Index

_

__init__() (embodichain.compute.kinematics.serial_chain.SerialChainKinematics method) (embodichain.compute.kinematics.types.DifferentiableIKCfg method) (embodichain.compute.kinematics.types.DifferentiableIKResult method) (embodichain.data.asset_catalog.AssetCandidate method) (embodichain.data.asset_catalog.AssetDescriptor method) (embodichain.data.asset_catalog.AssetProvider method) (embodichain.data.asset_catalog.AssetQuery method) (embodichain.data.asset_catalog.Bounds3D method) (embodichain.data.asset_catalog.contracts.AssetCandidate method) (embodichain.data.asset_catalog.contracts.AssetDescriptor method) (embodichain.data.asset_catalog.contracts.AssetProvider method) (embodichain.data.asset_catalog.contracts.AssetQuery method) (embodichain.data.asset_catalog.contracts.Bounds3D method) (embodichain.data.asset_catalog.contracts.PreparationContext method) (embodichain.data.asset_catalog.contracts.PreparedAsset method) (embodichain.data.asset_catalog.DirectoryAssetProvider method) (embodichain.data.asset_catalog.ExplicitAssetProvider method) (embodichain.data.asset_catalog.local.DirectoryAssetProvider method) (embodichain.data.asset_catalog.local.ExplicitAssetProvider method) (embodichain.data.asset_catalog.PreparationContext method) (embodichain.data.asset_catalog.PreparedAsset method) (embodichain.data.assets.eef_assets.BrainCoHandRevo1 method) (embodichain.data.assets.eef_assets.DH_AG95 method) (embodichain.data.assets.eef_assets.DH_PGC_140_50 method) (embodichain.data.assets.eef_assets.DH_PGC_140_50_M method) (embodichain.data.assets.eef_assets.DH_PGI_140_80 method) (embodichain.data.assets.eef_assets.InspireHand method) (embodichain.data.assets.eef_assets.PikaGripper method) (embodichain.data.assets.eef_assets.Robotiq method) (embodichain.data.assets.eef_assets.Robotiq2F85 method) (embodichain.data.assets.eef_assets.WheelTecFA2F method) (embodichain.data.assets.eef_assets.ZH_CTM2F110 method) (embodichain.data.assets.materials.DefaultMaterials method) (embodichain.data.assets.obj_assets.AdrianoTable method) (embodichain.data.assets.obj_assets.AluminumTable method) (embodichain.data.assets.obj_assets.BakeTextureObj method) (embodichain.data.assets.obj_assets.ChainRainSec method) (embodichain.data.assets.obj_assets.Chair method) (embodichain.data.assets.obj_assets.CircleTableSimple method) (embodichain.data.assets.obj_assets.CoffeeCup method) (embodichain.data.assets.obj_assets.ContainerMetal method) (embodichain.data.assets.obj_assets.Cow method) (embodichain.data.assets.obj_assets.Drawer method) (embodichain.data.assets.obj_assets.DrawerUSD method) (embodichain.data.assets.obj_assets.Microwave method) (embodichain.data.assets.obj_assets.MicrowaveOven method) (embodichain.data.assets.obj_assets.PaperCup method) (embodichain.data.assets.obj_assets.PlasticBin method) (embodichain.data.assets.obj_assets.PlasticTray method) (embodichain.data.assets.obj_assets.PourWaterAssets method) (embodichain.data.assets.obj_assets.ScannedBottle method) (embodichain.data.assets.obj_assets.ShopTableSimple method) (embodichain.data.assets.obj_assets.SimpleBoxDrawer method) (embodichain.data.assets.obj_assets.SlidingBoxDrawer method) (embodichain.data.assets.obj_assets.SodaCan method) (embodichain.data.assets.obj_assets.SugarBox method) (embodichain.data.assets.obj_assets.TableWare method) (embodichain.data.assets.obj_assets.ToyDuck method) (embodichain.data.assets.obj_assets.WaterBasin method) (embodichain.data.assets.robot_assets.ABB method) (embodichain.data.assets.robot_assets.Agile method) (embodichain.data.assets.robot_assets.AlohaMini method) (embodichain.data.assets.robot_assets.ARX5 method) (embodichain.data.assets.robot_assets.Aubo method) (embodichain.data.assets.robot_assets.CartPole method) (embodichain.data.assets.robot_assets.CobotMagicArm method) (embodichain.data.assets.robot_assets.Fanuc method) (embodichain.data.assets.robot_assets.FlexivRizon4S method) (embodichain.data.assets.robot_assets.Franka method) (embodichain.data.assets.robot_assets.Hans method) (embodichain.data.assets.robot_assets.KUKA method) (embodichain.data.assets.robot_assets.Motoman method) (embodichain.data.assets.robot_assets.RainbowY1 method) (embodichain.data.assets.robot_assets.RidgeBack method) (embodichain.data.assets.robot_assets.Rokae method) (embodichain.data.assets.robot_assets.TianjiMarvin method) (embodichain.data.assets.robot_assets.UnitreeH1 method) (embodichain.data.assets.robot_assets.UnitreeH1Usd method) (embodichain.data.assets.robot_assets.UniversalRobots method) (embodichain.data.assets.so101_assets.SO101FollowerAssets method) (embodichain.data.assets.w1_assets.DexforceW1ChassisV021 method) (embodichain.data.assets.w1_assets.DexforceW1EyesV021 method) (embodichain.data.assets.w1_assets.DexforceW1HeadV021 method) (embodichain.data.assets.w1_assets.DexforceW1LeftArmV021 method) (embodichain.data.assets.w1_assets.DexforceW1RightArmV021 method) (embodichain.data.assets.w1_assets.DexforceW1TorsoV021 method) (embodichain.data.assets.w1_assets.DexforceW1V021 method) (embodichain.data.assets.w1_assets.DexforceW1V022 method) (embodichain.data.assets.w1_assets.DexforceW1V025 method) (embodichain.data.assets.w1_assets.DexforceW1V030 method) (embodichain.data.dataset.EmbodiChainDataset method) (embodichain.data_pipeline.configuration.ODSConfiguration method) (embodichain.data_pipeline.configuration.ODSRateMeasurementCfg method) (embodichain.data_pipeline.configuration.ODSReuseProfileCfg method) (embodichain.data_pipeline.configuration.ODSRuntimeCfg method) (embodichain.data_pipeline.configuration.ODSThroughputMeasurement method) (embodichain.data_pipeline.datasets.BatchSource method), [1] (embodichain.data_pipeline.datasets.GMMChunkSampler method), [1] (embodichain.data_pipeline.datasets.inspection.DatasetValidationIssue method) (embodichain.data_pipeline.datasets.inspection.DatasetValidationReport method) (embodichain.data_pipeline.datasets.lerobot.LeRobotDataSource method) (embodichain.data_pipeline.datasets.lerobot.LeRobotFieldMappingCfg method) (embodichain.data_pipeline.datasets.LeRobotDataSource method), [1] (embodichain.data_pipeline.datasets.LeRobotFieldMappingCfg method), [1] (embodichain.data_pipeline.datasets.online_data.OnlineDataset method) (embodichain.data_pipeline.datasets.OnlineDataset method), [1] (embodichain.data_pipeline.datasets.OnlineDataSource method), [1] (embodichain.data_pipeline.datasets.sampler.GMMChunkSampler method) (embodichain.data_pipeline.datasets.sampler.UniformChunkSampler method) (embodichain.data_pipeline.datasets.sequence.BatchSource method) (embodichain.data_pipeline.datasets.sequence.SequenceSpecCfg method) (embodichain.data_pipeline.datasets.sequence_data.SequenceDataset method) (embodichain.data_pipeline.datasets.SequenceDataset method), [1] (embodichain.data_pipeline.datasets.SequenceSpecCfg method), [1] (embodichain.data_pipeline.datasets.sources.OnlineDataSource method) (embodichain.data_pipeline.datasets.sources.TensorDataSource method) (embodichain.data_pipeline.datasets.TensorDataSource method), [1] (embodichain.data_pipeline.datasets.UniformChunkSampler method), [1] (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg method) (embodichain.data_pipeline.depth_video.reader.DepthVideoLibrary method) (embodichain.data_pipeline.depth_video.reader.DepthVideoReader method) (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) (embodichain.data_pipeline.depth_video.writer.DepthVideoWriter method) (embodichain.data_pipeline.engine.language.SharedLanguageRegistry method) (embodichain.data_pipeline.engine.OnlineDataEngine method) (embodichain.data_pipeline.engine.OnlineDataEngineCfg method) (embodichain.data_pipeline.recording.journal.RecordingJournal method) (embodichain.data_pipeline.recording.RecordingJournal method) (embodichain.data_pipeline.runtime.ODSFlowController method) (embodichain.data_pipeline.runtime.ODSFlowControllerCfg method) (embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_layout_optimizer.AssetsSupportLayoutOptimizer method) (embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_support_clamp.AssetsGroupSupportClamp method) (embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_table_aligner.AssetsGroupTableAligner method) (embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_table_aligner.AssetsGroupTableAlignerConfig method) (embodichain.gen_sim.scene_engine.pipeline.utils.gravity_settler.GravitySettleBody method) (embodichain.gen_sim.scene_engine.pipeline.utils.gravity_settler.GravitySettler method) (embodichain.gen_sim.scene_engine.pipeline.utils.gravity_settler.GravitySettlerConfig method) (embodichain.gen_sim.scene_engine.pipeline.utils.parent_surface_layout_optimizer.ParentSurfaceLayoutOptimizer method) (embodichain.gen_sim.scene_engine.pipeline.utils.parent_surface_layout_optimizer.ParentSurfaceLayoutOptimizerConfig method) (embodichain.gen_sim.scene_engine.pipeline.utils.parent_surface_layout_optimizer.ParentSurfaceLayoutProblem method) (embodichain.gen_sim.scene_engine.pipeline.utils.table_support_surface.TableSupportSurfaceDetector method) (embodichain.gen_sim.scene_engine.pipeline.utils.table_surface_layout_optimizer.TableSurfaceLayoutOptimizer method) (embodichain.gen_sim.scene_engine.pipeline.utils.table_surface_layout_optimizer.TableSurfaceLayoutOptimizerConfig method) (embodichain.gen_sim.scene_engine.pipeline.utils.table_surface_layout_optimizer.TableSurfaceLayoutProblem method) (embodichain.lab.devices.DeviceController method) (embodichain.lab.gym.envs.asset_generalization.AssetBatchOutcome method) (embodichain.lab.gym.envs.asset_generalization.AssetEpisodeOutcome method) (embodichain.lab.gym.envs.asset_generalization.AssetGeneralizationCfg method) (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.demo.DemoEpisodeResult method) (embodichain.lab.gym.envs.demo.DemoExecutionCfg method) (embodichain.lab.gym.envs.demo.DemoSegment method) (embodichain.lab.gym.envs.demo.DemoSegmentResult method) (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.lab.gym.envs.episode_context.EpisodeContext method) (embodichain.lab.gym.envs.expert_trajectory.ExpertActionSpec method) (embodichain.lab.gym.envs.managers.ActionDescriptor method) (embodichain.lab.gym.envs.managers.ActionManager method) (embodichain.lab.gym.envs.managers.ActionTerm method) (embodichain.lab.gym.envs.managers.ActionTermDescriptor method) (embodichain.lab.gym.envs.managers.ActionTrace method) (embodichain.lab.gym.envs.managers.async_datasets.AsyncLeRobotRecorder method) (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.datasets.LeRobotRecorder method) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction method) (embodichain.lab.gym.envs.managers.EefPoseAction method) (embodichain.lab.gym.envs.managers.EventManager method) (embodichain.lab.gym.envs.managers.events.prepare_extra_attr method) (embodichain.lab.gym.envs.managers.events.replace_assets_from_group method) (embodichain.lab.gym.envs.managers.Functor method) (embodichain.lab.gym.envs.managers.JointEffortAction method) (embodichain.lab.gym.envs.managers.JointPositionAction method) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction method) (embodichain.lab.gym.envs.managers.JointVelocityAction method) (embodichain.lab.gym.envs.managers.ManagerBase method) (embodichain.lab.gym.envs.managers.ObservationManager method) (embodichain.lab.gym.envs.managers.observations.compute_exteroception method) (embodichain.lab.gym.envs.managers.observations.get_articulation_joint_drive method) (embodichain.lab.gym.envs.managers.observations.get_rigid_object_physics_attributes method) (embodichain.lab.gym.envs.managers.ParallelGripperAction method) (embodichain.lab.gym.envs.managers.randomization.physics.push_articulation_by_setting_velocity method) (embodichain.lab.gym.envs.managers.randomization.spatial.ExpandSceneLayout method) (embodichain.lab.gym.envs.managers.randomization.spatial.planner_grid_cell_sampler method) (embodichain.lab.gym.envs.managers.randomization.spatial.randomize_anchor_height method) (embodichain.lab.gym.envs.managers.randomization.spatial.sample_rigid_object_pose_from_workspace method) (embodichain.lab.gym.envs.managers.randomization.visual.randomize_indirect_lighting method) (embodichain.lab.gym.envs.managers.randomization.visual.randomize_visual_material method) (embodichain.lab.gym.envs.managers.record.record_camera_data method) (embodichain.lab.gym.envs.managers.record.record_camera_data_async method) (embodichain.lab.gym.envs.managers.record.validation_cameras method) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction method) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction method) (embodichain.lab.gym.envs.managers.RewardManager method) (embodichain.lab.gym.envs.NoFailWrapper method) (embodichain.lab.gym.envs.ReplayWrapper method) (embodichain.lab.gym.envs.settling.DynamicSettleMonitor method) (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg method) (embodichain.lab.gym.envs.settling.DynamicSettleSample method) (embodichain.lab.gym.envs.settling.DynamicSettleState method) (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) (embodichain.lab.gym.envs.task_program.EnvironmentStepClock method) (embodichain.lab.gym.envs.task_program.EnvironmentStepTimingError method) (embodichain.lab.gym.envs.task_program.GymPlanningObservationProvider method) (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder method) (embodichain.lab.gym.envs.task_program.RuntimeTransportActionEncoder method) (embodichain.lab.gym.envs.task_program.SegmentPostPolicyPort method) (embodichain.lab.gym.envs.task_program.SegmentValidatorPort method) (embodichain.lab.gym.envs.task_program.TaskProgramBridgeError method) (embodichain.lab.gym.envs.task_program.TaskProgramDemoBridge method) (embodichain.lab.gym.envs.task_program.UnsupportedRuntimeTransportError method) (embodichain.lab.gym.envs.types.ControllerAction method) (embodichain.lab.gym.utils.registration.EnvSpec method), [1] (embodichain.lab.gym.utils.registration.TimeLimitWrapper method), [1] (embodichain.lab.sim.atomic_actions.ActionBinding method) (embodichain.lab.sim.atomic_actions.ActionControlOverrides method) (embodichain.lab.sim.atomic_actions.ActionInvocation method) (embodichain.lab.sim.atomic_actions.ActionOptions method) (embodichain.lab.sim.atomic_actions.ActionPlan method) (embodichain.lab.sim.atomic_actions.ActionPlanTemplateAdapter method) (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationAffordanceGeometry method) (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationGeometryProvider method) (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry method) (embodichain.lab.sim.atomic_actions.AtomicAction method) (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (embodichain.lab.sim.atomic_actions.CommandAcknowledgement method) (embodichain.lab.sim.atomic_actions.CommandDispatch method) (embodichain.lab.sim.atomic_actions.CommandSink method) (embodichain.lab.sim.atomic_actions.ControlPartCommandProfile method) (embodichain.lab.sim.atomic_actions.DisjointResourceSlots method) (embodichain.lab.sim.atomic_actions.DisjointSlotEndpoints method) (embodichain.lab.sim.atomic_actions.EffectVerificationRequest method) (embodichain.lab.sim.atomic_actions.EffectVerificationRequirement method) (embodichain.lab.sim.atomic_actions.EffectVerificationResult method) (embodichain.lab.sim.atomic_actions.EndpointBinding method) (embodichain.lab.sim.atomic_actions.EndpointCommand method) (embodichain.lab.sim.atomic_actions.EndpointCommandRouter method) (embodichain.lab.sim.atomic_actions.EndpointCommandTransport method) (embodichain.lab.sim.atomic_actions.ExecutionClock method) (embodichain.lab.sim.atomic_actions.ExecutionEvent method) (embodichain.lab.sim.atomic_actions.ExecutionPlanAttempt method) (embodichain.lab.sim.atomic_actions.ExecutionRunner method) (embodichain.lab.sim.atomic_actions.ExecutionSession method) (embodichain.lab.sim.atomic_actions.ExecutionTick method) (embodichain.lab.sim.atomic_actions.HeldObjectState method) (embodichain.lab.sim.atomic_actions.JointPositionCommand method) (embodichain.lab.sim.atomic_actions.JointPositionPayload method) (embodichain.lab.sim.atomic_actions.JointPositionTarget method) (embodichain.lab.sim.atomic_actions.ObjectSemantics method) (embodichain.lab.sim.atomic_actions.ObservationProvider method) (embodichain.lab.sim.atomic_actions.PhysicalEvidenceBatch method) (embodichain.lab.sim.atomic_actions.PhysicalEvidenceFrame method) (embodichain.lab.sim.atomic_actions.PhysicalEvidenceProvider method) (embodichain.lab.sim.atomic_actions.PhysicalEvidenceRequest method) (embodichain.lab.sim.atomic_actions.PlanningContext method) (embodichain.lab.sim.atomic_actions.PlanningFailure method) (embodichain.lab.sim.atomic_actions.ResolvedActionRequest method) (embodichain.lab.sim.atomic_actions.RobotObservation method) (embodichain.lab.sim.atomic_actions.RunnerStep method) (embodichain.lab.sim.atomic_actions.RuntimeCommandFrame method) (embodichain.lab.sim.atomic_actions.SceneEntity method) (embodichain.lab.sim.atomic_actions.SceneEntityPose method) (embodichain.lab.sim.atomic_actions.SceneSnapshot method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) (embodichain.lab.sim.atomic_actions.SkillBindingContract method) (embodichain.lab.sim.atomic_actions.SkillDescriptor method) (embodichain.lab.sim.atomic_actions.SkillEndpointRequirement method) (embodichain.lab.sim.atomic_actions.SkillResourceSlot method) (embodichain.lab.sim.atomic_actions.StateDelta method) (embodichain.lab.sim.atomic_actions.TaskState method) (embodichain.lab.sim.atomic_actions.TimedCommandSequence method) (embodichain.lab.sim.atomic_actions.TimedTrajectory method) (embodichain.lab.sim.cfg.source.UsdSourceCfg method) (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.DenoisingCfg method) (embodichain.lab.sim.DLSSCfg method) (embodichain.lab.sim.material.ReuseSegmentState method) (embodichain.lab.sim.material.VisualMaterial method) (embodichain.lab.sim.material.VisualMaterialInst method) (embodichain.lab.sim.motion.execution.EpisodeSink method) (embodichain.lab.sim.motion.execution.FixedSceneInitialStatePort method) (embodichain.lab.sim.motion.execution.InitialStatePort method) (embodichain.lab.sim.motion.execution.MeasuredExecutor method) (embodichain.lab.sim.motion.execution.MultiSlotRunner method) (embodichain.lab.sim.motion.execution.SingleSlotOutcome method) (embodichain.lab.sim.motion.execution.SingleSlotRunner method) (embodichain.lab.sim.motion.expansion.CallRecipe method) (embodichain.lab.sim.motion.expansion.CandidateCoordinator method) (embodichain.lab.sim.motion.expansion.CandidateIdentity method) (embodichain.lab.sim.motion.expansion.CandidateRecipe method) (embodichain.lab.sim.motion.expansion.CandidateSpec method) (embodichain.lab.sim.motion.expansion.CandidateTrajectoryBatch method) (embodichain.lab.sim.motion.expansion.CandidateWorkItem method) (embodichain.lab.sim.motion.expansion.combined.CallRecipe method) (embodichain.lab.sim.motion.expansion.combined.CandidateRecipe method) (embodichain.lab.sim.motion.expansion.combined.CubeInitialPoseProvider method) (embodichain.lab.sim.motion.expansion.combined.CycleRecipe method) (embodichain.lab.sim.motion.expansion.combined.PhysicalSlotPool method) (embodichain.lab.sim.motion.expansion.combined.ReferenceFamilySpec method) (embodichain.lab.sim.motion.expansion.combined.SlotReservation method) (embodichain.lab.sim.motion.expansion.combined_runtime.CombinedAssignment method) (embodichain.lab.sim.motion.expansion.combined_runtime.CombinedEpisodeCoordinator method) (embodichain.lab.sim.motion.expansion.combined_runtime.VisualProfileApplication method) (embodichain.lab.sim.motion.expansion.combined_runtime.VisualProfileRegistry method) (embodichain.lab.sim.motion.expansion.CombinedAssignment method) (embodichain.lab.sim.motion.expansion.CombinedEpisodeCoordinator method) (embodichain.lab.sim.motion.expansion.CommitReceipt method) (embodichain.lab.sim.motion.expansion.CoverageIndex method) (embodichain.lab.sim.motion.expansion.CubeInitialPoseProvider method) (embodichain.lab.sim.motion.expansion.CycleRecipe method) (embodichain.lab.sim.motion.expansion.ExpansionSession method) (embodichain.lab.sim.motion.expansion.ExpertEpisode method) (embodichain.lab.sim.motion.expansion.GuidedResidual method) (embodichain.lab.sim.motion.expansion.ManipulabilityBands method) (embodichain.lab.sim.motion.expansion.ManipulabilityProfile method) (embodichain.lab.sim.motion.expansion.MinimumJerkBridgePlanner method) (embodichain.lab.sim.motion.expansion.MotionSnapshot method) (embodichain.lab.sim.motion.expansion.PhysicalSlotPool method) (embodichain.lab.sim.motion.expansion.PlanResultSourceAdapter method) (embodichain.lab.sim.motion.expansion.ProposalRequest method) (embodichain.lab.sim.motion.expansion.ReferenceFamilySpec method) (embodichain.lab.sim.motion.expansion.SceneCase method) (embodichain.lab.sim.motion.expansion.SegmentCompatibility method) (embodichain.lab.sim.motion.expansion.SlotReservation method) (embodichain.lab.sim.motion.expansion.SourceAdapter method) (embodichain.lab.sim.motion.expansion.SourceContext method) (embodichain.lab.sim.motion.expansion.StitchedSegmentPlacement method) (embodichain.lab.sim.motion.expansion.StitchedTrajectory method) (embodichain.lab.sim.motion.expansion.TaskSpaceDeformationConstraint method) (embodichain.lab.sim.motion.expansion.TaskSpaceProjectionResult method) (embodichain.lab.sim.motion.expansion.TaskSpaceTrajectory method) (embodichain.lab.sim.motion.expansion.TemplateSourceAdapter method) (embodichain.lab.sim.motion.expansion.TrajectoryBridge method) (embodichain.lab.sim.motion.expansion.TrajectoryBridgePlanner method) (embodichain.lab.sim.motion.expansion.TrajectoryDescriptor method) (embodichain.lab.sim.motion.expansion.TrajectoryPhase method) (embodichain.lab.sim.motion.expansion.TrajectorySegment method) (embodichain.lab.sim.motion.expansion.TrajectorySegmentBank method) (embodichain.lab.sim.motion.expansion.TrajectoryTemplate method) (embodichain.lab.sim.motion.expansion.TrajectoryVariant method) (embodichain.lab.sim.motion.expansion.TrajectoryVariantSet method) (embodichain.lab.sim.motion.expansion.ValidationCheck method) (embodichain.lab.sim.motion.expansion.ValidationResult method) (embodichain.lab.sim.motion.expansion.VisualProfileApplication method) (embodichain.lab.sim.motion.expansion.VisualProfileRegistry method) (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.PlanResult method) (embodichain.lab.sim.motion.planners.PlanState method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner method) (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.qpos_seed_sel_sampler.QposSeedSelSampler method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig method) (embodichain.lab.sim.motion.workspace.caches.BaseCache method) (embodichain.lab.sim.motion.workspace.caches.DiskCache method) (embodichain.lab.sim.motion.workspace.caches.MemoryCache method) (embodichain.lab.sim.motion.workspace.caches.ResultsCache method) (embodichain.lab.sim.motion.workspace.configs.CacheConfig method) (embodichain.lab.sim.motion.workspace.configs.DensityConfig method) (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint method) (embodichain.lab.sim.motion.workspace.configs.ManipulabilityConfig method) (embodichain.lab.sim.motion.workspace.configs.MetricConfig method) (embodichain.lab.sim.motion.workspace.configs.ReachabilityConfig method) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig method) (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig method) (embodichain.lab.sim.motion.workspace.constraints.BaseConstraintChecker method) (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) (embodichain.lab.sim.motion.workspace.metrics.BaseMetric method) (embodichain.lab.sim.motion.workspace.metrics.DensityMetric method) (embodichain.lab.sim.motion.workspace.metrics.ManipulabilityMetric method) (embodichain.lab.sim.motion.workspace.metrics.ReachabilityMetric method) (embodichain.lab.sim.motion.workspace.RobotWorkspace method) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg method) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace method) (embodichain.lab.sim.motion.workspace.runtime.WorkspaceSample method) (embodichain.lab.sim.motion.workspace.samplers.BaseSampler method) (embodichain.lab.sim.motion.workspace.samplers.HaltonSampler method) (embodichain.lab.sim.motion.workspace.samplers.ISampler method) (embodichain.lab.sim.motion.workspace.samplers.LatinHypercubeSampler method) (embodichain.lab.sim.motion.workspace.samplers.RandomSampler method) (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory method) (embodichain.lab.sim.motion.workspace.samplers.SobolSampler method) (embodichain.lab.sim.motion.workspace.samplers.UniformSampler method) (embodichain.lab.sim.motion.workspace.visualizers.AxisVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.InspectionSelection method) (embodichain.lab.sim.motion.workspace.visualizers.IVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorCfg method) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorMapping method) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityNormalization method) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityPointSet method) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.PointCloudVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.PointInspection method) (embodichain.lab.sim.motion.workspace.visualizers.SphereVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory method) (embodichain.lab.sim.motion.workspace.visualizers.VoxelVisualizer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig method) (embodichain.lab.sim.motion.workspace.WorkspaceSample method) (embodichain.lab.sim.NRDCfg method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.ArticulationData method) (embodichain.lab.sim.objects.ArticulationJointKinematics method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) (embodichain.lab.sim.objects.CollisionShapeDesc method) (embodichain.lab.sim.objects.deformable.DeformableObject method) (embodichain.lab.sim.objects.deformable.DeformableObjectData method) (embodichain.lab.sim.objects.Gizmo method) (embodichain.lab.sim.objects.Light method) (embodichain.lab.sim.objects.RigidBodyData method) (embodichain.lab.sim.objects.RigidBodyGroupData method) (embodichain.lab.sim.objects.RigidConstraint method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.VisualObject method) (embodichain.lab.sim.Profiler method) (embodichain.lab.sim.scene.composition.SceneFragment method) (embodichain.lab.sim.scene.expansion.FixedSceneCandidateSource method) (embodichain.lab.sim.scene.expansion.IntraGroupRandomizationCfg method) (embodichain.lab.sim.scene.expansion.LoadedSceneVariants method) (embodichain.lab.sim.scene.expansion.MemberRandomizationCfg method) (embodichain.lab.sim.scene.expansion.PreparedSceneRandomization method) (embodichain.lab.sim.scene.expansion.SceneLayoutInput method) (embodichain.lab.sim.scene.expansion.ScenePoseChange method) (embodichain.lab.sim.scene.expansion.SceneRandomizationBatch method) (embodichain.lab.sim.scene.expansion.SceneRandomizationJobCfg method) (embodichain.lab.sim.scene.expansion.SceneRandomizationPolicyCfg method) (embodichain.lab.sim.scene.expansion.SceneVariant method) (embodichain.lab.sim.scene.expansion.SceneVariantApplicationResult method) (embodichain.lab.sim.scene.expansion.SupportOverrideCfg method) (embodichain.lab.sim.scene.geometry.SupportRegion method) (embodichain.lab.sim.scene.geometry.SupportSurfaceConfig method) (embodichain.lab.sim.scene.layout.LayoutCfg method) (embodichain.lab.sim.scene.layout.LayoutProblem method) (embodichain.lab.sim.scene.layout.LayoutSolution method) (embodichain.lab.sim.scene.layout.PlanarRelation method) (embodichain.lab.sim.scene.operations.SceneChangeResult method) (embodichain.lab.sim.scene.operations.SceneChangeSet method) (embodichain.lab.sim.scene.placement.AABBLayoutConfig method) (embodichain.lab.sim.scene.placement.GroupSupportClampConfig method) (embodichain.lab.sim.scene.procedural.GeneratedScene method) (embodichain.lab.sim.scene.procedural.SceneRecipe method) (embodichain.lab.sim.scene.query.SceneView method) (embodichain.lab.sim.scene.RobotSceneWorkspace method) (embodichain.lab.sim.scene.SceneWorkspaceCandidate method) (embodichain.lab.sim.scene.state.EntityState method) (embodichain.lab.sim.scene.state.SceneState method) (embodichain.lab.sim.scene.validation.SceneCheck method) (embodichain.lab.sim.scene.validation.SceneCheckReport method) (embodichain.lab.sim.scene.validation.SettlingCfg method) (embodichain.lab.sim.sensors.ArticulationContactFilterCfg method) (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.contact_history.ContactHistory method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) (embodichain.lab.sim.shapes.LoadOption method) (embodichain.lab.sim.sim_manager.SimulationManager method) (embodichain.lab.task_program.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.BarrierCfg method) (embodichain.lab.task_program.CompiledTaskProgram method) (embodichain.lab.task_program.compiler.CompiledArticulationJointPositionValidator method) (embodichain.lab.task_program.compiler.CompiledBarrier method) (embodichain.lab.task_program.compiler.CompiledObjectNearTargetValidator method) (embodichain.lab.task_program.compiler.CompiledObjectStateValidator method) (embodichain.lab.task_program.compiler.CompiledParallelBlock method) (embodichain.lab.task_program.compiler.CompiledParallelBranch method) (embodichain.lab.task_program.compiler.CompiledPostPolicy method) (embodichain.lab.task_program.compiler.CompiledRepeatFrame method) (embodichain.lab.task_program.compiler.CompiledTargetSelection method) (embodichain.lab.task_program.compiler.CompiledTaskProgram method) (embodichain.lab.task_program.compiler.CompiledTaskProgramAnalysis method) (embodichain.lab.task_program.compiler.CompiledTaskProgramCall method) (embodichain.lab.task_program.compiler.CompiledTaskProgramSegment method) (embodichain.lab.task_program.compiler.TaskProgramCompiler method) (embodichain.lab.task_program.CyclicPoseTargetCfg method) (embodichain.lab.task_program.HandOverCfg method) (embodichain.lab.task_program.integrations.AntipodalGraspAffordanceBinding method) (embodichain.lab.task_program.integrations.asset_materialization.AssetAdaptationCfg method) (embodichain.lab.task_program.integrations.asset_materialization.AssetPourAdaptationCfg method) (embodichain.lab.task_program.integrations.asset_materialization.MaterializedAssetDeployment method) (embodichain.lab.task_program.integrations.CombinedTaskProgramExpansionFactory method) (embodichain.lab.task_program.integrations.ConfiguredHandOverPoseProvider method) (embodichain.lab.task_program.integrations.ContainerAffordanceBinding method) (embodichain.lab.task_program.integrations.ControlPartCommandPreset method) (embodichain.lab.task_program.integrations.ControlPartEndpointBinding method) (embodichain.lab.task_program.integrations.ControlPartEvidenceProviderDeclaration method) (embodichain.lab.task_program.integrations.ControlPartEvidenceProviderFactory method) (embodichain.lab.task_program.integrations.ControlPartResourceBinding method) (embodichain.lab.task_program.integrations.CuroboParallelCommandSafetyValidator method) (embodichain.lab.task_program.integrations.CuroboParallelSafetyValidatorFactory method) (embodichain.lab.task_program.integrations.EndpointAdapterDeclaration method) (embodichain.lab.task_program.integrations.expansion.CombinedTaskProgramExpansionFactory method) (embodichain.lab.task_program.integrations.expansion.TaskProgramExpansionRecord method) (embodichain.lab.task_program.integrations.expansion.TaskProgramSourceAdapter method) (embodichain.lab.task_program.integrations.IntegrationFingerprintMismatch method) (embodichain.lab.task_program.integrations.ParallelCommandSafetyValidatorFactory method) (embodichain.lab.task_program.integrations.ParallelSafetyDeclaration method) (embodichain.lab.task_program.integrations.PlanningObservationPort method) (embodichain.lab.task_program.integrations.RegisteredSemanticLowererDeclaration method) (embodichain.lab.task_program.integrations.RegisteredSemanticLowererFactory method) (embodichain.lab.task_program.integrations.RigidizedArticulationAntipodalGraspBinding method) (embodichain.lab.task_program.integrations.RuntimeTransportDeclaration method) (embodichain.lab.task_program.integrations.scene_expansion.ScenePreparationResult method) (embodichain.lab.task_program.integrations.scene_expansion.SceneVariantEpisodeResult method) (embodichain.lab.task_program.integrations.simulation.AntipodalGraspAffordanceBinding method) (embodichain.lab.task_program.integrations.simulation.asset_pouring.PouringAcceptanceMonitor method) (embodichain.lab.task_program.integrations.simulation.ContainerAffordanceBinding method) (embodichain.lab.task_program.integrations.simulation.ControlPartCommandPreset method) (embodichain.lab.task_program.integrations.simulation.ControlPartEndpointBinding method) (embodichain.lab.task_program.integrations.simulation.ControlPartResourceBinding method) (embodichain.lab.task_program.integrations.simulation.RigidizedArticulationAntipodalGraspBinding method) (embodichain.lab.task_program.integrations.simulation.scene_expansion.SimulationSceneExpansionHost method) (embodichain.lab.task_program.integrations.simulation.scene_expansion.SimulationSceneInitialState method) (embodichain.lab.task_program.integrations.simulation.SimulationArticulationBinding method) (embodichain.lab.task_program.integrations.simulation.SimulationArticulationLinkBinding method) (embodichain.lab.task_program.integrations.simulation.SimulationRigidizedArticulationObjectBinding method) (embodichain.lab.task_program.integrations.simulation.SimulationRigidObjectBinding method) (embodichain.lab.task_program.integrations.simulation.SimulationRobotSkillProfileBinding method) (embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding method) (embodichain.lab.task_program.integrations.simulation.SupportSurfaceAffordanceBinding method) (embodichain.lab.task_program.integrations.SimulationArticulationBinding method) (embodichain.lab.task_program.integrations.SimulationArticulationLinkBinding method) (embodichain.lab.task_program.integrations.SimulationRigidizedArticulationObjectBinding method) (embodichain.lab.task_program.integrations.SimulationRigidObjectBinding method) (embodichain.lab.task_program.integrations.SimulationRobotSkillProfileBinding method) (embodichain.lab.task_program.integrations.SimulationSceneBinding method) (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) (embodichain.lab.task_program.integrations.SimulationTaskProgramAdapterFactory method) (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) (embodichain.lab.task_program.integrations.StandardExtensionDeclarations method) (embodichain.lab.task_program.integrations.SupportSurfaceAffordanceBinding method) (embodichain.lab.task_program.integrations.TaskProgramAdapterFactory method) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter method) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentFactory method) (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord method) (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly method) (embodichain.lab.task_program.integrations.TaskProgramSourceAdapter method) (embodichain.lab.task_program.InvokeCfg method) (embodichain.lab.task_program.language.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.language.BarrierCfg method) (embodichain.lab.task_program.language.CyclicPoseTargetCfg method) (embodichain.lab.task_program.language.HandOverCfg method) (embodichain.lab.task_program.language.InvokeCfg method) (embodichain.lab.task_program.language.ObjectLiftedValidatorCfg method) (embodichain.lab.task_program.language.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.language.ObjectRelativePositionValidatorCfg method) (embodichain.lab.task_program.language.ObjectUprightValidatorCfg method) (embodichain.lab.task_program.language.ParallelCfg method) (embodichain.lab.task_program.language.PickCfg method) (embodichain.lab.task_program.language.PlaceCfg method) (embodichain.lab.task_program.language.PoseCfg method) (embodichain.lab.task_program.language.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.language.RepeatCfg method) (embodichain.lab.task_program.language.SegmentCfg method) (embodichain.lab.task_program.language.SequenceCfg method) (embodichain.lab.task_program.language.TargetRefCfg method) (embodichain.lab.task_program.language.TaskProgramCfg method) (embodichain.lab.task_program.language.TaskProgramConfigError method) (embodichain.lab.task_program.language.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.language.TaskProgramValidationContext method) (embodichain.lab.task_program.language.WaitStablePostCfg method) (embodichain.lab.task_program.ObjectLiftedValidatorCfg method) (embodichain.lab.task_program.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.ObjectRelativePositionValidatorCfg method) (embodichain.lab.task_program.ObjectUprightValidatorCfg method) (embodichain.lab.task_program.ParallelCfg method) (embodichain.lab.task_program.PickCfg method) (embodichain.lab.task_program.PlaceCfg method) (embodichain.lab.task_program.PoseCfg method) (embodichain.lab.task_program.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.RepeatCfg method) (embodichain.lab.task_program.runtime.expansion.TaskProgramPlanRequest method) (embodichain.lab.task_program.runtime.expansion.TaskProgramPlanTransformFactory method) (embodichain.lab.task_program.runtime.ParallelSemanticExecutor method) (embodichain.lab.task_program.runtime.ParallelTimingPolicy method) (embodichain.lab.task_program.runtime.SemanticCallExecutor method) (embodichain.lab.task_program.runtime.SemanticExecutionResult method) (embodichain.lab.task_program.runtime.TaskProgramPlanRequest method) (embodichain.lab.task_program.runtime.TaskProgramPlanTransformFactory method) (embodichain.lab.task_program.SegmentCfg method) (embodichain.lab.task_program.semantics.AmbiguousSceneAffordanceError method) (embodichain.lab.task_program.semantics.AmbiguousSkillBindingError method) (embodichain.lab.task_program.semantics.ArticulationJointEvidenceAddress method) (embodichain.lab.task_program.semantics.ArticulationJointStateExpectation method) (embodichain.lab.task_program.semantics.asset_matching.AssetRejection method) (embodichain.lab.task_program.semantics.asset_matching.AssetResolutionError method) (embodichain.lab.task_program.semantics.asset_matching.ResolvedAssetSet method) (embodichain.lab.task_program.semantics.asset_requirements.AssetRelationRequirement method) (embodichain.lab.task_program.semantics.asset_requirements.AssetRequirements method) (embodichain.lab.task_program.semantics.asset_requirements.AssetRoleRequirement method) (embodichain.lab.task_program.semantics.BinaryEffectClause method) (embodichain.lab.task_program.semantics.BinaryEffectEvidenceBatch method) (embodichain.lab.task_program.semantics.BinaryEffectEvidenceQuery method) (embodichain.lab.task_program.semantics.BinaryEffectObservation method) (embodichain.lab.task_program.semantics.BoundRobotSkillProfile method) (embodichain.lab.task_program.semantics.BoundSemanticCall method) (embodichain.lab.task_program.semantics.BoundSemanticIntegration method) (embodichain.lab.task_program.semantics.CompositeEffectMonitor method) (embodichain.lab.task_program.semantics.CompositeEffectMonitorCfg method) (embodichain.lab.task_program.semantics.ContainerAffordance method) (embodichain.lab.task_program.semantics.ControlPartEndpoint method) (embodichain.lab.task_program.semantics.ControlPartEvidenceAddress method) (embodichain.lab.task_program.semantics.ControlPartRobotEvidenceSource method) (embodichain.lab.task_program.semantics.ControlPartSimulationEvidenceProvider method) (embodichain.lab.task_program.semantics.CoordinatedHeldObjectCleanupExpectation method) (embodichain.lab.task_program.semantics.EffectEvidenceCollectionContext method) (embodichain.lab.task_program.semantics.EffectEvidenceCollector method) (embodichain.lab.task_program.semantics.EffectEvidenceProviderRegistry method) (embodichain.lab.task_program.semantics.EffectEvidenceSourceRef method) (embodichain.lab.task_program.semantics.EffectExpectationDecision method) (embodichain.lab.task_program.semantics.EffectMonitorDecision method) (embodichain.lab.task_program.semantics.EffectMonitorRef method) (embodichain.lab.task_program.semantics.EffectMonitorRegistry method) (embodichain.lab.task_program.semantics.EndpointResolution method) (embodichain.lab.task_program.semantics.HandOver method) (embodichain.lab.task_program.semantics.HeldObjectStateExpectation method) (embodichain.lab.task_program.semantics.JointStateEffectClause method) (embodichain.lab.task_program.semantics.JointStateEvidenceBatch method) (embodichain.lab.task_program.semantics.JointStateEvidenceQuery method) (embodichain.lab.task_program.semantics.JointStateObservation method) (embodichain.lab.task_program.semantics.LinkedSemanticCall method) (embodichain.lab.task_program.semantics.Pick method) (embodichain.lab.task_program.semantics.Place method) (embodichain.lab.task_program.semantics.PoseRelationClause method) (embodichain.lab.task_program.semantics.PoseRelationEvidenceBatch method) (embodichain.lab.task_program.semantics.PoseRelationEvidenceQuery method) (embodichain.lab.task_program.semantics.ProfileValidationError method) (embodichain.lab.task_program.semantics.RegisteredSemanticCall method) (embodichain.lab.task_program.semantics.RegistrySceneProvider method) (embodichain.lab.task_program.semantics.ResolvedResourceEndpoint method) (embodichain.lab.task_program.semantics.ResolvedRobotResource method) (embodichain.lab.task_program.semantics.ResolvedSkillBinding method) (embodichain.lab.task_program.semantics.ResourceBinding method) (embodichain.lab.task_program.semantics.ResourceClaim method) (embodichain.lab.task_program.semantics.ResourceEndpoint method) (embodichain.lab.task_program.semantics.RobotResource method) (embodichain.lab.task_program.semantics.RobotSkillProfile method) (embodichain.lab.task_program.semantics.ScalarEffectClause method) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceBatch method) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceQuery method) (embodichain.lab.task_program.semantics.ScalarEffectObservation method) (embodichain.lab.task_program.semantics.SceneAffordanceRef method) (embodichain.lab.task_program.semantics.SceneArticulationEvidenceProvider method) (embodichain.lab.task_program.semantics.SceneArticulationJointStateProvider method) (embodichain.lab.task_program.semantics.SceneArticulationRef method) (embodichain.lab.task_program.semantics.SceneEntityManifest method) (embodichain.lab.task_program.semantics.SceneEntityMetadata method) (embodichain.lab.task_program.semantics.SceneEntityRef method) (embodichain.lab.task_program.semantics.SceneEntityRegistration method) (embodichain.lab.task_program.semantics.SceneEntityStateProvider method) (embodichain.lab.task_program.semantics.SceneGeometryProvider method) (embodichain.lab.task_program.semantics.SceneLinkRef method) (embodichain.lab.task_program.semantics.SceneManifest method) (embodichain.lab.task_program.semantics.SceneObjectRef method) (embodichain.lab.task_program.semantics.SceneRegistry method) (embodichain.lab.task_program.semantics.SemanticCallCatalog method) (embodichain.lab.task_program.semantics.SemanticCallDescriptor method) (embodichain.lab.task_program.semantics.SemanticCallSpec method) (embodichain.lab.task_program.semantics.SemanticDiagnostic method) (embodichain.lab.task_program.semantics.SemanticEffectSpec method) (embodichain.lab.task_program.semantics.SemanticIntegrationManifest method) (embodichain.lab.task_program.semantics.SemanticPose method) (embodichain.lab.task_program.semantics.SemanticValidationError method) (embodichain.lab.task_program.semantics.SkillPolicyPreset method) (embodichain.lab.task_program.semantics.SupportSurfaceAffordance method) (embodichain.lab.task_program.semantics.SymbolicStateKey method) (embodichain.lab.task_program.semantics.UnsupportedSceneAffordanceError method) (embodichain.lab.task_program.semantics.UnsupportedSkillError method) (embodichain.lab.task_program.semantics.WorkflowRecoveryPolicy method) (embodichain.lab.task_program.SequenceCfg method) (embodichain.lab.task_program.TargetRefCfg method) (embodichain.lab.task_program.TaskProgramCfg method) (embodichain.lab.task_program.TaskProgramCompileError method) (embodichain.lab.task_program.TaskProgramCompiler method) (embodichain.lab.task_program.TaskProgramConfigError method) (embodichain.lab.task_program.TaskProgramDecodeError method) (embodichain.lab.task_program.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.TaskProgramValidationContext method) (embodichain.lab.task_program.TaskProgramValidationError method) (embodichain.lab.task_program.WaitStablePostCfg method) (embodichain.lab.visualization.CameraImage method) (embodichain.lab.visualization.CameraImageCaptureResult method) (embodichain.lab.visualization.CameraImageFrame method) (embodichain.lab.visualization.CameraSpec method) (embodichain.lab.visualization.CaptureResult method) (embodichain.lab.visualization.DynamicMeshUpdate method) (embodichain.lab.visualization.FrameOverlay method) (embodichain.lab.visualization.GizmoCommand method) (embodichain.lab.visualization.GizmoCommandQueue method) (embodichain.lab.visualization.GizmoSpec method) (embodichain.lab.visualization.GizmoState method) (embodichain.lab.visualization.JointControlCommand method) (embodichain.lab.visualization.JointControlCommandQueue method) (embodichain.lab.visualization.JointControlProvider method) (embodichain.lab.visualization.JointControlSpec method) (embodichain.lab.visualization.JointControlState method) (embodichain.lab.visualization.LatestFrameQueue method) (embodichain.lab.visualization.MeshGeometry method) (embodichain.lab.visualization.PickCommand method) (embodichain.lab.visualization.picker.ScenePicker method) (embodichain.lab.visualization.PointCloudOverlay method) (embodichain.lab.visualization.RuntimeHealth method) (embodichain.lab.visualization.RuntimeStats method) (embodichain.lab.visualization.SceneExporter method) (embodichain.lab.visualization.SceneFrame method) (embodichain.lab.visualization.SceneManifest method) (embodichain.lab.visualization.SceneNode method) (embodichain.lab.visualization.SceneOverlays method) (embodichain.lab.visualization.TargetOverlay method) (embodichain.lab.visualization.TrajectoryOverlay method) (embodichain.lab.visualization.VisualizationRuntime method) (embodichain.learning.layers.ik.DifferentiableIKLayer method) (embodichain.learning.layers.kinematics.KinematicsLayer method) (embodichain.learning.models.EmpiricalNormalizer method) (embodichain.learning.models.MLP method) (embodichain.learning.models.mlp.MLP method) (embodichain.learning.models.normalizer.EmpiricalNormalizer method) (embodichain.learning.rl.algo.APG method), [1] (embodichain.learning.rl.algo.APGCfg method), [1] (embodichain.learning.rl.algo.GRPO method), [1] (embodichain.learning.rl.algo.GRPOCfg method), [1] (embodichain.learning.rl.algo.PPO method), [1] (embodichain.learning.rl.algo.PPOCfg method), [1] (embodichain.learning.rl.buffer.RolloutBuffer method) (embodichain.learning.rl.buffer.standard_buffer.RolloutBuffer method) (embodichain.learning.rl.collector.DifferentiableCollector method) (embodichain.learning.rl.collector.DifferentiableRollout method) (embodichain.learning.rl.collector.DifferentiableTransition method) (embodichain.learning.rl.collector.SyncCollector method), [1] (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainer method) (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg method) (embodichain.learning.rl.env.DifferentiableRolloutSpec method) (embodichain.learning.rl.env.LearningVecEnv method) (embodichain.learning.rl.gradients.BatchedGradientNormStats method) (embodichain.learning.rl.normalization.RunningObservationNormalizer method) (embodichain.learning.rl.policies.ActorCritic method) (embodichain.learning.rl.policies.ActorOnly method) (embodichain.learning.rl.policies.Policy method) (embodichain.learning.rl.policy_evaluation.bridge.MotionEvaluationResult method) (embodichain.learning.rl.policy_evaluation.camera.PolicyViewerCameraCfg method) (embodichain.learning.rl.policy_evaluation.manifest.RunManifest method) (embodichain.learning.rl.policy_evaluation.MotionProfile method) (embodichain.learning.rl.policy_evaluation.MotionProfileRequest method) (embodichain.learning.rl.policy_evaluation.PolicyViewerCameraCfg method) (embodichain.learning.rl.policy_evaluation.profile.MotionProfile method) (embodichain.learning.rl.policy_evaluation.profile.MotionProfileRequest method) (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskEnvironment method) (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskPolicyAdapter method) (embodichain.learning.rl.policy_evaluation.viewer.NativeViewerResult method) (embodichain.learning.rl.runtime.PolicyRuntime method) (embodichain.learning.rl.utils.AlgorithmCfg method) (embodichain.learning.rl.utils.config.AlgorithmCfg method) (embodichain.learning.rl.utils.config.LRSchedulerCfg method) (embodichain.learning.rl.utils.config.OptimizerCfg method) (embodichain.learning.rl.utils.LRSchedulerCfg method) (embodichain.learning.rl.utils.OptimizerCfg method) (embodichain.learning.rl.utils.trainer.Trainer method) (embodichain.learning.sl.learner.SupervisedLearner method) (embodichain.learning.sl.LossResult method) (embodichain.learning.sl.sources.SupervisedSource method) (embodichain.learning.sl.sources.TensorBatchSource method) (embodichain.learning.sl.SupervisedBatch method) (embodichain.learning.sl.SupervisedLearner method) (embodichain.learning.sl.SupervisedObjective method) (embodichain.learning.sl.SupervisedSource method) (embodichain.learning.sl.SupervisedTrainer method) (embodichain.learning.sl.SupervisedTrainerCfg method) (embodichain.learning.sl.TensorBatchSource method) (embodichain.learning.sl.trainer.SupervisedTrainer method) (embodichain.learning.sl.trainer.SupervisedTrainerCfg method) (embodichain.learning.sl.types.LossResult method) (embodichain.learning.sl.types.SupervisedBatch method) (embodichain.learning.sl.types.SupervisedObjective method) (embodichain.toolkits.graspkit.ParallelJawGraspPoseGenerator method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSampler method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionChecker method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionChecker method) (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) (embodichain.utils.cfg.CfgNode method) (embodichain.utils.cfg.MutableCfgNode method) (embodichain.utils.visualizer.Gantt method) (embodichain.utils.visualizer.HeatMapEnv method) (embodichain.utils.visualizer.Package method) (embodichain_benchmarks.motion_generation.artifacts.TrialJsonlWriter method) (embodichain_benchmarks.motion_generation.BenchmarkRunResult method) (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg method) (embodichain_benchmarks.motion_generation.config.DomainCfg method) (embodichain_benchmarks.motion_generation.config.EmbodimentSpecCfg method) (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg method) (embodichain_benchmarks.motion_generation.config.PlannerSpecCfg method) (embodichain_benchmarks.motion_generation.config.ProtocolCfg method) (embodichain_benchmarks.motion_generation.config.RobotSpecCfg method) (embodichain_benchmarks.motion_generation.config.SuiteCfg method) (embodichain_benchmarks.motion_generation.config.TrackCfg method) (embodichain_benchmarks.motion_generation.contracts.CapabilityDecision method) (embodichain_benchmarks.motion_generation.contracts.EvaluationDomain method) (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation method) (embodichain_benchmarks.motion_generation.contracts.PhysicalEvaluation method) (embodichain_benchmarks.motion_generation.contracts.PhysicalStageEvaluator method) (embodichain_benchmarks.motion_generation.contracts.ReplayObservationTrace method) (embodichain_benchmarks.motion_generation.contracts.ReplayObservationWindow method) (embodichain_benchmarks.motion_generation.contracts.StageOutcome method) (embodichain_benchmarks.motion_generation.embodiments.EmbodimentResolution method) (embodichain_benchmarks.motion_generation.evaluation.Criterion method) (embodichain_benchmarks.motion_generation.evaluation.StageCriterion method) (embodichain_benchmarks.motion_generation.evaluation.StageEvidence method) (embodichain_benchmarks.motion_generation.metrics.performance.TimedCall method) (embodichain_benchmarks.motion_generation.models.BenchmarkCase method) (embodichain_benchmarks.motion_generation.models.CaseOutcome method) (embodichain_benchmarks.motion_generation.models.PlannerMetadata method) (embodichain_benchmarks.motion_generation.models.TrialRecord method) (embodichain_benchmarks.motion_generation.PlannerAdapter method) (embodichain_benchmarks.motion_generation.planners.base.PlannerContext method) (embodichain_benchmarks.motion_generation.planners.curobo.CuroboAdapter method) (embodichain_benchmarks.motion_generation.planners.nmg_onnx.NmgOnnxAdapter method) (embodichain_benchmarks.motion_generation.planners.toppra.ToppraAdapter method) (embodichain_benchmarks.motion_generation.robots.base.EmbodimentRobotProvider method) (embodichain_benchmarks.motion_generation.robots.base.RobotProvider method) (embodichain_benchmarks.motion_generation.runner.BenchmarkRunner method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.ActiveCaseGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.CaseSampleCountGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.FrozenArticulationGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicArticulationHandle method) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicObjectHandle method) (embodichain_benchmarks.motion_generation.scenarios.atomic_replay.AtomicReplayRuntime method) (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioEvaluation method) (embodichain_benchmarks.motion_generation.video.VideoRecordCfg method) (embodichain_models.dynamics.nerd.codec.NeRDStateCodec method) (embodichain_models.dynamics.nerd.data.DynamicsShardWriter method) (embodichain_models.dynamics.nerd.data.DynamicsWindowDataset method) (embodichain_models.dynamics.nerd.FeatureNormalizer method) (embodichain_models.dynamics.nerd.model.FeatureNormalizer method) (embodichain_models.dynamics.nerd.model.NeRDModel method) (embodichain_models.dynamics.nerd.model.NeRDModelCfg method) (embodichain_models.dynamics.nerd.NeRDModel method) (embodichain_models.dynamics.nerd.NeRDModelCfg method) (embodichain_models.dynamics.nerd.NeRDObjective method) (embodichain_models.dynamics.nerd.NeRDStateCodec method) (embodichain_models.dynamics.nerd.NeRDWindowSource method) (embodichain_models.dynamics.nerd.sl_recipe.NeRDWindowSource method) (embodichain_models.dynamics.nerd.supervised.NeRDObjective method) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCReward method) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState method) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1Reward method) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State method) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1Reward method) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State method) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2Reward method) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State method) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12Reward method) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State method) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckReward method) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState method)

__new__() (embodichain.data.assets.materials.DefaultMaterials method) (embodichain.data.assets.w1_assets.DexforceW1ChassisV021 method) (embodichain.data.assets.w1_assets.DexforceW1EyesV021 method) (embodichain.data.assets.w1_assets.DexforceW1HeadV021 method) (embodichain.data.assets.w1_assets.DexforceW1LeftArmV021 method) (embodichain.data.assets.w1_assets.DexforceW1RightArmV021 method) (embodichain.data.assets.w1_assets.DexforceW1TorsoV021 method) (embodichain.data.assets.w1_assets.DexforceW1V021 method) (embodichain.data.assets.w1_assets.DexforceW1V022 method) (embodichain.data.assets.w1_assets.DexforceW1V025 method) (embodichain.data.assets.w1_assets.DexforceW1V030 method) (embodichain.data.enum.SemanticMask method) (embodichain.data_pipeline.engine.OnlineDataEngineState method) (embodichain.lab.gym.envs.managers.ActionTermDescriptor method) (embodichain.lab.gym.envs.task_program.EnvironmentStepTimingError method) (embodichain.lab.gym.envs.task_program.RuntimeTransportActionEncoder method) (embodichain.lab.gym.envs.task_program.SegmentPostPolicyPort method) (embodichain.lab.gym.envs.task_program.SegmentValidatorPort method) (embodichain.lab.gym.envs.task_program.TaskProgramBridgeError method) (embodichain.lab.gym.envs.task_program.UnsupportedRuntimeTransportError method) (embodichain.lab.sim.atomic_actions.CommandAckStatus method) (embodichain.lab.sim.atomic_actions.CommandOperation method) (embodichain.lab.sim.atomic_actions.ExecutionEventKind method) (embodichain.lab.sim.atomic_actions.ExecutionStatus method) (embodichain.lab.sim.atomic_actions.RunnerStatus method) (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory static method) (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory static method) (embodichain.lab.sim.sim_manager.SimulationManager static method) (embodichain.lab.task_program.integrations.ControlPartEvidenceProviderFactory method) (embodichain.lab.task_program.integrations.IntegrationFingerprintMismatch method) (embodichain.lab.task_program.integrations.ParallelCommandSafetyValidatorFactory method) (embodichain.lab.task_program.integrations.PlanningObservationPort method) (embodichain.lab.task_program.integrations.RegisteredSemanticLowererFactory method) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentFactory method) (embodichain.lab.task_program.runtime.SemanticExecutionStatus method) (embodichain.lab.task_program.semantics.AmbiguousSceneAffordanceError method) (embodichain.lab.task_program.semantics.AmbiguousSkillBindingError method) (embodichain.lab.task_program.semantics.BinaryEvidenceKind method) (embodichain.lab.task_program.semantics.EffectAssurance method) (embodichain.lab.task_program.semantics.HeldObjectRelation method) (embodichain.lab.task_program.semantics.PoseRelationExpectation method) (embodichain.lab.task_program.semantics.ProfileValidationError method) (embodichain.lab.task_program.semantics.ScalarEvidenceKind method) (embodichain.lab.task_program.semantics.ScalarExpectation method) (embodichain.lab.task_program.semantics.SceneCollisionRole method) (embodichain.lab.task_program.semantics.SceneCollisionWorldMode method) (embodichain.lab.task_program.semantics.SceneDynamics method) (embodichain.lab.task_program.semantics.SemanticEffectKind method) (embodichain.lab.task_program.semantics.SymbolicStateDomain method) (embodichain.lab.task_program.semantics.UnsupportedSceneAffordanceError method) (embodichain.lab.task_program.semantics.UnsupportedSkillError method) (embodichain.lab.task_program.TaskProgramCompileError method) (embodichain.lab.task_program.TaskProgramConfigError method) (embodichain.lab.task_program.TaskProgramDecodeError method) (embodichain.lab.task_program.TaskProgramValidationContext method) (embodichain.lab.task_program.TaskProgramValidationError method) (embodichain.learning.rl.algo.RolloutKind method), [1] (embodichain.toolkits.graspkit.pg_grasp.AntipodalSampler method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionChecker method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionChecker method) (embodichain_benchmarks.motion_generation.BenchmarkRunResult method) (embodichain_benchmarks.motion_generation.models.AlgorithmRole method) (embodichain_benchmarks.motion_generation.models.TrialPhase method) (embodichain_models.dynamics.nerd.codec.NeRDStateCodec method) (embodichain_models.dynamics.nerd.data.DynamicsShardWriter method) (embodichain_models.dynamics.nerd.data.DynamicsWindowDataset method) (embodichain_models.dynamics.nerd.FeatureNormalizer method) (embodichain_models.dynamics.nerd.model.FeatureNormalizer method) (embodichain_models.dynamics.nerd.model.NeRDModel method) (embodichain_models.dynamics.nerd.model.NeRDModelCfg method) (embodichain_models.dynamics.nerd.NeRDModel method) (embodichain_models.dynamics.nerd.NeRDModelCfg method) (embodichain_models.dynamics.nerd.NeRDObjective method) (embodichain_models.dynamics.nerd.NeRDStateCodec method) (embodichain_models.dynamics.nerd.NeRDWindowSource method) (embodichain_models.dynamics.nerd.sl_recipe.NeRDWindowSource method) (embodichain_models.dynamics.nerd.supervised.NeRDObjective method)

A

aabb_containment_violation() (in module embodichain.compute.geometry.aabb) aabb_overlap_depth() (in module embodichain.compute.geometry.aabb) AABBLayoutConfig (class in embodichain.lab.sim.scene.placement) ABB (class in embodichain.data.assets.robot_assets) abort() (embodichain.data_pipeline.depth_video.writer.DepthVideoWriter method) abort_episode() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) ABSENT (embodichain.lab.task_program.semantics.ScalarExpectation attribute) ABSOLUTE (embodichain.data.enum.ActionMode attribute) acc (embodichain.lab.sim.objects.RigidBodyData property) acceleration_limit (embodichain.lab.sim.atomic_actions.MotionPolicy attribute) (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) acceleration_limit_violation (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) acceleration_utilization (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) accelerations (embodichain.lab.sim.motion.planners.PlanResult attribute) accept_episode() (embodichain.lab.sim.motion.expansion.ExpansionSession method) accepted (embodichain.lab.sim.atomic_actions.CommandAcknowledgement property) (embodichain.lab.sim.motion.expansion.TaskSpaceProjectionResult property) (embodichain.lab.sim.motion.expansion.ValidationResult property) (embodichain.lab.task_program.integrations.scene_expansion.SceneVariantEpisodeResult property) accepted_ack() (embodichain.lab.sim.atomic_actions.CommandAcknowledgement class method) accepted_action_count (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink property) accepts() (embodichain_benchmarks.motion_generation.evaluation.Criterion method) accumulate_complete_rollout() (embodichain.learning.rl.algo.APG method), [1] accumulate_segment() (embodichain.learning.rl.algo.APG method), [1] acd_method (embodichain.lab.sim.cfg.MeshCollisionCfg attribute) (embodichain.lab.sim.shapes.MeshCollisionCfg attribute) acquire_next() (embodichain.lab.sim.motion.expansion.combined_runtime.CombinedEpisodeCoordinator method) (embodichain.lab.sim.motion.expansion.CombinedEpisodeCoordinator method) acquisition_errors (embodichain.lab.task_program.semantics.BinaryEffectEvidenceBatch attribute) (embodichain.lab.task_program.semantics.BinaryEffectObservation attribute) (embodichain.lab.task_program.semantics.JointStateEvidenceBatch attribute) (embodichain.lab.task_program.semantics.JointStateObservation attribute) (embodichain.lab.task_program.semantics.PoseRelationEvidenceBatch attribute) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceBatch attribute) (embodichain.lab.task_program.semantics.ScalarEffectObservation attribute) ACTION (embodichain.data.enum.LeRobotKey attribute) action (embodichain.lab.gym.envs.managers.ActionManager property) (embodichain.learning.rl.collector.DifferentiableTransition property) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) action_adjoint_max_norm (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) action_bound_coef (embodichain.learning.rl.algo.PPOCfg attribute), [1] action_config (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) action_contracts (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) action_control_profiles() (embodichain.lab.task_program.semantics.RobotSkillProfile method) action_dim (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) (embodichain.lab.gym.envs.managers.ActionTerm property) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction property) (embodichain.lab.gym.envs.managers.EefPoseAction property) (embodichain.lab.gym.envs.managers.JointEffortAction property) (embodichain.lab.gym.envs.managers.JointPositionAction property) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction property) (embodichain.lab.gym.envs.managers.JointVelocityAction property) (embodichain.lab.gym.envs.managers.ParallelGripperAction property) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction property) (embodichain.lab.sim.motion.solvers.DifferentialSolver property) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig attribute) action_gradient_stats (embodichain.learning.rl.collector.DifferentiableRollout attribute) action_key (embodichain.data_pipeline.datasets.LeRobotFieldMappingCfg attribute), [1] action_manager (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) action_option_template() (embodichain.lab.task_program.semantics.SkillPolicyPreset method) action_option_templates (embodichain.lab.task_program.semantics.SkillPolicyPreset property) ACTION_PREFIX (embodichain.data.enum.LeRobotKey attribute) action_scale (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig attribute) action_semantics (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) action_smoothness_penalty() (in module embodichain.lab.gym.envs.managers.rewards) action_space (embodichain.lab.gym.envs.managers.ActionTerm property) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction property) (embodichain.lab.gym.envs.managers.EefPoseAction property) (embodichain.lab.gym.envs.managers.JointEffortAction property) (embodichain.lab.gym.envs.managers.JointPositionAction property) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction property) (embodichain.lab.gym.envs.managers.JointVelocityAction property) (embodichain.lab.gym.envs.managers.ParallelGripperAction property) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction property) action_std (embodichain.learning.rl.policies.ActorCritic property) action_target() (in module embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.g1.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.go1.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.go2.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.microduck.mdp) action_timeout (embodichain.lab.sim.atomic_actions.RecoveryPolicy attribute) ACTION_TOKEN_MASK (embodichain.data.enum.LeRobotKey attribute) ACTION_TOKENS (embodichain.data.enum.LeRobotKey attribute) action_trace() (embodichain.lab.gym.envs.managers.ActionManager method) ActionBinding (class in embodichain.lab.sim.atomic_actions) ActionControlOverrides (class in embodichain.lab.sim.atomic_actions) ActionDescriptor (class in embodichain.lab.gym.envs.managers) ActionInvocation (class in embodichain.lab.sim.atomic_actions) ActionManager (class in embodichain.lab.gym.envs.managers) ActionMode (class in embodichain.data.enum) ActionOptions (class in embodichain.lab.sim.atomic_actions) ActionPlan (class in embodichain.lab.sim.atomic_actions) ActionPlanTemplateAdapter (class in embodichain.lab.sim.atomic_actions) actions (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) actions() (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) ActionTerm (class in embodichain.lab.gym.envs.managers) ActionTermCfg (class in embodichain.lab.gym.envs.managers) ActionTermDescriptor (class in embodichain.lab.gym.envs.managers) ActionTrace (class in embodichain.lab.gym.envs.managers) activate() (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.ActiveCaseGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.CaseSampleCountGraspPoseGenerator method) activate_articulation() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) activate_object() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) activate_objects() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) active_commands (embodichain.lab.sim.atomic_actions.ExecutionSession property) active_count (embodichain.lab.sim.motion.expansion.combined_runtime.CombinedEpisodeCoordinator property) (embodichain.lab.sim.motion.expansion.CombinedEpisodeCoordinator property) active_device (embodichain.lab.devices.DeviceController property) active_dof (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) active_effect_candidates (embodichain.lab.sim.atomic_actions.ExecutionSession property) active_expected_effects (embodichain.lab.sim.atomic_actions.ExecutionSession property) active_functors (embodichain.lab.gym.envs.managers.ActionManager property) (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager property) (embodichain.lab.gym.envs.managers.DatasetManager property) (embodichain.lab.gym.envs.managers.EventManager property) (embodichain.lab.gym.envs.managers.ManagerBase property) (embodichain.lab.gym.envs.managers.ObservationManager property) (embodichain.lab.gym.envs.managers.RewardManager property) active_joint_ids (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] active_joint_names (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) active_plan (embodichain.lab.sim.atomic_actions.ExecutionSession property) ActiveCaseGraspPoseGenerator (class in embodichain_benchmarks.motion_generation.scenarios.atomic_grasps) actor_observation_dim (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig attribute) ActorCritic (class in embodichain.learning.rl.policies) ActorOnly (class in embodichain.learning.rl.policies) adapter (embodichain_benchmarks.motion_generation.config.PlannerSpecCfg attribute) (embodichain_benchmarks.motion_generation.models.PlannerMetadata attribute) adapter_id (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) add() (embodichain.lab.sim.motion.expansion.TrajectorySegmentBank method) (embodichain.lab.sim.motion.workspace.caches.BaseCache method) (embodichain.lab.sim.motion.workspace.caches.DiskCache method) (embodichain.lab.sim.motion.workspace.caches.MemoryCache method) (embodichain.learning.rl.buffer.RolloutBuffer method) (embodichain.learning.rl.buffer.standard_buffer.RolloutBuffer method) add_articulation() (embodichain.lab.sim.sim_manager.SimulationManager method) add_camera_group_id() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] add_component() (embodichain.lab.sim.cfg.URDFCfg method) (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) add_custom_window_control() (embodichain.lab.sim.sim_manager.SimulationManager method) add_deformable_object() (embodichain.lab.sim.sim_manager.SimulationManager method) add_detached_uids_for_reset() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] add_device() (embodichain.lab.devices.DeviceController method) add_exclude_zone() (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) add_force_torque() (embodichain.lab.sim.objects.RigidObject method) add_frame() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) (embodichain.data_pipeline.depth_video.writer.DepthVideoWriter method) add_legend() (embodichain.utils.visualizer.Gantt method) add_light() (embodichain.lab.sim.sim_manager.SimulationManager method) add_milestones() (embodichain.utils.visualizer.Gantt method) add_parser_arguments() (in module embodichain_benchmarks.motion_generation.cli) add_planned() (embodichain.lab.sim.motion.expansion.ExpansionSession method) add_rigid_object() (embodichain.lab.sim.sim_manager.SimulationManager method) add_rigid_object_group() (embodichain.lab.sim.sim_manager.SimulationManager method) add_robot() (embodichain.lab.sim.sim_manager.SimulationManager method) (embodichain_benchmarks.motion_generation.robots.base.RobotProvider method) add_seed_arg_to_parser() (in module embodichain.cli.sim) add_sensor() (embodichain.lab.sim.cfg.URDFCfg method) (embodichain.lab.sim.sim_manager.SimulationManager method) add_sim_args_to_parser() (in module embodichain.cli.sim) add_springs (embodichain.lab.sim.cfg.SurfaceDeformablePhysicsCfg attribute) add_surface_edges (embodichain.lab.sim.cfg.VolumeDeformablePhysicsCfg attribute) add_trajectory() (embodichain_models.dynamics.nerd.data.DynamicsShardWriter method) add_usd() (embodichain.lab.sim.sim_manager.SimulationManager method) add_viser_args_to_parser() (in module embodichain.lab.visualization) add_visual_object() (embodichain.lab.sim.sim_manager.SimulationManager method) address (embodichain.lab.task_program.semantics.EffectEvidenceSourceRef attribute) (embodichain.lab.task_program.semantics.SymbolicStateKey attribute) address_fingerprint (embodichain.lab.sim.atomic_actions.JointPositionTarget property) (embodichain.lab.sim.atomic_actions.RuntimeEndpointTarget property) (embodichain.lab.task_program.semantics.ArticulationJointEvidenceAddress property) (embodichain.lab.task_program.semantics.ControlPartEvidenceAddress property) (embodichain.lab.task_program.semantics.EffectEvidenceAddress property) admit_planned() (embodichain.lab.sim.motion.expansion.CandidateCoordinator method) adopt_verified_task_state() (embodichain.lab.task_program.runtime.SemanticCallExecutor method) AdrianoTable (class in embodichain.data.assets.obj_assets) advance() (embodichain.data_pipeline.recording.journal.RecordingJournal method) (embodichain.data_pipeline.recording.RecordingJournal method) advance_after_env_step() (embodichain.lab.gym.envs.task_program.EnvironmentStepClock method) affordance (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) (embodichain.lab.sim.atomic_actions.primitives.place.AssembleGoal attribute) (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) affordance_capabilities (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) affordance_requested (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord attribute) affordance_revision (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) affordance_sampling (embodichain.lab.sim.atomic_actions.PlanningContext attribute) affordances (embodichain.lab.task_program.semantics.LinkedSemanticCall attribute) affordances() (embodichain.lab.task_program.semantics.SceneRegistry method) agent_visible (embodichain.lab.sim.atomic_actions.AtomicAction attribute) (embodichain.lab.sim.atomic_actions.primitives.move_joints.MoveJoints attribute) aggregate_generalization() (in module embodichain_benchmarks.motion_generation.generalization) aggregate_results() (in module embodichain_benchmarks.motion_generation.aggregation) Agile (class in embodichain.data.assets.robot_assets) algorithm_cfg (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator property) algorithm_id (embodichain_benchmarks.motion_generation.models.PlannerMetadata attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) algorithm_role (embodichain_benchmarks.motion_generation.models.PlannerMetadata attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) AlgorithmCfg (class in embodichain.learning.rl.utils) (class in embodichain.learning.rl.utils.config) AlgorithmRole (class in embodichain_benchmarks.motion_generation.models) aliases (embodichain.lab.task_program.integrations.simulation.AntipodalGraspAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.ContainerAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.RigidizedArticulationAntipodalGraspBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationArticulationBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationArticulationLinkBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidizedArticulationObjectBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidObjectBinding attribute) (embodichain.lab.task_program.integrations.simulation.SupportSurfaceAffordanceBinding attribute) (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) (embodichain.lab.task_program.semantics.SceneRegistry property) align() (embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_table_aligner.AssetsGroupTableAligner method) align_group_height() (in module embodichain.lab.sim.scene.placement) align_manipulability_scores() (in module embodichain.lab.sim.motion.workspace.visualizers) alive_mask (embodichain.learning.rl.collector.DifferentiableRollout property) ALL (embodichain.lab.sim.motion.planners.MovePart attribute), [1] (embodichain.lab.sim.motion.workspace.configs.MetricType attribute) all_joint_names (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) all_success (embodichain.lab.gym.envs.demo.DemoEpisodeResult property) allow_commands (embodichain.lab.visualization.VisualizationCfg attribute) AlohaMini (class in embodichain.data.assets.robot_assets) AlohaMiniCfg (class in embodichain_robots) alpha (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) AluminumTable (class in embodichain.data.assets.obj_assets) AmbiguousSceneAffordanceError (class in embodichain.lab.task_program.semantics) AmbiguousSkillBindingError (class in embodichain.lab.task_program.semantics) analysis_call_index (embodichain.lab.task_program.runtime.TaskProgramPlanRequest attribute) analysis_id (embodichain.lab.task_program.compiler.CompiledTaskProgramAnalysis attribute) AnalysisMode (class in embodichain.lab.sim.motion.workspace) (class in embodichain.lab.sim.motion.workspace.analyzer) analyze() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) anchors (embodichain.lab.sim.scene.composition.SceneFragment property) angular_damping (embodichain.lab.sim.cfg.DefaultRigidBodyPropertiesCfg attribute) angular_momentum_w (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) angular_radius (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) angular_velocity_threshold (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg attribute) anisotropy (embodichain.lab.sim.motion.workspace.visualizers.PointInspection property) annotation_cfg (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator property) anti_firefly_enabled (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) antilag_luminance_sensitivity (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) antilag_luminance_sigma_scale (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute)

antipodal_grasps (embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding attribute) AntipodalGraspAffordanceBinding (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.simulation) AntipodalGraspPoseGenerator (class in embodichain.toolkits.graspkit.pg_grasp) AntipodalGraspPoseGeneratorCfg (class in embodichain.toolkits.graspkit.pg_grasp) AntipodalSampler (class in embodichain.toolkits.graspkit.pg_grasp) AntipodalSamplerCfg (class in embodichain.toolkits.graspkit.pg_grasp) any_success (embodichain.lab.gym.envs.demo.DemoEpisodeResult property) ANYmalCFlatEnv (class in embodichain_tasks.locomotion.velocity.anymal_c_flat) ANYmalCLocomotion (class in embodichain.data.assets.locomotion_assets) ANYmalCReward (class in embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp) ANYmalCState (class in embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp) ANYmalCVelocityConfig (class in embodichain_tasks.locomotion.velocity.contracts.anymal_c.config) ao_texture (embodichain.lab.sim.material.VisualMaterialCfg attribute) APG (class in embodichain.learning.rl.algo), [1] APGCfg (class in embodichain.learning.rl.algo), [1] append() (embodichain_benchmarks.motion_generation.artifacts.TrialJsonlWriter method) append_history() (in module embodichain_models.dynamics.nerd.codec) applicability (embodichain_benchmarks.motion_generation.config.DomainCfg attribute) applied_sequence (embodichain.lab.visualization.JointControlState attribute) apply() (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.EventManager method) (embodichain.lab.sim.atomic_actions.StateDelta method) apply_action() (embodichain.lab.gym.envs.managers.ActionManager method) apply_actions() (embodichain.lab.gym.envs.managers.ActionTerm method) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction method) (embodichain.lab.gym.envs.managers.EefPoseAction method) (embodichain.lab.gym.envs.managers.JointEffortAction method) (embodichain.lab.gym.envs.managers.JointPositionAction method) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction method) (embodichain.lab.gym.envs.managers.JointVelocityAction method) (embodichain.lab.gym.envs.managers.ParallelGripperAction method) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction method) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction method) apply_angular_velocity() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) apply_changes() (in module embodichain.lab.sim.scene.operations) apply_collision_filter() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) apply_com_local_pose() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) apply_contact_offset() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) apply_damping() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) apply_expansion_profile_reset() (in module embodichain.lab.gym.envs.managers.events) apply_force() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) apply_friction() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) apply_inertia_diagonal() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) apply_joint_drive() (in module embodichain.lab.sim.objects.backends) (in module embodichain.lab.sim.objects.backends.articulation_drive) apply_legacy_physical_attr() (in module embodichain.lab.sim.objects.backends.rigid_physics) apply_linear_velocity() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) apply_link_com_pose() (in module embodichain.lab.sim.objects.backends.articulation_physics) apply_link_inertia() (in module embodichain.lab.sim.objects.backends.articulation_physics) apply_link_mass() (in module embodichain.lab.sim.objects.backends.articulation_physics) apply_mass() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) apply_pose() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) apply_qf() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) apply_qpos() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) apply_qvel() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) apply_receipt() (embodichain.lab.sim.motion.expansion.ExpansionSession method) apply_render_material_inst() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.Robot method) apply_restitution() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) apply_rigid_initial_state() (in module embodichain.lab.sim.objects.backends.lifecycle) apply_root_pose() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) apply_root_velocity() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) apply_scene_variants() (in module embodichain.lab.sim.scene.expansion) apply_seeded_spatial_rotation() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) apply_state() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) apply_target_rotation_randomization() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) apply_to_dexsim_config() (embodichain.lab.sim.cfg.RenderCfg method) apply_to_environment() (embodichain.lab.sim.motion.expansion.combined_runtime.VisualProfileRegistry method) (embodichain.lab.sim.motion.expansion.VisualProfileRegistry method) apply_torque() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) apply_trajectory_variant() (in module embodichain.lab.sim.motion.expansion) approach_alignment_max_angle (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) approach_along_grasp_axis (embodichain.lab.sim.atomic_actions.primitives.slide.SlideOptions attribute) approach_deviation_angle (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGeneratorCfg attribute) approach_direction (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) approach_direction_samples (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGeneratorCfg attribute) approach_distance (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.press.PressOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.SlideOptions attribute) approach_height (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) approximation (embodichain.lab.sim.cfg.MeshCollisionCfg attribute) (embodichain.lab.sim.shapes.MeshCollisionCfg attribute) archive_md5 (embodichain.data.assets.locomotion_assets.ANYmalCLocomotion attribute) (embodichain.data.assets.locomotion_assets.HumanoidRun attribute) (embodichain.data.assets.locomotion_assets.MicroDuckLocomotion attribute) (embodichain.data.assets.locomotion_assets.UnitreeG1Locomotion attribute) (embodichain.data.assets.locomotion_assets.UnitreeGo1Locomotion attribute) (embodichain.data.assets.locomotion_assets.UnitreeGo2Locomotion attribute) (embodichain.data.assets.locomotion_assets.UnitreeH1_2Locomotion attribute) arena_index (embodichain.lab.sim.cfg.MarkerCfg attribute) arena_offsets (embodichain.lab.sim.sim_manager.SimulationManager property) arena_space (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) arguments (embodichain.lab.task_program.language.RegisteredSemanticCallCfg attribute) ARM (embodichain.data.enum.Hints attribute) arm_angle (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) arm_angle_weight (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) arm_part (embodichain.lab.sim.robots.DualArmRobotCfg attribute) arm_selection (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverOptions attribute) armature (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) (embodichain.lab.sim.cfg.NewtonJointDrivePropertiesCfg attribute) Array (in module embodichain.lab.sim.types) arrow_type (embodichain.lab.sim.cfg.MarkerCfg attribute) Articulation (class in embodichain.lab.sim.objects) articulation (embodichain.lab.task_program.compiler.CompiledArticulationJointPositionValidator attribute) (embodichain.lab.task_program.language.ArticulationJointPositionValidatorCfg attribute) ARTICULATION (embodichain.lab.task_program.semantics.SemanticEffectKind attribute) articulation_cfg_list (embodichain.lab.sim.sensors.ContactSensorCfg attribute) articulation_effect_segment() (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.PressCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.SlideCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.TwistCases method) articulation_handle() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) articulation_id (embodichain.lab.task_program.integrations.simulation.SimulationArticulationLinkBinding attribute) (embodichain.lab.task_program.semantics.ArticulationJointEvidenceAddress attribute) (embodichain.lab.task_program.semantics.ArticulationJointStateExpectation attribute) articulation_ids_tensor (embodichain.lab.sim.objects.backends.ArticulationViewBase property) (embodichain.lab.sim.objects.backends.SceneArticulationView property) ARTICULATION_JOINT (embodichain.lab.task_program.semantics.SymbolicStateDomain attribute) articulation_joint (embodichain_benchmarks.motion_generation.contracts.ReplayObservationTrace attribute) articulation_joint() (embodichain.lab.task_program.semantics.SymbolicStateKey class method) articulation_joint_delta (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) articulation_joint_effect_end (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) articulation_joint_final (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) articulation_joint_initial (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) articulation_joint_peak_signed_delta (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) articulation_joint_updates (embodichain.lab.sim.atomic_actions.StateDelta attribute) articulation_joints (embodichain.lab.sim.atomic_actions.PlanningContext property) (embodichain.lab.sim.atomic_actions.SceneSnapshot attribute) (embodichain.lab.sim.atomic_actions.TaskState attribute) articulation_uid (embodichain.lab.sim.sensors.ArticulationContactFilterCfg attribute) (embodichain.lab.visualization.JointControlSpec attribute) ArticulationAffordanceGeometry (class in embodichain.lab.sim.atomic_actions.articulation_geometry) ArticulationCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) ArticulationContactFilterCfg (class in embodichain.lab.sim.sensors) ArticulationData (class in embodichain.lab.sim.objects) ArticulationGeometryProvider (class in embodichain.lab.sim.atomic_actions.articulation_geometry) ArticulationJointEvidenceAddress (class in embodichain.lab.task_program.semantics) ArticulationJointGeometry (class in embodichain.lab.sim.atomic_actions.articulation_geometry) ArticulationJointKinematics (class in embodichain.lab.sim.objects) ArticulationJointObservationCallback (in module embodichain.lab.task_program.semantics) ArticulationJointPositionValidatorCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) ArticulationJointStateExpectation (class in embodichain.lab.task_program.semantics) ArticulationRootPropertiesCfg (class in embodichain.lab.sim.cfg) articulations (embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding attribute) ArticulationViewBase (class in embodichain.lab.sim.objects.backends) ARX5 (class in embodichain.data.assets.robot_assets) as_flat_mapping() (embodichain.lab.sim.atomic_actions.ActionControlOverrides method) aspect (embodichain.lab.visualization.CameraSpec attribute) assemble_runtime() (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter method) assemble_urdf() (embodichain.lab.sim.cfg.URDFCfg method) AssembleGoal (class in embodichain.lab.sim.atomic_actions.primitives.place) assert_current() (embodichain.lab.task_program.semantics.BoundRobotSkillProfile method) assert_unchanged() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) asset_physics_mode (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) asset_uids (embodichain.lab.sim.sim_manager.SimulationManager property) AssetAdaptationCfg (class in embodichain.lab.task_program.integrations.asset_materialization) AssetBatchOutcome (class in embodichain.lab.gym.envs.asset_generalization) AssetCandidate (class in embodichain.data.asset_catalog) (class in embodichain.data.asset_catalog.contracts) AssetDescriptor (class in embodichain.data.asset_catalog) (class in embodichain.data.asset_catalog.contracts) AssetEpisodeOutcome (class in embodichain.lab.gym.envs.asset_generalization) AssetGeneralizationCfg (class in embodichain.lab.gym.envs.asset_generalization) AssetPourAdaptationCfg (class in embodichain.lab.task_program.integrations.asset_materialization) AssetProvider (class in embodichain.data.asset_catalog) (class in embodichain.data.asset_catalog.contracts) AssetQuery (class in embodichain.data.asset_catalog) (class in embodichain.data.asset_catalog.contracts) AssetRejection (class in embodichain.lab.task_program.semantics.asset_matching) AssetRelationRequirement (class in embodichain.lab.task_program.semantics.asset_requirements) AssetRequirements (class in embodichain.lab.task_program.semantics.asset_requirements) AssetResolutionError (class in embodichain.lab.task_program.semantics.asset_matching) AssetRoleRequirement (class in embodichain.lab.task_program.semantics.asset_requirements) AssetsGroupSupportClamp (class in embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_support_clamp) AssetsGroupSupportClampConfig (in module embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_support_clamp) AssetsGroupTableAligner (class in embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_table_aligner) AssetsGroupTableAlignerConfig (class in embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_table_aligner) AssetsSupportLayoutOptimizer (class in embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_layout_optimizer) AssetsSupportLayoutOptimizerConfig (in module embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_layout_optimizer) async_stats (embodichain.lab.gym.envs.managers.async_datasets.AsyncLeRobotRecorder property) AsyncLeRobotRecorder (class in embodichain.lab.gym.envs.managers.async_datasets) at (embodichain.lab.task_program.language.PlaceCfg attribute) atomic_adapter (embodichain.lab.task_program.integrations.TaskProgramSourceAdapter attribute) atomic_case_id() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) atomic_object_kind_names() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_objects) atomic_plan_options() (embodichain_benchmarks.motion_generation.PlannerAdapter method) (embodichain_benchmarks.motion_generation.planners.toppra.ToppraAdapter method) atomic_skill_provider_names() (in module embodichain_benchmarks.motion_generation.atomic_skill) AtomicAction (class in embodichain.lab.sim.atomic_actions) AtomicActionEngine (class in embodichain.lab.sim.atomic_actions) AtomicArticulationHandle (class in embodichain_benchmarks.motion_generation.scenarios.atomic_objects) AtomicObjectHandle (class in embodichain_benchmarks.motion_generation.scenarios.atomic_objects) AtomicPoseRandomizationCfg (class in embodichain_benchmarks.motion_generation.config) AtomicReplayRuntime (class in embodichain_benchmarks.motion_generation.scenarios.atomic_replay) AtomicSkillCaseProvider (class in embodichain_benchmarks.motion_generation.atomic_skill) AtomicSkillScenario (class in embodichain_benchmarks.motion_generation.scenarios.atomic_skill) ATTACH (embodichain.lab.task_program.semantics.SemanticEffectKind attribute) attach_sensor() (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) attach_spawn_handles() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.deformable.DeformableObject method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.VisualObject method) attach_to_parent_nodes() (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) attach_workspace() (embodichain.lab.sim.objects.Robot method) ATTACHED (embodichain.lab.task_program.semantics.HeldObjectRelation attribute) attached_rotation_threshold (embodichain.lab.task_program.semantics.CompositeEffectMonitorCfg attribute) attached_translation_threshold (embodichain.lab.task_program.semantics.CompositeEffectMonitorCfg attribute) attrs (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.LinkPhysicsOverrideCfg attribute) (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.cfg.SurfaceDeformableObjectCfg attribute) (embodichain.lab.sim.cfg.VolumeDeformableObjectCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) Aubo (class in embodichain.data.assets.robot_assets) AVAILABILITY (embodichain_benchmarks.motion_generation.models.TrialPhase attribute) availability() (embodichain_benchmarks.motion_generation.PlannerAdapter method) (embodichain_benchmarks.motion_generation.planners.curobo.CuroboAdapter method) (embodichain_benchmarks.motion_generation.planners.nmg_onnx.NmgOnnxAdapter method) (embodichain_benchmarks.motion_generation.planners.toppra.ToppraAdapter method) available_count (embodichain.lab.sim.motion.expansion.combined.PhysicalSlotPool property) (embodichain.lab.sim.motion.expansion.PhysicalSlotPool property) available_modes (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager property) (embodichain.lab.gym.envs.managers.DatasetManager property) (embodichain.lab.gym.envs.managers.EventManager property) axes_length (embodichain.lab.visualization.FrameOverlay attribute) (embodichain.lab.visualization.TargetOverlay attribute) axes_radius (embodichain.lab.visualization.FrameOverlay attribute) axis (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry attribute) AXIS (embodichain.lab.sim.motion.workspace.configs.VisualizationType attribute) (embodichain.lab.sim.motion.workspace.visualizers.VisualizationType attribute) axis_alignment_tolerance (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) axis_angle_to_rotation_matrix() (in module embodichain.utils.math) axis_len (embodichain.lab.sim.cfg.MarkerCfg attribute) axis_length (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) axis_length_x (embodichain.lab.sim.objects.GizmoCfg attribute) axis_length_y (embodichain.lab.sim.objects.GizmoCfg attribute) axis_length_z (embodichain.lab.sim.objects.GizmoCfg attribute) axis_size (embodichain.lab.sim.cfg.MarkerCfg attribute) (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) (embodichain.lab.sim.objects.GizmoCfg attribute) axis_xpos (embodichain.lab.sim.cfg.MarkerCfg attribute) AxisAlign (class in embodichain.lab.sim.atomic_actions.primitives.axis_align) AxisAlignGoal (class in embodichain.lab.sim.atomic_actions.primitives.axis_align) AxisAlignOptions (class in embodichain.lab.sim.atomic_actions.primitives.axis_align) AxisVisualizer (class in embodichain.lab.sim.motion.workspace.visualizers)

B

backend (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer attribute) (embodichain.lab.visualization.VisualizationCfg attribute) BACKGROUND (embodichain.data.enum.SemanticMask attribute), [1] BakeTextureObj (class in embodichain.data.assets.obj_assets) band_counts (embodichain.lab.sim.motion.expansion.CoverageIndex property) band_of() (embodichain.lab.sim.motion.expansion.ManipulabilityBands method) barrier (embodichain.lab.task_program.compiler.CompiledParallelBlock attribute) (embodichain.lab.task_program.language.ParallelCfg attribute) BarrierCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) base_ang_vel_b (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) base_color (embodichain.lab.sim.material.VisualMaterialCfg attribute) (embodichain.lab.sim.material.VisualMaterialInst property) base_color_texture (embodichain.lab.sim.material.VisualMaterialCfg attribute) base_lin_vel_b (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) base_link_name (embodichain.lab.sim.cfg.URDFCfg attribute) base_pose (embodichain.lab.sim.atomic_actions.primitives.place.AssembleGoal attribute) base_robot (embodichain.lab.sim.robots.DualArmRobotCfg attribute) BaseAlgorithm (class in embodichain.learning.rl.algo), [1] BaseCache (class in embodichain.lab.sim.motion.workspace.caches) BaseCollector (class in embodichain.learning.rl.collector), [1] BaseConstraintChecker (class in embodichain.lab.sim.motion.workspace.constraints) BaseEnv (class in embodichain.lab.gym.envs), [1] baseline_object_to_endpoint (embodichain.lab.task_program.semantics.PoseRelationClause attribute) BaseMetric (class in embodichain.lab.sim.motion.workspace.metrics) BasePlanner (class in embodichain.lab.sim.motion.planners) BasePlannerCfg (class in embodichain.lab.sim.motion.planners) bases (embodichain.lab.sim.motion.workspace.samplers.HaltonSampler attribute) BaseSampler (class in embodichain.lab.sim.motion.workspace.samplers) BaseSensor (class in embodichain.lab.sim.sensors) BaseSolver (class in embodichain.lab.sim.motion.solvers) BaseVisualizer (class in embodichain.lab.sim.motion.workspace.visualizers) BATCH_INVERSE_KINEMATICS_CAPABILITY (in module embodichain.lab.sim.atomic_actions) batch_modes (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) batch_size (embodichain.lab.sim.atomic_actions.EndpointCommand property) (embodichain.lab.sim.atomic_actions.JointPositionPayload property) (embodichain.lab.sim.atomic_actions.PhysicalEvidenceFrame property) (embodichain.lab.sim.atomic_actions.PlanningContext property) (embodichain.lab.sim.atomic_actions.RobotObservation property) (embodichain.lab.sim.atomic_actions.RuntimeCommandFrame property) (embodichain.lab.sim.atomic_actions.RuntimeCommandPayload property) (embodichain.lab.sim.atomic_actions.TaskState attribute) (embodichain.lab.sim.atomic_actions.TimedCommandSequence property) (embodichain.lab.sim.atomic_actions.TimedTrajectory property) (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.task_program.semantics.SemanticPose property) (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute) (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) batch_sizes (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) batch_sizes() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) (embodichain_benchmarks.motion_generation.scenarios.free_space.FreeSpaceScenario method) batched_mask_to_box() (in module embodichain.utils.img_utils) BatchedGradientNormStats (class in embodichain.learning.rl.gradients) BatchEntity (class in embodichain.lab.sim.common) BatchSource (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.sequence) begin_control_step() (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.contact_history.ContactHistory method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) begin_interaction() (embodichain.lab.sim.objects.Gizmo method) begin_segment() (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) begin_update() (embodichain.learning.rl.algo.APG method), [1] benchmark_motion_attribution() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_policy) benchmark_motion_policy() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_policy) benchmark_motion_policy_strategy() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_policy) BenchmarkCase (class in embodichain_benchmarks.motion_generation.models) BenchmarkRunner (class in embodichain_benchmarks.motion_generation.runner) BenchmarkRunResult (class in embodichain_benchmarks.motion_generation) best_eval_metric (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) best_eval_mode (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) BinaryEffectClause (class in embodichain.lab.task_program.semantics) BinaryEffectEvidenceBatch (class in embodichain.lab.task_program.semantics) BinaryEffectEvidenceQuery (class in embodichain.lab.task_program.semantics) BinaryEffectObservation (class in embodichain.lab.task_program.semantics) BinaryEvidenceKind (class in embodichain.lab.task_program.semantics) BinaryObservationCallback (in module embodichain.lab.task_program.semantics) bind() (embodichain.lab.task_program.semantics.RobotSkillProfile method) (embodichain.lab.task_program.semantics.SemanticIntegrationManifest method) bind_cases() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) bind_collision_world() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) bind_control_parts() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) bind_schedule() (embodichain.learning.rl.algo.BaseAlgorithm method), [1] bind_scheduler_horizon() (in module embodichain.learning.rl.utils) bind_spawn() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.deformable.DeformableObject method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.VisualObject method) binding (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) (embodichain.lab.task_program.semantics.BoundSemanticCall attribute) binding_contract (embodichain.lab.sim.atomic_actions.AtomicAction attribute) (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlign attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickment attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacement attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOver attribute) (embodichain.lab.sim.atomic_actions.primitives.move_end_effector.MoveEndEffector attribute) (embodichain.lab.sim.atomic_actions.primitives.move_held_object.MoveHeldObject attribute) (embodichain.lab.sim.atomic_actions.primitives.move_joints.MoveJoints attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoor attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUp attribute) (embodichain.lab.sim.atomic_actions.primitives.place.Place attribute) (embodichain.lab.sim.atomic_actions.primitives.pour.Pour attribute) (embodichain.lab.sim.atomic_actions.primitives.press.Press attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObject attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.Slide attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.Twist attribute) (embodichain.lab.sim.atomic_actions.SkillDescriptor attribute) (embodichain.lab.task_program.semantics.SemanticCallDescriptor property) binding_owner_id (embodichain.lab.sim.atomic_actions.AtomicActionEngine property)

body (embodichain.lab.task_program.language.RepeatCfg attribute) body_data (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.RigidObject property) (embodichain.lab.sim.objects.Robot property) body_ids (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.sim.objects.backends.RigidBodyViewBase property) (embodichain.lab.sim.objects.backends.SceneRigidBodyView property) body_ids_tensor (embodichain.lab.sim.objects.backends.RigidBodyViewBase property) (embodichain.lab.sim.objects.backends.SceneRigidBodyView property) body_link_pose (embodichain.lab.sim.objects.ArticulationData property) body_link_vel (embodichain.lab.sim.objects.ArticulationData property) body_names (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) body_scale (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.cfg.VisualObjectCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) body_state (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.RigidObject property) (embodichain.lab.sim.objects.RigidObjectGroup property) (embodichain.lab.sim.objects.Robot property) body_type (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.cfg.RigidObjectGroupCfg attribute) (embodichain.lab.sim.objects.RigidObjectGroupCfg attribute) BOTH (embodichain.lab.sim.motion.planners.MovePart attribute), [1] bottleneck (embodichain.lab.sim.motion.expansion.ManipulabilityProfile property) bounce_threshold (embodichain.lab.sim.cfg.DefaultPhysicsCfg attribute) BoundRobotSkillProfile (class in embodichain.lab.task_program.semantics) Bounds3D (class in embodichain.data.asset_catalog) (class in embodichain.data.asset_catalog.contracts) BoundSemanticCall (class in embodichain.lab.task_program.semantics) BoundSemanticIntegration (class in embodichain.lab.task_program.semantics) box_surface_mesh() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_grasps) BrainCoHandRevo1 (class in embodichain.data.assets.eef_assets) branch_claims (embodichain.lab.task_program.runtime.ParallelSemanticExecutor property) branch_index (embodichain.lab.task_program.compiler.CompiledParallelBranch attribute) branches (embodichain.lab.task_program.compiler.CompiledParallelBlock attribute) (embodichain.lab.task_program.language.ParallelCfg attribute) broad_phase (embodichain.lab.sim.cfg.NewtonCollisionPipelineCfg attribute) buffer (embodichain.learning.rl.buffer.RolloutBuffer property) (embodichain.learning.rl.buffer.standard_buffer.RolloutBuffer property) buffer_device (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) buffer_size (embodichain.data_pipeline.engine.OnlineDataEngine attribute) (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) BufferedGymCommandSink (class in embodichain.lab.gym.envs.task_program) build() (embodichain.lab.task_program.integrations.ControlPartCommandPreset method) (embodichain.lab.task_program.integrations.ControlPartEndpointBinding method) (embodichain.lab.task_program.integrations.ControlPartResourceBinding method) (embodichain.lab.task_program.integrations.simulation.ControlPartCommandPreset method) (embodichain.lab.task_program.integrations.simulation.ControlPartEndpointBinding method) (embodichain.lab.task_program.integrations.simulation.ControlPartResourceBinding method) (embodichain.lab.task_program.integrations.simulation.SimulationRobotSkillProfileBinding method) (embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding method) (embodichain.lab.task_program.integrations.SimulationRobotSkillProfileBinding method) (embodichain.lab.task_program.integrations.SimulationSceneBinding method) (embodichain_benchmarks.motion_generation.PlannerAdapter method) (embodichain_benchmarks.motion_generation.planners.curobo.CuroboAdapter method) (embodichain_benchmarks.motion_generation.planners.ik_interpolate.IkInterpolateAdapter method) (embodichain_benchmarks.motion_generation.planners.nmg_onnx.NmgOnnxAdapter method) (embodichain_benchmarks.motion_generation.planners.toppra.ToppraAdapter method) build_algo() (in module embodichain.learning.rl.algo), [1] build_cfg() (embodichain_benchmarks.motion_generation.robots.base.EmbodimentRobotProvider method) (embodichain_benchmarks.motion_generation.robots.base.RobotProvider method) (embodichain_benchmarks.motion_generation.robots.dual_arm.DualArmProvider method) (embodichain_benchmarks.motion_generation.robots.franka.FrankaPandaProvider method) (embodichain_benchmarks.motion_generation.robots.franka.FrankaPgiProvider method) (embodichain_benchmarks.motion_generation.robots.ur5.UR5PgiProvider method) (embodichain_benchmarks.motion_generation.robots.ur5.UR5Provider method) build_command_plan() (embodichain.lab.sim.atomic_actions.AtomicAction method) build_dexforce_w1_assembly_urdf_cfg() (in module embodichain_robots.dexforce.w1.utils) build_dual_arm_cfg() (in module embodichain.lab.sim.robots) build_effect_evidence_queries() (in module embodichain.lab.task_program.semantics) build_env() (in module embodichain.lab.gym.utils.registration) build_expert_action_spec() (in module embodichain.lab.gym.envs.expert_trajectory) build_gym_policy_runtime() (in module embodichain.learning.rl.runtime) build_invocation() (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.PressCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.SlideCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.TwistCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.MoveHeldObjectCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.PickUpCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.PlaceCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_motion_cases.MoveEndEffectorCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_motion_cases.MoveJointsCases method) build_learning_env() (in module embodichain.learning.rl.env) build_learning_policy_runtime() (in module embodichain.learning.rl.runtime) build_lr_scheduler() (in module embodichain.learning.rl.utils) build_manifest() (embodichain.lab.visualization.SceneExporter method) build_mlp_from_cfg() (in module embodichain.learning.models) (in module embodichain.learning.models.mlp) build_motion_profile() (in module embodichain.learning.rl.policy_evaluation) (in module embodichain.learning.rl.policy_evaluation.profile) build_observations() (in module embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.g1.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.go1.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.go2.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.microduck.mdp) build_observations_fn() (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv static method) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv static method) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv static method) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv static method) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv static method) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv static method) build_optimizer() (in module embodichain.learning.rl.utils) build_pk_chain (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) build_pk_serial_chain() (embodichain.lab.sim.cfg.RobotCfg method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.RobotCfg method) (embodichain.lab.sim.robots.DualArmRobotCfg method) (embodichain_robots.AlohaMiniCfg method) (embodichain_robots.SO101FollowerCfg method) build_plan() (embodichain.lab.sim.atomic_actions.AtomicAction method) build_policy() (in module embodichain.learning.rl.policies) (in module embodichain.learning.rl.policies.registry) build_recording_provenance() (in module embodichain.data_pipeline.recording) (in module embodichain.data_pipeline.recording.provenance) build_reduced_pinocchio_robot() (in module embodichain.lab.sim.utility.solver_utils) build_robot_cfg() (in module embodichain.lab.scripts.preview_robot) build_standard_extension_declarations() (in module embodichain.lab.task_program.integrations.extensions) build_supervised_trainer() (in module embodichain_models.dynamics.nerd) (in module embodichain_models.dynamics.nerd.sl_recipe) build_video_path() (in module embodichain_benchmarks.motion_generation.video) builtin_semantic_call_catalog() (in module embodichain.lab.task_program.semantics)

C

cache (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) cache_dir (embodichain.lab.sim.motion.workspace.configs.CacheConfig attribute) cache_format (embodichain.lab.sim.motion.workspace.configs.CacheConfig attribute) cache_material (embodichain.lab.sim.cfg.DefaultPhysicsCfg attribute) cache_path (embodichain.lab.sim.cfg.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.workspace.cfg.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg attribute) (embodichain.lab.sim.objects.RobotWorkspaceCfg attribute) cache_prefix (embodichain.data.assets.robot_assets.FlexivRizon4S attribute) CacheConfig (class in embodichain.lab.sim.motion.workspace.configs) CACHED_NAMES (embodichain.utils.cfg.CfgNode attribute) CacheManager (class in embodichain.lab.sim.motion.workspace.caches) calculate_md5() (embodichain.data.dataset.EmbodiChainDataset method) call (embodichain.lab.task_program.compiler.CompiledTaskProgramCall attribute) (embodichain.lab.task_program.language.InvokeCfg attribute) (embodichain.lab.task_program.runtime.TaskProgramPlanRequest attribute) (embodichain.lab.task_program.semantics.LinkedSemanticCall attribute) call_id (embodichain.lab.task_program.language.RegisteredSemanticCallCfg attribute) call_index (embodichain.lab.task_program.compiler.CompiledTaskProgramCall attribute) callable_to_string() (in module embodichain.utils.string) CallRecipe (class in embodichain.lab.sim.motion.expansion) (class in embodichain.lab.sim.motion.expansion.combined) calls (embodichain.lab.task_program.compiler.CompiledParallelBranch attribute) (embodichain.lab.task_program.compiler.CompiledTaskProgramAnalysis attribute) (embodichain.lab.task_program.compiler.CompiledTaskProgramSegment attribute) (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) Camera (class in embodichain.lab.sim.sensors) camera_id (embodichain.lab.visualization.CameraImage attribute) (embodichain.lab.visualization.CameraSpec attribute) camera_ids (embodichain.lab.visualization.SceneFrame attribute) camera_positions (embodichain.lab.visualization.SceneFrame attribute) camera_wxyz (embodichain.lab.visualization.SceneFrame attribute) CameraCfg (class in embodichain.lab.sim.sensors) CameraCfg.ExtrinsicsCfg (class in embodichain.lab.sim.sensors) CameraCfg.OffsetCfg (class in embodichain.lab.sim.sensors) CameraImage (class in embodichain.lab.visualization) CameraImageCaptureResult (class in embodichain.lab.visualization) CameraImageFrame (class in embodichain.lab.visualization) cameras (embodichain.lab.visualization.SceneManifest attribute) CameraSpec (class in embodichain.lab.visualization) can_apply_pose (embodichain.lab.sim.objects.backends.RigidBodyViewBase property) can_fetch_pose (embodichain.lab.sim.objects.backends.RigidBodyViewBase property) can_open_native_window() (embodichain.lab.sim.sim_manager.SimulationManager method) can_use_newton_entity_dynamics_fallback() (in module embodichain.lab.sim.objects.backends.rigid_physics) cancel() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) (embodichain.lab.sim.atomic_actions.CommandSink method) (embodichain.lab.sim.atomic_actions.EndpointCommandRouter method) (embodichain.lab.sim.atomic_actions.EndpointCommandTransport method) (embodichain.lab.sim.atomic_actions.ExecutionRunner method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) (embodichain.lab.sim.motion.expansion.combined_runtime.CombinedEpisodeCoordinator method) (embodichain.lab.sim.motion.expansion.CombinedEpisodeCoordinator method) (embodichain.lab.task_program.runtime.ParallelSemanticExecutor method) (embodichain.lab.task_program.runtime.SemanticCallExecutor method) cancel_interaction() (embodichain.lab.sim.objects.Gizmo method) cancel_update() (embodichain.learning.rl.algo.APG method), [1] CANCELLED (embodichain.lab.task_program.runtime.SemanticExecutionStatus attribute) cancelled_mask (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) CANDIDATE (embodichain_benchmarks.motion_generation.models.AlgorithmRole attribute) candidate_index (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord attribute) CandidateCoordinator (class in embodichain.lab.sim.motion.expansion) CandidateIdentity (class in embodichain.lab.sim.motion.expansion) CandidateRecipe (class in embodichain.lab.sim.motion.expansion) (class in embodichain.lab.sim.motion.expansion.combined) candidates (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord attribute) candidates() (embodichain.data.asset_catalog.AssetProvider method) (embodichain.data.asset_catalog.contracts.AssetProvider method) (embodichain.data.asset_catalog.ExplicitAssetProvider method) (embodichain.data.asset_catalog.local.ExplicitAssetProvider method) (embodichain.lab.sim.motion.expansion.TrajectorySegmentBank method) (embodichain.lab.task_program.semantics.BoundRobotSkillProfile method) CandidateSpec (class in embodichain.lab.sim.motion.expansion) CandidateTrajectoryBatch (class in embodichain.lab.sim.motion.expansion) CandidateWorkItem (class in embodichain.lab.sim.motion.expansion) canonical_case_qpos() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) capabilities (embodichain.lab.sim.atomic_actions.SkillEndpointRequirement attribute) (embodichain.lab.task_program.integrations.simulation.ControlPartEndpointBinding attribute) (embodichain.lab.task_program.semantics.ResolvedResourceEndpoint property) (embodichain.lab.task_program.semantics.ResourceEndpoint attribute) (embodichain_benchmarks.motion_generation.embodiments.EmbodimentResolution attribute) (embodichain_benchmarks.motion_generation.models.PlannerMetadata attribute) (embodichain_benchmarks.motion_generation.planners.curobo.CuroboAdapter attribute) (embodichain_benchmarks.motion_generation.planners.ik_interpolate.IkInterpolateAdapter attribute) (embodichain_benchmarks.motion_generation.planners.nmg_onnx.NmgOnnxAdapter attribute) (embodichain_benchmarks.motion_generation.planners.toppra.ToppraAdapter attribute) CapabilityDecision (class in embodichain_benchmarks.motion_generation.contracts) capacity (embodichain.lab.sim.motion.expansion.combined.PhysicalSlotPool property) (embodichain.lab.sim.motion.expansion.PhysicalSlotPool property) capture() (embodichain.lab.visualization.SceneExporter method) (embodichain.lab.visualization.VisualizationRuntime method) capture_camera_images() (embodichain.lab.visualization.SceneExporter method) capture_default_physical_properties() (embodichain.lab.sim.objects.ArticulationData method) (embodichain.lab.sim.objects.RigidBodyData method) (embodichain.lab.sim.objects.RigidBodyGroupData method) capture_initial_state() (embodichain.lab.task_program.integrations.simulation.scene_expansion.SimulationSceneExpansionHost method) capture_seconds (embodichain.lab.visualization.CameraImageCaptureResult attribute) (embodichain.lab.visualization.CaptureResult attribute) (embodichain.lab.visualization.RuntimeStats attribute) capture_state() (in module embodichain.lab.sim.scene.state) capture_visualization() (embodichain.lab.sim.sim_manager.SimulationManager method) capture_visualization_safely() (embodichain.lab.sim.sim_manager.SimulationManager method) captured_frames (embodichain.lab.visualization.RuntimeStats attribute) captured_image_frames (embodichain.lab.visualization.RuntimeStats attribute) CaptureResult (class in embodichain.lab.visualization) cartesian_path_length_m (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) cartesian_path_sampler (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) CARTESIAN_POSE_CAPABILITY (in module embodichain.lab.sim.atomic_actions) CARTESIAN_SPACE (embodichain.lab.sim.motion.workspace.AnalysisMode attribute) (embodichain.lab.sim.motion.workspace.analyzer.AnalysisMode attribute) cartesian_waypoint_count (embodichain.lab.sim.atomic_actions.primitives.place.PlaceOptions attribute) CartPole (class in embodichain.data.assets.robot_assets) case_generation_seed() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) case_generator (embodichain_benchmarks.motion_generation.config.DomainCfg attribute) case_id (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) case_limit (embodichain_benchmarks.motion_generation.video.VideoRecordCfg attribute) case_name() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) case_parameters (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) case_pose() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) CaseOutcome (class in embodichain_benchmarks.motion_generation.models) CaseSampleCountGraspPoseGenerator (class in embodichain_benchmarks.motion_generation.scenarios.atomic_grasps) center_crop() (in module embodichain.utils.utility) center_grasp_pose() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_grasps) center_mode (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGeneratorCfg attribute) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg attribute) cfg (embodichain.lab.sim.common.BatchEntity attribute) (embodichain.lab.task_program.compiler.CompiledArticulationJointPositionValidator attribute) (embodichain.lab.task_program.compiler.CompiledObjectNearTargetValidator attribute) (embodichain.lab.task_program.compiler.CompiledObjectStateValidator attribute) (embodichain.lab.task_program.compiler.CompiledPostPolicy attribute) CfgNode (class in embodichain.utils.cfg) ChainRainSec (class in embodichain.data.assets.obj_assets) Chair (class in embodichain.data.assets.obj_assets) change_nested_dict() (in module embodichain.utils.utility) channel (embodichain.lab.task_program.semantics.ControlPartEvidenceAddress attribute) channels (embodichain_benchmarks.motion_generation.contracts.ReplayObservationWindow attribute) check() (embodichain.lab.gym.envs.episode_context.EpisodeContext method) check_bounds() (embodichain.lab.sim.motion.workspace.constraints.BaseConstraintChecker method) (embodichain.lab.sim.motion.workspace.constraints.IConstraintChecker method) check_collision() (embodichain.lab.sim.motion.workspace.constraints.BaseConstraintChecker method) (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) check_constraints() (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) check_embodiment_capabilities() (in module embodichain_benchmarks.motion_generation.embodiments) check_health() (embodichain.data_pipeline.engine.OnlineDataEngine method) check_interval_steps (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg attribute) check_layout() (in module embodichain.lab.sim.scene.procedural) check_object_pose() (embodichain.lab.sim.scene.RobotSceneWorkspace method) (embodichain.lab.task_program.integrations.simulation.workspace.RobotSceneWorkspace method) check_shared_memory_exists() (in module embodichain.utils.utility) check_topology() (embodichain.lab.sim.scene.query.SceneView method) check_truncated() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] check_zip() (embodichain.data.dataset.EmbodiChainDataset method) checkpoint (embodichain.learning.rl.policy_evaluation.MotionProfileRequest attribute) (embodichain.learning.rl.policy_evaluation.profile.MotionProfileRequest attribute) checkpoint_dir (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) checkpoint_path (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) checkpoints (embodichain.learning.rl.policy_evaluation.manifest.RunManifest attribute) child_link_name (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry attribute) ChunkSizeSampler (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.sampler) CircleTableSimple (class in embodichain.data.assets.obj_assets) claim_tokens (embodichain.lab.task_program.semantics.EndpointResolution attribute) clamp() (embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_support_clamp.AssetsGroupSupportClamp method) clamp_group() (in module embodichain.lab.sim.scene.placement) class_to_dict() (in module embodichain.utils.configclass) class_type (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) clause (embodichain.lab.task_program.semantics.BinaryEffectEvidenceQuery attribute) (embodichain.lab.task_program.semantics.JointStateEvidenceQuery attribute) (embodichain.lab.task_program.semantics.PoseRelationEvidenceQuery attribute) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceQuery attribute) clause_id (embodichain.lab.task_program.semantics.BinaryEffectClause attribute) (embodichain.lab.task_program.semantics.JointStateEffectClause attribute) (embodichain.lab.task_program.semantics.PoseRelationClause attribute) (embodichain.lab.task_program.semantics.ScalarEffectClause attribute) clean_materials() (embodichain.lab.sim.sim_manager.SimulationManager method) clear() (embodichain.lab.sim.motion.workspace.caches.BaseCache method) (embodichain.lab.sim.motion.workspace.caches.DiskCache method) (embodichain.lab.sim.motion.workspace.caches.MemoryCache method) (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer method) (embodichain.lab.visualization.GizmoCommandQueue method) (embodichain.lab.visualization.JointControlCommandQueue method) (embodichain.lab.visualization.LatestFrameQueue method) (embodichain.lab.visualization.picker.ScenePicker method) clear_cache() (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) clear_dynamics() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) clear_exclude_zones() (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) cli() (in module embodichain.lab.scripts.preview_material) (in module embodichain.lab.scripts.preview_robot) (in module embodichain.learning.rl.policy_evaluation.cli) (in module embodichain.learning.rl.train), [1] (in module embodichain.learning.sl.workflow) client_count (embodichain.lab.visualization.RuntimeHealth attribute) client_id (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.PickCommand attribute) clip_actions_to_space (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) clip_batched_gradient_norm() (in module embodichain.learning.rl.gradients) clip_coef (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] clip_range (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorMapping property) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityNormalization attribute), [1] clipped_mask (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) clock (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink property) (embodichain.lab.gym.envs.task_program.TaskProgramDemoBridge property) (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) (embodichain.lab.task_program.runtime.ParallelSemanticExecutor property) (embodichain.lab.task_program.runtime.SemanticCallExecutor property) clone() (embodichain.lab.gym.envs.managers.ActionTrace method) CLOSE (embodichain.data.enum.EefExecute attribute) close() (embodichain.data_pipeline.depth_video.writer.DepthVideoWriter method) (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.datasets.LeRobotRecorder method) (embodichain.lab.gym.envs.managers.record.record_camera_data method) (embodichain.lab.gym.envs.ReplayWrapper method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) (embodichain.learning.rl.env.LearningVecEnv method) (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskEnvironment method) (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskPolicyAdapter method) (embodichain.learning.rl.runtime.PolicyRuntime method) (embodichain_benchmarks.motion_generation.PlannerAdapter method) (embodichain_benchmarks.motion_generation.planners.curobo.CuroboAdapter method) (embodichain_benchmarks.motion_generation.planners.nmg_onnx.NmgOnnxAdapter method) (embodichain_benchmarks.motion_generation.planners.toppra.ToppraAdapter method) (embodichain_models.dynamics.nerd.data.DynamicsShardWriter method) (embodichain_models.dynamics.nerd.data.DynamicsWindowDataset method) close_command (embodichain.lab.gym.envs.managers.ParallelGripperAction property) close_planner() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) close_runtime() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) close_window() (embodichain.lab.sim.sim_manager.SimulationManager method) ClothObjectCfg (in module embodichain.lab.sim.cfg) cmd_download() (in module embodichain.data.download) cmd_list() (in module embodichain.data.download) CobotMagicArm (class in embodichain.data.assets.robot_assets) coerce_lr_scheduler_cfg() (in module embodichain.learning.rl.utils) coerce_optimizer_cfg() (in module embodichain.learning.rl.utils) CoffeeCup (class in embodichain.data.assets.obj_assets) COLD (embodichain_benchmarks.motion_generation.models.TrialPhase attribute) collate_fn() (embodichain.data_pipeline.datasets.online_data.OnlineDataset static method) (embodichain.data_pipeline.datasets.OnlineDataset static method), [1] (embodichain.data_pipeline.datasets.sequence_data.SequenceDataset static method) (embodichain.data_pipeline.datasets.SequenceDataset static method), [1] collect() (embodichain.lab.sim.atomic_actions.PhysicalEvidenceProvider method) (embodichain.lab.task_program.semantics.ControlPartSimulationEvidenceProvider method) (embodichain.lab.task_program.semantics.EffectEvidenceCollector method) (embodichain.lab.task_program.semantics.EffectEvidenceProvider method) (embodichain.lab.task_program.semantics.SceneArticulationEvidenceProvider method) (embodichain.learning.rl.collector.BaseCollector method), [1] (embodichain.learning.rl.collector.DifferentiableCollector method) (embodichain.learning.rl.collector.SyncCollector method), [1] collect_asset_batches() (in module embodichain.lab.gym.envs.asset_generalization) collision (embodichain.lab.sim.cfg.MeshCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) collision_cfg (embodichain.lab.sim.cfg.NewtonPhysicsCfg attribute) (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator property) collision_enabled (embodichain.lab.sim.cfg.CollisionPropertiesCfg attribute) (embodichain.lab.sim.cfg.DefaultCollisionPropertiesCfg attribute) (embodichain.lab.sim.cfg.NewtonCollisionPropertiesCfg attribute) collision_entity_ids (embodichain.lab.sim.atomic_actions.SceneSnapshot attribute) collision_geometry_by_id() (embodichain.lab.task_program.semantics.SceneRegistry method) collision_obstacle_poses() (embodichain.lab.sim.atomic_actions.SceneSnapshot method) collision_props (embodichain.lab.sim.cfg.RigidBodyPhysicsCfg attribute) collision_role (embodichain.lab.task_program.integrations.simulation.SimulationArticulationBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidizedArticulationObjectBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidObjectBinding attribute) (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) collision_shapes_from_entity() (in module embodichain.lab.sim.objects.backends) (in module embodichain.lab.sim.objects.backends.collision) collision_threshold (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg attribute) collision_world_batch_mode (embodichain.lab.sim.motion.motion_generator.MotionGenerator property) collision_world_entity_ids (embodichain.lab.sim.motion.motion_generator.MotionGenerator property) (embodichain.lab.task_program.semantics.SceneRegistry property) collision_world_info (embodichain.lab.sim.motion.motion_generator.MotionGenerator property) (embodichain.lab.sim.motion.planners.BasePlanner property) (embodichain.lab.sim.motion.planners.ToppraPlanner property) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner property) collision_world_mode (embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding attribute) (embodichain.lab.task_program.semantics.RegistrySceneProvider property) collision_world_revision (embodichain.lab.sim.atomic_actions.SceneSnapshot attribute) collision_world_revisions() (embodichain.lab.sim.atomic_actions.SceneSnapshot method) CollisionPropertiesCfg (class in embodichain.lab.sim.cfg) CollisionShapeDesc (class in embodichain.lab.sim.objects) color (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) (embodichain.lab.visualization.MeshGeometry attribute) (embodichain.lab.visualization.TrajectoryOverlay attribute) color_by_distance (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) color_cfg (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityVisualizer attribute) color_output (embodichain.lab.sim.profiler.ProfilerCfg attribute) (embodichain.lab.sim.ProfilerCfg attribute) colormap (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorCfg attribute) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorMapping attribute), [1] colors (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorMapping attribute), [1] (embodichain.lab.visualization.PointCloudOverlay attribute) com_pose (embodichain.lab.sim.objects.ArticulationData property) (embodichain.lab.sim.objects.RigidBodyData property) (embodichain.lab.sim.objects.RigidBodyGroupData property) com_position (embodichain.lab.sim.cfg.MassPropertiesCfg attribute) com_quaternion (embodichain.lab.sim.cfg.MassPropertiesCfg attribute) combine() (embodichain.lab.task_program.semantics.ResourceClaim class method) combined_function() (in module embodichain.utils.configclass) CombinedAssignment (class in embodichain.lab.sim.motion.expansion) (class in embodichain.lab.sim.motion.expansion.combined_runtime) CombinedEpisodeCoordinator (class in embodichain.lab.sim.motion.expansion) (class in embodichain.lab.sim.motion.expansion.combined_runtime) CombinedExpansionProfile (class in embodichain.lab.sim.motion.expansion) (class in embodichain.lab.sim.motion.expansion.combined) CombinedTaskProgramExpansionFactory (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.expansion) command (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) command() (embodichain.lab.sim.atomic_actions.EndpointBinding method) command_count (embodichain.lab.sim.atomic_actions.ExecutionRunner property) command_encoder (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) command_mode (embodichain.lab.gym.envs.managers.ParallelGripperAction property) command_preset (embodichain.lab.task_program.integrations.simulation.ControlPartEndpointBinding attribute) command_presets (embodichain.lab.task_program.integrations.simulation.SimulationRobotSkillProfileBinding attribute) command_profile (embodichain.lab.task_program.semantics.ControlPartEndpoint attribute) command_profile_key (embodichain.lab.task_program.semantics.EndpointResolution attribute) command_sink (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) command_timeout (embodichain.lab.sim.atomic_actions.ExecutionRunnerCfg attribute) command_type (embodichain.lab.gym.envs.managers.ActionTerm property) CommandAcknowledgement (class in embodichain.lab.sim.atomic_actions) CommandAckStatus (class in embodichain.lab.sim.atomic_actions) CommandDispatch (class in embodichain.lab.sim.atomic_actions) CommandOperation (class in embodichain.lab.sim.atomic_actions) commands (embodichain.lab.task_program.integrations.simulation.ControlPartCommandPreset attribute) CommandSink (class in embodichain.lab.sim.atomic_actions) commit() (embodichain_models.dynamics.nerd.data.DynamicsShardWriter method) CommitReceipt (class in embodichain.lab.sim.motion.expansion) committed_ids (embodichain_models.dynamics.nerd.data.DynamicsShardWriter property) compare_states() (in module embodichain.lab.sim.scene.validation) compare_trajectory_segments() (in module embodichain.lab.sim.motion.expansion) compile() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (embodichain.lab.task_program.compiler.TaskProgramCompiler method) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter method) (embodichain.lab.task_program.TaskProgramCompiler method) compile_mllm_task_program() (in module embodichain.agents.mllm) compile_task_program() (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] CompiledArticulationJointPositionValidator (class in embodichain.lab.task_program.compiler) CompiledBarrier (class in embodichain.lab.task_program.compiler) CompiledObjectNearTargetValidator (class in embodichain.lab.task_program.compiler) CompiledObjectStateValidator (class in embodichain.lab.task_program.compiler) CompiledParallelBlock (class in embodichain.lab.task_program.compiler) CompiledParallelBranch (class in embodichain.lab.task_program.compiler) CompiledPostPolicy (class in embodichain.lab.task_program.compiler) CompiledRepeatFrame (class in embodichain.lab.task_program.compiler) CompiledTargetSelection (class in embodichain.lab.task_program.compiler) CompiledTaskProgram (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.compiler) CompiledTaskProgramAnalysis (class in embodichain.lab.task_program.compiler) CompiledTaskProgramCall (class in embodichain.lab.task_program.compiler) CompiledTaskProgramSegment (class in embodichain.lab.task_program.compiler) CompiledTaskProgramValidator (in module embodichain.lab.task_program.compiler) compiler (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) (embodichain.lab.task_program.runtime.SemanticCallExecutor property) complete (embodichain.lab.gym.envs.settling.DynamicSettleState property) complete_discounted_return() (in module embodichain.learning.rl.algo), [1] COMPLETED (embodichain.lab.task_program.runtime.SemanticExecutionStatus attribute) completed_waypoint_ratio (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) completion_mask (embodichain.lab.gym.envs.task_program.TaskProgramDemoBridge property) completion_tolerance (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) component (embodichain_benchmarks.motion_generation.config.EmbodimentSpecCfg attribute) component_order_and_prefix (embodichain.toolkits.urdf_assembly.URDFAssemblyManager property) component_path (embodichain_benchmarks.motion_generation.embodiments.EmbodimentResolution attribute) component_prefix (embodichain.lab.sim.cfg.URDFCfg attribute) (embodichain.toolkits.urdf_assembly.URDFAssemblyManager property) components (embodichain.lab.sim.cfg.URDFCfg attribute) compose() (in module embodichain.lab.sim.scene.composition) COMPOSITE_EFFECT_MONITOR_ID (in module embodichain.lab.task_program.semantics) COMPOSITE_EFFECT_MONITOR_REVISION (in module embodichain.lab.task_program.semantics) CompositeEffectMonitor (class in embodichain.lab.task_program.semantics) CompositeEffectMonitorCfg (class in embodichain.lab.task_program.semantics) CompositeEffectMonitorFactory (class in embodichain.lab.task_program.semantics) compression (embodichain.lab.sim.motion.workspace.configs.CacheConfig attribute) compute() (embodichain.lab.gym.envs.managers.ObservationManager method) (embodichain.lab.gym.envs.managers.RewardManager method) (embodichain.lab.sim.motion.workspace.metrics.BaseMetric method) (embodichain.lab.sim.motion.workspace.metrics.DensityMetric method) (embodichain.lab.sim.motion.workspace.metrics.ManipulabilityMetric method) (embodichain.lab.sim.motion.workspace.metrics.ReachabilityMetric method) compute_batch_fk() (embodichain.lab.sim.objects.Robot method) compute_batch_ik() (embodichain.lab.sim.objects.Robot method) compute_cache_key() (in module embodichain.lab.sim.motion.workspace.caches) compute_case_outcomes() (in module embodichain_benchmarks.motion_generation.metrics.trajectory) compute_coverage (embodichain.lab.sim.motion.workspace.configs.ReachabilityConfig attribute) compute_distribution (embodichain.lab.sim.motion.workspace.configs.DensityConfig attribute) compute_exteroception (class in embodichain.lab.gym.envs.managers.observations) compute_fk() (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationGeometryProvider method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.task_program.semantics.ControlPartRobotEvidenceSource method) compute_gae() (in module embodichain.learning.rl.algo), [1] compute_heatmap (embodichain.lab.sim.motion.workspace.configs.ManipulabilityConfig attribute) compute_ik() (embodichain.lab.sim.objects.Robot method) compute_isotropy (embodichain.lab.sim.motion.workspace.configs.ManipulabilityConfig attribute) compute_jacobian() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) compute_kinematics() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) compute_loss() (embodichain.learning.sl.SupervisedObjective method) (embodichain.learning.sl.types.SupervisedObjective method) (embodichain_models.dynamics.nerd.supervised.NeRDObjective method)

compute_pinocchio_fk() (in module embodichain.lab.sim.utility.solver_utils) compute_pose_error() (in module embodichain.utils.math) compute_pose_offset_related_to_first() (in module embodichain.lab.sim.utility.action_utils) compute_reachability() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) compute_rewards() (in module embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.g1.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.go1.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.go2.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.microduck.mdp) compute_rewards_fn() (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv static method) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv static method) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv static method) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv static method) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv static method) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv static method) compute_semantic_mask() (in module embodichain.lab.gym.envs.managers.observations) compute_statistics() (in module embodichain_models.dynamics.nerd.integration) compute_task_state() (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain_tasks.classic_control.humanoid.humanoid_run.HumanoidRunEnv method) compute_termination() (in module embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.g1.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.go1.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.go2.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.microduck.mdp) compute_termination_fn() (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv static method) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv static method) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv static method) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv static method) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv static method) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv static method) compute_uv (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.MeshCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) compute_waypoint_errors() (in module embodichain_benchmarks.motion_generation.metrics.trajectory) compute_workspace_points() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) concatenate() (embodichain.lab.sim.atomic_actions.TimedTrajectory class method) condim (embodichain.lab.sim.cfg.NewtonCollisionPropertiesCfg attribute) condition_number (embodichain.lab.sim.motion.workspace.visualizers.PointInspection attribute), [1] condition_number() (in module embodichain.compute.kinematics.manipulability) confidence_level (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) config (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer attribute) (embodichain_benchmarks.motion_generation.config.PlannerSpecCfg attribute) (embodichain_benchmarks.motion_generation.config.RobotSpecCfg attribute) (embodichain_benchmarks.motion_generation.config.TrackCfg attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicArticulationHandle attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicObjectHandle attribute) config_hash (embodichain_benchmarks.motion_generation.embodiments.EmbodimentResolution attribute) (embodichain_benchmarks.motion_generation.models.PlannerMetadata attribute) configclass() (in module embodichain.utils.configclass) ConfigPath (in module embodichain.lab.task_program) (in module embodichain.lab.task_program.language) ConfigPathPart (in module embodichain.lab.task_program) (in module embodichain.lab.task_program.language) configs (embodichain.learning.rl.policy_evaluation.manifest.RunManifest attribute) (embodichain.learning.rl.policy_evaluation.MotionProfileRequest attribute) (embodichain.learning.rl.policy_evaluation.profile.MotionProfileRequest attribute) configurable() (in module embodichain.utils.cfg) configure_ods() (in module embodichain.data_pipeline.configuration) configure_runtime() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) configure_sampling_budget() (embodichain.data_pipeline.datasets.sources.TensorDataSource method) (embodichain.data_pipeline.datasets.TensorDataSource method), [1] configure_track() (embodichain_benchmarks.motion_generation.robots.base.EmbodimentRobotProvider method) ConfiguredHandOverPoseProvider (class in embodichain.lab.task_program.integrations) confirm() (embodichain.lab.sim.motion.expansion.CoverageIndex method) conflicts_with() (embodichain.lab.task_program.semantics.ResolvedResourceEndpoint method) (embodichain.lab.task_program.semantics.ResourceClaim method) consecutive_samples (embodichain.lab.task_program.semantics.CompositeEffectMonitorCfg attribute) constraint (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) CONSTRAINT (embodichain.lab.task_program.semantics.BinaryEvidenceKind attribute) constraint_bounds (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) CONSTRAINT_EFFECT_CHANNEL (in module embodichain.lab.task_program.semantics) constraint_metrics (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) constraint_pattern_design (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) constraint_patterns (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) constraint_report (embodichain.lab.sim.motion.planners.PlanResult attribute) constraint_type (embodichain.lab.sim.cfg.RigidConstraintCfg attribute) (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) constraints (embodichain.lab.sim.atomic_actions.SkillResourceSlot attribute) CONSTRUCT (embodichain_benchmarks.motion_generation.models.TrialPhase attribute) CONTACT (embodichain.lab.task_program.semantics.BinaryEvidenceKind attribute) contact_capabilities (embodichain.lab.sim.sensors.ContactSensor property) contact_distance (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectToolCalibration attribute) CONTACT_EFFECT_CHANNEL (in module embodichain.lab.task_program.semantics) contact_frame_to_eef (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectToolCalibration attribute) contact_offset (embodichain.lab.sim.cfg.CollisionPropertiesCfg attribute) (embodichain.lab.sim.cfg.DefaultCollisionPropertiesCfg attribute) (embodichain.lab.sim.cfg.NewtonCollisionPropertiesCfg attribute) ContactHistory (class in embodichain.lab.sim.sensors.contact_history) ContactSensor (class in embodichain.lab.sim.sensors) ContactSensorCfg (class in embodichain.lab.sim.sensors) ContactSensorCfg.OffsetCfg (class in embodichain.lab.sim.sensors) ContainerAffordance (class in embodichain.lab.task_program.semantics) ContainerAffordanceBinding (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.simulation) ContainerMetal (class in embodichain.data.assets.obj_assets) containers (embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding attribute) contract (embodichain.lab.gym.envs.managers.ActionTermCfg attribute) contradicted_mask (embodichain.lab.task_program.semantics.EffectExpectationDecision attribute) control_dt (embodichain.lab.sim.atomic_actions.PlanningContext attribute) (embodichain.lab.sim.motion.execution.JointTrajectoryPlaybackCfg attribute) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig attribute) control_frequency (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] control_id (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.JointControlSpec attribute) (embodichain.lab.visualization.JointControlState attribute) control_max_step (embodichain.lab.gym.envs.ReplayWrapper property) control_overrides (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) control_part (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectToolCalibration attribute) (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) (embodichain.lab.sim.motion.planners.TrapezoidalPlanOptions attribute) (embodichain.lab.sim.objects.Gizmo property) (embodichain.lab.task_program.integrations.simulation.ControlPartCommandPreset attribute) (embodichain.lab.task_program.integrations.simulation.ControlPartEndpointBinding attribute) (embodichain.lab.task_program.semantics.ControlPartEndpoint attribute) (embodichain.lab.task_program.semantics.ControlPartEvidenceAddress attribute) (embodichain.lab.visualization.GizmoSpec attribute) (embodichain_benchmarks.motion_generation.planners.base.PlannerContext attribute) (embodichain_benchmarks.motion_generation.robots.base.RobotProvider attribute) (embodichain_benchmarks.motion_generation.robots.dual_arm.DualArmProvider attribute) CONTROL_PART_EVIDENCE_PROVIDER_ID (in module embodichain.lab.task_program.semantics) CONTROL_PART_EVIDENCE_PROVIDER_REVISION (in module embodichain.lab.task_program.semantics) control_part_name (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityVisualizer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) control_parts (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.Robot property) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) control_profiles (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) control_steps (embodichain.learning.rl.policy_evaluation.viewer.NativeViewerResult attribute) ControlCommand (class in embodichain.lab.sim.atomic_actions) controlled_joint_ids (embodichain.lab.gym.envs.managers.ActionTerm property) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction property) (embodichain.lab.gym.envs.managers.EefPoseAction property) (embodichain.lab.gym.envs.managers.JointEffortAction property) (embodichain.lab.gym.envs.managers.JointPositionAction property) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction property) (embodichain.lab.gym.envs.managers.JointVelocityAction property) (embodichain.lab.gym.envs.managers.ParallelGripperAction property) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction property) ControllerAction (class in embodichain.lab.gym.envs.types) ControlPartCommandPreset (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.simulation) ControlPartCommandProfile (class in embodichain.lab.sim.atomic_actions) ControlPartEndpoint (class in embodichain.lab.task_program.semantics) ControlPartEndpointAdapter (class in embodichain.lab.task_program.semantics) ControlPartEndpointBinding (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.simulation) ControlPartEvidenceAddress (class in embodichain.lab.task_program.semantics) ControlPartEvidenceProviderDeclaration (class in embodichain.lab.task_program.integrations) ControlPartEvidenceProviderFactory (class in embodichain.lab.task_program.integrations) ControlPartResourceBinding (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.simulation) ControlPartRobotEvidenceSource (class in embodichain.lab.task_program.semantics) ControlParts (class in embodichain.data.enum) ControlPartSimulationEvidenceProvider (class in embodichain.lab.task_program.semantics) convert_bytes() (in module embodichain.utils.utility) convert_camera_frame_orientation_convention() (in module embodichain.utils.math) convert_legacy_checkpoint() (in module embodichain_models.dynamics.nerd) (in module embodichain_models.dynamics.nerd.checkpoint) convert_policy_action_for_env() (in module embodichain.learning.rl.evaluation) convert_quat() (in module embodichain.utils.math) convert_to_look_at (embodichain.lab.sim.cfg.WindowCameraPoseCfg attribute) ConvexCollisionChecker (class in embodichain.toolkits.graspkit.pg_grasp) ConvexCollisionCheckerCfg (class in embodichain.toolkits.graspkit.pg_grasp) COORDINATED_HELD_OBJECT (embodichain.lab.task_program.semantics.SymbolicStateDomain attribute) coordinated_held_object() (embodichain.lab.task_program.semantics.SymbolicStateKey class method) coordinated_held_object_updates (embodichain.lab.sim.atomic_actions.StateDelta attribute) coordinated_held_objects (embodichain.lab.sim.atomic_actions.PlanningContext property) (embodichain.lab.sim.atomic_actions.TaskState attribute) CoordinatedHeldObjectCleanupExpectation (class in embodichain.lab.task_program.semantics) CoordinatedPickGoal (class in embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment) CoordinatedPickment (class in embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment) CoordinatedPickmentOptions (class in embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment) CoordinatedPlacement (class in embodichain.lab.sim.atomic_actions.primitives.coordinated_placement) CoordinatedPlacementGoal (class in embodichain.lab.sim.atomic_actions.primitives.coordinated_placement) CoordinatedPlacementOptions (class in embodichain.lab.sim.atomic_actions.primitives.coordinated_placement) coordinator (embodichain.lab.sim.motion.execution.SingleSlotRunner property) copy() (embodichain.compute.kinematics.types.DifferentiableIKCfg method) (embodichain.data_pipeline.configuration.ODSRateMeasurementCfg method) (embodichain.data_pipeline.configuration.ODSReuseProfileCfg method) (embodichain.data_pipeline.configuration.ODSRuntimeCfg method) (embodichain.data_pipeline.datasets.lerobot.LeRobotFieldMappingCfg method) (embodichain.data_pipeline.datasets.LeRobotFieldMappingCfg method), [1] (embodichain.data_pipeline.datasets.sequence.SequenceSpecCfg method) (embodichain.data_pipeline.datasets.SequenceSpecCfg method), [1] (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg method) (embodichain.data_pipeline.engine.OnlineDataEngineCfg method) (embodichain.data_pipeline.runtime.ODSFlowControllerCfg method) (embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_table_aligner.AssetsGroupTableAlignerConfig method) (embodichain.lab.gym.envs.asset_generalization.AssetGeneralizationCfg method) (embodichain.lab.gym.envs.demo.DemoExecutionCfg method) (embodichain.lab.gym.envs.EmbodiedEnvCfg method), [1] (embodichain.lab.gym.envs.EmbodiedEnvCfg.EnvLightCfg method), [1] (embodichain.lab.gym.envs.EnvCfg method), [1] (embodichain.lab.gym.envs.managers.ActionTermCfg method) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg method) (embodichain.lab.gym.envs.managers.EventCfg method) (embodichain.lab.gym.envs.managers.FunctorCfg method) (embodichain.lab.gym.envs.managers.ObservationCfg method) (embodichain.lab.gym.envs.managers.RewardCfg method) (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg method) (embodichain.lab.sim.cfg.source.UsdSourceCfg method) (embodichain.lab.sim.DenoisingCfg method) (embodichain.lab.sim.DLSSCfg method) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg method) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorCfg method) (embodichain.lab.sim.NRDCfg method) (embodichain.lab.sim.scene.expansion.IntraGroupRandomizationCfg method) (embodichain.lab.sim.scene.expansion.MemberRandomizationCfg method) (embodichain.lab.sim.scene.expansion.SceneRandomizationJobCfg method) (embodichain.lab.sim.scene.expansion.SceneRandomizationPolicyCfg method) (embodichain.lab.sim.scene.expansion.SupportOverrideCfg method) (embodichain.lab.sim.scene.geometry.SupportSurfaceConfig method) (embodichain.lab.sim.scene.layout.LayoutCfg method) (embodichain.lab.sim.scene.placement.AABBLayoutConfig method) (embodichain.lab.sim.scene.placement.GroupSupportClampConfig method) (embodichain.lab.sim.scene.validation.SettlingCfg method) (embodichain.lab.sim.sensors.ArticulationContactFilterCfg method) (embodichain.lab.sim.shapes.LoadOption method) (embodichain.lab.task_program.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.BarrierCfg method) (embodichain.lab.task_program.CyclicPoseTargetCfg method) (embodichain.lab.task_program.HandOverCfg method) (embodichain.lab.task_program.integrations.asset_materialization.AssetAdaptationCfg method) (embodichain.lab.task_program.integrations.asset_materialization.AssetPourAdaptationCfg method) (embodichain.lab.task_program.InvokeCfg method) (embodichain.lab.task_program.language.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.language.BarrierCfg method) (embodichain.lab.task_program.language.CyclicPoseTargetCfg method) (embodichain.lab.task_program.language.HandOverCfg method) (embodichain.lab.task_program.language.InvokeCfg method) (embodichain.lab.task_program.language.ObjectLiftedValidatorCfg method) (embodichain.lab.task_program.language.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.language.ObjectRelativePositionValidatorCfg method) (embodichain.lab.task_program.language.ObjectUprightValidatorCfg method) (embodichain.lab.task_program.language.ParallelCfg method) (embodichain.lab.task_program.language.PickCfg method) (embodichain.lab.task_program.language.PlaceCfg method) (embodichain.lab.task_program.language.PoseCfg method) (embodichain.lab.task_program.language.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.language.RepeatCfg method) (embodichain.lab.task_program.language.SegmentCfg method) (embodichain.lab.task_program.language.SequenceCfg method) (embodichain.lab.task_program.language.TargetRefCfg method) (embodichain.lab.task_program.language.TaskProgramCfg method) (embodichain.lab.task_program.language.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.language.WaitStablePostCfg method) (embodichain.lab.task_program.ObjectLiftedValidatorCfg method) (embodichain.lab.task_program.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.ObjectRelativePositionValidatorCfg method) (embodichain.lab.task_program.ObjectUprightValidatorCfg method) (embodichain.lab.task_program.ParallelCfg method) (embodichain.lab.task_program.PickCfg method) (embodichain.lab.task_program.PlaceCfg method) (embodichain.lab.task_program.PoseCfg method) (embodichain.lab.task_program.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.RepeatCfg method) (embodichain.lab.task_program.SegmentCfg method) (embodichain.lab.task_program.SequenceCfg method) (embodichain.lab.task_program.TargetRefCfg method) (embodichain.lab.task_program.TaskProgramCfg method) (embodichain.lab.task_program.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.WaitStablePostCfg method) (embodichain.learning.rl.algo.APGCfg method), [1] (embodichain.learning.rl.algo.GRPOCfg method), [1] (embodichain.learning.rl.algo.PPOCfg method), [1] (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg method) (embodichain.learning.rl.policy_evaluation.camera.PolicyViewerCameraCfg method) (embodichain.learning.rl.policy_evaluation.PolicyViewerCameraCfg method) (embodichain.learning.rl.utils.AlgorithmCfg method) (embodichain.learning.rl.utils.config.AlgorithmCfg method) (embodichain.learning.rl.utils.config.LRSchedulerCfg method) (embodichain.learning.rl.utils.config.OptimizerCfg method) (embodichain.learning.rl.utils.LRSchedulerCfg method) (embodichain.learning.rl.utils.OptimizerCfg method) (embodichain.learning.sl.SupervisedTrainerCfg method) (embodichain.learning.sl.trainer.SupervisedTrainerCfg method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method) (embodichain_benchmarks.motion_generation.config.DomainCfg method) (embodichain_benchmarks.motion_generation.config.EmbodimentSpecCfg method) (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg method) (embodichain_benchmarks.motion_generation.config.PlannerSpecCfg method) (embodichain_benchmarks.motion_generation.config.ProtocolCfg method) (embodichain_benchmarks.motion_generation.config.RobotSpecCfg method) (embodichain_benchmarks.motion_generation.config.SuiteCfg method) (embodichain_benchmarks.motion_generation.config.TrackCfg method) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig method) corner_type (embodichain.lab.sim.cfg.MarkerCfg attribute) corrupt_actor_fn() (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv static method) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv static method) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv static method) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv static method) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv static method) corrupt_actor_observation() (in module embodichain_tasks.locomotion.velocity.contracts.go1.mdp) cost_time_ms (embodichain_benchmarks.motion_generation.metrics.performance.TimedCall attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) count (embodichain.lab.sim.motion.expansion.ManipulabilityBands property) (embodichain.lab.task_program.compiler.CompiledRepeatFrame attribute) (embodichain.lab.task_program.language.RepeatCfg attribute) COUNTER (embodichain.utils.cfg.CfgNode attribute) CoverageIndex (class in embodichain.lab.sim.motion.expansion) Cow (class in embodichain.data.assets.obj_assets) cpu_delta_mb (embodichain_benchmarks.motion_generation.metrics.performance.TimedCall attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) cpu_num (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) create() (embodichain.lab.task_program.integrations.CuroboParallelSafetyValidatorFactory method) (embodichain.lab.task_program.semantics.CompositeEffectMonitorFactory method) (embodichain.lab.task_program.semantics.EffectMonitorFactory method) (embodichain.lab.task_program.semantics.EffectMonitorRegistry method) create_adapter() (embodichain.lab.task_program.integrations.SimulationTaskProgramAdapterFactory method) (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) (embodichain.lab.task_program.integrations.TaskProgramAdapterFactory method) create_atomic_action_engine() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) create_atomic_articulation() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_objects) create_atomic_object() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_objects) create_atomic_skill_provider() (in module embodichain_benchmarks.motion_generation.atomic_skill) create_bridge() (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter method) create_cache() (embodichain.lab.sim.motion.workspace.caches.CacheManager static method) create_cache_from_config() (embodichain.lab.sim.motion.workspace.caches.CacheManager static method) create_control_part_evidence_provider() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) create_cube() (in module embodichain.lab.sim.utility.sim_utils) create_demo_action_list() (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] create_demo_segments() (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] create_effect_evidence_providers() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) create_history() (embodichain.lab.sim.sensors.ContactSensor method) create_instance() (embodichain.lab.sim.material.VisualMaterial method) create_parallel_command_safety_validator() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) create_parallel_safety_validator() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) create_physical_visible_node() (in module embodichain.lab.sim.objects.backends.controls) create_pk_chain() (in module embodichain.lab.sim.utility.solver_utils) create_pk_serial_chain() (in module embodichain.lab.sim.utility.solver_utils) create_plan_transform() (embodichain.lab.task_program.integrations.CombinedTaskProgramExpansionFactory method) (embodichain.lab.task_program.integrations.expansion.CombinedTaskProgramExpansionFactory method) (embodichain.lab.task_program.runtime.expansion.TaskProgramPlanTransformFactory method) (embodichain.lab.task_program.runtime.TaskProgramPlanTransformFactory method) create_planner_adapter() (in module embodichain_benchmarks.motion_generation.registry) create_planning_observation_provider() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) create_registered_semantic_lowerers() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) create_rigid_constraint() (embodichain.lab.sim.sim_manager.SimulationManager method) (in module embodichain.lab.gym.envs.managers.events) create_rigidized_articulation_antipodal_affordance() (in module embodichain.lab.sim.atomic_actions.articulation_geometry) create_rigidized_articulation_antipodal_semantics() (in module embodichain.lab.sim.atomic_actions) create_robot_ik_gizmo_controller() (in module embodichain.lab.sim.objects) create_robot_provider() (in module embodichain_benchmarks.motion_generation.registry) create_robot_skill_profile() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) create_rotation_matrix_from_view() (in module embodichain.utils.math) create_run_directory() (in module embodichain_benchmarks.motion_generation.artifacts) create_runtime_entities() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) create_sampler() (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory method) (in module embodichain.lab.sim.motion.workspace.samplers) create_scenario_provider() (in module embodichain_benchmarks.motion_generation.registry) create_scene_registry() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) create_simulation_atomic_action_engine() (in module embodichain.lab.sim.atomic_actions) create_simulation_task_program_adapter() (in module embodichain.lab.task_program.integrations) create_sphere() (in module embodichain.lab.sim.utility.sim_utils) create_split_manifest() (in module embodichain.data_pipeline.datasets.inspection) create_task_program_bridge() (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] create_video_writer() (in module embodichain.utils.utility) create_visual_material() (embodichain.lab.sim.sim_manager.SimulationManager method) create_visualizer() (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory method) (in module embodichain.lab.sim.motion.workspace.visualizers) CREATED (embodichain.data_pipeline.engine.OnlineDataEngineState attribute) crf (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] criteria (embodichain_benchmarks.motion_generation.evaluation.StageCriterion attribute) Criterion (class in embodichain_benchmarks.motion_generation.evaluation) critic_observation_dim (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig attribute) CubeCfg (class in embodichain.lab.sim.shapes) CubeInitialPoseProvider (class in embodichain.lab.sim.motion.expansion) (class in embodichain.lab.sim.motion.expansion.combined) CuroboAdapter (class in embodichain_benchmarks.motion_generation.planners.curobo) CuroboParallelCommandSafetyValidator (class in embodichain.lab.task_program.integrations) CuroboParallelSafetyValidatorFactory (class in embodichain.lab.task_program.integrations) current_call_index (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) current_frame (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskEnvironment property) current_learning_rate() (embodichain.learning.rl.algo.BaseAlgorithm method), [1] current_mode (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer attribute) current_pose (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) current_qpos() (embodichain.lab.gym.envs.task_program.GymPlanningObservationProvider method) current_warp_stream() (in module embodichain.utils.device_utils) custom_config (embodichain.lab.task_program.semantics.ContainerAffordance attribute) (embodichain.lab.task_program.semantics.SupportSurfaceAffordance attribute) custom_post_init() (in module embodichain.utils.configclass) cycle_index (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord attribute) CycleRecipe (class in embodichain.lab.sim.motion.expansion) (class in embodichain.lab.sim.motion.expansion.combined) CyclicPoseTargetCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language)

D

damp (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) damped_least_squares_step() (in module embodichain.compute.kinematics.dls) damping (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) (embodichain.lab.sim.cfg.NewtonJointDrivePropertiesCfg attribute) damping_decay (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) damping_growth (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) data (embodichain.lab.sim.objects.deformable.DeformableObject property) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig attribute) data_schema_fingerprint() (in module embodichain.data_pipeline.datasets), [1] (in module embodichain.data_pipeline.datasets.schema) database_size (embodichain.lab.sim.motion.solvers.qpos_seed_sel_sampler.QposSeedSelSampler property) DataBudgetExhaustedError, [1], [2] dataset (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] dataset_fingerprint() (in module embodichain_models.dynamics.nerd.data) dataset_manager (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) dataset_path (embodichain.lab.gym.envs.managers.datasets.LeRobotRecorder property) DatasetFunctorCfg (class in embodichain.lab.gym.envs.managers) DatasetManager (class in embodichain.lab.gym.envs.managers) (class in embodichain.lab.gym.envs.managers.dataset_manager) DatasetValidationIssue (class in embodichain.data_pipeline.datasets.inspection) DatasetValidationReport (class in embodichain.data_pipeline.datasets.inspection) DataUnavailableError, [1], [2] deactivate() (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.ActiveCaseGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.CaseSampleCountGraspPoseGenerator method) deactivate_rows() (embodichain.lab.sim.atomic_actions.ExecutionRunner method) (embodichain.lab.sim.atomic_actions.ExecutionSession method) (embodichain.lab.task_program.runtime.SemanticCallExecutor method) debug (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg attribute) debug_mode (embodichain.lab.sim.cfg.NewtonPhysicsCfg attribute) DeclarativeValue (in module embodichain.lab.task_program.semantics) declare() (embodichain.lab.task_program.integrations.ControlPartCommandPreset method) (embodichain.lab.task_program.integrations.ControlPartEndpointBinding method) (embodichain.lab.task_program.integrations.ControlPartResourceBinding method) (embodichain.lab.task_program.integrations.simulation.ControlPartCommandPreset method) (embodichain.lab.task_program.integrations.simulation.ControlPartEndpointBinding method) (embodichain.lab.task_program.integrations.simulation.ControlPartResourceBinding method) (embodichain.lab.task_program.integrations.simulation.SimulationRobotSkillProfileBinding method) (embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding method) (embodichain.lab.task_program.integrations.SimulationRobotSkillProfileBinding method) (embodichain.lab.task_program.integrations.SimulationSceneBinding method) declare_control_part_evidence_factory() (in module embodichain.lab.task_program.integrations.extensions) declare_endpoint_adapter() (in module embodichain.lab.task_program.integrations.extensions) declare_fragment() (in module embodichain.lab.sim.scene.composition) declare_parallel_safety_factory() (in module embodichain.lab.task_program.integrations.extensions) declare_registered_semantic_lowerer_factory() (in module embodichain.lab.task_program.integrations.extensions) declare_runtime_transport() (in module embodichain.lab.task_program.integrations.extensions) decode() (embodichain_models.dynamics.nerd.codec.NeRDStateCodec method) decode_mllm_task_program() (in module embodichain.agents.mllm) decode_task_program() (in module embodichain.lab.task_program) (in module embodichain.lab.task_program.language) decorate_str_color() (in module embodichain.utils.logger) default_affordances (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) default_articulation_clone_options() (in module embodichain.lab.sim.utility.sim_utils) default_com_pose (embodichain.lab.sim.objects.ArticulationData property) (embodichain.lab.sim.objects.RigidBodyData property) (embodichain.lab.sim.objects.RigidBodyGroupData property) DEFAULT_CONTROL_PART_PRIORITY (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer attribute) default_grasp_affordance (embodichain.lab.task_program.integrations.simulation.SimulationRigidizedArticulationObjectBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidObjectBinding attribute) default_inertia (embodichain.lab.sim.objects.ArticulationData property) (embodichain.lab.sim.objects.RigidBodyData property) (embodichain.lab.sim.objects.RigidBodyGroupData property) default_joint_position (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig attribute) default_link_masses (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) default_mass (embodichain.lab.sim.objects.ArticulationData property) (embodichain.lab.sim.objects.RigidBodyData property) (embodichain.lab.sim.objects.RigidBodyGroupData property) (embodichain.lab.sim.objects.RigidObject property) default_nodal_state_w (embodichain.lab.sim.objects.deformable.DeformableObjectData property) default_options (embodichain.lab.sim.atomic_actions.AtomicAction property) default_physical_properties_initialized (embodichain.lab.sim.objects.ArticulationData property) (embodichain.lab.sim.objects.RigidBodyData property) (embodichain.lab.sim.objects.RigidBodyGroupData property) default_plan_options() (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner method) default_preset (embodichain.lab.task_program.integrations.simulation.SimulationRobotSkillProfileBinding attribute) default_rigid_object_clone_options() (in module embodichain.lab.sim.utility.sim_utils) default_seed() (embodichain.learning.layers.kinematics.KinematicsLayer method) default_simulation_settle_presets() (in module embodichain.lab.task_program.integrations) default_variant_factors() (in module embodichain.lab.sim.motion.expansion) DefaultCollisionPropertiesCfg (class in embodichain.lab.sim.cfg) DefaultJointPositionAction (class in embodichain.lab.gym.envs.managers) DefaultMaterials (class in embodichain.data.assets.materials) DefaultPhysicsCfg (class in embodichain.lab.sim.cfg) DefaultRigidBodyPropertiesCfg (class in embodichain.lab.sim.cfg) defaults (embodichain.lab.task_program.integrations.simulation.SimulationRobotSkillProfileBinding attribute) deform_task_space_trajectory() (in module embodichain.lab.sim.motion.expansion) deformable_type (embodichain.lab.sim.cfg.DeformableObjectCfg attribute) (embodichain.lab.sim.cfg.SurfaceDeformableObjectCfg attribute) (embodichain.lab.sim.cfg.VolumeDeformableObjectCfg attribute) (embodichain.lab.sim.objects.deformable.DeformableObject property) DeformableObject (class in embodichain.lab.sim.objects.deformable) DeformableObjectCfg (class in embodichain.lab.sim.cfg) DeformableObjectData (class in embodichain.lab.sim.objects.deformable) DemoEpisodeResult (class in embodichain.lab.gym.envs.demo) DemoExecutionCfg (class in embodichain.lab.gym.envs.demo) DemoOutputMode (in module embodichain.lab.gym.envs.demo) DemoSegment (class in embodichain.lab.gym.envs.demo) DemoSegmentOutcomeKind (in module embodichain.lab.gym.envs.demo) DemoSegmentResult (class in embodichain.lab.gym.envs.demo) denoising (embodichain.lab.sim.cfg.RenderCfg attribute) denoising_range (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) DenoisingCfg (class in embodichain.lab.sim) (class in embodichain.lab.sim.cfg) DenoisingMode (in module embodichain.lab.sim) density (embodichain.lab.sim.cfg.MassPropertiesCfg attribute) (embodichain.lab.sim.cfg.SurfaceDeformablePhysicsCfg attribute) (embodichain.lab.sim.cfg.VolumeDeformablePhysicsCfg attribute) (embodichain.lab.sim.motion.workspace.configs.MetricConfig attribute) DENSITY (embodichain.lab.sim.motion.workspace.configs.MetricType attribute) DensityConfig (class in embodichain.lab.sim.motion.workspace.configs) DensityMetric (class in embodichain.lab.sim.motion.workspace.metrics) depth() (embodichain.utils.cfg.CfgNode method) depth_max (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] depth_min (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] DepthCodecError DepthSidecarManager (class in embodichain.data_pipeline.depth_video.writer) DepthVideoCfg (class in embodichain.data_pipeline.depth_video.cfg) DepthVideoLibrary (class in embodichain.data_pipeline.depth_video.reader) DepthVideoReader (class in embodichain.data_pipeline.depth_video.reader) DepthVideoWriter (class in embodichain.data_pipeline.depth_video.writer) dequantize_depth() (in module embodichain.data_pipeline.depth_video.depth_utils) describe_entities() (embodichain.lab.sim.scene.query.SceneView method) describe_manipulability() (in module embodichain.lab.sim.motion.expansion) describe_trajectory() (in module embodichain.lab.sim.motion.expansion) descriptor (embodichain.lab.gym.envs.managers.ActionTerm property) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction property) (embodichain.lab.gym.envs.managers.EefPoseAction property) (embodichain.lab.gym.envs.managers.JointEffortAction property) (embodichain.lab.gym.envs.managers.JointPositionAction property) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction property) (embodichain.lab.gym.envs.managers.JointVelocityAction property) (embodichain.lab.gym.envs.managers.ParallelGripperAction property) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction property) (embodichain.lab.task_program.semantics.LinkedSemanticCall attribute) descriptor() (embodichain.lab.sim.atomic_actions.AtomicAction class method) descriptors (embodichain.lab.gym.envs.managers.ActionManager property) (embodichain.lab.task_program.semantics.SemanticCallCatalog property) desired_kl (embodichain.learning.rl.algo.PPOCfg attribute), [1] destination_key (embodichain.lab.sim.atomic_actions.EndpointBinding property) (embodichain.lab.sim.atomic_actions.EndpointCommand property) destroy() (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.deformable.DeformableObject method) (embodichain.lab.sim.objects.Gizmo method) (embodichain.lab.sim.objects.Light method) (embodichain.lab.sim.objects.RigidConstraint method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.VisualObject method) (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) (embodichain.lab.sim.sim_manager.SimulationManager method) destroy_articulation_entities() (in module embodichain.lab.sim.objects.backends.lifecycle) destroy_rigid_entities() (in module embodichain.lab.sim.objects.backends.lifecycle) detach_native_window() (embodichain.lab.sim.objects.Gizmo method) detach_state() (embodichain.learning.rl.collector.DifferentiableCollector method) (embodichain.learning.rl.env.DifferentiableVecEnv method) DETACHED (embodichain.lab.task_program.semantics.HeldObjectRelation attribute) detached_rotation_threshold (embodichain.lab.task_program.semantics.CompositeEffectMonitorCfg attribute) detached_translation_threshold (embodichain.lab.task_program.semantics.CompositeEffectMonitorCfg attribute) detect() (embodichain.gen_sim.scene_engine.pipeline.utils.table_support_surface.TableSupportSurfaceDetector method) detect_depth_encoder() (in module embodichain.data_pipeline.depth_video.codec) detect_support_region() (in module embodichain.lab.sim.scene.geometry) deterministic_actions (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) DeterministicCenterGraspPoseGenerator (class in embodichain_benchmarks.motion_generation.scenarios.atomic_grasps) Device (class in embodichain.lab.devices) device (embodichain.data_pipeline.engine.OnlineDataEngine attribute) (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] (embodichain.lab.gym.envs.managers.ActionManager property) (embodichain.lab.gym.envs.managers.ActionTerm property) (embodichain.lab.gym.envs.managers.DatasetManager property) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction property) (embodichain.lab.gym.envs.managers.EefPoseAction property) (embodichain.lab.gym.envs.managers.EventManager property) (embodichain.lab.gym.envs.managers.Functor property) (embodichain.lab.gym.envs.managers.JointEffortAction property) (embodichain.lab.gym.envs.managers.JointPositionAction property) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction property) (embodichain.lab.gym.envs.managers.JointVelocityAction property) (embodichain.lab.gym.envs.managers.ManagerBase property) (embodichain.lab.gym.envs.managers.ObservationManager property) (embodichain.lab.gym.envs.managers.ParallelGripperAction property) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction property) (embodichain.lab.gym.envs.managers.RewardManager property) (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationGeometryProvider attribute) (embodichain.lab.sim.atomic_actions.AtomicAction property) (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) (embodichain.lab.sim.atomic_actions.EndpointCommand property) (embodichain.lab.sim.atomic_actions.JointPositionPayload property) (embodichain.lab.sim.atomic_actions.RuntimeCommandFrame property) (embodichain.lab.sim.atomic_actions.RuntimeCommandPayload property) (embodichain.lab.sim.atomic_actions.TaskState attribute) (embodichain.lab.sim.atomic_actions.TimedCommandSequence property) (embodichain.lab.sim.cfg.DefaultPhysicsCfg attribute) (embodichain.lab.sim.cfg.NewtonPhysicsCfg attribute) (embodichain.lab.sim.cfg.PhysicsBackendCfg attribute) (embodichain.lab.sim.common.BatchEntity attribute) (embodichain.lab.sim.motion.workspace.RobotWorkspace property) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace property) (embodichain.lab.sim.motion.workspace.samplers.BaseSampler attribute) (embodichain.lab.sim.sim_manager.SimulationManagerCfg property) (embodichain.learning.rl.algo.APG attribute), [1] (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.BaseAlgorithm attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.env.LearningVecEnv attribute) (embodichain.learning.rl.policies.Policy attribute) (embodichain.learning.rl.policy_evaluation.MotionProfileRequest attribute) (embodichain.learning.rl.policy_evaluation.profile.MotionProfileRequest attribute) (embodichain.learning.rl.runtime.PolicyRuntime attribute) (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute) (embodichain_benchmarks.motion_generation.planners.base.PlannerContext attribute)

Device (in module embodichain.lab.sim.types) DeviceController (class in embodichain.lab.devices) DexforceW1ChassisV021 (class in embodichain.data.assets.w1_assets) DexforceW1EyesV021 (class in embodichain.data.assets.w1_assets) DexforceW1HeadV021 (class in embodichain.data.assets.w1_assets) DexforceW1LeftArmV021 (class in embodichain.data.assets.w1_assets) DexforceW1RightArmV021 (class in embodichain.data.assets.w1_assets) DexforceW1TorsoV021 (class in embodichain.data.assets.w1_assets) DexforceW1V021 (class in embodichain.data.assets.w1_assets) DexforceW1V022 (class in embodichain.data.assets.w1_assets) DexforceW1V025 (class in embodichain.data.assets.w1_assets) DexforceW1V030 (class in embodichain.data.assets.w1_assets) dexsim_startup_info (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) DEXTROUSHAND (embodichain.data.enum.EndEffector attribute) DH_AG95 (class in embodichain.data.assets.eef_assets) dh_matrix() (embodichain.lab.sim.motion.solvers.URSolver static method) dh_params (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) DH_PGC_140_50 (class in embodichain.data.assets.eef_assets) DH_PGC_140_50_M (class in embodichain.data.assets.eef_assets) DH_PGI_140_80 (class in embodichain.data.assets.eef_assets) DIAGNOSTIC_BASELINE (embodichain_benchmarks.motion_generation.models.AlgorithmRole attribute) dict() (embodichain.utils.cfg.CfgNode method) dict2args() (in module embodichain.utils.utility) dict_to_tensordict() (in module embodichain.learning.rl.utils) (in module embodichain.learning.rl.utils.helper) diff() (embodichain.utils.cfg.CfgNode method) DIFFERENTIABLE (embodichain.learning.rl.algo.RolloutKind attribute), [1] differentiable_runtime (embodichain.lab.sim.sim_manager.SimulationManager property) DifferentiableCollector (class in embodichain.learning.rl.collector) DifferentiableEnv (class in embodichain.lab.gym.envs.differentiable_env) DifferentiableIKCfg (class in embodichain.compute.kinematics.types) DifferentiableIKLayer (class in embodichain.learning.layers.ik) DifferentiableIKResult (class in embodichain.compute.kinematics.types) DifferentiableRollout (class in embodichain.learning.rl.collector) DifferentiableRolloutSpec (class in embodichain.learning.rl.env) DifferentiableTrainer (class in embodichain.learning.rl.differentiable_trainer) DifferentiableTrainerCfg (class in embodichain.learning.rl.differentiable_trainer) DifferentiableTransition (class in embodichain.learning.rl.collector) DifferentiableVecEnv (class in embodichain.learning.rl.env) DifferentialSolver (class in embodichain.lab.sim.motion.solvers) DifferentialSolverCfg (class in embodichain.lab.sim.motion.solvers) differentiate_positions() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.timing) (in module embodichain.lab.sim.utility.action_utils) difficulty() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) diffuse_prepass_blur_radius (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) DimensionConstraint (class in embodichain.lab.sim.motion.workspace.configs) direction (embodichain.lab.sim.atomic_actions.primitives.slide.SlideOptions attribute) (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) DirectoryAssetProvider (class in embodichain.data.asset_catalog) (class in embodichain.data.asset_catalog.local) disable_entity_gizmo() (embodichain.lab.sim.sim_manager.SimulationManager method) disable_gizmo() (embodichain.lab.sim.sim_manager.SimulationManager method) disable_strong_friction (embodichain.lab.sim.cfg.DefaultCollisionPropertiesCfg attribute) discard_and_clear() (embodichain.lab.gym.envs.managers.record.record_camera_data method) discard_pending() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) discover() (embodichain.lab.task_program.semantics.SemanticCallCatalog method) discover_task_packages() (in module embodichain.lab.gym.utils.registration) DisjointResourceSlots (class in embodichain.lab.sim.atomic_actions) DisjointSlotEndpoints (class in embodichain.lab.sim.atomic_actions) DiskCache (class in embodichain.lab.sim.motion.workspace.caches) disocclusion_threshold (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) disocclusion_threshold_alternate (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) disocclusion_threshold_mix_enabled (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) DISTANCE (embodichain.lab.sim.motion.planners.TrajectorySampleMethod attribute) distance_between_objects() (in module embodichain.lab.gym.envs.managers.rewards) distance_bins (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) distance_to_target() (in module embodichain.lab.gym.envs.managers.rewards) distance_unit (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) dlss (embodichain.lab.sim.cfg.RenderCfg attribute) dlss_quality (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) DLSSCfg (class in embodichain.lab.sim) (class in embodichain.lab.sim.cfg) do_process_decorator() (in module embodichain.utils.utility) dof (embodichain.lab.sim.atomic_actions.JointPositionPayload property) (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.backends.ArticulationViewBase attribute) (embodichain.lab.sim.objects.backends.SceneArticulationView property) (embodichain.lab.sim.objects.Robot property) (embodichain.learning.layers.kinematics.KinematicsLayer property) domain (embodichain.lab.task_program.semantics.SymbolicStateKey attribute) (embodichain_benchmarks.motion_generation.config.TrackCfg attribute) (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) DomainCfg (class in embodichain_benchmarks.motion_generation.config) domains (embodichain_benchmarks.motion_generation.config.TrackCfg attribute) DONE (embodichain.data.enum.LeRobotKey attribute) done (embodichain.learning.rl.collector.DifferentiableTransition property) door_waypoint_count (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorOptions attribute) download_asset() (in module embodichain.data.download) download_pretrained_policy() (in module embodichain.data.assets.policy_assets) downstream_object_target_poses (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) drain() (embodichain.lab.visualization.GizmoCommandQueue method) (embodichain.lab.visualization.JointControlCommandQueue method) drain_events() (embodichain.data_pipeline.runtime.ODSFlowController method) drain_gizmo_commands() (embodichain.lab.visualization.VisualizationRuntime method) drain_joint_control_commands() (embodichain.lab.visualization.VisualizationRuntime method) drain_lifecycle_events() (embodichain.data_pipeline.engine.OnlineDataEngine method) drain_pick_commands() (embodichain.lab.visualization.VisualizationRuntime method) drain_replay_control_command() (embodichain.lab.visualization.VisualizationRuntime method) drain_safe_stop_action() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) draw_action_distribution() (in module embodichain.utils.visualizer) draw_axis() (in module embodichain.lab.sim.utility.atom_action_utils) draw_feature() (in module embodichain.utils.visualizer) draw_keypoints() (in module embodichain.utils.visualizer) draw_marker() (embodichain.lab.sim.sim_manager.SimulationManager method) Drawer (class in embodichain.data.assets.obj_assets) DrawerUSD (class in embodichain.data.assets.obj_assets) drive_type (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) (embodichain.lab.sim.cfg.NewtonJointDrivePropertiesCfg attribute) drop_rigid_object_group_sequentially() (in module embodichain.lab.gym.envs.managers.events) dropped_contacts (embodichain.lab.sim.sensors.ContactSensor property) dropped_frames (embodichain.lab.visualization.RuntimeStats attribute) dropped_image_frames (embodichain.lab.visualization.RuntimeStats attribute) dt (embodichain.lab.sim.atomic_actions.TimedTrajectory attribute) (embodichain.lab.sim.motion.planners.PlanResult attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) dual_part (embodichain.lab.sim.robots.DualArmRobotCfg attribute) DualArmProvider (class in embodichain_benchmarks.motion_generation.robots.dual_arm) DualArmRobotCfg (class in embodichain.lab.sim.robots) DualArmRobotCfg.SolverCfg (class in embodichain.lab.sim.robots) dump() (embodichain.utils.cfg.CfgNode method) duration (embodichain.lab.sim.atomic_actions.TimedTrajectory property) (embodichain.lab.sim.motion.planners.PlanResult property) dwell_duration (embodichain.lab.sim.atomic_actions.primitives.pour.PourOptions attribute) dynamic_collision_entity_ids (embodichain.lab.sim.motion.motion_generator.MotionGenerator property) (embodichain.lab.task_program.semantics.SceneRegistry property) dynamic_collision_mode (embodichain.lab.sim.atomic_actions.MotionPolicy attribute) dynamic_friction (embodichain.lab.sim.cfg.NewtonRigidBodyMaterialCfg attribute) (embodichain.lab.sim.cfg.RigidBodyMaterialCfg attribute) dynamic_geometry (embodichain.lab.visualization.SceneNode attribute) dynamic_limit_tolerance (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) dynamic_limits_satisfied (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) dynamic_measurement_status (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) dynamic_meshes (embodichain.lab.visualization.SceneFrame attribute) DynamicMeshUpdate (class in embodichain.lab.visualization) dynamics (embodichain.lab.task_program.integrations.simulation.SimulationArticulationBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationArticulationLinkBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidizedArticulationObjectBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidObjectBinding attribute) (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) DynamicSettleMonitor (class in embodichain.lab.gym.envs.settling) DynamicSettleMonitorCfg (class in embodichain.lab.gym.envs.settling) DynamicSettleSample (class in embodichain.lab.gym.envs.settling) DynamicSettleState (class in embodichain.lab.gym.envs.settling) DynamicsShardWriter (class in embodichain_models.dynamics.nerd.data) DynamicsWindowDataset (class in embodichain_models.dynamics.nerd.data)

E

edge_kd (embodichain.lab.sim.cfg.SurfaceElementPropertiesCfg attribute) edge_ke (embodichain.lab.sim.cfg.SurfaceElementPropertiesCfg attribute) EEF (embodichain.data.enum.Hints attribute) EEF_MOVE (embodichain.lab.sim.motion.planners.MoveType attribute), [1] eef_pose (embodichain.lab.sim.motion.workspace.runtime.WorkspaceSample attribute) (embodichain.lab.sim.motion.workspace.WorkspaceSample attribute) EefExecute (class in embodichain.data.enum) EefPoseAction (class in embodichain.lab.gym.envs.managers) EefType (class in embodichain.data.enum) effect_candidates (embodichain.lab.sim.atomic_actions.ActionPlan attribute) effect_evidence_source_keys (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) effect_monitors (embodichain.lab.task_program.semantics.SkillPolicyPreset property) effect_sources (embodichain.lab.task_program.semantics.EndpointResolution attribute) effect_verification_pending (embodichain.lab.sim.atomic_actions.ExecutionRunner property) (embodichain.lab.sim.atomic_actions.ExecutionSession property) EffectAssurance (class in embodichain.lab.task_program.semantics) EffectClause (in module embodichain.lab.task_program.semantics) EffectEvidenceAddress (class in embodichain.lab.task_program.semantics) EffectEvidenceBatch (in module embodichain.lab.task_program.semantics) EffectEvidenceCollectionContext (class in embodichain.lab.task_program.semantics) EffectEvidenceCollector (class in embodichain.lab.task_program.semantics) EffectEvidenceProvider (class in embodichain.lab.task_program.semantics) EffectEvidenceProviderRegistry (class in embodichain.lab.task_program.semantics) EffectEvidenceQuery (class in embodichain.lab.task_program.semantics) EffectEvidenceQueryValue (in module embodichain.lab.task_program.semantics) EffectEvidenceSourceRef (class in embodichain.lab.task_program.semantics) EffectExpectationDecision (class in embodichain.lab.task_program.semantics) effective_duration (embodichain.learning.rl.policy_evaluation.viewer.NativeViewerResult attribute) effective_motion_algorithm (embodichain_benchmarks.motion_generation.models.TrialRecord property) EffectMonitor (class in embodichain.lab.task_program.semantics) EffectMonitorDecision (class in embodichain.lab.task_program.semantics) EffectMonitorFactory (class in embodichain.lab.task_program.semantics) EffectMonitorParam (in module embodichain.lab.task_program.semantics) EffectMonitorRef (class in embodichain.lab.task_program.semantics) EffectMonitorRegistry (class in embodichain.lab.task_program.semantics) effects (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) EffectStateExpectation (in module embodichain.lab.task_program.semantics) EffectVerificationRequest (class in embodichain.lab.sim.atomic_actions) EffectVerificationRequirement (class in embodichain.lab.sim.atomic_actions) EffectVerificationResult (class in embodichain.lab.sim.atomic_actions) elasticity_damping (embodichain.lab.sim.cfg.VolumeDeformablePhysicsCfg attribute) eligible_mask (embodichain.lab.sim.atomic_actions.ExecutionSession property) (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) ellipsoid_axes (embodichain.lab.sim.motion.workspace.visualizers.PointInspection attribute), [1] ellipsoid_radii (embodichain.lab.sim.motion.workspace.visualizers.PointInspection attribute), [1] ellipsoid_surface() (in module embodichain.lab.sim.motion.workspace.visualizers) embedding_impl (embodichain.lab.sim.cfg.VolumeDeformableMeshingCfg attribute) embodichain.cli.benchmark module embodichain.compute.geometry.aabb module embodichain.compute.geometry.mesh module embodichain.compute.geometry.rigid module embodichain.compute.geometry.transforms module embodichain.compute.kinematics.dls module embodichain.compute.kinematics.manipulability module embodichain.compute.kinematics.pose_error module embodichain.compute.kinematics.serial_chain module embodichain.compute.kinematics.types module embodichain.compute.trajectory module embodichain.compute.trajectory.interpolation module embodichain.compute.trajectory.resampling module embodichain.compute.trajectory.timing module embodichain.compute.trajectory.warping module embodichain.data module embodichain.data.assets module embodichain.data.assets.locomotion_assets module embodichain.data.assets.obj_assets module embodichain.data.assets.robot_assets module embodichain.data.assets.so101_assets module embodichain.data.constants module embodichain.data.dataset module embodichain.data.download module embodichain.data.enum module embodichain.data_pipeline module embodichain.data_pipeline.datasets module, [1], [2] embodichain.data_pipeline.datasets.inspection module embodichain.data_pipeline.datasets.lerobot module embodichain.data_pipeline.datasets.offline_data module embodichain.data_pipeline.datasets.online_data module embodichain.data_pipeline.datasets.sampler module embodichain.data_pipeline.datasets.schema module embodichain.data_pipeline.datasets.sequence module embodichain.data_pipeline.datasets.sequence_data module embodichain.data_pipeline.datasets.sources module embodichain.data_pipeline.depth_video module embodichain.data_pipeline.depth_video.cfg module embodichain.data_pipeline.depth_video.codec module embodichain.data_pipeline.depth_video.depth_utils module embodichain.data_pipeline.depth_video.reader module embodichain.data_pipeline.depth_video.writer module embodichain.data_pipeline.engine module, [1] embodichain.data_pipeline.engine.language module embodichain.data_pipeline.recording module embodichain.data_pipeline.recording.journal module embodichain.data_pipeline.recording.provenance module embodichain.data_pipeline.recording.segments module embodichain.data_pipeline.runtime module embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_layout_optimizer module embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_support_clamp module embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_table_aligner module embodichain.gen_sim.scene_engine.pipeline.utils.gravity_settler module embodichain.gen_sim.scene_engine.pipeline.utils.parent_surface_layout_optimizer module embodichain.gen_sim.scene_engine.pipeline.utils.table_support_surface module embodichain.gen_sim.scene_engine.pipeline.utils.table_surface_layout_optimizer module embodichain.lab module embodichain.lab.devices module embodichain.lab.gym module embodichain.lab.gym.envs module embodichain.lab.gym.envs.managers module embodichain.lab.gym.envs.managers.async_datasets module embodichain.lab.gym.envs.managers.dataset_manager module embodichain.lab.gym.envs.managers.datasets module embodichain.lab.gym.envs.managers.events module embodichain.lab.gym.envs.managers.observations module embodichain.lab.gym.envs.managers.randomization module embodichain.lab.gym.envs.managers.randomization.geometry module embodichain.lab.gym.envs.managers.randomization.physics module embodichain.lab.gym.envs.managers.randomization.spatial module embodichain.lab.gym.envs.managers.randomization.visual module embodichain.lab.gym.envs.managers.record module embodichain.lab.gym.envs.managers.rewards module embodichain.lab.gym.utils module embodichain.lab.gym.utils.gym_utils module, [1] embodichain.lab.gym.utils.misc module, [1] embodichain.lab.gym.utils.profiler module embodichain.lab.gym.utils.registration module embodichain.lab.sim module embodichain.lab.sim.atomic_actions.primitives.axis_align module embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment module embodichain.lab.sim.atomic_actions.primitives.coordinated_placement module embodichain.lab.sim.atomic_actions.primitives.hand_over module embodichain.lab.sim.atomic_actions.primitives.move_end_effector module embodichain.lab.sim.atomic_actions.primitives.move_held_object module embodichain.lab.sim.atomic_actions.primitives.move_joints module embodichain.lab.sim.atomic_actions.primitives.open_door module embodichain.lab.sim.atomic_actions.primitives.pick_up module embodichain.lab.sim.atomic_actions.primitives.place module embodichain.lab.sim.atomic_actions.primitives.pour module embodichain.lab.sim.atomic_actions.primitives.press module embodichain.lab.sim.atomic_actions.primitives.push_object module embodichain.lab.sim.atomic_actions.primitives.slide module embodichain.lab.sim.atomic_actions.primitives.twist module embodichain.lab.sim.cfg module, [1] embodichain.lab.sim.common module embodichain.lab.sim.material module embodichain.lab.sim.motion module embodichain.lab.sim.motion.execution module embodichain.lab.sim.motion.motion_generator module embodichain.lab.sim.motion.planners module embodichain.lab.sim.motion.solvers module embodichain.lab.sim.motion.workspace module embodichain.lab.sim.motion.workspace.analyzer module embodichain.lab.sim.motion.workspace.caches module embodichain.lab.sim.motion.workspace.cfg module embodichain.lab.sim.motion.workspace.configs module embodichain.lab.sim.motion.workspace.constraints module embodichain.lab.sim.motion.workspace.metrics module embodichain.lab.sim.motion.workspace.runtime module embodichain.lab.sim.motion.workspace.samplers module embodichain.lab.sim.motion.workspace.visualizers module embodichain.lab.sim.objects module embodichain.lab.sim.profiler module embodichain.lab.sim.robots module embodichain.lab.sim.scene.composition module embodichain.lab.sim.scene.geometry module embodichain.lab.sim.scene.layout module embodichain.lab.sim.scene.operations module embodichain.lab.sim.scene.placement module embodichain.lab.sim.scene.procedural module embodichain.lab.sim.scene.query module embodichain.lab.sim.scene.state module embodichain.lab.sim.scene.validation module embodichain.lab.sim.sensors module embodichain.lab.sim.sensors.contact_history module embodichain.lab.sim.shapes module embodichain.lab.sim.sim_manager module embodichain.lab.sim.types module, [1] embodichain.lab.sim.utility module embodichain.lab.sim.utility.action_utils module embodichain.lab.sim.utility.atom_action_utils module embodichain.lab.sim.utility.cfg_utils module embodichain.lab.sim.utility.import_utils module embodichain.lab.sim.utility.io_utils module embodichain.lab.sim.utility.keyboard_utils module embodichain.lab.sim.utility.mesh_utils module embodichain.lab.sim.utility.sim_utils module embodichain.lab.sim.utility.solver_utils module embodichain.lab.sim.utility.tensor module embodichain.lab.task_program module embodichain.lab.task_program.compiler module embodichain.lab.task_program.integrations module embodichain.lab.task_program.integrations.simulation module embodichain.lab.task_program.language module embodichain.lab.task_program.runtime module embodichain.lab.task_program.semantics module embodichain.lab.visualization module embodichain.learning module embodichain.learning.layers.ik module embodichain.learning.layers.kinematics module embodichain.learning.models module embodichain.learning.models.mlp module embodichain.learning.models.normalizer module embodichain.learning.rl module, [1] embodichain.learning.rl.algo module, [1], [2] embodichain.learning.rl.buffer module, [1] embodichain.learning.rl.buffer.standard_buffer module embodichain.learning.rl.buffer.utils module embodichain.learning.rl.collector module, [1] embodichain.learning.rl.differentiable_trainer module embodichain.learning.rl.env module embodichain.learning.rl.evaluation module embodichain.learning.rl.gradients module embodichain.learning.rl.normalization module embodichain.learning.rl.policies module embodichain.learning.rl.policies.registry module embodichain.learning.rl.policy_evaluation module embodichain.learning.rl.policy_evaluation.bridge module embodichain.learning.rl.policy_evaluation.camera module embodichain.learning.rl.policy_evaluation.cli module embodichain.learning.rl.policy_evaluation.manifest module embodichain.learning.rl.policy_evaluation.profile module embodichain.learning.rl.policy_evaluation.report module embodichain.learning.rl.policy_evaluation.viewer module embodichain.learning.rl.routing module embodichain.learning.rl.runtime module embodichain.learning.rl.train module, [1], [2] embodichain.learning.rl.utils module, [1] embodichain.learning.rl.utils.config module embodichain.learning.rl.utils.helper module embodichain.learning.rl.utils.trainer module embodichain.toolkits module embodichain.toolkits.urdf_assembly module embodichain.utils module embodichain.utils.cfg module embodichain.utils.config_paths module embodichain.utils.configclass module embodichain.utils.device_utils module embodichain.utils.file module embodichain.utils.img_utils module embodichain.utils.logger module embodichain.utils.math module embodichain.utils.module_utils module embodichain.utils.nms module embodichain.utils.string module embodichain.utils.utility module embodichain.utils.visualizer module embodichain.utils.warp module embodichain.utils.warp.collision module embodichain.utils.warp.collision.convex_query module embodichain.utils.warp.kernels module, [1] embodichain.utils.warp.kinematics module, [1] embodichain.utils.warp.kinematics.interpolate module embodichain.utils.warp.kinematics.opw_solver module, [1] embodichain.utils.warp.kinematics.srs_solver module embodichain.utils.warp.kinematics.ur_solver module embodichain.utils.warp.kinematics.warp_trajectory module, [1] embodichain_benchmarks.motion_generation.aggregation module embodichain_benchmarks.motion_generation.api module embodichain_benchmarks.motion_generation.artifacts module embodichain_benchmarks.motion_generation.atomic_skill module embodichain_benchmarks.motion_generation.cli module embodichain_benchmarks.motion_generation.config module embodichain_benchmarks.motion_generation.contracts module embodichain_benchmarks.motion_generation.embodiments module

embodichain_benchmarks.motion_generation.evaluation module embodichain_benchmarks.motion_generation.generalization module embodichain_benchmarks.motion_generation.limits module embodichain_benchmarks.motion_generation.metrics module embodichain_benchmarks.motion_generation.metrics.performance module embodichain_benchmarks.motion_generation.metrics.stats module embodichain_benchmarks.motion_generation.metrics.trajectory module embodichain_benchmarks.motion_generation.models module embodichain_benchmarks.motion_generation.planners module embodichain_benchmarks.motion_generation.planners.base module embodichain_benchmarks.motion_generation.planners.curobo module embodichain_benchmarks.motion_generation.planners.ik_interpolate module embodichain_benchmarks.motion_generation.planners.nmg_onnx module embodichain_benchmarks.motion_generation.planners.toppra module embodichain_benchmarks.motion_generation.registry module embodichain_benchmarks.motion_generation.reporting module embodichain_benchmarks.motion_generation.robots module embodichain_benchmarks.motion_generation.robots.base module embodichain_benchmarks.motion_generation.robots.dual_arm module embodichain_benchmarks.motion_generation.robots.franka module embodichain_benchmarks.motion_generation.robots.ur5 module embodichain_benchmarks.motion_generation.runner module embodichain_benchmarks.motion_generation.scenarios module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils module embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases module embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation module embodichain_benchmarks.motion_generation.scenarios.atomic_grasps module embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases module embodichain_benchmarks.motion_generation.scenarios.atomic_motion_cases module embodichain_benchmarks.motion_generation.scenarios.atomic_objects module embodichain_benchmarks.motion_generation.scenarios.atomic_policy module embodichain_benchmarks.motion_generation.scenarios.atomic_replay module embodichain_benchmarks.motion_generation.scenarios.atomic_skill module embodichain_benchmarks.motion_generation.scenarios.base module embodichain_benchmarks.motion_generation.scenarios.free_space module embodichain_benchmarks.motion_generation.video module embodichain_robots.ARX5Cfg (built-in class) embodichain_robots.CobotMagicCfg (built-in class) embodichain_robots.dexforce.w1.hand_specs.W1HandSideSpec (built-in class) embodichain_robots.dexforce.w1.hand_specs.W1HandSpec (built-in class) embodichain_robots.dexforce.w1.params.W1ArmKineParams (built-in class) embodichain_robots.dexforce.w1.specs.W1VersionSpec (built-in class) embodichain_robots.dexforce.w1.types.DexforceW1ArmSide (built-in class) embodichain_robots.dexforce.w1.types.DexforceW1HandBrand (built-in class) embodichain_robots.dexforce.w1.types.DexforceW1HandVersion (built-in class) embodichain_robots.dexforce.w1.types.DexforceW1Type (built-in class) embodichain_robots.dexforce.w1.types.DexforceW1Version (built-in class) embodichain_robots.dexforce.w1.utils.ArmManager (built-in class) embodichain_robots.dexforce.w1.utils.ChassisManager (built-in class) embodichain_robots.dexforce.w1.utils.EyesManager (built-in class) embodichain_robots.dexforce.w1.utils.HandManager (built-in class) embodichain_robots.dexforce.w1.utils.HeadManager (built-in class) embodichain_robots.dexforce.w1.utils.TorsoManager (built-in class) embodichain_robots.DexforceW1Cfg (built-in class) embodichain_robots.FlexivRizon4SCfg (built-in class) embodichain_robots.FrankaPandaCfg (built-in class) embodichain_robots.SO101FollowerCfg (built-in class) embodichain_robots.TianjiMarvinCfg (built-in class) embodichain_robots.URRobotCfg (built-in class) embodichain_tasks.classic_control.humanoid.humanoid_run module embodichain_tasks.classic_control.humanoid.mdp module embodichain_tasks.locomotion.managers.observations module embodichain_tasks.locomotion.managers.rewards module embodichain_tasks.locomotion.velocity.anymal_c_flat module embodichain_tasks.locomotion.velocity.contracts.anymal_c.config module embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp module embodichain_tasks.locomotion.velocity.contracts.g1.config module embodichain_tasks.locomotion.velocity.contracts.g1.mdp module embodichain_tasks.locomotion.velocity.contracts.go1.config module embodichain_tasks.locomotion.velocity.contracts.go1.mdp module embodichain_tasks.locomotion.velocity.contracts.go2.config module embodichain_tasks.locomotion.velocity.contracts.go2.mdp module embodichain_tasks.locomotion.velocity.contracts.h1_2.config module embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp module embodichain_tasks.locomotion.velocity.contracts.microduck.config module embodichain_tasks.locomotion.velocity.contracts.microduck.mdp module embodichain_tasks.locomotion.velocity.g1_flat module embodichain_tasks.locomotion.velocity.go1_flat module embodichain_tasks.locomotion.velocity.go2_flat module embodichain_tasks.locomotion.velocity.h1_2_flat module embodichain_tasks.locomotion.velocity.microduck_flat module EmbodiChainDataset (class in embodichain.data.dataset) EmbodiChainTaskEnvironment (class in embodichain.learning.rl.policy_evaluation.viewer) EmbodiChainTaskPolicyAdapter (class in embodichain.learning.rl.policy_evaluation.viewer) EmbodiedEnv (class in embodichain.lab.gym.envs), [1] EmbodiedEnvCfg (class in embodichain.lab.gym.envs), [1] EmbodiedEnvCfg.EnvLightCfg (class in embodichain.lab.gym.envs), [1] embodiment (embodichain_benchmarks.motion_generation.config.SuiteCfg attribute) embodiment_id (embodichain_benchmarks.motion_generation.embodiments.EmbodimentResolution attribute) (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) EmbodimentResolution (class in embodichain_benchmarks.motion_generation.embodiments) EmbodimentRobotProvider (class in embodichain_benchmarks.motion_generation.robots.base) EmbodimentSpecCfg (class in embodichain_benchmarks.motion_generation.config) emissive (embodichain.lab.sim.material.VisualMaterialCfg attribute) (embodichain.lab.sim.material.VisualMaterialInst property) emissive_intensity (embodichain.lab.sim.material.VisualMaterialCfg attribute) (embodichain.lab.sim.material.VisualMaterialInst property) EmpiricalNormalizer (class in embodichain.learning.models) (class in embodichain.learning.models.normalizer) empty() (embodichain.lab.sim.atomic_actions.SceneSnapshot class method) (embodichain.lab.sim.atomic_actions.TaskState class method) (embodichain.lab.sim.atomic_actions.TimedTrajectory class method) enable (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] enable_ccd (embodichain.lab.sim.cfg.DefaultPhysicsCfg attribute) (embodichain.lab.sim.cfg.DefaultRigidBodyPropertiesCfg attribute) enable_collision (embodichain.lab.sim.cfg.RigidBodyPhysicsCfg property) enable_collision() (embodichain.lab.sim.objects.RigidObject method) enable_device_cache() (embodichain_models.dynamics.nerd.data.DynamicsWindowDataset method) enable_entity_gizmo (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) enable_entity_gizmo() (embodichain.lab.sim.sim_manager.SimulationManager method) enable_gizmo() (embodichain.lab.sim.sim_manager.SimulationManager method) enable_hotkey (embodichain.lab.sim.cfg.WindowCameraPoseCfg attribute) (embodichain.lab.sim.cfg.WindowRecordCfg attribute) enable_physics() (embodichain.lab.sim.sim_manager.SimulationManager method) enable_plane_sampling (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) enable_seed_selection (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) enable_sensor (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) enable_shadow (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) enable_shadow() (embodichain.lab.sim.objects.Light method) enable_time (embodichain.lab.sim.profiler.ProfilerCfg attribute) (embodichain.lab.sim.ProfilerCfg attribute) enable_window_camera_pose_hotkey() (embodichain.lab.sim.sim_manager.SimulationManager method) enable_window_record_hotkey() (embodichain.lab.sim.sim_manager.SimulationManager method) enabled (embodichain.lab.sim.motion.workspace.configs.CacheConfig attribute) (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) (embodichain.lab.sim.Profiler property) (embodichain.lab.sim.profiler.Profiler property) (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) (embodichain_benchmarks.motion_generation.config.PlannerSpecCfg attribute) (embodichain_benchmarks.motion_generation.config.TrackCfg attribute) (embodichain_benchmarks.motion_generation.video.VideoRecordCfg attribute) enabled_metrics (embodichain.lab.sim.motion.workspace.configs.MetricConfig attribute) enabled_tracks() (embodichain_benchmarks.motion_generation.config.SuiteCfg method) encode() (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder method) (embodichain_models.dynamics.nerd.codec.NeRDStateCodec method) encode_batch() (in module embodichain_models.dynamics.nerd.integration) encode_expert_action() (in module embodichain.lab.gym.envs.expert_trajectory) encode_hold() (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder method) encode_idle_hold() (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder method) encode_image() (in module embodichain.utils.utility) encode_image_from_path() (in module embodichain.utils.utility) encoder_bias (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) end_effector_part (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario attribute) end_episode() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) end_interaction() (embodichain.lab.sim.objects.Gizmo method) end_link_name (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) end_to_end_success (embodichain_benchmarks.motion_generation.models.CaseOutcome property) end_to_end_time_ms (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioEvaluation attribute) EndEffector (class in embodichain.data.enum) EndEffectorPoseGoal (class in embodichain.lab.sim.atomic_actions.primitives.move_end_effector) endpoint (embodichain.lab.visualization.RuntimeHealth attribute) (embodichain.lab.visualization.VisualizationRuntime property) endpoint() (embodichain.lab.sim.atomic_actions.ActionBinding method) endpoint_adapter_map (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration property) endpoint_bindings (embodichain_benchmarks.motion_generation.config.EmbodimentSpecCfg attribute) (embodichain_benchmarks.motion_generation.embodiments.EmbodimentResolution attribute) endpoint_id (embodichain.lab.sim.atomic_actions.SkillEndpointRequirement attribute) (embodichain.lab.task_program.integrations.simulation.ControlPartEndpointBinding attribute) endpoint_joint_ids (embodichain.lab.task_program.semantics.ResolvedRobotResource property) endpoint_keys (embodichain.lab.sim.atomic_actions.ActionBinding property) endpoint_type (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) EndpointAdapterDeclaration (class in embodichain.lab.task_program.integrations) EndpointBinding (class in embodichain.lab.sim.atomic_actions) EndpointCommand (class in embodichain.lab.sim.atomic_actions) EndpointCommandRouter (class in embodichain.lab.sim.atomic_actions) EndpointCommandTransport (class in embodichain.lab.sim.atomic_actions) EndpointResolution (class in embodichain.lab.task_program.semantics) endpoints (embodichain.lab.sim.atomic_actions.SkillResourceSlot attribute) (embodichain.lab.task_program.integrations.simulation.ControlPartResourceBinding attribute) enforce_collision_free (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) engine (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) (embodichain.lab.task_program.runtime.SemanticCallExecutor property) (embodichain.lab.task_program.semantics.BoundRobotSkillProfile property) (embodichain.lab.task_program.semantics.BoundSemanticIntegration property) enqueue_source() (embodichain.lab.sim.motion.expansion.CandidateCoordinator method) ent_coef (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] entities (embodichain.lab.sim.scene.composition.SceneFragment property) entities() (embodichain.lab.sim.scene.query.SceneView method) entity (embodichain.lab.task_program.compiler.CompiledPostPolicy attribute) (embodichain.lab.task_program.language.WaitStablePostCfg attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicArticulationHandle attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicObjectHandle attribute) entity_id (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) (embodichain.lab.sim.atomic_actions.SceneEntityPose attribute) (embodichain.lab.task_program.integrations.simulation.AntipodalGraspAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.ContainerAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.RigidizedArticulationAntipodalGraspBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationArticulationBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationArticulationLinkBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidizedArticulationObjectBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidObjectBinding attribute) (embodichain.lab.task_program.integrations.simulation.SupportSurfaceAffordanceBinding attribute) (embodichain.lab.task_program.semantics.SceneEntityRef attribute) entity_metadata (embodichain.lab.task_program.semantics.SceneRegistry property) entity_refs (embodichain.lab.task_program.semantics.SceneRegistry property) EntityState (class in embodichain.lab.sim.scene.state) entries (embodichain.lab.task_program.semantics.SceneManifest property) entry_path() (embodichain.lab.sim.motion.workspace.caches.ResultsCache method) enumerate() (embodichain.lab.sim.motion.expansion.combined.CubeInitialPoseProvider method) (embodichain.lab.sim.motion.expansion.CubeInitialPoseProvider method) enumerate_candidate_recipes() (in module embodichain.lab.sim.motion.expansion.combined) env (embodichain.learning.rl.runtime.PolicyRuntime attribute) env_cfg (embodichain.learning.rl.runtime.PolicyRuntime attribute) env_id (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord attribute) (embodichain.lab.visualization.CameraSpec attribute) (embodichain.lab.visualization.GizmoSpec attribute) (embodichain.lab.visualization.JointControlSpec attribute) (embodichain.lab.visualization.SceneNode attribute) (embodichain.learning.rl.runtime.PolicyRuntime attribute) env_ids (embodichain.lab.gym.envs.settling.DynamicSettleMonitor property) (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) (embodichain.lab.task_program.semantics.BinaryEffectEvidenceBatch attribute) (embodichain.lab.task_program.semantics.EffectEvidenceCollectionContext attribute) (embodichain.lab.task_program.semantics.JointStateEvidenceBatch attribute) (embodichain.lab.task_program.semantics.PoseRelationEvidenceBatch attribute) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceBatch attribute) (embodichain.lab.visualization.VisualizationCfg attribute) env_index (embodichain_benchmarks.motion_generation.contracts.PhysicalEvaluation attribute) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) env_mask (embodichain.lab.sim.atomic_actions.HeldObjectState attribute) EnvAction (in module embodichain.lab.sim.types) EnvCfg (class in embodichain.lab.gym.envs), [1] environment_metadata() (in module embodichain_benchmarks.motion_generation.artifacts) EnvironmentStepClock (class in embodichain.lab.gym.envs.task_program) EnvironmentStepTimingError (class in embodichain.lab.gym.envs.task_program) EnvObs (in module embodichain.lab.sim.types) EnvSpec (class in embodichain.lab.gym.utils.registration), [1] episode_ids() (embodichain.lab.sim.motion.expansion.ExpansionSession method) episode_sample_budget (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) episode_sample_hard_limit (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) episode_step (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) episode_success_status (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) EpisodeContext (class in embodichain.lab.gym.envs.episode_context) episodes (embodichain.learning.rl.policy_evaluation.bridge.MotionEvaluationResult attribute) (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskEnvironment property) (embodichain.learning.rl.policy_evaluation.viewer.NativeViewerResult attribute) EpisodeSink (class in embodichain.lab.sim.motion.execution) eps (embodichain.learning.rl.algo.GRPOCfg attribute), [1] equivalent_to() (embodichain.lab.sim.atomic_actions.ControlCommand method) (embodichain.lab.sim.atomic_actions.JointPositionCommand method) estimate_trajectory_sample_count() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) eval_frequency_steps (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) eval_seed (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) evaluate() (embodichain.compute.kinematics.serial_chain.SerialChainKinematics method) (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.learning.layers.kinematics.KinematicsLayer method) (embodichain_benchmarks.motion_generation.contracts.PhysicalStageEvaluator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation.MoveEndEffectorEvaluator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation.MoveHeldObjectEvaluator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation.MoveJointsEvaluator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation.PickUpEvaluator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation.PlaceEvaluator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation.PressEvaluator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation.SlideEvaluator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation.TwistEvaluator method) (embodichain_models.dynamics.nerd.model.NeRDModel method) evaluate_actions() (embodichain.learning.rl.policies.ActorCritic method) (embodichain.learning.rl.policies.ActorOnly method) (embodichain.learning.rl.policies.Policy method) evaluate_case() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) evaluate_episodes() (in module embodichain.learning.rl.evaluation) evaluate_model() (in module embodichain_models.dynamics.nerd.integration) evaluate_motion_profile() (in module embodichain.learning.rl.policy_evaluation.bridge) evaluate_native_viewer() (in module embodichain.learning.rl.policy_evaluation.viewer) evaluate_skill_stage_batch() (in module embodichain_benchmarks.motion_generation.evaluation) evaluate_skill_stages() (in module embodichain_benchmarks.motion_generation.evaluation) evaluation_domains() (embodichain_benchmarks.motion_generation.config.TrackCfg method) evaluation_protocol (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) evaluation_tracks() (embodichain_benchmarks.motion_generation.config.SuiteCfg method) EvaluationDomain (class in embodichain_benchmarks.motion_generation.contracts) event_manager (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) EventCfg (class in embodichain.lab.gym.envs.managers) EventManager (class in embodichain.lab.gym.envs.managers) events (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) evidence (embodichain.lab.sim.atomic_actions.RunnerStep attribute) evidence_collector (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) evidence_id (embodichain.lab.task_program.semantics.BinaryEffectEvidenceBatch attribute) (embodichain.lab.task_program.semantics.BinaryEffectEvidenceQuery property) (embodichain.lab.task_program.semantics.EffectEvidenceQuery property) (embodichain.lab.task_program.semantics.JointStateEvidenceBatch attribute) (embodichain.lab.task_program.semantics.JointStateEvidenceQuery property) (embodichain.lab.task_program.semantics.PoseRelationEvidenceBatch attribute) (embodichain.lab.task_program.semantics.PoseRelationEvidenceQuery property) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceBatch attribute) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceQuery property) evidence_kind (embodichain.lab.task_program.semantics.BinaryEffectClause attribute) (embodichain.lab.task_program.semantics.BinaryEffectEvidenceBatch attribute) (embodichain.lab.task_program.semantics.ScalarEffectClause attribute) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceBatch attribute) evidence_source (embodichain_benchmarks.motion_generation.contracts.StageOutcome attribute) exclude_zones (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) exclusive (embodichain.lab.task_program.semantics.EndpointResolution attribute) exclusive_held_object_mask() (embodichain.lab.sim.atomic_actions.TaskState method) execute() (embodichain.lab.sim.motion.execution.MeasuredExecutor method) (embodichain_benchmarks.motion_generation.scenarios.atomic_replay.AtomicReplayRuntime method) execute_demo_episode() (in module embodichain.lab.gym.envs.demo) execute_init_hooks() (in module embodichain.lab.gym.utils.registration) execute_scene_variant() (in module embodichain.lab.task_program.integrations.scene_expansion) executed_final_pose_errors() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) executed_final_rotation_err_deg (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) executed_final_translation_err_mm (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) execution_prefix_length (embodichain.lab.task_program.compiler.CompiledTaskProgramAnalysis attribute) execution_success (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) execution_time_ms (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioEvaluation attribute) ExecutionClock (class in embodichain.lab.sim.atomic_actions) ExecutionEvent (class in embodichain.lab.sim.atomic_actions) ExecutionEventKind (class in embodichain.lab.sim.atomic_actions) ExecutionObservation (class in embodichain_benchmarks.motion_generation.contracts) ExecutionPlanAttempt (class in embodichain.lab.sim.atomic_actions) ExecutionRunner (class in embodichain.lab.sim.atomic_actions) ExecutionRunnerCfg (class in embodichain.lab.sim.atomic_actions) ExecutionSession (class in embodichain.lab.sim.atomic_actions) ExecutionStatus (class in embodichain.lab.sim.atomic_actions) ExecutionTick (class in embodichain.lab.sim.atomic_actions) exists() (embodichain.lab.sim.motion.workspace.caches.ResultsCache method) expand_pose() (embodichain.lab.gym.envs.managers.observations.compute_exteroception static method) expand_trajectory_variants() (in module embodichain.lab.sim.motion.expansion) ExpandSceneLayout (class in embodichain.lab.gym.envs.managers.randomization.spatial) expansion_generator() (embodichain.lab.sim.motion.expansion.ExpansionSession method) expansion_records (embodichain.lab.gym.envs.task_program.TaskProgramDemoBridge property) ExpansionSession (class in embodichain.lab.sim.motion.expansion) expectation (embodichain.lab.task_program.semantics.BinaryEffectEvidenceQuery property) (embodichain.lab.task_program.semantics.EffectEvidenceQuery property) (embodichain.lab.task_program.semantics.JointStateEvidenceQuery property) (embodichain.lab.task_program.semantics.PoseRelationClause attribute) (embodichain.lab.task_program.semantics.PoseRelationEvidenceQuery property) (embodichain.lab.task_program.semantics.ScalarEffectClause attribute) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceQuery property) expectation_decisions (embodichain.lab.task_program.semantics.EffectMonitorDecision attribute) expectation_id (embodichain.lab.task_program.semantics.ArticulationJointStateExpectation attribute) (embodichain.lab.task_program.semantics.BinaryEffectClause attribute) (embodichain.lab.task_program.semantics.CoordinatedHeldObjectCleanupExpectation attribute) (embodichain.lab.task_program.semantics.EffectExpectationDecision attribute) (embodichain.lab.task_program.semantics.HeldObjectStateExpectation attribute) (embodichain.lab.task_program.semantics.JointStateEffectClause attribute) (embodichain.lab.task_program.semantics.PoseRelationClause attribute) (embodichain.lab.task_program.semantics.ScalarEffectClause attribute) expected (embodichain.lab.task_program.semantics.BinaryEffectClause attribute) expected_effects (embodichain.lab.sim.atomic_actions.ActionPlan attribute) experiment_name (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) expert_trajectory (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] EXPERT_TRAJECTORY_SCHEMA_VERSION (in module embodichain.lab.gym.envs.expert_trajectory) ExpertActionSpec (class in embodichain.lab.gym.envs.expert_trajectory) ExpertEpisode (class in embodichain.lab.sim.motion.expansion) ExpertTrajectoryCfg (class in embodichain.lab.gym.envs.expert_trajectory) ExplicitAssetProvider (class in embodichain.data.asset_catalog) (class in embodichain.data.asset_catalog.local) export_articulation_mesh() (in module embodichain.lab.sim.utility.mesh_utils) export_model() (in module embodichain_models.dynamics.nerd) (in module embodichain_models.dynamics.nerd.checkpoint) export_results() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) export_template() (embodichain.lab.sim.atomic_actions.ActionPlanTemplateAdapter method) (embodichain.lab.sim.motion.expansion.PlanResultSourceAdapter method) (embodichain.lab.sim.motion.expansion.SourceAdapter method) (embodichain.lab.sim.motion.expansion.TemplateSourceAdapter method) (embodichain.lab.task_program.integrations.expansion.TaskProgramSourceAdapter method) (embodichain.lab.task_program.integrations.TaskProgramSourceAdapter method) export_usd() (embodichain.lab.sim.sim_manager.SimulationManager method) exposure_compensation (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) ext (embodichain.lab.sim.cfg.RigidObjectGroupCfg attribute) (embodichain.lab.sim.objects.RigidObjectGroupCfg attribute) extensions (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] extents (embodichain.data.asset_catalog.Bounds3D property) (embodichain.data.asset_catalog.contracts.Bounds3D property) extra (embodichain.lab.gym.envs.managers.ActionTermCfg attribute) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg attribute) (embodichain.lab.gym.envs.managers.EventCfg attribute) (embodichain.lab.gym.envs.managers.FunctorCfg attribute) (embodichain.lab.gym.envs.managers.ObservationCfg attribute) (embodichain.lab.gym.envs.managers.RewardCfg attribute) extra_attrs (embodichain.lab.gym.envs.managers.events.prepare_extra_attr attribute) extract_drive_calls() (in module embodichain.lab.sim.utility.atom_action_utils) extract_trajectory_segments() (in module embodichain.lab.sim.motion.expansion) eye_offset (embodichain.learning.rl.policy_evaluation.camera.PolicyViewerCameraCfg attribute) (embodichain.learning.rl.policy_evaluation.PolicyViewerCameraCfg attribute)

F

faces (embodichain.lab.visualization.MeshGeometry attribute) factories (embodichain.lab.task_program.semantics.EffectMonitorRegistry property) factors (embodichain.lab.sim.motion.expansion.TrajectoryVariant property) fail_on_joint_limit_violation (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) FAILED (embodichain.data_pipeline.engine.OnlineDataEngineState attribute) (embodichain.lab.task_program.runtime.SemanticExecutionStatus attribute) failed_plan() (embodichain.lab.sim.atomic_actions.AtomicAction method) failure_code (embodichain_benchmarks.motion_generation.contracts.PhysicalEvaluation property) (embodichain_benchmarks.motion_generation.contracts.StageOutcome attribute) (embodichain_benchmarks.motion_generation.evaluation.StageCriterion attribute) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) failure_mask (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) (embodichain.lab.task_program.semantics.EffectMonitorDecision attribute) failure_message (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) failure_outcomes() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) failure_policy (embodichain.lab.task_program.compiler.CompiledBarrier attribute) (embodichain.lab.task_program.language.BarrierCfg attribute) failure_stage (embodichain_benchmarks.motion_generation.contracts.PhysicalEvaluation property) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) failures (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) fallback_count (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord attribute) family_of() (embodichain.lab.sim.motion.expansion.CoverageIndex method) Fanuc (class in embodichain.data.assets.robot_assets) far (embodichain.lab.visualization.CameraSpec attribute) feature_names (embodichain.lab.gym.envs.expert_trajectory.ExpertActionSpec property) FeatureNormalizer (class in embodichain_models.dynamics.nerd) (class in embodichain_models.dynamics.nerd.model) FEPSolver (class in embodichain.lab.sim.motion.solvers) FEPSolverCfg (class in embodichain.lab.sim.motion.solvers) fetch_angular_acceleration() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) fetch_angular_velocity() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) fetch_collision_filter() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) fetch_com_local_pose() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) fetch_contact_offset() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) fetch_damping() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) fetch_friction() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) fetch_inertia_diagonal() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) fetch_joint_properties() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) fetch_linear_acceleration() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) fetch_linear_velocity() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) fetch_link_physical_properties() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) fetch_link_pose() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) fetch_link_velocity() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) fetch_mass() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) fetch_pose() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) fetch_qacc() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) fetch_qf() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) fetch_qpos() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) fetch_qvel() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) fetch_restitution() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) fetch_root_angular_velocity() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) fetch_root_linear_velocity() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) fetch_root_pose() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) fetch_state() (embodichain.lab.sim.objects.ArticulationData method) (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) fetch_target_qpos() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) fetch_target_qvel() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) file_path (embodichain.lab.sim.cfg.source.UsdSourceCfg attribute) (embodichain.lab.sim.cfg.UsdSourceCfg attribute) filter_by_user_ids() (embodichain.lab.sim.sensors.ContactSensor method) filter_dataset_saving (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] filter_ground_collision (embodichain.toolkits.graspkit.pg_grasp.ParallelJawGraspCollisionCfg attribute) filter_need_both_actor (embodichain.lab.sim.sensors.ContactSensorCfg attribute) filter_points() (embodichain.lab.sim.motion.workspace.constraints.BaseConstraintChecker method) (embodichain.lab.sim.motion.workspace.constraints.IConstraintChecker method) (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) filter_recordable() (embodichain.lab.gym.envs.episode_context.EpisodeContext method) filter_visual_rand (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] final_arm_qpos (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) final_gripper_qpos (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) final_object_pose (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) final_observation (embodichain.learning.rl.collector.DifferentiableRollout property) final_path (embodichain.data_pipeline.depth_video.writer.DepthVideoWriter property) final_rotation_err_deg (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) final_target (embodichain.lab.task_program.language.HandOverCfg attribute) final_tcp_pose (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) final_translation_err_mm (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) finalize() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) (embodichain.lab.gym.envs.managers.async_datasets.AsyncLeRobotRecorder method) (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.datasets.LeRobotRecorder method) (embodichain.lab.gym.envs.managers.record.record_camera_data method) (embodichain.lab.gym.envs.managers.record.record_camera_data_async method) finalize_actions() (in module embodichain.lab.sim.utility.atom_action_utils) finalize_articulation_spawn() (in module embodichain.lab.sim.objects.backends.lifecycle) finalize_newton_physics() (embodichain.lab.sim.sim_manager.SimulationManager method) find_asset_class() (in module embodichain.data.download) find_class_from_modules() (in module embodichain.utils.module_utils) find_function_by_pattern() (in module embodichain.utils.module_utils) find_function_from_modules() (in module embodichain.utils.module_utils) find_functors() (embodichain.lab.gym.envs.managers.ActionManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.EventManager method) (embodichain.lab.gym.envs.managers.ManagerBase method) (embodichain.lab.gym.envs.managers.ObservationManager method) (embodichain.lab.gym.envs.managers.RewardManager method) find_nearest_valid_pose() (in module embodichain.lab.sim.utility.atom_action_utils) finger_length (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) finger_thickness (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) finger_width (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) fingerprint (embodichain.lab.sim.scene.expansion.SceneLayoutInput property) (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration property) finish() (embodichain.lab.sim.motion.expansion.combined_runtime.CombinedEpisodeCoordinator method) (embodichain.lab.sim.motion.expansion.CombinedEpisodeCoordinator method) finish_update() (embodichain.learning.rl.algo.APG method), [1] finite (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) first_foot_contact (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) fit() (embodichain.learning.sl.SupervisedTrainer method) (embodichain.learning.sl.trainer.SupervisedTrainer method) fixed_base (embodichain.lab.sim.cfg.ArticulationRootPropertiesCfg attribute) fixed_input_tasks (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) fixed_object_to_eef (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) FixedSceneCandidateSource (class in embodichain.lab.sim.scene.expansion) FixedSceneInitialStatePort (class in embodichain.lab.sim.motion.execution) flatten_dict_observation() (in module embodichain.learning.rl.utils) (in module embodichain.learning.rl.utils.helper) flatten_observation_groups() (in module embodichain.learning.rl.utils) (in module embodichain.learning.rl.utils.helper) flattened_observation_space (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] FlexivRizon4S (class in embodichain.data.assets.robot_assets) float_vector() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) flush() (embodichain.lab.sim.motion.workspace.caches.BaseCache method) (embodichain.lab.sim.motion.workspace.caches.DiskCache method) (embodichain.lab.sim.motion.workspace.caches.MemoryCache method) flush_cleanup_queue() (embodichain.lab.sim.sim_manager.SimulationManager static method) fname (embodichain.lab.sim.cfg.URDFCfg attribute) folder_path (embodichain.lab.sim.cfg.RigidObjectGroupCfg attribute) (embodichain.lab.sim.objects.RigidObjectGroupCfg attribute) foot_air_time (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) foot_contact (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) foot_force_w (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute)

foot_height (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) foot_link_names (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) foot_offsets (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) foot_swing_height_cost (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) foot_vel_w (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) FORCE (embodichain.lab.task_program.semantics.ScalarEvidenceKind attribute) force_absent_threshold (embodichain.lab.task_program.semantics.CompositeEffectMonitorCfg attribute) FORCE_EFFECT_CHANNEL (in module embodichain.lab.task_program.semantics) force_present_threshold (embodichain.lab.task_program.semantics.CompositeEffectMonitorCfg attribute) force_refresh (embodichain.toolkits.graspkit.pg_grasp.GraspAnnotationCfg attribute) FOREGROUND (embodichain.data.enum.SemanticMask attribute), [1] fork() (embodichain.lab.task_program.runtime.SemanticCallExecutor method) format() (embodichain.utils.visualizer.Gantt method) format_message() (in module embodichain.utils.logger) forward() (embodichain.learning.layers.ik.DifferentiableIKLayer method) (embodichain.learning.layers.kinematics.KinematicsLayer method) (embodichain.learning.models.EmpiricalNormalizer method) (embodichain.learning.models.normalizer.EmpiricalNormalizer method) (embodichain.learning.rl.policies.ActorCritic method) (embodichain.learning.rl.policies.ActorOnly method) (embodichain.learning.rl.policies.Policy method) (embodichain_models.dynamics.nerd.model.FeatureNormalizer method) (embodichain_models.dynamics.nerd.model.NeRDModel method) FORWARD_KINEMATICS_CAPABILITY (in module embodichain.lab.sim.atomic_actions) found_lost_aggregate_pairs_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) found_lost_pairs_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) fov_y (embodichain.lab.visualization.CameraSpec attribute) fpath (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.MeshCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.cfg.URDFCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) fpath_prefix (embodichain.lab.sim.cfg.URDFCfg attribute) fps (embodichain.lab.sim.cfg.WindowRecordCfg attribute) (embodichain_benchmarks.motion_generation.video.VideoRecordCfg attribute) fragment (embodichain.lab.sim.scene.procedural.SceneRecipe property) frame (embodichain.lab.visualization.CameraImageCaptureResult attribute) (embodichain.lab.visualization.CaptureResult attribute) frame_bytes (embodichain.lab.visualization.RuntimeStats attribute) frame_count (embodichain.data_pipeline.depth_video.reader.DepthVideoReader property) (embodichain.data_pipeline.depth_video.writer.DepthVideoWriter property) (embodichain.lab.sim.atomic_actions.TimedCommandSequence property) frame_count() (embodichain.data_pipeline.depth_video.reader.DepthVideoLibrary method) FrameOverlay (class in embodichain.lab.visualization) frames (embodichain.lab.visualization.SceneOverlays attribute) Franka (class in embodichain.data.assets.robot_assets) FrankaPandaProvider (class in embodichain_benchmarks.motion_generation.robots.franka) FrankaPgiProvider (class in embodichain_benchmarks.motion_generation.robots.franka) FreeSpaceScenario (class in embodichain_benchmarks.motion_generation.scenarios.free_space) FreeSpaceTrackCfg (class in embodichain_benchmarks.motion_generation.config) freeze() (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder method) friction (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) (embodichain.lab.sim.cfg.NewtonJointDrivePropertiesCfg attribute) from_cache() (embodichain.lab.sim.motion.workspace.RobotWorkspace class method) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace class method) from_config() (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker class method) (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer class method) from_dexsim_physical_attr() (embodichain.lab.sim.cfg.RigidBodyPhysicsCfg class method) from_dict() (embodichain.data.asset_catalog.AssetCandidate class method) (embodichain.data.asset_catalog.AssetDescriptor class method) (embodichain.data.asset_catalog.AssetQuery class method) (embodichain.data.asset_catalog.Bounds3D class method) (embodichain.data.asset_catalog.contracts.AssetCandidate class method) (embodichain.data.asset_catalog.contracts.AssetDescriptor class method) (embodichain.data.asset_catalog.contracts.AssetQuery class method) (embodichain.data.asset_catalog.contracts.Bounds3D class method) (embodichain.data.asset_catalog.contracts.PreparationContext class method) (embodichain.data.asset_catalog.contracts.PreparedAsset class method) (embodichain.data.asset_catalog.PreparationContext class method) (embodichain.data.asset_catalog.PreparedAsset class method) (embodichain.lab.sim.cfg.ArticulationCfg class method) (embodichain.lab.sim.cfg.ArticulationRootPropertiesCfg class method) (embodichain.lab.sim.cfg.DeformableObjectCfg class method) (embodichain.lab.sim.cfg.JointDrivePropertiesCfg class method) (embodichain.lab.sim.cfg.LinkPhysicsOverrideCfg class method) (embodichain.lab.sim.cfg.MeshCollisionCfg class method) (embodichain.lab.sim.cfg.ObjectBaseCfg class method) (embodichain.lab.sim.cfg.RigidBodyPhysicsCfg class method) (embodichain.lab.sim.cfg.RigidObjectCfg class method) (embodichain.lab.sim.cfg.RigidObjectGroupCfg class method) (embodichain.lab.sim.cfg.RobotCfg class method) (embodichain.lab.sim.cfg.RobotCfg.SolverCfg class method) (embodichain.lab.sim.cfg.ShapeCfg class method) (embodichain.lab.sim.cfg.source.UsdSourceCfg class method) (embodichain.lab.sim.cfg.URDFCfg class method) (embodichain.lab.sim.cfg.UsdSourceCfg class method) (embodichain.lab.sim.material.VisualMaterialCfg class method) (embodichain.lab.sim.motion.solvers.SolverCfg class method) (embodichain.lab.sim.objects.ArticulationCfg class method) (embodichain.lab.sim.objects.LightCfg class method) (embodichain.lab.sim.objects.RigidObjectCfg class method) (embodichain.lab.sim.objects.RigidObjectGroupCfg class method) (embodichain.lab.sim.objects.RobotCfg class method) (embodichain.lab.sim.objects.RobotCfg.SolverCfg class method) (embodichain.lab.sim.robots.DualArmRobotCfg class method) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg class method) (embodichain.lab.sim.sensors.ArticulationContactFilterCfg class method) (embodichain.lab.sim.sensors.CameraCfg class method) (embodichain.lab.sim.sensors.ContactSensorCfg class method) (embodichain.lab.sim.sensors.SensorCfg class method) (embodichain.lab.sim.sensors.StereoCameraCfg class method) (embodichain.lab.sim.shapes.LoadOption class method) (embodichain.lab.sim.shapes.MeshCollisionCfg class method) (embodichain.lab.sim.shapes.ShapeCfg class method) (embodichain.lab.task_program.semantics.asset_requirements.AssetRelationRequirement class method) (embodichain.lab.task_program.semantics.asset_requirements.AssetRequirements class method) (embodichain.lab.task_program.semantics.asset_requirements.AssetRoleRequirement class method) (embodichain_benchmarks.motion_generation.config.SuiteCfg class method) (embodichain_robots.AlohaMiniCfg class method) (embodichain_robots.SO101FollowerCfg class method) from_entities() (embodichain.lab.sim.objects.backends.SceneArticulationView class method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView class method) from_environment() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory class method) from_existing() (embodichain.lab.sim.material.VisualMaterialInst class method) from_expansion_job() (embodichain.lab.sim.motion.expansion.TrajectoryExpansionCfg class method) from_layout_problem() (embodichain.gen_sim.scene_engine.pipeline.utils.parent_surface_layout_optimizer.ParentSurfaceLayoutProblem class method) (embodichain.gen_sim.scene_engine.pipeline.utils.table_surface_layout_optimizer.TableSurfaceLayoutProblem class method) from_mapping() (embodichain.lab.sim.motion.expansion.combined.CombinedExpansionProfile class method) (embodichain.lab.sim.motion.expansion.CombinedExpansionProfile class method) (embodichain.lab.sim.motion.expansion.TrajectoryAugmentationCfg class method) (embodichain.lab.sim.motion.expansion.TrajectoryExpansionCfg class method) (embodichain.lab.sim.motion.expansion.TrajectoryExpansionJobCfg class method) from_metadata() (embodichain.lab.task_program.semantics.SceneEntityManifest class method) from_params() (embodichain.lab.task_program.semantics.CompositeEffectMonitorCfg class method) from_positions() (embodichain.lab.sim.atomic_actions.TimedTrajectory class method) from_preset() (embodichain.lab.sim.material.VisualMaterialCfg class method) from_qpos() (embodichain.lab.sim.motion.planners.PlanState class method) from_registration() (embodichain.lab.task_program.semantics.SceneEntityMetadata class method) from_registry() (embodichain.lab.task_program.semantics.SceneManifest class method) from_scene_registry() (embodichain.lab.task_program.compiler.TaskProgramCompiler class method) (embodichain.lab.task_program.TaskProgramCompiler class method) from_simulation() (embodichain.lab.task_program.semantics.SceneRegistry class method) from_str() (embodichain.lab.sim.motion.planners.TrajectorySampleMethod class method) from_template() (embodichain.lab.task_program.runtime.ParallelSemanticExecutor class method) from_uniform_step() (embodichain.lab.sim.atomic_actions.TimedTrajectory class method) from_urdf() (embodichain.compute.kinematics.serial_chain.SerialChainKinematics class method) from_xpos() (embodichain.lab.sim.motion.planners.PlanState class method) from_yaml() (embodichain.lab.sim.motion.expansion.combined.CubeInitialPoseProvider class method) (embodichain.lab.sim.motion.expansion.combined_runtime.VisualProfileRegistry class method) (embodichain.lab.sim.motion.expansion.CubeInitialPoseProvider class method) (embodichain.lab.sim.motion.expansion.VisualProfileRegistry class method) frozen_cases (embodichain_benchmarks.motion_generation.config.DomainCfg attribute) frozen_grasps() (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider method) FrozenArticulationGraspPoseGenerator (class in embodichain_benchmarks.motion_generation.scenarios.atomic_grasps) full_start_qpos (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) func (embodichain.lab.gym.envs.managers.ActionTermCfg attribute) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg attribute) (embodichain.lab.gym.envs.managers.EventCfg attribute) (embodichain.lab.gym.envs.managers.FunctorCfg attribute) (embodichain.lab.gym.envs.managers.ObservationCfg attribute) (embodichain.lab.gym.envs.managers.RewardCfg attribute) Functor (class in embodichain.lab.gym.envs.managers) FunctorCfg (class in embodichain.lab.gym.envs.managers)

G

G1Reward (class in embodichain_tasks.locomotion.velocity.contracts.g1.mdp) G1State (class in embodichain_tasks.locomotion.velocity.contracts.g1.mdp) G1VelocityConfig (class in embodichain_tasks.locomotion.velocity.contracts.g1.config) gae_lambda (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute) gamma (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute) Gantt (class in embodichain.utils.visualizer) gap (embodichain.lab.sim.cfg.NewtonCollisionPropertiesCfg attribute) GAUSSIAN (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) gaussian_mean (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) gaussian_std (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) gen_disp_colormap() (in module embodichain.utils.img_utils) gen_random_base_color_texture() (embodichain.lab.gym.envs.managers.randomization.visual.randomize_visual_material static method) generate() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) (in module embodichain.lab.sim.scene.procedural) generate_case() (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.PressCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.SlideCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.TwistCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.MoveHeldObjectCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.PickUpCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.PlaceCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_motion_cases.MoveEndEffectorCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_motion_cases.MoveJointsCases method) generate_cases() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) (embodichain_benchmarks.motion_generation.scenarios.free_space.FreeSpaceScenario method) generate_random_rotation() (in module embodichain.utils.math) generate_random_transformation_matrix() (in module embodichain.utils.math) generate_random_translation() (in module embodichain.utils.math) generate_scene_variants() (in module embodichain.lab.sim.scene.expansion) generate_urdf_collision_convexes() (in module embodichain.toolkits.acd.urdf_modifider) GeneratedScene (class in embodichain.lab.sim.scene.procedural) generations (embodichain.data_pipeline.datasets.SequenceSpecCfg attribute), [1] geometries (embodichain.lab.visualization.SceneManifest attribute) geometry (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) geometry_count (embodichain.lab.sim.motion.expansion.CoverageIndex property) geometry_id (embodichain.lab.visualization.MeshGeometry attribute) (embodichain.lab.visualization.SceneNode attribute) geometry_provider (embodichain.lab.task_program.integrations.simulation.SimulationArticulationBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidizedArticulationObjectBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidObjectBinding attribute) (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) geometry_valid (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) get() (embodichain.data_pipeline.depth_video.reader.DepthVideoLibrary method) (embodichain.data_pipeline.recording.journal.RecordingJournal method) (embodichain.data_pipeline.recording.RecordingJournal method) (embodichain.lab.sim.atomic_actions.PhysicalEvidenceFrame method) (embodichain.lab.visualization.LatestFrameQueue method) (embodichain.learning.rl.buffer.RolloutBuffer method) (embodichain.learning.rl.buffer.standard_buffer.RolloutBuffer method) get_action() (embodichain.lab.devices.DeviceController method) (embodichain.learning.rl.policies.Policy method) get_active_iterable_functors() (embodichain.lab.gym.envs.managers.ActionManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.EventManager method) (embodichain.lab.gym.envs.managers.ManagerBase method) (embodichain.lab.gym.envs.managers.ObservationManager method) (embodichain.lab.gym.envs.managers.RewardManager method) get_actor_ids() (embodichain.lab.sim.sensors.ContactSensor method) get_actor_info() (embodichain.lab.sim.sensors.ContactSensor method) get_all() (embodichain.lab.sim.motion.workspace.caches.BaseCache method) (embodichain.lab.sim.motion.workspace.caches.DiskCache method) (embodichain.lab.sim.motion.workspace.caches.MemoryCache method) get_all_devices() (embodichain.lab.devices.DeviceController method) get_all_exported_items_from_module() (in module embodichain.utils.module_utils) get_all_files_in_directory() (in module embodichain.utils.file) get_all_fk() (embodichain.lab.sim.motion.solvers.PytorchSolver method) get_all_functions_from_module() (in module embodichain.utils.module_utils) get_arena_pose() (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) get_arm_angle() (embodichain.lab.sim.motion.solvers.FEPSolver method) get_arm_states() (in module embodichain.lab.sim.utility.atom_action_utils) get_articulation() (embodichain.lab.sim.sim_manager.SimulationManager method) get_articulation_joint_drive (class in embodichain.lab.gym.envs.managers.observations) get_articulation_joint_state() (embodichain.lab.sim.atomic_actions.PlanningContext method) (embodichain.lab.sim.atomic_actions.SceneSnapshot method) (embodichain.lab.sim.atomic_actions.TaskState method) get_articulation_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_asset() (embodichain.lab.sim.sim_manager.SimulationManager method) get_attached_sensors() (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) get_axis_marker_items() (embodichain.lab.sim.sim_manager.SimulationManager method) get_batch() (embodichain_models.dynamics.nerd.data.DynamicsWindowDataset method) get_batch_count() (embodichain.lab.sim.motion.workspace.caches.DiskCache method) get_best_grasp_poses() (embodichain.toolkits.graspkit.GraspPoseGenerator method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.ActiveCaseGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.CaseSampleCountGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.DeterministicCenterGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.FrozenArticulationGraspPoseGenerator method) get_body_scale() (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.VisualObject method) (in module embodichain.lab.sim.objects.backends.controls) get_bounds_info() (embodichain.lab.sim.motion.workspace.constraints.BaseConstraintChecker method) get_bounds_volume() (embodichain.lab.sim.motion.workspace.constraints.BaseConstraintChecker method) get_cached_data() (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) get_class_instance() (in module embodichain.utils.utility) get_collision_shapes() (embodichain.lab.sim.objects.RigidObject method) get_collision_surface_triangles() (embodichain.lab.sim.objects.deformable.VolumeDeformableObject method) get_com_pose() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) get_component() (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) get_control_part_base_pose() (embodichain.lab.sim.objects.Robot method) get_control_part_link_names() (embodichain.lab.sim.objects.Robot method) get_control_pose() (embodichain.lab.sim.objects.Gizmo method) get_controller_state() (embodichain.lab.devices.Device method) get_coordinated_held_object() (embodichain.lab.sim.atomic_actions.PlanningContext method) (embodichain.lab.sim.atomic_actions.TaskState method) get_damping() (embodichain.lab.sim.objects.RigidObject method) get_data() (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) get_data_class() (in module embodichain.data.dataset) get_data_path() (in module embodichain.data.dataset) (in module embodichain.lab.sim.cfg) get_data_types() (embodichain.lab.sim.sensors.CameraCfg method) (embodichain.lab.sim.sensors.ContactSensorCfg method) (embodichain.lab.sim.sensors.SensorCfg method) (embodichain.lab.sim.sensors.StereoCameraCfg method) get_default_cache_dir() (embodichain.lab.sim.motion.workspace.caches.DiskCache static method) get_default_instance() (embodichain.lab.sim.material.VisualMaterial method) get_default_material_info() (in module embodichain.data.default_materials) get_default_qpos_seed() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_default_w1_hand_version() (in module embodichain_robots.dexforce.w1.hand_specs) get_deformable_object() (embodichain.lab.sim.sim_manager.SimulationManager method) get_deformable_object_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_demo_episode_metadata() (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] get_device_info() (embodichain.lab.devices.DeviceController method) get_dexsim_arena_num() (in module embodichain.lab.sim.utility.sim_utils) get_dexsim_arenas() (in module embodichain.lab.sim.utility.sim_utils) get_dexsim_drive_type() (in module embodichain.lab.sim.utility.sim_utils) get_differentiable_action() (embodichain.learning.rl.policies.ActorCritic method) (embodichain.learning.rl.policies.ActorOnly method) (embodichain.learning.rl.policies.Policy method) get_dual_arm_valid_grasp_poses() (embodichain.toolkits.graspkit.ParallelJawGraspPoseGenerator method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.CaseSampleCountGraspPoseGenerator method) get_env() (embodichain.lab.sim.sim_manager.SimulationManager method) get_env_spec() (in module embodichain.lab.gym.utils.registration) get_executed_qpos_history() (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] get_existing_visual_material() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.Robot method) get_expert_controller_qpos_history() (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] get_extra_state() (embodichain.learning.layers.ik.DifferentiableIKLayer method) (embodichain.learning.layers.kinematics.KinematicsLayer method) get_fk() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_fk_batch() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_fk_warp() (embodichain.lab.sim.motion.solvers.OPWSolver method) get_flow_status() (embodichain.data_pipeline.engine.OnlineDataEngine method) get_friction() (embodichain.lab.sim.objects.RigidObject method) get_functor() (embodichain.lab.gym.envs.managers.EventManager method) get_functor_cfg() (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.EventManager method) (embodichain.lab.gym.envs.managers.ObservationManager method) (embodichain.lab.gym.envs.managers.RewardManager method) get_generator() (embodichain.lab.gym.envs.BaseEnv method) (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method) get_geometry() (embodichain.lab.task_program.semantics.SceneGeometryProvider method) get_gizmo() (embodichain.lab.sim.sim_manager.SimulationManager method) get_gizmo_items() (embodichain.lab.sim.sim_manager.SimulationManager method) get_grasp_candidates() (embodichain.toolkits.graspkit.ParallelJawGraspPoseGenerator method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.CaseSampleCountGraspPoseGenerator method) get_held_object() (embodichain.lab.sim.atomic_actions.PlanningContext method) (embodichain.lab.sim.atomic_actions.TaskState method) get_ik() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_ik_batch() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_ik_nearest_weight() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_ik_warp() (embodichain.lab.sim.motion.solvers.OPWSolver method) get_inertia() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) get_info() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] get_instance() (embodichain.lab.sim.material.VisualMaterial method) (embodichain.lab.sim.sim_manager.SimulationManager class method) get_instance_num() (embodichain.lab.sim.sim_manager.SimulationManager class method) get_intrinsics() (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) get_iteration_params() (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) get_jacobian() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_joint_descriptor() (in module embodichain.lab.sim.objects.backends.articulation_topology) get_joint_drive() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_joint_drive_type() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_joint_ids() (embodichain.lab.sim.objects.Robot method) get_joint_target_mode() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_joint_type() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_left_right_arena_pose() (embodichain.lab.sim.sensors.StereoCamera method) get_legacy_damping() (in module embodichain.lab.sim.objects.backends.rigid_physics) get_legacy_friction() (in module embodichain.lab.sim.objects.backends.rigid_physics) get_legacy_inertia() (in module embodichain.lab.sim.objects.backends.rigid_physics) get_legacy_mass() (in module embodichain.lab.sim.objects.backends.rigid_physics) get_light() (embodichain.lab.sim.sim_manager.SimulationManager method) get_light_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_link_names() (embodichain.lab.sim.objects.Robot method) get_link_physical_attr() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_link_pose() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_link_properties() (in module embodichain.lab.sim.objects.backends.articulation_physics) get_link_render_nodes() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method)

get_link_vert_face() (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationGeometryProvider method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) (in module embodichain.lab.sim.objects.backends.articulation_geometry) get_local_pose() (embodichain.lab.sim.atomic_actions.SceneEntity method) (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.deformable.DeformableObject method) (embodichain.lab.sim.objects.Light method) (embodichain.lab.sim.objects.RigidConstraint method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.VisualObject method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) get_mass() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) get_material_path() (embodichain.data.assets.materials.DefaultMaterials method) get_mesh_md5() (in module embodichain.utils.utility) get_name() (embodichain.lab.sim.objects.RigidConstraint method) get_newton_link_properties() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_newton_physical_attr() (in module embodichain.lab.sim.objects.backends.rigid_physics) get_newton_physical_attr_or_none() (in module embodichain.lab.sim.objects.backends.rigid_physics) get_nowait() (embodichain.lab.visualization.LatestFrameQueue method) get_num_exclude_zones() (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) get_object_body_scale() (in module embodichain.lab.gym.envs.managers.observations) get_object_pose() (in module embodichain.lab.gym.envs.managers.observations) get_object_triangles() (embodichain.lab.sim.objects.RigidObjectGroup method) get_object_uid() (in module embodichain.lab.gym.envs.managers.observations) get_object_vertices() (embodichain.lab.sim.objects.RigidObjectGroup method) get_obs() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] get_offset_pose() (in module embodichain.utils.math) get_parallel_jaw_gripper_model() (in module embodichain.toolkits.graspkit) get_parent_joint_chain() (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationGeometryProvider method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_pc_center_box() (in module embodichain.utils.math) get_physics_scene() (embodichain.lab.sim.sim_manager.SimulationManager method) (in module embodichain.lab.sim.sim_manager) get_policy_class() (in module embodichain.learning.rl.policies) get_pose_err() (in module embodichain_benchmarks.motion_generation.metrics.trajectory) get_proprioception() (embodichain.lab.sim.objects.Robot method) get_qf() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_qf_limits() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_qpos() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.task_program.semantics.ControlPartRobotEvidenceSource method) (in module embodichain.lab.sim.utility.atom_action_utils) get_qpos_limits() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_qvel() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.task_program.semantics.ControlPartRobotEvidenceSource method) get_qvel_limits() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_random_pose() (in module embodichain.lab.gym.envs.managers.randomization.spatial) get_random_real_image() (in module embodichain.utils.utility) get_raw_action_history() (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] get_registered_algo_names() (in module embodichain.learning.rl.algo), [1] get_registered_learning_env_names() (in module embodichain.learning.rl.env) get_registered_lr_scheduler_names() (in module embodichain.learning.rl.utils) get_registered_optimizer_names() (in module embodichain.learning.rl.utils) get_registered_policy_names() (in module embodichain.learning.rl.policies) get_registry() (in module embodichain.data.download) get_relative_rotation() (in module embodichain.utils.math) get_relative_transform() (embodichain.lab.sim.objects.RigidConstraint method) get_results() (embodichain.lab.sim.motion.workspace.metrics.BaseMetric method) get_results_cache_path() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) get_reward() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain_tasks.classic_control.humanoid.humanoid_run.HumanoidRunEnv method) get_right_name() (in module embodichain.utils.utility) get_rigid_constraint() (embodichain.lab.sim.sim_manager.SimulationManager method) get_rigid_constraint_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_rigid_object() (embodichain.lab.sim.sim_manager.SimulationManager method) get_rigid_object_group() (embodichain.lab.sim.sim_manager.SimulationManager method) get_rigid_object_group_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_rigid_object_physics_attributes (class in embodichain.lab.gym.envs.managers.observations) get_rigid_object_pose() (in module embodichain.lab.gym.envs.managers.observations) get_rigid_object_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_rigid_object_velocity() (in module embodichain.lab.gym.envs.managers.observations) get_robot() (embodichain.lab.sim.sim_manager.SimulationManager method) get_robot_eef_pose() (in module embodichain.lab.gym.envs.managers.observations) get_robot_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_sampling_budget_snapshot() (embodichain.data_pipeline.datasets.sources.TensorDataSource method) (embodichain.data_pipeline.datasets.TensorDataSource method), [1] (embodichain.data_pipeline.engine.OnlineDataEngine method) get_sensor() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.lab.sim.sim_manager.SimulationManager method) get_sensor_intrinsics() (in module embodichain.lab.gym.envs.managers.observations) get_sensor_pose_in_robot_frame() (in module embodichain.lab.gym.envs.managers.observations) get_sensor_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_solver() (embodichain.lab.sim.objects.Robot method) get_state_joint_names() (in module embodichain.lab.sim.objects.backends.articulation_state) get_stats() (embodichain.data_pipeline.engine.OnlineDataEngine method) get_strategy_name() (embodichain.lab.sim.motion.workspace.samplers.BaseSampler method) (embodichain.lab.sim.motion.workspace.samplers.HaltonSampler method) (embodichain.lab.sim.motion.workspace.samplers.ISampler method) (embodichain.lab.sim.motion.workspace.samplers.LatinHypercubeSampler method) (embodichain.lab.sim.motion.workspace.samplers.RandomSampler method) (embodichain.lab.sim.motion.workspace.samplers.SobolSampler method) (embodichain.lab.sim.motion.workspace.samplers.UniformSampler method) get_summary() (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainer method) (embodichain.learning.rl.utils.trainer.Trainer method) get_surface_triangles() (embodichain.lab.sim.objects.deformable.DeformableObject method) get_surface_vertices() (embodichain.lab.sim.objects.deformable.DeformableObject method) get_tcp() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_term() (embodichain.lab.gym.envs.managers.ActionManager method) get_term_by_contract() (embodichain.lab.gym.envs.managers.ActionManager method) get_texture_cache() (embodichain.lab.sim.sim_manager.SimulationManager method) get_trainer_class() (in module embodichain.learning.rl.routing) get_trajectory_object_offset_qpos() (in module embodichain.lab.sim.utility.action_utils) get_triangles() (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.VisualObject method) get_type_name() (embodichain.lab.sim.motion.workspace.visualizers.AxisVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.IVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.PointCloudVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.SphereVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.VoxelVisualizer method) get_user_ids() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) get_valid_grasp_poses() (embodichain.toolkits.graspkit.GraspPoseGenerator method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.ActiveCaseGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.CaseSampleCountGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.DeterministicCenterGraspPoseGenerator method) (embodichain_benchmarks.motion_generation.scenarios.atomic_grasps.FrozenArticulationGraspPoseGenerator method) get_value() (embodichain.learning.rl.policies.ActorCritic method) (embodichain.learning.rl.policies.ActorOnly method) (embodichain.learning.rl.policies.Policy method) get_vertices() (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.VisualObject method) get_view_attrib() (embodichain.lab.sim.sensors.CameraCfg method) (embodichain.lab.sim.sensors.StereoCameraCfg method) get_visibility() (embodichain.lab.sim.objects.VisualObject method) get_visual_material() (embodichain.lab.sim.sim_manager.SimulationManager method) get_visual_material_inst() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.deformable.DeformableObject method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.VisualObject method) get_visual_object() (embodichain.lab.sim.sim_manager.SimulationManager method) get_visual_object_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_w1_hand_spec() (in module embodichain_robots.dexforce.w1.hand_specs) get_w1_version_spec() (in module embodichain_robots.dexforce.w1.specs) get_workspace() (embodichain.lab.sim.objects.Robot method) get_workspace_bounds() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) get_world() (embodichain.lab.sim.sim_manager.SimulationManager method) get_wrapper_attr() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] Gizmo (class in embodichain.lab.sim.objects) gizmo_id (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.GizmoSpec attribute) (embodichain.lab.visualization.GizmoState attribute) GizmoCfg (class in embodichain.lab.sim.objects) GizmoCommand (class in embodichain.lab.visualization) GizmoCommandQueue (class in embodichain.lab.visualization) gizmos (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.SceneManifest attribute) GizmoSpec (class in embodichain.lab.visualization) GizmoState (class in embodichain.lab.visualization) GLOBAL_SEED (in module embodichain.utils) gltfloader (embodichain.lab.sim.shapes.LoadOption attribute) GMMChunkSampler (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.sampler) Go1Reward (class in embodichain_tasks.locomotion.velocity.contracts.go1.mdp) Go1State (class in embodichain_tasks.locomotion.velocity.contracts.go1.mdp) Go1VelocityConfig (class in embodichain_tasks.locomotion.velocity.contracts.go1.config) Go2Reward (class in embodichain_tasks.locomotion.velocity.contracts.go2.mdp) Go2State (class in embodichain_tasks.locomotion.velocity.contracts.go2.mdp) Go2VelocityConfig (class in embodichain_tasks.locomotion.velocity.contracts.go2.config) go_to_step() (embodichain.lab.gym.envs.ReplayWrapper method) goal (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) goal_rotation_threshold (embodichain.lab.sim.atomic_actions.RecoveryPolicy attribute) goal_translation_threshold (embodichain.lab.sim.atomic_actions.RecoveryPolicy attribute) GoalType (embodichain.lab.sim.atomic_actions.AtomicAction attribute) (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlign attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickment attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacement attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOver attribute) (embodichain.lab.sim.atomic_actions.primitives.move_end_effector.MoveEndEffector attribute) (embodichain.lab.sim.atomic_actions.primitives.move_held_object.MoveHeldObject attribute) (embodichain.lab.sim.atomic_actions.primitives.move_joints.MoveJoints attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoor attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUp attribute) (embodichain.lab.sim.atomic_actions.primitives.place.Place attribute) (embodichain.lab.sim.atomic_actions.primitives.pour.Pour attribute) (embodichain.lab.sim.atomic_actions.primitives.press.Press attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObject attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.Slide attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.Twist attribute) gpu_delta_mb (embodichain_benchmarks.motion_generation.metrics.performance.TimedCall attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) gpu_id (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) gpu_indices (embodichain.lab.sim.objects.RigidBodyData property) gpu_memory (embodichain.lab.sim.cfg.DefaultPhysicsCfg attribute) gpu_memory_config (embodichain.lab.sim.sim_manager.SimulationManagerCfg property) GPUMemoryCfg (class in embodichain.lab.sim.cfg) gradient_accumulation_steps (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) grasp (embodichain.lab.task_program.language.PickCfg attribute) GRASP_AFFORDANCE_CAPABILITY (in module embodichain.lab.task_program.semantics) GRASP_CAPABILITY (in module embodichain.lab.sim.atomic_actions) grasp_commit_fraction (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) grasp_frame_to_eef (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) grasp_link (embodichain.lab.task_program.integrations.simulation.RigidizedArticulationAntipodalGraspBinding attribute) grasp_pose_generators (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) grasp_sample_count() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_grasps) grasp_seed (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) grasp_settle_steps (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) grasp_variant (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) grasp_xpos (embodichain.lab.sim.atomic_actions.HeldObjectState attribute) (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlignGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.GraspGoal attribute) GraspAnnotationCfg (class in embodichain.toolkits.graspkit.pg_grasp) GraspGoal (class in embodichain.lab.sim.atomic_actions.primitives.pick_up) GraspPoseGenerator (class in embodichain.toolkits.graspkit) gravity (embodichain.lab.sim.cfg.DefaultPhysicsCfg attribute) (embodichain.lab.sim.cfg.NewtonPhysicsCfg attribute) (embodichain.lab.sim.cfg.PhysicsBackendCfg attribute) GravitySettleBody (class in embodichain.gen_sim.scene_engine.pipeline.utils.gravity_settler) GravitySettler (class in embodichain.gen_sim.scene_engine.pipeline.utils.gravity_settler) GravitySettlerConfig (class in embodichain.gen_sim.scene_engine.pipeline.utils.gravity_settler) grid_resolution (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) grid_size (embodichain.lab.sim.motion.planners.ToppraPlannerCfg attribute) GRIPPER (embodichain.data.enum.EndEffector attribute) gripper_grasp_qpos (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) gripper_holding() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) gripper_model (embodichain.toolkits.graspkit.ParallelJawGraspPoseGenerator property) gripper_open_qpos (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) gripper_qpos (embodichain_benchmarks.motion_generation.contracts.ReplayObservationTrace attribute) gripper_released() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) GripperCollisionCfg (class in embodichain.toolkits.graspkit.pg_grasp) GripperCollisionChecker (class in embodichain.toolkits.graspkit.pg_grasp) ground_height (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) ground_plane_visible (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] grounding_providers (embodichain.lab.task_program.integrations.simulation.SimulationRobotSkillProfileBinding attribute) (embodichain.lab.task_program.semantics.RobotSkillProfile attribute) group_height_offset() (in module embodichain.compute.geometry.aabb) group_id (embodichain.lab.sim.sensors.Camera property) (embodichain.lab.sim.sensors.StereoCamera property) (embodichain_benchmarks.motion_generation.config.TrackCfg attribute) group_size (embodichain.learning.rl.algo.GRPOCfg attribute), [1] GroupSupportClampConfig (class in embodichain.lab.sim.scene.placement) GRPO (class in embodichain.learning.rl.algo), [1] GRPOCfg (class in embodichain.learning.rl.algo), [1] GuidedResidual (class in embodichain.lab.sim.motion.expansion) gym_config (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) (embodichain.learning.rl.runtime.PolicyRuntime attribute) gym_config_path (embodichain.learning.rl.runtime.PolicyRuntime attribute) gym_spec (embodichain.lab.gym.utils.registration.EnvSpec property), [1] GymPlanningObservationProvider (class in embodichain.lab.gym.envs.task_program)

H

H12Reward (class in embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp) H12State (class in embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp) H12VelocityConfig (class in embodichain_tasks.locomotion.velocity.contracts.h1_2.config) half_extents (embodichain.lab.sim.objects.CollisionShapeDesc attribute) half_height (embodichain.lab.sim.objects.CollisionShapeDesc attribute) halo_falloff (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) halo_size (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) HALTON (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) HaltonSampler (class in embodichain.lab.sim.motion.workspace.samplers) hand_interp_steps (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.place.PlaceOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.press.PressOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.SlideOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.TwistOptions attribute) HandOver (class in embodichain.lab.sim.atomic_actions.primitives.hand_over) (class in embodichain.lab.task_program.semantics) HandOverCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) HandOverGoal (class in embodichain.lab.sim.atomic_actions.primitives.hand_over) HandOverOptions (class in embodichain.lab.sim.atomic_actions.primitives.hand_over) Hans (class in embodichain.data.assets.robot_assets) has_cameras (embodichain.lab.visualization.SceneExporter property) has_deformables (embodichain.lab.visualization.SceneExporter property) has_gizmo() (embodichain.lab.sim.sim_manager.SimulationManager method) has_gravity (embodichain.lab.sim.cfg.DefaultRigidBodyPropertiesCfg attribute) has_native_renderer (embodichain.lab.sim.sim_manager.SimulationManager property) has_non_static_rigid_object() (embodichain.lab.sim.sim_manager.SimulationManager method) has_particle_collision (embodichain.lab.sim.cfg.NewtonCollisionPropertiesCfg attribute) has_sensor() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) has_sensors (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] has_wrapper_attr() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] HEAD (embodichain.data.enum.ControlParts attribute) headless (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) health (embodichain.lab.visualization.VisualizationRuntime property) heap_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute)

HeatMapEnv (class in embodichain.utils.visualizer) height (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) (embodichain_benchmarks.motion_generation.video.VideoRecordCfg attribute) HELD_OBJECT (embodichain.lab.task_program.semantics.SymbolicStateDomain attribute) held_object() (embodichain.lab.task_program.semantics.SymbolicStateKey class method) held_object_guard_request (embodichain.lab.sim.atomic_actions.ExecutionSession property) held_object_mask() (embodichain.lab.sim.atomic_actions.TaskState method) held_object_state() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) held_object_updates (embodichain.lab.sim.atomic_actions.StateDelta attribute) held_objects (embodichain.lab.sim.atomic_actions.PlanningContext property) (embodichain.lab.sim.atomic_actions.TaskState attribute) HeldObjectCases (class in embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases) HeldObjectPoseGoal (class in embodichain.lab.sim.atomic_actions.primitives.move_held_object) HeldObjectRelation (class in embodichain.lab.task_program.semantics) HeldObjectState (class in embodichain.lab.sim.atomic_actions) HeldObjectStateExpectation (class in embodichain.lab.task_program.semantics) hidden_dims (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) Hints (class in embodichain.data.enum) history_confidence_enabled (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) history_confidence_probe_stride (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) history_confidence_sensitivity (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) history_confidence_sigma_scale (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) history_fix_frame_num (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) history_length (embodichain.data_pipeline.datasets.SequenceSpecCfg attribute), [1] hold() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) (embodichain.lab.sim.atomic_actions.CommandSink method) (embodichain.lab.sim.atomic_actions.EndpointCommandRouter method) (embodichain.lab.sim.atomic_actions.EndpointCommandTransport method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) hold_during_effect_verification (embodichain.lab.sim.atomic_actions.ExecutionRunnerCfg attribute) hold_on_completion (embodichain.lab.sim.atomic_actions.ExecutionRunnerCfg attribute) hold_rows() (embodichain.lab.sim.atomic_actions.TimedTrajectory method) hold_static() (embodichain_benchmarks.motion_generation.scenarios.atomic_replay.AtomicReplayRuntime method) hold_steps (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverOptions attribute) host (embodichain.lab.visualization.ViserServerCfg attribute) humanoid_observation() (in module embodichain_tasks.classic_control.humanoid.mdp) humanoid_reward() (in module embodichain_tasks.classic_control.humanoid.mdp) HumanoidRun (class in embodichain.data.assets.locomotion_assets) HumanoidRunEnv (class in embodichain_tasks.classic_control.humanoid.humanoid_run)

I

IConstraintChecker (class in embodichain.lab.sim.motion.workspace.constraints) id (embodichain_benchmarks.motion_generation.config.DomainCfg attribute) (embodichain_benchmarks.motion_generation.config.PlannerSpecCfg attribute) (embodichain_benchmarks.motion_generation.config.RobotSpecCfg attribute) (embodichain_benchmarks.motion_generation.config.TrackCfg attribute) (embodichain_benchmarks.motion_generation.contracts.EvaluationDomain attribute) IDLE (embodichain.lab.task_program.runtime.SemanticExecutionStatus attribute) ignore_terminations (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] ik_device (embodichain.lab.sim.objects.GizmoCfg attribute) ik_end_link_name (embodichain.lab.sim.objects.GizmoCfg attribute) ik_gizmo_scale (embodichain.lab.sim.objects.GizmoCfg attribute) ik_iterations (embodichain.lab.sim.objects.GizmoCfg attribute) ik_nearest_weight (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) ik_root_link_name (embodichain.lab.sim.objects.GizmoCfg attribute) ik_samples_per_point (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) ik_solution_selection (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) ik_solver (embodichain.lab.sim.objects.GizmoCfg attribute) ik_start_enabled (embodichain.lab.sim.objects.GizmoCfg attribute) ik_success (embodichain.lab.gym.envs.managers.EefPoseAction property) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) ik_tcp_pose (embodichain.lab.sim.objects.GizmoCfg attribute) ik_toggle_key (embodichain.lab.sim.objects.GizmoCfg attribute) IkInterpolateAdapter (class in embodichain_benchmarks.motion_generation.planners.ik_interpolate) illegal_contact_force (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) illegal_contact_force_by_body (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) illegal_contact_link_names (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) image (embodichain.lab.visualization.CameraImage attribute) image_bytes (embodichain.lab.visualization.RuntimeStats attribute) image_capture_seconds (embodichain.lab.visualization.RuntimeStats attribute) image_upload_seconds (embodichain.lab.visualization.RuntimeStats attribute) images (embodichain.lab.visualization.CameraImageFrame attribute) implicit (embodichain.lab.task_program.compiler.CompiledTaskProgramSegment attribute) IMPORTANCE (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) importance_weight_func (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) imu_offset (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) include_provenance (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) include_settle (embodichain_benchmarks.motion_generation.contracts.ReplayObservationWindow attribute) incremental_distance_to_target() (in module embodichain.lab.gym.envs.managers.rewards) index (embodichain.lab.sim.motion.workspace.visualizers.PointInspection attribute), [1] indices (embodichain.lab.sim.motion.workspace.runtime.WorkspaceSample attribute) (embodichain.lab.sim.motion.workspace.visualizers.InspectionSelection attribute), [1] (embodichain.lab.sim.motion.workspace.WorkspaceSample attribute) inertia (embodichain.lab.sim.cfg.MassPropertiesCfg attribute) (embodichain.lab.sim.objects.ArticulationData property) (embodichain.lab.sim.objects.RigidBodyData property) (embodichain.lab.sim.objects.RigidBodyGroupData property) infer() (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskPolicyAdapter method) infer_depth_unit() (in module embodichain.data_pipeline.depth_video.depth_utils) infer_policy_action() (in module embodichain.learning.rl.evaluation) inference_dtype (embodichain_benchmarks.motion_generation.models.PlannerMetadata attribute) INFO (embodichain.data.enum.LeRobotKey attribute) info (embodichain.learning.rl.collector.DifferentiableTransition attribute) init_gpu_physics() (embodichain.lab.sim.sim_manager.SimulationManager method) init_local_pose (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.DeformableObjectCfg attribute) (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.cfg.ObjectBaseCfg attribute) (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.cfg.SurfaceDeformableObjectCfg attribute) (embodichain.lab.sim.cfg.VisualObjectCfg attribute) (embodichain.lab.sim.cfg.VolumeDeformableObjectCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.sensors.CameraCfg attribute) (embodichain.lab.sim.sensors.ContactSensorCfg attribute) (embodichain.lab.sim.sensors.SensorCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg attribute) init_orthogonal() (embodichain.learning.models.MLP method) (embodichain.learning.models.mlp.MLP method) init_pos (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.DeformableObjectCfg attribute) (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.cfg.ObjectBaseCfg attribute) (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.cfg.SurfaceDeformableObjectCfg attribute) (embodichain.lab.sim.cfg.VisualObjectCfg attribute) (embodichain.lab.sim.cfg.VolumeDeformableObjectCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.sensors.CameraCfg attribute) (embodichain.lab.sim.sensors.ContactSensorCfg attribute) (embodichain.lab.sim.sensors.SensorCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg attribute) init_qpos (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) init_rollout_buffer (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] init_rot (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.DeformableObjectCfg attribute) (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.cfg.ObjectBaseCfg attribute) (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.cfg.SurfaceDeformableObjectCfg attribute) (embodichain.lab.sim.cfg.VisualObjectCfg attribute) (embodichain.lab.sim.cfg.VolumeDeformableObjectCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.sensors.CameraCfg attribute) (embodichain.lab.sim.sensors.ContactSensorCfg attribute) (embodichain.lab.sim.sensors.SensorCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg attribute) init_solver() (embodichain.lab.sim.cfg.RobotCfg.SolverCfg method) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg method) (embodichain.lab.sim.motion.solvers.FEPSolverCfg method) (embodichain.lab.sim.motion.solvers.OPWSolverCfg method) (embodichain.lab.sim.motion.solvers.PinkSolverCfg method) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg method) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg method) (embodichain.lab.sim.motion.solvers.SRSSolverCfg method) (embodichain.lab.sim.motion.solvers.URSolverCfg method) (embodichain.lab.sim.objects.Robot method) initial_bottom_z_m (embodichain.lab.task_program.integrations.asset_materialization.AssetAdaptationCfg attribute) initial_context() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method)

initial_observation (embodichain.learning.rl.collector.DifferentiableRollout attribute) initial_pose (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicArticulationHandle attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicObjectHandle attribute) initial_qpos (embodichain_benchmarks.motion_generation.config.EmbodimentSpecCfg attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicArticulationHandle attribute) initial_scene() (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider method) initial_state (embodichain.lab.task_program.integrations.simulation.scene_expansion.SimulationSceneExpansionHost property) initial_state_id (embodichain.lab.task_program.integrations.simulation.scene_expansion.SimulationSceneInitialState property) initial_task_state() (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.HeldObjectCases method) initial_value (embodichain.lab.visualization.JointControlSpec attribute) initialization_timeout (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) InitialStatePort (class in embodichain.lab.sim.motion.execution) input_unit (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] inside (embodichain.lab.task_program.language.PlaceCfg attribute) inspect_points() (in module embodichain.lab.sim.motion.workspace.visualizers) inspect_recording() (in module embodichain.data_pipeline.recording) (in module embodichain.data_pipeline.recording.journal) InspectionSelection (class in embodichain.lab.sim.motion.workspace.visualizers) InspireHand (class in embodichain.data.assets.eef_assets) inst (embodichain.lab.sim.material.VisualMaterial property) instruction (embodichain.lab.task_program.compiler.CompiledTaskProgram attribute) (embodichain.lab.task_program.compiler.CompiledTaskProgramSegment attribute) (embodichain.lab.task_program.language.SegmentCfg attribute) (embodichain.lab.task_program.language.TaskProgramCfg attribute) integration (embodichain.lab.task_program.CompiledTaskProgram property) (embodichain.lab.task_program.compiler.CompiledTaskProgram property) (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) (embodichain.lab.task_program.language.TaskProgramCfg attribute) IntegrationFingerprintMismatch (class in embodichain.lab.task_program.integrations) intensity (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) intern() (embodichain.data_pipeline.engine.language.SharedLanguageRegistry method) internal_axis (embodichain.lab.task_program.integrations.simulation.AntipodalGraspAffordanceBinding attribute) interpolate_angle_step (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) interpolate_minimum_jerk() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.interpolation) (in module embodichain.lab.sim.utility.action_utils) interpolate_nums (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) interpolate_poses() (in module embodichain.utils.math) interpolate_position_step (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) interpolate_rotations() (in module embodichain.utils.math) interpolate_trajectory() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) interpolate_with_distance() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.interpolation) (in module embodichain.lab.sim.utility.action_utils) interpolate_with_nums() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.interpolation) (in module embodichain.lab.sim.utility.action_utils) interpolation_dt (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) interval_step (embodichain.lab.gym.envs.managers.EventCfg attribute) IntraGroupRandomizationCfg (class in embodichain.lab.sim.scene.expansion) inv_transform() (in module embodichain.utils.math) INVERSE_KINEMATICS_CAPABILITY (in module embodichain.lab.sim.atomic_actions) inverse_satisfied_mask (embodichain.lab.task_program.semantics.EffectExpectationDecision attribute) invocation (embodichain.lab.task_program.runtime.TaskProgramPlanRequest attribute) invocation_id (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) InvokeCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) ior (embodichain.lab.sim.material.VisualMaterialCfg attribute) (embodichain.lab.sim.material.VisualMaterialInst property) is_all_success() (embodichain.lab.sim.motion.planners.PlanResult method) is_attached (embodichain.lab.sim.sensors.Camera property) (embodichain.lab.sim.sensors.StereoCamera property) is_bound (embodichain.lab.sim.atomic_actions.AtomicAction property) is_configclass() (in module embodichain.utils) (in module embodichain.utils.configclass) is_declared (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.deformable.DeformableObject property) (embodichain.lab.sim.objects.RigidObject property) (embodichain.lab.sim.objects.RigidObjectGroup property) (embodichain.lab.sim.objects.Robot property) (embodichain.lab.sim.objects.VisualObject property) is_default (embodichain.lab.task_program.integrations.simulation.ContainerAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.SupportSurfaceAffordanceBinding attribute) is_default_backend (embodichain.lab.sim.sim_manager.SimulationManager property) is_empty (embodichain.lab.sim.atomic_actions.ActionControlOverrides property) (embodichain.lab.sim.atomic_actions.StateDelta property) is_frozen (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder property) is_full() (embodichain.learning.rl.buffer.RolloutBuffer method) (embodichain.learning.rl.buffer.standard_buffer.RolloutBuffer method) is_global (embodichain.lab.gym.envs.managers.EventCfg attribute) (embodichain.lab.sim.objects.Light property) is_hydroelastic (embodichain.lab.sim.cfg.MeshCollisionCfg attribute) (embodichain.lab.sim.shapes.MeshCollisionCfg attribute) is_identity_pose() (in module embodichain.utils.math) is_init (embodichain.data_pipeline.engine.OnlineDataEngine attribute) (embodichain.data_pipeline.engine.OnlineDataEngine property) is_instantiated() (embodichain.lab.sim.sim_manager.SimulationManager class method) is_interpolate (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) is_lambda_expression() (in module embodichain.utils.string) is_linear (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) is_newton_backend (embodichain.lab.sim.objects.backends.ArticulationViewBase property) (embodichain.lab.sim.objects.backends.RigidBodyViewBase property) (embodichain.lab.sim.objects.backends.SceneArticulationView property) (embodichain.lab.sim.objects.backends.SceneRigidBodyView property) (embodichain.lab.sim.sim_manager.SimulationManager property) is_newton_scene() (in module embodichain.lab.sim.objects.backends) is_nominal (embodichain.lab.sim.motion.expansion.TrajectoryVariant property) is_non_dynamic (embodichain.lab.sim.objects.RigidObject property) is_only_position_constraint (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) is_open (embodichain.lab.sim.motion.planners.PlanState attribute) is_physics_manually_update (embodichain.lab.sim.sim_manager.SimulationManager property) is_ready (embodichain.lab.sim.objects.backends.ArticulationViewBase property) (embodichain.lab.sim.objects.backends.RigidBodyViewBase property) (embodichain.lab.sim.objects.backends.SceneArticulationView property) (embodichain.lab.sim.objects.backends.SceneRigidBodyView property) is_recordable() (embodichain_benchmarks.motion_generation.scenarios.atomic_replay.AtomicReplayRuntime static method) is_registered() (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory method) (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory method) is_regular_expression() (in module embodichain.utils.string) is_replayable() (embodichain_benchmarks.motion_generation.scenarios.atomic_replay.AtomicReplayRuntime static method) is_rt_enabled() (in module embodichain.lab.sim.utility.sim_utils) is_running (embodichain.lab.visualization.VisualizationRuntime property) is_satisfied_constraint() (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner method) is_spawn_bound (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.deformable.DeformableObject property) (embodichain.lab.sim.objects.RigidObject property) (embodichain.lab.sim.objects.RigidObjectGroup property) (embodichain.lab.sim.objects.Robot property) (embodichain.lab.sim.objects.VisualObject property) is_static (embodichain.lab.sim.objects.RigidObject property) is_task_success() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] is_use_gpu_physics (embodichain.lab.sim.sim_manager.SimulationManager property) is_valid() (embodichain.lab.sim.objects.RigidConstraint method) is_visible() (embodichain.lab.sim.objects.Gizmo method) is_voxel_down (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) is_waiting (embodichain.lab.sim.atomic_actions.RunnerStep property) is_window_recording() (embodichain.lab.sim.sim_manager.SimulationManager method) is_world_coordinate (embodichain.lab.sim.motion.planners.PlanState attribute) ISampler (class in embodichain.lab.sim.motion.workspace.samplers) item_env_ids (embodichain.lab.sim.sensors.ContactSensor attribute) item_user_env_ids_map (embodichain.lab.sim.sensors.ContactSensor attribute) item_user_ids (embodichain.lab.sim.sensors.ContactSensor attribute) items (embodichain.lab.task_program.language.SequenceCfg attribute) iter_batches() (embodichain.learning.sl.sources.TensorBatchSource method) (embodichain.learning.sl.TensorBatchSource method) iter_segments() (embodichain.lab.gym.envs.task_program.TaskProgramDemoBridge method) (embodichain.lab.task_program.CompiledTaskProgram method) (embodichain.lab.task_program.compiler.CompiledTaskProgram method) iterate_minibatches() (in module embodichain.learning.rl.buffer) (in module embodichain.learning.rl.buffer.utils) iteration_index (embodichain.lab.task_program.compiler.CompiledRepeatFrame attribute) IVisualizer (class in embodichain.lab.sim.motion.workspace.visualizers)

J

jacobian() (embodichain.learning.layers.kinematics.KinematicsLayer method) jacobian_position_scale_m (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) jacobian_threshold (embodichain.lab.sim.motion.workspace.configs.ManipulabilityConfig attribute) jerk_limit_violation (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) jerk_utilization (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) joint (embodichain.lab.task_program.language.ArticulationJointPositionValidatorCfg attribute) joint_acc (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) joint_acceleration_limit_rad_s2 (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) (embodichain_benchmarks.motion_generation.planners.base.PlannerContext attribute) joint_armature (embodichain.lab.sim.objects.ArticulationData property) joint_command_mode (embodichain.lab.gym.envs.expert_trajectory.ExpertTrajectoryCfg attribute) (embodichain.lab.sim.motion.execution.JointTrajectoryPlaybackCfg attribute) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter property) joint_configuration (embodichain.lab.sim.motion.workspace.visualizers.PointInspection attribute), [1] joint_configurations (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer attribute) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityPointSet attribute), [1] (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer attribute) joint_control_specs() (embodichain.lab.visualization.JointControlProvider method) joint_control_states() (embodichain.lab.visualization.JointControlProvider method) joint_controls (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.SceneManifest attribute) joint_damping (embodichain.lab.sim.objects.ArticulationData property) joint_delta (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) joint_drive_props (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) joint_error_norm (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) joint_failure_tolerance (embodichain.lab.task_program.semantics.CompositeEffectMonitorCfg attribute) joint_friction (embodichain.lab.sim.objects.ArticulationData property) joint_id (embodichain.lab.task_program.semantics.ArticulationJointEvidenceAddress attribute) (embodichain.lab.task_program.semantics.ArticulationJointStateExpectation attribute) (embodichain.lab.visualization.JointControlSpec attribute) joint_ids (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.task_program.semantics.EndpointResolution attribute) joint_jerk_limit_rad_s3 (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) (embodichain_benchmarks.motion_generation.planners.base.PlannerContext attribute) joint_limit_clipped_mask (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) joint_limit_penalty() (in module embodichain.lab.gym.envs.managers.rewards) joint_limit_tolerance_rad (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) joint_limit_violation (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) joint_limit_weight (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) joint_limits_scale (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) JOINT_MOVE (embodichain.lab.sim.motion.planners.MoveType attribute), [1] joint_name (embodichain.lab.visualization.JointControlSpec attribute) joint_names (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.backends.ArticulationViewBase attribute) (embodichain.lab.sim.objects.backends.SceneArticulationView property) (embodichain.lab.sim.objects.Robot property) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig attribute)

joint_path_length_rad (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) joint_pos (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) JOINT_POSITION_CAPABILITY (in module embodichain.lab.sim.atomic_actions) joint_position_tolerance (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorOptions attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidizedArticulationObjectBinding attribute) joint_positions() (embodichain.lab.sim.atomic_actions.ControlPartCommandProfile class method) (embodichain.lab.sim.atomic_actions.EndpointBinding method) joint_qpos() (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicArticulationHandle method) joint_residual() (in module embodichain.lab.sim.motion.expansion) JOINT_SPACE (embodichain.lab.sim.motion.workspace.AnalysisMode attribute) (embodichain.lab.sim.motion.workspace.analyzer.AnalysisMode attribute) JOINT_STATE_EFFECT_CHANNEL (in module embodichain.lab.task_program.semantics) joint_state_provider (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) joint_step_limited (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) joint_stiffness (embodichain.lab.sim.objects.ArticulationData property) joint_success_tolerance (embodichain.lab.task_program.semantics.CompositeEffectMonitorCfg attribute) joint_target (embodichain.lab.sim.atomic_actions.primitives.slide.SlideGoal attribute) joint_threshold_rad (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) joint_torque (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) joint_tracking_rmse_rad (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) joint_type (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry attribute) (embodichain.lab.visualization.JointControlSpec attribute) joint_vel (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) joint_velocity_limit_rad_s (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) (embodichain_benchmarks.motion_generation.planners.base.PlannerContext attribute) joint_velocity_penalty() (in module embodichain.lab.gym.envs.managers.rewards) JointCommandMode (in module embodichain.lab.gym.envs.expert_trajectory) JointControlCommand (class in embodichain.lab.visualization) JointControlCommandQueue (class in embodichain.lab.visualization) JointControlProvider (class in embodichain.lab.visualization) JointControlSpec (class in embodichain.lab.visualization) JointControlState (class in embodichain.lab.visualization) JointDrivePropertiesCfg (class in embodichain.lab.sim.cfg) JointEffortAction (class in embodichain.lab.gym.envs.managers) JointPositionAction (class in embodichain.lab.gym.envs.managers) JointPositionCommand (class in embodichain.lab.sim.atomic_actions) JointPositionGoal (class in embodichain.lab.sim.atomic_actions.primitives.move_joints) JointPositionPayload (class in embodichain.lab.sim.atomic_actions) JointPositionTarget (class in embodichain.lab.sim.atomic_actions) JointPositionToLimitsAction (class in embodichain.lab.gym.envs.managers) JointStateEffectClause (class in embodichain.lab.task_program.semantics) JointStateEvidenceBatch (class in embodichain.lab.task_program.semantics) JointStateEvidenceQuery (class in embodichain.lab.task_program.semantics) JointStateObservation (class in embodichain.lab.task_program.semantics) JointTrajectoryPlaybackCfg (class in embodichain.lab.sim.motion.execution) JointType (class in embodichain.data.enum) JointVelocityAction (class in embodichain.lab.gym.envs.managers)

K

k_neighbors (embodichain.lab.sim.motion.workspace.configs.DensityConfig attribute) ka (embodichain.lab.sim.cfg.NewtonRigidBodyMaterialCfg attribute) kd (embodichain.lab.sim.cfg.NewtonRigidBodyMaterialCfg attribute) ke (embodichain.lab.sim.cfg.NewtonRigidBodyMaterialCfg attribute) keep_numeric_fallback (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] key (embodichain.lab.sim.atomic_actions.EndpointBinding property) key_in_nested_dict() (in module embodichain.utils.utility) kf (embodichain.lab.sim.cfg.NewtonRigidBodyMaterialCfg attribute) kh (embodichain.lab.sim.cfg.NewtonRigidBodyMaterialCfg attribute) kind (embodichain.lab.task_program.compiler.CompiledTaskProgramAnalysis attribute) (embodichain.lab.task_program.integrations.TaskProgramSourceAdapter attribute) (embodichain.lab.task_program.language.ArticulationJointPositionValidatorCfg attribute) (embodichain.lab.task_program.language.BarrierCfg attribute) (embodichain.lab.task_program.language.CyclicPoseTargetCfg attribute) (embodichain.lab.task_program.language.HandOverCfg attribute) (embodichain.lab.task_program.language.InvokeCfg attribute) (embodichain.lab.task_program.language.ObjectLiftedValidatorCfg attribute) (embodichain.lab.task_program.language.ObjectNearTargetValidatorCfg attribute) (embodichain.lab.task_program.language.ObjectRelativePositionValidatorCfg attribute) (embodichain.lab.task_program.language.ObjectUprightValidatorCfg attribute) (embodichain.lab.task_program.language.ParallelCfg attribute) (embodichain.lab.task_program.language.PickCfg attribute) (embodichain.lab.task_program.language.PlaceCfg attribute) (embodichain.lab.task_program.language.RegisteredSemanticCallCfg attribute) (embodichain.lab.task_program.language.RepeatCfg attribute) (embodichain.lab.task_program.language.SegmentCfg attribute) (embodichain.lab.task_program.language.SequenceCfg attribute) (embodichain.lab.task_program.language.TargetRefCfg attribute) (embodichain.lab.task_program.language.WaitStablePostCfg attribute) (embodichain.lab.visualization.SceneNode attribute) (embodichain_benchmarks.motion_generation.config.DomainCfg attribute) (embodichain_benchmarks.motion_generation.contracts.EvaluationDomain attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicObjectHandle attribute)

KinematicsLayer (class in embodichain.learning.layers.kinematics) kl_coef (embodichain.learning.rl.algo.GRPOCfg attribute), [1] KUKA (class in embodichain.data.assets.robot_assets) kwargs (embodichain.learning.rl.utils.config.LRSchedulerCfg attribute) (embodichain.learning.rl.utils.config.OptimizerCfg attribute) (embodichain.learning.rl.utils.LRSchedulerCfg attribute) (embodichain.learning.rl.utils.OptimizerCfg attribute)

L

label (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) (embodichain.lab.sim.motion.workspace.visualizers.PointInspection attribute), [1] (embodichain.lab.visualization.ViserServerCfg attribute) labels (embodichain.lab.sim.motion.workspace.visualizers.InspectionSelection attribute), [1] language_buffer_bytes (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) last_action (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) last_action_trace (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] last_evidence (embodichain.lab.sim.atomic_actions.ExecutionRunner property) last_foot_air_time (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) last_qpos (embodichain.lab.sim.atomic_actions.PlanningContext property) latest_context (embodichain.lab.sim.atomic_actions.ExecutionSession property) LatestFrameQueue (class in embodichain.lab.visualization) LATIN_HYPERCUBE (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) LatinHypercubeSampler (class in embodichain.lab.sim.motion.workspace.samplers) layout (embodichain.lab.sim.scene.procedural.SceneRecipe property) LayoutCfg (class in embodichain.lab.sim.scene.layout) LayoutProblem (class in embodichain.lab.sim.scene.layout) LayoutSolution (class in embodichain.lab.sim.scene.layout) lazy_import_casadi() (in module embodichain.lab.sim.utility.import_utils) lazy_import_pink() (in module embodichain.lab.sim.utility.import_utils) lazy_import_pinocchio() (in module embodichain.lab.sim.utility.import_utils) lazy_import_pinocchio_casadi() (in module embodichain.lab.sim.utility.import_utils) lazy_import_pytorch_kinematics() (in module embodichain.lab.sim.utility.import_utils) learning_rate (embodichain.learning.rl.utils.config.OptimizerCfg attribute) (embodichain.learning.rl.utils.OptimizerCfg attribute) LearningVecEnv (class in embodichain.learning.rl.env) LEFT (embodichain.lab.sim.motion.planners.MovePart attribute), [1] LEFT_ARM (embodichain.data.enum.ControlParts attribute) LEFT_EEF (embodichain.data.enum.ControlParts attribute) left_to_right (embodichain.lab.sim.sensors.StereoCameraCfg property) left_to_right_arm_direction (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) legacy_to_native() (embodichain_models.dynamics.nerd.codec.NeRDStateCodec method) length_tolerance (embodichain.lab.sim.cfg.DefaultPhysicsCfg attribute) length_unit (embodichain.lab.visualization.SceneManifest attribute) LeRobotDataSource (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.lerobot) LeRobotFieldMappingCfg (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.lerobot) LeRobotKey (class in embodichain.data.enum) LeRobotRecorder (class in embodichain.lab.gym.envs.managers.datasets) lifecycle_event_capacity (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) lift_height (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.place.PlaceOptions attribute) lift_segment_start() (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.HeldObjectCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.PickUpCases method) Light (class in embodichain.lab.sim.objects) light_type (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) LightCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) line_color (embodichain.lab.sim.cfg.MarkerCfg attribute) line_width (embodichain.lab.visualization.GizmoSpec attribute) (embodichain.lab.visualization.TrajectoryOverlay attribute) linear_damping (embodichain.lab.sim.cfg.DefaultRigidBodyPropertiesCfg attribute) linear_velocity_threshold (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg attribute) link_attrs (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) link_attrs_from_dict() (in module embodichain.lab.sim.cfg) link_call() (embodichain.lab.task_program.semantics.BoundSemanticIntegration method) (embodichain.lab.task_program.semantics.SemanticIntegrationManifest method) link_lengths (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) link_mesh() (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicArticulationHandle method) link_name_list (embodichain.lab.sim.sensors.ArticulationContactFilterCfg attribute) link_names (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationGeometryProvider attribute) (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.backends.ArticulationViewBase attribute) (embodichain.lab.sim.objects.backends.SceneArticulationView property) (embodichain.lab.sim.objects.Robot property) link_names_expr (embodichain.lab.sim.cfg.LinkPhysicsOverrideCfg attribute)

link_pose() (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicArticulationHandle method) link_transform_tolerance (embodichain.lab.task_program.integrations.simulation.SimulationRigidizedArticulationObjectBinding attribute) link_vert_face (embodichain.lab.sim.objects.ArticulationData property) linked (embodichain.lab.task_program.semantics.BoundSemanticCall attribute) LinkedSemanticCall (class in embodichain.lab.task_program.semantics) LinkPhysicsOverrideCfg (class in embodichain.lab.sim.cfg) links (embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding attribute) list_available_strategies() (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory method) list_available_types() (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory method) list_default_materials() (in module embodichain.data.default_materials) list_entries() (embodichain.lab.sim.motion.workspace.caches.ResultsCache method) list_gizmos() (embodichain.lab.sim.sim_manager.SimulationManager method) list_robot_cfgs() (in module embodichain.robot_registry) load() (embodichain.lab.sim.motion.workspace.caches.ResultsCache method) (embodichain.learning.rl.policy_evaluation.manifest.RunManifest class method) load_asset_requirements_from_deployment() (in module embodichain.lab.task_program.integrations.asset_materialization) load_cfg_from_file() (embodichain.utils.cfg.CfgNode class method) load_checkpoint() (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainer method) (embodichain.learning.rl.utils.trainer.Trainer method) load_config() (in module embodichain.utils.utility) (in module embodichain_tasks.locomotion.velocity.contracts.anymal_c.config) (in module embodichain_tasks.locomotion.velocity.contracts.g1.config) (in module embodichain_tasks.locomotion.velocity.contracts.go1.config) (in module embodichain_tasks.locomotion.velocity.contracts.go2.config) (in module embodichain_tasks.locomotion.velocity.contracts.h1_2.config) (in module embodichain_tasks.locomotion.velocity.contracts.microduck.config) load_depth_dataset() (in module embodichain.data_pipeline.depth_video.reader) load_expansion_profile() (in module embodichain.lab.sim.motion.expansion) (in module embodichain.lab.sim.motion.expansion.profile) load_json() (in module embodichain.utils.utility) load_manifest() (in module embodichain_models.dynamics.nerd.data) load_mesh_objects_from_cfg() (in module embodichain.lab.sim.utility.sim_utils) load_model() (in module embodichain_models.dynamics.nerd) (in module embodichain_models.dynamics.nerd.checkpoint) load_option (embodichain.lab.sim.cfg.MeshCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) load_pkl() (in module embodichain.utils.utility) load_scene_variants() (in module embodichain.lab.sim.scene.expansion) load_state_dict() (embodichain.learning.rl.algo.BaseAlgorithm method), [1] (embodichain.learning.rl.normalization.RunningObservationNormalizer method) (embodichain.learning.sl.learner.SupervisedLearner method) (embodichain.learning.sl.SupervisedLearner method) load_statistics() (in module embodichain_models.dynamics.nerd.integration) load_suite() (in module embodichain_benchmarks.motion_generation) load_task_program() (in module embodichain.lab.task_program) (in module embodichain.lab.task_program.language) load_txt() (in module embodichain.utils.utility) load_visual_profile_registry() (in module embodichain.lab.sim.motion.expansion.combined) LoadedSceneVariants (class in embodichain.lab.sim.scene.expansion) LoadOption (class in embodichain.lab.sim.shapes) loads_task_program_json() (in module embodichain.lab.task_program) (in module embodichain.lab.task_program.language) local_frame_a (embodichain.lab.sim.cfg.RigidConstraintCfg attribute) local_frame_b (embodichain.lab.sim.cfg.RigidConstraintCfg attribute) local_pose (embodichain.lab.sim.objects.CollisionShapeDesc attribute) locked_qpos (embodichain.lab.task_program.integrations.simulation.SimulationRigidizedArticulationObjectBinding attribute) log_debug() (in module embodichain.utils.logger) log_epsilon (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorCfg attribute) log_error() (in module embodichain.utils.logger) log_info() (in module embodichain.utils.logger) log_scale (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorCfg attribute) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityNormalization attribute), [1] log_warning() (in module embodichain.utils.logger) look_at (embodichain_benchmarks.motion_generation.video.VideoRecordCfg attribute) look_at() (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) look_at_to_pose() (in module embodichain.utils.math) lookup() (embodichain.lab.task_program.semantics.SceneManifest method) (embodichain.lab.task_program.semantics.SceneRegistry method) lossless (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] LossResult (class in embodichain.learning.sl) (class in embodichain.learning.sl.types) lower (embodichain.lab.visualization.JointControlSpec attribute) lower_command (embodichain.lab.gym.envs.managers.ParallelGripperAction property) lr_scheduler (embodichain.learning.rl.algo.APG attribute), [1] (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.BaseAlgorithm attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute) LRSchedulerCfg (class in embodichain.learning.rl.utils) (class in embodichain.learning.rl.utils.config)

M

main() (in module embodichain.cli.benchmark) (in module embodichain.data.download) (in module embodichain.data_pipeline.datasets.inspection) (in module embodichain.lab.scripts.preview_material) (in module embodichain.lab.scripts.preview_robot) (in module embodichain_benchmarks.motion_generation.cli) make() (in module embodichain.lab.gym.utils.registration), [1] make_failure_outcomes() (in module embodichain_benchmarks.motion_generation.metrics.trajectory) make_invocation() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) make_nerd_batch() (in module embodichain_models.dynamics.nerd) (in module embodichain_models.dynamics.nerd.supervised) make_planning_scene_provider() (embodichain.lab.task_program.semantics.SceneRegistry method) make_pose() (in module embodichain.utils.math) make_scene_provider() (embodichain.lab.task_program.semantics.SceneRegistry method) make_vec() (in module embodichain.lab.gym.utils.registration) ManagerBase (class in embodichain.lab.gym.envs.managers) manifest (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) (embodichain.lab.task_program.semantics.BoundSemanticIntegration property) manifest_bytes (embodichain.lab.visualization.RuntimeStats attribute) manipulability (embodichain.lab.sim.motion.workspace.configs.MetricConfig attribute) MANIPULABILITY (embodichain.lab.sim.motion.workspace.configs.MetricType attribute) (embodichain.lab.sim.motion.workspace.configs.VisualizationType attribute) manipulability (embodichain.lab.sim.motion.workspace.visualizers.PointInspection attribute), [1] MANIPULABILITY (embodichain.lab.sim.motion.workspace.visualizers.VisualizationType attribute) manipulability_guided_residual() (in module embodichain.lab.sim.motion.expansion) manipulability_log_scale (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) manipulability_percentile_clip (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) manipulability_reference() (embodichain.lab.sim.motion.expansion.ExpansionSession method) manipulability_scores (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer attribute) ManipulabilityBands (class in embodichain.lab.sim.motion.expansion) ManipulabilityColorCfg (class in embodichain.lab.sim.motion.workspace.visualizers) ManipulabilityColorMapping (class in embodichain.lab.sim.motion.workspace.visualizers) ManipulabilityConfig (class in embodichain.lab.sim.motion.workspace.configs) ManipulabilityMetric (class in embodichain.lab.sim.motion.workspace.metrics) ManipulabilityNormalization (class in embodichain.lab.sim.motion.workspace.visualizers) ManipulabilityPointSet (class in embodichain.lab.sim.motion.workspace.visualizers) ManipulabilityProfile (class in embodichain.lab.sim.motion.expansion) ManipulabilityVisualizer (class in embodichain.lab.sim.motion.workspace.visualizers) map_colors() (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityVisualizer method) map_manipulability_colors() (in module embodichain.lab.sim.motion.workspace.visualizers) map_source_qpos_to_state_order() (in module embodichain.lab.sim.objects.backends.articulation_state) margin (embodichain.lab.sim.cfg.NewtonCollisionPropertiesCfg attribute) mark_rollout_started() (embodichain.lab.sim.motion.expansion.ExpansionSession method) marker_type (embodichain.lab.sim.cfg.MarkerCfg attribute) MarkerCfg (class in embodichain.lab.sim.cfg) mask_inactive() (embodichain.lab.gym.envs.managers.ActionManager method) mask_to_box() (in module embodichain.utils.utility) mass (embodichain.lab.sim.cfg.MassPropertiesCfg attribute) (embodichain.lab.sim.objects.ArticulationData property) (embodichain.lab.sim.objects.RigidBodyData property) (embodichain.lab.sim.objects.RigidBodyGroupData property) mass_props (embodichain.lab.sim.cfg.RigidBodyPhysicsCfg attribute) MassPropertiesCfg (class in embodichain.lab.sim.cfg) mat (embodichain.lab.sim.material.VisualMaterial property) (embodichain.lab.sim.material.VisualMaterialInst property) match_ordered_joint_waypoints() (in module embodichain_benchmarks.motion_generation.metrics.trajectory) match_ordered_waypoints() (in module embodichain_benchmarks.motion_generation.metrics.trajectory) MATCHED (embodichain.lab.task_program.semantics.PoseRelationExpectation attribute) material_props (embodichain.lab.sim.cfg.RigidBodyPhysicsCfg attribute) materialize() (embodichain.data.asset_catalog.AssetProvider method) (embodichain.data.asset_catalog.contracts.AssetProvider method) (embodichain.data.asset_catalog.ExplicitAssetProvider method) (embodichain.data.asset_catalog.local.ExplicitAssetProvider method) materialize_asset_deployment() (in module embodichain.lab.task_program.integrations.asset_materialization) MaterializedAssetDeployment (class in embodichain.lab.task_program.integrations.asset_materialization) matrix_from_euler() (in module embodichain.utils.math) max_accumulated_frame_num (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) max_action_retries (embodichain.lab.sim.atomic_actions.RecoveryPolicy attribute) max_angle (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg attribute) max_angular_velocity (embodichain.lab.sim.cfg.DefaultRigidBodyPropertiesCfg attribute) max_approach_retract_z (embodichain.lab.sim.atomic_actions.primitives.place.PlaceOptions attribute) max_backtracks (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) max_blur_radius (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) max_bounces (embodichain.lab.sim.cfg.RenderCfg attribute) max_bounds (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) max_cache_size_mb (embodichain.lab.sim.motion.workspace.configs.CacheConfig attribute) max_candidates (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGeneratorCfg attribute) max_contacts_per_env (embodichain.lab.sim.sensors.ContactSensorCfg attribute) max_convex_hull_num (embodichain.lab.sim.cfg.MeshCollisionCfg property) (embodichain.lab.sim.shapes.MeshCollisionCfg property) max_damping (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) max_decomposition_hulls (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) (embodichain.toolkits.graspkit.pg_grasp.ParallelJawGraspCollisionCfg attribute) max_depenetration_velocity (embodichain.lab.sim.cfg.DefaultRigidBodyPropertiesCfg attribute) max_effort (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) (embodichain.lab.sim.cfg.NewtonJointDrivePropertiesCfg attribute) max_episode_steps (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig attribute) max_fast_accumulated_frame_num (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) max_generation_attempts (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) max_grad_norm (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute) max_grad_norm_before_clip (embodichain.learning.rl.algo.APGCfg attribute), [1] max_hulls (embodichain.lab.sim.cfg.MeshCollisionCfg attribute) (embodichain.lab.sim.shapes.MeshCollisionCfg attribute) max_indirect_bounces (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) max_iterations (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) max_joint_acceleration_rad_s2 (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) max_joint_jerk_rad_s3 (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) max_joint_step (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) max_joint_velocity_rad_s (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) max_length (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg attribute) max_linear_velocity (embodichain.lab.sim.cfg.DefaultRigidBodyPropertiesCfg attribute) max_memory (embodichain.lab.sim.cfg.WindowRecordCfg attribute) max_memory_mb (embodichain_benchmarks.motion_generation.video.VideoRecordCfg attribute) max_normalized_joint_violation (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) max_num (embodichain.lab.sim.cfg.RigidObjectGroupCfg attribute) (embodichain.lab.sim.objects.RigidObjectGroupCfg attribute) max_open_length (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) max_opening_width (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) max_recovery_attempts (embodichain.lab.task_program.semantics.WorkflowRecoveryPolicy attribute) max_replans (embodichain.lab.sim.atomic_actions.RecoveryPolicy attribute) max_rigid_contact_count (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) max_rigid_patch_count (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) max_sampling_rounds (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) max_stabilized_frame_num (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) max_steps (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) max_total_contacts (embodichain.lab.sim.sensors.ContactSensor property) max_triangle_pairs (embodichain.lab.sim.cfg.NewtonCollisionPipelineCfg attribute) max_velocity (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) (embodichain.lab.sim.cfg.NewtonJointDrivePropertiesCfg attribute) max_visible_envs (embodichain.lab.visualization.VisualizationCfg attribute) maximum_learning_rate (embodichain.learning.rl.algo.PPOCfg attribute), [1] maximum_position (embodichain.lab.task_program.language.ArticulationJointPositionValidatorCfg attribute) maximum_tilt_degrees (embodichain.lab.task_program.language.ObjectUprightValidatorCfg attribute) mean (embodichain.lab.sim.motion.expansion.ManipulabilityProfile property) measure_ods_throughput() (in module embodichain.data_pipeline.configuration) MEASURED (embodichain_benchmarks.motion_generation.models.TrialPhase attribute) measured_trials (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) MeasuredExecutor (class in embodichain.lab.sim.motion.execution) MeasuredValidator (class in embodichain.lab.sim.motion.expansion) (class in embodichain.lab.sim.motion.expansion.combined_runtime) measurement (embodichain_benchmarks.motion_generation.evaluation.Criterion attribute) measurements (embodichain_benchmarks.motion_generation.contracts.StageOutcome attribute) (embodichain_benchmarks.motion_generation.evaluation.StageEvidence attribute) MemberRandomizationCfg (class in embodichain.lab.sim.scene.expansion) members (embodichain.lab.task_program.integrations.simulation.ControlPartResourceBinding attribute) MemoryCache (class in embodichain.lab.sim.motion.workspace.caches) merge_from_other_cfg() (embodichain.utils.cfg.CfgNode method) merge_robot_cfg() (in module embodichain.lab.sim.utility.cfg_utils) merge_solver_cfg() (in module embodichain.lab.sim.utility.cfg_utils) merge_stage_evidence_batches() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) merge_urdfs() (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) mesh_env_id (embodichain.lab.task_program.integrations.simulation.AntipodalGraspAffordanceBinding attribute) mesh_id (embodichain.lab.sim.material.ReuseSegmentState attribute), [1] mesh_path (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) MeshCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.shapes) MeshCollisionCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.shapes) MeshGeometry (class in embodichain.lab.visualization) meshing (embodichain.lab.sim.cfg.VolumeDeformableObjectCfg attribute) message (embodichain.lab.sim.atomic_actions.CommandAcknowledgement attribute) (embodichain.lab.sim.atomic_actions.RunnerStep attribute) (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) META_FILENAME (embodichain.lab.sim.motion.workspace.caches.ResultsCache attribute) metadata (embodichain.learning.rl.env.DifferentiableRolloutSpec attribute) (embodichain_benchmarks.motion_generation.config.DomainCfg attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) (embodichain_benchmarks.motion_generation.PlannerAdapter property) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioEvaluation attribute) metadata() (embodichain.lab.gym.envs.expert_trajectory.ExpertActionSpec method) metadata_keys (embodichain.data_pipeline.datasets.LeRobotFieldMappingCfg attribute), [1] metallic (embodichain.lab.sim.material.VisualMaterialCfg attribute) (embodichain.lab.sim.material.VisualMaterialInst property) metallic_texture (embodichain.lab.sim.material.VisualMaterialCfg attribute) method (embodichain_benchmarks.motion_generation.evaluation.StageEvidence attribute) metric (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) MetricConfig (class in embodichain.lab.sim.motion.workspace.configs) metrics (embodichain.learning.rl.policy_evaluation.viewer.NativeViewerResult attribute) metrics() (embodichain.learning.rl.gradients.BatchedGradientNormStats method) (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskEnvironment method) (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskPolicyAdapter method) metrics_results (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer attribute) MetricType (class in embodichain.lab.sim.motion.workspace.configs) MicroDuckFlatEnv (class in embodichain_tasks.locomotion.velocity.microduck_flat) MicroDuckLocomotion (class in embodichain.data.assets.locomotion_assets) MicroDuckReward (class in embodichain_tasks.locomotion.velocity.contracts.microduck.mdp) MicroDuckState (class in embodichain_tasks.locomotion.velocity.contracts.microduck.mdp) MicroDuckVelocityConfig (class in embodichain_tasks.locomotion.velocity.contracts.microduck.config) Microwave (class in embodichain.data.assets.obj_assets) MicrowaveOven (class in embodichain.data.assets.obj_assets) middle_empty_ratio (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) mimic_ids (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) mimic_multipliers (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) mimic_offsets (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) mimic_parents (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) min_blur_radius (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) min_bounces (embodichain.lab.sim.cfg.RenderCfg attribute) min_bounds (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) min_length (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg attribute) min_opening_width (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) min_points_per_voxel (embodichain.lab.sim.motion.workspace.configs.ReachabilityConfig attribute) min_position_iters (embodichain.lab.sim.cfg.ArticulationRootPropertiesCfg attribute) (embodichain.lab.sim.cfg.DefaultRigidBodyPropertiesCfg attribute) min_rotation_err_deg (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) min_score (embodichain.lab.sim.cfg.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.workspace.cfg.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg attribute) (embodichain.lab.sim.objects.RobotWorkspaceCfg attribute) min_steps (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg attribute) min_torsional_patch_radius (embodichain.lab.sim.cfg.DefaultCollisionPropertiesCfg attribute) min_translation_err_mm (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) min_velocity_iters (embodichain.lab.sim.cfg.ArticulationRootPropertiesCfg attribute) (embodichain.lab.sim.cfg.DefaultRigidBodyPropertiesCfg attribute) minimum_confidence (embodichain.lab.sim.atomic_actions.SceneEntityPose attribute) (embodichain.lab.task_program.integrations.simulation.ContainerAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.SupportSurfaceAffordanceBinding attribute) (embodichain.lab.task_program.semantics.ContainerAffordance attribute) (embodichain.lab.task_program.semantics.SupportSurfaceAffordance attribute) minimum_cycle_time (embodichain.lab.sim.atomic_actions.ExecutionRunnerCfg attribute) minimum_height_above_initial_support() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) minimum_learning_rate (embodichain.learning.rl.algo.PPOCfg attribute), [1] minimum_lift (embodichain.lab.task_program.language.ObjectLiftedValidatorCfg attribute) minimum_position (embodichain.lab.task_program.language.ArticulationJointPositionValidatorCfg attribute) MinimumJerkBridgePlanner (class in embodichain.lab.sim.motion.expansion) mirror_newton_physical_attr() (in module embodichain.lab.sim.objects.backends.rigid_physics) MLP (class in embodichain.learning.models) (class in embodichain.learning.models.mlp) mode (embodichain.lab.gym.envs.managers.EventCfg attribute) (embodichain.lab.gym.envs.managers.ObservationCfg attribute) (embodichain.lab.gym.envs.managers.RewardCfg attribute) (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityPointSet attribute), [1] (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) model_id (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) model_revision (embodichain_benchmarks.motion_generation.models.PlannerMetadata attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) (embodichain_benchmarks.motion_generation.planners.curobo.CuroboAdapter attribute) module embodichain.cli.benchmark embodichain.compute.geometry.aabb embodichain.compute.geometry.mesh embodichain.compute.geometry.rigid embodichain.compute.geometry.transforms embodichain.compute.kinematics.dls embodichain.compute.kinematics.manipulability embodichain.compute.kinematics.pose_error embodichain.compute.kinematics.serial_chain embodichain.compute.kinematics.types embodichain.compute.trajectory embodichain.compute.trajectory.interpolation embodichain.compute.trajectory.resampling embodichain.compute.trajectory.timing embodichain.compute.trajectory.warping embodichain.data embodichain.data.assets embodichain.data.assets.locomotion_assets embodichain.data.assets.obj_assets embodichain.data.assets.robot_assets embodichain.data.assets.so101_assets embodichain.data.constants embodichain.data.dataset embodichain.data.download embodichain.data.enum embodichain.data_pipeline embodichain.data_pipeline.datasets, [1], [2] embodichain.data_pipeline.datasets.inspection embodichain.data_pipeline.datasets.lerobot embodichain.data_pipeline.datasets.offline_data embodichain.data_pipeline.datasets.online_data embodichain.data_pipeline.datasets.sampler embodichain.data_pipeline.datasets.schema embodichain.data_pipeline.datasets.sequence embodichain.data_pipeline.datasets.sequence_data embodichain.data_pipeline.datasets.sources embodichain.data_pipeline.depth_video embodichain.data_pipeline.depth_video.cfg embodichain.data_pipeline.depth_video.codec embodichain.data_pipeline.depth_video.depth_utils embodichain.data_pipeline.depth_video.reader embodichain.data_pipeline.depth_video.writer embodichain.data_pipeline.engine, [1] embodichain.data_pipeline.engine.language embodichain.data_pipeline.recording embodichain.data_pipeline.recording.journal embodichain.data_pipeline.recording.provenance embodichain.data_pipeline.recording.segments embodichain.data_pipeline.runtime embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_layout_optimizer embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_support_clamp embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_table_aligner embodichain.gen_sim.scene_engine.pipeline.utils.gravity_settler embodichain.gen_sim.scene_engine.pipeline.utils.parent_surface_layout_optimizer embodichain.gen_sim.scene_engine.pipeline.utils.table_support_surface embodichain.gen_sim.scene_engine.pipeline.utils.table_surface_layout_optimizer embodichain.lab embodichain.lab.devices embodichain.lab.gym embodichain.lab.gym.envs embodichain.lab.gym.envs.managers embodichain.lab.gym.envs.managers.async_datasets embodichain.lab.gym.envs.managers.dataset_manager embodichain.lab.gym.envs.managers.datasets embodichain.lab.gym.envs.managers.events embodichain.lab.gym.envs.managers.observations embodichain.lab.gym.envs.managers.randomization embodichain.lab.gym.envs.managers.randomization.geometry embodichain.lab.gym.envs.managers.randomization.physics embodichain.lab.gym.envs.managers.randomization.spatial embodichain.lab.gym.envs.managers.randomization.visual embodichain.lab.gym.envs.managers.record embodichain.lab.gym.envs.managers.rewards embodichain.lab.gym.utils embodichain.lab.gym.utils.gym_utils, [1] embodichain.lab.gym.utils.misc, [1] embodichain.lab.gym.utils.profiler embodichain.lab.gym.utils.registration embodichain.lab.sim embodichain.lab.sim.atomic_actions.primitives.axis_align embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment embodichain.lab.sim.atomic_actions.primitives.coordinated_placement embodichain.lab.sim.atomic_actions.primitives.hand_over embodichain.lab.sim.atomic_actions.primitives.move_end_effector embodichain.lab.sim.atomic_actions.primitives.move_held_object embodichain.lab.sim.atomic_actions.primitives.move_joints embodichain.lab.sim.atomic_actions.primitives.open_door embodichain.lab.sim.atomic_actions.primitives.pick_up embodichain.lab.sim.atomic_actions.primitives.place embodichain.lab.sim.atomic_actions.primitives.pour embodichain.lab.sim.atomic_actions.primitives.press embodichain.lab.sim.atomic_actions.primitives.push_object embodichain.lab.sim.atomic_actions.primitives.slide embodichain.lab.sim.atomic_actions.primitives.twist embodichain.lab.sim.cfg, [1] embodichain.lab.sim.common embodichain.lab.sim.material embodichain.lab.sim.motion embodichain.lab.sim.motion.execution embodichain.lab.sim.motion.motion_generator embodichain.lab.sim.motion.planners embodichain.lab.sim.motion.solvers embodichain.lab.sim.motion.workspace embodichain.lab.sim.motion.workspace.analyzer embodichain.lab.sim.motion.workspace.caches embodichain.lab.sim.motion.workspace.cfg embodichain.lab.sim.motion.workspace.configs embodichain.lab.sim.motion.workspace.constraints embodichain.lab.sim.motion.workspace.metrics embodichain.lab.sim.motion.workspace.runtime embodichain.lab.sim.motion.workspace.samplers embodichain.lab.sim.motion.workspace.visualizers embodichain.lab.sim.objects embodichain.lab.sim.profiler embodichain.lab.sim.robots embodichain.lab.sim.scene.composition embodichain.lab.sim.scene.geometry embodichain.lab.sim.scene.layout embodichain.lab.sim.scene.operations embodichain.lab.sim.scene.placement embodichain.lab.sim.scene.procedural embodichain.lab.sim.scene.query embodichain.lab.sim.scene.state embodichain.lab.sim.scene.validation embodichain.lab.sim.sensors embodichain.lab.sim.sensors.contact_history embodichain.lab.sim.shapes embodichain.lab.sim.sim_manager embodichain.lab.sim.types, [1] embodichain.lab.sim.utility embodichain.lab.sim.utility.action_utils embodichain.lab.sim.utility.atom_action_utils embodichain.lab.sim.utility.cfg_utils embodichain.lab.sim.utility.import_utils embodichain.lab.sim.utility.io_utils embodichain.lab.sim.utility.keyboard_utils embodichain.lab.sim.utility.mesh_utils embodichain.lab.sim.utility.sim_utils embodichain.lab.sim.utility.solver_utils embodichain.lab.sim.utility.tensor embodichain.lab.task_program embodichain.lab.task_program.compiler embodichain.lab.task_program.integrations embodichain.lab.task_program.integrations.simulation embodichain.lab.task_program.language embodichain.lab.task_program.runtime embodichain.lab.task_program.semantics embodichain.lab.visualization embodichain.learning embodichain.learning.layers.ik embodichain.learning.layers.kinematics embodichain.learning.models embodichain.learning.models.mlp embodichain.learning.models.normalizer embodichain.learning.rl, [1] embodichain.learning.rl.algo, [1], [2] embodichain.learning.rl.buffer, [1] embodichain.learning.rl.buffer.standard_buffer embodichain.learning.rl.buffer.utils embodichain.learning.rl.collector, [1] embodichain.learning.rl.differentiable_trainer embodichain.learning.rl.env embodichain.learning.rl.evaluation embodichain.learning.rl.gradients embodichain.learning.rl.normalization embodichain.learning.rl.policies embodichain.learning.rl.policies.registry embodichain.learning.rl.policy_evaluation embodichain.learning.rl.policy_evaluation.bridge embodichain.learning.rl.policy_evaluation.camera embodichain.learning.rl.policy_evaluation.cli embodichain.learning.rl.policy_evaluation.manifest embodichain.learning.rl.policy_evaluation.profile embodichain.learning.rl.policy_evaluation.report embodichain.learning.rl.policy_evaluation.viewer embodichain.learning.rl.routing embodichain.learning.rl.runtime embodichain.learning.rl.train, [1], [2] embodichain.learning.rl.utils, [1] embodichain.learning.rl.utils.config embodichain.learning.rl.utils.helper embodichain.learning.rl.utils.trainer embodichain.toolkits embodichain.toolkits.urdf_assembly embodichain.utils embodichain.utils.cfg embodichain.utils.config_paths embodichain.utils.configclass embodichain.utils.device_utils embodichain.utils.file embodichain.utils.img_utils embodichain.utils.logger embodichain.utils.math embodichain.utils.module_utils embodichain.utils.nms embodichain.utils.string embodichain.utils.utility embodichain.utils.visualizer embodichain.utils.warp embodichain.utils.warp.collision embodichain.utils.warp.collision.convex_query embodichain.utils.warp.kernels, [1] embodichain.utils.warp.kinematics, [1] embodichain.utils.warp.kinematics.interpolate embodichain.utils.warp.kinematics.opw_solver, [1] embodichain.utils.warp.kinematics.srs_solver embodichain.utils.warp.kinematics.ur_solver embodichain.utils.warp.kinematics.warp_trajectory, [1] embodichain_benchmarks.motion_generation.aggregation embodichain_benchmarks.motion_generation.api embodichain_benchmarks.motion_generation.artifacts embodichain_benchmarks.motion_generation.atomic_skill embodichain_benchmarks.motion_generation.cli embodichain_benchmarks.motion_generation.config embodichain_benchmarks.motion_generation.contracts embodichain_benchmarks.motion_generation.embodiments embodichain_benchmarks.motion_generation.evaluation embodichain_benchmarks.motion_generation.generalization embodichain_benchmarks.motion_generation.limits embodichain_benchmarks.motion_generation.metrics embodichain_benchmarks.motion_generation.metrics.performance embodichain_benchmarks.motion_generation.metrics.stats embodichain_benchmarks.motion_generation.metrics.trajectory embodichain_benchmarks.motion_generation.models embodichain_benchmarks.motion_generation.planners embodichain_benchmarks.motion_generation.planners.base embodichain_benchmarks.motion_generation.planners.curobo embodichain_benchmarks.motion_generation.planners.ik_interpolate embodichain_benchmarks.motion_generation.planners.nmg_onnx embodichain_benchmarks.motion_generation.planners.toppra embodichain_benchmarks.motion_generation.registry embodichain_benchmarks.motion_generation.reporting embodichain_benchmarks.motion_generation.robots embodichain_benchmarks.motion_generation.robots.base embodichain_benchmarks.motion_generation.robots.dual_arm embodichain_benchmarks.motion_generation.robots.franka embodichain_benchmarks.motion_generation.robots.ur5 embodichain_benchmarks.motion_generation.runner embodichain_benchmarks.motion_generation.scenarios embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation embodichain_benchmarks.motion_generation.scenarios.atomic_grasps embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases embodichain_benchmarks.motion_generation.scenarios.atomic_motion_cases embodichain_benchmarks.motion_generation.scenarios.atomic_objects embodichain_benchmarks.motion_generation.scenarios.atomic_policy embodichain_benchmarks.motion_generation.scenarios.atomic_replay embodichain_benchmarks.motion_generation.scenarios.atomic_skill embodichain_benchmarks.motion_generation.scenarios.base embodichain_benchmarks.motion_generation.scenarios.free_space embodichain_benchmarks.motion_generation.video embodichain_tasks.classic_control.humanoid.humanoid_run embodichain_tasks.classic_control.humanoid.mdp embodichain_tasks.locomotion.managers.observations embodichain_tasks.locomotion.managers.rewards embodichain_tasks.locomotion.velocity.anymal_c_flat embodichain_tasks.locomotion.velocity.contracts.anymal_c.config embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp embodichain_tasks.locomotion.velocity.contracts.g1.config embodichain_tasks.locomotion.velocity.contracts.g1.mdp embodichain_tasks.locomotion.velocity.contracts.go1.config embodichain_tasks.locomotion.velocity.contracts.go1.mdp embodichain_tasks.locomotion.velocity.contracts.go2.config embodichain_tasks.locomotion.velocity.contracts.go2.mdp embodichain_tasks.locomotion.velocity.contracts.h1_2.config embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp embodichain_tasks.locomotion.velocity.contracts.microduck.config embodichain_tasks.locomotion.velocity.contracts.microduck.mdp embodichain_tasks.locomotion.velocity.g1_flat embodichain_tasks.locomotion.velocity.go1_flat embodichain_tasks.locomotion.velocity.go2_flat embodichain_tasks.locomotion.velocity.h1_2_flat embodichain_tasks.locomotion.velocity.microduck_flat

monitor_id (embodichain.lab.task_program.semantics.CompositeEffectMonitorFactory attribute) (embodichain.lab.task_program.semantics.EffectMonitorFactory attribute) MonotonicExecutionClock (class in embodichain.lab.sim.atomic_actions) motion_components (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) motion_generator (embodichain.lab.sim.atomic_actions.AtomicAction property) (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) (embodichain_benchmarks.motion_generation.planners.curobo.CuroboAdapter attribute) (embodichain_benchmarks.motion_generation.planners.nmg_onnx.NmgOnnxAdapter attribute) (embodichain_benchmarks.motion_generation.planners.toppra.ToppraAdapter attribute) motion_policy (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) (embodichain.lab.task_program.semantics.SkillPolicyPreset property) motion_policy_planner (embodichain_benchmarks.motion_generation.PlannerAdapter property) (embodichain_benchmarks.motion_generation.planners.nmg_onnx.NmgOnnxAdapter property) motion_valid (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) motion_valid_mask() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) MotionEvaluationResult (class in embodichain.learning.rl.policy_evaluation.bridge) MotionGenCfg (class in embodichain.lab.sim.motion.motion_generator) MotionGenerator (class in embodichain.lab.sim.motion.motion_generator) MotionGenOptions (class in embodichain.lab.sim.motion.motion_generator) MotionPolicy (class in embodichain.lab.sim.atomic_actions) MotionProfile (class in embodichain.learning.rl.policy_evaluation) (class in embodichain.learning.rl.policy_evaluation.profile) MotionProfileRequest (class in embodichain.learning.rl.policy_evaluation) (class in embodichain.learning.rl.policy_evaluation.profile) MotionSnapshot (class in embodichain.lab.sim.motion.expansion) Motoman (class in embodichain.data.assets.robot_assets) mount (embodichain.lab.sim.robots.DualArmRobotCfg attribute) move_part (embodichain.lab.sim.motion.planners.PlanState attribute) move_type (embodichain.lab.sim.motion.planners.PlanState attribute) MoveEndEffector (class in embodichain.lab.sim.atomic_actions.primitives.move_end_effector) MoveEndEffectorCases (class in embodichain_benchmarks.motion_generation.scenarios.atomic_motion_cases) MoveEndEffectorEvaluator (class in embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) MoveEndEffectorOptions (class in embodichain.lab.sim.atomic_actions.primitives.move_end_effector) MoveHeldObject (class in embodichain.lab.sim.atomic_actions.primitives.move_held_object) MoveHeldObjectCases (class in embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases) MoveHeldObjectEvaluator (class in embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) MoveHeldObjectOptions (class in embodichain.lab.sim.atomic_actions.primitives.move_held_object) MoveJoints (class in embodichain.lab.sim.atomic_actions.primitives.move_joints) MoveJointsCases (class in embodichain_benchmarks.motion_generation.scenarios.atomic_motion_cases) MoveJointsEvaluator (class in embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) MoveJointsOptions (class in embodichain.lab.sim.atomic_actions.primitives.move_joints) MovePart (class in embodichain.lab.sim.motion.planners) MoveType (class in embodichain.lab.sim.motion.planners) MultiSlotRunner (class in embodichain.lab.sim.motion.execution) MutableCfgNode (class in embodichain.utils.cfg)

N

n_epochs (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] n_query_mesh_samples (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg attribute) n_sample (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg attribute) name (embodichain.lab.gym.envs.managers.ActionTerm property) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction property) (embodichain.lab.gym.envs.managers.EefPoseAction property) (embodichain.lab.gym.envs.managers.Functor property) (embodichain.lab.gym.envs.managers.JointEffortAction property) (embodichain.lab.gym.envs.managers.JointPositionAction property) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction property) (embodichain.lab.gym.envs.managers.JointVelocityAction property) (embodichain.lab.gym.envs.managers.ObservationCfg attribute) (embodichain.lab.gym.envs.managers.ParallelGripperAction property) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction property) (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry attribute) (embodichain.lab.sim.cfg.MarkerCfg attribute) (embodichain.lab.sim.cfg.RigidConstraintCfg attribute) (embodichain.lab.sim.objects.CollisionShapeDesc attribute) (embodichain.lab.task_program.compiler.CompiledBarrier attribute) (embodichain.lab.task_program.compiler.CompiledTaskProgramSegment attribute) (embodichain.lab.task_program.language.BarrierCfg attribute) (embodichain.lab.task_program.language.SegmentCfg attribute) (embodichain.learning.rl.utils.config.LRSchedulerCfg attribute) (embodichain.learning.rl.utils.config.OptimizerCfg attribute) (embodichain.learning.rl.utils.LRSchedulerCfg attribute) (embodichain.learning.rl.utils.OptimizerCfg attribute) (embodichain_benchmarks.motion_generation.config.SuiteCfg attribute) name_case (embodichain.lab.sim.cfg.URDFCfg attribute) (embodichain.toolkits.urdf_assembly.URDFAssemblyManager property) narrow_phase (embodichain.lab.sim.cfg.NewtonCollisionPipelineCfg attribute) native_link_name (embodichain.lab.task_program.integrations.simulation.SimulationArticulationLinkBinding attribute) native_name (embodichain.lab.task_program.integrations.simulation.AntipodalGraspAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.ContainerAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.RigidizedArticulationAntipodalGraspBinding attribute) (embodichain.lab.task_program.integrations.simulation.SupportSurfaceAffordanceBinding attribute) (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) native_to_legacy() (embodichain_models.dynamics.nerd.codec.NeRDStateCodec method) NativeViewerResult (class in embodichain.learning.rl.policy_evaluation.viewer) nb_neighbors (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) near (embodichain.lab.visualization.CameraSpec attribute) near_limit_threshold (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) near_singular_threshold (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) nearest_half_turn_pose() (in module embodichain.compute.geometry.rigid) nearest_rank_percentile() (in module embodichain_benchmarks.motion_generation.metrics.stats) NeRDModel (class in embodichain_models.dynamics.nerd) (class in embodichain_models.dynamics.nerd.model) NeRDModelCfg (class in embodichain_models.dynamics.nerd) (class in embodichain_models.dynamics.nerd.model) NeRDObjective (class in embodichain_models.dynamics.nerd) (class in embodichain_models.dynamics.nerd.supervised) NeRDStateCodec (class in embodichain_models.dynamics.nerd) (class in embodichain_models.dynamics.nerd.codec) NeRDWindowSource (class in embodichain_models.dynamics.nerd) (class in embodichain_models.dynamics.nerd.sl_recipe) NeuralIKSolver (class in embodichain.lab.sim.motion.solvers) NeuralIKSolverCfg (class in embodichain.lab.sim.motion.solvers) newton_lifecycle_state() (in module embodichain.lab.sim.objects.backends.rigid_physics) newton_manager (embodichain.lab.sim.sim_manager.SimulationManager property) NewtonCollisionPipelineCfg (class in embodichain.lab.sim.cfg) NewtonCollisionPropertiesCfg (class in embodichain.lab.sim.cfg) NewtonJointDrivePropertiesCfg (class in embodichain.lab.sim.cfg) NewtonPhysicsCfg (class in embodichain.lab.sim.cfg) NewtonRigidBodyMaterialCfg (class in embodichain.lab.sim.cfg) next_observation (embodichain.learning.rl.collector.DifferentiableTransition attribute) NmgOnnxAdapter (class in embodichain_benchmarks.motion_generation.planners.nmg_onnx) nodal_pos_w (embodichain.lab.sim.objects.deformable.DeformableObjectData property) nodal_state_w (embodichain.lab.sim.objects.deformable.DeformableObjectData property) nodal_vel_w (embodichain.lab.sim.objects.deformable.DeformableObjectData property) node_id (embodichain.lab.visualization.DynamicMeshUpdate attribute) (embodichain.lab.visualization.PickCommand attribute) (embodichain.lab.visualization.SceneNode attribute) node_ids (embodichain.lab.visualization.SceneFrame attribute) nodes (embodichain.lab.visualization.SceneManifest attribute) NoFailWrapper (class in embodichain.lab.gym.envs) NOMINAL_OPERATOR (in module embodichain.lab.sim.motion.expansion) normal_texture (embodichain.lab.sim.material.VisualMaterialCfg attribute) normalization (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorMapping attribute), [1]

normalize() (embodichain.learning.rl.normalization.RunningObservationNormalizer method) normalize_advantage_per_mini_batch (embodichain.learning.rl.algo.PPOCfg attribute), [1] normalize_manipulability() (in module embodichain.lab.sim.motion.workspace.visualizers) normalize_observations (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) normalize_robot_joint_data() (in module embodichain.lab.gym.envs.managers.observations) normalize_w1_hand_mappings() (in module embodichain_robots.dexforce.w1.hand_specs) normalized (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityNormalization attribute), [1] normalized_mse() (in module embodichain_models.dynamics.nerd.integration) normals (embodichain.lab.sim.cfg.MeshCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) notify_visualization_topology_changed() (embodichain.lab.sim.sim_manager.SimulationManager method) now() (embodichain.lab.gym.envs.task_program.EnvironmentStepClock method) (embodichain.lab.sim.atomic_actions.ExecutionClock method) (embodichain.lab.sim.atomic_actions.MonotonicExecutionClock method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) np_random (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] np_random_seed (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] nrd (embodichain.lab.sim.cfg.RenderCfg attribute) NRDCfg (class in embodichain.lab.sim) (class in embodichain.lab.sim.cfg) nullspace_residual() (in module embodichain.lab.sim.motion.expansion) num_arm_joints (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) num_clipped (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityNormalization attribute), [1] num_envs (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] (embodichain.lab.gym.envs.managers.ActionManager property) (embodichain.lab.gym.envs.managers.ActionTerm property) (embodichain.lab.gym.envs.managers.DatasetManager property) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction property) (embodichain.lab.gym.envs.managers.EefPoseAction property) (embodichain.lab.gym.envs.managers.EventManager property) (embodichain.lab.gym.envs.managers.Functor property) (embodichain.lab.gym.envs.managers.JointEffortAction property) (embodichain.lab.gym.envs.managers.JointPositionAction property) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction property) (embodichain.lab.gym.envs.managers.JointVelocityAction property) (embodichain.lab.gym.envs.managers.ManagerBase property) (embodichain.lab.gym.envs.managers.ObservationManager property) (embodichain.lab.gym.envs.managers.ParallelGripperAction property) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction property) (embodichain.lab.gym.envs.managers.RewardManager property) (embodichain.lab.sim.atomic_actions.AtomicAction property) (embodichain.lab.sim.objects.RigidConstraint property) (embodichain.lab.sim.sim_manager.SimulationManager property) (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) (embodichain.learning.rl.env.LearningVecEnv attribute) num_eval_episodes (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) num_instances (embodichain.lab.sim.common.BatchEntity property) (embodichain.lab.sim.objects.deformable.DeformableObject property) (embodichain.lab.sim.objects.VisualObject property) num_links (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.backends.ArticulationViewBase attribute) (embodichain.lab.sim.objects.backends.SceneArticulationView property) (embodichain.lab.sim.objects.Robot property) num_mini_batches (embodichain.learning.rl.algo.PPOCfg attribute), [1] num_reachable (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityPointSet property) num_samples (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.sim.motion.workspace.RobotWorkspace property) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace property) num_steps (embodichain.learning.rl.collector.DifferentiableRollout property) (embodichain.learning.rl.env.DifferentiableRolloutSpec attribute) num_substeps (embodichain.lab.sim.cfg.NewtonPhysicsCfg attribute) num_unreachable (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityPointSet property) num_valid (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityNormalization attribute), [1] num_waypoints (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) nvtx (embodichain.lab.sim.profiler.ProfilerCfg attribute) (embodichain.lab.sim.ProfilerCfg attribute)

O

obj_upright_direction (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) object (embodichain.lab.task_program.compiler.CompiledObjectNearTargetValidator attribute) (embodichain.lab.task_program.compiler.CompiledObjectStateValidator attribute) (embodichain.lab.task_program.language.HandOverCfg attribute) (embodichain.lab.task_program.language.ObjectLiftedValidatorCfg attribute) (embodichain.lab.task_program.language.ObjectNearTargetValidatorCfg attribute) (embodichain.lab.task_program.language.ObjectRelativePositionValidatorCfg attribute) (embodichain.lab.task_program.language.ObjectUprightValidatorCfg attribute) (embodichain.lab.task_program.language.PickCfg attribute) (embodichain.lab.task_program.language.PlaceCfg attribute) object_contact_offset (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) object_handle() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) object_id (embodichain.lab.task_program.integrations.simulation.AntipodalGraspAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.RigidizedArticulationAntipodalGraspBinding attribute) (embodichain.lab.task_program.semantics.HeldObjectStateExpectation attribute) (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicArticulationHandle attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicObjectHandle attribute) object_id() (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider method) object_initial_pose (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickGoal attribute) object_lift_delta_m (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) object_motion_keyframes (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) object_pose (embodichain.lab.sim.atomic_actions.primitives.pick_up.GraspGoal attribute) (embodichain_benchmarks.motion_generation.contracts.ReplayObservationTrace attribute) object_roll_pitch_jitter_rad (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) object_rotation_peak_signed_rad (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) object_rotation_segment() (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider method) object_semantics() (embodichain.lab.task_program.semantics.SceneRegistry method) object_target_frame (embodichain.lab.task_program.integrations.simulation.ContainerAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.SupportSurfaceAffordanceBinding attribute) object_target_pose (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.move_held_object.HeldObjectPoseGoal attribute) (embodichain.lab.task_program.integrations.simulation.ContainerAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.SupportSurfaceAffordanceBinding attribute) object_to_eef (embodichain.lab.sim.atomic_actions.HeldObjectState attribute) object_to_endpoint (embodichain.lab.task_program.semantics.PoseRelationEvidenceBatch attribute) object_translation_jitter_m (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) object_yaw_jitter_rad (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) ObjectBaseCfg (class in embodichain.lab.sim.cfg) objective (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] objective_scale (embodichain.learning.rl.env.DifferentiableRolloutSpec attribute) ObjectLiftedValidatorCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) ObjectNearTargetValidatorCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) ObjectRelativePositionValidatorCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) objects (embodichain_benchmarks.motion_generation.config.DomainCfg attribute) ObjectSemantics (class in embodichain.lab.sim.atomic_actions) ObjectUprightValidatorCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) obs_dim (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) OBS_ENV_STATE (embodichain.data.enum.LeRobotKey attribute) OBS_IMAGE (embodichain.data.enum.LeRobotKey attribute) OBS_IMAGES (embodichain.data.enum.LeRobotKey attribute) OBS_LANGUAGE (embodichain.data.enum.LeRobotKey attribute) OBS_LANGUAGE_ATTENTION_MASK (embodichain.data.enum.LeRobotKey attribute) OBS_LANGUAGE_SUBTASK (embodichain.data.enum.LeRobotKey attribute) OBS_LANGUAGE_SUBTASK_ATTENTION_MASK (embodichain.data.enum.LeRobotKey attribute) OBS_LANGUAGE_SUBTASK_TOKENS (embodichain.data.enum.LeRobotKey attribute) OBS_LANGUAGE_TOKENS (embodichain.data.enum.LeRobotKey attribute) OBS_PREFIX (embodichain.data.enum.LeRobotKey attribute) OBS_QF (embodichain.data.enum.LeRobotKey attribute) OBS_QVEL (embodichain.data.enum.LeRobotKey attribute) OBS_STATE (embodichain.data.enum.LeRobotKey attribute) OBS_STR (embodichain.data.enum.LeRobotKey attribute) observation (embodichain.learning.rl.collector.DifferentiableTransition attribute) observation_id (embodichain_benchmarks.motion_generation.contracts.ReplayObservationWindow attribute) observation_key (embodichain.data_pipeline.datasets.LeRobotFieldMappingCfg attribute), [1] observation_manager (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) observation_provider (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) (embodichain.lab.task_program.runtime.SemanticCallExecutor property) observation_revision (embodichain.lab.task_program.semantics.BinaryEffectEvidenceBatch attribute) (embodichain.lab.task_program.semantics.EffectEvidenceCollectionContext attribute) (embodichain.lab.task_program.semantics.JointStateEvidenceBatch attribute) (embodichain.lab.task_program.semantics.PoseRelationEvidenceBatch attribute) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceBatch attribute) observation_window (embodichain_benchmarks.motion_generation.contracts.StageOutcome attribute) ObservationCfg (class in embodichain.lab.gym.envs.managers) ObservationManager (class in embodichain.lab.gym.envs.managers) ObservationProvider (class in embodichain.lab.sim.atomic_actions) observations (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.learning.rl.collector.DifferentiableRollout property) observe() (embodichain.lab.gym.envs.settling.DynamicSettleMonitor method) (embodichain.lab.gym.envs.task_program.GymPlanningObservationProvider method) (embodichain.lab.sim.atomic_actions.ObservationProvider method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) (embodichain.lab.task_program.integrations.simulation.asset_pouring.PouringAcceptanceMonitor method) (embodichain.lab.task_program.semantics.CompositeEffectMonitor method) (embodichain.lab.task_program.semantics.EffectMonitor method) (embodichain.lab.task_program.semantics.SceneEntityStateProvider method) observe_joints() (embodichain.lab.task_program.semantics.SceneArticulationJointStateProvider method) ODSConfiguration (class in embodichain.data_pipeline.configuration) ODSFlowController (class in embodichain.data_pipeline.runtime)

ODSFlowControllerCfg (class in embodichain.data_pipeline.runtime) ODSRateMeasurementCfg (class in embodichain.data_pipeline.configuration) ODSReuseProfileCfg (class in embodichain.data_pipeline.configuration) ODSRuntimeCfg (class in embodichain.data_pipeline.configuration) ODSThroughputMeasurement (class in embodichain.data_pipeline.configuration) OfflineDataset (in module embodichain.data_pipeline.datasets), [1] (in module embodichain.data_pipeline.datasets.offline_data) offscreen (embodichain.lab.sim.cfg.DenoisingCfg attribute) (embodichain.lab.sim.DenoisingCfg attribute) ok (embodichain.data_pipeline.datasets.inspection.DatasetValidationReport property) on (embodichain.lab.task_program.language.PlaceCfg attribute) OnlineDataBudgetExhaustedError (in module embodichain.data_pipeline.engine) OnlineDataEngine (class in embodichain.data_pipeline.engine) OnlineDataEngineCfg (class in embodichain.data_pipeline.engine) OnlineDataEngineState (class in embodichain.data_pipeline.engine) OnlineDataset (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.online_data) OnlineDataSource (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.sources) OnlineDataWorkerError OPEN (embodichain.data.enum.EefExecute attribute) open_check_margin (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) open_command (embodichain.lab.gym.envs.managers.ParallelGripperAction property) open_fraction (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorGoal attribute) open_grippers() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) open_loop (embodichain.lab.sim.atomic_actions.AtomicAction attribute) (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlign attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOver attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoor attribute) (embodichain.lab.sim.atomic_actions.primitives.pour.Pour attribute) (embodichain.lab.sim.atomic_actions.primitives.press.Press attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObject attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.Slide attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.Twist attribute) (embodichain.lab.sim.atomic_actions.SkillDescriptor attribute) open_viewer() (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskEnvironment method) open_window() (embodichain.lab.sim.sim_manager.SimulationManager method) OpenDoor (class in embodichain.lab.sim.atomic_actions.primitives.open_door) OpenDoorGoal (class in embodichain.lab.sim.atomic_actions.primitives.open_door) OpenDoorOptions (class in embodichain.lab.sim.atomic_actions.primitives.open_door) opening_margin (embodichain.toolkits.graspkit.pg_grasp.ParallelJawGraspCollisionCfg attribute) operator (embodichain_benchmarks.motion_generation.evaluation.Criterion attribute) optimization (embodichain.lab.sim.motion.workspace.samplers.LatinHypercubeSampler attribute) optimization_parameter_groups() (embodichain.learning.rl.policies.ActorCritic method) optimize() (embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_layout_optimizer.AssetsSupportLayoutOptimizer method) (embodichain.gen_sim.scene_engine.pipeline.utils.parent_surface_layout_optimizer.ParentSurfaceLayoutOptimizer method) (embodichain.gen_sim.scene_engine.pipeline.utils.table_surface_layout_optimizer.TableSurfaceLayoutOptimizer method) optimizer (embodichain.learning.rl.algo.APG attribute), [1] (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.BaseAlgorithm attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute) OptimizerCfg (class in embodichain.learning.rl.utils) (class in embodichain.learning.rl.utils.config) OptionsType (embodichain.lab.sim.atomic_actions.AtomicAction attribute) (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlign attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickment attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacement attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOver attribute) (embodichain.lab.sim.atomic_actions.primitives.move_end_effector.MoveEndEffector attribute) (embodichain.lab.sim.atomic_actions.primitives.move_held_object.MoveHeldObject attribute) (embodichain.lab.sim.atomic_actions.primitives.move_joints.MoveJoints attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoor attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUp attribute) (embodichain.lab.sim.atomic_actions.primitives.place.Place attribute) (embodichain.lab.sim.atomic_actions.primitives.pour.Pour attribute) (embodichain.lab.sim.atomic_actions.primitives.press.Press attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObject attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.Slide attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.Twist attribute) OPWSolver (class in embodichain.lab.sim.motion.solvers) OPWSolverCfg (class in embodichain.lab.sim.motion.solvers) ordered_waypoints_reached (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) orientation_alignment() (in module embodichain.lab.gym.envs.managers.rewards) orientation_link_name (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) orientation_projected_gravity_b (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) origin_pose (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry attribute) original_inst (embodichain.lab.sim.material.ReuseSegmentState attribute), [1] outcomes (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioEvaluation attribute) output_dir (embodichain_benchmarks.motion_generation.video.VideoRecordCfg attribute) output_format (embodichain.lab.sim.motion.workspace.configs.MetricConfig attribute) output_path (embodichain.lab.sim.profiler.ProfilerCfg attribute) (embodichain.lab.sim.ProfilerCfg attribute) output_unit (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] overlay_id (embodichain.lab.visualization.FrameOverlay attribute) (embodichain.lab.visualization.PointCloudOverlay attribute) (embodichain.lab.visualization.TargetOverlay attribute) (embodichain.lab.visualization.TrajectoryOverlay attribute) overlays (embodichain.lab.visualization.SceneFrame attribute) overrides (embodichain_benchmarks.motion_generation.config.DomainCfg attribute) (embodichain_benchmarks.motion_generation.config.EmbodimentSpecCfg attribute)

P

Package (class in embodichain.utils.visualizer) pad_img_list() (in module embodichain.utils.utility) pad_to_chunk() (in module embodichain.utils.utility) padding_by_longest_edge() (in module embodichain.utils.utility) palm_depth (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) PaperCup (class in embodichain.data.assets.obj_assets) parallel_block (embodichain.lab.task_program.compiler.CompiledTaskProgramSegment attribute) parallel_jaw_sampler() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_grasps) parallel_safety_validator (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) ParallelCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) ParallelCommandSafetyValidatorFactory (class in embodichain.lab.task_program.integrations) ParallelGripperAction (class in embodichain.lab.gym.envs.managers) ParallelJawGraspCollisionCfg (class in embodichain.toolkits.graspkit.pg_grasp) ParallelJawGraspPoseGenerator (class in embodichain.toolkits.graspkit) ParallelJawGripperModelCfg (class in embodichain.toolkits.graspkit) ParallelSafetyDeclaration (class in embodichain.lab.task_program.integrations) ParallelSemanticExecutor (class in embodichain.lab.task_program.runtime) ParallelTimingPolicy (class in embodichain.lab.task_program.runtime) parameter_at_arc_length() (embodichain.lab.sim.motion.planners.bezier.BezierPath method) parameters (embodichain.lab.sim.material.VisualMaterialCfg attribute) (embodichain_benchmarks.motion_generation.models.PlannerMetadata attribute) params (embodichain.lab.gym.envs.managers.ActionTermCfg attribute) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg attribute) (embodichain.lab.gym.envs.managers.EventCfg attribute) (embodichain.lab.gym.envs.managers.FunctorCfg attribute) (embodichain.lab.gym.envs.managers.ObservationCfg attribute) (embodichain.lab.gym.envs.managers.RewardCfg attribute) parent (embodichain.lab.sim.sensors.CameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.CameraCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.ContactSensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.SensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.OffsetCfg attribute) (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) parent_id (embodichain.lab.task_program.integrations.simulation.ContainerAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.SupportSurfaceAffordanceBinding attribute) (embodichain.lab.visualization.SceneNode attribute) parent_link_name (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry attribute) ParentSurfaceLayoutOptimizer (class in embodichain.gen_sim.scene_engine.pipeline.utils.parent_surface_layout_optimizer) ParentSurfaceLayoutOptimizerConfig (class in embodichain.gen_sim.scene_engine.pipeline.utils.parent_surface_layout_optimizer) ParentSurfaceLayoutProblem (class in embodichain.gen_sim.scene_engine.pipeline.utils.parent_surface_layout_optimizer) park() (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicArticulationHandle method) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicObjectHandle method) parse_args() (in module embodichain.learning.rl.policy_evaluation.cli) (in module embodichain.learning.rl.train), [1] parse_task_program_json() (in module embodichain.lab.task_program) (in module embodichain.lab.task_program.language) parser2dict() (in module embodichain.utils.utility) part_name (embodichain.lab.gym.envs.managers.EefPoseAction property) (embodichain.lab.gym.envs.managers.ParallelGripperAction property) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) particle_flags (embodichain.lab.sim.cfg.DeformableObjectCfg attribute) (embodichain.lab.sim.cfg.SurfaceDeformableObjectCfg attribute) (embodichain.lab.sim.cfg.VolumeDeformableObjectCfg attribute) particle_radius (embodichain.lab.sim.cfg.DeformableObjectCfg attribute) (embodichain.lab.sim.cfg.SurfaceDeformableObjectCfg attribute) (embodichain.lab.sim.cfg.VolumeDeformableObjectCfg attribute) passed (embodichain.lab.sim.scene.validation.SceneCheckReport property) passthrough_collate_fn() (embodichain.data_pipeline.datasets.online_data.OnlineDataset static method) (embodichain.data_pipeline.datasets.OnlineDataset static method), [1] (embodichain.data_pipeline.datasets.sequence_data.SequenceDataset static method) (embodichain.data_pipeline.datasets.SequenceDataset static method), [1] path (embodichain.lab.task_program.compiler.CompiledRepeatFrame attribute) (embodichain.lab.visualization.CameraSpec attribute) (embodichain.lab.visualization.GizmoSpec attribute) (embodichain.lab.visualization.SceneNode attribute) path_efficiency (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) path_shape (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) path_shapes (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) PathPart (in module embodichain.lab.task_program.semantics) PAUSE (embodichain.lab.sim.motion.planners.MoveType attribute), [1] pause_seconds (embodichain.lab.sim.motion.planners.PlanState attribute) payload_type (embodichain.lab.sim.atomic_actions.EndpointCommandTransport property) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter attribute) peak_gpu_mb (embodichain_benchmarks.motion_generation.metrics.performance.TimedCall attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) peek_next() (embodichain.lab.sim.motion.expansion.CandidateCoordinator method) pending_count (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink property) (embodichain.lab.sim.motion.expansion.CandidateCoordinator property) (embodichain.lab.sim.motion.expansion.combined_runtime.CombinedEpisodeCoordinator property) (embodichain.lab.sim.motion.expansion.CombinedEpisodeCoordinator property) pending_effect (embodichain.lab.sim.atomic_actions.ExecutionSession property) pending_max_bytes (embodichain.lab.sim.motion.expansion.ExpansionSession property) percentile_clip (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorCfg attribute) perturb_approach_direction() (in module embodichain.lab.sim.motion.expansion) perturbations (embodichain_benchmarks.motion_generation.config.DomainCfg attribute) phase (embodichain.lab.visualization.GizmoCommand attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) phase_effect_gate_request (embodichain.lab.sim.atomic_actions.ExecutionSession property) phase_effect_gates (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) phase_period (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig attribute) physical_evaluator() (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.PressCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.SlideCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.TwistCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.MoveHeldObjectCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.PickUpCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.PlaceCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_motion_cases.MoveEndEffectorCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_motion_cases.MoveJointsCases method) physical_evidence_provider (embodichain.lab.sim.atomic_actions.ExecutionRunner property) physical_failure_code (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) physical_objective (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) physical_skill_success (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) PhysicalEffectVerifier (in module embodichain.lab.sim.atomic_actions) PhysicalEvaluation (class in embodichain_benchmarks.motion_generation.contracts) PhysicalEvidenceBatch (class in embodichain.lab.sim.atomic_actions) PhysicalEvidenceFrame (class in embodichain.lab.sim.atomic_actions) PhysicalEvidenceProvider (class in embodichain.lab.sim.atomic_actions) PhysicalEvidenceRequest (class in embodichain.lab.sim.atomic_actions) PhysicalHeldObjectGuardVerifier (in module embodichain.lab.sim.atomic_actions) PhysicalPhaseEffectGateVerifier (in module embodichain.lab.sim.atomic_actions) PhysicalSlotPool (class in embodichain.lab.sim.motion.expansion) (class in embodichain.lab.sim.motion.expansion.combined) PhysicalStageEvaluator (class in embodichain_benchmarks.motion_generation.contracts) physics_backend (embodichain.lab.sim.sim_manager.SimulationManager property) (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskEnvironment property) physics_backend_from_cfg() (in module embodichain.lab.sim.cfg) physics_cfg (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) physics_cfg_for_backend() (in module embodichain.lab.sim.cfg) physics_config (embodichain.lab.sim.sim_manager.SimulationManagerCfg property) physics_dt (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] (embodichain.lab.sim.cfg.DefaultPhysicsCfg attribute) (embodichain.lab.sim.cfg.NewtonPhysicsCfg attribute) (embodichain.lab.sim.cfg.PhysicsBackendCfg attribute) (embodichain.lab.sim.sim_manager.SimulationManagerCfg property) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig attribute) physics_frequency (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] PhysicsBackendCfg (class in embodichain.lab.sim.cfg) Pick (class in embodichain.lab.task_program.semantics) pick() (embodichain.lab.visualization.picker.ScenePicker method) pick_object_part (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) PickCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) PickCommand (class in embodichain.lab.visualization) PickUp (class in embodichain.lab.sim.atomic_actions.primitives.pick_up) PickUpCases (class in embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases) PickUpEvaluator (class in embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) PickUpOptions (class in embodichain.lab.sim.atomic_actions.primitives.pick_up) PikaGripper (class in embodichain.data.assets.eef_assets) PinkSolver (class in embodichain.lab.sim.motion.solvers) PinkSolverCfg (class in embodichain.lab.sim.motion.solvers) PinocchioSolver (class in embodichain.lab.sim.motion.solvers) PinocchioSolverCfg (class in embodichain.lab.sim.motion.solvers) pix_fmt (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] Place (class in embodichain.lab.sim.atomic_actions.primitives.place) (class in embodichain.lab.task_program.semantics) PLACE_IN_AFFORDANCE_CAPABILITY (in module embodichain.lab.task_program.semantics) PLACE_ON_AFFORDANCE_CAPABILITY (in module embodichain.lab.task_program.semantics) PlaceCases (class in embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases) PlaceCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) PlaceEvaluator (class in embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) PlaceGoal (class in embodichain.lab.sim.atomic_actions.primitives.place) PLACEMENT_TARGET_AFFORDANCE_REVISION (in module embodichain.lab.task_program.semantics) PlaceOptions (class in embodichain.lab.sim.atomic_actions.primitives.place) PlaceRelationTarget (in module embodichain.lab.task_program.semantics) placing_height_offset (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) placing_object_target_pose (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementGoal attribute) plan() (embodichain.lab.sim.atomic_actions.AtomicAction method) (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (embodichain.lab.sim.motion.expansion.MinimumJerkBridgePlanner method) (embodichain.lab.sim.motion.expansion.TrajectoryBridgePlanner method) (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner method) (embodichain_benchmarks.motion_generation.PlannerAdapter method) (embodichain_benchmarks.motion_generation.planners.curobo.CuroboAdapter method) (embodichain_benchmarks.motion_generation.planners.ik_interpolate.IkInterpolateAdapter method) (embodichain_benchmarks.motion_generation.planners.nmg_onnx.NmgOnnxAdapter method) (embodichain_benchmarks.motion_generation.planners.toppra.ToppraAdapter method) plan_attempts (embodichain.lab.sim.atomic_actions.ExecutionSession property) plan_case() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) plan_contract_error() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) plan_gripper_trajectory() (in module embodichain.lab.sim.utility.atom_action_utils) plan_opts (embodichain.lab.sim.atomic_actions.MotionPolicy attribute) (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) plan_request() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) plan_trajectory() (in module embodichain.lab.sim.utility.atom_action_utils) plan_trajectory_variants() (in module embodichain.lab.sim.motion.expansion) PlanarRelation (class in embodichain.lab.sim.scene.layout) plane_bounds (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) plane_contact_features() (in module embodichain_models.dynamics.nerd.codec) plane_normal (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) plane_point (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) PLANE_SAMPLING (embodichain.lab.sim.motion.workspace.AnalysisMode attribute) (embodichain.lab.sim.motion.workspace.analyzer.AnalysisMode attribute) planner_adapter_names() (in module embodichain_benchmarks.motion_generation.registry) planner_cfg (embodichain.lab.sim.motion.motion_generator.MotionGenCfg attribute) planner_config_hash (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) planner_failure_code (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) planner_grid_cell_sampler (class in embodichain.lab.gym.envs.managers.randomization.spatial) PlannerAdapter (class in embodichain_benchmarks.motion_generation) PlannerContext (class in embodichain_benchmarks.motion_generation.planners.base) PlannerMetadata (class in embodichain_benchmarks.motion_generation.models) planners (embodichain_benchmarks.motion_generation.config.SuiteCfg attribute) PlannerSpecCfg (class in embodichain_benchmarks.motion_generation.config) planning_services (embodichain.lab.sim.atomic_actions.AtomicAction property) (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) planning_success (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) PlanningContext (class in embodichain.lab.sim.atomic_actions) PlanningFailure (class in embodichain.lab.sim.atomic_actions) PlanningObservationPort (class in embodichain.lab.task_program.integrations) PlanResult (class in embodichain.lab.sim.motion.planners) PlanResultSourceAdapter (class in embodichain.lab.sim.motion.expansion) PlanState (class in embodichain.lab.sim.motion.planners) PlanTransform (in module embodichain.lab.sim.atomic_actions) PlasticBin (class in embodichain.data.assets.obj_assets) PlasticTray (class in embodichain.data.assets.obj_assets) play_joint_trajectory() (in module embodichain.lab.sim.motion.execution) plot_trajectory() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) POINT_CLOUD (embodichain.lab.sim.motion.workspace.configs.VisualizationType attribute) (embodichain.lab.sim.motion.workspace.visualizers.VisualizationType attribute) point_cloud_max_points (embodichain.lab.visualization.VisualizationCfg attribute) point_clouds (embodichain.lab.visualization.SceneOverlays attribute) point_sample_dense (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) point_sample_density (embodichain.toolkits.graspkit.pg_grasp.ParallelJawGraspCollisionCfg attribute) point_size (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorCfg attribute) (embodichain.lab.sim.motion.workspace.visualizers.PointCloudVisualizer attribute) (embodichain.lab.visualization.PointCloudOverlay attribute) PointCloudOverlay (class in embodichain.lab.visualization) PointCloudVisualizer (class in embodichain.lab.sim.motion.workspace.visualizers) PointInspection (class in embodichain.lab.sim.motion.workspace.visualizers) points (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityPointSet attribute), [1] (embodichain.lab.visualization.PointCloudOverlay attribute) (embodichain.lab.visualization.TrajectoryOverlay attribute) poissons (embodichain.lab.sim.cfg.VolumeDeformablePhysicsCfg attribute) Policy (class in embodichain.learning.rl.policies) policy (embodichain.lab.sim.scene.expansion.PreparedSceneRandomization property) (embodichain.learning.rl.runtime.PolicyRuntime attribute)

policy_context (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskEnvironment property) policy_motion_budget() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_policy) policy_output (embodichain.learning.rl.collector.DifferentiableTransition attribute) policy_spec (embodichain.learning.rl.policy_evaluation.bridge.MotionEvaluationResult attribute) (embodichain.learning.rl.policy_evaluation.MotionProfile attribute) (embodichain.learning.rl.policy_evaluation.profile.MotionProfile attribute) policy_viewer_camera_cfg (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) PolicyRuntime (class in embodichain.learning.rl.runtime) PolicyViewerCameraCfg (class in embodichain.learning.rl.policy_evaluation) (class in embodichain.learning.rl.policy_evaluation.camera) poll() (embodichain.data_pipeline.runtime.ODSFlowController method) (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskEnvironment method) pop() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) population_design (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) port (embodichain.lab.visualization.ViserServerCfg attribute) pos (embodichain.lab.sim.sensors.CameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.CameraCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.ContactSensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.SensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.OffsetCfg attribute) pos_eps (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) POSE (embodichain.data.enum.EefType attribute) pose (embodichain.lab.sim.common.BatchEntity property) (embodichain.lab.sim.objects.RigidBodyGroupData property) pose() (embodichain.lab.sim.scene.query.SceneView method) pose_batch_size (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) pose_error() (in module embodichain.compute.kinematics.pose_error) pose_in_A_to_pose_in_B() (in module embodichain.utils.math) pose_inv() (in module embodichain.utils.math) pose_nms() (in module embodichain.utils.nms) pose_nms_indices() (in module embodichain.utils.nms) POSE_RELATION_EFFECT_CHANNEL (in module embodichain.lab.task_program.semantics) pose_rotation_error() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) pose_source_revision (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) pose_to_position_wxyz() (in module embodichain.lab.visualization) PoseCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) PoseRelationClause (class in embodichain.lab.task_program.semantics) PoseRelationEvidenceBatch (class in embodichain.lab.task_program.semantics) PoseRelationEvidenceQuery (class in embodichain.lab.task_program.semantics) PoseRelationExpectation (class in embodichain.lab.task_program.semantics) position (embodichain.lab.sim.motion.workspace.visualizers.PointInspection attribute), [1] (embodichain.lab.task_program.language.PoseCfg attribute) (embodichain.lab.task_program.semantics.SemanticPose property) (embodichain.lab.visualization.FrameOverlay attribute) (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.GizmoState attribute) (embodichain.lab.visualization.TargetOverlay attribute) position_error (embodichain.compute.kinematics.types.DifferentiableIKResult attribute) position_offset (embodichain.lab.task_program.language.ObjectRelativePositionValidatorCfg attribute) position_threshold_m (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) position_tolerance (embodichain.lab.task_program.language.ObjectNearTargetValidatorCfg attribute) (embodichain.lab.task_program.language.ObjectRelativePositionValidatorCfg attribute) positions (embodichain.lab.sim.atomic_actions.JointPositionCommand property) (embodichain.lab.sim.motion.planners.PlanResult attribute) (embodichain.lab.task_program.semantics.JointStateEvidenceBatch attribute) (embodichain.lab.task_program.semantics.JointStateObservation attribute) (embodichain.lab.visualization.SceneFrame attribute) post (embodichain.lab.task_program.language.SegmentCfg attribute) post_policies (embodichain.lab.task_program.compiler.CompiledTaskProgramSegment attribute) post_policy_metadata() (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) post_policy_result() (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) postprocess_small_regions() (in module embodichain.utils.utility) Pour (class in embodichain.lab.sim.atomic_actions.primitives.pour) pour (embodichain.lab.task_program.integrations.asset_materialization.AssetAdaptationCfg attribute) PourGoal (class in embodichain.lab.sim.atomic_actions.primitives.pour) PouringAcceptanceMonitor (class in embodichain.lab.task_program.integrations.simulation.asset_pouring) PourOptions (class in embodichain.lab.sim.atomic_actions.primitives.pour) PourWaterAssets (class in embodichain.data.assets.obj_assets) PPO (class in embodichain.learning.rl.algo), [1] PPOCfg (class in embodichain.learning.rl.algo), [1] pre_grasp_distance (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.TwistOptions attribute) prediction_horizon (embodichain.data_pipeline.datasets.SequenceSpecCfg attribute), [1] prefix_invocations() (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider method) preflight() (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) preflight_analyses() (embodichain.lab.task_program.CompiledTaskProgram method) (embodichain.lab.task_program.compiler.CompiledTaskProgram method) PreparationContext (class in embodichain.data.asset_catalog) (class in embodichain.data.asset_catalog.contracts) PREPARE (embodichain_benchmarks.motion_generation.models.TrialPhase attribute) prepare() (embodichain.data_pipeline.recording.journal.RecordingJournal method) (embodichain.data_pipeline.recording.RecordingJournal method) (embodichain.lab.sim.sim_manager.SimulationManager method) (embodichain_benchmarks.motion_generation.PlannerAdapter method) (embodichain_benchmarks.motion_generation.planners.curobo.CuroboAdapter method) prepare_asset_batches() (in module embodichain.lab.gym.envs.asset_generalization) prepare_batch() (embodichain.data_pipeline.runtime.ODSFlowController method) prepare_buffers() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) prepare_cases() (embodichain_benchmarks.motion_generation.PlannerAdapter method) (embodichain_benchmarks.motion_generation.planners.curobo.CuroboAdapter method) prepare_default_spawn_runtime_config() (in module embodichain.lab.sim.objects.backends.articulation_lifecycle) prepare_differentiable_rollout() (embodichain.learning.rl.env.ScheduledDifferentiableVecEnv method) prepare_expert_joint_trajectory() (in module embodichain.lab.gym.envs.expert_trajectory) prepare_extra_attr (class in embodichain.lab.gym.envs.managers.events) prepare_mesh() (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator method) prepare_planner() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) prepare_planning_context() (embodichain.lab.task_program.integrations.CombinedTaskProgramExpansionFactory method) (embodichain.lab.task_program.integrations.expansion.CombinedTaskProgramExpansionFactory method) prepare_policy_observation() (in module embodichain.learning.rl.evaluation) prepare_scene_randomization() (in module embodichain.lab.sim.scene.expansion) PreparedAsset (class in embodichain.data.asset_catalog) (class in embodichain.data.asset_catalog.contracts) PreparedSceneRandomization (class in embodichain.lab.sim.scene.expansion) PRESENT (embodichain.lab.task_program.semantics.ScalarExpectation attribute) preserve_cartesian_samples (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) preserve_current_object_orientation (embodichain.lab.sim.atomic_actions.primitives.place.PlaceOptions attribute) preserve_order (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) preserve_plan_samples (embodichain.lab.sim.motion.planners.BasePlanner attribute) (embodichain.lab.sim.motion.planners.ToppraPlanner attribute) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner attribute) preserve_source_grid (embodichain.lab.sim.motion.execution.JointTrajectoryPlaybackCfg attribute) preset (embodichain.lab.sim.material.VisualMaterialCfg attribute) (embodichain.lab.task_program.language.WaitStablePostCfg attribute) (embodichain.lab.task_program.semantics.BoundSemanticCall attribute) preset() (embodichain.lab.task_program.semantics.BoundRobotSkillProfile method) preset_id (embodichain.lab.task_program.integrations.simulation.ControlPartCommandPreset attribute) (embodichain.lab.task_program.semantics.LinkedSemanticCall attribute) presets (embodichain.lab.task_program.integrations.simulation.SimulationRobotSkillProfileBinding attribute) preshape_fraction (embodichain.lab.sim.atomic_actions.primitives.slide.SlideOptions attribute) Press (class in embodichain.lab.sim.atomic_actions.primitives.press) press_distance (embodichain.lab.sim.atomic_actions.primitives.press.PressOptions attribute) press_position (embodichain.lab.sim.atomic_actions.primitives.press.PressOptions attribute) PressCases (class in embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases) PressEvaluator (class in embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) PressGoal (class in embodichain.lab.sim.atomic_actions.primitives.press) PressOptions (class in embodichain.lab.sim.atomic_actions.primitives.press) preview_sensor_data() (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] previous_action (embodichain.lab.gym.envs.managers.ActionManager property) previous_raw_actions (embodichain.lab.gym.envs.managers.DefaultJointPositionAction property) (embodichain.lab.gym.envs.managers.EefPoseAction property) (embodichain.lab.gym.envs.managers.JointEffortAction property) (embodichain.lab.gym.envs.managers.JointPositionAction property) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction property) (embodichain.lab.gym.envs.managers.JointVelocityAction property) (embodichain.lab.gym.envs.managers.ParallelGripperAction property) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction property) PRIMARY_BASELINE (embodichain_benchmarks.motion_generation.models.AlgorithmRole attribute) primary_success (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) print_window_camera_pose() (embodichain.lab.sim.sim_manager.SimulationManager method) priority (embodichain.lab.sim.cfg.NewtonCollisionPropertiesCfg attribute) process_action() (embodichain.lab.gym.envs.managers.ActionManager method) process_actions() (embodichain.lab.gym.envs.managers.ActionTerm method) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction method) (embodichain.lab.gym.envs.managers.EefPoseAction method) (embodichain.lab.gym.envs.managers.JointEffortAction method) (embodichain.lab.gym.envs.managers.JointPositionAction method) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction method) (embodichain.lab.gym.envs.managers.JointVelocityAction method) (embodichain.lab.gym.envs.managers.ParallelGripperAction method) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction method) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction method) process_pick_commands() (embodichain.lab.sim.sim_manager.SimulationManager method) process_visualization_commands() (embodichain.lab.sim.sim_manager.SimulationManager method) processed_actions (embodichain.lab.gym.envs.managers.ActionTerm property) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction property) (embodichain.lab.gym.envs.managers.EefPoseAction property) (embodichain.lab.gym.envs.managers.JointEffortAction property) (embodichain.lab.gym.envs.managers.JointPositionAction property) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction property) (embodichain.lab.gym.envs.managers.JointVelocityAction property) (embodichain.lab.gym.envs.managers.ParallelGripperAction property) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction property) profile (embodichain.learning.rl.policy_evaluation.bridge.MotionEvaluationResult attribute) (embodichain_benchmarks.motion_generation.config.SuiteCfg attribute) profile_id (embodichain.lab.task_program.integrations.simulation.SimulationRobotSkillProfileBinding attribute) (embodichain.lab.task_program.semantics.BoundRobotSkillProfile property) (embodichain.learning.rl.policy_evaluation.MotionProfile attribute) (embodichain.learning.rl.policy_evaluation.profile.MotionProfile attribute) profile_ids (embodichain.lab.sim.motion.expansion.combined_runtime.VisualProfileRegistry property) (embodichain.lab.sim.motion.expansion.VisualProfileRegistry property) Profiler (class in embodichain.lab.sim) (class in embodichain.lab.sim.profiler) profiler (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) ProfilerCfg (class in embodichain.lab.sim) (class in embodichain.lab.sim.profiler) ProfileValidationError (class in embodichain.lab.task_program.semantics) profiling() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) program (embodichain.lab.task_program.language.TaskProgramCfg attribute) program_completed (embodichain.lab.gym.envs.task_program.TaskProgramDemoBridge property) program_id (embodichain.lab.task_program.compiler.CompiledTaskProgram attribute) (embodichain.lab.task_program.language.TaskProgramCfg attribute) program_success (embodichain.lab.task_program.integrations.scene_expansion.SceneVariantEpisodeResult property) project() (embodichain.lab.sim.atomic_actions.PlanningContext method) project_direction (embodichain.lab.sim.cfg.MeshCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) project_task_space_trajectory() (in module embodichain.lab.sim.motion.expansion) projected_gravity_b (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) properties (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) ProposalRejected (class in embodichain.lab.sim.motion.expansion) ProposalRequest (class in embodichain.lab.sim.motion.expansion) propose() (embodichain.lab.sim.motion.expansion.ExpansionSession method) propose_many() (embodichain.lab.sim.motion.expansion.ExpansionSession method) protocol (embodichain_benchmarks.motion_generation.config.SuiteCfg attribute) protocol_version (embodichain_benchmarks.motion_generation.contracts.PhysicalEvaluation attribute) ProtocolCfg (class in embodichain_benchmarks.motion_generation.config) provenance (embodichain.learning.rl.policy_evaluation.MotionProfile attribute) (embodichain.learning.rl.policy_evaluation.profile.MotionProfile attribute) provenance_key (embodichain.data_pipeline.datasets.LeRobotFieldMappingCfg attribute), [1] provider (embodichain_benchmarks.motion_generation.config.RobotSpecCfg attribute) provider_id (embodichain.lab.task_program.semantics.ControlPartSimulationEvidenceProvider attribute) (embodichain.lab.task_program.semantics.EffectEvidenceProvider attribute) (embodichain.lab.task_program.semantics.EffectEvidenceSourceRef attribute) (embodichain.lab.task_program.semantics.SceneArticulationEvidenceProvider attribute) provider_version (embodichain.learning.rl.policy_evaluation.MotionProfile attribute) (embodichain.learning.rl.policy_evaluation.profile.MotionProfile attribute) providers (embodichain.lab.task_program.semantics.EffectEvidenceProviderRegistry property) publish_replay_control() (embodichain.lab.visualization.VisualizationRuntime method) published_frames (embodichain.lab.visualization.RuntimeStats attribute) published_image_frames (embodichain.lab.visualization.RuntimeStats attribute) published_scene_revision (embodichain.lab.visualization.RuntimeHealth attribute) push_articulation_by_setting_velocity (class in embodichain.lab.gym.envs.managers.randomization.physics) push_overshoot (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) PushObject (class in embodichain.lab.sim.atomic_actions.primitives.push_object) PushObjectGoal (class in embodichain.lab.sim.atomic_actions.primitives.push_object) PushObjectOptions (class in embodichain.lab.sim.atomic_actions.primitives.push_object) PushObjectToolCalibration (class in embodichain.lab.sim.atomic_actions.primitives.push_object) put() (embodichain.lab.visualization.GizmoCommandQueue method) (embodichain.lab.visualization.JointControlCommandQueue method) put_latest() (embodichain.lab.visualization.LatestFrameQueue method) PytorchSolver (class in embodichain.lab.sim.motion.solvers) PytorchSolverCfg (class in embodichain.lab.sim.motion.solvers)

Q

qacc (embodichain.lab.sim.motion.planners.PlanState attribute) (embodichain.lab.sim.objects.ArticulationData property) qf (embodichain.lab.sim.objects.ArticulationData property) qf_limits (embodichain.lab.sim.objects.ArticulationData property) qpos (embodichain.compute.kinematics.types.DifferentiableIKResult attribute) QPOS (embodichain.data.enum.JointType attribute) qpos (embodichain.lab.sim.motion.planners.PlanState attribute) (embodichain.lab.sim.motion.workspace.runtime.WorkspaceSample attribute) (embodichain.lab.sim.motion.workspace.WorkspaceSample attribute) (embodichain.lab.sim.objects.ArticulationData property) qpos_limits (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.ArticulationData property) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) qpos_slice (embodichain.lab.gym.envs.expert_trajectory.ExpertActionSpec property) qpos_to_limits() (embodichain.lab.sim.motion.solvers.PinocchioSolver method) QposSeedSelSampler (class in embodichain.lab.sim.motion.solvers.qpos_seed_sel_sampler) QUANTITY (embodichain.lab.sim.motion.planners.TrajectorySampleMethod attribute)

quantize_depth() (in module embodichain.data_pipeline.depth_video.depth_utils) quat (embodichain.lab.sim.sensors.CameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.CameraCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.ContactSensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.SensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.OffsetCfg attribute) quat_inverse() (in module embodichain_models.dynamics.nerd.codec) quat_multiply() (in module embodichain_models.dynamics.nerd.codec) quat_rotate() (in module embodichain_models.dynamics.nerd.codec) quat_slerp() (in module embodichain.utils.math) quat_wxyz_to_xyzw() (in module embodichain.utils.math) quat_xyzw_to_wxyz() (in module embodichain.utils.math) quaternion_xyzw (embodichain.lab.task_program.language.PoseCfg attribute) (embodichain.lab.task_program.semantics.SemanticPose property) query() (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionChecker method) query_batch_points() (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionChecker method) qvel (embodichain.lab.sim.motion.planners.PlanState attribute) (embodichain.lab.sim.objects.ArticulationData property) qvel_limits (embodichain.lab.sim.objects.ArticulationData property) qvel_slice (embodichain.lab.gym.envs.expert_trajectory.ExpertActionSpec property)

R

radius (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.motion.workspace.configs.DensityConfig attribute) (embodichain.lab.sim.objects.CollisionShapeDesc attribute) (embodichain.lab.sim.objects.LightCfg attribute) (embodichain.lab.sim.shapes.SphereCfg attribute) RainbowY1 (class in embodichain.data.assets.robot_assets) raise_for_errors() (embodichain.data_pipeline.datasets.inspection.DatasetValidationReport method) RANDOM (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) randomization_parameters() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) randomize_anchor_height (class in embodichain.lab.gym.envs.managers.randomization.spatial) randomize_articulation_mass() (in module embodichain.lab.gym.envs.managers.randomization.physics) randomize_articulation_pose() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) randomize_articulation_root_pose() (in module embodichain.lab.gym.envs.managers.randomization.spatial) randomize_camera_extrinsics() (in module embodichain.lab.gym.envs.managers.randomization.visual) randomize_camera_intrinsics() (in module embodichain.lab.gym.envs.managers.randomization.visual) randomize_emission_light() (in module embodichain.lab.gym.envs.managers.randomization.visual) randomize_indirect_lighting (class in embodichain.lab.gym.envs.managers.randomization.visual) randomize_light() (in module embodichain.lab.gym.envs.managers.randomization.visual) randomize_object_pose() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) randomize_rigid_object_body_scale() (in module embodichain.lab.gym.envs.managers.randomization.geometry) randomize_rigid_object_center_of_mass() (in module embodichain.lab.gym.envs.managers.randomization.physics) randomize_rigid_object_mass() (in module embodichain.lab.gym.envs.managers.randomization.physics) randomize_rigid_object_pose() (in module embodichain.lab.gym.envs.managers.randomization.spatial) randomize_rigid_object_scale() (in module embodichain.lab.gym.envs.managers.randomization.geometry) randomize_rigid_objects_scale() (in module embodichain.lab.gym.envs.managers.randomization.geometry) randomize_robot_eef_pose() (in module embodichain.lab.gym.envs.managers.randomization.spatial) randomize_robot_qpos() (in module embodichain.lab.gym.envs.managers.randomization.spatial) randomize_robot_start() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) randomize_target_pose() (in module embodichain.lab.gym.envs.managers.randomization.spatial) randomize_visual_material (class in embodichain.lab.gym.envs.managers.randomization.visual) randomized_vector_batch() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) RandomSampler (class in embodichain.lab.sim.motion.workspace.samplers) ratio() (embodichain.lab.sim.motion.expansion.ManipulabilityBands method) raw_actions (embodichain.lab.gym.envs.managers.ActionTerm property) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction property) (embodichain.lab.gym.envs.managers.EefPoseAction property) (embodichain.lab.gym.envs.managers.JointEffortAction property) (embodichain.lab.gym.envs.managers.JointPositionAction property) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction property) (embodichain.lab.gym.envs.managers.JointVelocityAction property) (embodichain.lab.gym.envs.managers.ParallelGripperAction property) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction property) raw_range (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorMapping property) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityNormalization attribute), [1] raw_terms (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCReward attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1Reward attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1Reward attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2Reward attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12Reward attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckReward attribute) ray_deviation_angle (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGeneratorCfg attribute) reachability (embodichain.lab.sim.motion.workspace.configs.MetricConfig attribute) REACHABILITY (embodichain.lab.sim.motion.workspace.configs.MetricType attribute) reachability_solver (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) ReachabilityConfig (class in embodichain.lab.sim.motion.workspace.configs) ReachabilityMetric (class in embodichain.lab.sim.motion.workspace.metrics) reachable_alpha (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorCfg attribute) reachable_mask (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorMapping attribute), [1] (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityPointSet attribute), [1] (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityVisualizer attribute) reaching_behind_object() (in module embodichain.lab.gym.envs.managers.rewards) read() (embodichain.data_pipeline.depth_video.reader.DepthVideoReader method) read_all_folder_images() (in module embodichain.utils.utility) read_drive_properties() (in module embodichain.lab.sim.objects.backends.articulation_drive) read_physical_properties() (embodichain.lab.sim.objects.ArticulationData method) read_state_mimic_info() (in module embodichain.lab.sim.objects.backends.articulation_state) read_video() (in module embodichain.utils.utility) READY (embodichain.data_pipeline.engine.OnlineDataEngineState attribute) reallocate_body_data() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) reason (embodichain.learning.rl.policy_evaluation.viewer.NativeViewerResult attribute) (embodichain_benchmarks.motion_generation.contracts.CapabilityDecision attribute) rebuild_3rdnormal (embodichain.lab.sim.shapes.LoadOption attribute) rebuild_3rdtangent (embodichain.lab.sim.shapes.LoadOption attribute) rebuild_normals (embodichain.lab.sim.shapes.LoadOption attribute) rebuild_plan_from_trajectory() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) rebuild_tangent (embodichain.lab.sim.shapes.LoadOption attribute) receive_pick_object_part (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverOptions attribute) recipe_id (embodichain.lab.sim.scene.procedural.SceneRecipe property) recipe_index (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord attribute) recompute_inertia (embodichain.lab.sim.cfg.MassPropertiesCfg attribute) record_camera_data (class in embodichain.lab.gym.envs.managers.record) record_camera_data_async (class in embodichain.lab.gym.envs.managers.record) record_error() (embodichain.data_pipeline.recording.journal.RecordingJournal method) (embodichain.data_pipeline.recording.RecordingJournal method) record_failed (embodichain_benchmarks.motion_generation.video.VideoRecordCfg attribute) record_replay() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) record_trajectory (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] record_with_window() (in module embodichain_benchmarks.motion_generation.video) RecordingJournal (class in embodichain.data_pipeline.recording) (class in embodichain.data_pipeline.recording.journal) records (embodichain.lab.task_program.integrations.CombinedTaskProgramExpansionFactory property) (embodichain.lab.task_program.integrations.expansion.CombinedTaskProgramExpansionFactory property) recover_recording() (in module embodichain.data_pipeline.recording) (in module embodichain.data_pipeline.recording.journal) recovery_policy (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) (embodichain.lab.task_program.semantics.SkillPolicyPreset property) RecoveryPolicy (class in embodichain.lab.sim.atomic_actions) rect_height (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) rect_width (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) reduce_contacts (embodichain.lab.sim.cfg.NewtonCollisionPipelineCfg attribute) redundancy_search (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) redundancy_step (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) ref (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) reference (embodichain.lab.task_program.compiler.CompiledObjectStateValidator attribute) (embodichain.lab.task_program.language.ObjectRelativePositionValidatorCfg attribute) reference_frame (embodichain.lab.task_program.language.ObjectRelativePositionValidatorCfg attribute) reference_motion_generator() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) reference_path_deviation_mm_max (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) reference_path_deviation_mm_mean (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) reference_pose (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) reference_qpos (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) ReferenceFamilySpec (class in embodichain.lab.sim.motion.expansion) (class in embodichain.lab.sim.motion.expansion.combined) refill_policy (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) refill_threshold (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) refresh_scene() (embodichain.lab.visualization.VisualizationRuntime method) refresh_visualization() (embodichain.lab.sim.sim_manager.SimulationManager method) register() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (in module embodichain.lab.gym.utils.registration), [1] register_atomic_object_kind() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_objects) register_atomic_skill_provider() (in module embodichain_benchmarks.motion_generation.atomic_skill) register_case() (embodichain.lab.sim.motion.expansion.ExpansionSession method) register_contact_material_schedule() (embodichain.lab.sim.sim_manager.SimulationManager method) register_entity_attrs() (in module embodichain.lab.gym.envs.managers.events) register_env() (in module embodichain.lab.gym.utils.registration), [1] register_env_function() (in module embodichain.lab.gym.utils.registration) register_info_to_env() (in module embodichain.lab.gym.envs.managers.events) register_kinematic_joint_trajectory() (embodichain.lab.sim.sim_manager.SimulationManager method) register_kinematic_nodal_trajectory() (embodichain.lab.sim.sim_manager.SimulationManager method) register_learning_env() (in module embodichain.learning.rl.env) register_motion_profile() (in module embodichain.learning.rl.policy_evaluation) (in module embodichain.learning.rl.policy_evaluation.profile) register_particle_contact_material_schedule() (embodichain.lab.sim.sim_manager.SimulationManager method) register_planner_adapter() (in module embodichain_benchmarks.motion_generation.registry) register_planner_type() (embodichain.lab.sim.motion.motion_generator.MotionGenerator class method) register_policy() (in module embodichain.learning.rl.policies) register_robot_provider() (in module embodichain_benchmarks.motion_generation.registry) register_sampler() (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory method) register_scenario_provider() (in module embodichain_benchmarks.motion_generation.registry) register_sensor() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) register_transport() (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder method) register_visualizer() (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory method) REGISTERED (embodichain.lab.task_program.semantics.SemanticEffectKind attribute) REGISTERED_ENVS (in module embodichain.lab.gym.utils.registration) RegisteredSemanticCall (class in embodichain.lab.task_program.semantics) RegisteredSemanticCallCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) RegisteredSemanticLowererDeclaration (class in embodichain.lab.task_program.integrations) RegisteredSemanticLowererFactory (class in embodichain.lab.task_program.integrations) registration (embodichain.lab.task_program.integrations.SimulationTaskProgramAdapterFactory property) registration_owned_segment_policy_ports() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) registrations (embodichain.lab.task_program.semantics.SceneRegistry property) registry (embodichain.lab.task_program.semantics.EffectEvidenceCollector property) registry_id (embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding attribute) RegistrySceneProvider (class in embodichain.lab.task_program.semantics) rejected_frames (embodichain.lab.visualization.RuntimeStats attribute) rejected_image_frames (embodichain.lab.visualization.RuntimeStats attribute) relation (embodichain.lab.task_program.semantics.HeldObjectStateExpectation attribute) RELATIVE (embodichain.data.enum.ActionMode attribute) relative_pose (embodichain.lab.sim.atomic_actions.SceneEntityPose attribute) (embodichain.lab.task_program.integrations.simulation.AntipodalGraspAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.RigidizedArticulationAntipodalGraspBinding attribute) (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) RelativeEefPoseAction (class in embodichain.lab.gym.envs.managers) RelativeJointPositionAction (class in embodichain.lab.gym.envs.managers) release (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) RELEASE (embodichain.lab.task_program.semantics.SemanticEffectKind attribute) release() (embodichain.lab.sim.motion.expansion.combined.PhysicalSlotPool method) (embodichain.lab.sim.motion.expansion.CoverageIndex method) (embodichain.lab.sim.motion.expansion.ExpansionSession method) (embodichain.lab.sim.motion.expansion.PhysicalSlotPool method) release_at_target (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverOptions attribute) release_retreat_distance (embodichain.lab.sim.atomic_actions.primitives.slide.SlideOptions attribute) release_settle_steps (embodichain.lab.sim.atomic_actions.primitives.place.PlaceOptions attribute) release_steps (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) remove_asset() (embodichain.lab.sim.sim_manager.SimulationManager method) remove_device() (embodichain.lab.devices.DeviceController method) remove_geometry() (embodichain.lab.visualization.picker.ScenePicker method) remove_marker() (embodichain.lab.sim.sim_manager.SimulationManager method) remove_overlap_mask() (in module embodichain.utils.utility) remove_regex_chars() (in module embodichain.utils.string) remove_rigid_constraint() (embodichain.lab.sim.sim_manager.SimulationManager method) (in module embodichain.lab.gym.envs.managers.events) render() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.utils.visualizer.Gantt method) render_camera_group() (embodichain.lab.sim.sim_manager.SimulationManager method) render_cfg (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) render_config_path() (in module embodichain.lab.task_program) (in module embodichain.lab.task_program.language) render_frame() (embodichain.lab.sim.sim_manager.SimulationManager method) render_height (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) render_width (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) RenderCfg (class in embodichain.lab.sim.cfg) rendered (embodichain.lab.task_program.semantics.SymbolicStateKey property) rendered_path (embodichain.lab.task_program.semantics.SemanticDiagnostic property) renderer (embodichain.lab.sim.cfg.RenderCfg attribute) (embodichain.learning.rl.policy_evaluation.MotionProfileRequest attribute) (embodichain.learning.rl.policy_evaluation.profile.MotionProfileRequest attribute) reorder_array() (embodichain.lab.sim.motion.solvers.PinkSolver static method) repeat (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) repeat_frames (embodichain.lab.task_program.compiler.CompiledTaskProgramCall attribute) (embodichain.lab.task_program.compiler.CompiledTaskProgramSegment attribute) repeat_iteration_index (embodichain.lab.task_program.compiler.CompiledTargetSelection attribute) repeat_path (embodichain.lab.task_program.compiler.CompiledTargetSelection attribute) RepeatCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) replace() (embodichain.compute.kinematics.types.DifferentiableIKCfg method) (embodichain.data_pipeline.configuration.ODSRateMeasurementCfg method) (embodichain.data_pipeline.configuration.ODSReuseProfileCfg method) (embodichain.data_pipeline.configuration.ODSRuntimeCfg method) (embodichain.data_pipeline.datasets.lerobot.LeRobotFieldMappingCfg method) (embodichain.data_pipeline.datasets.LeRobotFieldMappingCfg method), [1] (embodichain.data_pipeline.datasets.sequence.SequenceSpecCfg method) (embodichain.data_pipeline.datasets.SequenceSpecCfg method), [1] (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg method) (embodichain.data_pipeline.engine.OnlineDataEngineCfg method) (embodichain.data_pipeline.runtime.ODSFlowControllerCfg method) (embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_table_aligner.AssetsGroupTableAlignerConfig method) (embodichain.lab.gym.envs.asset_generalization.AssetGeneralizationCfg method) (embodichain.lab.gym.envs.demo.DemoExecutionCfg method) (embodichain.lab.gym.envs.EmbodiedEnvCfg method), [1] (embodichain.lab.gym.envs.EmbodiedEnvCfg.EnvLightCfg method), [1] (embodichain.lab.gym.envs.EnvCfg method), [1] (embodichain.lab.gym.envs.managers.ActionTermCfg method) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg method) (embodichain.lab.gym.envs.managers.EventCfg method) (embodichain.lab.gym.envs.managers.FunctorCfg method) (embodichain.lab.gym.envs.managers.ObservationCfg method) (embodichain.lab.gym.envs.managers.RewardCfg method) (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg method) (embodichain.lab.sim.cfg.source.UsdSourceCfg method) (embodichain.lab.sim.DenoisingCfg method) (embodichain.lab.sim.DLSSCfg method) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg method) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorCfg method) (embodichain.lab.sim.NRDCfg method) (embodichain.lab.sim.scene.expansion.IntraGroupRandomizationCfg method) (embodichain.lab.sim.scene.expansion.MemberRandomizationCfg method) (embodichain.lab.sim.scene.expansion.SceneRandomizationJobCfg method) (embodichain.lab.sim.scene.expansion.SceneRandomizationPolicyCfg method) (embodichain.lab.sim.scene.expansion.SupportOverrideCfg method) (embodichain.lab.sim.scene.geometry.SupportSurfaceConfig method) (embodichain.lab.sim.scene.layout.LayoutCfg method) (embodichain.lab.sim.scene.placement.AABBLayoutConfig method) (embodichain.lab.sim.scene.placement.GroupSupportClampConfig method) (embodichain.lab.sim.scene.validation.SettlingCfg method) (embodichain.lab.sim.sensors.ArticulationContactFilterCfg method) (embodichain.lab.sim.shapes.LoadOption method) (embodichain.lab.task_program.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.BarrierCfg method) (embodichain.lab.task_program.CyclicPoseTargetCfg method) (embodichain.lab.task_program.HandOverCfg method) (embodichain.lab.task_program.integrations.asset_materialization.AssetAdaptationCfg method) (embodichain.lab.task_program.integrations.asset_materialization.AssetPourAdaptationCfg method) (embodichain.lab.task_program.InvokeCfg method) (embodichain.lab.task_program.language.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.language.BarrierCfg method) (embodichain.lab.task_program.language.CyclicPoseTargetCfg method) (embodichain.lab.task_program.language.HandOverCfg method) (embodichain.lab.task_program.language.InvokeCfg method) (embodichain.lab.task_program.language.ObjectLiftedValidatorCfg method) (embodichain.lab.task_program.language.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.language.ObjectRelativePositionValidatorCfg method) (embodichain.lab.task_program.language.ObjectUprightValidatorCfg method) (embodichain.lab.task_program.language.ParallelCfg method) (embodichain.lab.task_program.language.PickCfg method) (embodichain.lab.task_program.language.PlaceCfg method) (embodichain.lab.task_program.language.PoseCfg method) (embodichain.lab.task_program.language.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.language.RepeatCfg method) (embodichain.lab.task_program.language.SegmentCfg method) (embodichain.lab.task_program.language.SequenceCfg method) (embodichain.lab.task_program.language.TargetRefCfg method) (embodichain.lab.task_program.language.TaskProgramCfg method) (embodichain.lab.task_program.language.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.language.WaitStablePostCfg method) (embodichain.lab.task_program.ObjectLiftedValidatorCfg method) (embodichain.lab.task_program.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.ObjectRelativePositionValidatorCfg method) (embodichain.lab.task_program.ObjectUprightValidatorCfg method) (embodichain.lab.task_program.ParallelCfg method) (embodichain.lab.task_program.PickCfg method) (embodichain.lab.task_program.PlaceCfg method) (embodichain.lab.task_program.PoseCfg method) (embodichain.lab.task_program.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.RepeatCfg method) (embodichain.lab.task_program.SegmentCfg method) (embodichain.lab.task_program.SequenceCfg method) (embodichain.lab.task_program.TargetRefCfg method) (embodichain.lab.task_program.TaskProgramCfg method) (embodichain.lab.task_program.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.WaitStablePostCfg method) (embodichain.learning.rl.algo.APGCfg method), [1] (embodichain.learning.rl.algo.GRPOCfg method), [1] (embodichain.learning.rl.algo.PPOCfg method), [1] (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg method) (embodichain.learning.rl.policy_evaluation.camera.PolicyViewerCameraCfg method) (embodichain.learning.rl.policy_evaluation.PolicyViewerCameraCfg method) (embodichain.learning.rl.utils.AlgorithmCfg method) (embodichain.learning.rl.utils.config.AlgorithmCfg method) (embodichain.learning.rl.utils.config.LRSchedulerCfg method) (embodichain.learning.rl.utils.config.OptimizerCfg method) (embodichain.learning.rl.utils.LRSchedulerCfg method) (embodichain.learning.rl.utils.OptimizerCfg method) (embodichain.learning.sl.SupervisedTrainerCfg method) (embodichain.learning.sl.trainer.SupervisedTrainerCfg method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method) (embodichain_benchmarks.motion_generation.config.DomainCfg method) (embodichain_benchmarks.motion_generation.config.EmbodimentSpecCfg method) (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg method) (embodichain_benchmarks.motion_generation.config.PlannerSpecCfg method) (embodichain_benchmarks.motion_generation.config.ProtocolCfg method) (embodichain_benchmarks.motion_generation.config.RobotSpecCfg method) (embodichain_benchmarks.motion_generation.config.SuiteCfg method) (embodichain_benchmarks.motion_generation.config.TrackCfg method) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig method) replace_assets_from_group (class in embodichain.lab.gym.envs.managers.events) replace_rigid_object() (embodichain.lab.sim.sim_manager.SimulationManager method) replace_rigid_objects() (embodichain.lab.sim.sim_manager.SimulationManager method) replan_count (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) replay_observation_windows() (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.PressCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.SlideCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.TwistCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.MoveHeldObjectCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.PickUpCases method) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.PlaceCases method) replay_physics() (embodichain_benchmarks.motion_generation.scenarios.atomic_replay.AtomicReplayRuntime method) replay_trace() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) replay_traces (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) ReplayObservationTrace (class in embodichain_benchmarks.motion_generation.contracts) ReplayObservationWindow (class in embodichain_benchmarks.motion_generation.contracts) ReplayWrapper (class in embodichain.lab.gym.envs) report() (embodichain.lab.sim.Profiler method) (embodichain.lab.sim.profiler.Profiler method) report_schema_version (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) request_local_pose() (embodichain.lab.sim.objects.Gizmo method) request_refill() (embodichain.data_pipeline.engine.OnlineDataEngine method) (embodichain.data_pipeline.runtime.ODSFlowController method) requested_duration (embodichain.learning.rl.policy_evaluation.viewer.NativeViewerResult attribute) require_all_succeeded() (embodichain.lab.task_program.runtime.SemanticExecutionResult method) require_control_dt() (embodichain.lab.sim.atomic_actions.PlanningContext method) require_engine() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) require_goal() (embodichain.lab.sim.atomic_actions.AtomicAction method) require_motion_generator() (embodichain_benchmarks.motion_generation.PlannerAdapter method) require_target() (embodichain.lab.sim.atomic_actions.EndpointBinding method) required_capabilities (embodichain_benchmarks.motion_generation.config.DomainCfg attribute) (embodichain_benchmarks.motion_generation.contracts.EvaluationDomain attribute) (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario attribute) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider attribute) (embodichain_benchmarks.motion_generation.scenarios.free_space.FreeSpaceScenario attribute) required_commands (embodichain.lab.sim.atomic_actions.SkillEndpointRequirement attribute) required_planner (embodichain.lab.task_program.semantics.SkillPolicyPreset attribute) required_stable_checks (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg attribute) requires_command_profile (embodichain.lab.task_program.semantics.EndpointResolution attribute) requires_effect_verification (embodichain.lab.sim.atomic_actions.ActionPlan property) requires_grad (embodichain.lab.sim.cfg.NewtonPhysicsCfg attribute) requires_gripper (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.PressCases attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.SlideCases attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.TwistCases attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.HeldObjectCases attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.PickUpCases attribute) requires_raw_actions (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager property) (embodichain.lab.gym.envs.managers.DatasetManager property) (embodichain.lab.gym.envs.managers.datasets.LeRobotRecorder property) requires_substep_update (embodichain.lab.sim.sensors.BaseSensor property) (embodichain.lab.sim.sensors.Camera property) (embodichain.lab.sim.sensors.ContactSensor property) (embodichain.lab.sim.sensors.StereoCamera property) resample_in_time() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.timing) (in module embodichain.lab.sim.utility.action_utils) resample_with_distance() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.resampling) (in module embodichain.lab.sim.utility.action_utils) reservation_for() (embodichain.lab.sim.motion.expansion.combined.PhysicalSlotPool method) (embodichain.lab.sim.motion.expansion.PhysicalSlotPool method) reserve() (embodichain.lab.sim.motion.expansion.combined.PhysicalSlotPool method) (embodichain.lab.sim.motion.expansion.CoverageIndex method) (embodichain.lab.sim.motion.expansion.PhysicalSlotPool method) reset() (embodichain.lab.devices.DeviceController method) (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.lab.gym.envs.managers.ActionManager method) (embodichain.lab.gym.envs.managers.ActionTerm method) (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction method) (embodichain.lab.gym.envs.managers.EefPoseAction method) (embodichain.lab.gym.envs.managers.EventManager method) (embodichain.lab.gym.envs.managers.Functor method) (embodichain.lab.gym.envs.managers.JointEffortAction method) (embodichain.lab.gym.envs.managers.JointPositionAction method) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction method) (embodichain.lab.gym.envs.managers.JointVelocityAction method) (embodichain.lab.gym.envs.managers.ManagerBase method) (embodichain.lab.gym.envs.managers.ObservationManager method) (embodichain.lab.gym.envs.managers.observations.get_articulation_joint_drive method) (embodichain.lab.gym.envs.managers.observations.get_rigid_object_physics_attributes method) (embodichain.lab.gym.envs.managers.ParallelGripperAction method) (embodichain.lab.gym.envs.managers.randomization.physics.push_articulation_by_setting_velocity method) (embodichain.lab.gym.envs.managers.randomization.spatial.ExpandSceneLayout method) (embodichain.lab.gym.envs.managers.randomization.spatial.planner_grid_cell_sampler method) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction method) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction method) (embodichain.lab.gym.envs.managers.RewardManager method) (embodichain.lab.gym.envs.ReplayWrapper method) (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.workspace.metrics.BaseMetric method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.deformable.DeformableObject method) (embodichain.lab.sim.objects.Light method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.VisualObject method) (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.contact_history.ContactHistory method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) (embodichain.lab.sim.sim_manager.SimulationManager class method) (embodichain.lab.task_program.integrations.simulation.asset_pouring.PouringAcceptanceMonitor method) (embodichain.learning.rl.collector.DifferentiableCollector method) (embodichain.learning.rl.env.LearningVecEnv method) (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskEnvironment method) (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskPolicyAdapter method) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicArticulationHandle method) (embodichain_benchmarks.motion_generation.scenarios.atomic_objects.AtomicObjectHandle method)

reset_all_seeds() (in module embodichain.utils.utility) reset_case() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) reset_every_rollout (embodichain.learning.rl.algo.GRPOCfg attribute), [1] reset_history() (in module embodichain_models.dynamics.nerd.codec) reset_instance() (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory class method) (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory class method) reset_objects_state() (embodichain.lab.sim.sim_manager.SimulationManager method) reshape_tiled_image (in module embodichain.utils.warp.kernels) resolution (embodichain.lab.sim.shapes.SphereCfg attribute) resolve() (embodichain.data_pipeline.engine.language.SharedLanguageRegistry method) (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (embodichain.lab.sim.atomic_actions.JointPositionCommand method) (embodichain.lab.sim.cfg.RobotPresetCfg method) (embodichain.lab.sim.motion.expansion.combined_runtime.VisualProfileRegistry method) (embodichain.lab.sim.motion.expansion.VisualProfileRegistry method) (embodichain.lab.task_program.integrations.ConfiguredHandOverPoseProvider method) (embodichain.lab.task_program.semantics.BoundRobotSkillProfile method) (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter method) (embodichain.lab.task_program.semantics.EffectEvidenceProviderRegistry method) (embodichain.lab.task_program.semantics.EffectMonitorRegistry method) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter method) (embodichain.lab.task_program.semantics.SceneManifest method) (embodichain.lab.task_program.semantics.SceneRegistry method) (embodichain_benchmarks.motion_generation.embodiments.YamlEmbodimentProvider method) resolve_affordance() (embodichain.lab.task_program.semantics.SceneManifest method) (embodichain.lab.task_program.semantics.SceneRegistry method) resolve_antipodal_grasp() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) resolve_articulation_grasp() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) resolve_asset_physics_mode() (embodichain.lab.sim.cfg.ArticulationCfg method) (embodichain.lab.sim.cfg.RigidObjectCfg method) (embodichain.lab.sim.objects.ArticulationCfg method) (embodichain.lab.sim.objects.RigidObjectCfg method) (embodichain.lab.sim.objects.RobotCfg method) (embodichain.lab.sim.robots.DualArmRobotCfg method) resolve_asset_set() (in module embodichain.lab.task_program.semantics.asset_matching) resolve_atomic_batch_sizes() (in module embodichain_benchmarks.motion_generation.config) resolve_atomic_pose_randomization() (in module embodichain_benchmarks.motion_generation.config) resolve_collision_world_mode() (embodichain.lab.task_program.semantics.SceneRegistry method) resolve_config_path() (in module embodichain.utils) (in module embodichain.utils.config_paths) resolve_demo_instruction() (in module embodichain.lab.gym.envs.demo) resolve_demo_segments() (in module embodichain.lab.gym.envs.demo) resolve_depth_vcodec() (in module embodichain.data_pipeline.depth_video.codec) resolve_device() (in module embodichain_benchmarks.motion_generation.runner) resolve_dynamic_limit() (in module embodichain_benchmarks.motion_generation.limits) resolve_embodiment() (in module embodichain_benchmarks.motion_generation.embodiments) resolve_language() (embodichain.data_pipeline.datasets.online_data.OnlineDataset method) (embodichain.data_pipeline.datasets.OnlineDataset method), [1] (embodichain.data_pipeline.datasets.OnlineDataSource method), [1] (embodichain.data_pipeline.datasets.sequence_data.SequenceDataset method) (embodichain.data_pipeline.datasets.SequenceDataset method), [1] (embodichain.data_pipeline.datasets.sources.OnlineDataSource method) (embodichain.data_pipeline.datasets.sources.TensorDataSource method) (embodichain.data_pipeline.datasets.TensorDataSource method), [1] (embodichain.data_pipeline.engine.OnlineDataEngine method) resolve_matching_names() (in module embodichain.utils.string) resolve_matching_names_values() (in module embodichain.utils.string) resolve_motion_limits() (embodichain_benchmarks.motion_generation.PlannerAdapter method) resolve_node_target() (embodichain.lab.visualization.SceneExporter method) resolve_parent_nodes() (in module embodichain.lab.sim.sensors.attachment) resolve_plan_options() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) resolve_policy_obs_groups() (in module embodichain.learning.rl.policies) (in module embodichain.learning.rl.policies.registry) resolve_request() (embodichain.lab.sim.atomic_actions.AtomicAction method) resolve_robot_cfg() (in module embodichain.robot_registry) resolve_robot_velocity_limits() (in module embodichain_benchmarks.motion_generation.limits) resolve_seed() (in module embodichain.cli.sim) resolve_velocity_limits() (in module embodichain_benchmarks.motion_generation.limits) resolved_contract_id() (embodichain.lab.gym.envs.managers.ActionTerm method) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction method) (embodichain.lab.gym.envs.managers.EefPoseAction method) (embodichain.lab.gym.envs.managers.JointEffortAction method) (embodichain.lab.gym.envs.managers.JointPositionAction method) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction method) (embodichain.lab.gym.envs.managers.JointVelocityAction method) (embodichain.lab.gym.envs.managers.ParallelGripperAction method) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction method) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction method) resolved_embodiment_id (embodichain_benchmarks.motion_generation.config.SuiteCfg property) resolved_params (embodichain.lab.task_program.semantics.CompositeEffectMonitor property) (embodichain.lab.task_program.semantics.EffectMonitor property) ResolvedActionRequest (class in embodichain.lab.sim.atomic_actions) ResolvedAssetSet (class in embodichain.lab.task_program.semantics.asset_matching) ResolvedResourceEndpoint (class in embodichain.lab.task_program.semantics) ResolvedRobotResource (class in embodichain.lab.task_program.semantics) ResolvedSkillBinding (class in embodichain.lab.task_program.semantics) resource_id (embodichain.lab.task_program.integrations.simulation.ControlPartResourceBinding attribute) (embodichain.lab.task_program.semantics.HeldObjectStateExpectation attribute) (embodichain_benchmarks.motion_generation.config.EmbodimentSpecCfg attribute) resource_ids (embodichain.lab.task_program.semantics.ResolvedSkillBinding property) resource_root (embodichain.learning.rl.policy_evaluation.MotionProfileRequest attribute) (embodichain.learning.rl.policy_evaluation.profile.MotionProfileRequest attribute) ResourceBinding (class in embodichain.lab.task_program.semantics) ResourceClaim (class in embodichain.lab.task_program.semantics) ResourceEndpoint (class in embodichain.lab.task_program.semantics) ResourceEndpointAdapter (class in embodichain.lab.task_program.semantics) resources (embodichain.lab.task_program.integrations.simulation.SimulationRobotSkillProfileBinding attribute) (embodichain.lab.task_program.language.HandOverCfg attribute) (embodichain.lab.task_program.language.PickCfg attribute) (embodichain.lab.task_program.language.PlaceCfg attribute) (embodichain.lab.task_program.language.RegisteredSemanticCallCfg attribute) (embodichain.lab.task_program.semantics.BoundRobotSkillProfile property) rest_offset (embodichain.lab.sim.cfg.CollisionPropertiesCfg attribute) (embodichain.lab.sim.cfg.DefaultCollisionPropertiesCfg attribute) (embodichain.lab.sim.cfg.NewtonCollisionPropertiesCfg attribute) restitution (embodichain.lab.sim.cfg.NewtonRigidBodyMaterialCfg attribute) (embodichain.lab.sim.cfg.RigidBodyMaterialCfg attribute) restore() (embodichain.lab.sim.motion.execution.FixedSceneInitialStatePort method) (embodichain.lab.sim.motion.execution.InitialStatePort method) restore_base_robot() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) restore_initial_state() (embodichain.lab.task_program.integrations.simulation.scene_expansion.SimulationSceneExpansionHost method) restore_positions() (embodichain.lab.sim.atomic_actions.ActionPlanTemplateAdapter method) restore_state() (in module embodichain.lab.sim.scene.state) restore_visual_material() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.deformable.DeformableObject method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.Robot method) result (embodichain.lab.task_program.runtime.ParallelSemanticExecutor property) (embodichain.lab.task_program.runtime.SemanticCallExecutor property) (embodichain_benchmarks.motion_generation.metrics.performance.TimedCall attribute) RESULTS_FILENAME (embodichain.lab.sim.motion.workspace.caches.ResultsCache attribute) ResultsCache (class in embodichain.lab.sim.motion.workspace.caches) resume() (embodichain.learning.sl.SupervisedTrainer method) (embodichain.learning.sl.trainer.SupervisedTrainer method) retain_acceleration (embodichain.lab.sim.cfg.DefaultRigidBodyPropertiesCfg attribute) retain_diagnostics (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) retime (embodichain_benchmarks.motion_generation.planners.nmg_onnx.NmgOnnxAdapter property) retime() (in module embodichain.lab.sim.motion.expansion) retime_joint_paths() (in module embodichain.lab.sim.motion.planners.toppra_planner) retime_to_control_grid() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.timing) (in module embodichain.lab.sim.utility.action_utils) retract_distance (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorOptions attribute) retract_height (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) retreat_distance (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverOptions attribute) retreat_steps (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverOptions attribute) retry_write() (embodichain.lab.sim.motion.expansion.ExpansionSession method) ReuseSegmentState (class in embodichain.lab.sim.material) revise_current() (embodichain.lab.sim.atomic_actions.ExecutionRunner method) (embodichain.lab.sim.atomic_actions.ExecutionSession method) revision (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) (embodichain.lab.task_program.integrations.simulation.AntipodalGraspAffordanceBinding attribute) (embodichain.lab.task_program.integrations.simulation.RigidizedArticulationAntipodalGraspBinding attribute) (embodichain.lab.task_program.semantics.CompositeEffectMonitorFactory attribute) (embodichain.lab.task_program.semantics.ControlPartSimulationEvidenceProvider attribute) (embodichain.lab.task_program.semantics.EffectEvidenceProvider attribute) (embodichain.lab.task_program.semantics.EffectEvidenceSourceRef attribute) (embodichain.lab.task_program.semantics.EffectMonitorFactory attribute) (embodichain.lab.task_program.semantics.SceneArticulationEvidenceProvider attribute) REWARD (embodichain.data.enum.LeRobotKey attribute) reward (embodichain.learning.rl.collector.DifferentiableTransition attribute) reward_base_ang_vel_b (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) reward_base_lin_vel_b (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) reward_body_ang_vel_w (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) reward_command (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) reward_manager (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) RewardCfg (class in embodichain.lab.gym.envs.managers) RewardManager (class in embodichain.lab.gym.envs.managers) rewards (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.learning.rl.collector.DifferentiableRollout property) rgb (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorMapping property) RidgeBack (class in embodichain.data.assets.robot_assets) RIGHT (embodichain.lab.sim.motion.planners.MovePart attribute), [1] RIGHT_ARM (embodichain.data.enum.ControlParts attribute) RIGHT_EEF (embodichain.data.enum.ControlParts attribute) right_to_left (embodichain.lab.sim.sensors.StereoCameraCfg property) rigid_body_twist_transform() (in module embodichain.utils.math) rigid_contact_max (embodichain.lab.sim.cfg.NewtonCollisionPipelineCfg attribute) rigid_object_a_uid (embodichain.lab.sim.cfg.RigidConstraintCfg attribute) rigid_object_b_uid (embodichain.lab.sim.cfg.RigidConstraintCfg attribute) rigid_objects (embodichain.lab.sim.cfg.RigidObjectGroupCfg attribute) (embodichain.lab.sim.objects.RigidObjectGroupCfg attribute) (embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding attribute) rigid_props (embodichain.lab.sim.cfg.RigidBodyPhysicsCfg attribute) rigid_uid_list (embodichain.lab.sim.sensors.ContactSensorCfg attribute) RigidBodyData (class in embodichain.lab.sim.objects) RigidBodyGroupData (class in embodichain.lab.sim.objects) RigidBodyMaterialCfg (class in embodichain.lab.sim.cfg) RigidBodyPhysicsCfg (class in embodichain.lab.sim.cfg) RigidBodyViewBase (class in embodichain.lab.sim.objects.backends) RigidConstraint (class in embodichain.lab.sim.objects) RigidConstraintCfg (class in embodichain.lab.sim.cfg) rigidized_articulation_grasps (embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding attribute) rigidized_articulations (embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding attribute) RigidizedArticulationAntipodalGraspBinding (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.simulation) RigidObject (class in embodichain.lab.sim.objects) RigidObjectCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) RigidObjectGroup (class in embodichain.lab.sim.objects) RigidObjectGroupCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) rings_radius (embodichain.lab.sim.objects.GizmoCfg attribute) rings_size (embodichain.lab.sim.objects.GizmoCfg attribute) rng (embodichain.lab.sim.motion.workspace.samplers.BaseSampler attribute) Robot (class in embodichain.lab.sim.objects) robot (embodichain.lab.sim.atomic_actions.AtomicAction property) (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) (embodichain_benchmarks.motion_generation.config.SuiteCfg attribute) (embodichain_benchmarks.motion_generation.planners.base.PlannerContext attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario attribute) robot_dof (embodichain.lab.sim.atomic_actions.AtomicAction property) (embodichain.lab.sim.atomic_actions.RobotObservation property) (embodichain.lab.sim.atomic_actions.TimedTrajectory property) robot_id (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) (embodichain_benchmarks.motion_generation.planners.base.PlannerContext attribute) robot_ik_gizmo (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) ROBOT_LEFT (embodichain.data.enum.SemanticMask attribute), [1] robot_profile (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) (embodichain.lab.task_program.language.TaskProgramIntegrationCfg attribute) (embodichain.lab.task_program.semantics.BoundSemanticCall property) (embodichain.lab.task_program.semantics.BoundSemanticIntegration property) robot_profile_id (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory property) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter property) robot_provider_names() (in module embodichain_benchmarks.motion_generation.registry) robot_reach_m (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) ROBOT_RIGHT (embodichain.data.enum.SemanticMask attribute), [1] robot_uid (embodichain.lab.sim.motion.planners.BasePlannerCfg attribute) (embodichain.lab.sim.motion.planners.ToppraPlannerCfg attribute) (embodichain.lab.sim.motion.planners.TrapezoidalPlannerCfg attribute) RobotCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) RobotCfg.SolverCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) Robotiq (class in embodichain.data.assets.eef_assets) Robotiq2F85 (class in embodichain.data.assets.eef_assets) RobotObservation (class in embodichain.lab.sim.atomic_actions) RobotPresetCfg (class in embodichain.lab.sim.cfg) RobotProvider (class in embodichain_benchmarks.motion_generation.robots.base) RobotResource (class in embodichain.lab.task_program.semantics) RobotSceneWorkspace (class in embodichain.lab.sim.scene) (class in embodichain.lab.task_program.integrations.simulation.workspace) RobotSkillProfile (class in embodichain.lab.task_program.semantics) RobotSpecCfg (class in embodichain_benchmarks.motion_generation.config) RobotWorkspace (class in embodichain.lab.sim.motion.workspace) (class in embodichain.lab.sim.motion.workspace.runtime) RobotWorkspaceCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.motion.workspace) (class in embodichain.lab.sim.motion.workspace.cfg) (class in embodichain.lab.sim.objects) Rokae (class in embodichain.data.assets.robot_assets) role (embodichain.lab.visualization.CameraSpec attribute) (embodichain_benchmarks.motion_generation.config.PlannerSpecCfg attribute) rolling_friction (embodichain.lab.sim.cfg.NewtonRigidBodyMaterialCfg attribute) rollout_action_semantics (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] rollout_buffer (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) rollout_kind (embodichain.learning.rl.algo.APG attribute), [1] (embodichain.learning.rl.algo.BaseAlgorithm attribute), [1] rollout_mode (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) rollout_seed (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) RolloutBuffer (class in embodichain.learning.rl.buffer) (class in embodichain.learning.rl.buffer.standard_buffer) RolloutKind (class in embodichain.learning.rl.algo), [1] root (embodichain.learning.rl.policy_evaluation.manifest.RunManifest attribute) root_ang_vel (embodichain.lab.sim.objects.ArticulationData property) root_height (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCState attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) root_lin_vel (embodichain.lab.sim.objects.ArticulationData property) root_link_name (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) root_pos_w (embodichain.lab.sim.objects.deformable.DeformableObjectData property) root_pose (embodichain.lab.sim.objects.ArticulationData property) root_props (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) root_state (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) root_vel (embodichain.lab.sim.objects.ArticulationData property) root_vel_w (embodichain.lab.sim.objects.deformable.DeformableObjectData property) root_z_width (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) rot_eps (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) rotate_angle (embodichain.lab.sim.atomic_actions.primitives.pour.PourOptions attribute) rotate_grasp_about_object_axis() (in module embodichain.lab.sim.motion.expansion) rotate_rigid_grasp() (in module embodichain.compute.geometry.rigid) rotate_upright (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) rotation_directions (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) rotation_error (embodichain.compute.kinematics.types.DifferentiableIKResult attribute) rotation_threshold_rad (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) roughness (embodichain.lab.sim.material.VisualMaterialCfg attribute) (embodichain.lab.sim.material.VisualMaterialInst property) roughness_texture (embodichain.lab.sim.material.VisualMaterialCfg attribute) round_robin_recipes() (in module embodichain.lab.sim.motion.expansion.combined_runtime) row() (embodichain.lab.sim.motion.expansion.CandidateTrajectoryBatch method) run() (embodichain.lab.task_program.runtime.SemanticCallExecutor method) (embodichain_benchmarks.motion_generation.runner.BenchmarkRunner method) (in module embodichain.learning.rl.policy_evaluation.cli) run_all_benchmarks() (in module embodichain_benchmarks.motion_generation.cli) run_benchmark() (in module embodichain_benchmarks.motion_generation) run_from_args() (in module embodichain_benchmarks.motion_generation.cli) run_id (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.PickCommand attribute) (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.SceneManifest attribute) run_keyboard_control_for_camera() (in module embodichain.lab.sim.utility.keyboard_utils) run_keyboard_control_for_light() (in module embodichain.lab.sim.utility.keyboard_utils) run_next() (embodichain.lab.sim.motion.execution.MultiSlotRunner method) (embodichain.lab.sim.motion.execution.SingleSlotRunner method) run_until_blocked() (embodichain.lab.sim.atomic_actions.ExecutionRunner method) run_until_empty() (embodichain.lab.sim.motion.execution.MultiSlotRunner method) (embodichain.lab.sim.motion.execution.SingleSlotRunner method) RunManifest (class in embodichain.learning.rl.policy_evaluation.manifest) runner_cfg (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) (embodichain.lab.task_program.runtime.ParallelSemanticExecutor property) (embodichain.lab.task_program.semantics.SkillPolicyPreset property) RunnerStatus (class in embodichain.lab.sim.atomic_actions) RunnerStep (class in embodichain.lab.sim.atomic_actions) RUNNING (embodichain.lab.task_program.runtime.SemanticExecutionStatus attribute) running (embodichain.lab.visualization.RuntimeHealth attribute) RunningObservationNormalizer (class in embodichain.learning.rl.normalization) runtime (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) runtime_preset (embodichain.lab.task_program.language.TaskProgramIntegrationCfg attribute) runtime_services (embodichain_benchmarks.motion_generation.config.EmbodimentSpecCfg attribute) (embodichain_benchmarks.motion_generation.embodiments.EmbodimentResolution attribute) runtime_target (embodichain.lab.task_program.semantics.EndpointResolution attribute) runtime_target_types (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) runtime_transport_ids (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) RuntimeCommandFrame (class in embodichain.lab.sim.atomic_actions) RuntimeCommandFrameEncoder (class in embodichain.lab.gym.envs.task_program) RuntimeCommandPayload (class in embodichain.lab.sim.atomic_actions) RuntimeEndpointTarget (class in embodichain.lab.sim.atomic_actions) RuntimeHealth (class in embodichain.lab.visualization) RuntimeStats (class in embodichain.lab.visualization) RuntimeTransportActionEncoder (class in embodichain.lab.gym.envs.task_program) RuntimeTransportDeclaration (class in embodichain.lab.task_program.integrations)

S

safe_stop_timeout (embodichain.lab.sim.atomic_actions.ExecutionRunnerCfg attribute) sample() (embodichain.lab.sim.motion.solvers.qpos_seed_sel_sampler.QposSeedSelSampler method) (embodichain.lab.sim.motion.workspace.samplers.BaseSampler method) (embodichain.lab.sim.motion.workspace.samplers.ISampler method) (embodichain.learning.sl.sources.SupervisedSource method) (embodichain.learning.sl.sources.TensorBatchSource method) (embodichain.learning.sl.SupervisedSource method) (embodichain.learning.sl.TensorBatchSource method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSampler method) (embodichain_models.dynamics.nerd.sl_recipe.NeRDWindowSource method) sample_approach_cone() (in module embodichain.lab.sim.motion.expansion) sample_articulation_geometry() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) sample_batch() (embodichain.data_pipeline.engine.OnlineDataEngine method) sample_batch_with_context() (embodichain.data_pipeline.engine.OnlineDataEngine method) sample_cartesian_space() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) sample_context() (embodichain.data_pipeline.datasets.BatchSource method), [1] (embodichain.data_pipeline.datasets.OnlineDataSource method), [1] (embodichain.data_pipeline.datasets.sequence.BatchSource method) (embodichain.data_pipeline.datasets.sources.OnlineDataSource method) (embodichain.data_pipeline.datasets.sources.TensorDataSource method) (embodichain.data_pipeline.datasets.TensorDataSource method), [1] (embodichain.data_pipeline.runtime.ODSFlowController method) sample_count (embodichain.lab.sim.atomic_actions.MotionPolicy attribute) (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGeneratorCfg attribute) sample_cylinder() (in module embodichain.utils.math) sample_gaussian() (in module embodichain.utils.math) sample_indices() (embodichain.lab.sim.motion.workspace.RobotWorkspace method) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace method) sample_initial_articulation_geometry() (in module embodichain.lab.sim.atomic_actions.articulation_geometry) sample_interval (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) (embodichain_benchmarks.motion_generation.planners.base.PlannerContext attribute) sample_joint_space() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) sample_log_uniform() (in module embodichain.utils.math) sample_object_poses() (embodichain.lab.sim.scene.RobotSceneWorkspace method) sample_plane() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) sample_reachable_pose() (embodichain.lab.sim.objects.Robot method) sample_rigid_object_pose_from_workspace (class in embodichain.lab.gym.envs.managers.randomization.spatial) sample_triangle() (in module embodichain.utils.math) sample_uniform() (in module embodichain.utils.math) sample_within_constraints (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) SamplerFactory (class in embodichain.lab.sim.motion.workspace.samplers) samples_grasps (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider attribute) samples_per_dim (embodichain.lab.sim.motion.workspace.samplers.UniformSampler attribute) sampling (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) sampling_method (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) sampling_mode (embodichain.data_pipeline.datasets.SequenceSpecCfg attribute), [1] sampling_pattern (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) SamplingConfig (class in embodichain.lab.sim.motion.workspace.configs) SamplingStrategy (class in embodichain.lab.sim.motion.workspace.configs) satisfied_mask (embodichain.lab.task_program.semantics.EffectExpectationDecision attribute) save() (embodichain.lab.sim.motion.workspace.caches.ResultsCache method) (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.IVisualizer method) (embodichain.learning.sl.SupervisedTrainer method) (embodichain.learning.sl.trainer.SupervisedTrainer method) (embodichain.utils.cfg.CfgNode method) (embodichain.utils.visualizer.Gantt static method) save_and_clear() (embodichain.lab.gym.envs.managers.record.record_camera_data method) save_checkpoint() (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainer method) (embodichain.learning.rl.utils.trainer.Trainer method) save_config() (in module embodichain.utils.utility) save_failed_episodes (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager property) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg attribute) (embodichain.lab.gym.envs.managers.DatasetManager property) save_frequency_updates (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) save_group_clamp_debug_images() (embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_support_clamp.AssetsGroupSupportClamp method) save_json() (in module embodichain.utils.utility) save_map() (embodichain.utils.visualizer.HeatMapEnv method) save_overlap_optimization_debug_images() (embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_layout_optimizer.AssetsSupportLayoutOptimizer method) save_path (embodichain.lab.sim.cfg.WindowRecordCfg attribute) save_pkl() (in module embodichain.utils.utility) save_results (embodichain.lab.sim.motion.workspace.configs.MetricConfig attribute) save_scene_variants() (in module embodichain.lab.sim.scene.expansion) save_statistics() (in module embodichain_models.dynamics.nerd.integration) save_support_surface_debug_images() (embodichain.gen_sim.scene_engine.pipeline.utils.table_support_surface.TableSupportSurfaceDetector method) save_to_file() (embodichain.lab.sim.cfg.RobotCfg method) (embodichain.lab.sim.objects.RobotCfg method) (embodichain.lab.sim.robots.DualArmRobotCfg method) save_trajectory() (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] ScalarEffectClause (class in embodichain.lab.task_program.semantics) ScalarEffectEvidenceBatch (class in embodichain.lab.task_program.semantics) ScalarEffectEvidenceQuery (class in embodichain.lab.task_program.semantics) ScalarEffectObservation (class in embodichain.lab.task_program.semantics) ScalarEvidenceKind (class in embodichain.lab.task_program.semantics) ScalarExpectation (class in embodichain.lab.task_program.semantics) ScalarObservationCallback (in module embodichain.lab.task_program.semantics) scale (embodichain.lab.visualization.GizmoSpec attribute) scale_image() (in module embodichain.utils.utility) ScannedBottle (class in embodichain.data.assets.obj_assets) scenario (embodichain_benchmarks.motion_generation.config.TrackCfg attribute) scenario_id (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) scenario_provider_names() (in module embodichain_benchmarks.motion_generation.registry) ScenarioEvaluation (class in embodichain_benchmarks.motion_generation.scenarios.base) ScenarioProvider (class in embodichain_benchmarks.motion_generation.scenarios.base) SCENE_ARTICULATION_EVIDENCE_PROVIDER_ID (in module embodichain.lab.task_program.semantics) SCENE_ARTICULATION_EVIDENCE_PROVIDER_REVISION (in module embodichain.lab.task_program.semantics) scene_config (embodichain.learning.rl.policy_evaluation.bridge.MotionEvaluationResult attribute) scene_dependency_end_segment (embodichain.lab.sim.atomic_actions.ActionPlan attribute) scene_dependency_monitor_until (embodichain.lab.sim.atomic_actions.ActionPlan attribute) scene_fps (embodichain.lab.visualization.VisualizationCfg attribute) scene_layout (embodichain_benchmarks.motion_generation.config.DomainCfg attribute) scene_layout_input_from_sim() (in module embodichain.lab.sim.scene.expansion) scene_node_capacity (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) scene_object_final_poses (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) scene_object_ids (embodichain_benchmarks.motion_generation.contracts.ReplayObservationWindow attribute) scene_object_poses (embodichain_benchmarks.motion_generation.contracts.ReplayObservationTrace attribute) scene_registry (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) (embodichain.lab.task_program.language.TaskProgramIntegrationCfg attribute) (embodichain.lab.task_program.runtime.SemanticCallExecutor property) (embodichain.lab.task_program.semantics.BoundSemanticIntegration property) scene_registry_id (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory property) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter property) scene_revision (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.PickCommand attribute) (embodichain.lab.visualization.SceneExporter property) (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.SceneManifest attribute) SceneAffordanceRef (class in embodichain.lab.task_program.semantics) SceneArticulationEvidenceProvider (class in embodichain.lab.task_program.semantics) SceneArticulationJointStateProvider (class in embodichain.lab.task_program.semantics) SceneArticulationRef (class in embodichain.lab.task_program.semantics) SceneArticulationView (class in embodichain.lab.sim.objects.backends) SceneCase (class in embodichain.lab.sim.motion.expansion) SceneChangeResult (class in embodichain.lab.sim.scene.operations) SceneChangeSet (class in embodichain.lab.sim.scene.operations) SceneCheck (class in embodichain.lab.sim.scene.validation) SceneCheckReport (class in embodichain.lab.sim.scene.validation) SceneCollisionRole (class in embodichain.lab.task_program.semantics) SceneCollisionWorldMode (class in embodichain.lab.task_program.semantics) SceneDynamics (class in embodichain.lab.task_program.semantics) SceneEntity (class in embodichain.lab.sim.atomic_actions) SceneEntityCfg (class in embodichain.lab.gym.envs.managers) SceneEntityManifest (class in embodichain.lab.task_program.semantics) SceneEntityMetadata (class in embodichain.lab.task_program.semantics) SceneEntityPose (class in embodichain.lab.sim.atomic_actions) SceneEntityRef (class in embodichain.lab.task_program.semantics) SceneEntityRegistration (class in embodichain.lab.task_program.semantics) SceneEntityStateProvider (class in embodichain.lab.task_program.semantics) SceneExpansionCfg (class in embodichain.lab.sim.scene.expansion) SceneExporter (class in embodichain.lab.visualization) SceneFragment (class in embodichain.lab.sim.scene.composition) SceneFrame (class in embodichain.lab.visualization) SceneGeometryProvider (class in embodichain.lab.task_program.semantics) SceneLayoutInput (class in embodichain.lab.sim.scene.expansion) SceneLinkRef (class in embodichain.lab.task_program.semantics) SceneManifest (class in embodichain.lab.task_program.semantics) (class in embodichain.lab.visualization) SceneNode (class in embodichain.lab.visualization) SceneObjectRef (class in embodichain.lab.task_program.semantics) SceneOverlays (class in embodichain.lab.visualization) ScenePicker (class in embodichain.lab.visualization.picker) ScenePoseChange (class in embodichain.lab.sim.scene.expansion) ScenePreparationResult (class in embodichain.lab.task_program.integrations.scene_expansion) SceneRandomizationBatch (class in embodichain.lab.sim.scene.expansion) SceneRandomizationJobCfg (class in embodichain.lab.sim.scene.expansion) SceneRandomizationPolicyCfg (class in embodichain.lab.sim.scene.expansion) SceneRecipe (class in embodichain.lab.sim.scene.procedural) SceneReferenceRole (in module embodichain.lab.task_program) (in module embodichain.lab.task_program.language) SceneRegistry (class in embodichain.lab.task_program.semantics) SceneRigidBodyView (class in embodichain.lab.sim.objects.backends) SceneSnapshot (class in embodichain.lab.sim.atomic_actions) SceneState (class in embodichain.lab.sim.scene.state) SceneVariant (class in embodichain.lab.sim.scene.expansion) SceneVariantApplicationResult (class in embodichain.lab.sim.scene.expansion) SceneVariantEpisodeResult (class in embodichain.lab.task_program.integrations.scene_expansion) SceneView (class in embodichain.lab.sim.scene.query) SceneWorkspaceCandidate (class in embodichain.lab.sim.scene) schedule (embodichain.learning.rl.algo.PPOCfg attribute), [1] schedule_digest() (in module embodichain.lab.sim.motion.expansion.combined) ScheduledDifferentiableVecEnv (class in embodichain.learning.rl.env) scheduler_needs_horizon() (in module embodichain.learning.rl.utils) schema (embodichain.data_pipeline.datasets.BatchSource attribute), [1] schema_version (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.PickCommand attribute) (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.SceneManifest attribute) (embodichain_benchmarks.motion_generation.config.SuiteCfg attribute) score (embodichain.lab.sim.motion.workspace.runtime.WorkspaceSample attribute) (embodichain.lab.sim.motion.workspace.WorkspaceSample attribute) score_indices (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityPointSet attribute), [1] scores (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityPointSet attribute), [1] (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityVisualizer attribute) screen_antipodal_grasp() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) screen_articulation_grasp() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) screening_iterations (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) screening_restarts (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) sdf_hydroelastic_config (embodichain.lab.sim.cfg.NewtonCollisionPipelineCfg attribute) sdf_narrow_band_range (embodichain.lab.sim.cfg.MeshCollisionCfg attribute) (embodichain.lab.sim.shapes.MeshCollisionCfg attribute) sdf_padding (embodichain.lab.sim.cfg.MeshCollisionCfg attribute) (embodichain.lab.sim.shapes.MeshCollisionCfg attribute) sdf_resolution (embodichain.lab.sim.cfg.MeshCollisionCfg attribute) (embodichain.lab.sim.shapes.MeshCollisionCfg attribute) sdf_target_voxel_size (embodichain.lab.sim.cfg.MeshCollisionCfg attribute) (embodichain.lab.sim.shapes.MeshCollisionCfg attribute) sdf_texture_format (embodichain.lab.sim.cfg.MeshCollisionCfg attribute) (embodichain.lab.sim.shapes.MeshCollisionCfg attribute) search_mode (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) section() (embodichain.lab.sim.Profiler method) (embodichain.lab.sim.profiler.Profiler method) seed (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] (embodichain.lab.gym.envs.managers.EventManager property) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.sim.motion.workspace.samplers.BaseSampler attribute) (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) seed_db_size (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) seed_revision (embodichain.lab.gym.envs.managers.EventManager property) seed_rot_scale (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) seed_stride (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) seeded_jitter() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) seeded_roll_pitch_rotation() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) seeded_spatial_rotation() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) seeded_yaw_rotation() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) seeds (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) segment() (embodichain.lab.sim.atomic_actions.ActionPlan method) segment_at() (embodichain.lab.sim.atomic_actions.ActionPlan method) segment_call_index (embodichain.lab.task_program.compiler.CompiledTaskProgramCall attribute) segment_count (embodichain.lab.task_program.CompiledTaskProgram property) (embodichain.lab.task_program.compiler.CompiledTaskProgram property) segment_id (embodichain.lab.task_program.compiler.CompiledTaskProgramSegment attribute) segment_index (embodichain.lab.task_program.compiler.CompiledTaskProgramSegment attribute) segment_indices (embodichain.lab.task_program.compiler.CompiledTaskProgramAnalysis attribute) segment_length (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) segment_policy_port (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory property) SegmentCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) SegmentCompatibility (class in embodichain.lab.sim.motion.expansion) segmented_discounted_return() (in module embodichain.learning.rl.algo), [1] SegmentPostPolicyPort (class in embodichain.lab.gym.envs.task_program) segments_for_frames() (in module embodichain.data_pipeline.recording.segments) SegmentValidatorPort (class in embodichain.lab.gym.envs.task_program) select() (embodichain.lab.sim.motion.expansion.TrajectorySegmentBank method) select_articulation_ids() (embodichain.lab.sim.objects.backends.ArticulationViewBase method) (embodichain.lab.sim.objects.backends.SceneArticulationView method) select_body_ids() (embodichain.lab.sim.objects.backends.RigidBodyViewBase method) (embodichain.lab.sim.objects.backends.SceneRigidBodyView method) select_checkpoint() (embodichain.learning.rl.policy_evaluation.manifest.RunManifest method) select_inspection_indices() (in module embodichain.lab.sim.motion.workspace.visualizers) select_jacobian_rows() (in module embodichain.compute.kinematics.manipulability) selected_candidate_id (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord attribute) selection_mode (embodichain.toolkits.graspkit.pg_grasp.GraspAnnotationCfg attribute) self_collision_check (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) self_collision_count (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) self_collision_enabled (embodichain.lab.sim.cfg.ArticulationRootPropertiesCfg attribute) semantic_id (embodichain.lab.task_program.semantics.RegisteredSemanticCall property) (embodichain.lab.task_program.semantics.SemanticCallSpec property) semantic_type (embodichain.lab.task_program.integrations.simulation.SimulationArticulationBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationArticulationLinkBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidizedArticulationObjectBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidObjectBinding attribute) (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) SemanticCallCatalog (class in embodichain.lab.task_program.semantics) SemanticCallDescriptor (class in embodichain.lab.task_program.semantics) SemanticCallExecutor (class in embodichain.lab.task_program.runtime) SemanticCallSpec (class in embodichain.lab.task_program.semantics) SemanticDiagnostic (class in embodichain.lab.task_program.semantics) SemanticEffectKind (class in embodichain.lab.task_program.semantics) SemanticEffectSpec (class in embodichain.lab.task_program.semantics) SemanticExecutionResult (class in embodichain.lab.task_program.runtime) SemanticExecutionStatus (class in embodichain.lab.task_program.runtime) SemanticIntegrationManifest (class in embodichain.lab.task_program.semantics) SemanticMask (class in embodichain.data.enum) SemanticPose (class in embodichain.lab.task_program.semantics) semantics (embodichain.lab.sim.atomic_actions.HeldObjectState attribute) SemanticValidationError (class in embodichain.lab.task_program.semantics) send() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) (embodichain.lab.sim.atomic_actions.CommandSink method) (embodichain.lab.sim.atomic_actions.EndpointCommandRouter method) (embodichain.lab.sim.atomic_actions.EndpointCommandTransport method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) sensor (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] sensor_image_fps (embodichain.lab.visualization.VisualizationCfg attribute) sensor_meta() (embodichain.data_pipeline.depth_video.reader.DepthVideoLibrary method) sensor_uid (embodichain.lab.visualization.CameraSpec attribute) SensorCfg (class in embodichain.lab.sim.sensors) SensorCfg.OffsetCfg (class in embodichain.lab.sim.sensors) sensors (embodichain.data_pipeline.depth_video.reader.DepthVideoLibrary property) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.cfg.URDFCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) separate_aabbs() (in module embodichain.lab.sim.scene.placement) separate_prepare (embodichain_benchmarks.motion_generation.PlannerAdapter attribute) (embodichain_benchmarks.motion_generation.planners.curobo.CuroboAdapter attribute) SEPARATED (embodichain.lab.task_program.semantics.PoseRelationExpectation attribute) sequence (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.SceneFrame attribute) SequenceCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) SequenceDataset (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.sequence_data) SequenceSpecCfg (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.sequence) sequential_execution_analysis() (embodichain.lab.task_program.CompiledTaskProgram method) (embodichain.lab.task_program.compiler.CompiledTaskProgram method) SerialChainKinematics (class in embodichain.compute.kinematics.serial_chain) serialize() (embodichain.lab.gym.envs.managers.ActionTerm method) (embodichain.lab.gym.envs.managers.DefaultJointPositionAction method) (embodichain.lab.gym.envs.managers.EefPoseAction method) (embodichain.lab.gym.envs.managers.Functor method) (embodichain.lab.gym.envs.managers.JointEffortAction method) (embodichain.lab.gym.envs.managers.JointPositionAction method) (embodichain.lab.gym.envs.managers.JointPositionToLimitsAction method) (embodichain.lab.gym.envs.managers.JointVelocityAction method) (embodichain.lab.gym.envs.managers.ParallelGripperAction method) (embodichain.lab.gym.envs.managers.RelativeEefPoseAction method) (embodichain.lab.gym.envs.managers.RelativeJointPositionAction method) session (embodichain.lab.sim.atomic_actions.ExecutionRunner property) (embodichain.lab.sim.motion.expansion.CandidateCoordinator property) set_active_device() (embodichain.lab.devices.DeviceController method) set_ao_texture() (embodichain.lab.sim.material.VisualMaterialInst method) set_articulation_flag() (in module embodichain.lab.sim.objects.backends.controls) set_attrs() (embodichain.lab.sim.objects.RigidObject method) set_base_color() (embodichain.lab.sim.material.VisualMaterialInst method) set_base_color_texture() (embodichain.lab.sim.material.VisualMaterialInst method) set_body_scale() (embodichain.lab.sim.objects.RigidObject method) (in module embodichain.lab.sim.objects.backends.controls) set_body_type() (embodichain.lab.sim.objects.RigidObject method) set_collision_enabled() (in module embodichain.lab.sim.objects.backends.controls) set_collision_filter() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) set_color() (embodichain.lab.sim.objects.Light method) set_com_pose() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) set_command() (embodichain.lab.sim.motion.solvers.DifferentialSolver method) set_damping() (embodichain.lab.sim.objects.RigidObject method) set_default_background() (embodichain.lab.sim.sim_manager.SimulationManager method) set_default_global_lighting() (embodichain.lab.sim.sim_manager.SimulationManager method) set_default_properties() (embodichain.lab.sim.material.VisualMaterial method) set_default_renderer() (embodichain.lab.sim.sim_manager.SimulationManager class method) set_detached_uids_for_env_reset() (in module embodichain.lab.gym.envs.managers.events) set_dexsim_articulation_cfg() (in module embodichain.lab.sim.utility.sim_utils) set_direction() (embodichain.lab.sim.objects.Light method) set_emission_light() (embodichain.lab.sim.sim_manager.SimulationManager method) set_emissive() (embodichain.lab.sim.material.VisualMaterialInst method) set_emissive_intensity() (embodichain.lab.sim.material.VisualMaterialInst method) set_extra_state() (embodichain.learning.layers.ik.DifferentiableIKLayer method) (embodichain.learning.layers.kinematics.KinematicsLayer method) set_falloff() (embodichain.lab.sim.objects.Light method) set_fix_base() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_friction() (embodichain.lab.sim.objects.RigidObject method) set_functor_cfg() (embodichain.lab.gym.envs.managers.EventManager method) set_geometry() (embodichain.lab.visualization.picker.ScenePicker method) set_gizmo_visibility() (embodichain.lab.sim.sim_manager.SimulationManager method) set_gravity() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_gravity_enabled() (in module embodichain.lab.sim.objects.backends.controls) set_ground_plane_visibility() (embodichain.lab.sim.sim_manager.SimulationManager method) set_ik_nearest_weight() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) set_indirect_lighting() (embodichain.lab.sim.sim_manager.SimulationManager method) set_inertia() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) set_intensity() (embodichain.lab.sim.objects.Light method) set_intrinsics() (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) set_ior() (embodichain.lab.sim.material.VisualMaterialInst method) set_iteration_params() (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) set_joint_control_provider() (embodichain.lab.visualization.SceneExporter method) (embodichain.lab.visualization.VisualizationRuntime method) set_joint_drive() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_legacy_collision_filter() (in module embodichain.lab.sim.objects.backends.rigid_physics) set_legacy_damping() (in module embodichain.lab.sim.objects.backends.rigid_physics) set_legacy_friction() (in module embodichain.lab.sim.objects.backends.rigid_physics) set_legacy_inertia() (in module embodichain.lab.sim.objects.backends.rigid_physics) set_legacy_mass() (in module embodichain.lab.sim.objects.backends.rigid_physics) set_link_physical_attr() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) (in module embodichain.lab.sim.objects.backends.articulation_physics) set_local_pose() (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.deformable.DeformableObject method) (embodichain.lab.sim.objects.Light method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.VisualObject method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) set_log_level() (in module embodichain.utils.logger) set_mass() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) set_mesh() (embodichain.lab.sim.objects.Light method) set_metallic() (embodichain.lab.sim.material.VisualMaterialInst method) set_metallic_texture() (embodichain.lab.sim.material.VisualMaterialInst method) set_normal_texture() (embodichain.lab.sim.material.VisualMaterialInst method) set_normalization() (embodichain_models.dynamics.nerd.model.NeRDModel method) set_physical_visible() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (in module embodichain.lab.sim.objects.backends.controls) set_qf() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_qf_limits() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_qpos() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_qpos_limits() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_qvel() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_qvel_limits() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_rect_wh() (embodichain.lab.sim.objects.Light method) set_rigid_object_group_visual_material() (in module embodichain.lab.gym.envs.managers.randomization.visual) set_rigid_object_visual_material() (in module embodichain.lab.gym.envs.managers.randomization.visual) set_robot_start() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) set_rollout_buffer() (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] set_root_velocity() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_roughness() (embodichain.lab.sim.material.VisualMaterialInst method) set_roughness_texture() (embodichain.lab.sim.material.VisualMaterialInst method) set_seed() (embodichain.lab.gym.envs.managers.EventManager method) (in module embodichain.utils) set_self_collision() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_spot_angle() (embodichain.lab.sim.objects.Light method) set_state() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_tcp() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) set_texture_cache() (embodichain.lab.sim.sim_manager.SimulationManager method) set_texture_to_material() (in module embodichain.utils.utility) set_urdf() (embodichain.lab.sim.cfg.URDFCfg method) set_velocity() (embodichain.lab.sim.objects.RigidObject method) set_visible() (embodichain.lab.sim.objects.Gizmo method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.VisualObject method) (in module embodichain.lab.sim.objects.backends.controls) set_visual_material() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.deformable.DeformableObject method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.VisualObject method) set_visualization_overlays() (embodichain.lab.sim.sim_manager.SimulationManager method) set_wrapper_attr() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] settle() (embodichain.gen_sim.scene_engine.pipeline.utils.gravity_settler.GravitySettler method) settle_dynamic_children() (embodichain.gen_sim.scene_engine.pipeline.utils.parent_surface_layout_optimizer.ParentSurfaceLayoutOptimizer method) settle_preset_ids (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort property) settle_scene() (in module embodichain.lab.sim.scene.validation) SettlingCfg (class in embodichain.lab.sim.scene.validation) setup() (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskPolicyAdapter method) sh_mode_enabled (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) shape (embodichain.lab.sim.cfg.DeformableObjectCfg attribute) (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.cfg.SurfaceDeformableObjectCfg attribute) (embodichain.lab.sim.cfg.VisualObjectCfg attribute) (embodichain.lab.sim.cfg.VolumeDeformableObjectCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) shape_pairs_filtered (embodichain.lab.sim.cfg.NewtonCollisionPipelineCfg attribute) shape_type (embodichain.lab.sim.cfg.MeshCfg attribute) (embodichain.lab.sim.cfg.ShapeCfg attribute) (embodichain.lab.sim.objects.CollisionShapeDesc attribute) (embodichain.lab.sim.shapes.CubeCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) (embodichain.lab.sim.shapes.ShapeCfg attribute) (embodichain.lab.sim.shapes.SphereCfg attribute)

ShapeCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.shapes) share_visual_material_inst() (embodichain.lab.sim.objects.RigidObject method) shared_buffer (embodichain.data_pipeline.engine.OnlineDataEngine attribute) SharedLanguageRegistry (class in embodichain.data_pipeline.engine.language) shift (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] shift_pose() (embodichain.lab.gym.envs.managers.observations.compute_exteroception static method) ShopTableSimple (class in embodichain.data.assets.obj_assets) should_record_case() (in module embodichain_benchmarks.motion_generation.video) show() (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer method) (embodichain.utils.visualizer.Gantt static method) show_ik_warnings (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) show_unreachable_points (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) shutdown_timeout (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) signed_rotation_about_axis() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) sim_cfg (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] sim_device (embodichain.lab.sim.sim_manager.SimulationManagerCfg property) sim_instance_id (embodichain.lab.sim.motion.planners.BasePlannerCfg attribute) (embodichain.lab.sim.motion.planners.ToppraPlannerCfg attribute) (embodichain.lab.sim.motion.planners.TrapezoidalPlannerCfg attribute) sim_manager (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityVisualizer attribute) sim_step (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.SceneFrame attribute) sim_steps_per_control (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] sim_time (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.SceneFrame attribute) SimpleBoxDrawer (class in embodichain.data.assets.obj_assets) simulation (embodichain_benchmarks.motion_generation.embodiments.EmbodimentResolution attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario attribute) simulation_mesh_resolution (embodichain.lab.sim.cfg.VolumeDeformableMeshingCfg attribute) simulation_steps (embodichain.learning.rl.policy_evaluation.viewer.NativeViewerResult attribute) simulation_time (embodichain.learning.rl.policy_evaluation.viewer.NativeViewerResult attribute) simulation_uid (embodichain.lab.task_program.integrations.simulation.SimulationArticulationBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidizedArticulationObjectBinding attribute) (embodichain.lab.task_program.integrations.simulation.SimulationRigidObjectBinding attribute) SimulationArticulationBinding (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.simulation) SimulationArticulationLinkBinding (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.simulation) SimulationExecutionAdapter (class in embodichain.lab.sim.atomic_actions) SimulationManager (class in embodichain.lab.sim.sim_manager) SimulationManagerCfg (class in embodichain.lab.sim.sim_manager) SimulationRigidizedArticulationObjectBinding (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.simulation) SimulationRigidObjectBinding (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.simulation) SimulationRobotSkillProfileBinding (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.simulation) SimulationSceneBinding (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.simulation) SimulationSceneExpansionHost (class in embodichain.lab.task_program.integrations.simulation.scene_expansion) SimulationSceneInitialState (class in embodichain.lab.task_program.integrations.simulation.scene_expansion) SimulationSegmentPolicyPort (class in embodichain.lab.task_program.integrations) SimulationTaskProgramAdapterFactory (class in embodichain.lab.task_program.integrations) SimulationTaskProgramFactory (class in embodichain.lab.task_program.integrations) SimulationTaskProgramRegistration (class in embodichain.lab.task_program.integrations) single() (embodichain.lab.sim.motion.planners.PlanState class method) single_action_space (embodichain.lab.gym.envs.managers.ActionManager property) (embodichain.learning.rl.env.LearningVecEnv attribute) single_observation_space (embodichain.learning.rl.env.LearningVecEnv attribute) SingleSlotOutcome (class in embodichain.lab.sim.motion.execution) SingleSlotRunner (class in embodichain.lab.sim.motion.execution) singularity_candidates (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) size (embodichain.lab.sim.shapes.CubeCfg attribute) sizes (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorMapping attribute), [1] skill_catalog_revision (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) skill_id (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) (embodichain.lab.sim.atomic_actions.AtomicAction attribute) (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlign attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickment attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacement attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOver attribute) (embodichain.lab.sim.atomic_actions.primitives.move_end_effector.MoveEndEffector attribute) (embodichain.lab.sim.atomic_actions.primitives.move_held_object.MoveHeldObject attribute) (embodichain.lab.sim.atomic_actions.primitives.move_joints.MoveJoints attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoor attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUp attribute) (embodichain.lab.sim.atomic_actions.primitives.place.Place attribute) (embodichain.lab.sim.atomic_actions.primitives.pour.Pour attribute) (embodichain.lab.sim.atomic_actions.primitives.press.Press attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObject attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.Slide attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.Twist attribute) (embodichain.lab.task_program.semantics.SemanticCallDescriptor property) (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider attribute) (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.PressCases attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.SlideCases attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases.TwistCases attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.HeldObjectCases attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.MoveHeldObjectCases attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.PickUpCases attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_manipulation_cases.PlaceCases attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_motion_cases.MoveEndEffectorCases attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_motion_cases.MoveJointsCases attribute) skill_options (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) skill_presets (embodichain.lab.task_program.integrations.simulation.SimulationRobotSkillProfileBinding attribute) skill_profile (embodichain_benchmarks.motion_generation.embodiments.EmbodimentResolution attribute) SkillBindingContract (class in embodichain.lab.sim.atomic_actions) SkillDescriptor (class in embodichain.lab.sim.atomic_actions) SkillEndpointRequirement (class in embodichain.lab.sim.atomic_actions) SkillPolicyPreset (class in embodichain.lab.task_program.semantics) SkillResourceSlot (class in embodichain.lab.sim.atomic_actions) skills (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) (embodichain.lab.task_program.semantics.BoundRobotSkillProfile property) skip (embodichain.lab.sim.motion.workspace.samplers.HaltonSampler attribute) skip_nonfinite_updates (embodichain.learning.rl.algo.APGCfg attribute), [1] sleep() (embodichain.lab.gym.envs.task_program.EnvironmentStepClock method) (embodichain.lab.sim.atomic_actions.ExecutionClock method) (embodichain.lab.sim.atomic_actions.MonotonicExecutionClock method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) sleep_quantum (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter property) sleep_threshold (embodichain.lab.sim.cfg.ArticulationRootPropertiesCfg attribute) (embodichain.lab.sim.cfg.DefaultRigidBodyPropertiesCfg attribute) Slide (class in embodichain.lab.sim.atomic_actions.primitives.slide) slide_direction() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) SlideCases (class in embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases) SlideEvaluator (class in embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) SlideGoal (class in embodichain.lab.sim.atomic_actions.primitives.slide) SlideJointTarget (class in embodichain.lab.sim.atomic_actions.primitives.slide) SlideOptions (class in embodichain.lab.sim.atomic_actions.primitives.slide) SlidingBoxDrawer (class in embodichain.data.assets.obj_assets) slot_id (embodichain.lab.sim.atomic_actions.SkillResourceSlot attribute) (embodichain.lab.task_program.semantics.HeldObjectStateExpectation attribute) slot_ids (embodichain.lab.sim.atomic_actions.SkillBindingContract property) slot_pool (embodichain.lab.sim.motion.execution.MultiSlotRunner property) SlotReservation (class in embodichain.lab.sim.motion.expansion) (class in embodichain.lab.sim.motion.expansion.combined) smooth (embodichain.lab.sim.shapes.LoadOption attribute) snake_to_camel() (in module embodichain.utils.utility) snapshot() (embodichain.lab.gym.envs.episode_context.EpisodeContext method) (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg method) (embodichain.lab.gym.envs.settling.DynamicSettleSample method) (embodichain.lab.gym.envs.types.ControllerAction method) (embodichain.lab.sim.atomic_actions.ActionPlan method) (embodichain.lab.sim.atomic_actions.ControlCommand method) (embodichain.lab.sim.atomic_actions.ControlPartCommandProfile method) (embodichain.lab.sim.atomic_actions.EffectVerificationRequest method) (embodichain.lab.sim.atomic_actions.EffectVerificationRequirement method) (embodichain.lab.sim.atomic_actions.EndpointBinding method) (embodichain.lab.sim.atomic_actions.EndpointCommand method) (embodichain.lab.sim.atomic_actions.ExecutionPlanAttempt method) (embodichain.lab.sim.atomic_actions.JointPositionCommand method) (embodichain.lab.sim.atomic_actions.JointPositionPayload method) (embodichain.lab.sim.atomic_actions.PhysicalEvidenceBatch method) (embodichain.lab.sim.atomic_actions.PhysicalEvidenceFrame method) (embodichain.lab.sim.atomic_actions.PhysicalEvidenceRequest method) (embodichain.lab.sim.atomic_actions.ResolvedActionRequest method) (embodichain.lab.sim.atomic_actions.RuntimeCommandFrame method) (embodichain.lab.sim.atomic_actions.RuntimeCommandPayload method) (embodichain.lab.sim.atomic_actions.RuntimeEndpointTarget method) (embodichain.lab.sim.atomic_actions.SceneEntityPose method) (embodichain.lab.sim.atomic_actions.StateDelta method) (embodichain.lab.sim.atomic_actions.TimedCommandSequence method) (embodichain.lab.sim.atomic_actions.TimedTrajectory method) (embodichain.lab.sim.motion.expansion.combined_runtime.CombinedEpisodeCoordinator method) (embodichain.lab.sim.motion.expansion.CombinedEpisodeCoordinator method) (embodichain.lab.sim.motion.expansion.ExpansionSession method) (embodichain.lab.task_program.integrations.expansion.TaskProgramExpansionRecord method) (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord method) (embodichain.lab.task_program.semantics.ArticulationJointStateExpectation method) (embodichain.lab.task_program.semantics.BinaryEffectClause method) (embodichain.lab.task_program.semantics.BinaryEffectEvidenceBatch method) (embodichain.lab.task_program.semantics.BinaryEffectEvidenceQuery method) (embodichain.lab.task_program.semantics.CoordinatedHeldObjectCleanupExpectation method) (embodichain.lab.task_program.semantics.EffectEvidenceAddress method) (embodichain.lab.task_program.semantics.EffectEvidenceCollectionContext method) (embodichain.lab.task_program.semantics.EffectEvidenceQuery method) (embodichain.lab.task_program.semantics.EffectEvidenceSourceRef method) (embodichain.lab.task_program.semantics.EffectExpectationDecision method) (embodichain.lab.task_program.semantics.EffectMonitorRef method) (embodichain.lab.task_program.semantics.HeldObjectStateExpectation method) (embodichain.lab.task_program.semantics.JointStateEffectClause method) (embodichain.lab.task_program.semantics.JointStateEvidenceBatch method) (embodichain.lab.task_program.semantics.JointStateEvidenceQuery method) (embodichain.lab.task_program.semantics.PoseRelationClause method) (embodichain.lab.task_program.semantics.PoseRelationEvidenceBatch method) (embodichain.lab.task_program.semantics.PoseRelationEvidenceQuery method) (embodichain.lab.task_program.semantics.RegistrySceneProvider method) (embodichain.lab.task_program.semantics.ResourceEndpoint method) (embodichain.lab.task_program.semantics.RobotResource method) (embodichain.lab.task_program.semantics.ScalarEffectClause method) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceBatch method) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceQuery method) (embodichain.lab.task_program.semantics.SemanticEffectSpec method) (embodichain.lab.task_program.semantics.SemanticPose method) (embodichain.lab.task_program.semantics.SkillPolicyPreset method) (embodichain.lab.task_program.semantics.WorkflowRecoveryPolicy method) snapshot_case_qpos() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) SO101FollowerAssets (class in embodichain.data.assets.so101_assets) SOBOL (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) SobolSampler (class in embodichain.lab.sim.motion.workspace.samplers) SodaCan (class in embodichain.data.assets.obj_assets) soft_body_fps (embodichain.lab.visualization.VisualizationCfg attribute) soft_contact_margin (embodichain.lab.sim.cfg.NewtonCollisionPipelineCfg attribute) soft_contact_max (embodichain.lab.sim.cfg.NewtonCollisionPipelineCfg attribute) soft_joint_lower (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) soft_joint_upper (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1State attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2State attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12State attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckState attribute) SoftObjectCfg (in module embodichain.lab.sim.cfg) solve() (embodichain.learning.layers.ik.DifferentiableIKLayer method) solve_dls_ik() (in module embodichain.compute.kinematics.dls) solve_layout() (in module embodichain.lab.sim.scene.layout) solve_reference_qpos() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) solver_cfg (embodichain.lab.sim.cfg.NewtonPhysicsCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) solver_type (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) SolverCfg (class in embodichain.lab.sim.motion.solvers) sort_and_padding_key_frame() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.warping) (in module embodichain.lab.sim.utility.action_utils) sort_ik (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) source (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.cfg.VisualObjectCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.task_program.semantics.BinaryEffectClause attribute) (embodichain.lab.task_program.semantics.BinaryEffectEvidenceQuery property) (embodichain.lab.task_program.semantics.EffectEvidenceQuery property) (embodichain.lab.task_program.semantics.JointStateEffectClause attribute) (embodichain.lab.task_program.semantics.JointStateEvidenceQuery property) (embodichain.lab.task_program.semantics.PoseRelationClause attribute) (embodichain.lab.task_program.semantics.PoseRelationEvidenceQuery property) (embodichain.lab.task_program.semantics.ScalarEffectClause attribute) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceQuery property) (embodichain_benchmarks.motion_generation.embodiments.EmbodimentResolution attribute) (embodichain_benchmarks.motion_generation.evaluation.StageEvidence attribute) source_case (embodichain.lab.sim.motion.expansion.CandidateCoordinator property) source_fingerprint (embodichain.lab.task_program.semantics.EffectEvidenceSourceRef property) source_id (embodichain.data_pipeline.datasets.BatchSource attribute), [1] source_path (embodichain.lab.task_program.compiler.CompiledArticulationJointPositionValidator attribute) (embodichain.lab.task_program.compiler.CompiledBarrier attribute) (embodichain.lab.task_program.compiler.CompiledObjectNearTargetValidator attribute) (embodichain.lab.task_program.compiler.CompiledObjectStateValidator attribute) (embodichain.lab.task_program.compiler.CompiledParallelBlock attribute) (embodichain.lab.task_program.compiler.CompiledParallelBranch attribute) (embodichain.lab.task_program.compiler.CompiledPostPolicy attribute) (embodichain.lab.task_program.compiler.CompiledTaskProgramAnalysis attribute) (embodichain.lab.task_program.compiler.CompiledTaskProgramCall attribute) (embodichain.lab.task_program.compiler.CompiledTaskProgramSegment attribute) source_prim_path (embodichain.lab.sim.cfg.source.UsdSourceCfg attribute) (embodichain.lab.sim.cfg.UsdSourceCfg attribute) source_profile (embodichain.lab.task_program.semantics.BoundRobotSkillProfile property) SourceAdapter (class in embodichain.lab.sim.motion.expansion) SourceContext (class in embodichain.lab.sim.motion.expansion) SPATIAL_METHODS (in module embodichain.lab.sim.motion.expansion) spawn_articulation_entities() (in module embodichain.lab.sim.utility.sim_utils) spawn_result (embodichain.lab.sim.sim_manager.SimulationManager property) spawn_rigid_object_entities() (in module embodichain.lab.sim.utility.sim_utils) spawn_usd_articulation_entities() (in module embodichain.lab.sim.utility.sim_utils) spec (embodichain.lab.task_program.semantics.CompositeEffectMonitor property) (embodichain.lab.task_program.semantics.EffectMonitor property) specular_prepass_blur_radius (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) speed_tolerance (embodichain.lab.sim.cfg.DefaultPhysicsCfg attribute) SPHERE (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) (embodichain.lab.sim.motion.workspace.configs.VisualizationType attribute) (embodichain.lab.sim.motion.workspace.visualizers.VisualizationType attribute) sphere_boundary_handling (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) sphere_center (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) sphere_center_mode (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) sphere_radius (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) (embodichain.lab.sim.motion.workspace.visualizers.SphereVisualizer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) sphere_radius_mode (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) sphere_resolution (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) (embodichain.lab.sim.motion.workspace.visualizers.SphereVisualizer attribute) SphereCfg (class in embodichain.lab.sim.shapes) SphereVisualizer (class in embodichain.lab.sim.motion.workspace.visualizers) spot_angle_inner (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) spot_angle_outer (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) spp (embodichain.lab.sim.cfg.RenderCfg attribute) spring_kd (embodichain.lab.sim.cfg.SurfaceDeformablePhysicsCfg attribute) spring_ke (embodichain.lab.sim.cfg.SurfaceDeformablePhysicsCfg attribute) squeeze_single_channel() (in module embodichain.data_pipeline.depth_video.depth_utils) SRSSolver (class in embodichain.lab.sim.motion.solvers) SRSSolverCfg (class in embodichain.lab.sim.motion.solvers) stable_config_hash() (in module embodichain.data_pipeline.recording) (in module embodichain.data_pipeline.recording.provenance) stable_hash() (in module embodichain_benchmarks.motion_generation.config) stage_evidence_batch() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) stage_id (embodichain_benchmarks.motion_generation.contracts.StageOutcome attribute) (embodichain_benchmarks.motion_generation.evaluation.StageCriterion attribute) StageCriterion (class in embodichain_benchmarks.motion_generation.evaluation) StageEvidence (class in embodichain_benchmarks.motion_generation.evaluation) StageOutcome (class in embodichain_benchmarks.motion_generation.contracts) stages (embodichain_benchmarks.motion_generation.contracts.PhysicalEvaluation attribute) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) stagnation_iterations (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) stagnation_tolerance (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) STANDARD (embodichain.learning.rl.algo.RolloutKind attribute), [1] StandardExtensionDeclarations (class in embodichain.lab.task_program.integrations) standardize_device_string() (in module embodichain.utils.device_utils) start (embodichain_benchmarks.motion_generation.contracts.ReplayObservationWindow attribute) start() (embodichain.data_pipeline.engine.OnlineDataEngine method) (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (embodichain.lab.task_program.runtime.ParallelSemanticExecutor method) (embodichain.lab.task_program.runtime.SemanticCallExecutor method) (embodichain.lab.visualization.VisualizationRuntime method) start_control() (embodichain.lab.devices.Device method) start_episode() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) start_joint_error_rad (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) start_qpos (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) start_rollout() (embodichain.learning.rl.buffer.RolloutBuffer method) (embodichain.learning.rl.buffer.standard_buffer.RolloutBuffer method) start_state_bin (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) start_state_bins (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) start_state_tolerance_rad (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) start_state_valid (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) start_visualization() (embodichain.lab.sim.sim_manager.SimulationManager method) start_window_record() (embodichain.lab.sim.sim_manager.SimulationManager method) STARTING (embodichain.data_pipeline.engine.OnlineDataEngineState attribute) startup_summary (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) state (embodichain.data_pipeline.engine.OnlineDataEngine attribute) (embodichain.data_pipeline.engine.OnlineDataEngine property) state_dict() (embodichain.learning.rl.algo.BaseAlgorithm method), [1] (embodichain.learning.rl.algo.GRPO method), [1] (embodichain.learning.rl.normalization.RunningObservationNormalizer method) (embodichain.learning.sl.learner.SupervisedLearner method) (embodichain.learning.sl.SupervisedLearner method) state_dim (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute) state_expectation() (embodichain.lab.task_program.semantics.SemanticEffectSpec method) state_provider (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) state_type (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) StateDelta (class in embodichain.lab.sim.atomic_actions) static_collision_entity_ids (embodichain.lab.task_program.semantics.SceneRegistry property) static_friction (embodichain.lab.sim.cfg.NewtonRigidBodyMaterialCfg attribute) (embodichain.lab.sim.cfg.RigidBodyMaterialCfg attribute) stats (embodichain.lab.visualization.VisualizationRuntime property) status (embodichain.lab.sim.atomic_actions.CommandAcknowledgement attribute) (embodichain.lab.sim.atomic_actions.ExecutionRunner property) (embodichain.lab.sim.atomic_actions.ExecutionSession property) (embodichain.lab.task_program.runtime.SemanticCallExecutor property) (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) (embodichain.lab.visualization.RuntimeHealth attribute) (embodichain_benchmarks.motion_generation.contracts.CapabilityDecision attribute) (embodichain_benchmarks.motion_generation.contracts.StageOutcome attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) std_ratio (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) step (embodichain.lab.visualization.JointControlSpec attribute) step() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.lab.gym.envs.ReplayWrapper method) (embodichain.lab.gym.utils.registration.TimeLimitWrapper method), [1] (embodichain.lab.sim.atomic_actions.ExecutionRunner method) (embodichain.lab.task_program.runtime.ParallelSemanticExecutor method) (embodichain.lab.task_program.runtime.SemanticCallExecutor method) (embodichain.learning.rl.env.LearningVecEnv method) (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskEnvironment method) step_dt (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] (embodichain.lab.gym.envs.task_program.EnvironmentStepClock property) (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory property) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter property) (embodichain.lab.task_program.runtime.ParallelTimingPolicy attribute) step_index (embodichain.lab.gym.envs.task_program.EnvironmentStepClock property) steps (embodichain.lab.task_program.language.SegmentCfg attribute) steps_for_duration() (embodichain.lab.gym.envs.task_program.EnvironmentStepClock method) StereoCamera (class in embodichain.lab.sim.sensors) StereoCameraCfg (class in embodichain.lab.sim.sensors) StereoCameraCfg.ExtrinsicsCfg (class in embodichain.lab.sim.sensors) StereoCameraCfg.OffsetCfg (class in embodichain.lab.sim.sensors) stiffness (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) (embodichain.lab.sim.cfg.NewtonJointDrivePropertiesCfg attribute) stitch_trajectory_segments() (in module embodichain.lab.sim.motion.expansion) StitchedSegmentPlacement (class in embodichain.lab.sim.motion.expansion) StitchedTrajectory (class in embodichain.lab.sim.motion.expansion) stop (embodichain_benchmarks.motion_generation.contracts.ReplayObservationWindow attribute) stop() (embodichain.data_pipeline.engine.OnlineDataEngine method) (embodichain.lab.visualization.VisualizationRuntime method) stop_control() (embodichain.lab.devices.Device method) stop_reason (embodichain.lab.sim.motion.expansion.ExpansionSession property) stop_visualization() (embodichain.lab.sim.sim_manager.SimulationManager method) stop_window_record() (embodichain.lab.sim.sim_manager.SimulationManager method) STOPPED (embodichain.data_pipeline.engine.OnlineDataEngineState attribute) strategy (embodichain.lab.sim.atomic_actions.MotionPolicy attribute) (embodichain.lab.sim.cfg.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) (embodichain.lab.sim.motion.workspace.cfg.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg attribute) (embodichain.lab.sim.objects.RobotWorkspaceCfg attribute) stratified_rollout_value() (in module embodichain.learning.rl.env) strength (embodichain.lab.sim.motion.workspace.samplers.LatinHypercubeSampler attribute) string_to_callable() (in module embodichain.utils.string) submit() (embodichain.lab.sim.motion.execution.EpisodeSink method) subtract_frame_transforms() (in module embodichain.utils.math) success (embodichain.compute.kinematics.types.DifferentiableIKResult attribute) (embodichain.lab.sim.motion.planners.PlanResult attribute) success_all (embodichain.lab.sim.atomic_actions.ActionPlan property) success_mask (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) (embodichain.lab.task_program.semantics.EffectMonitorDecision attribute) success_rates (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer attribute) success_reward() (in module embodichain.lab.gym.envs.managers.rewards) successful_fragment_count_by_env (embodichain.lab.gym.envs.demo.DemoEpisodeResult property) SugarBox (class in embodichain.data.assets.obj_assets) suite (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario attribute) suite_to_dict() (in module embodichain_benchmarks.motion_generation.config) suite_version (embodichain_benchmarks.motion_generation.config.SuiteCfg attribute) (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) SuiteCfg (class in embodichain_benchmarks.motion_generation.config) summarize_video_recording() (in module embodichain_benchmarks.motion_generation.video) summary (embodichain.learning.rl.policy_evaluation.bridge.MotionEvaluationResult attribute) summary_lines() (embodichain.lab.sim.motion.workspace.visualizers.PointInspection method) SupervisedBatch (class in embodichain.learning.sl) (class in embodichain.learning.sl.types) SupervisedLearner (class in embodichain.learning.sl) (class in embodichain.learning.sl.learner) SupervisedObjective (class in embodichain.learning.sl) (class in embodichain.learning.sl.types) SupervisedSource (class in embodichain.learning.sl) (class in embodichain.learning.sl.sources) SupervisedTrainer (class in embodichain.learning.sl) (class in embodichain.learning.sl.trainer) SupervisedTrainerCfg (class in embodichain.learning.sl) (class in embodichain.learning.sl.trainer) support_frame_planar_contact_offset (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) support_height_offset (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) support_object_roll_pitch_jitter_rad (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) support_object_target_pose (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementGoal attribute) support_object_translation_jitter_m (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) support_object_yaw_jitter_rad (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) support_surfaces (embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding attribute) SUPPORTED_COMPONENTS (embodichain.toolkits.urdf_assembly.URDFAssemblyManager attribute) SUPPORTED_MESH_TYPES (embodichain.toolkits.urdf_assembly.URDFAssemblyManager attribute) supported_move_types (embodichain.lab.sim.motion.planners.BasePlanner attribute) (embodichain.lab.sim.motion.planners.ToppraPlanner attribute) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner attribute) supported_robots (embodichain_benchmarks.motion_generation.models.PlannerMetadata attribute) SUPPORTED_SENSOR_TYPES (embodichain.lab.sim.sim_manager.SimulationManager attribute) SUPPORTED_SENSORS (embodichain.toolkits.urdf_assembly.URDFAssemblyManager attribute) SUPPORTED_STRATEGIES (embodichain.lab.sim.motion.workspace.RobotWorkspace attribute) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace attribute) SUPPORTED_WHEEL_TYPES (embodichain.toolkits.urdf_assembly.URDFAssemblyManager attribute) SupportOverrideCfg (class in embodichain.lab.sim.scene.expansion) SupportRegion (class in embodichain.lab.sim.scene.geometry) supports_case() (embodichain_benchmarks.motion_generation.PlannerAdapter method) (embodichain_benchmarks.motion_generation.planners.nmg_onnx.NmgOnnxAdapter method) supports_collision_world_updates (embodichain.lab.sim.motion.planners.BasePlanner attribute) (embodichain.lab.sim.motion.planners.ToppraPlanner attribute) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner attribute) supports_continuous_batch_ik (embodichain.lab.sim.motion.solvers.BaseSolver property) (embodichain.lab.sim.motion.solvers.DifferentialSolver property) (embodichain.lab.sim.motion.solvers.FEPSolver property) (embodichain.lab.sim.motion.solvers.NeuralIKSolver property) (embodichain.lab.sim.motion.solvers.OPWSolver property) (embodichain.lab.sim.motion.solvers.PinkSolver property) (embodichain.lab.sim.motion.solvers.PinocchioSolver property) (embodichain.lab.sim.motion.solvers.PytorchSolver property) (embodichain.lab.sim.motion.solvers.SRSSolver property) (embodichain.lab.sim.motion.solvers.URSolver property) supports_dynamic_collision_world (embodichain.lab.sim.motion.motion_generator.MotionGenerator property) supports_heterogeneous_waypoints (embodichain.lab.sim.motion.motion_generator.MotionGenerator property) (embodichain.lab.sim.motion.planners.BasePlanner attribute) (embodichain.lab.sim.motion.planners.ToppraPlanner attribute) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner attribute) supports_joint_trajectory_validation (embodichain.lab.sim.motion.motion_generator.MotionGenerator property) (embodichain.lab.sim.motion.planners.BasePlanner attribute) (embodichain.lab.sim.motion.planners.ToppraPlanner attribute) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner attribute) supports_move_type() (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner method) SupportSurfaceAffordance (class in embodichain.lab.task_program.semantics) SupportSurfaceAffordanceBinding (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.simulation) SupportSurfaceConfig (class in embodichain.lab.sim.scene.geometry) suppress_stdout_stderr() (in module embodichain.lab.sim.utility.io_utils) suppress_warp_kernel_logs (embodichain.lab.sim.cfg.NewtonPhysicsCfg attribute) surface_props (embodichain.lab.sim.cfg.SurfaceDeformablePhysicsCfg attribute) (embodichain.lab.sim.cfg.VolumeDeformablePhysicsCfg attribute) SurfaceDeformableObject (class in embodichain.lab.sim.objects.deformable) SurfaceDeformableObjectCfg (class in embodichain.lab.sim.cfg) SurfaceDeformablePhysicsCfg (class in embodichain.lab.sim.cfg) SurfaceElementPropertiesCfg (class in embodichain.lab.sim.cfg) SymbolicStateDomain (class in embodichain.lab.task_program.semantics) SymbolicStateKey (class in embodichain.lab.task_program.semantics) SYNC (embodichain.lab.sim.motion.planners.MoveType attribute), [1] sync_cuda (embodichain.lab.sim.profiler.ProfilerCfg attribute) (embodichain.lab.sim.ProfilerCfg attribute) sync_render_state() (embodichain.lab.sim.scene.query.SceneView method) (embodichain.lab.sim.sim_manager.SimulationManager method) sync_to_renderer (embodichain.lab.sim.cfg.NewtonPhysicsCfg attribute) SyncCollector (class in embodichain.learning.rl.collector), [1]

T

T_b_ob (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) T_e_oe (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) taa_depth_rejection_enabled (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) taa_min_current_weight (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) taa_sigma_scale (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) taa_tone_mapping_enabled (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) TableSupportRegion (in module embodichain.gen_sim.scene_engine.pipeline.utils.table_support_surface) TableSupportSurfaceDetector (class in embodichain.gen_sim.scene_engine.pipeline.utils.table_support_surface) TableSurfaceLayoutOptimizer (class in embodichain.gen_sim.scene_engine.pipeline.utils.table_surface_layout_optimizer) TableSurfaceLayoutOptimizerConfig (class in embodichain.gen_sim.scene_engine.pipeline.utils.table_surface_layout_optimizer) TableSurfaceLayoutProblem (class in embodichain.gen_sim.scene_engine.pipeline.utils.table_surface_layout_optimizer) TableWare (class in embodichain.data.assets.obj_assets) take_next() (embodichain.lab.sim.motion.expansion.CandidateCoordinator method) take_ready() (embodichain.lab.sim.motion.expansion.ExpansionSession method) target (embodichain.lab.sim.atomic_actions.primitives.move_joints.JointPositionGoal attribute) (embodichain.lab.task_program.language.ObjectNearTargetValidatorCfg attribute) (embodichain.lab.task_program.language.TargetRefCfg attribute) target_axis (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlignOptions attribute) target_control_frequency (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] target_height (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) (embodichain.learning.rl.policy_evaluation.camera.PolicyViewerCameraCfg attribute) (embodichain.learning.rl.policy_evaluation.PolicyViewerCameraCfg attribute) target_id (embodichain.lab.sim.atomic_actions.JointPositionTarget property) (embodichain.lab.sim.atomic_actions.RuntimeEndpointTarget property) (embodichain.lab.task_program.compiler.CompiledTargetSelection attribute) target_mode (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) (embodichain.lab.sim.cfg.NewtonJointDrivePropertiesCfg attribute) target_pose (embodichain.lab.gym.envs.managers.RelativeEefPoseAction property) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.press.PressGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.SlideGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.TwistGoal attribute) (embodichain.lab.task_program.compiler.CompiledObjectNearTargetValidator attribute) target_position (embodichain.lab.task_program.semantics.ArticulationJointStateExpectation attribute) (embodichain.lab.task_program.semantics.JointStateEffectClause attribute) target_position() (in module embodichain.lab.gym.envs.managers.observations) target_qpos (embodichain.lab.sim.objects.ArticulationData property) target_qvel (embodichain.lab.sim.objects.ArticulationData property) target_roll_pitch_jitter_rad (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) target_selection (embodichain.lab.task_program.compiler.CompiledObjectNearTargetValidator attribute) target_selections (embodichain.lab.task_program.compiler.CompiledTaskProgramCall attribute) target_translation_jitter_m (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) target_type (embodichain.lab.sim.objects.Gizmo property) (embodichain.lab.visualization.GizmoSpec attribute) target_types (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) target_uid (embodichain.lab.visualization.GizmoSpec attribute) target_waypoints (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) target_width (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) target_yaw_jitter_rad (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) TargetOverlay (class in embodichain.lab.visualization) TargetRefCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) targets (embodichain.lab.sim.atomic_actions.ActionBinding property) (embodichain.lab.sim.atomic_actions.RuntimeCommandFrame property) (embodichain.lab.sim.atomic_actions.TimedCommandSequence property) (embodichain.lab.task_program.language.TaskProgramCfg attribute) (embodichain.lab.visualization.SceneOverlays attribute) targets() (embodichain_models.dynamics.nerd.codec.NeRDStateCodec method) task_completion_time_s (embodichain_benchmarks.motion_generation.contracts.ExecutionObservation attribute) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) task_difficulty (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) task_frame_roll_pitch_jitter_rad (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) task_frame_translation_jitter_m (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) task_frame_yaw_jitter_rad (embodichain_benchmarks.motion_generation.config.AtomicPoseRandomizationCfg attribute) task_id (embodichain.learning.rl.policy_evaluation.viewer.NativeViewerResult attribute) task_instruction (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] task_program (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] task_program_adapter (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] task_program_expansion_records (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] task_program_registration (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory property) task_result() (embodichain_benchmarks.motion_generation.atomic_skill.AtomicSkillCaseProvider method) task_space_from_joint_template() (in module embodichain.lab.sim.motion.expansion) TASK_SPACE_RESIDUAL_OPERATOR (in module embodichain.lab.sim.motion.expansion) task_state (embodichain.lab.sim.atomic_actions.ExecutionSession property) (embodichain.lab.task_program.runtime.SemanticCallExecutor property) (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) task_state_key (embodichain.lab.sim.atomic_actions.EndpointBinding attribute) (embodichain.lab.task_program.semantics.EndpointResolution attribute) (embodichain.lab.task_program.semantics.HeldObjectStateExpectation attribute) task_state_keys (embodichain.lab.task_program.semantics.CoordinatedHeldObjectCleanupExpectation attribute) task_success (embodichain_benchmarks.motion_generation.contracts.PhysicalEvaluation property) (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) TaskProgramAdapterFactory (class in embodichain.lab.task_program.integrations) TaskProgramBridgeError (class in embodichain.lab.gym.envs.task_program) TaskProgramCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) TaskProgramCompileError (class in embodichain.lab.task_program) TaskProgramCompiler (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.compiler) TaskProgramConfigError (class in embodichain.lab.task_program) TaskProgramDecodeError (class in embodichain.lab.task_program) TaskProgramDemoBridge (class in embodichain.lab.gym.envs.task_program) TaskProgramEnvironmentAdapter (class in embodichain.lab.task_program.integrations) TaskProgramEnvironmentFactory (class in embodichain.lab.task_program.integrations) TaskProgramExpansionRecord (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.expansion) TaskProgramIntegrationCatalog (class in embodichain.lab.task_program.integrations) TaskProgramIntegrationCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) TaskProgramPlanRequest (class in embodichain.lab.task_program.runtime) (class in embodichain.lab.task_program.runtime.expansion) TaskProgramPlanTransformFactory (class in embodichain.lab.task_program.runtime) (class in embodichain.lab.task_program.runtime.expansion) TaskProgramRuntimeAssembly (class in embodichain.lab.task_program.integrations) TaskProgramSourceAdapter (class in embodichain.lab.task_program.integrations) (class in embodichain.lab.task_program.integrations.expansion) TaskProgramValidationContext (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) TaskProgramValidationError (class in embodichain.lab.task_program) TaskSpaceDeformationConstraint (class in embodichain.lab.sim.motion.expansion) TaskSpaceProjectionResult (class in embodichain.lab.sim.motion.expansion) TaskSpaceTrajectory (class in embodichain.lab.sim.motion.expansion) TaskState (class in embodichain.lab.sim.atomic_actions) tcp (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) tcp_pose (embodichain_benchmarks.motion_generation.contracts.ReplayObservationTrace attribute) tcp_symmetry (embodichain.lab.sim.atomic_actions.primitives.place.PlaceGoal attribute) temp_buffer_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) templates (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord attribute) TemplateSourceAdapter (class in embodichain.lab.sim.motion.expansion) TensorBatchSource (class in embodichain.learning.sl) (class in embodichain.learning.sl.sources) TensorDataSource (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.sources) terminal (embodichain.lab.task_program.runtime.SemanticExecutionResult property) terminated (embodichain.learning.rl.collector.DifferentiableTransition attribute) termination_causes() (in module embodichain_tasks.locomotion.velocity.contracts.go1.mdp) (in module embodichain_tasks.locomotion.velocity.contracts.go2.mdp) thread_mode (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) threshold (embodichain_benchmarks.motion_generation.evaluation.Criterion attribute) TianjiMarvin (class in embodichain.data.assets.robot_assets) tick() (embodichain.lab.sim.atomic_actions.ExecutionSession method) tiled_enabled (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) TIME (embodichain.lab.sim.motion.planners.TrajectorySampleMethod attribute) timed_call() (in module embodichain_benchmarks.motion_generation.metrics.performance) timed_motion_valid (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) TimedCall (class in embodichain_benchmarks.motion_generation.metrics.performance) TimedCommandSequence (class in embodichain.lab.sim.atomic_actions) TimedTrajectory (class in embodichain.lab.sim.atomic_actions) TimeLimitWrapper (class in embodichain.lab.gym.utils.registration), [1] timeout_steps (embodichain.lab.task_program.compiler.CompiledBarrier attribute) (embodichain.lab.task_program.language.BarrierCfg attribute) timer() (in module embodichain.utils.utility) timestamp (embodichain.lab.task_program.semantics.BinaryEffectEvidenceBatch attribute) (embodichain.lab.task_program.semantics.EffectEvidenceCollectionContext attribute) (embodichain.lab.task_program.semantics.JointStateEvidenceBatch attribute) (embodichain.lab.task_program.semantics.PoseRelationEvidenceBatch attribute) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceBatch attribute) timing_is_solved (embodichain_benchmarks.motion_generation.models.PlannerMetadata attribute) (embodichain_benchmarks.motion_generation.PlannerAdapter attribute) (embodichain_benchmarks.motion_generation.planners.curobo.CuroboAdapter attribute) (embodichain_benchmarks.motion_generation.planners.nmg_onnx.NmgOnnxAdapter property) (embodichain_benchmarks.motion_generation.planners.toppra.ToppraAdapter attribute) TIMING_PROFILES (in module embodichain.lab.sim.motion.expansion) to() (embodichain.compute.kinematics.serial_chain.SerialChainKinematics method) (embodichain.lab.sim.motion.workspace.RobotWorkspace method) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace method) (embodichain.learning.sl.SupervisedBatch method) (embodichain.learning.sl.types.SupervisedBatch method) to_batch() (embodichain.lab.sim.motion.expansion.CandidateWorkItem method) to_dexsim_args() (embodichain.lab.sim.cfg.DefaultPhysicsCfg method) to_dexsim_body_type() (embodichain.lab.sim.cfg.RigidObjectCfg method) (embodichain.lab.sim.objects.RigidObjectCfg method) to_dexsim_cfg() (embodichain.lab.sim.cfg.DLSSCfg method) (embodichain.lab.sim.cfg.NewtonPhysicsCfg method) (embodichain.lab.sim.cfg.NRDCfg method) (embodichain.lab.sim.DLSSCfg method) (embodichain.lab.sim.NRDCfg method) to_dexsim_flags() (embodichain.lab.sim.cfg.RenderCfg method) to_dexsim_modes() (embodichain.lab.sim.cfg.DenoisingCfg method) (embodichain.lab.sim.DenoisingCfg method) to_dexsim_physical_attr() (embodichain.lab.sim.cfg.RigidBodyPhysicsCfg method) to_dict() (embodichain.compute.kinematics.types.DifferentiableIKCfg method) (embodichain.data_pipeline.configuration.ODSRateMeasurementCfg method) (embodichain.data_pipeline.configuration.ODSReuseProfileCfg method) (embodichain.data_pipeline.configuration.ODSRuntimeCfg method) (embodichain.data_pipeline.datasets.inspection.DatasetValidationReport method) (embodichain.data_pipeline.datasets.lerobot.LeRobotFieldMappingCfg method) (embodichain.data_pipeline.datasets.LeRobotFieldMappingCfg method), [1] (embodichain.data_pipeline.datasets.sequence.SequenceSpecCfg method) (embodichain.data_pipeline.datasets.SequenceSpecCfg method), [1] (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg method) (embodichain.data_pipeline.engine.OnlineDataEngineCfg method) (embodichain.data_pipeline.runtime.ODSFlowControllerCfg method) (embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_table_aligner.AssetsGroupTableAlignerConfig method) (embodichain.lab.gym.envs.asset_generalization.AssetGeneralizationCfg method) (embodichain.lab.gym.envs.demo.DemoExecutionCfg method) (embodichain.lab.gym.envs.EmbodiedEnvCfg method), [1] (embodichain.lab.gym.envs.EmbodiedEnvCfg.EnvLightCfg method), [1] (embodichain.lab.gym.envs.EnvCfg method), [1] (embodichain.lab.gym.envs.managers.ActionDescriptor method) (embodichain.lab.gym.envs.managers.ActionTermCfg method) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg method) (embodichain.lab.gym.envs.managers.EventCfg method) (embodichain.lab.gym.envs.managers.FunctorCfg method) (embodichain.lab.gym.envs.managers.ObservationCfg method) (embodichain.lab.gym.envs.managers.RewardCfg method) (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg method) (embodichain.lab.sim.cfg.source.UsdSourceCfg method) (embodichain.lab.sim.DenoisingCfg method) (embodichain.lab.sim.DLSSCfg method) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg method) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorCfg method) (embodichain.lab.sim.NRDCfg method) (embodichain.lab.sim.scene.expansion.IntraGroupRandomizationCfg method) (embodichain.lab.sim.scene.expansion.MemberRandomizationCfg method) (embodichain.lab.sim.scene.expansion.SceneLayoutInput method) (embodichain.lab.sim.scene.expansion.SceneRandomizationJobCfg method) (embodichain.lab.sim.scene.expansion.SceneRandomizationPolicyCfg method) (embodichain.lab.sim.scene.expansion.SupportOverrideCfg method) (embodichain.lab.sim.scene.geometry.SupportSurfaceConfig method) (embodichain.lab.sim.scene.layout.LayoutCfg method) (embodichain.lab.sim.scene.placement.AABBLayoutConfig method) (embodichain.lab.sim.scene.placement.GroupSupportClampConfig method) (embodichain.lab.sim.scene.validation.SettlingCfg method) (embodichain.lab.sim.sensors.ArticulationContactFilterCfg method) (embodichain.lab.sim.shapes.LoadOption method) (embodichain.lab.task_program.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.BarrierCfg method) (embodichain.lab.task_program.CyclicPoseTargetCfg method) (embodichain.lab.task_program.HandOverCfg method) (embodichain.lab.task_program.integrations.asset_materialization.AssetAdaptationCfg method) (embodichain.lab.task_program.integrations.asset_materialization.AssetPourAdaptationCfg method) (embodichain.lab.task_program.InvokeCfg method) (embodichain.lab.task_program.language.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.language.BarrierCfg method) (embodichain.lab.task_program.language.CyclicPoseTargetCfg method) (embodichain.lab.task_program.language.HandOverCfg method) (embodichain.lab.task_program.language.InvokeCfg method) (embodichain.lab.task_program.language.ObjectLiftedValidatorCfg method) (embodichain.lab.task_program.language.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.language.ObjectRelativePositionValidatorCfg method) (embodichain.lab.task_program.language.ObjectUprightValidatorCfg method) (embodichain.lab.task_program.language.ParallelCfg method) (embodichain.lab.task_program.language.PickCfg method) (embodichain.lab.task_program.language.PlaceCfg method) (embodichain.lab.task_program.language.PoseCfg method) (embodichain.lab.task_program.language.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.language.RepeatCfg method) (embodichain.lab.task_program.language.SegmentCfg method) (embodichain.lab.task_program.language.SequenceCfg method) (embodichain.lab.task_program.language.TargetRefCfg method) (embodichain.lab.task_program.language.TaskProgramCfg method) (embodichain.lab.task_program.language.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.language.WaitStablePostCfg method) (embodichain.lab.task_program.ObjectLiftedValidatorCfg method) (embodichain.lab.task_program.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.ObjectRelativePositionValidatorCfg method) (embodichain.lab.task_program.ObjectUprightValidatorCfg method) (embodichain.lab.task_program.ParallelCfg method) (embodichain.lab.task_program.PickCfg method) (embodichain.lab.task_program.PlaceCfg method) (embodichain.lab.task_program.PoseCfg method) (embodichain.lab.task_program.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.RepeatCfg method) (embodichain.lab.task_program.SegmentCfg method) (embodichain.lab.task_program.semantics.asset_matching.ResolvedAssetSet method) (embodichain.lab.task_program.semantics.asset_requirements.AssetRelationRequirement method) (embodichain.lab.task_program.semantics.asset_requirements.AssetRequirements method) (embodichain.lab.task_program.semantics.asset_requirements.AssetRoleRequirement method) (embodichain.lab.task_program.SequenceCfg method) (embodichain.lab.task_program.TargetRefCfg method) (embodichain.lab.task_program.TaskProgramCfg method) (embodichain.lab.task_program.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.WaitStablePostCfg method) (embodichain.learning.rl.algo.APGCfg method), [1] (embodichain.learning.rl.algo.GRPOCfg method), [1] (embodichain.learning.rl.algo.PPOCfg method), [1] (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg method) (embodichain.learning.rl.policy_evaluation.camera.PolicyViewerCameraCfg method) (embodichain.learning.rl.policy_evaluation.PolicyViewerCameraCfg method) (embodichain.learning.rl.utils.AlgorithmCfg method) (embodichain.learning.rl.utils.config.AlgorithmCfg method) (embodichain.learning.rl.utils.config.LRSchedulerCfg method) (embodichain.learning.rl.utils.config.OptimizerCfg method) (embodichain.learning.rl.utils.LRSchedulerCfg method) (embodichain.learning.rl.utils.OptimizerCfg method) (embodichain.learning.sl.SupervisedTrainerCfg method) (embodichain.learning.sl.trainer.SupervisedTrainerCfg method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method) (embodichain_benchmarks.motion_generation.config.DomainCfg method) (embodichain_benchmarks.motion_generation.config.EmbodimentSpecCfg method) (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg method) (embodichain_benchmarks.motion_generation.config.PlannerSpecCfg method) (embodichain_benchmarks.motion_generation.config.ProtocolCfg method) (embodichain_benchmarks.motion_generation.config.RobotSpecCfg method) (embodichain_benchmarks.motion_generation.config.SuiteCfg method) (embodichain_benchmarks.motion_generation.config.TrackCfg method) (embodichain_benchmarks.motion_generation.models.TrialRecord method) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig method)

to_identity() (embodichain_benchmarks.motion_generation.config.DomainCfg method) to_matrix() (embodichain.lab.task_program.semantics.SemanticPose method) to_metadata() (embodichain.lab.gym.envs.demo.DemoEpisodeResult method) (embodichain.lab.gym.envs.demo.DemoSegmentResult method) (embodichain.lab.gym.envs.settling.DynamicSettleState method) (embodichain.lab.task_program.integrations.expansion.TaskProgramExpansionRecord method) (embodichain.lab.task_program.integrations.scene_expansion.SceneVariantEpisodeResult method) (embodichain.lab.task_program.integrations.simulation.asset_pouring.PouringAcceptanceMonitor method) (embodichain.lab.task_program.integrations.simulation.scene_expansion.SimulationSceneInitialState method) (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord method) (embodichain.lab.task_program.runtime.SemanticExecutionResult method) (embodichain.lab.task_program.semantics.BinaryEffectEvidenceBatch method) (embodichain.lab.task_program.semantics.CompositeEffectMonitorCfg method) (embodichain.lab.task_program.semantics.EffectEvidenceSourceRef method) (embodichain.lab.task_program.semantics.EffectMonitorRef method) (embodichain.lab.task_program.semantics.JointStateEvidenceBatch method) (embodichain.lab.task_program.semantics.PoseRelationEvidenceBatch method) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceBatch method) (embodichain.lab.task_program.semantics.SemanticCallSpec method) (embodichain.lab.task_program.semantics.SemanticEffectSpec method) (embodichain.lab.task_program.semantics.SemanticPose method) (embodichain_benchmarks.motion_generation.embodiments.EmbodimentResolution method) to_motion_gen_options() (embodichain.lab.sim.atomic_actions.MotionPolicy method) to_object_geometry() (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationAffordanceGeometry method) to_string() (embodichain.lab.sim.cfg.RobotCfg method) (embodichain.lab.sim.objects.RobotCfg method) (embodichain.lab.sim.robots.DualArmRobotCfg method) to_tensor() (in module embodichain.lab.sim.utility.tensor) toggle_gizmo_visibility() (embodichain.lab.sim.sim_manager.SimulationManager method) toggle_visibility() (embodichain.lab.sim.objects.Gizmo method) toggle_window_record() (embodichain.lab.sim.sim_manager.SimulationManager method) tolerance (embodichain.lab.task_program.runtime.ParallelTimingPolicy attribute) tone_mapping_enabled (embodichain.lab.sim.cfg.RenderCfg attribute) tone_mapping_exposure (embodichain.lab.sim.cfg.RenderCfg attribute) TOOL (embodichain.lab.sim.motion.planners.MoveType attribute), [1] tool_calibrations (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) ToppraAdapter (class in embodichain_benchmarks.motion_generation.planners.toppra) ToppraPlanner (class in embodichain.lab.sim.motion.planners) ToppraPlannerCfg (class in embodichain.lab.sim.motion.planners) torsional_friction (embodichain.lab.sim.cfg.NewtonRigidBodyMaterialCfg attribute) torsional_patch_radius (embodichain.lab.sim.cfg.DefaultCollisionPropertiesCfg attribute) TORSO (embodichain.lab.sim.motion.planners.MovePart attribute), [1] total (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCReward attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1Reward attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1Reward attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2Reward attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12Reward attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckReward attribute) total_action_dim (embodichain.lab.gym.envs.managers.ActionManager property) total_aggregate_pairs_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) total_current_contacts (embodichain.lab.sim.sensors.ContactSensor property) total_processed (embodichain.lab.sim.motion.workspace.caches.BaseCache property) ToyDuck (class in embodichain.data.assets.obj_assets) trace_validity() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) track (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario attribute) track_group (embodichain_benchmarks.motion_generation.models.BenchmarkCase attribute) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) TrackCfg (class in embodichain_benchmarks.motion_generation.config) tracking_channel() (embodichain.lab.sim.atomic_actions.EndpointBinding method) tracking_channels (embodichain.lab.task_program.semantics.EndpointResolution attribute) tracking_feedback_source_keys (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) tracking_policy (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) (embodichain.lab.task_program.semantics.SkillPolicyPreset property) tracking_projector_keys (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) tracking_runtime (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) tracks (embodichain_benchmarks.motion_generation.config.SuiteCfg attribute) train() (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainer method) (embodichain.learning.rl.utils.trainer.Trainer method) train_from_config() (in module embodichain.learning.rl.train), [1] (in module embodichain.learning.sl.workflow) Trainer (class in embodichain.learning.rl.utils.trainer) training (embodichain.learning.rl.policies.Policy attribute) trajectories (embodichain.lab.visualization.SceneOverlays attribute) trajectory_auto_save (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] trajectory_duration_s (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioEvaluation attribute) trajectory_moved (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) trajectory_requested (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord attribute) trajectory_save_dir (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] trajectory_segment() (embodichain.lab.sim.atomic_actions.ExecutionSession method) trajectory_selected (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord attribute) trajectory_split() (in module embodichain_models.dynamics.nerd.data) trajectory_uids (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] trajectory_waypoints (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioEvaluation attribute) TrajectoryAugmentationCfg (class in embodichain.lab.sim.motion.expansion) TrajectoryBridge (class in embodichain.lab.sim.motion.expansion) TrajectoryBridgePlanner (class in embodichain.lab.sim.motion.expansion) TrajectoryDescriptor (class in embodichain.lab.sim.motion.expansion) TrajectoryExpansionCfg (class in embodichain.lab.sim.motion.expansion) TrajectoryExpansionJobCfg (class in embodichain.lab.sim.motion.expansion) TrajectoryOverlay (class in embodichain.lab.visualization) TrajectoryPhase (class in embodichain.lab.sim.motion.expansion) TrajectorySampleMethod (class in embodichain.lab.sim.motion.planners) TrajectorySegment (class in embodichain.lab.sim.motion.expansion) TrajectorySegmentBank (class in embodichain.lab.sim.motion.expansion) TrajectoryTemplate (class in embodichain.lab.sim.motion.expansion) TrajectoryVariant (class in embodichain.lab.sim.motion.expansion) TrajectoryVariantSet (class in embodichain.lab.sim.motion.expansion) trans_matrix_to_xyz_quat() (in module embodichain.utils.math) TRANSFER (embodichain.lab.task_program.semantics.SemanticEffectKind attribute) transform_aabbs() (in module embodichain.compute.geometry.transforms) transform_points() (in module embodichain.utils.math) transform_points_mat() (in module embodichain.utils.math) transform_poses_from_frame_A_to_frame_B() (in module embodichain.utils.math) transition_view() (in module embodichain.learning.rl.buffer) (in module embodichain.learning.rl.buffer.utils) transitions (embodichain.learning.rl.collector.DifferentiableRollout attribute) translation_distance (embodichain.lab.sim.atomic_actions.primitives.slide.SlideOptions attribute) translation_ranges (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) translational_manipulability_ellipsoid() (in module embodichain.lab.sim.motion.workspace.visualizers) transport_id (embodichain.lab.sim.atomic_actions.EndpointCommand property) (embodichain.lab.sim.atomic_actions.EndpointCommandTransport property) (embodichain.lab.sim.atomic_actions.JointPositionPayload property) (embodichain.lab.sim.atomic_actions.JointPositionTarget property) (embodichain.lab.sim.atomic_actions.RuntimeCommandPayload property) (embodichain.lab.sim.atomic_actions.RuntimeEndpointTarget property) transport_ids (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder property) transports (embodichain.lab.sim.atomic_actions.EndpointCommandRouter property) TrapezoidalPlanner (class in embodichain.lab.sim.motion.planners) TrapezoidalPlannerCfg (class in embodichain.lab.sim.motion.planners) TrapezoidalPlanOptions (class in embodichain.lab.sim.motion.planners) tri_drag (embodichain.lab.sim.cfg.SurfaceElementPropertiesCfg attribute) tri_ka (embodichain.lab.sim.cfg.SurfaceElementPropertiesCfg attribute) tri_kd (embodichain.lab.sim.cfg.SurfaceElementPropertiesCfg attribute) tri_ke (embodichain.lab.sim.cfg.SurfaceElementPropertiesCfg attribute) tri_lift (embodichain.lab.sim.cfg.SurfaceElementPropertiesCfg attribute) trial_metadata() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario method) (embodichain_benchmarks.motion_generation.scenarios.base.ScenarioProvider method) TrialJsonlWriter (class in embodichain_benchmarks.motion_generation.artifacts) TrialPhase (class in embodichain_benchmarks.motion_generation.models) TrialRecord (class in embodichain_benchmarks.motion_generation.models) triangle_geometry() (in module embodichain.compute.geometry.mesh) triangle_remesh_resolution (embodichain.lab.sim.cfg.VolumeDeformableMeshingCfg attribute) triangle_simplify_target (embodichain.lab.sim.cfg.VolumeDeformableMeshingCfg attribute) triangles (embodichain.lab.sim.cfg.MeshCfg attribute) (embodichain.lab.sim.objects.CollisionShapeDesc attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) truncate_at_first_done (embodichain.learning.rl.algo.GRPOCfg attribute), [1] TRUNCATED (embodichain.data.enum.LeRobotKey attribute) truncated (embodichain.learning.rl.collector.DifferentiableTransition attribute) Twist (class in embodichain.lab.sim.atomic_actions.primitives.twist) twist_angle (embodichain.lab.sim.atomic_actions.primitives.twist.TwistOptions attribute) twist_arc_poses() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) twist_waypoint_count (embodichain.lab.sim.atomic_actions.primitives.twist.TwistOptions attribute) TwistCases (class in embodichain_benchmarks.motion_generation.scenarios.atomic_contact_cases) TwistEvaluator (class in embodichain_benchmarks.motion_generation.scenarios.atomic_evaluation) TwistGoal (class in embodichain.lab.sim.atomic_actions.primitives.twist) TwistOptions (class in embodichain.lab.sim.atomic_actions.primitives.twist)

U

uid (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.sim.atomic_actions.SceneEntity property) (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.DeformableObjectCfg attribute) (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.cfg.ObjectBaseCfg attribute) (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.cfg.RigidObjectGroupCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.cfg.SurfaceDeformableObjectCfg attribute) (embodichain.lab.sim.cfg.VisualObjectCfg attribute) (embodichain.lab.sim.cfg.VolumeDeformableObjectCfg attribute) (embodichain.lab.sim.common.BatchEntity attribute) (embodichain.lab.sim.material.VisualMaterialCfg attribute) UNIFORM (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) UniformChunkSampler (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.sampler) UniformSampler (class in embodichain.lab.sim.motion.workspace.samplers) UnitreeG1FlatEnv (class in embodichain_tasks.locomotion.velocity.g1_flat) UnitreeG1Locomotion (class in embodichain.data.assets.locomotion_assets) UnitreeGo1FlatEnv (class in embodichain_tasks.locomotion.velocity.go1_flat) UnitreeGo1Locomotion (class in embodichain.data.assets.locomotion_assets) UnitreeGo2FlatEnv (class in embodichain_tasks.locomotion.velocity.go2_flat) UnitreeGo2Locomotion (class in embodichain.data.assets.locomotion_assets) UnitreeH1 (class in embodichain.data.assets.robot_assets) UnitreeH12FlatEnv (class in embodichain_tasks.locomotion.velocity.h1_2_flat) UnitreeH1_2Locomotion (class in embodichain.data.assets.locomotion_assets) UnitreeH1Usd (class in embodichain.data.assets.robot_assets) UniversalRobots (class in embodichain.data.assets.robot_assets) unmake_pose() (in module embodichain.utils.math) unreachable_color (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorCfg attribute) unreachable_point_size (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorCfg attribute) unregister_planner_adapter() (in module embodichain_benchmarks.motion_generation.registry) UnsupportedRuntimeTransportError (class in embodichain.lab.gym.envs.task_program) UnsupportedSceneAffordanceError (class in embodichain.lab.task_program.semantics) UnsupportedSkillError (class in embodichain.lab.task_program.semantics) unvisited_keys() (embodichain.utils.cfg.CfgNode method) unwrapped (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.differentiable_env.DifferentiableEnv property) (embodichain.lab.gym.envs.EmbodiedEnv property), [1] up (embodichain.lab.sim.sensors.CameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.ExtrinsicsCfg attribute) up_direction (embodichain.lab.visualization.SceneManifest attribute) update() (embodichain.lab.sim.objects.Gizmo method) (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.contact_history.ContactHistory method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) (embodichain.lab.sim.sim_manager.SimulationManager method) (embodichain.learning.models.EmpiricalNormalizer method) (embodichain.learning.models.normalizer.EmpiricalNormalizer method) (embodichain.learning.rl.algo.APG method), [1] (embodichain.learning.rl.algo.BaseAlgorithm method), [1] (embodichain.learning.rl.algo.GRPO method), [1] (embodichain.learning.rl.algo.PPO method), [1] (embodichain.learning.rl.normalization.RunningObservationNormalizer method) (embodichain.learning.sl.learner.SupervisedLearner method) (embodichain.learning.sl.SupervisedLearner method) update_array() (in module embodichain.utils.utility) update_class_from_dict() (in module embodichain.utils.configclass) update_gizmos() (embodichain.lab.sim.sim_manager.SimulationManager method) update_heatmap() (embodichain.utils.visualizer.HeatMapEnv method) update_horizon (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) update_interval (embodichain.lab.sim.cfg.NewtonCollisionPipelineCfg attribute) update_native() (embodichain.lab.sim.objects.Gizmo method) update_normalization() (embodichain.learning.rl.policies.ActorCritic method) update_null_space_joint_targets() (embodichain.lab.sim.motion.solvers.PinkSolver method) update_physics_step() (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method)

update_with_robot_limit() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.FEPSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) upload_seconds (embodichain.lab.visualization.RuntimeStats attribute) upper (embodichain.lab.visualization.JointControlSpec attribute) upper_command (embodichain.lab.gym.envs.managers.ParallelGripperAction property) upsample_ratio (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) UR5PgiProvider (class in embodichain_benchmarks.motion_generation.robots.ur5) UR5Provider (class in embodichain_benchmarks.motion_generation.robots.ur5) urdf_cfg (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) urdf_path (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) URDFAssemblyManager (class in embodichain.toolkits.urdf_assembly) URDFCfg (class in embodichain.lab.sim.cfg) URSolver (class in embodichain.lab.sim.motion.solvers) URSolverCfg (class in embodichain.lab.sim.motion.solvers) UsdSourceCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.cfg.source) use_clipped_value_loss (embodichain.learning.rl.algo.PPOCfg attribute), [1] use_cuda_graph (embodichain.lab.sim.cfg.NewtonPhysicsCfg attribute) use_hash (embodichain.lab.sim.motion.workspace.configs.CacheConfig attribute) use_largest_connected_component (embodichain.toolkits.graspkit.pg_grasp.GraspAnnotationCfg attribute) use_log (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] use_signature_check (embodichain.lab.sim.cfg.URDFCfg attribute) use_wandb (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) user_ids (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.RigidObject property) (embodichain.lab.sim.objects.Robot property) (embodichain.lab.sim.objects.VisualObject property) user_qpos_limits (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.FEPSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) uses_selected_planner_backend (embodichain_benchmarks.motion_generation.models.TrialRecord property) uses_sparse_joint_waypoints (embodichain.lab.sim.motion.planners.BasePlanner attribute) (embodichain.lab.sim.motion.planners.ToppraPlanner attribute) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner attribute) uv_coords (embodichain.lab.sim.cfg.MeshCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute)

V

valid (embodichain.lab.sim.motion.workspace.runtime.WorkspaceSample attribute) (embodichain.lab.sim.motion.workspace.WorkspaceSample attribute) (embodichain.lab.task_program.semantics.BinaryEffectEvidenceBatch attribute) (embodichain.lab.task_program.semantics.BinaryEffectObservation attribute) (embodichain.lab.task_program.semantics.JointStateEvidenceBatch attribute) (embodichain.lab.task_program.semantics.JointStateObservation attribute) (embodichain.lab.task_program.semantics.PoseRelationEvidenceBatch attribute) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceBatch attribute) (embodichain.lab.task_program.semantics.ScalarEffectObservation attribute) valid_mask (embodichain.lab.sim.motion.expansion.CandidateTrajectoryBatch property) validate() (embodichain.compute.kinematics.types.DifferentiableIKCfg method) (embodichain.data_pipeline.configuration.ODSRateMeasurementCfg method) (embodichain.data_pipeline.configuration.ODSReuseProfileCfg method) (embodichain.data_pipeline.configuration.ODSRuntimeCfg method) (embodichain.data_pipeline.datasets.lerobot.LeRobotFieldMappingCfg method) (embodichain.data_pipeline.datasets.LeRobotFieldMappingCfg method), [1] (embodichain.data_pipeline.datasets.sequence.SequenceSpecCfg method) (embodichain.data_pipeline.datasets.SequenceSpecCfg method), [1] (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg method) (embodichain.data_pipeline.engine.OnlineDataEngineCfg method) (embodichain.data_pipeline.runtime.ODSFlowControllerCfg method) (embodichain.gen_sim.scene_engine.pipeline.utils.assets_group_table_aligner.AssetsGroupTableAlignerConfig method) (embodichain.lab.gym.envs.asset_generalization.AssetGeneralizationCfg method) (embodichain.lab.gym.envs.demo.DemoExecutionCfg method) (embodichain.lab.gym.envs.EmbodiedEnvCfg method), [1] (embodichain.lab.gym.envs.EmbodiedEnvCfg.EnvLightCfg method), [1] (embodichain.lab.gym.envs.EnvCfg method), [1] (embodichain.lab.gym.envs.managers.ActionTermCfg method) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg method) (embodichain.lab.gym.envs.managers.EventCfg method) (embodichain.lab.gym.envs.managers.FunctorCfg method) (embodichain.lab.gym.envs.managers.ObservationCfg method) (embodichain.lab.gym.envs.managers.RewardCfg method) (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg method) (embodichain.lab.sim.atomic_actions.ExecutionRunnerCfg method) (embodichain.lab.sim.cfg.source.UsdSourceCfg method) (embodichain.lab.sim.DenoisingCfg method) (embodichain.lab.sim.DLSSCfg method) (embodichain.lab.sim.motion.expansion.combined_runtime.MeasuredValidator method) (embodichain.lab.sim.motion.expansion.MeasuredValidator method) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg method) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityColorCfg method) (embodichain.lab.sim.NRDCfg method) (embodichain.lab.sim.scene.expansion.IntraGroupRandomizationCfg method) (embodichain.lab.sim.scene.expansion.MemberRandomizationCfg method) (embodichain.lab.sim.scene.expansion.SceneRandomizationJobCfg method) (embodichain.lab.sim.scene.expansion.SceneRandomizationPolicyCfg method) (embodichain.lab.sim.scene.expansion.SupportOverrideCfg method) (embodichain.lab.sim.scene.geometry.SupportSurfaceConfig method) (embodichain.lab.sim.scene.layout.LayoutCfg method) (embodichain.lab.sim.scene.placement.AABBLayoutConfig method) (embodichain.lab.sim.scene.placement.GroupSupportClampConfig method) (embodichain.lab.sim.scene.validation.SettlingCfg method) (embodichain.lab.sim.sensors.ArticulationContactFilterCfg method) (embodichain.lab.sim.shapes.LoadOption method) (embodichain.lab.task_program.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.BarrierCfg method) (embodichain.lab.task_program.CyclicPoseTargetCfg method) (embodichain.lab.task_program.HandOverCfg method) (embodichain.lab.task_program.integrations.asset_materialization.AssetAdaptationCfg method) (embodichain.lab.task_program.integrations.asset_materialization.AssetPourAdaptationCfg method) (embodichain.lab.task_program.integrations.CuroboParallelCommandSafetyValidator method) (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) (embodichain.lab.task_program.InvokeCfg method) (embodichain.lab.task_program.language.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.language.BarrierCfg method) (embodichain.lab.task_program.language.CyclicPoseTargetCfg method) (embodichain.lab.task_program.language.HandOverCfg method) (embodichain.lab.task_program.language.InvokeCfg method) (embodichain.lab.task_program.language.ObjectLiftedValidatorCfg method) (embodichain.lab.task_program.language.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.language.ObjectRelativePositionValidatorCfg method) (embodichain.lab.task_program.language.ObjectUprightValidatorCfg method) (embodichain.lab.task_program.language.ParallelCfg method) (embodichain.lab.task_program.language.PickCfg method) (embodichain.lab.task_program.language.PlaceCfg method) (embodichain.lab.task_program.language.PoseCfg method) (embodichain.lab.task_program.language.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.language.RepeatCfg method) (embodichain.lab.task_program.language.SegmentCfg method) (embodichain.lab.task_program.language.SequenceCfg method) (embodichain.lab.task_program.language.TargetRefCfg method) (embodichain.lab.task_program.language.TaskProgramCfg method) (embodichain.lab.task_program.language.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.language.WaitStablePostCfg method) (embodichain.lab.task_program.ObjectLiftedValidatorCfg method) (embodichain.lab.task_program.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.ObjectRelativePositionValidatorCfg method) (embodichain.lab.task_program.ObjectUprightValidatorCfg method) (embodichain.lab.task_program.ParallelCfg method) (embodichain.lab.task_program.PickCfg method) (embodichain.lab.task_program.PlaceCfg method) (embodichain.lab.task_program.PoseCfg method) (embodichain.lab.task_program.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.RepeatCfg method) (embodichain.lab.task_program.runtime.SemanticCallExecutor method) (embodichain.lab.task_program.SegmentCfg method) (embodichain.lab.task_program.SequenceCfg method) (embodichain.lab.task_program.TargetRefCfg method) (embodichain.lab.task_program.TaskProgramCfg method) (embodichain.lab.task_program.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.WaitStablePostCfg method) (embodichain.learning.rl.algo.APGCfg method), [1] (embodichain.learning.rl.algo.GRPOCfg method), [1] (embodichain.learning.rl.algo.PPOCfg method), [1] (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg method) (embodichain.learning.rl.policy_evaluation.camera.PolicyViewerCameraCfg method) (embodichain.learning.rl.policy_evaluation.PolicyViewerCameraCfg method) (embodichain.learning.rl.utils.AlgorithmCfg method) (embodichain.learning.rl.utils.config.AlgorithmCfg method) (embodichain.learning.rl.utils.config.LRSchedulerCfg method) (embodichain.learning.rl.utils.config.OptimizerCfg method) (embodichain.learning.rl.utils.LRSchedulerCfg method) (embodichain.learning.rl.utils.OptimizerCfg method) (embodichain.learning.sl.SupervisedTrainerCfg method) (embodichain.learning.sl.trainer.SupervisedTrainerCfg method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method) (embodichain_benchmarks.motion_generation.config.DomainCfg method) (embodichain_benchmarks.motion_generation.config.EmbodimentSpecCfg method) (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg method) (embodichain_benchmarks.motion_generation.config.PlannerSpecCfg method) (embodichain_benchmarks.motion_generation.config.ProtocolCfg method) (embodichain_benchmarks.motion_generation.config.RobotSpecCfg method) (embodichain_benchmarks.motion_generation.config.SuiteCfg method) (embodichain_benchmarks.motion_generation.config.TrackCfg method) (embodichain_tasks.locomotion.velocity.contracts.anymal_c.config.ANYmalCVelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.g1.config.G1VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.go1.config.Go1VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.go2.config.Go2VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.h1_2.config.H12VelocityConfig method) (embodichain_tasks.locomotion.velocity.contracts.microduck.config.MicroDuckVelocityConfig method) validate_articulation_target() (embodichain_benchmarks.motion_generation.scenarios.atomic_skill.AtomicSkillScenario static method) validate_benchmark() (embodichain_benchmarks.motion_generation.config.SuiteCfg method) validate_bound_endpoint_extensions() (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) validate_bound_profile() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) validate_capabilities() (embodichain.lab.sim.motion.expansion.TrajectoryExpansionJobCfg method) validate_collision_integration() (embodichain.lab.task_program.semantics.SceneRegistry method) validate_data_schema() (in module embodichain.data_pipeline.datasets), [1] (in module embodichain.data_pipeline.datasets.schema) validate_dataset() (in module embodichain.data_pipeline.datasets.inspection) validate_demo_result() (embodichain.lab.sim.motion.expansion.combined_runtime.MeasuredValidator method) (embodichain.lab.sim.motion.expansion.MeasuredValidator method) validate_engine() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) validate_final() (embodichain.lab.task_program.integrations.simulation.asset_pouring.PouringAcceptanceMonitor method) validate_for_num_envs() (embodichain.lab.sim.motion.expansion.combined.CombinedExpansionProfile method) (embodichain.lab.sim.motion.expansion.CombinedExpansionProfile method) validate_frame() (embodichain.lab.gym.envs.task_program.EnvironmentStepClock method) validate_immutable_extension_declaration() (in module embodichain.lab.task_program.integrations.extensions) validate_integration() (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) (embodichain.lab.task_program.language.TaskProgramValidationContext method) validate_iteration_params() (in module embodichain.lab.sim.utility.solver_utils) validate_joint_trajectory() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner method) validate_materialized_deployment() (in module embodichain.lab.task_program.integrations.asset_materialization) validate_mesh (embodichain.lab.sim.cfg.DeformableObjectCfg attribute) (embodichain.lab.sim.cfg.SurfaceDeformableObjectCfg attribute) (embodichain.lab.sim.cfg.VolumeDeformableObjectCfg attribute) validate_motion_limits() (in module embodichain.lab.sim.motion.expansion) validate_physical_evaluations() (in module embodichain_benchmarks.motion_generation.contracts) validate_physics_cfg() (in module embodichain.lab.sim.cfg) validate_plan() (embodichain.lab.sim.motion.execution.MeasuredExecutor method) validate_policy() (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method)

validate_policy_action() (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.datasets.LeRobotRecorder method) validate_post_policy() (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) (embodichain.lab.task_program.language.TaskProgramValidationContext method) validate_ref() (embodichain.lab.task_program.semantics.CompositeEffectMonitorFactory method) (embodichain.lab.task_program.semantics.EffectMonitorFactory method) (embodichain.lab.task_program.semantics.EffectMonitorRegistry method) validate_registries() (embodichain.lab.sim.motion.expansion.combined.CombinedExpansionProfile method) (embodichain.lab.sim.motion.expansion.CombinedExpansionProfile method) validate_registry() (embodichain.lab.task_program.semantics.SceneManifest method) validate_request() (embodichain.lab.task_program.semantics.SemanticEffectSpec method) validate_robot_profile() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) validate_scene() (in module embodichain.lab.sim.scene.validation) validate_scene_reference() (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) (embodichain.lab.task_program.language.TaskProgramValidationContext method) validate_scene_registry() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) validate_semantic_call() (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) (embodichain.lab.task_program.language.TaskProgramValidationContext method) validate_semantics() (embodichain.lab.sim.motion.expansion.TrajectoryAugmentationCfg method) (embodichain.lab.sim.motion.expansion.TrajectoryExpansionJobCfg method) validate_standard_evaluation() (in module embodichain_benchmarks.motion_generation.evaluation) validate_state_dict() (embodichain.learning.rl.algo.BaseAlgorithm method), [1] (embodichain.learning.rl.algo.GRPO method), [1] validate_task_program() (in module embodichain.lab.task_program) (in module embodichain.lab.task_program.language) validate_validator() (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) (embodichain.lab.task_program.language.TaskProgramValidationContext method) validation_cameras (class in embodichain.lab.gym.envs.managers.record) validation_enabled (embodichain.lab.sim.cfg.NRDCfg attribute) (embodichain.lab.sim.NRDCfg attribute) validation_samples (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) ValidationCheck (class in embodichain.lab.sim.motion.expansion) ValidationResult (class in embodichain.lab.sim.motion.expansion) validator_metadata() (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) validators (embodichain.lab.task_program.compiler.CompiledTaskProgramSegment attribute) (embodichain.lab.task_program.language.SegmentCfg attribute) value (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.JointControlState attribute) value_index (embodichain.lab.task_program.compiler.CompiledTargetSelection attribute) values (embodichain.lab.task_program.language.CyclicPoseTargetCfg attribute) (embodichain.lab.task_program.semantics.BinaryEffectEvidenceBatch attribute) (embodichain.lab.task_program.semantics.BinaryEffectObservation attribute) (embodichain.lab.task_program.semantics.ScalarEffectEvidenceBatch attribute) (embodichain.lab.task_program.semantics.ScalarEffectObservation attribute) variable_input_tasks (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) variant_id (embodichain.lab.sim.scene.expansion.SceneVariant property) variants (embodichain.lab.sim.scene.expansion.FixedSceneCandidateSource property) vcodec (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] vel (embodichain.lab.sim.objects.RigidBodyData property) (embodichain.lab.sim.objects.RigidBodyGroupData property) velocities (embodichain.lab.sim.motion.planners.PlanResult attribute) (embodichain.lab.task_program.semantics.JointStateEvidenceBatch attribute) (embodichain.lab.task_program.semantics.JointStateObservation attribute) velocity_limit (embodichain.lab.sim.atomic_actions.MotionPolicy attribute) (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) velocity_limit_violation (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) velocity_locomotion_observation() (in module embodichain_tasks.locomotion.managers.observations) velocity_locomotion_reward() (in module embodichain_tasks.locomotion.managers.rewards) velocity_locomotion_total_reward() (in module embodichain_tasks.locomotion.managers.rewards) velocity_targets (embodichain.lab.sim.atomic_actions.MotionPolicy attribute) velocity_task_config (embodichain_tasks.locomotion.velocity.anymal_c_flat.ANYmalCFlatEnv attribute) (embodichain_tasks.locomotion.velocity.g1_flat.UnitreeG1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go1_flat.UnitreeGo1FlatEnv attribute) (embodichain_tasks.locomotion.velocity.go2_flat.UnitreeGo2FlatEnv attribute) (embodichain_tasks.locomotion.velocity.h1_2_flat.UnitreeH12FlatEnv attribute) (embodichain_tasks.locomotion.velocity.microduck_flat.MicroDuckFlatEnv attribute) velocity_utilization (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) verbose (embodichain.lab.visualization.ViserServerCfg attribute) verify_prepared_asset() (in module embodichain.data.asset_catalog) (in module embodichain.data.asset_catalog.local) version (embodichain_benchmarks.motion_generation.config.DomainCfg attribute) (embodichain_benchmarks.motion_generation.contracts.EvaluationDomain attribute) VersionedKey (in module embodichain.lab.task_program.integrations) (in module embodichain.lab.task_program.integrations.extensions) vertices (embodichain.lab.sim.cfg.MeshCfg attribute) (embodichain.lab.sim.objects.CollisionShapeDesc attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) (embodichain.lab.visualization.DynamicMeshUpdate attribute) (embodichain.lab.visualization.MeshGeometry attribute) vf_coef (embodichain.learning.rl.algo.PPOCfg attribute), [1] via_points() (in module embodichain.lab.sim.motion.expansion) video_cfg_from_args() (in module embodichain_benchmarks.motion_generation.video) video_prefix (embodichain.lab.sim.cfg.WindowRecordCfg attribute) VideoRecordCfg (class in embodichain_benchmarks.motion_generation.video) viewer (embodichain.learning.rl.policy_evaluation.bridge.MotionEvaluationResult attribute) viewer_is_open (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskEnvironment property) vis_type (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) viser_point_size (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) viser_port (embodichain.toolkits.graspkit.pg_grasp.GraspAnnotationCfg attribute) viser_server (embodichain.lab.visualization.VisualizationCfg attribute) ViserServerCfg (class in embodichain.lab.visualization) visible (embodichain.lab.sim.cfg.VisualObjectCfg attribute) (embodichain.lab.visualization.FrameOverlay attribute) (embodichain.lab.visualization.GizmoSpec attribute) (embodichain.lab.visualization.GizmoState attribute) (embodichain.lab.visualization.PointCloudOverlay attribute) (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.SceneNode attribute) (embodichain.lab.visualization.TargetOverlay attribute) (embodichain.lab.visualization.TrajectoryOverlay attribute) visual_binding_mode (embodichain.lab.sim.cfg.SurfaceDeformableObjectCfg attribute) visual_material (embodichain.lab.sim.cfg.MeshCfg attribute) (embodichain.lab.sim.cfg.ShapeCfg attribute) (embodichain.lab.sim.shapes.CubeCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) (embodichain.lab.sim.shapes.ShapeCfg attribute) (embodichain.lab.sim.shapes.SphereCfg attribute) visual_object (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute) visual_shape (embodichain.lab.sim.cfg.SurfaceDeformableObjectCfg attribute) visualization (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) visualization_cfg_from_args() (in module embodichain.lab.visualization) visualization_health (embodichain.lab.sim.sim_manager.SimulationManager property) visualization_overlays (embodichain.lab.sim.sim_manager.SimulationManager property) visualization_role (embodichain.lab.sim.sensors.CameraCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg attribute) visualization_runtime (embodichain.lab.sim.sim_manager.SimulationManager property) visualization_stats (embodichain.lab.sim.sim_manager.SimulationManager property) VisualizationCfg (class in embodichain.lab.visualization) VisualizationConfig (class in embodichain.lab.sim.motion.workspace.configs) VisualizationRuntime (class in embodichain.lab.visualization) VisualizationType (class in embodichain.lab.sim.motion.workspace.configs) (class in embodichain.lab.sim.motion.workspace.visualizers) visualize() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.visualizers.AxisVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.IVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.PointCloudVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.SphereVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.VoxelVisualizer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) visualize_inspection() (embodichain.lab.sim.motion.workspace.visualizers.ManipulabilityVisualizer method) visualize_point_cloud() (embodichain.lab.sim.sim_manager.SimulationManager method) visualize_robot_collision_models() (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner method) visualize_trajectory() (in module embodichain.utils.visualizer) VisualizerFactory (class in embodichain.lab.sim.motion.workspace.visualizers) VisualMaterial (class in embodichain.lab.sim.material) VisualMaterialCfg (class in embodichain.lab.sim.material) VisualMaterialInst (class in embodichain.lab.sim.material) VisualObject (class in embodichain.lab.sim.objects) VisualObjectCfg (class in embodichain.lab.sim.cfg) VisualProfileApplication (class in embodichain.lab.sim.motion.expansion) (class in embodichain.lab.sim.motion.expansion.combined_runtime) VisualProfileRegistry (class in embodichain.lab.sim.motion.expansion) (class in embodichain.lab.sim.motion.expansion.combined_runtime) VolumeDeformableMeshingCfg (class in embodichain.lab.sim.cfg) VolumeDeformableObject (class in embodichain.lab.sim.objects.deformable) VolumeDeformableObjectCfg (class in embodichain.lab.sim.cfg) VolumeDeformablePhysicsCfg (class in embodichain.lab.sim.cfg) VOXEL (embodichain.lab.sim.motion.workspace.configs.VisualizationType attribute) (embodichain.lab.sim.motion.workspace.visualizers.VisualizationType attribute) voxel_num_relaxation_iters (embodichain.lab.sim.cfg.VolumeDeformableMeshingCfg attribute) voxel_rel_min_tet_volume (embodichain.lab.sim.cfg.VolumeDeformableMeshingCfg attribute) voxel_size (embodichain.lab.sim.cfg.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.workspace.cfg.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.workspace.configs.ReachabilityConfig attribute) (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.workspace.visualizers.VoxelVisualizer attribute) (embodichain.lab.sim.objects.RobotWorkspaceCfg attribute) voxel_surface_dist_ratio (embodichain.lab.sim.cfg.VolumeDeformableMeshingCfg attribute) VoxelVisualizer (class in embodichain.lab.sim.motion.workspace.visualizers)

W

WAIST (embodichain.data.enum.ControlParts attribute) wait_duration (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) wait_for_dynamic_objects_to_settle() (in module embodichain.lab.gym.envs.managers.events) wait_for_generation() (embodichain.data_pipeline.engine.OnlineDataEngine method) (embodichain.data_pipeline.runtime.ODSFlowController method) wait_for_reset_or_close() (embodichain.learning.rl.policy_evaluation.viewer.EmbodiChainTaskEnvironment method) wait_hold() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) wait_scene_destruction() (embodichain.lab.sim.sim_manager.SimulationManager static method) wait_window_record_saves() (embodichain.lab.sim.sim_manager.SimulationManager method) WaitStablePostCfg (class in embodichain.lab.task_program) (class in embodichain.lab.task_program.language) wall_time (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.SceneFrame attribute) WARMUP (embodichain_benchmarks.motion_generation.models.TrialPhase attribute) warmup_steps (embodichain.lab.sim.profiler.ProfilerCfg attribute) (embodichain.lab.sim.ProfilerCfg attribute) warmup_trials (embodichain_benchmarks.motion_generation.config.ProtocolCfg attribute) warnings (embodichain.learning.rl.policy_evaluation.MotionProfile attribute) (embodichain.learning.rl.policy_evaluation.profile.MotionProfile attribute) warp_trajectory_qpos() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.warping) (in module embodichain.lab.sim.utility.action_utils) WaterBasin (class in embodichain.data.assets.obj_assets) waypoint_count (embodichain.lab.sim.atomic_actions.TimedTrajectory property) (embodichain_benchmarks.motion_generation.models.TrialRecord attribute) waypoint_counts (embodichain_benchmarks.motion_generation.config.FreeSpaceTrackCfg attribute) waypoint_min_rotation_err_deg (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) waypoint_min_rotation_err_deg_at_position (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) waypoint_min_translation_err_mm (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) waypoint_min_translation_err_mm_at_orientation (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) waypoint_rotation_err_deg_max (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) waypoint_rotation_err_deg_mean (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) waypoint_rotation_err_deg_p95 (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) waypoint_translation_err_mm_max (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) waypoint_translation_err_mm_mean (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) waypoint_translation_err_mm_p95 (embodichain_benchmarks.motion_generation.models.CaseOutcome attribute) weight (embodichain.lab.gym.envs.managers.RewardCfg attribute) weighted_terms (embodichain_tasks.locomotion.velocity.contracts.anymal_c.mdp.ANYmalCReward attribute) (embodichain_tasks.locomotion.velocity.contracts.g1.mdp.G1Reward attribute) (embodichain_tasks.locomotion.velocity.contracts.go1.mdp.Go1Reward attribute) (embodichain_tasks.locomotion.velocity.contracts.go2.mdp.Go2Reward attribute) (embodichain_tasks.locomotion.velocity.contracts.h1_2.mdp.H12Reward attribute) (embodichain_tasks.locomotion.velocity.contracts.microduck.mdp.MicroDuckReward attribute) WheelTecFA2F (class in embodichain.data.assets.eef_assets) width (embodichain.lab.gym.envs.expert_trajectory.ExpertActionSpec property) (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) (embodichain_benchmarks.motion_generation.video.VideoRecordCfg attribute) window (embodichain.lab.sim.cfg.DenoisingCfg attribute) (embodichain.lab.sim.DenoisingCfg attribute) (embodichain_benchmarks.motion_generation.evaluation.StageCriterion attribute) (embodichain_benchmarks.motion_generation.evaluation.StageEvidence attribute) window_camera_pose (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) window_record (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) WindowCameraPoseCfg (class in embodichain.lab.sim.cfg) WindowRecordCfg (class in embodichain.lab.sim.cfg) with_active_mask() (embodichain.lab.sim.atomic_actions.RuntimeCommandFrame method)

with_collision_world() (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner method) with_command_overrides() (embodichain.lab.sim.atomic_actions.ActionBinding method) with_commands() (embodichain.lab.sim.atomic_actions.EndpointBinding method) with_descriptor() (embodichain.lab.task_program.semantics.SemanticCallCatalog method) with_motion_budget() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_policy) with_motion_context() (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) (embodichain.lab.sim.motion.planners.TrapezoidalPlanner method) with_physical_evaluation() (in module embodichain_benchmarks.motion_generation.models) with_plan_options() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_policy) with_qpos() (embodichain.lab.sim.atomic_actions.RobotObservation method) worker_error (embodichain.lab.visualization.RuntimeHealth attribute) workflow_call_index (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord attribute) (embodichain.lab.task_program.runtime.TaskProgramPlanRequest attribute) workflow_id (embodichain.lab.task_program.integrations.TaskProgramExpansionRecord attribute) (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) (embodichain.lab.task_program.runtime.TaskProgramPlanRequest attribute) workflow_recoveries (embodichain.lab.task_program.runtime.SemanticExecutionResult attribute) workflow_recovery_policy (embodichain.lab.task_program.semantics.SkillPolicyPreset property) WorkflowRecoveryPolicy (class in embodichain.lab.task_program.semantics) working_inst (embodichain.lab.sim.material.ReuseSegmentState attribute), [1] workspace_cfg (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) workspace_points (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer attribute) workspace_shell_profile() (in module embodichain_benchmarks.motion_generation.scenarios.atomic_case_utils) WorkspaceAnalyzer (class in embodichain.lab.sim.motion.workspace) (class in embodichain.lab.sim.motion.workspace.analyzer) WorkspaceAnalyzerConfig (class in embodichain.lab.sim.motion.workspace) (class in embodichain.lab.sim.motion.workspace.analyzer) WorkspaceConstraintChecker (class in embodichain.lab.sim.motion.workspace.constraints) WorkspaceSample (class in embodichain.lab.sim.motion.workspace) (class in embodichain.lab.sim.motion.workspace.runtime) world_displacement (embodichain.lab.sim.atomic_actions.SceneEntityPose attribute) world_orientation (embodichain.lab.sim.atomic_actions.SceneEntityPose attribute) world_yaw_free (embodichain.lab.sim.atomic_actions.primitives.move_held_object.HeldObjectPoseGoal attribute) wp_vec48f (in module embodichain.utils.warp.kinematics.opw_solver) (in module embodichain.utils.warp.kinematics.ur_solver) wp_vec6f (in module embodichain.utils.warp.kinematics.opw_solver) (in module embodichain.utils.warp.kinematics.ur_solver) WRENCH (embodichain.lab.task_program.semantics.ScalarEvidenceKind attribute) write_case_manifest() (in module embodichain_benchmarks.motion_generation.artifacts) write_evaluation_report() (in module embodichain.learning.rl.policy_evaluation.report) write_json() (in module embodichain_benchmarks.motion_generation.artifacts) write_markdown_report() (in module embodichain_benchmarks.motion_generation.reporting) write_resolved_suite() (in module embodichain_benchmarks.motion_generation.artifacts) write_run_manifest() (in module embodichain.learning.rl.policy_evaluation.manifest) write_u16_plane() (in module embodichain.data_pipeline.depth_video.depth_utils) wxyz (embodichain.lab.visualization.FrameOverlay attribute) (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.GizmoState attribute) (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.TargetOverlay attribute)

X

x_thickness (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) xpos (embodichain.lab.sim.atomic_actions.primitives.move_end_effector.EndEffectorPoseGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.place.PlaceGoal attribute) (embodichain.lab.sim.motion.planners.PlanState attribute)

xpos_list (embodichain.lab.sim.motion.planners.PlanResult attribute) xyz_quat_to_4x4_matrix() (in module embodichain.utils.math)

Y

y_thickness (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) YamlEmbodimentProvider (class in embodichain_benchmarks.motion_generation.embodiments)

yoshikawa_manipulability() (in module embodichain.compute.kinematics.manipulability) youngs (embodichain.lab.sim.cfg.VolumeDeformablePhysicsCfg attribute)

Z

ZH_CTM2F110 (class in embodichain.data.assets.eef_assets)