Robot catalogs and configurations ================================= The main ``embodichain`` distribution bundles ``embodichain_robots`` with the same release version. Concrete robot defaults and W1 hardware specifications live in that import package; generic simulation, solver, and dual-arm APIs remain in the core. Gym robot selectors, workspace analysis, and dual-arm base selection share a catalog resolver. Catalog entry points advertise robot IDs, configuration class import paths, optional defaults, and optional control/variant summaries. ``embodichain list-robot`` reads these summaries to display independent control DOFs, default control parts, and mimic followers. Listing defers robot class imports and simulation initialization; resolution validates the selected class and isolates its default/override fields. See :doc:`/guides/robot_catalog` for the CLI, variant selection, and provider registration. Official configurations provide the existing ``RobotCfg.from_dict()`` and ``build_pk_serial_chain()`` contracts. Import concrete configurations from ``embodichain_robots`` and generic dual-arm helpers from ``embodichain.lab.sim.robots``. Former concrete imports under the core robot package and historical selector aliases have been removed. Selectors use exact registered IDs such as ``FrankaPanda``, ``URRobot``, or ``ur5``. Shared runtime fields remain documented on ``RobotCfg``; the class declarations below identify canonical imports without re-expanding inherited configuration fields or generated constructors. embodichain.robot_registry -------------------------- Discover installed robot IDs or construct the selected configuration with caller overrides. An explicit ``variant`` selects its catalog profile defaults before caller overrides are applied. Omitting it preserves existing resolution defaults. The profile's display-only ``default_variant`` does not implicitly select a variant. All merges preserve the catalog and caller mappings. .. autofunction:: embodichain.robot_registry.list_robot_cfgs .. autofunction:: embodichain.robot_registry.resolve_robot_cfg embodichain_robots ------------------ Concrete robot configurations, exposed lazily from the bundled robot package. .. py:class:: embodichain_robots.AlohaMiniCfg :no-index: Configure Aloha Mini 2 Pro from its complete, source-named URDF. Construct with ``from_dict()``; ``build_pk_serial_chain()`` provides the robot-specific differentiable kinematic chains. Generic runtime fields and backend selection follow ``RobotCfg``. .. py:class:: embodichain_robots.TianjiMarvinCfg Configure Tianji Marvin with or without its parallel-jaw grippers. Construct with ``from_dict()``; ``build_pk_serial_chain()`` provides the robot-specific differentiable kinematic chains. Generic runtime fields and backend selection follow ``RobotCfg``. .. py:class:: embodichain_robots.DexforceW1Cfg DexforceW1 specific configuration, inherits from RobotCfg and allows custom parameters. Construct with ``from_dict()``; ``build_pk_serial_chain()`` provides the robot-specific differentiable kinematic chains. Generic runtime fields and backend selection follow ``RobotCfg``. .. py:class:: embodichain_robots.CobotMagicCfg Dual-arm CobotMagic with source arm limits and calibrated gripper drives. Construct with ``from_dict()``; ``build_pk_serial_chain()`` provides the robot-specific differentiable kinematic chains. Generic runtime fields and backend selection follow ``RobotCfg``. .. py:class:: embodichain_robots.FrankaPandaCfg Configuration for the Franka Emika Panda robot with Panda hand. Construct with ``from_dict()``; ``build_pk_serial_chain()`` provides the robot-specific differentiable kinematic chains. Generic runtime fields and backend selection follow ``RobotCfg``. .. py:class:: embodichain_robots.FrankaPandaPgiCfg Panda arm with the DH Robotics PGI gripper, its TCP and finger contacts. Construct with ``from_dict()``. The ``arm`` control part contains seven joints and ``eef`` controls the PGI leader joint. ``build_pk_serial_chain()`` returns the flange pose; the configured solver TCP locates the gripper tip. See :doc:`/resources/robot/franka_panda` for the assembly and frame contract. .. py:class:: embodichain_robots.URRobotCfg Configuration for the UR family of robots. Construct with ``from_dict()``; ``build_pk_serial_chain()`` provides the robot-specific differentiable kinematic chains. Generic runtime fields and backend selection follow ``RobotCfg``. embodichain_robots.aloha_mini ----------------------------- Concrete robot configurations, exposed lazily from the bundled robot package. .. py:class:: embodichain_robots.aloha_mini.AlohaMiniCfg :no-index: Configure Aloha Mini 2 Pro from its complete, source-named URDF. Construct with ``from_dict()``; ``build_pk_serial_chain()`` provides the robot-specific differentiable kinematic chains. Generic runtime fields and backend selection follow ``RobotCfg``. embodichain_robots.cobotmagic ----------------------------- Concrete robot configurations, exposed lazily from the bundled robot package. .. py:class:: embodichain_robots.cobotmagic.CobotMagicCfg :no-index: Dual-arm CobotMagic with source arm limits and calibrated gripper drives. Construct with ``from_dict()``; ``build_pk_serial_chain()`` provides the robot-specific differentiable kinematic chains. Generic runtime fields and backend selection follow ``RobotCfg``. embodichain_robots.dexforce_w1 ------------------------------ W1 configuration, hardware revisions, calibrated transforms, hand specifications, and assembly helpers. .. py:class:: embodichain_robots.dexforce_w1.DexforceW1Cfg :no-index: DexforceW1 specific configuration, inherits from RobotCfg and allows custom parameters. Construct with ``from_dict()``; ``build_pk_serial_chain()`` provides the robot-specific differentiable kinematic chains. Generic runtime fields and backend selection follow ``RobotCfg``. embodichain_robots.dexforce_w1.cfg ---------------------------------- W1 configuration, hardware revisions, calibrated transforms, hand specifications, and assembly helpers. .. py:class:: embodichain_robots.dexforce_w1.cfg.DexforceW1Cfg :no-index: DexforceW1 specific configuration, inherits from RobotCfg and allows custom parameters. Construct with ``from_dict()``; ``build_pk_serial_chain()`` provides the robot-specific differentiable kinematic chains. Generic runtime fields and backend selection follow ``RobotCfg``. embodichain_robots.dexforce_w1.hand_specs ----------------------------------------- W1 configuration, hardware revisions, calibrated transforms, hand specifications, and assembly helpers. .. py:class:: embodichain_robots.dexforce_w1.hand_specs.W1HandSideSpec Side-specific asset metadata for one hand release. .. py:class:: embodichain_robots.dexforce_w1.hand_specs.W1HandSpec A hand release independent of the W1 body/arm version. .. autofunction:: embodichain_robots.dexforce_w1.hand_specs.get_default_w1_hand_version .. autofunction:: embodichain_robots.dexforce_w1.hand_specs.get_w1_hand_spec .. autofunction:: embodichain_robots.dexforce_w1.hand_specs.normalize_w1_hand_mappings embodichain_robots.dexforce_w1.params ------------------------------------- W1 configuration, hardware revisions, calibrated transforms, hand specifications, and assembly helpers. .. py:class:: embodichain_robots.dexforce_w1.params.W1ArmKineParams Kinematics parameters for a W1 arm. embodichain_robots.dexforce_w1.specs ------------------------------------ W1 configuration, hardware revisions, calibrated transforms, hand specifications, and assembly helpers. .. py:class:: embodichain_robots.dexforce_w1.specs.W1VersionSpec Asset layout and calibrated defaults belonging to one W1 revision. .. autofunction:: embodichain_robots.dexforce_w1.specs.get_w1_version_spec embodichain_robots.dexforce_w1.types ------------------------------------ W1 configuration, hardware revisions, calibrated transforms, hand specifications, and assembly helpers. .. py:class:: embodichain_robots.dexforce_w1.types.DexforceW1Version Released W1 body revision identifiers. .. py:class:: embodichain_robots.dexforce_w1.types.DexforceW1HandVersion W1 end-effector revision identifiers, independent of the body revision. .. py:class:: embodichain_robots.dexforce_w1.types.DexforceW1ArmSide Left/right side identifiers for W1 assembly and calibration. .. py:class:: embodichain_robots.dexforce_w1.types.DexforceW1Type Physical W1 component identifiers used by the assembly helpers. .. py:class:: embodichain_robots.dexforce_w1.types.DexforceW1HandBrand Supported W1 end-effector model identifiers. embodichain_robots.dexforce_w1.utils ------------------------------------ W1 configuration, hardware revisions, calibrated transforms, hand specifications, and assembly helpers. .. py:class:: embodichain_robots.dexforce_w1.utils.ChassisManager Robot hardware configuration and assembly helper. .. py:class:: embodichain_robots.dexforce_w1.utils.TorsoManager Robot hardware configuration and assembly helper. .. py:class:: embodichain_robots.dexforce_w1.utils.HeadManager Robot hardware configuration and assembly helper. .. py:class:: embodichain_robots.dexforce_w1.utils.ArmManager Robot hardware configuration and assembly helper. .. py:class:: embodichain_robots.dexforce_w1.utils.HandManager Robot hardware configuration and assembly helper. .. py:class:: embodichain_robots.dexforce_w1.utils.EyesManager Robot hardware configuration and assembly helper. .. autofunction:: embodichain_robots.dexforce_w1.utils.build_dexforce_w1_assembly_urdf_cfg embodichain_robots.franka_panda ------------------------------- Concrete robot configurations, exposed lazily from the bundled robot package. .. py:class:: embodichain_robots.franka_panda.FrankaPandaCfg :no-index: Configuration for the Franka Emika Panda robot with Panda hand. Construct with ``from_dict()``; ``build_pk_serial_chain()`` provides the robot-specific differentiable kinematic chains. Generic runtime fields and backend selection follow ``RobotCfg``. .. py:class:: embodichain_robots.franka_panda.FrankaPandaPgiCfg :no-index: Panda arm with the PGI gripper; available as catalog ID ``FrankaPandaPgi``. The arm chain ends at ``fr3_link8`` and the solver applies the PGI TCP. See :class:`embodichain_robots.FrankaPandaPgiCfg` for the public entry point. embodichain_robots.tianji_marvin -------------------------------- Concrete robot configurations, exposed lazily from the bundled robot package. .. py:class:: embodichain_robots.tianji_marvin.TianjiMarvinCfg :no-index: Configure Tianji Marvin with or without its parallel-jaw grippers. Construct with ``from_dict()``; ``build_pk_serial_chain()`` provides the robot-specific differentiable kinematic chains. Generic runtime fields and backend selection follow ``RobotCfg``. embodichain_robots.ur_robot --------------------------- Concrete robot configurations, exposed lazily from the bundled robot package. .. py:class:: embodichain_robots.ur_robot.URRobotCfg :no-index: Configuration for the UR family of robots. Construct with ``from_dict()``; ``build_pk_serial_chain()`` provides the robot-specific differentiable kinematic chains. Generic runtime fields and backend selection follow ``RobotCfg``.