Toolkits#
The embodichain.toolkits package provides standalone utilities for
preparing robot assets and generating manipulation data. These tools complement
the simulation APIs: they can be used in preprocessing scripts, from the
command line, or as part of an EmbodiChain workflow.
Available Toolkits#
Toolkit |
What it does |
Typical use |
|---|---|---|
Decomposes concave URDF meshes into convex collision hulls, with optional model scaling and inertia recomputation. |
Prepare imported URDF assets for stable physics simulation. |
|
Combines component URDFs, attaches sensors, normalizes names, and writes a unified robot description. |
Build modular or multi-part robots such as arm-and-gripper systems. |
|
Samples antipodal contacts, constructs grasp poses, and filters collisions for parallel-jaw grippers. |
Annotate graspable regions and generate candidate grasps for manipulation. |
Choosing a Toolkit#
Use convex decomposition when a source URDF already represents the complete robot but its collision meshes are unsuitable for simulation. Use URDF assembly when the robot is distributed across multiple component files. Use grasp generation after the target object’s mesh is ready and a manipulation workflow needs feasible end-effector poses.
The asset tools can be chained: preprocess component collision meshes, assemble the components into one URDF, and then load the resulting robot in a grasping task.