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Introduction
EmbodiChain
Getting Started
Installation
Tutorials
Creating a simulation scene
Creating a soft-body simulation
Creating a cloth simulation
Rigid object group tutorial
Rigid constraint tutorial
Simulating a Robot
Create a solver
Simulating a Camera Sensor
Motion Generator
Atomic Actions
Interactive Robot Control with Gizmo
Creating a Basic Environment
Creating a Modular Environment
Data Generation
Reinforcement Learning Training
How-to Guides
Writing Custom Functors
Configuration Guide
Agent Skills
Adding a New Robot — Quick Reference
CLI Reference
Build Documentation
Overview
Simulation Framework
Simulation Manager
Simulation Assets
Rigid Object
Rigid Object Group
Cloth Object
Soft Object
Articulation
Robot
Sensors
Solvers
PytorchSolver
DifferentialSolver
PinkSolver
PinocchioSolver
OPWSolver
SRSSolver
URSolver
NeuralIKSolver
Planners
ToppraPlanner
NeuralPlanner
TrajectorySampleMethod
MotionGenerator
Atomic Actions
Built-in Actions
Gym
Embodied Environments
Event Functors
Observation Functors
Reward Functors
Action Functors
Dataset Functors
Reinforcement Learning
RL Algorithms
Rollout Buffer
Policy Models
Trainer
Config
Train Script
Multi-GPU Training
Features
Online Data Streaming
Generative Simulation
SimReady Asset Pipeline
Workspace Analyzer
Overview and Usage
Configuration System
Sampling Strategies
Visualization Options
Caching System
Constraint Handling
Metric Computation
Interactive Simulation
Window interaction
Asset preview
Toolkits
URDF Convex Decomposition
URDF Assembly
Parallel-Gripper Grasp Generation
Resources
Data Assets
Supported Robots
Franka Panda
UR Family
Dexforce W1
CobotMagic
Dual-Arm Composition
Supported Tasks
Roadmap
Academic Publications
API Reference
API Reference
embodichain.data
embodichain.data_pipeline
embodichain.lab
embodichain.toolkits
embodichain.learning
embodichain.learning.rl.algo
embodichain.learning.rl.buffer
embodichain.learning.rl.collector
embodichain.learning.rl.models
embodichain.learning.rl.train
embodichain.learning.rl.utils
embodichain.utils
embodichain.utils.warp
.rst
.pdf
embodichain.utils.warp.kinematics
embodichain.utils.warp.kinematics
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