Skip to main content
Back to top
Ctrl
+
K
EmbodiChain documentation
Version
Loading...
Ctrl
+
K
Introduction
EmbodiChain
Getting Started
Installation
Tutorials
Creating a simulation scene
Creating a soft-body simulation
Creating a cloth simulation
Rigid object group 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
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
NeuralIKSolver
Planners
ToppraPlanner
TrajectorySampleMethod
MotionGenerator
Atomic 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
convex_decomposition
urdf_assembly
Generating and Executing Robot Grasps
Resources
Data Assets
Supported Robots
Dexforce W1
CobotMagic
Supported Tasks
Roadmap
Academic Publications
API Reference
API Reference
embodichain.agents
embodichain.data
embodichain.lab
embodichain.toolkits
embodichain.utils
embodichain.utils.warp
.rst
.pdf
ToolKits
ToolKits
#
convex_decomposition
urdf_assembly
Generating and Executing Robot Grasps