Index

_

__init__() (embodichain.agents.datasets.GMMChunkSampler method) (embodichain.agents.datasets.OnlineDataset method) (embodichain.agents.datasets.UniformChunkSampler method) (embodichain.agents.engine.OnlineDataEngine method) (embodichain.agents.engine.OnlineDataEngineCfg method) (embodichain.agents.rl.algo.GRPO method), [1] (embodichain.agents.rl.algo.GRPOCfg method), [1] (embodichain.agents.rl.algo.PPO method), [1] (embodichain.agents.rl.algo.PPOCfg method), [1] (embodichain.agents.rl.buffer.RolloutBuffer method) (embodichain.agents.rl.buffer.standard_buffer.RolloutBuffer method) (embodichain.agents.rl.collector.SyncCollector method), [1] (embodichain.agents.rl.models.ActorCritic method), [1] (embodichain.agents.rl.models.ActorOnly method), [1] (embodichain.agents.rl.models.MLP method), [1] (embodichain.agents.rl.models.Policy method), [1] (embodichain.agents.rl.utils.AlgorithmCfg method) (embodichain.agents.rl.utils.config.AlgorithmCfg method) (embodichain.agents.rl.utils.trainer.Trainer method) (embodichain.data.dataset.EmbodiChainDataset method) (embodichain.lab.devices.DeviceController method) (embodichain.lab.gym.envs.BaseEnv method), [1] (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.DeltaQposTerm method) (embodichain.lab.gym.envs.managers.EefPoseTerm 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.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.QfTerm method) (embodichain.lab.gym.envs.managers.QposDenormalizedTerm method) (embodichain.lab.gym.envs.managers.QposTerm method) (embodichain.lab.gym.envs.managers.QvelTerm method) (embodichain.lab.gym.envs.managers.randomization.spatial.planner_grid_cell_sampler 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.utils.registration.EnvSpec method), [1] (embodichain.lab.gym.utils.registration.TimeLimitWrapper method), [1] (embodichain.lab.sim.atomic_actions.Affordance method) (embodichain.lab.sim.atomic_actions.AtomicAction method) (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (embodichain.lab.sim.atomic_actions.InteractionPoints method) (embodichain.lab.sim.atomic_actions.MoveAction method) (embodichain.lab.sim.atomic_actions.ObjectSemantics method) (embodichain.lab.sim.atomic_actions.PickUpAction method) (embodichain.lab.sim.atomic_actions.PlaceAction method) (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.material.VisualMaterial method) (embodichain.lab.sim.material.VisualMaterialCfg method) (embodichain.lab.sim.material.VisualMaterialInst method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.ArticulationData method) (embodichain.lab.sim.objects.Light method) (embodichain.lab.sim.objects.RigidBodyData method) (embodichain.lab.sim.objects.RigidBodyGroupData method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.planners.BasePlanner method) (embodichain.lab.sim.planners.MotionGenerator method) (embodichain.lab.sim.planners.PlanResult method) (embodichain.lab.sim.planners.PlanState method) (embodichain.lab.sim.planners.ToppraPlanner method) (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) (embodichain.lab.sim.SimulationManager method) (embodichain.lab.sim.solvers.BaseSolver method) (embodichain.lab.sim.solvers.DifferentialSolver method) (embodichain.lab.sim.solvers.OPWSolver method) (embodichain.lab.sim.solvers.PinkSolver method) (embodichain.lab.sim.solvers.PinocchioSolver method) (embodichain.lab.sim.solvers.PytorchSolver 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.GraspGenerator method) (embodichain.toolkits.graspkit.pg_grasp.GraspGeneratorCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionChecker method) (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) (embodichain.utils.utility.TagDecorator method) (embodichain.utils.visualizer.Gantt method) (embodichain.utils.visualizer.HeatMapEnv method) (embodichain.utils.visualizer.Package method)

__new__() (embodichain.data.enum.SemanticMask method) (embodichain.lab.sim.SimulationManager static method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSampler method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionChecker method) (embodichain.toolkits.graspkit.pg_grasp.GraspGenerator method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionChecker method)

A

ABSOLUTE (embodichain.data.enum.ActionMode attribute) acc (embodichain.lab.sim.objects.RigidBodyData property) acceleration_limit (embodichain.lab.sim.atomic_actions.ActionCfg attribute) (embodichain.lab.sim.atomic_actions.MoveActionCfg attribute) (embodichain.lab.sim.atomic_actions.PickUpActionCfg attribute) (embodichain.lab.sim.atomic_actions.PlaceActionCfg attribute) accelerations (embodichain.lab.sim.planners.PlanResult attribute) ACTION (embodichain.data.enum.LeRobotKey attribute) action_config (embodichain.agents.engine.OnlineDataEngineCfg attribute) action_dim (embodichain.lab.gym.envs.managers.ActionTerm property) (embodichain.lab.gym.envs.managers.DeltaQposTerm property) (embodichain.lab.gym.envs.managers.EefPoseTerm property) (embodichain.lab.gym.envs.managers.QfTerm property) (embodichain.lab.gym.envs.managers.QposDenormalizedTerm property) (embodichain.lab.gym.envs.managers.QposTerm property) (embodichain.lab.gym.envs.managers.QvelTerm property) (embodichain.lab.sim.solvers.DifferentialSolver property) ACTION_PREFIX (embodichain.data.enum.LeRobotKey attribute) ACTION_TOKEN_MASK (embodichain.data.enum.LeRobotKey attribute) ACTION_TOKENS (embodichain.data.enum.LeRobotKey attribute) ActionCfg (class in embodichain.lab.sim.atomic_actions) ActionManager (class in embodichain.lab.gym.envs.managers) ActionMode (class in embodichain.data.enum) actions (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] ActionTerm (class in embodichain.lab.gym.envs.managers) ActionTermCfg (class in embodichain.lab.gym.envs.managers) active_device (embodichain.lab.devices.DeviceController property) active_dof (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) active_functors (embodichain.lab.gym.envs.managers.ActionManager property) (embodichain.lab.gym.envs.managers.EventManager property) (embodichain.lab.gym.envs.managers.ManagerBase property) (embodichain.lab.gym.envs.managers.ObservationManager 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) ActorCritic (class in embodichain.agents.rl.models), [1] ActorOnly (class in embodichain.agents.rl.models), [1] add() (embodichain.agents.rl.buffer.RolloutBuffer method) (embodichain.agents.rl.buffer.standard_buffer.RolloutBuffer method) add_articulation() (embodichain.lab.sim.SimulationManager method) add_camera_group_id() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] add_cloth_object() (embodichain.lab.sim.SimulationManager method) add_component() (embodichain.lab.sim.cfg.URDFCfg method) (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) add_custom_window_control() (embodichain.lab.sim.SimulationManager method) add_detached_uids_for_reset() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] add_device() (embodichain.lab.devices.DeviceController method) add_force_torque() (embodichain.lab.sim.objects.RigidObject method) add_legend() (embodichain.utils.visualizer.Gantt method) add_light() (embodichain.lab.sim.SimulationManager method)

add_milestones() (embodichain.utils.visualizer.Gantt method) add_rigid_object() (embodichain.lab.sim.SimulationManager method) add_rigid_object_group() (embodichain.lab.sim.SimulationManager method) add_robot() (embodichain.lab.sim.SimulationManager method) add_sensor() (embodichain.lab.sim.cfg.URDFCfg method) (embodichain.lab.sim.SimulationManager method) add_soft_object() (embodichain.lab.sim.SimulationManager method) Affordance (class in embodichain.lab.sim.atomic_actions) affordance (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) AlgorithmCfg (class in embodichain.agents.rl.utils) (class in embodichain.agents.rl.utils.config) ALL (embodichain.lab.sim.planners.MovePart attribute), [1] all_joint_names (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) angular_damping (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) annotate() (embodichain.toolkits.graspkit.pg_grasp.GraspGenerator method) antipodal_sampler_cfg (embodichain.toolkits.graspkit.pg_grasp.GraspGeneratorCfg attribute) AntipodalSampler (class in embodichain.toolkits.graspkit.pg_grasp) AntipodalSamplerCfg (class in embodichain.toolkits.graspkit.pg_grasp) ao_texture (embodichain.lab.sim.material.VisualMaterialCfg attribute) apply() (embodichain.lab.gym.envs.managers.EventManager method) approach_direction (embodichain.lab.sim.atomic_actions.PickUpActionCfg attribute) arena_index (embodichain.lab.sim.cfg.MarkerCfg attribute) arena_offsets (embodichain.lab.sim.SimulationManager property) arena_space (embodichain.lab.sim.SimulationManagerCfg attribute) ARM (embodichain.data.enum.Hints attribute) armature (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) Array (in module embodichain.lab.sim.types) arrow_type (embodichain.lab.sim.cfg.MarkerCfg attribute) Articulation (class in embodichain.lab.sim.objects) ArticulationCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) ArticulationData (class in embodichain.lab.sim.objects) assemble_urdf() (embodichain.lab.sim.cfg.URDFCfg method) asset_uids (embodichain.lab.sim.SimulationManager property) AtomicAction (class in embodichain.lab.sim.atomic_actions) AtomicActionEngine (class in embodichain.lab.sim.atomic_actions) attach_sensor() (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) attr() (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg method) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg method) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg method) (embodichain.lab.sim.cfg.SoftbodyVoxelAttributesCfg method) 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.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) available_modes (embodichain.lab.gym.envs.managers.EventManager property) axis_len (embodichain.lab.sim.cfg.MarkerCfg attribute) axis_size (embodichain.lab.sim.cfg.MarkerCfg attribute) axis_xpos (embodichain.lab.sim.cfg.MarkerCfg attribute)

B

back_to_initial_pose() (in module embodichain.lab.sim.atom_actions) BACKGROUND (embodichain.data.enum.SemanticMask attribute), [1] base_color (embodichain.lab.sim.material.VisualMaterialCfg attribute) base_color_texture (embodichain.lab.sim.material.VisualMaterialCfg attribute) base_link_name (embodichain.lab.sim.cfg.URDFCfg attribute) BaseAlgorithm (class in embodichain.agents.rl.algo), [1] BaseCollector (class in embodichain.agents.rl.collector), [1] BaseEnv (class in embodichain.lab.gym.envs), [1] BasePlanner (class in embodichain.lab.sim.planners) BasePlannerCfg (class in embodichain.lab.sim.planners) BaseSensor (class in embodichain.lab.sim.sensors) BaseSolver (class in embodichain.lab.sim.solvers) batch_size (embodichain.agents.rl.algo.GRPOCfg attribute), [1] (embodichain.agents.rl.algo.PPOCfg attribute), [1] (embodichain.agents.rl.utils.AlgorithmCfg attribute) (embodichain.agents.rl.utils.config.AlgorithmCfg attribute) BatchEntity (class in embodichain.lab.sim.common) bending_damping (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) bending_stiffness (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) body_data (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_ids (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) 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.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg 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.planners.MovePart attribute), [1] bounce_threshold (embodichain.lab.sim.cfg.PhysicsCfg attribute) buffer (embodichain.agents.rl.buffer.RolloutBuffer property) (embodichain.agents.rl.buffer.standard_buffer.RolloutBuffer property) buffer_device (embodichain.agents.engine.OnlineDataEngineCfg attribute) buffer_size (embodichain.agents.engine.OnlineDataEngine attribute) (embodichain.agents.engine.OnlineDataEngineCfg attribute) build_algo() (in module embodichain.agents.rl.algo), [1] build_mlp_from_cfg() (in module embodichain.agents.rl.models), [1] 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.CobotMagicCfg 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.CobotMagicCfg method) build_policy() (in module embodichain.agents.rl.models), [1] build_reduced_pinocchio_robot() (in module embodichain.lab.sim.utility.solver_utils)

C

calculate_md5() (embodichain.data.dataset.EmbodiChainDataset method) callable_to_string() (in module embodichain.utils.string) Camera (class in embodichain.lab.sim.sensors) CameraCfg (class in embodichain.lab.sim.sensors) CameraCfg.ExtrinsicsCfg (class in embodichain.lab.sim.sensors) CameraCfg.OffsetCfg (class in embodichain.lab.sim.sensors) center_crop() (in module embodichain.utils.utility) cfg (embodichain.lab.sim.common.BatchEntity attribute) change_nested_dict() (in module embodichain.utils.utility) check_shared_memory_exists() (in module embodichain.utils.utility) check_truncated() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] check_zip() (embodichain.data.dataset.EmbodiChainDataset method) ChunkSizeSampler (class in embodichain.agents.datasets) class_to_dict() (in module embodichain.utils.configclass) (in module embodichain.utils.utility) class_type (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.solvers.SolverCfg attribute) clean_materials() (embodichain.lab.sim.SimulationManager method) clear_dynamics() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) cli() (in module embodichain.agents.rl.train), [1] clip_coef (embodichain.agents.rl.algo.GRPOCfg attribute), [1] (embodichain.agents.rl.algo.PPOCfg attribute), [1] CLOSE (embodichain.data.enum.EefExecute attribute) close() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] close_gripper() (in module embodichain.lab.sim.atom_actions) close_window() (embodichain.lab.sim.SimulationManager method) ClothObjectCfg (class in embodichain.lab.sim.cfg) ClothPhysicalAttributesCfg (class in embodichain.lab.sim.cfg) cmd_download() (in module embodichain.data.download) cmd_list() (in module embodichain.data.download) CobotMagicCfg (class in embodichain.lab.sim.robots) CobotMagicCfg.SolverCfg (class in embodichain.lab.sim.robots) collate_fn() (embodichain.agents.datasets.OnlineDataset static method) collect() (embodichain.agents.rl.collector.BaseCollector method), [1] (embodichain.agents.rl.collector.SyncCollector method), [1] collision_mesh_simplification (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) collision_threshold (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg attribute) color (embodichain.lab.sim.cfg.LightCfg attribute) com_pose (embodichain.lab.sim.objects.RigidBodyData property) combined_function() (in module embodichain.utils.configclass) component_order_and_prefix (embodichain.toolkits.urdf_assembly.URDFAssemblyManager property) component_prefix (embodichain.lab.sim.cfg.URDFCfg attribute) (embodichain.toolkits.urdf_assembly.URDFAssemblyManager property) components (embodichain.lab.sim.cfg.URDFCfg attribute) compute() (embodichain.lab.gym.envs.managers.ObservationManager method) compute_batch_fk() (embodichain.lab.sim.objects.Robot method) compute_batch_ik() (embodichain.lab.sim.objects.Robot method) compute_exteroception (class in embodichain.lab.gym.envs.managers.observations) compute_fk() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) compute_gae() (in module embodichain.agents.rl.algo), [1] compute_ik() (embodichain.lab.sim.objects.Robot method) compute_jacobian() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot 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_semantic_mask() (in module embodichain.lab.gym.envs.managers.observations) compute_task_state() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] compute_uv (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.CobotMagicCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) configclass() (in module embodichain.utils.configclass) contact_offset (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) control_part (embodichain.lab.sim.atomic_actions.ActionCfg attribute) (embodichain.lab.sim.atomic_actions.MoveActionCfg attribute) (embodichain.lab.sim.atomic_actions.PickUpActionCfg attribute) (embodichain.lab.sim.atomic_actions.PlaceActionCfg 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.CobotMagicCfg attribute) ControlParts (class in embodichain.data.enum) convert_bytes() (in module embodichain.utils.utility) convert_camera_frame_orientation_convention() (in module embodichain.utils.math) convert_policy_action_to_env_action() (embodichain.lab.gym.envs.managers.ActionManager method) convert_quat() (in module embodichain.utils.math) ConvexCollisionChecker (class in embodichain.toolkits.graspkit.pg_grasp) ConvexCollisionCheckerCfg (class in embodichain.toolkits.graspkit.pg_grasp) copy() (embodichain.agents.engine.OnlineDataEngineCfg method) (embodichain.agents.rl.algo.GRPOCfg method), [1] (embodichain.agents.rl.algo.PPOCfg method), [1] (embodichain.agents.rl.utils.AlgorithmCfg method) (embodichain.agents.rl.utils.config.AlgorithmCfg 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.EventCfg method) (embodichain.lab.gym.envs.managers.FunctorCfg method) (embodichain.lab.gym.envs.managers.ObservationCfg method) (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.sim.material.VisualMaterialCfg method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg method) (embodichain.toolkits.graspkit.pg_grasp.GraspGeneratorCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method) corner_type (embodichain.lab.sim.cfg.MarkerCfg attribute) cpu_num (embodichain.lab.sim.SimulationManagerCfg attribute) create_cube() (in module embodichain.lab.sim.utility.sim_utils) create_demo_action_list() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] create_gizmo_callback() (in module embodichain.lab.sim.utility.gizmo_utils) create_instance() (embodichain.lab.sim.material.VisualMaterial method) create_pk_chain() (in module embodichain.lab.sim.utility.solver_utils) create_pk_serial_chain() (in module embodichain.lab.sim.utility.solver_utils) create_rotation_matrix_from_view() (in module embodichain.utils.math) create_sphere() (in module embodichain.lab.sim.utility.sim_utils) create_video_writer() (in module embodichain.utils.utility) create_visual_material() (embodichain.lab.sim.SimulationManager method) CubeCfg (class in embodichain.lab.sim.shapes) custom_config (embodichain.lab.sim.atomic_actions.Affordance attribute) (embodichain.lab.sim.atomic_actions.InteractionPoints attribute) custom_post_init() (in module embodichain.utils.configclass)

D

damp (embodichain.lab.sim.solvers.PytorchSolverCfg attribute) damping (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) dataset (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] debug (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg attribute) decorate_str_color() (in module embodichain.utils.logger) DeltaQposTerm (class in embodichain.lab.gym.envs.managers) density (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) destroy() (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.objects.Articulation 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.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) (embodichain.lab.sim.SimulationManager method) Device (class in embodichain.lab.devices) device (embodichain.agents.engine.OnlineDataEngine attribute) (embodichain.agents.rl.algo.BaseAlgorithm attribute), [1] (embodichain.agents.rl.algo.GRPOCfg attribute), [1] (embodichain.agents.rl.algo.PPOCfg attribute), [1] (embodichain.agents.rl.models.Policy attribute), [1] (embodichain.agents.rl.utils.AlgorithmCfg attribute) (embodichain.agents.rl.utils.config.AlgorithmCfg attribute) (embodichain.lab.gym.envs.BaseEnv property), [1] (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.DeltaQposTerm property) (embodichain.lab.gym.envs.managers.EefPoseTerm property) (embodichain.lab.gym.envs.managers.EventManager property) (embodichain.lab.gym.envs.managers.Functor property) (embodichain.lab.gym.envs.managers.ManagerBase property) (embodichain.lab.gym.envs.managers.ObservationManager property) (embodichain.lab.gym.envs.managers.QfTerm property) (embodichain.lab.gym.envs.managers.QposDenormalizedTerm property) (embodichain.lab.gym.envs.managers.QposTerm property) (embodichain.lab.gym.envs.managers.QvelTerm property) (embodichain.lab.sim.common.BatchEntity attribute)

Device (in module embodichain.lab.sim.types) DeviceController (class in embodichain.lab.devices) DEXTROUSHAND (embodichain.data.enum.EndEffector attribute) dict2args() (in module embodichain.utils.utility) dict_to_tensordict() (in module embodichain.agents.rl.utils) (in module embodichain.agents.rl.utils.helper) DifferentialSolver (class in embodichain.lab.sim.solvers) DifferentialSolverCfg (class in embodichain.lab.sim.solvers) disable_gizmo() (embodichain.lab.sim.SimulationManager method) disable_self_collision (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.CobotMagicCfg attribute) DISTANCE (embodichain.lab.sim.planners.TrajectorySampleMethod attribute) do_process_decorator() (in module embodichain.utils.utility) dof (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) DONE (embodichain.data.enum.LeRobotKey attribute) download_asset() (in module embodichain.data.download) 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.SimulationManager method) drive() (in module embodichain.lab.sim.atom_actions) drive_pros (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.CobotMagicCfg attribute) drive_type (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) drop_rigid_object_group_sequentially() (in module embodichain.lab.gym.envs.managers.events) dt (embodichain.lab.sim.planners.PlanResult attribute) (embodichain.lab.sim.solvers.PytorchSolverCfg attribute) duration (embodichain.lab.sim.planners.PlanResult attribute) dynamic_friction (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute)

E

EEF (embodichain.data.enum.Hints attribute) EEF_MOVE (embodichain.lab.sim.planners.MoveType attribute), [1] EefExecute (class in embodichain.data.enum) EefPoseTerm (class in embodichain.lab.gym.envs.managers) EefType (class in embodichain.data.enum) elasticity_damping (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) embodichain.agents module embodichain.agents.datasets module embodichain.agents.engine module embodichain.agents.rl module, [1] embodichain.agents.rl.algo module, [1], [2] embodichain.agents.rl.buffer module, [1] embodichain.agents.rl.buffer.standard_buffer module embodichain.agents.rl.buffer.utils module embodichain.agents.rl.collector module, [1] embodichain.agents.rl.models module, [1], [2] embodichain.agents.rl.train module, [1], [2] embodichain.agents.rl.utils module, [1] embodichain.agents.rl.utils.config module embodichain.agents.rl.utils.helper module embodichain.agents.rl.utils.trainer module embodichain.data module embodichain.data.constants module embodichain.data.dataset module embodichain.data.download module embodichain.data.enum 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.events module embodichain.lab.gym.envs.managers.observations module embodichain.lab.gym.envs.managers.randomization 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.utils module embodichain.lab.gym.utils.gym_utils module, [1] embodichain.lab.gym.utils.misc module, [1] embodichain.lab.gym.utils.registration module embodichain.lab.sim module embodichain.lab.sim.atom_actions module embodichain.lab.sim.atomic_actions module embodichain.lab.sim.cfg module, [1] embodichain.lab.sim.common module, [1] embodichain.lab.sim.material module, [1] embodichain.lab.sim.objects module embodichain.lab.sim.planners module embodichain.lab.sim.robots module, [1] embodichain.lab.sim.sensors module embodichain.lab.sim.shapes module, [1] embodichain.lab.sim.sim_manager module embodichain.lab.sim.solvers 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.gizmo_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.toolkits module embodichain.toolkits.urdf_assembly module embodichain.utils module embodichain.utils.configclass module embodichain.utils.file module embodichain.utils.logger module embodichain.utils.math module embodichain.utils.module_utils module embodichain.utils.string module embodichain.utils.utility module embodichain.utils.visualizer module embodichain.utils.warp module embodichain.utils.warp.kernels module, [1] embodichain.utils.warp.kinematics module, [1] embodichain.utils.warp.kinematics.opw_solver module, [1] embodichain.utils.warp.kinematics.warp_trajectory module, [1] EmbodiChainDataset (class in embodichain.data.dataset) 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] emissive (embodichain.lab.sim.material.VisualMaterialCfg attribute) emissive_intensity (embodichain.lab.sim.material.VisualMaterialCfg attribute) enable_ccd (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.PhysicsCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) enable_collision (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) enable_collision() (embodichain.lab.sim.objects.RigidObject method) enable_denoiser (embodichain.lab.sim.cfg.RenderCfg attribute) enable_enhanced_determinism (embodichain.lab.sim.cfg.PhysicsCfg attribute) enable_friction_every_iteration (embodichain.lab.sim.cfg.PhysicsCfg attribute) enable_gizmo() (embodichain.lab.sim.SimulationManager method) enable_hotkey (embodichain.lab.sim.cfg.WindowRecordCfg attribute) enable_kinematic (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) enable_pcm (embodichain.lab.sim.cfg.PhysicsCfg attribute) enable_physics() (embodichain.lab.sim.SimulationManager method) enable_self_collision (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) enable_tgs (embodichain.lab.sim.cfg.PhysicsCfg attribute) enable_window_record_hotkey() (embodichain.lab.sim.SimulationManager method) encode_image() (in module embodichain.utils.utility) encode_image_from_path() (in module embodichain.utils.utility) end_link_name (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.solvers.SolverCfg attribute) EndEffector (class in embodichain.data.enum) ent_coef (embodichain.agents.rl.algo.GRPOCfg attribute), [1] (embodichain.agents.rl.algo.PPOCfg attribute), [1] entity (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) EnvAction (in module embodichain.lab.sim.types) EnvCfg (class in embodichain.lab.gym.envs), [1] EnvObs (in module embodichain.lab.sim.types) EnvSpec (class in embodichain.lab.gym.utils.registration), [1] eps (embodichain.agents.rl.algo.GRPOCfg attribute), [1] estimate_trajectory_sample_count() (embodichain.lab.sim.planners.MotionGenerator method) evaluate() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] evaluate_actions() (embodichain.agents.rl.models.ActorCritic method), [1] (embodichain.agents.rl.models.ActorOnly method), [1] (embodichain.agents.rl.models.Policy method), [1] EventCfg (class in embodichain.lab.gym.envs.managers) EventManager (class in embodichain.lab.gym.envs.managers) events (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] execute() (embodichain.lab.sim.atomic_actions.AtomicAction method) (embodichain.lab.sim.atomic_actions.MoveAction method) (embodichain.lab.sim.atomic_actions.PickUpAction method) (embodichain.lab.sim.atomic_actions.PlaceAction method) execute_static() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) expand_pose() (embodichain.lab.gym.envs.managers.observations.compute_exteroception static method) export_articulation_mesh() (in module embodichain.lab.sim.utility.mesh_utils) export_usd() (embodichain.lab.sim.SimulationManager method) ext (embodichain.lab.sim.cfg.RigidObjectGroupCfg attribute) (embodichain.lab.sim.objects.RigidObjectGroupCfg attribute) extensions (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] extra (embodichain.lab.gym.envs.managers.ActionTermCfg attribute) (embodichain.lab.gym.envs.managers.EventCfg attribute) (embodichain.lab.gym.envs.managers.FunctorCfg attribute) (embodichain.lab.gym.envs.managers.ObservationCfg 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)

F

filter_dataset_saving (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] filter_visual_rand (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] finalize_actions() (in module embodichain.lab.sim.utility.atom_action_utils) 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.EventManager method) (embodichain.lab.gym.envs.managers.ManagerBase method) (embodichain.lab.gym.envs.managers.ObservationManager method) find_nearest_valid_pose() (in module embodichain.lab.sim.utility.atom_action_utils) finger_length (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) fix_base (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.CobotMagicCfg attribute) flatten_dict_observation() (in module embodichain.agents.rl.utils) (in module embodichain.agents.rl.utils.helper) flattened_observation_space (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnv property), [1] flush_cleanup_queue() (embodichain.lab.sim.SimulationManager static method) fname (embodichain.lab.sim.cfg.URDFCfg attribute) folder_path (embodichain.lab.sim.cfg.RigidObjectGroupCfg attribute) (embodichain.lab.sim.objects.RigidObjectGroupCfg attribute) FOREGROUND (embodichain.data.enum.SemanticMask attribute), [1] format() (embodichain.utils.visualizer.Gantt method) format_message() (in module embodichain.utils.logger) forward() (embodichain.agents.rl.models.ActorCritic method), [1] (embodichain.agents.rl.models.ActorOnly method), [1] (embodichain.agents.rl.models.Policy method), [1] found_lost_aggregate_pairs_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) found_lost_pairs_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) fpath (embodichain.lab.sim.cfg.ArticulationCfg 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.CobotMagicCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute)

fpath_prefix (embodichain.lab.sim.cfg.URDFCfg attribute) fps (embodichain.lab.sim.cfg.WindowRecordCfg attribute) friction (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) from_dict() (embodichain.lab.sim.cfg.ArticulationCfg class method) (embodichain.lab.sim.cfg.JointDrivePropertiesCfg class method) (embodichain.lab.sim.cfg.LinkPhysicsOverrideCfg class method) (embodichain.lab.sim.cfg.ObjectBaseCfg class method) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg class method) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg 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.URDFCfg class method) (embodichain.lab.sim.material.VisualMaterialCfg 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.CobotMagicCfg class method) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg class method) (embodichain.lab.sim.sensors.CameraCfg 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.ShapeCfg class method) (embodichain.lab.sim.solvers.SolverCfg class method) from_str() (embodichain.lab.sim.planners.TrajectorySampleMethod class method) func (embodichain.lab.gym.envs.managers.ActionTermCfg attribute) (embodichain.lab.gym.envs.managers.EventCfg attribute) (embodichain.lab.gym.envs.managers.FunctorCfg attribute) (embodichain.lab.gym.envs.managers.ObservationCfg attribute) Functor (class in embodichain.lab.gym.envs.managers) FunctorCfg (class in embodichain.lab.gym.envs.managers)

G

gae_lambda (embodichain.agents.rl.algo.GRPOCfg attribute), [1] (embodichain.agents.rl.algo.PPOCfg attribute), [1] (embodichain.agents.rl.utils.AlgorithmCfg attribute) (embodichain.agents.rl.utils.config.AlgorithmCfg attribute) gamma (embodichain.agents.rl.algo.GRPOCfg attribute), [1] (embodichain.agents.rl.algo.PPOCfg attribute), [1] (embodichain.agents.rl.utils.AlgorithmCfg attribute) (embodichain.agents.rl.utils.config.AlgorithmCfg attribute) Gantt (class in embodichain.utils.visualizer) gen_random_base_color_texture() (embodichain.lab.gym.envs.managers.randomization.visual.randomize_visual_material static method) generate() (embodichain.lab.sim.planners.MotionGenerator method) (embodichain.toolkits.graspkit.pg_grasp.GraspGenerator 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) geometry (embodichain.lab.sim.atomic_actions.Affordance attribute) (embodichain.lab.sim.atomic_actions.InteractionPoints attribute) (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) get() (embodichain.agents.rl.buffer.RolloutBuffer method) (embodichain.agents.rl.buffer.standard_buffer.RolloutBuffer method) get_action() (embodichain.agents.rl.models.Policy method), [1] (embodichain.lab.devices.DeviceController method) get_action_dim_by_mode() (embodichain.lab.gym.envs.managers.ActionManager method) get_active_iterable_functors() (embodichain.lab.gym.envs.managers.ActionManager method) (embodichain.lab.gym.envs.managers.EventManager method) (embodichain.lab.gym.envs.managers.ManagerBase method) (embodichain.lab.gym.envs.managers.ObservationManager method) get_affordance() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] 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.solvers.PytorchSolver method) get_all_functions_from_module() (in module embodichain.utils.module_utils) get_approach_direction() (embodichain.lab.sim.atomic_actions.InteractionPoints method) get_arena_pose() (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) get_arm_states() (in module embodichain.lab.sim.utility.atom_action_utils) get_articulation() (embodichain.lab.sim.SimulationManager method) get_articulation_joint_drive (class in embodichain.lab.gym.envs.managers.observations) get_articulation_uid_list() (embodichain.lab.sim.SimulationManager method) get_asset() (embodichain.lab.sim.SimulationManager method) get_attached_sensors() (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) get_batch_size() (embodichain.lab.sim.atomic_actions.Affordance method) (embodichain.lab.sim.atomic_actions.InteractionPoints method) get_body_scale() (embodichain.lab.sim.objects.RigidObject method) get_class_instance() (in module embodichain.utils.utility) get_cloth_object() (embodichain.lab.sim.SimulationManager method) get_cloth_object_uid_list() (embodichain.lab.sim.SimulationManager 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_controller_state() (embodichain.lab.devices.Device method) get_custom_config() (embodichain.lab.sim.atomic_actions.Affordance 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.StereoCamera method) get_data_class() (in module embodichain.data.dataset) get_data_path() (in module embodichain.data.dataset) get_data_types() (embodichain.lab.sim.sensors.CameraCfg method) (embodichain.lab.sim.sensors.SensorCfg method) (embodichain.lab.sim.sensors.StereoCameraCfg method) get_default_instance() (embodichain.lab.sim.material.VisualMaterial method) 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_env() (embodichain.lab.sim.SimulationManager method) get_fk() (embodichain.lab.sim.solvers.BaseSolver method) (embodichain.lab.sim.solvers.DifferentialSolver method) (embodichain.lab.sim.solvers.OPWSolver method) (embodichain.lab.sim.solvers.PinkSolver method) (embodichain.lab.sim.solvers.PinocchioSolver method) (embodichain.lab.sim.solvers.PytorchSolver method) get_fk_warp() (embodichain.lab.sim.solvers.OPWSolver method) get_friction() (embodichain.lab.sim.objects.RigidObject method) get_func_tag() (in module embodichain.utils.utility) get_functor() (embodichain.lab.gym.envs.managers.EventManager method) get_functor_cfg() (embodichain.lab.gym.envs.managers.EventManager method) (embodichain.lab.gym.envs.managers.ObservationManager method) get_gizmo() (embodichain.lab.sim.SimulationManager method) get_grasp_poses() (embodichain.toolkits.graspkit.pg_grasp.GraspGenerator method) get_ik() (embodichain.lab.sim.solvers.BaseSolver method) (embodichain.lab.sim.solvers.DifferentialSolver method) (embodichain.lab.sim.solvers.OPWSolver method) (embodichain.lab.sim.solvers.PinkSolver method) (embodichain.lab.sim.solvers.PinocchioSolver method) (embodichain.lab.sim.solvers.PytorchSolver method) get_ik_nearest_weight() (embodichain.lab.sim.solvers.BaseSolver method) (embodichain.lab.sim.solvers.DifferentialSolver method) (embodichain.lab.sim.solvers.OPWSolver method) (embodichain.lab.sim.solvers.PinkSolver method) (embodichain.lab.sim.solvers.PinocchioSolver method) (embodichain.lab.sim.solvers.PytorchSolver method) get_ik_warp() (embodichain.lab.sim.solvers.OPWSolver method) get_inertia() (embodichain.lab.sim.objects.RigidObject method) get_info() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] get_instance() (embodichain.lab.sim.material.VisualMaterial method) (embodichain.lab.sim.SimulationManager class method) get_instance_num() (embodichain.lab.sim.SimulationManager class method) get_intrinsics() (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) get_iteration_params() (embodichain.lab.sim.solvers.PinocchioSolver method) (embodichain.lab.sim.solvers.PytorchSolver method) get_jacobian() (embodichain.lab.sim.solvers.BaseSolver method) (embodichain.lab.sim.solvers.DifferentialSolver method) (embodichain.lab.sim.solvers.OPWSolver method) (embodichain.lab.sim.solvers.PinkSolver method) (embodichain.lab.sim.solvers.PinocchioSolver method) (embodichain.lab.sim.solvers.PytorchSolver method) get_joint_drive() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_joint_ids() (embodichain.lab.sim.objects.Robot method) get_left_right_arena_pose() (embodichain.lab.sim.sensors.StereoCamera method) get_light() (embodichain.lab.sim.SimulationManager method) get_light_uid_list() (embodichain.lab.sim.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_vert_face() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_local_pose() (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.objects.Articulation 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.sensors.Camera 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.Robot method) get_mesh_md5() (in module embodichain.utils.utility) 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_uid() (in module embodichain.lab.gym.envs.managers.observations) get_obs() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] get_offset_pose() (in module embodichain.utils.math) get_points_by_type() (embodichain.lab.sim.atomic_actions.InteractionPoints method) get_policy_class() (in module embodichain.agents.rl.models), [1] get_proprioception() (embodichain.lab.sim.objects.Robot method) get_qf() (embodichain.lab.sim.objects.Robot method) get_qf_limits() (embodichain.lab.sim.objects.Robot method) get_qpos() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) (in module embodichain.lab.sim.utility.atom_action_utils) get_qpos_limits() (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.solvers.BaseSolver method) (embodichain.lab.sim.solvers.DifferentialSolver method) (embodichain.lab.sim.solvers.OPWSolver method) (embodichain.lab.sim.solvers.PinkSolver method) (embodichain.lab.sim.solvers.PinocchioSolver method) (embodichain.lab.sim.solvers.PytorchSolver method) get_qvel() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_qvel_limits() (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_registered_actions() (in module embodichain.lab.sim.atomic_actions) get_registered_algo_names() (in module embodichain.agents.rl.algo), [1] get_registered_policy_names() (in module embodichain.agents.rl.models), [1] get_registry() (in module embodichain.data.download) get_reward() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] get_right_name() (in module embodichain.utils.utility) get_rigid_object() (embodichain.lab.sim.SimulationManager method) get_rigid_object_group() (embodichain.lab.sim.SimulationManager method) get_rigid_object_group_uid_list() (embodichain.lab.sim.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.SimulationManager method) get_rigid_object_velocity() (in module embodichain.lab.gym.envs.managers.observations) get_robot() (embodichain.lab.sim.SimulationManager method) get_robot_eef_pose() (in module embodichain.lab.gym.envs.managers.observations) get_robot_uid_list() (embodichain.lab.sim.SimulationManager method) get_semantic_analyzer() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) get_sensor() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.lab.sim.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.SimulationManager method) get_soft_object() (embodichain.lab.sim.SimulationManager method) get_soft_object_uid_list() (embodichain.lab.sim.SimulationManager method) get_solver() (embodichain.lab.sim.objects.Robot method) get_summary() (embodichain.agents.rl.utils.trainer.Trainer method) get_tcp() (embodichain.lab.sim.solvers.BaseSolver method) (embodichain.lab.sim.solvers.DifferentialSolver method) (embodichain.lab.sim.solvers.OPWSolver method) (embodichain.lab.sim.solvers.PinkSolver method) (embodichain.lab.sim.solvers.PinocchioSolver method) (embodichain.lab.sim.solvers.PytorchSolver method) get_term() (embodichain.lab.gym.envs.managers.ActionManager method) get_terms_by_mode() (embodichain.lab.gym.envs.managers.ActionManager method) get_texture_cache() (embodichain.lab.sim.SimulationManager method) get_trajectory_object_offset_qpos() (in module embodichain.lab.sim.utility.action_utils) get_triangles() (embodichain.lab.sim.objects.RigidObject 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_value() (embodichain.agents.rl.models.ActorCritic method), [1] (embodichain.agents.rl.models.ActorOnly method), [1] (embodichain.agents.rl.models.Policy method), [1] get_vertices() (embodichain.lab.sim.objects.RigidObject method) get_view_attrib() (embodichain.lab.sim.sensors.CameraCfg method) (embodichain.lab.sim.sensors.StereoCameraCfg method) get_visual_material() (embodichain.lab.sim.SimulationManager method) get_visual_material_inst() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.Robot method) get_world() (embodichain.lab.sim.SimulationManager method) get_wrapper_attr() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] GMMChunkSampler (class in embodichain.agents.datasets) gpu_id (embodichain.lab.sim.SimulationManagerCfg attribute) gpu_memory_config (embodichain.lab.sim.SimulationManagerCfg attribute) GPUMemoryCfg (class in embodichain.lab.sim.cfg) grasp() (in module embodichain.lab.sim.atom_actions) GraspGenerator (class in embodichain.toolkits.graspkit.pg_grasp) GraspGeneratorCfg (class in embodichain.toolkits.graspkit.pg_grasp) gravity (embodichain.lab.sim.cfg.PhysicsCfg attribute) GRIPPER (embodichain.data.enum.EndEffector attribute) GripperCollisionCfg (class in embodichain.toolkits.graspkit.pg_grasp) GripperCollisionChecker (class in embodichain.toolkits.graspkit.pg_grasp) group_id (embodichain.lab.sim.sensors.Camera property) (embodichain.lab.sim.sensors.StereoCamera property) group_size (embodichain.agents.rl.algo.GRPOCfg attribute), [1] GRPO (class in embodichain.agents.rl.algo), [1] GRPOCfg (class in embodichain.agents.rl.algo), [1] gym_config (embodichain.agents.engine.OnlineDataEngineCfg attribute) gym_spec (embodichain.lab.gym.utils.registration.EnvSpec property), [1]

H

hand_close_qpos (embodichain.lab.sim.atomic_actions.PickUpActionCfg attribute) (embodichain.lab.sim.atomic_actions.PlaceActionCfg attribute) hand_control_part (embodichain.lab.sim.atomic_actions.PickUpActionCfg attribute) (embodichain.lab.sim.atomic_actions.PlaceActionCfg attribute) hand_interp_steps (embodichain.lab.sim.atomic_actions.PickUpActionCfg attribute) (embodichain.lab.sim.atomic_actions.PlaceActionCfg attribute) hand_open_qpos (embodichain.lab.sim.atomic_actions.PickUpActionCfg attribute) (embodichain.lab.sim.atomic_actions.PlaceActionCfg attribute) has_gizmo() (embodichain.lab.sim.SimulationManager method) has_gravity (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute)

has_non_static_rigid_object() (embodichain.lab.sim.SimulationManager method) has_sensors (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnv property), [1] has_wrapper_attr() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] HEAD (embodichain.data.enum.ControlParts attribute) headless (embodichain.lab.sim.SimulationManagerCfg attribute) heap_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) HeatMapEnv (class in embodichain.utils.visualizer) height (embodichain.lab.sim.SimulationManagerCfg attribute) Hints (class in embodichain.data.enum)

I

ignore_terminations (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] ik_nearest_weight (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.solvers.SolverCfg attribute) INFO (embodichain.data.enum.LeRobotKey attribute) init_gpu_physics() (embodichain.lab.sim.SimulationManager method) init_local_pose (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.ClothObjectCfg 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.SoftObjectCfg 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.CobotMagicCfg attribute) (embodichain.lab.sim.sensors.CameraCfg attribute) (embodichain.lab.sim.sensors.SensorCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg attribute) init_orthogonal() (embodichain.agents.rl.models.MLP method), [1] init_pos (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.ClothObjectCfg 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.SoftObjectCfg 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.CobotMagicCfg attribute) (embodichain.lab.sim.sensors.CameraCfg 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.CobotMagicCfg attribute) init_rollout_buffer (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] init_rot (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.ClothObjectCfg 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.SoftObjectCfg 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.CobotMagicCfg attribute) (embodichain.lab.sim.sensors.CameraCfg 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.objects.Robot method) (embodichain.lab.sim.solvers.DifferentialSolverCfg method) (embodichain.lab.sim.solvers.OPWSolverCfg method) (embodichain.lab.sim.solvers.PinkSolverCfg method) (embodichain.lab.sim.solvers.PinocchioSolverCfg method) (embodichain.lab.sim.solvers.PytorchSolverCfg method) input_key (embodichain.lab.gym.envs.managers.ActionTerm property) (embodichain.lab.gym.envs.managers.DeltaQposTerm property) (embodichain.lab.gym.envs.managers.EefPoseTerm property) (embodichain.lab.gym.envs.managers.QfTerm property) (embodichain.lab.gym.envs.managers.QposDenormalizedTerm property) (embodichain.lab.gym.envs.managers.QposTerm property) (embodichain.lab.gym.envs.managers.QvelTerm property) inst (embodichain.lab.sim.material.VisualMaterial property) intensity (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) InteractionPoints (class in embodichain.lab.sim.atomic_actions) interpolate_poses() (in module embodichain.utils.math) interpolate_rotations() (in module embodichain.utils.math) interpolate_trajectory() (embodichain.lab.sim.planners.MotionGenerator method) interpolate_with_distance() (in module embodichain.lab.sim.utility.action_utils) interpolate_with_nums() (in module embodichain.lab.sim.utility.action_utils) interpolation_type (embodichain.lab.sim.atomic_actions.ActionCfg attribute) (embodichain.lab.sim.atomic_actions.MoveActionCfg attribute) (embodichain.lab.sim.atomic_actions.PickUpActionCfg attribute) (embodichain.lab.sim.atomic_actions.PlaceActionCfg attribute) interval_step (embodichain.lab.gym.envs.managers.EventCfg attribute) inv_transform() (in module embodichain.utils.utility) ior (embodichain.lab.sim.material.VisualMaterialCfg attribute) is_attached (embodichain.lab.sim.sensors.Camera property) (embodichain.lab.sim.sensors.StereoCamera property) is_configclass() (in module embodichain.utils.configclass) is_filter_ground_collision (embodichain.toolkits.graspkit.pg_grasp.GraspGeneratorCfg attribute) is_full() (embodichain.agents.rl.buffer.RolloutBuffer method) (embodichain.agents.rl.buffer.standard_buffer.RolloutBuffer method) is_global (embodichain.lab.gym.envs.managers.EventCfg attribute) is_identity_pose() (in module embodichain.utils.math) is_init (embodichain.agents.engine.OnlineDataEngine attribute) (embodichain.agents.engine.OnlineDataEngine property) is_instantiated() (embodichain.lab.sim.SimulationManager class method) is_lambda_expression() (in module embodichain.utils.string) is_non_dynamic (embodichain.lab.sim.objects.RigidObject property) (embodichain.lab.sim.objects.RigidObjectGroup property) is_only_position_constraint (embodichain.lab.sim.solvers.PytorchSolverCfg attribute) is_open (embodichain.lab.sim.planners.PlanState attribute) is_partial_annotate (embodichain.toolkits.graspkit.pg_grasp.GraspGeneratorCfg attribute) is_physics_manually_update (embodichain.lab.sim.SimulationManager property) is_regular_expression() (in module embodichain.utils.string) is_rt_enabled() (in module embodichain.lab.sim.utility.sim_utils) is_satisfied_constraint() (embodichain.lab.sim.planners.BasePlanner method) (embodichain.lab.sim.planners.ToppraPlanner method) is_static (embodichain.lab.sim.objects.RigidObject property) is_task_success() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] is_use_gpu_physics (embodichain.lab.sim.SimulationManager property) is_window_recording() (embodichain.lab.sim.SimulationManager method) is_world_coordinate (embodichain.lab.sim.planners.PlanState attribute) iterate_minibatches() (in module embodichain.agents.rl.buffer) (in module embodichain.agents.rl.buffer.utils)

J

joint_armature (embodichain.lab.sim.objects.ArticulationData property) joint_damping (embodichain.lab.sim.objects.ArticulationData property) joint_friction (embodichain.lab.sim.objects.ArticulationData property) joint_ids (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) JOINT_MOVE (embodichain.lab.sim.planners.MoveType attribute), [1] joint_names (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.solvers.SolverCfg attribute)

joint_stiffness (embodichain.lab.sim.objects.ArticulationData property) JointDrivePropertiesCfg (class in embodichain.lab.sim.cfg) JointType (class in embodichain.data.enum)

K

key_in_nested_dict() (in module embodichain.utils.utility)

kl_coef (embodichain.agents.rl.algo.GRPOCfg attribute), [1]

L

label (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) 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.agents.rl.algo.GRPOCfg attribute), [1] (embodichain.agents.rl.algo.PPOCfg attribute), [1] (embodichain.agents.rl.utils.AlgorithmCfg attribute) (embodichain.agents.rl.utils.config.AlgorithmCfg attribute) LEFT (embodichain.lab.sim.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) length_tolerance (embodichain.lab.sim.cfg.PhysicsCfg attribute) LeRobotKey (class in embodichain.data.enum) lift_height (embodichain.lab.sim.atomic_actions.PickUpActionCfg attribute) (embodichain.lab.sim.atomic_actions.PlaceActionCfg attribute) Light (class in embodichain.lab.sim.objects) light_type (embodichain.lab.sim.cfg.LightCfg attribute) LightCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) line_color (embodichain.lab.sim.cfg.MarkerCfg attribute) linear_damping (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg 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.CobotMagicCfg attribute) link_attrs_from_dict() (in module embodichain.lab.sim.cfg) link_names (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) link_names_expr (embodichain.lab.sim.cfg.LinkPhysicsOverrideCfg attribute) link_vert_face (embodichain.lab.sim.objects.ArticulationData property) LinkPhysicsOverrideCfg (class in embodichain.lab.sim.cfg) list_gizmos() (embodichain.lab.sim.SimulationManager method) load_config() (in module embodichain.utils.utility) load_json() (in module embodichain.utils.utility) load_mesh_objects_from_cfg() (in module embodichain.lab.sim.utility.sim_utils) load_option (embodichain.lab.sim.shapes.MeshCfg attribute) load_pkl() (in module embodichain.utils.utility) load_txt() (in module embodichain.utils.utility) LoadOption (class in embodichain.lab.sim.shapes) log_debug() (in module embodichain.utils.logger) log_error() (in module embodichain.utils.logger) log_info() (in module embodichain.utils.logger) log_warning() (in module embodichain.utils.logger) look_at() (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) look_at_to_pose() (in module embodichain.utils.math)

M

main() (in module embodichain.data.download) make() (in module embodichain.lab.gym.utils.registration), [1] make_pose() (in module embodichain.utils.math) ManagerBase (class in embodichain.lab.gym.envs.managers) marker_type (embodichain.lab.sim.cfg.MarkerCfg attribute) MarkerCfg (class in embodichain.lab.sim.cfg) mask_to_box() (in module embodichain.utils.utility) mass (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) mat (embodichain.lab.sim.material.VisualMaterial property) (embodichain.lab.sim.material.VisualMaterialInst property) MAT_TYPE_MAPPING (embodichain.lab.sim.material.VisualMaterial attribute) material_model (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) material_type (embodichain.lab.sim.material.VisualMaterialCfg attribute) matrix_from_euler() (in module embodichain.utils.math) max_angle (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg attribute) max_angular_velocity (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) max_convex_hull_num (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) max_decomposition_hulls (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) max_depenetration_velocity (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) max_deviation_angle (embodichain.toolkits.graspkit.pg_grasp.GraspGeneratorCfg attribute) max_effort (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) max_episode_steps (embodichain.agents.engine.OnlineDataEngineCfg attribute) (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] max_grad_norm (embodichain.agents.rl.algo.GRPOCfg attribute), [1] (embodichain.agents.rl.algo.PPOCfg attribute), [1] (embodichain.agents.rl.utils.AlgorithmCfg attribute) (embodichain.agents.rl.utils.config.AlgorithmCfg attribute) max_iterations (embodichain.lab.sim.solvers.PytorchSolverCfg attribute) max_length (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg attribute) max_linear_velocity (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) max_memory (embodichain.lab.sim.cfg.WindowRecordCfg 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_rigid_contact_count (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) max_rigid_patch_count (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) max_velocity (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) maximal_edge_length (embodichain.lab.sim.cfg.SoftbodyVoxelAttributesCfg attribute) merge_robot_cfg() (in module embodichain.lab.sim.utility.cfg_utils) merge_solver_cfg() (in module embodichain.lab.sim.utility.cfg_utils) merge_urdfs() (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) merge_with() (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg method) mesh_triangles (embodichain.lab.sim.atomic_actions.Affordance property) mesh_vertices (embodichain.lab.sim.atomic_actions.Affordance property) MeshCfg (class in embodichain.lab.sim.shapes) metallic (embodichain.lab.sim.material.VisualMaterialCfg attribute) metallic_texture (embodichain.lab.sim.material.VisualMaterialCfg 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_length (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg attribute) min_position_iters (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) min_velocity_iters (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) MLP (class in embodichain.agents.rl.models), [1] mode (embodichain.lab.gym.envs.managers.ActionTermCfg attribute) (embodichain.lab.gym.envs.managers.EventCfg attribute) (embodichain.lab.gym.envs.managers.ObservationCfg attribute)

module embodichain.agents embodichain.agents.datasets embodichain.agents.engine embodichain.agents.rl, [1] embodichain.agents.rl.algo, [1], [2] embodichain.agents.rl.buffer, [1] embodichain.agents.rl.buffer.standard_buffer embodichain.agents.rl.buffer.utils embodichain.agents.rl.collector, [1] embodichain.agents.rl.models, [1], [2] embodichain.agents.rl.train, [1], [2] embodichain.agents.rl.utils, [1] embodichain.agents.rl.utils.config embodichain.agents.rl.utils.helper embodichain.agents.rl.utils.trainer embodichain.data embodichain.data.constants embodichain.data.dataset embodichain.data.download embodichain.data.enum embodichain.lab embodichain.lab.devices embodichain.lab.gym embodichain.lab.gym.envs embodichain.lab.gym.envs.managers embodichain.lab.gym.envs.managers.events embodichain.lab.gym.envs.managers.observations embodichain.lab.gym.envs.managers.randomization 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.utils embodichain.lab.gym.utils.gym_utils, [1] embodichain.lab.gym.utils.misc, [1] embodichain.lab.gym.utils.registration embodichain.lab.sim embodichain.lab.sim.atom_actions embodichain.lab.sim.atomic_actions embodichain.lab.sim.cfg, [1] embodichain.lab.sim.common, [1] embodichain.lab.sim.material, [1] embodichain.lab.sim.objects embodichain.lab.sim.planners embodichain.lab.sim.robots, [1] embodichain.lab.sim.sensors embodichain.lab.sim.shapes, [1] embodichain.lab.sim.sim_manager embodichain.lab.sim.solvers 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.gizmo_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.toolkits embodichain.toolkits.urdf_assembly embodichain.utils embodichain.utils.configclass embodichain.utils.file embodichain.utils.logger embodichain.utils.math embodichain.utils.module_utils embodichain.utils.string embodichain.utils.utility embodichain.utils.visualizer embodichain.utils.warp embodichain.utils.warp.kernels, [1] embodichain.utils.warp.kinematics, [1] embodichain.utils.warp.kinematics.opw_solver, [1] embodichain.utils.warp.kinematics.warp_trajectory, [1] MotionGenCfg (class in embodichain.lab.sim.planners) MotionGenerator (class in embodichain.lab.sim.planners) move_by_relative_offset() (in module embodichain.lab.sim.atom_actions) move_part (embodichain.lab.sim.planners.PlanState attribute) move_relative_to_object() (in module embodichain.lab.sim.atom_actions) move_to_absolute_position() (in module embodichain.lab.sim.atom_actions) move_type (embodichain.lab.sim.planners.PlanState attribute) MoveAction (class in embodichain.lab.sim.atomic_actions) MoveActionCfg (class in embodichain.lab.sim.atomic_actions) MovePart (class in embodichain.lab.sim.planners) MoveType (class in embodichain.lab.sim.planners)

N

n_epochs (embodichain.agents.rl.algo.GRPOCfg attribute), [1] (embodichain.agents.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.ObservationCfg attribute) (embodichain.lab.sim.atomic_actions.ActionCfg attribute) (embodichain.lab.sim.atomic_actions.MoveActionCfg attribute) (embodichain.lab.sim.atomic_actions.PickUpActionCfg attribute) (embodichain.lab.sim.atomic_actions.PlaceActionCfg attribute) (embodichain.lab.sim.cfg.MarkerCfg attribute) name_case (embodichain.lab.sim.cfg.URDFCfg attribute) (embodichain.toolkits.urdf_assembly.URDFAssemblyManager property) normal_texture (embodichain.lab.sim.material.VisualMaterialCfg attribute) normalize_robot_joint_data() (in module embodichain.lab.gym.envs.managers.observations) normals (embodichain.lab.sim.atomic_actions.InteractionPoints attribute) np_random (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnv property), [1] np_random_seed (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnv property), [1] num_envs (embodichain.lab.gym.envs.BaseEnv property), [1] (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.DeltaQposTerm property) (embodichain.lab.gym.envs.managers.EefPoseTerm property) (embodichain.lab.gym.envs.managers.EventManager property) (embodichain.lab.gym.envs.managers.Functor property) (embodichain.lab.gym.envs.managers.ManagerBase property) (embodichain.lab.gym.envs.managers.ObservationManager property) (embodichain.lab.gym.envs.managers.QfTerm property) (embodichain.lab.gym.envs.managers.QposDenormalizedTerm property) (embodichain.lab.gym.envs.managers.QposTerm property) (embodichain.lab.gym.envs.managers.QvelTerm property) (embodichain.lab.sim.SimulationManager property) (embodichain.lab.sim.SimulationManagerCfg attribute)

num_instances (embodichain.lab.sim.common.BatchEntity property) num_links (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) num_objects (embodichain.lab.sim.objects.RigidObjectGroup property) num_samples (embodichain.lab.sim.solvers.PytorchSolverCfg attribute)

O

object_label (embodichain.lab.sim.atomic_actions.Affordance attribute) ObjectBaseCfg (class in embodichain.lab.sim.cfg) ObjectSemantics (class in embodichain.lab.sim.atomic_actions) 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) ObservationCfg (class in embodichain.lab.gym.envs.managers) ObservationManager (class in embodichain.lab.gym.envs.managers) observations (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] OnlineDataEngine (class in embodichain.agents.engine) OnlineDataEngineCfg (class in embodichain.agents.engine) OnlineDataset (class in embodichain.agents.datasets) OPEN (embodichain.data.enum.EefExecute attribute) open_check_margin (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) open_gripper() (in module embodichain.lab.sim.atom_actions) open_window() (embodichain.lab.sim.SimulationManager method) OPWSolver (class in embodichain.lab.sim.solvers) OPWSolverCfg (class in embodichain.lab.sim.solvers) orient_eef() (in module embodichain.lab.sim.atom_actions)

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) params (embodichain.lab.gym.envs.managers.ActionTermCfg attribute) (embodichain.lab.gym.envs.managers.EventCfg attribute) (embodichain.lab.gym.envs.managers.FunctorCfg attribute) (embodichain.lab.gym.envs.managers.ObservationCfg attribute) parent (embodichain.lab.sim.sensors.CameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.CameraCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.SensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.OffsetCfg attribute) parse_args() (in module embodichain.agents.rl.train), [1] parser2dict() (in module embodichain.utils.utility) passthrough_collate_fn() (embodichain.agents.datasets.OnlineDataset static method) PAUSE (embodichain.lab.sim.planners.MoveType attribute), [1] pause_seconds (embodichain.lab.sim.planners.PlanState attribute) physical_attr (embodichain.lab.sim.cfg.ClothObjectCfg attribute) (embodichain.lab.sim.cfg.SoftObjectCfg attribute) physics_config (embodichain.lab.sim.SimulationManagerCfg attribute) physics_dt (embodichain.lab.sim.SimulationManagerCfg attribute) PhysicsCfg (class in embodichain.lab.sim.cfg) PickUpAction (class in embodichain.lab.sim.atomic_actions) PickUpActionCfg (class in embodichain.lab.sim.atomic_actions) PinkSolver (class in embodichain.lab.sim.solvers) PinkSolverCfg (class in embodichain.lab.sim.solvers) PinocchioSolver (class in embodichain.lab.sim.solvers) PinocchioSolverCfg (class in embodichain.lab.sim.solvers) place_on_table() (in module embodichain.lab.sim.atom_actions) PlaceAction (class in embodichain.lab.sim.atomic_actions) PlaceActionCfg (class in embodichain.lab.sim.atomic_actions) plan() (embodichain.lab.sim.planners.BasePlanner method) (embodichain.lab.sim.planners.ToppraPlanner method) plan_gripper_trajectory() (in module embodichain.lab.sim.utility.atom_action_utils) plan_trajectory() (embodichain.lab.sim.atomic_actions.AtomicAction method) (in module embodichain.lab.sim.utility.atom_action_utils) planner_cfg (embodichain.lab.sim.planners.MotionGenCfg attribute) planner_grid_cell_sampler (class in embodichain.lab.gym.envs.managers.randomization.spatial)

PlanResult (class in embodichain.lab.sim.planners) PlanState (class in embodichain.lab.sim.planners) plot_trajectory() (embodichain.lab.sim.planners.MotionGenerator method) point_sample_dense (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) point_types (embodichain.lab.sim.atomic_actions.InteractionPoints attribute) points (embodichain.lab.sim.atomic_actions.InteractionPoints attribute) poissons (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) Policy (class in embodichain.agents.rl.models), [1] pos (embodichain.lab.sim.sensors.CameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.CameraCfg.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.solvers.PytorchSolverCfg attribute) POSE (embodichain.data.enum.EefType attribute) pose (embodichain.lab.sim.common.BatchEntity property) pose_in_A_to_pose_in_B() (in module embodichain.utils.math) pose_inv() (in module embodichain.utils.math) positions (embodichain.lab.sim.planners.PlanResult attribute) postprocess_small_regions() (in module embodichain.utils.utility) PPO (class in embodichain.agents.rl.algo), [1] PPOCfg (class in embodichain.agents.rl.algo), [1] pre_grasp_distance (embodichain.lab.sim.atomic_actions.PickUpActionCfg attribute) prepare_extra_attr (class in embodichain.lab.gym.envs.managers.events) preserve_order (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) preview_sensor_data() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] process_action() (embodichain.lab.gym.envs.managers.ActionManager method) (embodichain.lab.gym.envs.managers.ActionTerm method) (embodichain.lab.gym.envs.managers.DeltaQposTerm method) (embodichain.lab.gym.envs.managers.EefPoseTerm method) (embodichain.lab.gym.envs.managers.QfTerm method) (embodichain.lab.gym.envs.managers.QposDenormalizedTerm method) (embodichain.lab.gym.envs.managers.QposTerm method) (embodichain.lab.gym.envs.managers.QvelTerm method) project_direction (embodichain.lab.sim.shapes.MeshCfg attribute) properties (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) PytorchSolver (class in embodichain.lab.sim.solvers) PytorchSolverCfg (class in embodichain.lab.sim.solvers)

Q

qacc (embodichain.lab.sim.objects.ArticulationData property) (embodichain.lab.sim.planners.PlanState attribute) qf (embodichain.lab.sim.objects.ArticulationData property) qf_limits (embodichain.lab.sim.objects.ArticulationData property) QfTerm (class in embodichain.lab.gym.envs.managers) QPOS (embodichain.data.enum.JointType attribute) qpos (embodichain.lab.sim.objects.ArticulationData property) (embodichain.lab.sim.planners.PlanState attribute) qpos_limits (embodichain.lab.sim.objects.ArticulationData property) qpos_to_limits() (embodichain.lab.sim.solvers.PinocchioSolver method) QposDenormalizedTerm (class in embodichain.lab.gym.envs.managers) QposTerm (class in embodichain.lab.gym.envs.managers)

QUANTITY (embodichain.lab.sim.planners.TrajectorySampleMethod attribute) quat (embodichain.lab.sim.sensors.CameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.CameraCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.SensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.OffsetCfg attribute) quat_slerp() (in module embodichain.utils.math) query() (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionChecker method) qvel (embodichain.lab.sim.objects.ArticulationData property) (embodichain.lab.sim.planners.PlanState attribute) qvel_limits (embodichain.lab.sim.objects.ArticulationData property) QvelTerm (class in embodichain.lab.gym.envs.managers)

R

radius (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) (embodichain.lab.sim.shapes.SphereCfg attribute) randomize_articulation_mass() (in module embodichain.lab.gym.envs.managers.randomization.physics) 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_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_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_target_pose() (in module embodichain.lab.gym.envs.managers.randomization.spatial) randomize_visual_material (class in embodichain.lab.gym.envs.managers.randomization.visual) read_all_folder_images() (in module embodichain.utils.utility) read_video() (in module embodichain.utils.utility) reallocate_body_data() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) 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_tangent (embodichain.lab.sim.shapes.LoadOption attribute) record_camera_data (class in embodichain.lab.gym.envs.managers.record) record_camera_data_async (class in embodichain.lab.gym.envs.managers.record) refill_threshold (embodichain.agents.engine.OnlineDataEngineCfg attribute) register() (in module embodichain.lab.gym.utils.registration), [1] register_action() (in module embodichain.lab.sim.atomic_actions) register_entity_attrs() (in module embodichain.lab.gym.envs.managers.events) register_env() (in module embodichain.lab.gym.utils.registration), [1] register_planner_type() (embodichain.lab.sim.planners.MotionGenerator class method) register_policy() (in module embodichain.agents.rl.models), [1] RELATIVE (embodichain.data.enum.ActionMode attribute) remove_asset() (embodichain.lab.sim.SimulationManager method) remove_device() (embodichain.lab.devices.DeviceController method) remove_marker() (embodichain.lab.sim.SimulationManager method) remove_overlap_mask() (in module embodichain.utils.utility) remove_regex_chars() (in module embodichain.utils.string) render() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.utils.visualizer.Gantt method) render_camera_group() (embodichain.lab.sim.SimulationManager method) render_cfg (embodichain.lab.sim.SimulationManagerCfg attribute) RenderCfg (class in embodichain.lab.sim.cfg) renderer (embodichain.lab.sim.cfg.RenderCfg attribute) reorder_array() (embodichain.lab.sim.solvers.PinkSolver method) replace() (embodichain.agents.engine.OnlineDataEngineCfg method) (embodichain.agents.rl.algo.GRPOCfg method), [1] (embodichain.agents.rl.algo.PPOCfg method), [1] (embodichain.agents.rl.utils.AlgorithmCfg method) (embodichain.agents.rl.utils.config.AlgorithmCfg 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.EventCfg method) (embodichain.lab.gym.envs.managers.FunctorCfg method) (embodichain.lab.gym.envs.managers.ObservationCfg method) (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.sim.material.VisualMaterialCfg method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg method) (embodichain.toolkits.graspkit.pg_grasp.GraspGeneratorCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method) replace_assets_from_group (class in embodichain.lab.gym.envs.managers.events) replace_inertial (embodichain.lab.sim.cfg.LinkPhysicsOverrideCfg attribute) reset() (embodichain.lab.devices.DeviceController method) (embodichain.lab.gym.envs.BaseEnv method), [1] (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.DeltaQposTerm method) (embodichain.lab.gym.envs.managers.EefPoseTerm method) (embodichain.lab.gym.envs.managers.EventManager method) (embodichain.lab.gym.envs.managers.Functor 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.QfTerm method) (embodichain.lab.gym.envs.managers.QposDenormalizedTerm method) (embodichain.lab.gym.envs.managers.QposTerm method) (embodichain.lab.gym.envs.managers.QvelTerm method) (embodichain.lab.gym.envs.managers.randomization.spatial.planner_grid_cell_sampler method) (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.objects.Articulation 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.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) (embodichain.lab.sim.SimulationManager class method) (embodichain.lab.sim.solvers.DifferentialSolver method)

reset_all_seeds() (in module embodichain.utils.utility) reset_every_rollout (embodichain.agents.rl.algo.GRPOCfg attribute), [1] reset_objects_state() (embodichain.lab.sim.SimulationManager method) reshape_tiled_image (in module embodichain.utils.warp.kernels) resolution (embodichain.lab.sim.shapes.SphereCfg attribute) resolve() (embodichain.lab.gym.envs.managers.SceneEntityCfg method) resolve_matching_names() (in module embodichain.utils.string) resolve_matching_names_values() (in module embodichain.utils.string) rest_offset (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) restitution (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) REWARD (embodichain.data.enum.LeRobotKey attribute) rewards (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] RIGHT (embodichain.lab.sim.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_objects (embodichain.lab.sim.cfg.RigidObjectGroupCfg attribute) (embodichain.lab.sim.objects.RigidObjectGroupCfg attribute) RigidBodyAttributesCfg (class in embodichain.lab.sim.cfg) RigidBodyAttributesOverrideCfg (class in embodichain.lab.sim.cfg) RigidBodyData (class in embodichain.lab.sim.objects) RigidBodyGroupData (class in embodichain.lab.sim.objects) 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) Robot (class in embodichain.lab.sim.objects) ROBOT_LEFT (embodichain.data.enum.SemanticMask attribute), [1] ROBOT_RIGHT (embodichain.data.enum.SemanticMask attribute), [1] robot_uid (embodichain.lab.sim.planners.BasePlannerCfg attribute) (embodichain.lab.sim.planners.ToppraPlannerCfg 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) RolloutBuffer (class in embodichain.agents.rl.buffer) (class in embodichain.agents.rl.buffer.standard_buffer) root_ang_vel (embodichain.lab.sim.objects.ArticulationData property) root_lin_vel (embodichain.lab.sim.objects.ArticulationData property) root_link_name (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.solvers.SolverCfg attribute) root_pose (embodichain.lab.sim.objects.ArticulationData property) root_state (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) root_vel (embodichain.lab.sim.objects.ArticulationData property) root_z_width (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) rot_eps (embodichain.lab.sim.solvers.PytorchSolverCfg attribute) rotate_eef() (in module embodichain.lab.sim.atom_actions) roughness (embodichain.lab.sim.material.VisualMaterialCfg attribute) roughness_texture (embodichain.lab.sim.material.VisualMaterialCfg attribute) RT_MATERIAL_TYPES (embodichain.lab.sim.material.VisualMaterial attribute) run_gizmo_robot_control_loop() (in module embodichain.lab.sim.utility.gizmo_utils) 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)

S

sample() (embodichain.toolkits.graspkit.pg_grasp.AntipodalSampler method) sample_batch() (embodichain.agents.engine.OnlineDataEngine method) sample_cylinder() (in module embodichain.utils.math) sample_gaussian() (in module embodichain.utils.math) sample_interval (embodichain.lab.sim.atomic_actions.MoveActionCfg attribute) (embodichain.lab.sim.atomic_actions.PickUpActionCfg attribute) (embodichain.lab.sim.atomic_actions.PlaceActionCfg attribute) sample_log_uniform() (in module embodichain.utils.math) sample_triangle() (in module embodichain.utils.math) sample_uniform() (in module embodichain.utils.math) save() (embodichain.utils.visualizer.Gantt static method) save_and_clear() (embodichain.lab.gym.envs.managers.record.record_camera_data method) (embodichain.lab.gym.envs.managers.record.record_camera_data_async method) save_checkpoint() (embodichain.agents.rl.utils.trainer.Trainer method) save_config() (in module embodichain.utils.utility) save_json() (in module embodichain.utils.utility) save_map() (embodichain.utils.visualizer.HeatMapEnv method) save_observations() (in module embodichain.lab.sim.atom_actions) save_path (embodichain.lab.sim.cfg.WindowRecordCfg attribute) save_pkl() (in module embodichain.utils.utility) scale_image() (in module embodichain.utils.utility) SceneEntityCfg (class in embodichain.lab.gym.envs.managers) sdf_resolution (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) seed (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] self_collision_filter_distance (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) self_collision_stress_tolerance (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) SemanticMask (class in embodichain.data.enum) SensorCfg (class in embodichain.lab.sim.sensors) SensorCfg.OffsetCfg (class in embodichain.lab.sim.sensors) sensors (embodichain.lab.sim.cfg.URDFCfg attribute) serialize() (embodichain.lab.gym.envs.managers.ActionTerm method) (embodichain.lab.gym.envs.managers.DeltaQposTerm method) (embodichain.lab.gym.envs.managers.EefPoseTerm method) (embodichain.lab.gym.envs.managers.Functor method) (embodichain.lab.gym.envs.managers.QfTerm method) (embodichain.lab.gym.envs.managers.QposDenormalizedTerm method) (embodichain.lab.gym.envs.managers.QposTerm method) (embodichain.lab.gym.envs.managers.QvelTerm method) set_active_device() (embodichain.lab.devices.DeviceController method) set_affordance() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] set_ao_texture() (embodichain.lab.sim.material.VisualMaterialInst method) set_attributes_for_class() (in module embodichain.utils.utility) 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) set_body_type() (embodichain.lab.sim.objects.RigidObject method) 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.RigidObject method) set_command() (embodichain.lab.sim.solvers.DifferentialSolver method) set_custom_config() (embodichain.lab.sim.atomic_actions.Affordance method) set_damping() (embodichain.lab.sim.objects.RigidObject method) set_default_background() (embodichain.lab.sim.SimulationManager method) set_default_properties() (embodichain.lab.sim.material.VisualMaterial method) set_default_renderer() (embodichain.lab.sim.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_emission_light() (embodichain.lab.sim.SimulationManager method) set_emissive() (embodichain.lab.sim.material.VisualMaterialInst method) set_emissive_intensity() (embodichain.lab.sim.material.VisualMaterialInst 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_gizmo_visibility() (embodichain.lab.sim.SimulationManager method) set_ground_plane_visibility() (embodichain.lab.sim.SimulationManager method) set_ik_nearest_weight() (embodichain.lab.sim.solvers.BaseSolver method) (embodichain.lab.sim.solvers.DifferentialSolver method) (embodichain.lab.sim.solvers.OPWSolver method) (embodichain.lab.sim.solvers.PinkSolver method) (embodichain.lab.sim.solvers.PinocchioSolver method) (embodichain.lab.sim.solvers.PytorchSolver method) set_indirect_lighting() (embodichain.lab.sim.SimulationManager method) set_inertia() (embodichain.lab.sim.objects.RigidObject 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.solvers.PinocchioSolver method) (embodichain.lab.sim.solvers.PytorchSolver method) set_joint_drive() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_link_physical_attr() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_local_pose() (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.objects.Articulation 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.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) set_log_level() (in module embodichain.utils.logger) set_manual_update() (embodichain.lab.sim.SimulationManager method) set_mass() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.Robot 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_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) set_qf() (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.solvers.BaseSolver method) (embodichain.lab.sim.solvers.DifferentialSolver method) (embodichain.lab.sim.solvers.OPWSolver method) (embodichain.lab.sim.solvers.PinkSolver method) (embodichain.lab.sim.solvers.PinocchioSolver method) (embodichain.lab.sim.solvers.PytorchSolver method)

set_qvel() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot 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_rollout_buffer() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] set_roughness() (embodichain.lab.sim.material.VisualMaterialInst method) set_roughness_texture() (embodichain.lab.sim.material.VisualMaterialInst method) set_self_collision() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_semantic_analyzer() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) set_tcp() (embodichain.lab.sim.solvers.BaseSolver method) (embodichain.lab.sim.solvers.DifferentialSolver method) (embodichain.lab.sim.solvers.OPWSolver method) (embodichain.lab.sim.solvers.PinkSolver method) (embodichain.lab.sim.solvers.PinocchioSolver method) (embodichain.lab.sim.solvers.PytorchSolver method) set_texture_cache() (embodichain.lab.sim.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.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) set_visual_material() (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_wrapper_attr() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] settling_damping (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) settling_threshold (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) shape (embodichain.lab.sim.cfg.ClothObjectCfg attribute) (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.cfg.SoftObjectCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) shape_type (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.shapes) share_visual_material_inst() (embodichain.lab.sim.objects.RigidObject method) shared_buffer (embodichain.agents.engine.OnlineDataEngine attribute) shift_pose() (embodichain.lab.gym.envs.managers.observations.compute_exteroception static method) show() (embodichain.utils.visualizer.Gantt static method) sim_cfg (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] sim_device (embodichain.lab.sim.SimulationManagerCfg attribute) sim_steps_per_control (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] simulation_mesh_output_obj (embodichain.lab.sim.cfg.SoftbodyVoxelAttributesCfg attribute) simulation_mesh_resolution (embodichain.lab.sim.cfg.SoftbodyVoxelAttributesCfg attribute) SimulationManager (class in embodichain.lab.sim) SimulationManagerCfg (class in embodichain.lab.sim) size (embodichain.lab.sim.shapes.CubeCfg attribute) sleep_threshold (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) smooth (embodichain.lab.sim.shapes.LoadOption attribute) snake_to_camel() (in module embodichain.utils.utility) SoftbodyPhysicalAttributesCfg (class in embodichain.lab.sim.cfg) SoftbodyVoxelAttributesCfg (class in embodichain.lab.sim.cfg) SoftObjectCfg (class in embodichain.lab.sim.cfg) solver_cfg (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) SolverCfg (class in embodichain.lab.sim.solvers) sort_and_padding_key_frame() (in module embodichain.lab.sim.utility.action_utils) speed_tolerance (embodichain.lab.sim.cfg.PhysicsCfg attribute) SphereCfg (class in embodichain.lab.sim.shapes) spp (embodichain.lab.sim.cfg.RenderCfg attribute) start() (embodichain.agents.engine.OnlineDataEngine method) start_control() (embodichain.lab.devices.Device method) start_rollout() (embodichain.agents.rl.buffer.RolloutBuffer method) (embodichain.agents.rl.buffer.standard_buffer.RolloutBuffer method) start_window_record() (embodichain.lab.sim.SimulationManager method) state_dim (embodichain.agents.engine.OnlineDataEngineCfg attribute) static_friction (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) step() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.lab.gym.utils.registration.TimeLimitWrapper method), [1] 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) stop() (embodichain.agents.engine.OnlineDataEngine method) stop_control() (embodichain.lab.devices.Device method) stop_window_record() (embodichain.lab.sim.SimulationManager method) string_to_callable() (in module embodichain.utils.string) subtract_frame_transforms() (in module embodichain.utils.math) success (embodichain.lab.sim.planners.PlanResult attribute) SUPPORTED_COMPONENTS (embodichain.toolkits.urdf_assembly.URDFAssemblyManager attribute) SUPPORTED_MESH_TYPES (embodichain.toolkits.urdf_assembly.URDFAssemblyManager attribute) SUPPORTED_SENSOR_TYPES (embodichain.lab.sim.SimulationManager attribute) SUPPORTED_SENSORS (embodichain.toolkits.urdf_assembly.URDFAssemblyManager attribute) SUPPORTED_TYPES (embodichain.lab.gym.envs.managers.ActionTerm attribute) (embodichain.lab.gym.envs.managers.DeltaQposTerm attribute) (embodichain.lab.gym.envs.managers.EefPoseTerm attribute) (embodichain.lab.gym.envs.managers.QfTerm attribute) (embodichain.lab.gym.envs.managers.QposDenormalizedTerm attribute) (embodichain.lab.gym.envs.managers.QposTerm attribute) (embodichain.lab.gym.envs.managers.QvelTerm attribute) SUPPORTED_WHEEL_TYPES (embodichain.toolkits.urdf_assembly.URDFAssemblyManager attribute) suppress_stdout_stderr() (in module embodichain.lab.sim.utility.io_utils) SYNC (embodichain.lab.sim.planners.MoveType attribute), [1] SyncCollector (class in embodichain.agents.rl.collector), [1]

T

TagDecorator (class in embodichain.utils.utility) 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) tcp (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.solvers.SolverCfg attribute) temp_buffer_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) thickness (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) thread_mode (embodichain.lab.sim.SimulationManagerCfg attribute) TIME (embodichain.lab.sim.planners.TrajectorySampleMethod attribute) TimeLimitWrapper (class in embodichain.lab.gym.utils.registration), [1] timer() (in module embodichain.utils.utility) to_dexsim_args() (embodichain.lab.sim.cfg.PhysicsCfg method) to_dexsim_body_type() (embodichain.lab.sim.cfg.RigidObjectCfg method) (embodichain.lab.sim.objects.RigidObjectCfg method) to_dexsim_flags() (embodichain.lab.sim.cfg.RenderCfg method) to_dict() (embodichain.agents.engine.OnlineDataEngineCfg method) (embodichain.agents.rl.algo.GRPOCfg method), [1] (embodichain.agents.rl.algo.PPOCfg method), [1] (embodichain.agents.rl.utils.AlgorithmCfg method) (embodichain.agents.rl.utils.config.AlgorithmCfg 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.EventCfg method) (embodichain.lab.gym.envs.managers.FunctorCfg method) (embodichain.lab.gym.envs.managers.ObservationCfg method) (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.sim.material.VisualMaterialCfg method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg method) (embodichain.toolkits.graspkit.pg_grasp.GraspGeneratorCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method)

to_tensor() (in module embodichain.lab.sim.utility.tensor) toggle_gizmo_visibility() (embodichain.lab.sim.SimulationManager method) toggle_window_record() (embodichain.lab.sim.SimulationManager method) TOOL (embodichain.lab.sim.planners.MoveType attribute), [1] ToppraPlanner (class in embodichain.lab.sim.planners) ToppraPlannerCfg (class in embodichain.lab.sim.planners) TORSO (embodichain.lab.sim.planners.MovePart attribute), [1] total_action_dim (embodichain.lab.gym.envs.managers.ActionManager property) total_aggregate_pairs_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) train() (embodichain.agents.rl.utils.trainer.Trainer method) train_from_config() (in module embodichain.agents.rl.train), [1] Trainer (class in embodichain.agents.rl.utils.trainer) training (embodichain.agents.rl.models.Policy attribute), [1] TrajectorySampleMethod (class in embodichain.lab.sim.planners) trans_matrix_to_xyz_quat() (in module embodichain.utils.math) 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.agents.rl.buffer) (in module embodichain.agents.rl.buffer.utils) triangle_remesh_resolution (embodichain.lab.sim.cfg.SoftbodyVoxelAttributesCfg attribute) triangle_simplify_target (embodichain.lab.sim.cfg.SoftbodyVoxelAttributesCfg attribute) truncate_at_first_done (embodichain.agents.rl.algo.GRPOCfg attribute), [1] TRUNCATED (embodichain.data.enum.LeRobotKey attribute)

U

uid (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.ClothObjectCfg 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.SoftObjectCfg attribute) (embodichain.lab.sim.common.BatchEntity attribute) (embodichain.lab.sim.material.VisualMaterialCfg attribute) UniformChunkSampler (class in embodichain.agents.datasets) unmake_pose() (in module embodichain.utils.math) unregister_action() (in module embodichain.lab.sim.atomic_actions) unwrapped (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnv property), [1] up (embodichain.lab.sim.sensors.CameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.ExtrinsicsCfg attribute) update() (embodichain.agents.rl.algo.BaseAlgorithm method), [1] (embodichain.agents.rl.algo.GRPO method), [1] (embodichain.agents.rl.algo.PPO method), [1] (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) (embodichain.lab.sim.SimulationManager method) update_array() (in module embodichain.utils.utility) update_class_from_dict() (in module embodichain.utils.configclass) update_gizmos() (embodichain.lab.sim.SimulationManager method) update_heatmap() (embodichain.utils.visualizer.HeatMapEnv method) update_null_space_joint_targets() (embodichain.lab.sim.solvers.PinkSolver method) update_with_robot_limit() (embodichain.lab.sim.solvers.BaseSolver method) (embodichain.lab.sim.solvers.DifferentialSolver method) (embodichain.lab.sim.solvers.OPWSolver method) (embodichain.lab.sim.solvers.PinkSolver method) (embodichain.lab.sim.solvers.PinocchioSolver method) (embodichain.lab.sim.solvers.PytorchSolver method)

urdf_cfg (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) urdf_path (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.solvers.SolverCfg attribute) URDFAssemblyManager (class in embodichain.toolkits.urdf_assembly) URDFCfg (class in embodichain.lab.sim.cfg) use_largest_connected_component (embodichain.toolkits.graspkit.pg_grasp.GraspGeneratorCfg attribute) use_signature_check (embodichain.lab.sim.cfg.URDFCfg attribute) use_usd_properties (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.CobotMagicCfg attribute) user_ids (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.RigidObject property) (embodichain.lab.sim.objects.Robot property) user_qpos_limits (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.solvers.SolverCfg attribute)

V

validate() (embodichain.agents.engine.OnlineDataEngineCfg method) (embodichain.agents.rl.algo.GRPOCfg method), [1] (embodichain.agents.rl.algo.PPOCfg method), [1] (embodichain.agents.rl.utils.AlgorithmCfg method) (embodichain.agents.rl.utils.config.AlgorithmCfg 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.EventCfg method) (embodichain.lab.gym.envs.managers.FunctorCfg method) (embodichain.lab.gym.envs.managers.ObservationCfg method) (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.sim.atomic_actions.AtomicAction method) (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (embodichain.lab.sim.atomic_actions.MoveAction method) (embodichain.lab.sim.atomic_actions.PickUpAction method) (embodichain.lab.sim.atomic_actions.PlaceAction method) (embodichain.lab.sim.material.VisualMaterialCfg method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg method) (embodichain.toolkits.graspkit.pg_grasp.GraspGeneratorCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method)

validate_iteration_params() (in module embodichain.lab.sim.utility.solver_utils) validation_cameras (class in embodichain.lab.gym.envs.managers.record) vel (embodichain.lab.sim.objects.RigidBodyData property) (embodichain.lab.sim.objects.RigidBodyGroupData property) velocities (embodichain.lab.sim.planners.PlanResult attribute) velocity_limit (embodichain.lab.sim.atomic_actions.ActionCfg attribute) (embodichain.lab.sim.atomic_actions.MoveActionCfg attribute) (embodichain.lab.sim.atomic_actions.PickUpActionCfg attribute) (embodichain.lab.sim.atomic_actions.PlaceActionCfg attribute) vertex_velocity_damping (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) vf_coef (embodichain.agents.rl.algo.PPOCfg attribute), [1] video_prefix (embodichain.lab.sim.cfg.WindowRecordCfg attribute) viser_port (embodichain.toolkits.graspkit.pg_grasp.GraspGeneratorCfg attribute) visual_material (embodichain.lab.sim.shapes.CubeCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) (embodichain.lab.sim.shapes.ShapeCfg attribute) (embodichain.lab.sim.shapes.SphereCfg attribute) visualize_trajectory() (in module embodichain.utils.visualizer) VisualMaterial (class in embodichain.lab.sim.material) VisualMaterialCfg (class in embodichain.lab.sim.material) VisualMaterialInst (class in embodichain.lab.sim.material) voxel_attr (embodichain.lab.sim.cfg.SoftObjectCfg attribute)

W

WAIST (embodichain.data.enum.ControlParts attribute) wait_scene_destruction() (embodichain.lab.sim.SimulationManager static method) warp_trajectory_qpos() (in module embodichain.lab.sim.utility.action_utils)

width (embodichain.lab.sim.SimulationManagerCfg attribute) window_record (embodichain.lab.sim.SimulationManagerCfg attribute) WindowRecordCfg (class in embodichain.lab.sim.cfg)

X

x_thickness (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) xpos (embodichain.lab.sim.planners.PlanState attribute)

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

Y

y_thickness (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute)

youngs (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute)