visualization.runtime .. autosummary:: GizmoCommandQueue JointControlCommandQueue LatestFrameQueue RuntimeHealth RuntimeStats VisualizationRuntime embodichain.lab.visualization.scene_exporter -------------------------------------------- .. currentmodule:: embodichain.lab.visualization.scene_exporter .. autosummary:: CameraImageCaptureResult CaptureResult SceneExporter mesh_geometry_id safe_path_component embodichain.learning.rl.algo.apg -------------------------------- .. currentmodule:: embodichain.learning.rl.algo.apg .. autosummary:: APG APGCfg segmented_discounted_return embodichain.learning.rl.algo.base --------------------------------- .. currentmodule:: embodichain.learning.rl.algo.base .. autosummary:: BaseAlgorithm RolloutKind embodichain.learning.rl.algo.common ----------------------------------- .. currentmodule:: embodichain.learning.rl.algo.common .. autosummary:: compute_gae embodichain.learning.rl.algo.grpo --------------------------------- .. currentmodule:: embodichain.learning.rl.algo.grpo .. autosummary:: GRPO GRPOCfg embodichain.learning.rl.algo.ppo -------------------------------- .. currentmodule:: embodichain.learning.rl.algo.ppo .. autosummary:: PPO PPOCfg embodichain.learning.rl.collector.base -------------------------------------- .. currentmodule:: embodichain.learning.rl.collector.base .. autosummary:: BaseCollector embodichain.learning.rl.collector.differentiable ------------------------------------------------ .. currentmodule:: embodichain.learning.rl.collector.differentiable .. autosummary:: DifferentiableCollector DifferentiableRollout DifferentiableTransition embodichain.learning.rl.collector.sync_collector ------------------------------------------------ .. currentmodule:: embodichain.learning.rl.collector.sync_collector .. autosummary:: SyncCollector embodichain.learning.rl.experimental.newton ------------------------------------------- .. currentmodule:: embodichain.learning.rl.experimental.newton .. autosummary:: NewtonPlanarReachEnv NewtonPlanarReachEnvCfg embodichain.learning.rl.experimental.newton.planar_reach -------------------------------------------------------- .. currentmodule:: embodichain.learning.rl.experimental.newton.planar_reach .. autosummary:: NewtonPlanarReachEnv NewtonPlanarReachEnvCfg embodichain.learning.rl.experimental.newton.train_planar_reach -------------------------------------------------------------- .. currentmodule:: embodichain.learning.rl.experimental.newton.train_planar_reach .. autosummary:: NewtonPlanarReachTrainingCfg train_planar_reach embodichain.learning.rl.models.actor_critic ------------------------------------------- .. currentmodule:: embodichain.learning.rl.models.actor_critic .. autosummary:: ActorCritic embodichain.learning.rl.models.actor_only ----------------------------------------- .. currentmodule:: embodichain.learning.rl.models.actor_only .. autosummary:: ActorOnly embodichain.learning.rl.models.policy ------------------------------------- .. currentmodule:: embodichain.learning.rl.models.policy .. autosummary:: Policy embodichain.learning.rl.utils.optimizer --------------------------------------- .. currentmodule:: embodichain.learning.rl.utils.optimizer .. autosummary:: bind_scheduler_horizon build_lr_scheduler build_optimizer coerce_lr_scheduler_cfg coerce_optimizer_cfg get_registered_lr_scheduler_names get_registered_optimizer_names scheduler_needs_horizon embodichain.toolkits.acd ------------------------ .. currentmodule:: embodichain.toolkits.acd .. autosummary:: generate_urdf_collision_convexes embodichain.toolkits.acd.cli ---------------------------- .. currentmodule:: embodichain.toolkits.acd.cli .. autosummary:: main embodichain.toolkits.acd.urdf_modifider --------------------------------------- .. currentmodule:: embodichain.toolkits.acd.urdf_modifider .. autosummary:: URDFModifider embodichain.toolkits.graspkit.pg_grasp.antipodal_sampler -------------------------------------------------------- .. currentmodule:: embodichain.toolkits.graspkit.pg_grasp.antipodal_sampler .. autosummary:: AntipodalSamplerCfg AntipodalSampler embodichain.toolkits.graspkit.pg_grasp.collision_checker -------------------------------------------------------- .. currentmodule:: embodichain.toolkits.graspkit.pg_grasp.collision_checker .. autosummary:: ConvexCollisionCheckerCfg ConvexCollisionChecker embodichain.toolkits.graspkit.pg_grasp.gripper_collision_checker ---------------------------------------------------------------- .. currentmodule:: embodichain.toolkits.graspkit.pg_grasp.gripper_collision_checker .. autosummary:: GripperCollisionCfg GripperCollisionChecker box_surface_grid embodichain.toolkits.graspkit.scripts.annotate_grasp ---------------------------------------------------- .. currentmodule:: embodichain.toolkits.graspkit.scripts.annotate_grasp .. autosummary:: cli embodichain.toolkits.urdf_assembly.component -------------------------------------------- .. currentmodule:: embodichain.toolkits.urdf_assembly.component .. autosummary:: ComponentRegistry URDFComponent URDFComponentManager embodichain.toolkits.urdf_assembly.connection --------------------------------------------- .. currentmodule:: embodichain.toolkits.urdf_assembly.connection .. autosummary:: URDFConnectionManager embodichain.toolkits.urdf_assembly.file_writer ---------------------------------------------- .. currentmodule:: embodichain.toolkits.urdf_assembly.file_writer .. autosummary:: URDFFileWriter embodichain.toolkits.urdf_assembly.logging_utils ------------------------------------------------ .. currentmodule:: embodichain.toolkits.urdf_assembly.logging_utils .. autosummary:: URDFAssemblyLogger embodichain.toolkits.urdf_assembly.mesh --------------------------------------- .. currentmodule:: embodichain.toolkits.urdf_assembly.mesh .. autosummary:: URDFMeshManager embodichain.toolkits.urdf_assembly.sensor ----------------------------------------- .. currentmodule:: embodichain.toolkits.urdf_assembly.sensor .. autosummary:: SensorRegistry SensorAttachment URDFSensorManager embodichain.toolkits.urdf_assembly.signature -------------------------------------------- .. currentmodule:: embodichain.toolkits.urdf_assembly.signature .. autosummary:: URDFAssemblySignatureManager embodichain.toolkits.urdf_assembly.urdf_assembly_manager -------------------------------------------------------- .. currentmodule:: embodichain.toolkits.urdf_assembly.urdf_assembly_manager .. autosummary:: URDFAssemblyManager embodichain_tasks.classic_control.cart_pole -------------------------------------------- Cart-pole environment registration under the task-first import path. .. currentmodule:: embodichain_tasks.classic_control.cart_pole .. autosummary:: CartPoleEnv embodichain_tasks.classic_control.point_mass --------------------------------------------- Differentiable lightweight point-mass task and learning-environment registration. .. currentmodule:: embodichain_tasks.classic_control.point_mass .. autosummary:: PointMassEnv embodichain_tasks.configs ------------------------- .. currentmodule:: embodichain_tasks.configs .. autosummary:: get_config_path embodichain_tasks.manipulation.push_cube ---------------------------------------- .. currentmodule:: embodichain_tasks.manipulation.push_cube .. autosummary:: PushCubeEnv embodichain_tasks.manipulation.tableware.blocks_ranking_rgb ----------------------------------------------------------- .. currentmodule:: embodichain_tasks.manipulation.tableware.blocks_ranking_rgb .. autosummary:: BlocksRankingRGBEnv embodichain_tasks.manipulation.tableware.blocks_ranking_size ------------------------------------------------------------ .. currentmodule:: embodichain_tasks.manipulation.tableware.blocks_ranking_size .. autosummary:: BlocksRankingSizeEnv embodichain_tasks.manipulation.tableware.match_object_container --------------------------------------------------------------- .. currentmodule:: embodichain_tasks.manipulation.tableware.match_object_container .. autosummary:: MatchObjectContainerEnv embodichain_tasks.manipulation.tableware.place_object_drawer ------------------------------------------------------------ .. currentmodule:: embodichain_tasks.manipulation.tableware.place_object_drawer .. autosummary:: PlaceObjectDrawerEnv embodichain_tasks.manipulation.tableware.scoop_ice -------------------------------------------------- .. currentmodule:: embodichain_tasks.manipulation.tableware.scoop_ice .. autosummary:: ScoopIce embodichain_tasks.manipulation.tableware.stack_blocks_two --------------------------------------------------------- .. currentmodule:: embodichain_tasks.manipulation.tableware.stack_blocks_two .. autosummary:: StackBlocksTwoEnv embodichain_tasks.manipulation.tableware.stack_cups --------------------------------------------------- .. currentmodule:: embodichain_tasks.manipulation.tableware.stack_cups .. autosummary:: StackCupsEnv embodichain_tasks.special.simple_task ------------------------------------- .. currentmodule:: embodichain_tasks.special.simple_task .. autosummary:: SimpleTaskEnv embodichain_tasks.special.stay_still_save ----------------------------------------- .. currentmodule:: embodichain_tasks.special.stay_still_save .. autosummary:: StayStillSaveEnv embodichain_tasks.utils.importer -------------------------------- .. currentmodule:: embodichain_tasks.utils.importer .. autosummary:: import_packages