Index

_

__init__() (embodichain.data.dataset.EmbodiChainDataset method) (embodichain.data_pipeline.datasets.GMMChunkSampler method), [1] (embodichain.data_pipeline.datasets.online_data.OnlineDataset method) (embodichain.data_pipeline.datasets.OnlineDataset method), [1] (embodichain.data_pipeline.datasets.sampler.GMMChunkSampler method) (embodichain.data_pipeline.datasets.sampler.UniformChunkSampler method) (embodichain.data_pipeline.datasets.UniformChunkSampler method), [1] (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg method) (embodichain.data_pipeline.depth_video.reader.DepthVideoLibrary method) (embodichain.data_pipeline.depth_video.reader.DepthVideoReader method) (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) (embodichain.data_pipeline.depth_video.writer.DepthVideoWriter method) (embodichain.data_pipeline.engine.data.OnlineDataEngine method) (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg method) (embodichain.data_pipeline.engine.OnlineDataEngine method), [1] (embodichain.data_pipeline.engine.OnlineDataEngineCfg method), [1] (embodichain.lab.devices.DeviceController method) (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.demo.DemoEpisodeResult method) (embodichain.lab.gym.envs.demo.DemoExecutionCfg method) (embodichain.lab.gym.envs.demo.DemoSegment method) (embodichain.lab.gym.envs.demo.DemoSegmentResult method) (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.lab.gym.envs.managers.ActionManager method) (embodichain.lab.gym.envs.managers.ActionTerm method) (embodichain.lab.gym.envs.managers.async_datasets.AsyncLeRobotRecorder method) (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.datasets.LeRobotRecorder method) (embodichain.lab.gym.envs.managers.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.QposNormalizedTerm 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.spatial.randomize_anchor_height method) (embodichain.lab.gym.envs.managers.randomization.spatial.sample_rigid_object_pose_from_workspace method) (embodichain.lab.gym.envs.managers.randomization.visual.randomize_indirect_lighting method) (embodichain.lab.gym.envs.managers.randomization.visual.randomize_visual_material method) (embodichain.lab.gym.envs.managers.record.record_camera_data method) (embodichain.lab.gym.envs.managers.record.record_camera_data_async method) (embodichain.lab.gym.envs.managers.record.validation_cameras method) (embodichain.lab.gym.envs.managers.RewardManager method) (embodichain.lab.gym.envs.NoFailWrapper method) (embodichain.lab.gym.envs.ReplayWrapper method) (embodichain.lab.gym.envs.settling.DynamicSettleMonitor method) (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg method) (embodichain.lab.gym.envs.settling.DynamicSettleSample method) (embodichain.lab.gym.envs.settling.DynamicSettleState method) (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) (embodichain.lab.gym.envs.task_program.EnvironmentStepClock method) (embodichain.lab.gym.envs.task_program.EnvironmentStepTimingError method) (embodichain.lab.gym.envs.task_program.GymPlanningObservationProvider method) (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder method) (embodichain.lab.gym.envs.task_program.RuntimeTransportActionEncoder method) (embodichain.lab.gym.envs.task_program.SegmentPostPolicyPort method) (embodichain.lab.gym.envs.task_program.SegmentValidatorPort method) (embodichain.lab.gym.envs.task_program.TaskProgramBridgeError method) (embodichain.lab.gym.envs.task_program.TaskProgramDemoBridge method) (embodichain.lab.gym.envs.task_program.UnsupportedRuntimeTransportError method) (embodichain.lab.gym.envs.types.ControllerAction method) (embodichain.lab.gym.utils.registration.EnvSpec method), [1] (embodichain.lab.gym.utils.registration.TimeLimitWrapper method), [1] (embodichain.lab.sim.atomic_actions.ActionBinding method) (embodichain.lab.sim.atomic_actions.ActionControlOverrides method) (embodichain.lab.sim.atomic_actions.ActionInvocation method) (embodichain.lab.sim.atomic_actions.ActionOptions method) (embodichain.lab.sim.atomic_actions.ActionPlan method) (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationAffordanceGeometry method) (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationGeometryProvider method) (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry method) (embodichain.lab.sim.atomic_actions.AtomicAction method) (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (embodichain.lab.sim.atomic_actions.CommandAcknowledgement method) (embodichain.lab.sim.atomic_actions.CommandDispatch method) (embodichain.lab.sim.atomic_actions.CommandSink method) (embodichain.lab.sim.atomic_actions.ControlPartCommandProfile method) (embodichain.lab.sim.atomic_actions.DisjointResourceSlots method) (embodichain.lab.sim.atomic_actions.DisjointSlotEndpoints method) (embodichain.lab.sim.atomic_actions.EffectVerificationRequest method) (embodichain.lab.sim.atomic_actions.EffectVerificationRequirement method) (embodichain.lab.sim.atomic_actions.EffectVerificationResult method) (embodichain.lab.sim.atomic_actions.EndpointBinding method) (embodichain.lab.sim.atomic_actions.EndpointCommand method) (embodichain.lab.sim.atomic_actions.EndpointCommandRouter method) (embodichain.lab.sim.atomic_actions.EndpointCommandTransport method) (embodichain.lab.sim.atomic_actions.ExecutionClock method) (embodichain.lab.sim.atomic_actions.ExecutionEvent method) (embodichain.lab.sim.atomic_actions.ExecutionPlanAttempt method) (embodichain.lab.sim.atomic_actions.ExecutionRunner method) (embodichain.lab.sim.atomic_actions.ExecutionSession method) (embodichain.lab.sim.atomic_actions.ExecutionTick method) (embodichain.lab.sim.atomic_actions.HeldObjectState method) (embodichain.lab.sim.atomic_actions.JointPositionCommand method) (embodichain.lab.sim.atomic_actions.JointPositionPayload method) (embodichain.lab.sim.atomic_actions.JointPositionTarget method) (embodichain.lab.sim.atomic_actions.ObjectSemantics method) (embodichain.lab.sim.atomic_actions.ObservationProvider method) (embodichain.lab.sim.atomic_actions.PlanningContext method) (embodichain.lab.sim.atomic_actions.PlanningFailure method) (embodichain.lab.sim.atomic_actions.ResolvedActionRequest method) (embodichain.lab.sim.atomic_actions.RobotObservation method) (embodichain.lab.sim.atomic_actions.RunnerStep method) (embodichain.lab.sim.atomic_actions.RuntimeCommandFrame method) (embodichain.lab.sim.atomic_actions.SceneEntityPose method) (embodichain.lab.sim.atomic_actions.SceneSnapshot method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) (embodichain.lab.sim.atomic_actions.SkillBindingContract method) (embodichain.lab.sim.atomic_actions.SkillDescriptor method) (embodichain.lab.sim.atomic_actions.SkillEndpointRequirement method) (embodichain.lab.sim.atomic_actions.SkillResourceSlot method) (embodichain.lab.sim.atomic_actions.StateDelta method) (embodichain.lab.sim.atomic_actions.TaskState method) (embodichain.lab.sim.atomic_actions.TimedCommandSequence method) (embodichain.lab.sim.atomic_actions.TimedTrajectory method) (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.DLSSCfg method) (embodichain.lab.sim.material.ReuseSegmentState method) (embodichain.lab.sim.material.VisualMaterial method) (embodichain.lab.sim.material.VisualMaterialInst method) (embodichain.lab.sim.motion.expansion.CandidateIdentity method) (embodichain.lab.sim.motion.expansion.CandidateTrajectoryBatch method) (embodichain.lab.sim.motion.expansion.CommitReceipt method) (embodichain.lab.sim.motion.expansion.CoverageIndex method) (embodichain.lab.sim.motion.expansion.ExpertEpisode method) (embodichain.lab.sim.motion.expansion.GenerationSession method) (embodichain.lab.sim.motion.expansion.MotionSnapshot method) (embodichain.lab.sim.motion.expansion.SceneCase method) (embodichain.lab.sim.motion.expansion.TrajectoryDescriptor method) (embodichain.lab.sim.motion.expansion.TrajectoryPhase method) (embodichain.lab.sim.motion.expansion.TrajectoryTemplate method) (embodichain.lab.sim.motion.expansion.ValidationCheck method) (embodichain.lab.sim.motion.expansion.ValidationResult method) (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.PlanResult method) (embodichain.lab.sim.motion.planners.PlanState method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.qpos_seed_sel_sampler.QposSeedSelSampler method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig method) (embodichain.lab.sim.motion.workspace.caches.BaseCache method) (embodichain.lab.sim.motion.workspace.caches.DiskCache method) (embodichain.lab.sim.motion.workspace.caches.MemoryCache method) (embodichain.lab.sim.motion.workspace.caches.ResultsCache method) (embodichain.lab.sim.motion.workspace.configs.CacheConfig method) (embodichain.lab.sim.motion.workspace.configs.DensityConfig method) (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint method) (embodichain.lab.sim.motion.workspace.configs.ManipulabilityConfig method) (embodichain.lab.sim.motion.workspace.configs.MetricConfig method) (embodichain.lab.sim.motion.workspace.configs.ReachabilityConfig method) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig method) (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig method) (embodichain.lab.sim.motion.workspace.constraints.BaseConstraintChecker method) (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) (embodichain.lab.sim.motion.workspace.metrics.BaseMetric method) (embodichain.lab.sim.motion.workspace.metrics.DensityMetric method) (embodichain.lab.sim.motion.workspace.metrics.ManipulabilityMetric method) (embodichain.lab.sim.motion.workspace.metrics.ReachabilityMetric method) (embodichain.lab.sim.motion.workspace.RobotWorkspace method) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg method) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace method) (embodichain.lab.sim.motion.workspace.runtime.WorkspaceSample method) (embodichain.lab.sim.motion.workspace.samplers.BaseSampler method) (embodichain.lab.sim.motion.workspace.samplers.HaltonSampler method) (embodichain.lab.sim.motion.workspace.samplers.ISampler method) (embodichain.lab.sim.motion.workspace.samplers.LatinHypercubeSampler method) (embodichain.lab.sim.motion.workspace.samplers.RandomSampler method) (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory method) (embodichain.lab.sim.motion.workspace.samplers.SobolSampler method) (embodichain.lab.sim.motion.workspace.samplers.UniformSampler method) (embodichain.lab.sim.motion.workspace.visualizers.AxisVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.IVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.PointCloudVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.SphereVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory method) (embodichain.lab.sim.motion.workspace.visualizers.VoxelVisualizer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig method) (embodichain.lab.sim.motion.workspace.WorkspaceSample method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.ArticulationData method) (embodichain.lab.sim.objects.ArticulationJointKinematics method) (embodichain.lab.sim.objects.ClothBodyData method) (embodichain.lab.sim.objects.ClothObject method) (embodichain.lab.sim.objects.Gizmo method) (embodichain.lab.sim.objects.Light method) (embodichain.lab.sim.objects.RigidBodyData method) (embodichain.lab.sim.objects.RigidBodyGroupData method) (embodichain.lab.sim.objects.RigidConstraint method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.SoftBodyData method) (embodichain.lab.sim.objects.SoftObject method) (embodichain.lab.sim.Profiler method) (embodichain.lab.sim.sensors.ArticulationContactFilterCfg method) (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) (embodichain.lab.sim.shapes.LoadOption method) (embodichain.lab.sim.sim_manager.SimulationManager method) (embodichain.lab.task_program.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.BarrierCfg method) (embodichain.lab.task_program.CompiledTaskProgram method) (embodichain.lab.task_program.CyclicPoseTargetCfg method) (embodichain.lab.task_program.HandOverCfg method) (embodichain.lab.task_program.integrations.AntipodalGraspAffordanceBinding method) (embodichain.lab.task_program.integrations.ConfiguredHandOverPoseProvider method) (embodichain.lab.task_program.integrations.ContainerAffordanceBinding method) (embodichain.lab.task_program.integrations.ControlPartCommandPreset method) (embodichain.lab.task_program.integrations.ControlPartEndpointBinding method) (embodichain.lab.task_program.integrations.ControlPartEvidenceProviderDeclaration method) (embodichain.lab.task_program.integrations.ControlPartEvidenceProviderFactory method) (embodichain.lab.task_program.integrations.ControlPartResourceBinding method) (embodichain.lab.task_program.integrations.CuroboParallelCommandSafetyValidator method) (embodichain.lab.task_program.integrations.CuroboParallelSafetyValidatorFactory method) (embodichain.lab.task_program.integrations.EndpointAdapterDeclaration method) (embodichain.lab.task_program.integrations.IntegrationFingerprintMismatch method) (embodichain.lab.task_program.integrations.ParallelCommandSafetyValidatorFactory method) (embodichain.lab.task_program.integrations.ParallelSafetyDeclaration method) (embodichain.lab.task_program.integrations.PlanningObservationPort method) (embodichain.lab.task_program.integrations.RegisteredSemanticLowererDeclaration method) (embodichain.lab.task_program.integrations.RegisteredSemanticLowererFactory method) (embodichain.lab.task_program.integrations.RuntimeTransportDeclaration method) (embodichain.lab.task_program.integrations.SimulationArticulationBinding method) (embodichain.lab.task_program.integrations.SimulationArticulationLinkBinding method) (embodichain.lab.task_program.integrations.SimulationRigidObjectBinding method) (embodichain.lab.task_program.integrations.SimulationRobotSkillProfileBinding method) (embodichain.lab.task_program.integrations.SimulationSceneBinding method) (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) (embodichain.lab.task_program.integrations.SimulationTaskProgramAdapterFactory method) (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) (embodichain.lab.task_program.integrations.StandardExtensionDeclarations method) (embodichain.lab.task_program.integrations.SupportSurfaceAffordanceBinding method) (embodichain.lab.task_program.integrations.TaskProgramAdapterFactory method) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter method) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentFactory method) (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly method) (embodichain.lab.task_program.InvokeCfg method) (embodichain.lab.task_program.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.ParallelCfg method) (embodichain.lab.task_program.PickCfg method) (embodichain.lab.task_program.PlaceCfg method) (embodichain.lab.task_program.PoseCfg method) (embodichain.lab.task_program.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.RepeatCfg method) (embodichain.lab.task_program.SegmentCfg method) (embodichain.lab.task_program.semantics.AmbiguousSceneAffordanceError method) (embodichain.lab.task_program.semantics.AmbiguousSkillBindingError method) (embodichain.lab.task_program.semantics.BoundRobotSkillProfile method) (embodichain.lab.task_program.semantics.ControlPartEndpoint method) (embodichain.lab.task_program.semantics.EffectEvidenceCollector method) (embodichain.lab.task_program.semantics.EffectMonitorRef method) (embodichain.lab.task_program.semantics.EndpointResolution method) (embodichain.lab.task_program.semantics.HandOver method) (embodichain.lab.task_program.semantics.Pick method) (embodichain.lab.task_program.semantics.Place method) (embodichain.lab.task_program.semantics.ProfileValidationError method) (embodichain.lab.task_program.semantics.RegisteredSemanticCall method) (embodichain.lab.task_program.semantics.RegistrySceneProvider method) (embodichain.lab.task_program.semantics.ResolvedResourceEndpoint method) (embodichain.lab.task_program.semantics.ResolvedRobotResource method) (embodichain.lab.task_program.semantics.ResolvedSkillBinding method) (embodichain.lab.task_program.semantics.ResourceBinding method) (embodichain.lab.task_program.semantics.ResourceClaim method) (embodichain.lab.task_program.semantics.ResourceEndpoint method) (embodichain.lab.task_program.semantics.RobotResource method) (embodichain.lab.task_program.semantics.RobotSkillProfile method) (embodichain.lab.task_program.semantics.SceneAffordanceRef method) (embodichain.lab.task_program.semantics.SceneArticulationRef method) (embodichain.lab.task_program.semantics.SceneEntityManifest method) (embodichain.lab.task_program.semantics.SceneEntityMetadata method) (embodichain.lab.task_program.semantics.SceneEntityRef method) (embodichain.lab.task_program.semantics.SceneEntityRegistration method) (embodichain.lab.task_program.semantics.SceneEntityStateProvider method) (embodichain.lab.task_program.semantics.SceneGeometryProvider method) (embodichain.lab.task_program.semantics.SceneLinkRef method) (embodichain.lab.task_program.semantics.SceneManifest method) (embodichain.lab.task_program.semantics.SceneObjectRef method) (embodichain.lab.task_program.semantics.SceneRegistry method) (embodichain.lab.task_program.semantics.SemanticCallCatalog method) (embodichain.lab.task_program.semantics.SemanticCallDescriptor method) (embodichain.lab.task_program.semantics.SemanticCallSpec method) (embodichain.lab.task_program.semantics.SemanticDiagnostic method) (embodichain.lab.task_program.semantics.SemanticEffectSpec method) (embodichain.lab.task_program.semantics.SemanticIntegrationManifest method) (embodichain.lab.task_program.semantics.SemanticPose method) (embodichain.lab.task_program.semantics.SemanticValidationError method) (embodichain.lab.task_program.semantics.SkillPolicyPreset method) (embodichain.lab.task_program.semantics.UnsupportedSceneAffordanceError method) (embodichain.lab.task_program.semantics.UnsupportedSkillError method) (embodichain.lab.task_program.SequenceCfg method) (embodichain.lab.task_program.TargetRefCfg method) (embodichain.lab.task_program.TaskProgramCfg method) (embodichain.lab.task_program.TaskProgramCompileError method) (embodichain.lab.task_program.TaskProgramCompiler method) (embodichain.lab.task_program.TaskProgramConfigError method) (embodichain.lab.task_program.TaskProgramDecodeError method) (embodichain.lab.task_program.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.TaskProgramValidationContext method) (embodichain.lab.task_program.TaskProgramValidationError method) (embodichain.lab.task_program.WaitStablePostCfg method) (embodichain.lab.visualization.CameraImage method) (embodichain.lab.visualization.CameraImageCaptureResult method) (embodichain.lab.visualization.CameraImageFrame method) (embodichain.lab.visualization.CameraSpec method) (embodichain.lab.visualization.CaptureResult method) (embodichain.lab.visualization.DynamicMeshUpdate method) (embodichain.lab.visualization.FrameOverlay method) (embodichain.lab.visualization.GizmoCommand method) (embodichain.lab.visualization.GizmoCommandQueue method) (embodichain.lab.visualization.GizmoSpec method) (embodichain.lab.visualization.GizmoState method) (embodichain.lab.visualization.JointControlCommand method) (embodichain.lab.visualization.JointControlCommandQueue method) (embodichain.lab.visualization.JointControlProvider method) (embodichain.lab.visualization.JointControlSpec method) (embodichain.lab.visualization.JointControlState method) (embodichain.lab.visualization.LatestFrameQueue method) (embodichain.lab.visualization.MeshGeometry method) (embodichain.lab.visualization.PickCommand method) (embodichain.lab.visualization.picker.ScenePicker method) (embodichain.lab.visualization.PointCloudOverlay method) (embodichain.lab.visualization.RuntimeHealth method) (embodichain.lab.visualization.RuntimeStats method) (embodichain.lab.visualization.SceneExporter method) (embodichain.lab.visualization.SceneFrame method) (embodichain.lab.visualization.SceneManifest method) (embodichain.lab.visualization.SceneNode method) (embodichain.lab.visualization.SceneOverlays method) (embodichain.lab.visualization.TargetOverlay method) (embodichain.lab.visualization.TrajectoryOverlay method) (embodichain.lab.visualization.VisualizationRuntime method) (embodichain.learning.rl.algo.APG method), [1] (embodichain.learning.rl.algo.APGCfg method), [1] (embodichain.learning.rl.algo.GRPO method), [1] (embodichain.learning.rl.algo.GRPOCfg method), [1] (embodichain.learning.rl.algo.PPO method), [1] (embodichain.learning.rl.algo.PPOCfg method), [1] (embodichain.learning.rl.buffer.RolloutBuffer method) (embodichain.learning.rl.buffer.standard_buffer.RolloutBuffer method) (embodichain.learning.rl.collector.DifferentiableCollector method) (embodichain.learning.rl.collector.DifferentiableRollout method) (embodichain.learning.rl.collector.DifferentiableTransition method) (embodichain.learning.rl.collector.SyncCollector method), [1] (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainer method) (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg method) (embodichain.learning.rl.DifferentiableTrainer method) (embodichain.learning.rl.DifferentiableTrainerCfg method) (embodichain.learning.rl.env.LearningVecEnv method) (embodichain.learning.rl.LearningVecEnv method) (embodichain.learning.rl.models.ActorCritic method), [1] (embodichain.learning.rl.models.ActorOnly method), [1] (embodichain.learning.rl.models.MLP method), [1] (embodichain.learning.rl.models.Policy method), [1] (embodichain.learning.rl.utils.AlgorithmCfg method) (embodichain.learning.rl.utils.config.AlgorithmCfg method) (embodichain.learning.rl.utils.config.LRSchedulerCfg method) (embodichain.learning.rl.utils.config.OptimizerCfg method) (embodichain.learning.rl.utils.LRSchedulerCfg method) (embodichain.learning.rl.utils.OptimizerCfg method) (embodichain.learning.rl.utils.trainer.Trainer method) (embodichain.toolkits.graspkit.ParallelJawGraspPoseGenerator method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSampler method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionChecker method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionChecker method) (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) (embodichain.utils.cfg.CfgNode method) (embodichain.utils.cfg.MutableCfgNode method) (embodichain.utils.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.data_pipeline.engine.data.OnlineDataEngineState method) (embodichain.data_pipeline.engine.OnlineDataEngineState method), [1] (embodichain.lab.gym.envs.task_program.EnvironmentStepTimingError method) (embodichain.lab.gym.envs.task_program.RuntimeTransportActionEncoder method) (embodichain.lab.gym.envs.task_program.SegmentPostPolicyPort method) (embodichain.lab.gym.envs.task_program.SegmentValidatorPort method) (embodichain.lab.gym.envs.task_program.TaskProgramBridgeError method) (embodichain.lab.gym.envs.task_program.UnsupportedRuntimeTransportError method) (embodichain.lab.sim.atomic_actions.CommandAckStatus method) (embodichain.lab.sim.atomic_actions.CommandOperation method) (embodichain.lab.sim.atomic_actions.ExecutionEventKind method) (embodichain.lab.sim.atomic_actions.ExecutionStatus method) (embodichain.lab.sim.atomic_actions.RunnerStatus method) (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory static method) (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory static method) (embodichain.lab.sim.sim_manager.SimulationManager static method) (embodichain.lab.task_program.integrations.ControlPartEvidenceProviderFactory method) (embodichain.lab.task_program.integrations.IntegrationFingerprintMismatch method) (embodichain.lab.task_program.integrations.ParallelCommandSafetyValidatorFactory method) (embodichain.lab.task_program.integrations.PlanningObservationPort method) (embodichain.lab.task_program.integrations.RegisteredSemanticLowererFactory method) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentFactory method) (embodichain.lab.task_program.semantics.AmbiguousSceneAffordanceError method) (embodichain.lab.task_program.semantics.AmbiguousSkillBindingError method) (embodichain.lab.task_program.semantics.EffectAssurance method) (embodichain.lab.task_program.semantics.ProfileValidationError method) (embodichain.lab.task_program.semantics.SceneCollisionRole method) (embodichain.lab.task_program.semantics.SceneCollisionWorldMode method) (embodichain.lab.task_program.semantics.SceneDynamics method) (embodichain.lab.task_program.semantics.UnsupportedSceneAffordanceError method) (embodichain.lab.task_program.semantics.UnsupportedSkillError method) (embodichain.lab.task_program.TaskProgramCompileError method) (embodichain.lab.task_program.TaskProgramConfigError method) (embodichain.lab.task_program.TaskProgramDecodeError method) (embodichain.lab.task_program.TaskProgramValidationContext method) (embodichain.lab.task_program.TaskProgramValidationError method) (embodichain.learning.rl.algo.RolloutKind method), [1] (embodichain.toolkits.graspkit.pg_grasp.AntipodalSampler method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionChecker method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionChecker method)

A

abort() (embodichain.data_pipeline.depth_video.writer.DepthVideoWriter method) abort_episode() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) ABSOLUTE (embodichain.data.enum.ActionMode attribute) acc (embodichain.lab.sim.objects.RigidBodyData property) acceleration_limit (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) accelerations (embodichain.lab.sim.motion.planners.PlanResult attribute) accept_episode() (embodichain.lab.sim.motion.expansion.GenerationSession method) accepted (embodichain.lab.sim.atomic_actions.CommandAcknowledgement property) (embodichain.lab.sim.motion.expansion.ValidationResult property) accepted_ack() (embodichain.lab.sim.atomic_actions.CommandAcknowledgement class method) accepted_action_count (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink property) accumulate_segment() (embodichain.learning.rl.algo.APG method), [1] acd_method (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) ACTION (embodichain.data.enum.LeRobotKey attribute) action (embodichain.learning.rl.collector.DifferentiableTransition property) action_config (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg attribute) (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute), [1] action_control_profiles() (embodichain.lab.task_program.semantics.RobotSkillProfile method) 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.QposNormalizedTerm property) (embodichain.lab.gym.envs.managers.QposTerm property) (embodichain.lab.gym.envs.managers.QvelTerm property) (embodichain.lab.sim.motion.solvers.DifferentialSolver property) action_option_template() (embodichain.lab.task_program.semantics.SkillPolicyPreset method) action_option_templates (embodichain.lab.task_program.semantics.SkillPolicyPreset property) ACTION_PREFIX (embodichain.data.enum.LeRobotKey attribute) action_scale (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) action_smoothness_penalty() (in module embodichain.lab.gym.envs.managers.rewards) action_timeout (embodichain.lab.sim.atomic_actions.RecoveryPolicy attribute) ACTION_TOKEN_MASK (embodichain.data.enum.LeRobotKey attribute) ACTION_TOKENS (embodichain.data.enum.LeRobotKey attribute) ActionBinding (class in embodichain.lab.sim.atomic_actions) ActionControlOverrides (class in embodichain.lab.sim.atomic_actions) ActionInvocation (class in embodichain.lab.sim.atomic_actions) ActionManager (class in embodichain.lab.gym.envs.managers) ActionMode (class in embodichain.data.enum) ActionOptions (class in embodichain.lab.sim.atomic_actions) ActionPlan (class in embodichain.lab.sim.atomic_actions) actions (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) actions() (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) ActionTerm (class in embodichain.lab.gym.envs.managers) ActionTermCfg (class in embodichain.lab.gym.envs.managers) active_commands (embodichain.lab.sim.atomic_actions.ExecutionSession property) 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.dataset_manager.DatasetManager property) (embodichain.lab.gym.envs.managers.DatasetManager property) (embodichain.lab.gym.envs.managers.EventManager property) (embodichain.lab.gym.envs.managers.ManagerBase property) (embodichain.lab.gym.envs.managers.ObservationManager property) (embodichain.lab.gym.envs.managers.RewardManager property) active_joint_ids (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] active_joint_names (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) active_plan (embodichain.lab.sim.atomic_actions.ExecutionSession property) ActorCritic (class in embodichain.learning.rl.models), [1] ActorOnly (class in embodichain.learning.rl.models), [1] adapter_id (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) add() (embodichain.lab.sim.motion.workspace.caches.BaseCache method) (embodichain.lab.sim.motion.workspace.caches.DiskCache method) (embodichain.lab.sim.motion.workspace.caches.MemoryCache method) (embodichain.learning.rl.buffer.RolloutBuffer method) (embodichain.learning.rl.buffer.standard_buffer.RolloutBuffer method) add_articulation() (embodichain.lab.sim.sim_manager.SimulationManager method) add_camera_group_id() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] add_cloth_object() (embodichain.lab.sim.sim_manager.SimulationManager method) add_component() (embodichain.lab.sim.cfg.URDFCfg method) (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) add_custom_window_control() (embodichain.lab.sim.sim_manager.SimulationManager method) add_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_exclude_zone() (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) add_force_torque() (embodichain.lab.sim.objects.RigidObject method) add_frame() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) (embodichain.data_pipeline.depth_video.writer.DepthVideoWriter method) add_legend() (embodichain.utils.visualizer.Gantt method) add_light() (embodichain.lab.sim.sim_manager.SimulationManager method) add_milestones() (embodichain.utils.visualizer.Gantt method) add_planned() (embodichain.lab.sim.motion.expansion.GenerationSession method) add_rigid_object() (embodichain.lab.sim.sim_manager.SimulationManager method) add_rigid_object_group() (embodichain.lab.sim.sim_manager.SimulationManager method) add_robot() (embodichain.lab.sim.sim_manager.SimulationManager method) add_sensor() (embodichain.lab.sim.cfg.URDFCfg method) (embodichain.lab.sim.sim_manager.SimulationManager method) add_soft_object() (embodichain.lab.sim.sim_manager.SimulationManager method) add_viser_args_to_parser() (in module embodichain.lab.visualization) address_fingerprint (embodichain.lab.sim.atomic_actions.JointPositionTarget property) (embodichain.lab.sim.atomic_actions.RuntimeEndpointTarget property) advance_after_env_step() (embodichain.lab.gym.envs.task_program.EnvironmentStepClock method) affordance (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) (embodichain.lab.sim.atomic_actions.primitives.place.AssembleGoal attribute) (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) affordance_capabilities (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) affordance_revision (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) affordances() (embodichain.lab.task_program.semantics.SceneRegistry method) agent_visible (embodichain.lab.sim.atomic_actions.AtomicAction attribute) (embodichain.lab.sim.atomic_actions.primitives.move_joints.MoveJoints attribute) algorithm_cfg (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator property) AlgorithmCfg (class in embodichain.learning.rl.utils) (class in embodichain.learning.rl.utils.config) aliases (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) (embodichain.lab.task_program.semantics.SceneRegistry property) ALL (embodichain.lab.sim.motion.planners.MovePart attribute), [1] (embodichain.lab.sim.motion.workspace.configs.MetricType attribute) all_joint_names (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) all_success (embodichain.lab.gym.envs.demo.DemoEpisodeResult property)

allow_commands (embodichain.lab.visualization.VisualizationCfg attribute) alpha (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) AmbiguousSceneAffordanceError (class in embodichain.lab.task_program.semantics) AmbiguousSkillBindingError (class in embodichain.lab.task_program.semantics) AnalysisMode (class in embodichain.lab.sim.motion.workspace) (class in embodichain.lab.sim.motion.workspace.analyzer) analyze() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) angular_damping (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) angular_radius (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) angular_velocity_threshold (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg attribute) annotation_cfg (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator property) AntipodalGraspAffordanceBinding (class in embodichain.lab.task_program.integrations) AntipodalGraspPoseGenerator (class in embodichain.toolkits.graspkit.pg_grasp) AntipodalGraspPoseGeneratorCfg (class in embodichain.toolkits.graspkit.pg_grasp) AntipodalSampler (class in embodichain.toolkits.graspkit.pg_grasp) AntipodalSamplerCfg (class in embodichain.toolkits.graspkit.pg_grasp) any_success (embodichain.lab.gym.envs.demo.DemoEpisodeResult property) ao_texture (embodichain.lab.sim.material.VisualMaterialCfg attribute) APG (class in embodichain.learning.rl.algo), [1] APGCfg (class in embodichain.learning.rl.algo), [1] applied_sequence (embodichain.lab.visualization.JointControlState attribute) apply() (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.EventManager method) (embodichain.lab.sim.atomic_actions.StateDelta method) apply_receipt() (embodichain.lab.sim.motion.expansion.GenerationSession method) apply_render_material_inst() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.Robot method) apply_to_dexsim_config() (embodichain.lab.sim.cfg.RenderCfg method) approach_alignment_max_angle (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) approach_deviation_angle (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGeneratorCfg attribute) approach_direction (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) approach_direction_samples (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGeneratorCfg attribute) approach_distance (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.press.PressOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.SlideOptions attribute) approach_height (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) arena_index (embodichain.lab.sim.cfg.MarkerCfg attribute) arena_offsets (embodichain.lab.sim.sim_manager.SimulationManager property) arena_space (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) ARM (embodichain.data.enum.Hints attribute) arm_part (embodichain.lab.sim.robots.DualArmRobotCfg 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) articulation_cfg_list (embodichain.lab.sim.sensors.ContactSensorCfg attribute) articulation_joint_updates (embodichain.lab.sim.atomic_actions.StateDelta attribute) articulation_joints (embodichain.lab.sim.atomic_actions.PlanningContext property) (embodichain.lab.sim.atomic_actions.SceneSnapshot attribute) (embodichain.lab.sim.atomic_actions.TaskState attribute) articulation_uid (embodichain.lab.sim.sensors.ArticulationContactFilterCfg attribute) (embodichain.lab.visualization.JointControlSpec attribute) ArticulationAffordanceGeometry (class in embodichain.lab.sim.atomic_actions.articulation_geometry) ArticulationCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) ArticulationContactFilterCfg (class in embodichain.lab.sim.sensors) ArticulationData (class in embodichain.lab.sim.objects) ArticulationGeometryProvider (class in embodichain.lab.sim.atomic_actions.articulation_geometry) ArticulationJointGeometry (class in embodichain.lab.sim.atomic_actions.articulation_geometry) ArticulationJointKinematics (class in embodichain.lab.sim.objects) ArticulationJointPositionValidatorCfg (class in embodichain.lab.task_program) as_flat_mapping() (embodichain.lab.sim.atomic_actions.ActionControlOverrides method) aspect (embodichain.lab.visualization.CameraSpec attribute) assemble_runtime() (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter method) assemble_urdf() (embodichain.lab.sim.cfg.URDFCfg method) AssembleGoal (class in embodichain.lab.sim.atomic_actions.primitives.place) assert_current() (embodichain.lab.task_program.semantics.BoundRobotSkillProfile method) assert_unchanged() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) asset_uids (embodichain.lab.sim.sim_manager.SimulationManager property) AsyncLeRobotRecorder (class in embodichain.lab.gym.envs.managers.async_datasets) AtomicAction (class in embodichain.lab.sim.atomic_actions) AtomicActionEngine (class in embodichain.lab.sim.atomic_actions) attach_sensor() (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) attach_to_parent_nodes() (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) attach_workspace() (embodichain.lab.sim.objects.Robot method) 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) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) available_modes (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager property) (embodichain.lab.gym.envs.managers.DatasetManager property) (embodichain.lab.gym.envs.managers.EventManager property) axes_length (embodichain.lab.visualization.FrameOverlay attribute) (embodichain.lab.visualization.TargetOverlay attribute) axes_radius (embodichain.lab.visualization.FrameOverlay attribute) axis (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry attribute) AXIS (embodichain.lab.sim.motion.workspace.configs.VisualizationType attribute) (embodichain.lab.sim.motion.workspace.visualizers.VisualizationType attribute) axis_angle_to_rotation_matrix() (in module embodichain.utils.math) axis_len (embodichain.lab.sim.cfg.MarkerCfg attribute) axis_length (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) axis_length_x (embodichain.lab.sim.objects.GizmoCfg attribute) axis_length_y (embodichain.lab.sim.objects.GizmoCfg attribute) axis_length_z (embodichain.lab.sim.objects.GizmoCfg attribute) axis_size (embodichain.lab.sim.cfg.MarkerCfg attribute) (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) (embodichain.lab.sim.objects.GizmoCfg attribute) axis_xpos (embodichain.lab.sim.cfg.MarkerCfg attribute) AxisAlign (class in embodichain.lab.sim.atomic_actions.primitives.axis_align) AxisAlignGoal (class in embodichain.lab.sim.atomic_actions.primitives.axis_align) AxisAlignOptions (class in embodichain.lab.sim.atomic_actions.primitives.axis_align) AxisVisualizer (class in embodichain.lab.sim.motion.workspace.visualizers)

B

backend (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer attribute) (embodichain.lab.visualization.VisualizationCfg attribute) BACKGROUND (embodichain.data.enum.SemanticMask attribute), [1] BarrierCfg (class in embodichain.lab.task_program) 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) base_pose (embodichain.lab.sim.atomic_actions.primitives.place.AssembleGoal attribute) base_robot (embodichain.lab.sim.robots.DualArmRobotCfg attribute) BaseAlgorithm (class in embodichain.learning.rl.algo), [1] BaseCache (class in embodichain.lab.sim.motion.workspace.caches) BaseCollector (class in embodichain.learning.rl.collector), [1] BaseConstraintChecker (class in embodichain.lab.sim.motion.workspace.constraints) BaseEnv (class in embodichain.lab.gym.envs), [1] BaseMetric (class in embodichain.lab.sim.motion.workspace.metrics) BasePlanner (class in embodichain.lab.sim.motion.planners) BasePlannerCfg (class in embodichain.lab.sim.motion.planners) bases (embodichain.lab.sim.motion.workspace.samplers.HaltonSampler attribute) BaseSampler (class in embodichain.lab.sim.motion.workspace.samplers) BaseSensor (class in embodichain.lab.sim.sensors) BaseSolver (class in embodichain.lab.sim.motion.solvers) BaseVisualizer (class in embodichain.lab.sim.motion.workspace.visualizers) BATCH_INVERSE_KINEMATICS_CAPABILITY (in module embodichain.lab.sim.atomic_actions) batch_size (embodichain.lab.sim.atomic_actions.EndpointCommand property) (embodichain.lab.sim.atomic_actions.JointPositionPayload property) (embodichain.lab.sim.atomic_actions.PlanningContext property) (embodichain.lab.sim.atomic_actions.RobotObservation property) (embodichain.lab.sim.atomic_actions.RuntimeCommandFrame property) (embodichain.lab.sim.atomic_actions.RuntimeCommandPayload property) (embodichain.lab.sim.atomic_actions.TaskState attribute) (embodichain.lab.sim.atomic_actions.TimedCommandSequence property) (embodichain.lab.sim.atomic_actions.TimedTrajectory property) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.task_program.semantics.SemanticPose property) (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute) batched_mask_to_box() (in module embodichain.utils.img_utils) BatchEntity (class in embodichain.lab.sim.common) begin_interaction() (embodichain.lab.sim.objects.Gizmo method) begin_update() (embodichain.learning.rl.algo.APG method), [1] bending_damping (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) bending_stiffness (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) best_eval_metric (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) (embodichain.learning.rl.DifferentiableTrainerCfg attribute) best_eval_mode (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) (embodichain.learning.rl.DifferentiableTrainerCfg attribute) bind() (embodichain.lab.task_program.semantics.RobotSkillProfile method) (embodichain.lab.task_program.semantics.SemanticIntegrationManifest method) bind_collision_world() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) bind_control_parts() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) bind_schedule() (embodichain.learning.rl.algo.BaseAlgorithm method), [1] bind_scheduler_horizon() (in module embodichain.learning.rl.utils) binding (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) binding_contract (embodichain.lab.sim.atomic_actions.AtomicAction attribute) (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlign attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickment attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacement attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOver attribute) (embodichain.lab.sim.atomic_actions.primitives.move_end_effector.MoveEndEffector attribute) (embodichain.lab.sim.atomic_actions.primitives.move_held_object.MoveHeldObject attribute) (embodichain.lab.sim.atomic_actions.primitives.move_joints.MoveJoints attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoor attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUp attribute) (embodichain.lab.sim.atomic_actions.primitives.place.Place attribute) (embodichain.lab.sim.atomic_actions.primitives.pour.Pour attribute) (embodichain.lab.sim.atomic_actions.primitives.press.Press attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObject attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.Slide attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.Twist attribute) (embodichain.lab.sim.atomic_actions.SkillDescriptor attribute) (embodichain.lab.task_program.semantics.SemanticCallDescriptor property) binding_owner_id (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) body_data (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.ClothObject property) (embodichain.lab.sim.objects.RigidObject property) (embodichain.lab.sim.objects.RigidObjectGroup property) (embodichain.lab.sim.objects.Robot property) (embodichain.lab.sim.objects.SoftObject 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) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) body_state (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.RigidObject property) (embodichain.lab.sim.objects.RigidObjectGroup property) (embodichain.lab.sim.objects.Robot property) body_type (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.cfg.RigidObjectGroupCfg attribute) (embodichain.lab.sim.objects.RigidObjectGroupCfg attribute) BOTH (embodichain.lab.sim.motion.planners.MovePart attribute), [1] bounce_threshold (embodichain.lab.sim.cfg.PhysicsCfg attribute) BoundRobotSkillProfile (class in embodichain.lab.task_program.semantics) buffer (embodichain.learning.rl.buffer.RolloutBuffer property) (embodichain.learning.rl.buffer.standard_buffer.RolloutBuffer property) buffer_device (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg attribute) (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute), [1] buffer_size (embodichain.data_pipeline.engine.data.OnlineDataEngine attribute) (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg attribute) (embodichain.data_pipeline.engine.OnlineDataEngine attribute), [1] (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute), [1] BufferedGymCommandSink (class in embodichain.lab.gym.envs.task_program) build() (embodichain.lab.task_program.integrations.ControlPartCommandPreset method) (embodichain.lab.task_program.integrations.ControlPartEndpointBinding method) (embodichain.lab.task_program.integrations.ControlPartResourceBinding method) (embodichain.lab.task_program.integrations.SimulationRobotSkillProfileBinding method) (embodichain.lab.task_program.integrations.SimulationSceneBinding method) build_algo() (in module embodichain.learning.rl.algo), [1] build_command_plan() (embodichain.lab.sim.atomic_actions.AtomicAction method) build_dual_arm_cfg() (in module embodichain.lab.sim.robots) build_env() (in module embodichain.lab.gym.utils.registration) build_learning_env() (in module embodichain.learning.rl) (in module embodichain.learning.rl.env) build_lr_scheduler() (in module embodichain.learning.rl.utils) build_manifest() (embodichain.lab.visualization.SceneExporter method) build_mlp_from_cfg() (in module embodichain.learning.rl.models), [1] build_optimizer() (in module embodichain.learning.rl.utils) build_pk_chain (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg 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) (embodichain.lab.sim.robots.DexforceW1Cfg method) (embodichain.lab.sim.robots.DualArmRobotCfg method) (embodichain.lab.sim.robots.FrankaPandaCfg method) (embodichain.lab.sim.robots.URRobotCfg method) build_plan() (embodichain.lab.sim.atomic_actions.AtomicAction method) build_policy() (in module embodichain.learning.rl.models), [1] build_reduced_pinocchio_robot() (in module embodichain.lab.sim.utility.solver_utils) build_standard_extension_declarations() (in module embodichain.lab.task_program.integrations.extensions) builtin_semantic_call_catalog() (in module embodichain.lab.task_program.semantics)

C

cache (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) cache_dir (embodichain.lab.sim.motion.workspace.configs.CacheConfig attribute) cache_format (embodichain.lab.sim.motion.workspace.configs.CacheConfig attribute) cache_path (embodichain.lab.sim.motion.workspace.cfg.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg attribute) (embodichain.lab.sim.objects.RobotWorkspaceCfg attribute) CacheConfig (class in embodichain.lab.sim.motion.workspace.configs) CACHED_NAMES (embodichain.utils.cfg.CfgNode attribute) CacheManager (class in embodichain.lab.sim.motion.workspace.caches) calculate_md5() (embodichain.data.dataset.EmbodiChainDataset method) callable_to_string() (in module embodichain.utils.string) Camera (class in embodichain.lab.sim.sensors) camera_id (embodichain.lab.visualization.CameraImage attribute) (embodichain.lab.visualization.CameraSpec attribute) camera_ids (embodichain.lab.visualization.SceneFrame attribute) camera_positions (embodichain.lab.visualization.SceneFrame attribute) camera_wxyz (embodichain.lab.visualization.SceneFrame attribute) CameraCfg (class in embodichain.lab.sim.sensors) CameraCfg.ExtrinsicsCfg (class in embodichain.lab.sim.sensors) CameraCfg.OffsetCfg (class in embodichain.lab.sim.sensors) CameraImage (class in embodichain.lab.visualization) CameraImageCaptureResult (class in embodichain.lab.visualization) CameraImageFrame (class in embodichain.lab.visualization) cameras (embodichain.lab.visualization.SceneManifest attribute) CameraSpec (class in embodichain.lab.visualization) can_open_native_window() (embodichain.lab.sim.sim_manager.SimulationManager method) cancel() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) (embodichain.lab.sim.atomic_actions.CommandSink method) (embodichain.lab.sim.atomic_actions.EndpointCommandRouter method) (embodichain.lab.sim.atomic_actions.EndpointCommandTransport method) (embodichain.lab.sim.atomic_actions.ExecutionRunner method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) cancel_interaction() (embodichain.lab.sim.objects.Gizmo method) cancel_update() (embodichain.learning.rl.algo.APG method), [1] CandidateIdentity (class in embodichain.lab.sim.motion.expansion) candidates() (embodichain.lab.task_program.semantics.BoundRobotSkillProfile method) CandidateTrajectoryBatch (class in embodichain.lab.sim.motion.expansion) capabilities (embodichain.lab.sim.atomic_actions.SkillEndpointRequirement attribute) (embodichain.lab.task_program.semantics.ResolvedResourceEndpoint property) (embodichain.lab.task_program.semantics.ResourceEndpoint attribute) capture() (embodichain.lab.visualization.SceneExporter method) (embodichain.lab.visualization.VisualizationRuntime method) capture_camera_images() (embodichain.lab.visualization.SceneExporter method) capture_seconds (embodichain.lab.visualization.CameraImageCaptureResult attribute) (embodichain.lab.visualization.CaptureResult attribute) (embodichain.lab.visualization.RuntimeStats attribute) capture_visualization() (embodichain.lab.sim.sim_manager.SimulationManager method) capture_visualization_safely() (embodichain.lab.sim.sim_manager.SimulationManager method) captured_frames (embodichain.lab.visualization.RuntimeStats attribute) captured_image_frames (embodichain.lab.visualization.RuntimeStats attribute) CaptureResult (class in embodichain.lab.visualization) CARTESIAN_POSE_CAPABILITY (in module embodichain.lab.sim.atomic_actions) CARTESIAN_SPACE (embodichain.lab.sim.motion.workspace.AnalysisMode attribute) (embodichain.lab.sim.motion.workspace.analyzer.AnalysisMode attribute) cartesian_waypoint_count (embodichain.lab.sim.atomic_actions.primitives.place.PlaceOptions attribute) center_crop() (in module embodichain.utils.utility) cfg (embodichain.lab.sim.common.BatchEntity attribute) CfgNode (class in embodichain.utils.cfg) change_nested_dict() (in module embodichain.utils.utility) check_bounds() (embodichain.lab.sim.motion.workspace.constraints.BaseConstraintChecker method) (embodichain.lab.sim.motion.workspace.constraints.IConstraintChecker method) check_collision() (embodichain.lab.sim.motion.workspace.constraints.BaseConstraintChecker method) (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) check_constraints() (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) check_interval_steps (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg attribute) 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) checkpoint_dir (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) (embodichain.learning.rl.DifferentiableTrainerCfg attribute) checkpoint_path (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) child_link_name (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry attribute) ChunkSizeSampler (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.sampler) claim_tokens (embodichain.lab.task_program.semantics.EndpointResolution attribute) 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.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg.SolverCfg attribute) (embodichain.lab.sim.robots.URRobotCfg.SolverCfg attribute) clean_materials() (embodichain.lab.sim.sim_manager.SimulationManager method) clear() (embodichain.lab.sim.motion.workspace.caches.BaseCache method) (embodichain.lab.sim.motion.workspace.caches.DiskCache method) (embodichain.lab.sim.motion.workspace.caches.MemoryCache method) (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer method) (embodichain.lab.visualization.GizmoCommandQueue method) (embodichain.lab.visualization.JointControlCommandQueue method) (embodichain.lab.visualization.LatestFrameQueue method) (embodichain.lab.visualization.picker.ScenePicker method) clear_cache() (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) clear_dynamics() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) clear_exclude_zones() (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) cli() (in module embodichain.learning.rl.train), [1] client_count (embodichain.lab.visualization.RuntimeHealth attribute) client_id (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.PickCommand attribute) clip_coef (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] clock (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink property) (embodichain.lab.gym.envs.task_program.TaskProgramDemoBridge property) (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) CLOSE (embodichain.data.enum.EefExecute attribute) close() (embodichain.data_pipeline.depth_video.writer.DepthVideoWriter method) (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.datasets.LeRobotRecorder method) (embodichain.lab.gym.envs.managers.record.record_camera_data method) (embodichain.lab.gym.envs.ReplayWrapper method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) (embodichain.learning.rl.env.LearningVecEnv method) (embodichain.learning.rl.LearningVecEnv method) close_window() (embodichain.lab.sim.sim_manager.SimulationManager method) ClothBodyData (class in embodichain.lab.sim.objects) ClothObject (class in embodichain.lab.sim.objects) ClothObjectCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) 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) coerce_lr_scheduler_cfg() (in module embodichain.learning.rl.utils) coerce_optimizer_cfg() (in module embodichain.learning.rl.utils) collate_fn() (embodichain.data_pipeline.datasets.online_data.OnlineDataset static method) (embodichain.data_pipeline.datasets.OnlineDataset static method), [1] collect() (embodichain.lab.task_program.semantics.EffectEvidenceCollector method) (embodichain.learning.rl.collector.BaseCollector method), [1] (embodichain.learning.rl.collector.DifferentiableCollector method) (embodichain.learning.rl.collector.SyncCollector method), [1] collision_cfg (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator property) collision_entity_ids (embodichain.lab.sim.atomic_actions.SceneSnapshot attribute) collision_geometry_by_id() (embodichain.lab.task_program.semantics.SceneRegistry method) collision_mesh_simplification (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) collision_obstacle_poses() (embodichain.lab.sim.atomic_actions.SceneSnapshot method) collision_position (embodichain.lab.sim.objects.SoftBodyData property) collision_role (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) collision_surface_triangles (embodichain.lab.sim.objects.SoftBodyData property) collision_threshold (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg attribute) collision_world_batch_mode (embodichain.lab.sim.motion.motion_generator.MotionGenerator property) collision_world_entity_ids (embodichain.lab.sim.motion.motion_generator.MotionGenerator property) (embodichain.lab.task_program.semantics.SceneRegistry property) collision_world_info (embodichain.lab.sim.motion.motion_generator.MotionGenerator property) (embodichain.lab.sim.motion.planners.BasePlanner property) (embodichain.lab.sim.motion.planners.ToppraPlanner property) collision_world_mode (embodichain.lab.task_program.semantics.RegistrySceneProvider property) collision_world_revision (embodichain.lab.sim.atomic_actions.SceneSnapshot attribute) collision_world_revisions() (embodichain.lab.sim.atomic_actions.SceneSnapshot method) color (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) (embodichain.lab.visualization.MeshGeometry attribute) (embodichain.lab.visualization.TrajectoryOverlay attribute) color_by_distance (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) color_output (embodichain.lab.sim.profiler.ProfilerCfg attribute) (embodichain.lab.sim.ProfilerCfg attribute) colors (embodichain.lab.visualization.PointCloudOverlay attribute) com_pose (embodichain.lab.sim.objects.RigidBodyData property) combine() (embodichain.lab.task_program.semantics.ResourceClaim class method) combined_function() (in module embodichain.utils.configclass) command() (embodichain.lab.sim.atomic_actions.EndpointBinding method) command_count (embodichain.lab.sim.atomic_actions.ExecutionRunner property) command_encoder (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) command_profile (embodichain.lab.task_program.semantics.ControlPartEndpoint attribute) command_profile_key (embodichain.lab.task_program.semantics.EndpointResolution attribute) command_sink (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) command_timeout (embodichain.lab.sim.atomic_actions.ExecutionRunnerCfg attribute) CommandAcknowledgement (class in embodichain.lab.sim.atomic_actions) CommandAckStatus (class in embodichain.lab.sim.atomic_actions) CommandDispatch (class in embodichain.lab.sim.atomic_actions) CommandOperation (class in embodichain.lab.sim.atomic_actions) CommandSink (class in embodichain.lab.sim.atomic_actions) CommitReceipt (class in embodichain.lab.sim.motion.expansion) compile() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter method) (embodichain.lab.task_program.TaskProgramCompiler method) compile_mllm_task_program() (in module embodichain.agents.mllm) compile_task_program() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] CompiledTaskProgram (class in embodichain.lab.task_program) compiler (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) complete (embodichain.lab.gym.envs.settling.DynamicSettleState property) completion_mask (embodichain.lab.gym.envs.task_program.TaskProgramDemoBridge property) completion_tolerance (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) 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) compression (embodichain.lab.sim.motion.workspace.configs.CacheConfig attribute) compute() (embodichain.lab.gym.envs.managers.ObservationManager method) (embodichain.lab.gym.envs.managers.RewardManager method) (embodichain.lab.sim.motion.workspace.metrics.BaseMetric method) (embodichain.lab.sim.motion.workspace.metrics.DensityMetric method) (embodichain.lab.sim.motion.workspace.metrics.ManipulabilityMetric method) (embodichain.lab.sim.motion.workspace.metrics.ReachabilityMetric method) compute_batch_fk() (embodichain.lab.sim.objects.Robot method) compute_batch_ik() (embodichain.lab.sim.objects.Robot method)

compute_cache_key() (in module embodichain.lab.sim.motion.workspace.caches) compute_coverage (embodichain.lab.sim.motion.workspace.configs.ReachabilityConfig attribute) compute_distribution (embodichain.lab.sim.motion.workspace.configs.DensityConfig attribute) compute_exteroception (class in embodichain.lab.gym.envs.managers.observations) compute_fk() (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationGeometryProvider method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) compute_gae() (in module embodichain.learning.rl.algo), [1] compute_heatmap (embodichain.lab.sim.motion.workspace.configs.ManipulabilityConfig attribute) compute_ik() (embodichain.lab.sim.objects.Robot method) compute_isotropy (embodichain.lab.sim.motion.workspace.configs.ManipulabilityConfig attribute) compute_jacobian() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) compute_pinocchio_fk() (in module embodichain.lab.sim.utility.solver_utils) compute_pose_error() (in module embodichain.utils.math) compute_pose_offset_related_to_first() (in module embodichain.lab.sim.utility.action_utils) compute_reachability() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) compute_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.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) compute_workspace_points() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) concatenate() (embodichain.lab.sim.atomic_actions.TimedTrajectory class method) config (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer attribute) configclass() (in module embodichain.utils.configclass) ConfigPath (in module embodichain.lab.task_program) ConfigPathPart (in module embodichain.lab.task_program) configurable() (in module embodichain.utils.cfg) ConfiguredHandOverPoseProvider (class in embodichain.lab.task_program.integrations) confirm() (embodichain.lab.sim.motion.expansion.CoverageIndex method) conflicts_with() (embodichain.lab.task_program.semantics.ResolvedResourceEndpoint method) (embodichain.lab.task_program.semantics.ResourceClaim method) constraint (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) constraint_bounds (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) constraint_type (embodichain.lab.sim.cfg.RigidConstraintCfg attribute) (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) constraints (embodichain.lab.sim.atomic_actions.SkillResourceSlot attribute) contact_distance (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectToolCalibration attribute) contact_frame_to_eef (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectToolCalibration attribute) contact_offset (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) ContactSensor (class in embodichain.lab.sim.sensors) ContactSensorCfg (class in embodichain.lab.sim.sensors) ContactSensorCfg.OffsetCfg (class in embodichain.lab.sim.sensors) ContainerAffordanceBinding (class in embodichain.lab.task_program.integrations) control_dt (embodichain.lab.sim.atomic_actions.PlanningContext attribute) control_frequency (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnv property), [1] control_id (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.JointControlSpec attribute) (embodichain.lab.visualization.JointControlState attribute) control_max_step (embodichain.lab.gym.envs.ReplayWrapper property) control_overrides (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) control_part (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectToolCalibration attribute) (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) (embodichain.lab.sim.objects.Gizmo property) (embodichain.lab.task_program.semantics.ControlPartEndpoint attribute) (embodichain.lab.visualization.GizmoSpec attribute) control_part_name (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) control_parts (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.Robot property) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) control_profiles (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) ControlCommand (class in embodichain.lab.sim.atomic_actions) ControllerAction (class in embodichain.lab.gym.envs.types) ControlPartCommandPreset (class in embodichain.lab.task_program.integrations) ControlPartCommandProfile (class in embodichain.lab.sim.atomic_actions) ControlPartEndpoint (class in embodichain.lab.task_program.semantics) ControlPartEndpointAdapter (class in embodichain.lab.task_program.semantics) ControlPartEndpointBinding (class in embodichain.lab.task_program.integrations) ControlPartEvidenceProviderDeclaration (class in embodichain.lab.task_program.integrations) ControlPartEvidenceProviderFactory (class in embodichain.lab.task_program.integrations) ControlPartResourceBinding (class in embodichain.lab.task_program.integrations) 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) convert_to_look_at (embodichain.lab.sim.cfg.WindowCameraPoseCfg attribute) ConvexCollisionChecker (class in embodichain.toolkits.graspkit.pg_grasp) ConvexCollisionCheckerCfg (class in embodichain.toolkits.graspkit.pg_grasp) coordinated_held_object_updates (embodichain.lab.sim.atomic_actions.StateDelta attribute) coordinated_held_objects (embodichain.lab.sim.atomic_actions.PlanningContext property) (embodichain.lab.sim.atomic_actions.TaskState attribute) CoordinatedPickGoal (class in embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment) CoordinatedPickment (class in embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment) CoordinatedPickmentOptions (class in embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment) CoordinatedPlacement (class in embodichain.lab.sim.atomic_actions.primitives.coordinated_placement) CoordinatedPlacementGoal (class in embodichain.lab.sim.atomic_actions.primitives.coordinated_placement) CoordinatedPlacementOptions (class in embodichain.lab.sim.atomic_actions.primitives.coordinated_placement) copy() (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg method) (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg method) (embodichain.data_pipeline.engine.OnlineDataEngineCfg method), [1] (embodichain.lab.gym.envs.demo.DemoExecutionCfg method) (embodichain.lab.gym.envs.EmbodiedEnvCfg method), [1] (embodichain.lab.gym.envs.EmbodiedEnvCfg.EnvLightCfg method), [1] (embodichain.lab.gym.envs.EnvCfg method), [1] (embodichain.lab.gym.envs.managers.ActionTermCfg method) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg method) (embodichain.lab.gym.envs.managers.EventCfg method) (embodichain.lab.gym.envs.managers.FunctorCfg method) (embodichain.lab.gym.envs.managers.ObservationCfg method) (embodichain.lab.gym.envs.managers.RewardCfg method) (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg method) (embodichain.lab.sim.DLSSCfg method) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg method) (embodichain.lab.sim.sensors.ArticulationContactFilterCfg method) (embodichain.lab.sim.shapes.LoadOption method) (embodichain.lab.task_program.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.BarrierCfg method) (embodichain.lab.task_program.CyclicPoseTargetCfg method) (embodichain.lab.task_program.HandOverCfg method) (embodichain.lab.task_program.InvokeCfg method) (embodichain.lab.task_program.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.ParallelCfg method) (embodichain.lab.task_program.PickCfg method) (embodichain.lab.task_program.PlaceCfg method) (embodichain.lab.task_program.PoseCfg method) (embodichain.lab.task_program.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.RepeatCfg method) (embodichain.lab.task_program.SegmentCfg method) (embodichain.lab.task_program.SequenceCfg method) (embodichain.lab.task_program.TargetRefCfg method) (embodichain.lab.task_program.TaskProgramCfg method) (embodichain.lab.task_program.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.WaitStablePostCfg method) (embodichain.learning.rl.algo.APGCfg method), [1] (embodichain.learning.rl.algo.GRPOCfg method), [1] (embodichain.learning.rl.algo.PPOCfg method), [1] (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg method) (embodichain.learning.rl.DifferentiableTrainerCfg method) (embodichain.learning.rl.utils.AlgorithmCfg method) (embodichain.learning.rl.utils.config.AlgorithmCfg method) (embodichain.learning.rl.utils.config.LRSchedulerCfg method) (embodichain.learning.rl.utils.config.OptimizerCfg method) (embodichain.learning.rl.utils.LRSchedulerCfg method) (embodichain.learning.rl.utils.OptimizerCfg method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method) corner_type (embodichain.lab.sim.cfg.MarkerCfg attribute) COUNTER (embodichain.utils.cfg.CfgNode attribute) CoverageIndex (class in embodichain.lab.sim.motion.expansion) cpu_num (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) create() (embodichain.lab.task_program.integrations.CuroboParallelSafetyValidatorFactory method) create_adapter() (embodichain.lab.task_program.integrations.SimulationTaskProgramAdapterFactory method) (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) (embodichain.lab.task_program.integrations.TaskProgramAdapterFactory method) create_atomic_action_engine() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) create_bridge() (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter method) create_cache() (embodichain.lab.sim.motion.workspace.caches.CacheManager static method) create_cache_from_config() (embodichain.lab.sim.motion.workspace.caches.CacheManager static method) create_control_part_evidence_provider() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) create_cube() (in module embodichain.lab.sim.utility.sim_utils) create_demo_action_list() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] create_demo_segments() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] create_effect_evidence_providers() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) create_instance() (embodichain.lab.sim.material.VisualMaterial method) create_parallel_command_safety_validator() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) create_parallel_safety_validator() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) create_pk_chain() (in module embodichain.lab.sim.utility.solver_utils) create_pk_serial_chain() (in module embodichain.lab.sim.utility.solver_utils) create_planning_observation_provider() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) create_registered_semantic_lowerers() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) create_rigid_constraint() (embodichain.lab.sim.sim_manager.SimulationManager method) (in module embodichain.lab.gym.envs.managers.events) create_robot_ik_gizmo_controller() (in module embodichain.lab.sim.objects) create_robot_skill_profile() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) create_rotation_matrix_from_view() (in module embodichain.utils.math) create_sampler() (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory method) (in module embodichain.lab.sim.motion.workspace.samplers) create_scene_registry() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) create_simulation_atomic_action_engine() (in module embodichain.lab.sim.atomic_actions) create_simulation_task_program_adapter() (in module embodichain.lab.task_program.integrations) create_sphere() (in module embodichain.lab.sim.utility.sim_utils) create_task_program_bridge() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] create_video_writer() (in module embodichain.utils.utility) create_visual_material() (embodichain.lab.sim.sim_manager.SimulationManager method) create_visualizer() (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory method) (in module embodichain.lab.sim.motion.workspace.visualizers) CREATED (embodichain.data_pipeline.engine.data.OnlineDataEngineState attribute) (embodichain.data_pipeline.engine.OnlineDataEngineState attribute), [1] crf (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] CubeCfg (class in embodichain.lab.sim.shapes) CuroboParallelCommandSafetyValidator (class in embodichain.lab.task_program.integrations) CuroboParallelSafetyValidatorFactory (class in embodichain.lab.task_program.integrations) current_learning_rate() (embodichain.learning.rl.algo.BaseAlgorithm method), [1] current_mode (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer attribute) current_qpos() (embodichain.lab.gym.envs.task_program.GymPlanningObservationProvider method) custom_post_init() (in module embodichain.utils.configclass) CyclicPoseTargetCfg (class in embodichain.lab.task_program)

D

damp (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) damping (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) damping_decay (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) damping_growth (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) database_size (embodichain.lab.sim.motion.solvers.qpos_seed_sel_sampler.QposSeedSelSampler property) dataset (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] dataset_path (embodichain.lab.gym.envs.managers.datasets.LeRobotRecorder property) DatasetFunctorCfg (class in embodichain.lab.gym.envs.managers) DatasetManager (class in embodichain.lab.gym.envs.managers) (class in embodichain.lab.gym.envs.managers.dataset_manager) deactivate_rows() (embodichain.lab.sim.atomic_actions.ExecutionRunner method) (embodichain.lab.sim.atomic_actions.ExecutionSession method) debug (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg attribute) declare() (embodichain.lab.task_program.integrations.ControlPartCommandPreset method) (embodichain.lab.task_program.integrations.ControlPartEndpointBinding method) (embodichain.lab.task_program.integrations.ControlPartResourceBinding method) (embodichain.lab.task_program.integrations.SimulationRobotSkillProfileBinding method) (embodichain.lab.task_program.integrations.SimulationSceneBinding method) declare_control_part_evidence_factory() (in module embodichain.lab.task_program.integrations.extensions) declare_endpoint_adapter() (in module embodichain.lab.task_program.integrations.extensions) declare_parallel_safety_factory() (in module embodichain.lab.task_program.integrations.extensions) declare_registered_semantic_lowerer_factory() (in module embodichain.lab.task_program.integrations.extensions) declare_runtime_transport() (in module embodichain.lab.task_program.integrations.extensions) decode_mllm_task_program() (in module embodichain.agents.mllm) decode_task_program() (in module embodichain.lab.task_program) decorate_str_color() (in module embodichain.utils.logger) default_affordances (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) DEFAULT_CONTROL_PART_PRIORITY (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer attribute) default_options (embodichain.lab.sim.atomic_actions.AtomicAction property) default_plan_options() (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) default_simulation_settle_presets() (in module embodichain.lab.task_program.integrations) DeltaQposTerm (class in embodichain.lab.gym.envs.managers) DemoEpisodeResult (class in embodichain.lab.gym.envs.demo) DemoExecutionCfg (class in embodichain.lab.gym.envs.demo) DemoOutputMode (in module embodichain.lab.gym.envs.demo) DemoSegment (class in embodichain.lab.gym.envs.demo) DemoSegmentOutcomeKind (in module embodichain.lab.gym.envs.demo) DemoSegmentResult (class in embodichain.lab.gym.envs.demo) 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) (embodichain.lab.sim.motion.workspace.configs.MetricConfig attribute) DENSITY (embodichain.lab.sim.motion.workspace.configs.MetricType attribute) DensityConfig (class in embodichain.lab.sim.motion.workspace.configs) DensityMetric (class in embodichain.lab.sim.motion.workspace.metrics) depth() (embodichain.utils.cfg.CfgNode method) depth_max (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] depth_min (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] DepthCodecError DepthSidecarManager (class in embodichain.data_pipeline.depth_video.writer) DepthVideoCfg (class in embodichain.data_pipeline.depth_video.cfg) DepthVideoLibrary (class in embodichain.data_pipeline.depth_video.reader) DepthVideoReader (class in embodichain.data_pipeline.depth_video.reader) DepthVideoWriter (class in embodichain.data_pipeline.depth_video.writer) dequantize_depth() (in module embodichain.data_pipeline.depth_video.depth_utils) describe_trajectory() (in module embodichain.lab.sim.motion.expansion) descriptor() (embodichain.lab.sim.atomic_actions.AtomicAction class method) descriptors (embodichain.lab.task_program.semantics.SemanticCallCatalog property) destination_key (embodichain.lab.sim.atomic_actions.EndpointBinding property) (embodichain.lab.sim.atomic_actions.EndpointCommand property) destroy() (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.ClothObject method) (embodichain.lab.sim.objects.Gizmo method) (embodichain.lab.sim.objects.Light method) (embodichain.lab.sim.objects.RigidConstraint method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.SoftObject method) (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) (embodichain.lab.sim.sim_manager.SimulationManager method) detach_native_window() (embodichain.lab.sim.objects.Gizmo method) detach_state() (embodichain.learning.rl.collector.DifferentiableCollector method) (embodichain.learning.rl.DifferentiableVecEnv method) (embodichain.learning.rl.env.DifferentiableVecEnv method) detect_depth_encoder() (in module embodichain.data_pipeline.depth_video.codec) deterministic_actions (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) (embodichain.learning.rl.DifferentiableTrainerCfg attribute) Device (class in embodichain.lab.devices) device (embodichain.data_pipeline.engine.data.OnlineDataEngine attribute) (embodichain.data_pipeline.engine.OnlineDataEngine attribute), [1] (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.DatasetManager 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.QposNormalizedTerm property) (embodichain.lab.gym.envs.managers.QposTerm property) (embodichain.lab.gym.envs.managers.QvelTerm property) (embodichain.lab.gym.envs.managers.RewardManager property) (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationGeometryProvider attribute) (embodichain.lab.sim.atomic_actions.AtomicAction property) (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) (embodichain.lab.sim.atomic_actions.EndpointCommand property) (embodichain.lab.sim.atomic_actions.JointPositionPayload property) (embodichain.lab.sim.atomic_actions.RuntimeCommandFrame property) (embodichain.lab.sim.atomic_actions.RuntimeCommandPayload property) (embodichain.lab.sim.atomic_actions.TaskState attribute) (embodichain.lab.sim.atomic_actions.TimedCommandSequence property) (embodichain.lab.sim.common.BatchEntity attribute) (embodichain.lab.sim.motion.workspace.RobotWorkspace property) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace property) (embodichain.lab.sim.motion.workspace.samplers.BaseSampler attribute) (embodichain.learning.rl.algo.APG attribute), [1] (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.BaseAlgorithm attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.env.LearningVecEnv attribute) (embodichain.learning.rl.LearningVecEnv attribute) (embodichain.learning.rl.models.Policy attribute), [1] (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute)

Device (in module embodichain.lab.sim.types) DeviceController (class in embodichain.lab.devices) DexforceW1Cfg (class in embodichain.lab.sim.robots) DexforceW1Cfg.SolverCfg (class in embodichain.lab.sim.robots) DEXTROUSHAND (embodichain.data.enum.EndEffector attribute) dh_matrix() (embodichain.lab.sim.motion.solvers.URSolver static method) dh_params (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) dict() (embodichain.utils.cfg.CfgNode method) dict2args() (in module embodichain.utils.utility) dict_to_tensordict() (in module embodichain.learning.rl.utils) (in module embodichain.learning.rl.utils.helper) diff() (embodichain.utils.cfg.CfgNode method) DIFFERENTIABLE (embodichain.learning.rl.algo.RolloutKind attribute), [1] DifferentiableCollector (class in embodichain.learning.rl.collector) DifferentiableRollout (class in embodichain.learning.rl.collector) DifferentiableTrainer (class in embodichain.learning.rl) (class in embodichain.learning.rl.differentiable_trainer) DifferentiableTrainerCfg (class in embodichain.learning.rl) (class in embodichain.learning.rl.differentiable_trainer) DifferentiableTransition (class in embodichain.learning.rl.collector) DifferentiableVecEnv (class in embodichain.learning.rl) (class in embodichain.learning.rl.env) DifferentialSolver (class in embodichain.lab.sim.motion.solvers) DifferentialSolverCfg (class in embodichain.lab.sim.motion.solvers) DimensionConstraint (class in embodichain.lab.sim.motion.workspace.configs) direction (embodichain.lab.sim.atomic_actions.primitives.slide.SlideOptions attribute) (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) disable_entity_gizmo() (embodichain.lab.sim.sim_manager.SimulationManager method) disable_gizmo() (embodichain.lab.sim.sim_manager.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) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) discard_and_clear() (embodichain.lab.gym.envs.managers.record.record_camera_data method) (embodichain.lab.gym.envs.managers.record.record_camera_data_async method) discard_pending() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) discover() (embodichain.lab.task_program.semantics.SemanticCallCatalog method) discover_task_packages() (in module embodichain.lab.gym.utils.registration) DisjointResourceSlots (class in embodichain.lab.sim.atomic_actions) DisjointSlotEndpoints (class in embodichain.lab.sim.atomic_actions) DiskCache (class in embodichain.lab.sim.motion.workspace.caches) DISTANCE (embodichain.lab.sim.motion.planners.TrajectorySampleMethod attribute) distance_between_objects() (in module embodichain.lab.gym.envs.managers.rewards) distance_to_target() (in module embodichain.lab.gym.envs.managers.rewards) dlss (embodichain.lab.sim.cfg.RenderCfg attribute) dlss_enabled (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) dlss_quality (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) DLSSCfg (class in embodichain.lab.sim) (class in embodichain.lab.sim.cfg) do_process_decorator() (in module embodichain.utils.utility) dof (embodichain.lab.sim.atomic_actions.JointPositionPayload property) (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) DONE (embodichain.data.enum.LeRobotKey attribute) done (embodichain.learning.rl.collector.DifferentiableTransition property) door_waypoint_count (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorOptions attribute) download_asset() (in module embodichain.data.download) downstream_object_target_poses (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) drain() (embodichain.lab.visualization.GizmoCommandQueue method) (embodichain.lab.visualization.JointControlCommandQueue method) drain_gizmo_commands() (embodichain.lab.visualization.VisualizationRuntime method) drain_joint_control_commands() (embodichain.lab.visualization.VisualizationRuntime method) drain_pick_commands() (embodichain.lab.visualization.VisualizationRuntime method) drain_replay_control_command() (embodichain.lab.visualization.VisualizationRuntime method) drain_safe_stop_action() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) draw_action_distribution() (in module embodichain.utils.visualizer) draw_axis() (in module embodichain.lab.sim.utility.atom_action_utils) draw_feature() (in module embodichain.utils.visualizer) draw_keypoints() (in module embodichain.utils.visualizer) draw_marker() (embodichain.lab.sim.sim_manager.SimulationManager method) 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) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) drive_type (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) drop_rigid_object_group_sequentially() (in module embodichain.lab.gym.envs.managers.events) dropped_frames (embodichain.lab.visualization.RuntimeStats attribute) dropped_image_frames (embodichain.lab.visualization.RuntimeStats attribute) dt (embodichain.lab.sim.atomic_actions.TimedTrajectory attribute) (embodichain.lab.sim.motion.planners.PlanResult attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) dual_part (embodichain.lab.sim.robots.DualArmRobotCfg attribute) DualArmRobotCfg (class in embodichain.lab.sim.robots) DualArmRobotCfg.SolverCfg (class in embodichain.lab.sim.robots) dump() (embodichain.utils.cfg.CfgNode method) duration (embodichain.lab.sim.atomic_actions.TimedTrajectory property) (embodichain.lab.sim.motion.planners.PlanResult property) dynamic_collision_entity_ids (embodichain.lab.sim.motion.motion_generator.MotionGenerator property) (embodichain.lab.task_program.semantics.SceneRegistry property) dynamic_collision_mode (embodichain.lab.sim.atomic_actions.MotionPolicy attribute) dynamic_friction (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) dynamic_geometry (embodichain.lab.visualization.SceneNode attribute) dynamic_meshes (embodichain.lab.visualization.SceneFrame attribute) DynamicMeshUpdate (class in embodichain.lab.visualization) dynamics (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) DynamicSettleMonitor (class in embodichain.lab.gym.envs.settling) DynamicSettleMonitorCfg (class in embodichain.lab.gym.envs.settling) DynamicSettleSample (class in embodichain.lab.gym.envs.settling) DynamicSettleState (class in embodichain.lab.gym.envs.settling)

E

EEF (embodichain.data.enum.Hints attribute) EEF_MOVE (embodichain.lab.sim.motion.planners.MoveType attribute), [1] eef_pose (embodichain.lab.sim.motion.workspace.runtime.WorkspaceSample attribute) (embodichain.lab.sim.motion.workspace.WorkspaceSample attribute) EefExecute (class in embodichain.data.enum) EefPoseTerm (class in embodichain.lab.gym.envs.managers) EefType (class in embodichain.data.enum) effect_candidates (embodichain.lab.sim.atomic_actions.ActionPlan attribute) effect_evidence_source_keys (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) effect_monitors (embodichain.lab.task_program.semantics.SkillPolicyPreset property) effect_sources (embodichain.lab.task_program.semantics.EndpointResolution attribute) effect_verification_pending (embodichain.lab.sim.atomic_actions.ExecutionRunner property) (embodichain.lab.sim.atomic_actions.ExecutionSession property) EffectAssurance (class in embodichain.lab.task_program.semantics) EffectEvidenceCollector (class in embodichain.lab.task_program.semantics) EffectMonitor (class in embodichain.lab.task_program.semantics) EffectMonitorRef (class in embodichain.lab.task_program.semantics) EffectVerificationRequest (class in embodichain.lab.sim.atomic_actions) EffectVerificationRequirement (class in embodichain.lab.sim.atomic_actions) EffectVerificationResult (class in embodichain.lab.sim.atomic_actions) elasticity_damping (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) eligible_mask (embodichain.lab.sim.atomic_actions.ExecutionSession property) embodichain.compute.trajectory module embodichain.compute.trajectory.interpolation module embodichain.compute.trajectory.resampling module embodichain.compute.trajectory.warping module embodichain.data module embodichain.data.assets module embodichain.data.constants module embodichain.data.dataset module embodichain.data.download module embodichain.data.enum module embodichain.data_pipeline module embodichain.data_pipeline.datasets module, [1], [2] embodichain.data_pipeline.datasets.online_data module embodichain.data_pipeline.datasets.sampler module embodichain.data_pipeline.depth_video module embodichain.data_pipeline.depth_video.cfg module embodichain.data_pipeline.depth_video.codec module embodichain.data_pipeline.depth_video.depth_utils module embodichain.data_pipeline.depth_video.reader module embodichain.data_pipeline.depth_video.writer module embodichain.data_pipeline.engine module, [1], [2] embodichain.data_pipeline.engine.data module embodichain.lab module embodichain.lab.devices module embodichain.lab.gym module embodichain.lab.gym.envs module embodichain.lab.gym.envs.managers module embodichain.lab.gym.envs.managers.async_datasets module embodichain.lab.gym.envs.managers.dataset_manager module embodichain.lab.gym.envs.managers.datasets module embodichain.lab.gym.envs.managers.events module embodichain.lab.gym.envs.managers.observations module embodichain.lab.gym.envs.managers.randomization module embodichain.lab.gym.envs.managers.randomization.geometry module embodichain.lab.gym.envs.managers.randomization.physics module embodichain.lab.gym.envs.managers.randomization.spatial module embodichain.lab.gym.envs.managers.randomization.visual module embodichain.lab.gym.envs.managers.record module embodichain.lab.gym.envs.managers.rewards module embodichain.lab.gym.utils module embodichain.lab.gym.utils.gym_utils module, [1] embodichain.lab.gym.utils.misc module, [1] embodichain.lab.gym.utils.profiler module embodichain.lab.gym.utils.registration module embodichain.lab.sim module embodichain.lab.sim.atomic_actions.primitives.axis_align module embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment module embodichain.lab.sim.atomic_actions.primitives.coordinated_placement module embodichain.lab.sim.atomic_actions.primitives.hand_over module embodichain.lab.sim.atomic_actions.primitives.move_end_effector module embodichain.lab.sim.atomic_actions.primitives.move_held_object module embodichain.lab.sim.atomic_actions.primitives.move_joints module embodichain.lab.sim.atomic_actions.primitives.open_door module embodichain.lab.sim.atomic_actions.primitives.pick_up module embodichain.lab.sim.atomic_actions.primitives.place module embodichain.lab.sim.atomic_actions.primitives.pour module embodichain.lab.sim.atomic_actions.primitives.press module embodichain.lab.sim.atomic_actions.primitives.push_object module embodichain.lab.sim.atomic_actions.primitives.slide module embodichain.lab.sim.atomic_actions.primitives.twist module embodichain.lab.sim.cfg module, [1] embodichain.lab.sim.common module embodichain.lab.sim.material module embodichain.lab.sim.motion module embodichain.lab.sim.motion.motion_generator module embodichain.lab.sim.motion.planners module embodichain.lab.sim.motion.solvers module embodichain.lab.sim.motion.workspace module embodichain.lab.sim.motion.workspace.analyzer module embodichain.lab.sim.motion.workspace.caches module embodichain.lab.sim.motion.workspace.cfg module embodichain.lab.sim.motion.workspace.configs module embodichain.lab.sim.motion.workspace.constraints module embodichain.lab.sim.motion.workspace.metrics module embodichain.lab.sim.motion.workspace.runtime module embodichain.lab.sim.motion.workspace.samplers module embodichain.lab.sim.motion.workspace.visualizers module embodichain.lab.sim.objects module embodichain.lab.sim.profiler module embodichain.lab.sim.robots module embodichain.lab.sim.sensors module embodichain.lab.sim.shapes module embodichain.lab.sim.sim_manager module embodichain.lab.sim.types module, [1] embodichain.lab.sim.utility module embodichain.lab.sim.utility.action_utils module embodichain.lab.sim.utility.atom_action_utils module embodichain.lab.sim.utility.cfg_utils module embodichain.lab.sim.utility.import_utils module embodichain.lab.sim.utility.io_utils module embodichain.lab.sim.utility.keyboard_utils module embodichain.lab.sim.utility.mesh_utils module embodichain.lab.sim.utility.sim_utils module embodichain.lab.sim.utility.solver_utils module embodichain.lab.sim.utility.tensor module embodichain.lab.visualization module embodichain.learning module embodichain.learning.rl module, [1] embodichain.learning.rl.algo module, [1], [2] embodichain.learning.rl.buffer module, [1] embodichain.learning.rl.buffer.standard_buffer module embodichain.learning.rl.buffer.utils module embodichain.learning.rl.collector module, [1] embodichain.learning.rl.differentiable_trainer module embodichain.learning.rl.env module embodichain.learning.rl.evaluation module embodichain.learning.rl.models module, [1], [2] embodichain.learning.rl.routing module

embodichain.learning.rl.train module, [1], [2] embodichain.learning.rl.utils module, [1] embodichain.learning.rl.utils.config module embodichain.learning.rl.utils.helper module embodichain.learning.rl.utils.trainer module embodichain.toolkits module embodichain.toolkits.urdf_assembly module embodichain.utils module embodichain.utils.cfg module embodichain.utils.config_paths module embodichain.utils.configclass module embodichain.utils.device_utils module embodichain.utils.file module embodichain.utils.img_utils module embodichain.utils.logger module embodichain.utils.math module embodichain.utils.module_utils module embodichain.utils.nms module embodichain.utils.string module embodichain.utils.utility module embodichain.utils.visualizer module embodichain.utils.warp module embodichain.utils.warp.collision module embodichain.utils.warp.collision.convex_query module embodichain.utils.warp.kernels module, [1] embodichain.utils.warp.kinematics module, [1] embodichain.utils.warp.kinematics.interpolate module embodichain.utils.warp.kinematics.opw_solver module, [1] embodichain.utils.warp.kinematics.srs_solver module embodichain.utils.warp.kinematics.ur_solver module embodichain.utils.warp.kinematics.warp_trajectory module, [1] 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) empty() (embodichain.lab.sim.atomic_actions.SceneSnapshot class method) (embodichain.lab.sim.atomic_actions.TaskState class method) (embodichain.lab.sim.atomic_actions.TimedTrajectory class method) enable (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] enable_ccd (embodichain.lab.sim.cfg.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_entity_gizmo (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) enable_entity_gizmo() (embodichain.lab.sim.sim_manager.SimulationManager method) enable_gizmo() (embodichain.lab.sim.sim_manager.SimulationManager method) enable_gravity (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.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) enable_hotkey (embodichain.lab.sim.cfg.WindowCameraPoseCfg attribute) (embodichain.lab.sim.cfg.WindowRecordCfg attribute) enable_kinematic (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) enable_physics() (embodichain.lab.sim.sim_manager.SimulationManager method) enable_plane_sampling (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) enable_seed_selection (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) enable_self_collision (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) enable_shadow (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) enable_shadow() (embodichain.lab.sim.objects.Light method) enable_time (embodichain.lab.sim.profiler.ProfilerCfg attribute) (embodichain.lab.sim.ProfilerCfg attribute) enable_window_camera_pose_hotkey() (embodichain.lab.sim.sim_manager.SimulationManager method) enable_window_record_hotkey() (embodichain.lab.sim.sim_manager.SimulationManager method) enabled (embodichain.lab.sim.motion.workspace.configs.CacheConfig attribute) (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) (embodichain.lab.sim.Profiler property) (embodichain.lab.sim.profiler.Profiler property) enabled_metrics (embodichain.lab.sim.motion.workspace.configs.MetricConfig attribute) encode() (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder method) encode_hold() (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder method) encode_idle_hold() (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder method) encode_image() (in module embodichain.utils.utility) encode_image_from_path() (in module embodichain.utils.utility) end_episode() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) end_interaction() (embodichain.lab.sim.objects.Gizmo method) end_link_name (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg.SolverCfg attribute) (embodichain.lab.sim.robots.URRobotCfg.SolverCfg attribute) EndEffector (class in embodichain.data.enum) EndEffectorPoseGoal (class in embodichain.lab.sim.atomic_actions.primitives.move_end_effector) endpoint (embodichain.lab.visualization.RuntimeHealth attribute) (embodichain.lab.visualization.VisualizationRuntime property) endpoint() (embodichain.lab.sim.atomic_actions.ActionBinding method) endpoint_adapter_map (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration property) endpoint_id (embodichain.lab.sim.atomic_actions.SkillEndpointRequirement attribute) endpoint_joint_ids (embodichain.lab.task_program.semantics.ResolvedRobotResource property) endpoint_keys (embodichain.lab.sim.atomic_actions.ActionBinding property) endpoint_type (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) EndpointAdapterDeclaration (class in embodichain.lab.task_program.integrations) EndpointBinding (class in embodichain.lab.sim.atomic_actions) EndpointCommand (class in embodichain.lab.sim.atomic_actions) EndpointCommandRouter (class in embodichain.lab.sim.atomic_actions) EndpointCommandTransport (class in embodichain.lab.sim.atomic_actions) EndpointResolution (class in embodichain.lab.task_program.semantics) endpoints (embodichain.lab.sim.atomic_actions.SkillResourceSlot attribute) enforce_collision_free (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) engine (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) (embodichain.lab.task_program.semantics.BoundRobotSkillProfile property) ent_coef (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] entity_id (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) (embodichain.lab.sim.atomic_actions.SceneEntityPose attribute) (embodichain.lab.task_program.semantics.SceneEntityRef attribute) entity_metadata (embodichain.lab.task_program.semantics.SceneRegistry property) entity_refs (embodichain.lab.task_program.semantics.SceneRegistry property) entries (embodichain.lab.task_program.semantics.SceneManifest property) entry_path() (embodichain.lab.sim.motion.workspace.caches.ResultsCache method) env_id (embodichain.lab.visualization.CameraSpec attribute) (embodichain.lab.visualization.GizmoSpec attribute) (embodichain.lab.visualization.JointControlSpec attribute) (embodichain.lab.visualization.SceneNode attribute) env_ids (embodichain.lab.gym.envs.settling.DynamicSettleMonitor property) (embodichain.lab.visualization.VisualizationCfg attribute) env_mask (embodichain.lab.sim.atomic_actions.HeldObjectState attribute) EnvAction (in module embodichain.lab.sim.types) EnvCfg (class in embodichain.lab.gym.envs), [1] EnvironmentStepClock (class in embodichain.lab.gym.envs.task_program) EnvironmentStepTimingError (class in embodichain.lab.gym.envs.task_program) EnvObs (in module embodichain.lab.sim.types) EnvSpec (class in embodichain.lab.gym.utils.registration), [1] episode_ids() (embodichain.lab.sim.motion.expansion.GenerationSession method) eps (embodichain.learning.rl.algo.GRPOCfg attribute), [1] equivalent_to() (embodichain.lab.sim.atomic_actions.ControlCommand method) (embodichain.lab.sim.atomic_actions.JointPositionCommand method) estimate_trajectory_sample_count() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) eval_frequency_steps (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) (embodichain.learning.rl.DifferentiableTrainerCfg attribute) eval_seed (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) (embodichain.learning.rl.DifferentiableTrainerCfg attribute) evaluate() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] evaluate_actions() (embodichain.learning.rl.models.ActorCritic method), [1] (embodichain.learning.rl.models.ActorOnly method), [1] (embodichain.learning.rl.models.Policy method), [1] evaluate_episodes() (in module embodichain.learning.rl) (in module embodichain.learning.rl.evaluation) EventCfg (class in embodichain.lab.gym.envs.managers) EventManager (class in embodichain.lab.gym.envs.managers) events (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] evidence_collector (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) exclude_zones (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) exclusive (embodichain.lab.task_program.semantics.EndpointResolution attribute) exclusive_held_object_mask() (embodichain.lab.sim.atomic_actions.TaskState method) execute_demo_episode() (in module embodichain.lab.gym.envs.demo) execute_init_hooks() (in module embodichain.lab.gym.utils.registration) ExecutionClock (class in embodichain.lab.sim.atomic_actions) ExecutionEvent (class in embodichain.lab.sim.atomic_actions) ExecutionEventKind (class in embodichain.lab.sim.atomic_actions) ExecutionPlanAttempt (class in embodichain.lab.sim.atomic_actions) ExecutionRunner (class in embodichain.lab.sim.atomic_actions) ExecutionRunnerCfg (class in embodichain.lab.sim.atomic_actions) ExecutionSession (class in embodichain.lab.sim.atomic_actions) ExecutionStatus (class in embodichain.lab.sim.atomic_actions) ExecutionTick (class in embodichain.lab.sim.atomic_actions) exists() (embodichain.lab.sim.motion.workspace.caches.ResultsCache method) expand_pose() (embodichain.lab.gym.envs.managers.observations.compute_exteroception static method) expected_effects (embodichain.lab.sim.atomic_actions.ActionPlan attribute) experiment_name (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) (embodichain.learning.rl.DifferentiableTrainerCfg attribute) ExpertEpisode (class in embodichain.lab.sim.motion.expansion) export_articulation_mesh() (in module embodichain.lab.sim.utility.mesh_utils) export_results() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) export_usd() (embodichain.lab.sim.sim_manager.SimulationManager method) exposure_compensation (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) ext (embodichain.lab.sim.cfg.RigidObjectGroupCfg attribute) (embodichain.lab.sim.objects.RigidObjectGroupCfg attribute) extensions (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] extra (embodichain.lab.gym.envs.managers.ActionTermCfg attribute) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg attribute) (embodichain.lab.gym.envs.managers.EventCfg attribute) (embodichain.lab.gym.envs.managers.FunctorCfg attribute) (embodichain.lab.gym.envs.managers.ObservationCfg attribute) (embodichain.lab.gym.envs.managers.RewardCfg attribute) extra_attrs (embodichain.lab.gym.envs.managers.events.prepare_extra_attr attribute) extract_drive_calls() (in module embodichain.lab.sim.utility.atom_action_utils)

F

faces (embodichain.lab.visualization.MeshGeometry attribute) fail_on_joint_limit_violation (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) FAILED (embodichain.data_pipeline.engine.data.OnlineDataEngineState attribute) (embodichain.data_pipeline.engine.OnlineDataEngineState attribute), [1] failed_plan() (embodichain.lab.sim.atomic_actions.AtomicAction method) far (embodichain.lab.visualization.CameraSpec attribute) filter_by_user_ids() (embodichain.lab.sim.sensors.ContactSensor method) filter_dataset_saving (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] filter_ground_collision (embodichain.toolkits.graspkit.pg_grasp.ParallelJawGraspCollisionCfg attribute) filter_need_both_actor (embodichain.lab.sim.sensors.ContactSensorCfg attribute) filter_points() (embodichain.lab.sim.motion.workspace.constraints.BaseConstraintChecker method) (embodichain.lab.sim.motion.workspace.constraints.IConstraintChecker method) (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) filter_visual_rand (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] final_observation (embodichain.learning.rl.collector.DifferentiableRollout property) final_path (embodichain.data_pipeline.depth_video.writer.DepthVideoWriter property) finalize() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) (embodichain.lab.gym.envs.managers.async_datasets.AsyncLeRobotRecorder method) (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.datasets.LeRobotRecorder method) (embodichain.lab.gym.envs.managers.record.record_camera_data method) (embodichain.lab.gym.envs.managers.record.record_camera_data_async method) finalize_actions() (in module embodichain.lab.sim.utility.atom_action_utils) find_asset_class() (in module embodichain.data.download) find_class_from_modules() (in module embodichain.utils.module_utils) find_function_by_pattern() (in module embodichain.utils.module_utils) find_function_from_modules() (in module embodichain.utils.module_utils) find_functors() (embodichain.lab.gym.envs.managers.ActionManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.EventManager method) (embodichain.lab.gym.envs.managers.ManagerBase method) (embodichain.lab.gym.envs.managers.ObservationManager method) (embodichain.lab.gym.envs.managers.RewardManager method) find_nearest_valid_pose() (in module embodichain.lab.sim.utility.atom_action_utils) finger_length (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) finger_thickness (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) finger_width (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) fingerprint (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration property) finish_update() (embodichain.learning.rl.algo.APG method), [1] 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) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) fixed_input_tasks (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) fixed_object_to_eef (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) flatten_dict_observation() (in module embodichain.learning.rl.utils) (in module embodichain.learning.rl.utils.helper) flattened_observation_space (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnv property), [1] flush() (embodichain.lab.sim.motion.workspace.caches.BaseCache method) (embodichain.lab.sim.motion.workspace.caches.DiskCache method) (embodichain.lab.sim.motion.workspace.caches.MemoryCache method) flush_cleanup_queue() (embodichain.lab.sim.sim_manager.SimulationManager static method) fname (embodichain.lab.sim.cfg.URDFCfg attribute) folder_path (embodichain.lab.sim.cfg.RigidObjectGroupCfg attribute) (embodichain.lab.sim.objects.RigidObjectGroupCfg attribute) force_refresh (embodichain.toolkits.graspkit.pg_grasp.GraspAnnotationCfg attribute) FOREGROUND (embodichain.data.enum.SemanticMask attribute), [1] format() (embodichain.utils.visualizer.Gantt method) format_message() (in module embodichain.utils.logger) forward() (embodichain.learning.rl.models.ActorCritic method), [1] (embodichain.learning.rl.models.ActorOnly method), [1] (embodichain.learning.rl.models.Policy method), [1] FORWARD_KINEMATICS_CAPABILITY (in module embodichain.lab.sim.atomic_actions) found_lost_aggregate_pairs_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) found_lost_pairs_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) fov_y (embodichain.lab.visualization.CameraSpec attribute) fpath (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.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.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute)

fpath_prefix (embodichain.lab.sim.cfg.URDFCfg attribute) fps (embodichain.lab.sim.cfg.WindowRecordCfg attribute) frame (embodichain.lab.visualization.CameraImageCaptureResult attribute) (embodichain.lab.visualization.CaptureResult attribute) frame_bytes (embodichain.lab.visualization.RuntimeStats attribute) frame_count (embodichain.data_pipeline.depth_video.reader.DepthVideoReader property) (embodichain.data_pipeline.depth_video.writer.DepthVideoWriter property) (embodichain.lab.sim.atomic_actions.TimedCommandSequence property) frame_count() (embodichain.data_pipeline.depth_video.reader.DepthVideoLibrary method) frame_time_delta_ms (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) FrameOverlay (class in embodichain.lab.visualization) frames (embodichain.lab.visualization.SceneOverlays attribute) FrankaPandaCfg (class in embodichain.lab.sim.robots) FrankaPandaCfg.SolverCfg (class in embodichain.lab.sim.robots) freeze() (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder method) friction (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) from_cache() (embodichain.lab.sim.motion.workspace.RobotWorkspace class method) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace class method) from_config() (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker class method) (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer class method) from_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.motion.solvers.SolverCfg class method) (embodichain.lab.sim.objects.ArticulationCfg class method) (embodichain.lab.sim.objects.ClothObjectCfg 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.objects.SoftObjectCfg class method) (embodichain.lab.sim.robots.CobotMagicCfg class method) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg class method) (embodichain.lab.sim.robots.DexforceW1Cfg class method) (embodichain.lab.sim.robots.DexforceW1Cfg.SolverCfg class method) (embodichain.lab.sim.robots.DualArmRobotCfg class method) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg class method) (embodichain.lab.sim.robots.FrankaPandaCfg class method) (embodichain.lab.sim.robots.FrankaPandaCfg.SolverCfg class method) (embodichain.lab.sim.robots.URRobotCfg class method) (embodichain.lab.sim.robots.URRobotCfg.SolverCfg class method) (embodichain.lab.sim.sensors.ArticulationContactFilterCfg class method) (embodichain.lab.sim.sensors.CameraCfg class method) (embodichain.lab.sim.sensors.ContactSensorCfg class method) (embodichain.lab.sim.sensors.SensorCfg class method) (embodichain.lab.sim.sensors.StereoCameraCfg class method) (embodichain.lab.sim.shapes.LoadOption class method) (embodichain.lab.sim.shapes.ShapeCfg class method) from_environment() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory class method) from_existing() (embodichain.lab.sim.material.VisualMaterialInst class method) from_mapping() (embodichain.lab.sim.motion.expansion.TrajectoryAugmentationCfg class method) (embodichain.lab.sim.motion.expansion.TrajectoryGenerationJobCfg class method) from_metadata() (embodichain.lab.task_program.semantics.SceneEntityManifest class method) from_positions() (embodichain.lab.sim.atomic_actions.TimedTrajectory class method) from_qpos() (embodichain.lab.sim.motion.planners.PlanState class method) from_registration() (embodichain.lab.task_program.semantics.SceneEntityMetadata class method) from_registry() (embodichain.lab.task_program.semantics.SceneManifest class method) from_scene_registry() (embodichain.lab.task_program.TaskProgramCompiler class method) from_simulation() (embodichain.lab.task_program.semantics.SceneRegistry class method) from_str() (embodichain.lab.sim.motion.planners.TrajectorySampleMethod class method) from_uniform_step() (embodichain.lab.sim.atomic_actions.TimedTrajectory class method) from_xpos() (embodichain.lab.sim.motion.planners.PlanState class method) func (embodichain.lab.gym.envs.managers.ActionTermCfg attribute) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg attribute) (embodichain.lab.gym.envs.managers.EventCfg attribute) (embodichain.lab.gym.envs.managers.FunctorCfg attribute) (embodichain.lab.gym.envs.managers.ObservationCfg attribute) (embodichain.lab.gym.envs.managers.RewardCfg attribute) Functor (class in embodichain.lab.gym.envs.managers) FunctorCfg (class in embodichain.lab.gym.envs.managers)

G

gae_lambda (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute) gamma (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute) Gantt (class in embodichain.utils.visualizer) GAUSSIAN (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) gaussian_mean (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) gaussian_std (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) gen_disp_colormap() (in module embodichain.utils.img_utils) gen_random_base_color_texture() (embodichain.lab.gym.envs.managers.randomization.visual.randomize_visual_material static method) generate() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) generate_random_rotation() (in module embodichain.utils.math) generate_random_transformation_matrix() (in module embodichain.utils.math) generate_random_translation() (in module embodichain.utils.math) generate_urdf_collision_convexes() (in module embodichain.toolkits.acd.urdf_modifider) GenerationSession (class in embodichain.lab.sim.motion.expansion) geometries (embodichain.lab.visualization.SceneManifest attribute) geometry (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) geometry_count (embodichain.lab.sim.motion.expansion.CoverageIndex property) geometry_id (embodichain.lab.visualization.MeshGeometry attribute) (embodichain.lab.visualization.SceneNode attribute) geometry_provider (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) get() (embodichain.data_pipeline.depth_video.reader.DepthVideoLibrary method) (embodichain.lab.visualization.LatestFrameQueue method) (embodichain.learning.rl.buffer.RolloutBuffer method) (embodichain.learning.rl.buffer.standard_buffer.RolloutBuffer method) get_action() (embodichain.lab.devices.DeviceController method) (embodichain.learning.rl.models.Policy method), [1] 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.DatasetManager method) (embodichain.lab.gym.envs.managers.EventManager method) (embodichain.lab.gym.envs.managers.ManagerBase method) (embodichain.lab.gym.envs.managers.ObservationManager method) (embodichain.lab.gym.envs.managers.RewardManager method) get_affordance() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] get_all() (embodichain.lab.sim.motion.workspace.caches.BaseCache method) (embodichain.lab.sim.motion.workspace.caches.DiskCache method) (embodichain.lab.sim.motion.workspace.caches.MemoryCache method) get_all_devices() (embodichain.lab.devices.DeviceController method) get_all_exported_items_from_module() (in module embodichain.utils.module_utils) get_all_files_in_directory() (in module embodichain.utils.file) get_all_fk() (embodichain.lab.sim.motion.solvers.PytorchSolver method) get_all_functions_from_module() (in module embodichain.utils.module_utils) get_arena_pose() (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) get_arm_states() (in module embodichain.lab.sim.utility.atom_action_utils) get_articulation() (embodichain.lab.sim.sim_manager.SimulationManager method) get_articulation_joint_drive (class in embodichain.lab.gym.envs.managers.observations) get_articulation_joint_state() (embodichain.lab.sim.atomic_actions.PlanningContext method) (embodichain.lab.sim.atomic_actions.SceneSnapshot method) (embodichain.lab.sim.atomic_actions.TaskState method) get_articulation_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_asset() (embodichain.lab.sim.sim_manager.SimulationManager method) get_attached_sensors() (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) get_axis_marker_items() (embodichain.lab.sim.sim_manager.SimulationManager method) get_batch_count() (embodichain.lab.sim.motion.workspace.caches.DiskCache method) get_best_grasp_poses() (embodichain.toolkits.graspkit.GraspPoseGenerator method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator method) get_body_scale() (embodichain.lab.sim.objects.RigidObject method) get_bounds_info() (embodichain.lab.sim.motion.workspace.constraints.BaseConstraintChecker method) get_bounds_volume() (embodichain.lab.sim.motion.workspace.constraints.BaseConstraintChecker method) get_cached_data() (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) get_class_instance() (in module embodichain.utils.utility) get_cloth_object() (embodichain.lab.sim.sim_manager.SimulationManager method) get_cloth_object_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_collision_surface_triangles() (embodichain.lab.sim.objects.SoftObject method) get_component() (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) get_control_part_base_pose() (embodichain.lab.sim.objects.Robot method) get_control_part_link_names() (embodichain.lab.sim.objects.Robot method) get_control_pose() (embodichain.lab.sim.objects.Gizmo method) get_controller_state() (embodichain.lab.devices.Device method) get_coordinated_held_object() (embodichain.lab.sim.atomic_actions.PlanningContext method) (embodichain.lab.sim.atomic_actions.TaskState method) get_current_collision_vertices() (embodichain.lab.sim.objects.SoftObject method) get_current_sim_vertex_velocities() (embodichain.lab.sim.objects.SoftObject method) get_current_sim_vertices() (embodichain.lab.sim.objects.SoftObject method) get_current_vertex_position() (embodichain.lab.sim.objects.ClothObject method) get_current_vertex_velocity() (embodichain.lab.sim.objects.ClothObject method) get_damping() (embodichain.lab.sim.objects.RigidObject method) get_data() (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) get_data_class() (in module embodichain.data.dataset) get_data_path() (in module embodichain.data.dataset) get_data_types() (embodichain.lab.sim.sensors.CameraCfg method) (embodichain.lab.sim.sensors.ContactSensorCfg method) (embodichain.lab.sim.sensors.SensorCfg method) (embodichain.lab.sim.sensors.StereoCameraCfg method) get_default_cache_dir() (embodichain.lab.sim.motion.workspace.caches.DiskCache static method) get_default_instance() (embodichain.lab.sim.material.VisualMaterial method) get_default_qpos_seed() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_demo_episode_metadata() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] get_device_info() (embodichain.lab.devices.DeviceController method) get_dexsim_arena_num() (in module embodichain.lab.sim.utility.sim_utils) get_dexsim_arenas() (in module embodichain.lab.sim.utility.sim_utils) get_dexsim_drive_type() (in module embodichain.lab.sim.utility.sim_utils) get_differentiable_action() (embodichain.learning.rl.models.ActorCritic method), [1] (embodichain.learning.rl.models.ActorOnly method), [1] (embodichain.learning.rl.models.Policy method), [1] get_dual_arm_valid_grasp_poses() (embodichain.toolkits.graspkit.ParallelJawGraspPoseGenerator method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator method) get_env() (embodichain.lab.sim.sim_manager.SimulationManager method) get_env_spec() (in module embodichain.lab.gym.utils.registration) get_existing_visual_material() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.Robot method) get_fk() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_fk_warp() (embodichain.lab.sim.motion.solvers.OPWSolver method) get_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.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager method) (embodichain.lab.gym.envs.managers.EventManager method) (embodichain.lab.gym.envs.managers.ObservationManager method) (embodichain.lab.gym.envs.managers.RewardManager method) get_geometry() (embodichain.lab.task_program.semantics.SceneGeometryProvider method) get_gizmo() (embodichain.lab.sim.sim_manager.SimulationManager method) get_gizmo_items() (embodichain.lab.sim.sim_manager.SimulationManager method) get_held_object() (embodichain.lab.sim.atomic_actions.PlanningContext method) (embodichain.lab.sim.atomic_actions.TaskState method) get_ik() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_ik_nearest_weight() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_ik_warp() (embodichain.lab.sim.motion.solvers.OPWSolver method) get_inertia() (embodichain.lab.sim.objects.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.sim_manager.SimulationManager class method) get_instance_num() (embodichain.lab.sim.sim_manager.SimulationManager class method) get_intrinsics() (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.StereoCamera method) get_iteration_params() (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) get_jacobian() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_joint_drive() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_joint_drive_type() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_joint_ids() (embodichain.lab.sim.objects.Robot method) get_left_right_arena_pose() (embodichain.lab.sim.sensors.StereoCamera method) get_light() (embodichain.lab.sim.sim_manager.SimulationManager method) get_light_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_link_names() (embodichain.lab.sim.objects.Robot method) get_link_physical_attr() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_link_pose() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_link_render_nodes() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_link_vert_face() (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationGeometryProvider method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_local_pose() (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.ClothObject method) (embodichain.lab.sim.objects.Light method) (embodichain.lab.sim.objects.RigidConstraint method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.SoftObject method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method)

get_mass() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.Robot method) get_mesh_md5() (in module embodichain.utils.utility) get_name() (embodichain.lab.sim.objects.RigidConstraint method) get_nowait() (embodichain.lab.visualization.LatestFrameQueue method) get_num_exclude_zones() (embodichain.lab.sim.motion.workspace.constraints.WorkspaceConstraintChecker method) get_object_body_scale() (in module embodichain.lab.gym.envs.managers.observations) get_object_pose() (in module embodichain.lab.gym.envs.managers.observations) get_object_triangles() (embodichain.lab.sim.objects.RigidObjectGroup method) get_object_uid() (in module embodichain.lab.gym.envs.managers.observations) get_object_vertices() (embodichain.lab.sim.objects.RigidObjectGroup method) get_obs() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] get_offset_pose() (in module embodichain.utils.math) get_parallel_jaw_gripper_model() (in module embodichain.toolkits.graspkit) get_parent_joint_chain() (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationGeometryProvider method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_pc_center_box() (in module embodichain.utils.math) get_policy_class() (in module embodichain.learning.rl.models), [1] get_proprioception() (embodichain.lab.sim.objects.Robot method) get_qf() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_qf_limits() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_qpos() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) (in module embodichain.lab.sim.utility.atom_action_utils) get_qpos_limits() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_qvel() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_qvel_limits() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) get_random_pose() (in module embodichain.lab.gym.envs.managers.randomization.spatial) get_random_real_image() (in module embodichain.utils.utility) get_registered_algo_names() (in module embodichain.learning.rl.algo), [1] get_registered_learning_env_names() (in module embodichain.learning.rl) (in module embodichain.learning.rl.env) get_registered_lr_scheduler_names() (in module embodichain.learning.rl.utils) get_registered_optimizer_names() (in module embodichain.learning.rl.utils) get_registered_policy_names() (in module embodichain.learning.rl.models), [1] get_registry() (in module embodichain.data.download) get_relative_rotation() (in module embodichain.utils.math) get_relative_transform() (embodichain.lab.sim.objects.RigidConstraint method) get_rest_collision_vertices() (embodichain.lab.sim.objects.SoftObject method) get_rest_sim_vertices() (embodichain.lab.sim.objects.SoftObject method) get_rest_vertex_position() (embodichain.lab.sim.objects.ClothObject method) get_results() (embodichain.lab.sim.motion.workspace.metrics.BaseMetric method) get_results_cache_path() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) get_reward() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] get_right_name() (in module embodichain.utils.utility) get_rigid_constraint() (embodichain.lab.sim.sim_manager.SimulationManager method) get_rigid_constraint_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_rigid_object() (embodichain.lab.sim.sim_manager.SimulationManager method) get_rigid_object_group() (embodichain.lab.sim.sim_manager.SimulationManager method) get_rigid_object_group_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_rigid_object_physics_attributes (class in embodichain.lab.gym.envs.managers.observations) get_rigid_object_pose() (in module embodichain.lab.gym.envs.managers.observations) get_rigid_object_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_rigid_object_velocity() (in module embodichain.lab.gym.envs.managers.observations) get_robot() (embodichain.lab.sim.sim_manager.SimulationManager method) get_robot_eef_pose() (in module embodichain.lab.gym.envs.managers.observations) get_robot_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_sensor() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.lab.sim.sim_manager.SimulationManager method) get_sensor_intrinsics() (in module embodichain.lab.gym.envs.managers.observations) get_sensor_pose_in_robot_frame() (in module embodichain.lab.gym.envs.managers.observations) get_sensor_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_soft_object() (embodichain.lab.sim.sim_manager.SimulationManager method) get_soft_object_uid_list() (embodichain.lab.sim.sim_manager.SimulationManager method) get_solver() (embodichain.lab.sim.objects.Robot method) get_strategy_name() (embodichain.lab.sim.motion.workspace.samplers.BaseSampler method) (embodichain.lab.sim.motion.workspace.samplers.HaltonSampler method) (embodichain.lab.sim.motion.workspace.samplers.ISampler method) (embodichain.lab.sim.motion.workspace.samplers.LatinHypercubeSampler method) (embodichain.lab.sim.motion.workspace.samplers.RandomSampler method) (embodichain.lab.sim.motion.workspace.samplers.SobolSampler method) (embodichain.lab.sim.motion.workspace.samplers.UniformSampler method) get_summary() (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainer method) (embodichain.learning.rl.DifferentiableTrainer method) (embodichain.learning.rl.utils.trainer.Trainer method) get_tcp() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) get_term() (embodichain.lab.gym.envs.managers.ActionManager method) get_terms_by_mode() (embodichain.lab.gym.envs.managers.ActionManager method) get_texture_cache() (embodichain.lab.sim.sim_manager.SimulationManager method) get_trainer_class() (in module embodichain.learning.rl) (in module embodichain.learning.rl.routing) get_trajectory_object_offset_qpos() (in module embodichain.lab.sim.utility.action_utils) get_triangles() (embodichain.lab.sim.objects.ClothObject method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.SoftObject method) get_type_name() (embodichain.lab.sim.motion.workspace.visualizers.AxisVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.IVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.PointCloudVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.SphereVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.VoxelVisualizer method) get_user_ids() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) get_valid_grasp_poses() (embodichain.toolkits.graspkit.GraspPoseGenerator method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator method) get_value() (embodichain.learning.rl.models.ActorCritic method), [1] (embodichain.learning.rl.models.ActorOnly method), [1] (embodichain.learning.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.sim_manager.SimulationManager method) get_visual_material_inst() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.ClothObject method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.SoftObject method) get_workspace() (embodichain.lab.sim.objects.Robot method) get_workspace_bounds() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) get_world() (embodichain.lab.sim.sim_manager.SimulationManager method) get_wrapper_attr() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] Gizmo (class in embodichain.lab.sim.objects) gizmo_id (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.GizmoSpec attribute) (embodichain.lab.visualization.GizmoState attribute) GizmoCfg (class in embodichain.lab.sim.objects) GizmoCommand (class in embodichain.lab.visualization) GizmoCommandQueue (class in embodichain.lab.visualization) gizmos (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.SceneManifest attribute) GizmoSpec (class in embodichain.lab.visualization) GizmoState (class in embodichain.lab.visualization) GLOBAL_SEED (in module embodichain.utils) GMMChunkSampler (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.sampler) go_to_step() (embodichain.lab.gym.envs.ReplayWrapper method) goal (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) goal_rotation_threshold (embodichain.lab.sim.atomic_actions.RecoveryPolicy attribute) goal_translation_threshold (embodichain.lab.sim.atomic_actions.RecoveryPolicy attribute) GoalType (embodichain.lab.sim.atomic_actions.AtomicAction attribute) (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlign attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickment attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacement attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOver attribute) (embodichain.lab.sim.atomic_actions.primitives.move_end_effector.MoveEndEffector attribute) (embodichain.lab.sim.atomic_actions.primitives.move_held_object.MoveHeldObject attribute) (embodichain.lab.sim.atomic_actions.primitives.move_joints.MoveJoints attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoor attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUp attribute) (embodichain.lab.sim.atomic_actions.primitives.place.Place attribute) (embodichain.lab.sim.atomic_actions.primitives.pour.Pour attribute) (embodichain.lab.sim.atomic_actions.primitives.press.Press attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObject attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.Slide attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.Twist attribute) gpu_id (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) gpu_memory_config (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) GPUMemoryCfg (class in embodichain.lab.sim.cfg) GRASP_AFFORDANCE_CAPABILITY (in module embodichain.lab.task_program.semantics) GRASP_CAPABILITY (in module embodichain.lab.sim.atomic_actions) grasp_frame_to_eef (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) grasp_pose_generators (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) grasp_settle_steps (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) grasp_xpos (embodichain.lab.sim.atomic_actions.HeldObjectState attribute) (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlignGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.GraspGoal attribute) GraspAnnotationCfg (class in embodichain.toolkits.graspkit.pg_grasp) GraspGoal (class in embodichain.lab.sim.atomic_actions.primitives.pick_up) GraspPoseGenerator (class in embodichain.toolkits.graspkit) gravity (embodichain.lab.sim.cfg.PhysicsCfg attribute) grid_resolution (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) GRIPPER (embodichain.data.enum.EndEffector attribute) gripper_model (embodichain.toolkits.graspkit.ParallelJawGraspPoseGenerator property) GripperCollisionCfg (class in embodichain.toolkits.graspkit.pg_grasp) GripperCollisionChecker (class in embodichain.toolkits.graspkit.pg_grasp) ground_height (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) grounding_providers (embodichain.lab.task_program.semantics.RobotSkillProfile attribute) group_id (embodichain.lab.sim.sensors.Camera property) (embodichain.lab.sim.sensors.StereoCamera property) group_size (embodichain.learning.rl.algo.GRPOCfg attribute), [1] GRPO (class in embodichain.learning.rl.algo), [1] GRPOCfg (class in embodichain.learning.rl.algo), [1] gym_config (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg attribute) (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute), [1] gym_spec (embodichain.lab.gym.utils.registration.EnvSpec property), [1] GymPlanningObservationProvider (class in embodichain.lab.gym.envs.task_program)

H

halo_falloff (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) halo_size (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) HALTON (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) HaltonSampler (class in embodichain.lab.sim.motion.workspace.samplers) hand_interp_steps (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.place.PlaceOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.press.PressOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.SlideOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.TwistOptions attribute) HandOver (class in embodichain.lab.sim.atomic_actions.primitives.hand_over) (class in embodichain.lab.task_program.semantics) HandOverCfg (class in embodichain.lab.task_program) HandOverGoal (class in embodichain.lab.sim.atomic_actions.primitives.hand_over) HandOverOptions (class in embodichain.lab.sim.atomic_actions.primitives.hand_over) has_cameras (embodichain.lab.visualization.SceneExporter property) has_deformables (embodichain.lab.visualization.SceneExporter property) has_gizmo() (embodichain.lab.sim.sim_manager.SimulationManager method) has_gravity (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) has_non_static_rigid_object() (embodichain.lab.sim.sim_manager.SimulationManager method) has_sensor() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager 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.sim_manager.SimulationManagerCfg attribute) health (embodichain.lab.visualization.VisualizationRuntime property) heap_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) HeatMapEnv (class in embodichain.utils.visualizer) height (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) held_object_guard_request (embodichain.lab.sim.atomic_actions.ExecutionSession property) held_object_mask() (embodichain.lab.sim.atomic_actions.TaskState method) held_object_updates (embodichain.lab.sim.atomic_actions.StateDelta attribute) held_objects (embodichain.lab.sim.atomic_actions.PlanningContext property) (embodichain.lab.sim.atomic_actions.TaskState attribute) HeldObjectPoseGoal (class in embodichain.lab.sim.atomic_actions.primitives.move_held_object) HeldObjectState (class in embodichain.lab.sim.atomic_actions) hidden_dims (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) Hints (class in embodichain.data.enum) hold() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) (embodichain.lab.sim.atomic_actions.CommandSink method) (embodichain.lab.sim.atomic_actions.EndpointCommandRouter method) (embodichain.lab.sim.atomic_actions.EndpointCommandTransport method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) hold_during_effect_verification (embodichain.lab.sim.atomic_actions.ExecutionRunnerCfg attribute) hold_on_completion (embodichain.lab.sim.atomic_actions.ExecutionRunnerCfg attribute) hold_rows() (embodichain.lab.sim.atomic_actions.TimedTrajectory method) hold_steps (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) host (embodichain.lab.visualization.ViserServerCfg attribute)

I

IConstraintChecker (class in embodichain.lab.sim.motion.workspace.constraints) ignore_terminations (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] ik_device (embodichain.lab.sim.objects.GizmoCfg attribute) ik_end_link_name (embodichain.lab.sim.objects.GizmoCfg attribute) ik_gizmo_scale (embodichain.lab.sim.objects.GizmoCfg attribute) ik_iterations (embodichain.lab.sim.objects.GizmoCfg attribute) ik_nearest_weight (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg.SolverCfg attribute) (embodichain.lab.sim.robots.URRobotCfg.SolverCfg attribute) ik_root_link_name (embodichain.lab.sim.objects.GizmoCfg attribute) ik_samples_per_point (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) ik_solver (embodichain.lab.sim.objects.GizmoCfg attribute) ik_start_enabled (embodichain.lab.sim.objects.GizmoCfg attribute) ik_tcp_pose (embodichain.lab.sim.objects.GizmoCfg attribute) ik_toggle_key (embodichain.lab.sim.objects.GizmoCfg attribute) image (embodichain.lab.visualization.CameraImage attribute) image_bytes (embodichain.lab.visualization.RuntimeStats attribute) image_capture_seconds (embodichain.lab.visualization.RuntimeStats attribute) image_upload_seconds (embodichain.lab.visualization.RuntimeStats attribute) images (embodichain.lab.visualization.CameraImageFrame attribute) IMPORTANCE (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) importance_weight_func (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) incremental_distance_to_target() (in module embodichain.lab.gym.envs.managers.rewards) indices (embodichain.lab.sim.motion.workspace.runtime.WorkspaceSample attribute) (embodichain.lab.sim.motion.workspace.WorkspaceSample attribute) infer_depth_unit() (in module embodichain.data_pipeline.depth_video.depth_utils) INFO (embodichain.data.enum.LeRobotKey attribute) info (embodichain.learning.rl.collector.DifferentiableTransition attribute) init_gpu_physics() (embodichain.lab.sim.sim_manager.SimulationManager method) init_local_pose (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.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.ClothObjectCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.objects.SoftObjectCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) (embodichain.lab.sim.sensors.CameraCfg attribute) (embodichain.lab.sim.sensors.ContactSensorCfg attribute) (embodichain.lab.sim.sensors.SensorCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg attribute) init_orthogonal() (embodichain.learning.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.ClothObjectCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.objects.SoftObjectCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) (embodichain.lab.sim.sensors.CameraCfg attribute) (embodichain.lab.sim.sensors.ContactSensorCfg attribute) (embodichain.lab.sim.sensors.SensorCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg attribute) init_qpos (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg 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.ClothObjectCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.objects.SoftObjectCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) (embodichain.lab.sim.sensors.CameraCfg attribute) (embodichain.lab.sim.sensors.ContactSensorCfg attribute) (embodichain.lab.sim.sensors.SensorCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg attribute)

init_solver() (embodichain.lab.sim.cfg.RobotCfg.SolverCfg method) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg method) (embodichain.lab.sim.motion.solvers.OPWSolverCfg method) (embodichain.lab.sim.motion.solvers.PinkSolverCfg method) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg method) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg method) (embodichain.lab.sim.motion.solvers.SRSSolverCfg method) (embodichain.lab.sim.motion.solvers.URSolverCfg method) (embodichain.lab.sim.objects.Robot method) initial_context() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) initial_observation (embodichain.learning.rl.collector.DifferentiableRollout attribute) initial_value (embodichain.lab.visualization.JointControlSpec attribute) initialization_timeout (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg attribute) (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute), [1] 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.QposNormalizedTerm property) (embodichain.lab.gym.envs.managers.QposTerm property) (embodichain.lab.gym.envs.managers.QvelTerm property) input_unit (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] inst (embodichain.lab.sim.material.VisualMaterial property) integration (embodichain.lab.task_program.CompiledTaskProgram property) (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) IntegrationFingerprintMismatch (class in embodichain.lab.task_program.integrations) intensity (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) interpolate_angle_step (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) interpolate_nums (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) interpolate_poses() (in module embodichain.utils.math) interpolate_position_step (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) interpolate_rotations() (in module embodichain.utils.math) interpolate_trajectory() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) interpolate_with_distance() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.interpolation) (in module embodichain.lab.sim.utility.action_utils) interpolate_with_nums() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.interpolation) (in module embodichain.lab.sim.utility.action_utils) interpolation_dt (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) interval_step (embodichain.lab.gym.envs.managers.EventCfg attribute) inv_transform() (in module embodichain.utils.utility) INVERSE_KINEMATICS_CAPABILITY (in module embodichain.lab.sim.atomic_actions) invocation_id (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) InvokeCfg (class in embodichain.lab.task_program) ior (embodichain.lab.sim.material.VisualMaterialCfg attribute) is_all_success() (embodichain.lab.sim.motion.planners.PlanResult method) is_attached (embodichain.lab.sim.sensors.Camera property) (embodichain.lab.sim.sensors.StereoCamera property) is_bound (embodichain.lab.sim.atomic_actions.AtomicAction property) is_configclass() (in module embodichain.utils) (in module embodichain.utils.configclass) is_empty (embodichain.lab.sim.atomic_actions.ActionControlOverrides property) (embodichain.lab.sim.atomic_actions.StateDelta property) is_frozen (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder property) is_full() (embodichain.learning.rl.buffer.RolloutBuffer method) (embodichain.learning.rl.buffer.standard_buffer.RolloutBuffer method) is_global (embodichain.lab.gym.envs.managers.EventCfg attribute) (embodichain.lab.sim.objects.Light property) is_identity_pose() (in module embodichain.utils.math) is_init (embodichain.data_pipeline.engine.data.OnlineDataEngine attribute) (embodichain.data_pipeline.engine.data.OnlineDataEngine property) (embodichain.data_pipeline.engine.OnlineDataEngine attribute), [1] (embodichain.data_pipeline.engine.OnlineDataEngine property), [1] is_instantiated() (embodichain.lab.sim.sim_manager.SimulationManager class method) is_interpolate (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) is_lambda_expression() (in module embodichain.utils.string) is_linear (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) is_non_dynamic (embodichain.lab.sim.objects.RigidObject property) (embodichain.lab.sim.objects.RigidObjectGroup property) is_only_position_constraint (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) is_open (embodichain.lab.sim.motion.planners.PlanState attribute) is_registered() (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory method) (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory method) is_regular_expression() (in module embodichain.utils.string) is_rt_enabled() (in module embodichain.lab.sim.utility.sim_utils) is_running (embodichain.lab.visualization.VisualizationRuntime property) is_satisfied_constraint() (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) 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.sim_manager.SimulationManager property) is_valid() (embodichain.lab.sim.objects.RigidConstraint method) is_visible() (embodichain.lab.sim.objects.Gizmo method) is_voxel_down (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) is_waiting (embodichain.lab.sim.atomic_actions.RunnerStep property) is_window_recording() (embodichain.lab.sim.sim_manager.SimulationManager method) is_world_coordinate (embodichain.lab.sim.motion.planners.PlanState attribute) ISampler (class in embodichain.lab.sim.motion.workspace.samplers) item_env_ids (embodichain.lab.sim.sensors.ContactSensor attribute) item_user_env_ids_map (embodichain.lab.sim.sensors.ContactSensor attribute) item_user_ids (embodichain.lab.sim.sensors.ContactSensor attribute) iter_segments() (embodichain.lab.gym.envs.task_program.TaskProgramDemoBridge method) (embodichain.lab.task_program.CompiledTaskProgram method) iterate_minibatches() (in module embodichain.learning.rl.buffer) (in module embodichain.learning.rl.buffer.utils) IVisualizer (class in embodichain.lab.sim.motion.workspace.visualizers)

J

jacobian_threshold (embodichain.lab.sim.motion.workspace.configs.ManipulabilityConfig attribute) joint_armature (embodichain.lab.sim.objects.ArticulationData property) joint_configurations (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer attribute) joint_control_specs() (embodichain.lab.visualization.JointControlProvider method) joint_control_states() (embodichain.lab.visualization.JointControlProvider method) joint_controls (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.SceneManifest attribute) joint_damping (embodichain.lab.sim.objects.ArticulationData property) joint_friction (embodichain.lab.sim.objects.ArticulationData property) joint_id (embodichain.lab.visualization.JointControlSpec attribute) joint_ids (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.task_program.semantics.EndpointResolution attribute) joint_limit_penalty() (in module embodichain.lab.gym.envs.managers.rewards) joint_limits_scale (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) JOINT_MOVE (embodichain.lab.sim.motion.planners.MoveType attribute), [1] joint_name (embodichain.lab.visualization.JointControlSpec attribute) joint_names (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg.SolverCfg attribute) (embodichain.lab.sim.robots.URRobotCfg.SolverCfg attribute)

JOINT_POSITION_CAPABILITY (in module embodichain.lab.sim.atomic_actions) joint_position_tolerance (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorOptions attribute) joint_positions() (embodichain.lab.sim.atomic_actions.ControlPartCommandProfile class method) (embodichain.lab.sim.atomic_actions.EndpointBinding method) joint_residual() (in module embodichain.lab.sim.motion.expansion) JOINT_SPACE (embodichain.lab.sim.motion.workspace.AnalysisMode attribute) (embodichain.lab.sim.motion.workspace.analyzer.AnalysisMode attribute) joint_state_provider (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) joint_stiffness (embodichain.lab.sim.objects.ArticulationData property) joint_type (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry attribute) (embodichain.lab.visualization.JointControlSpec attribute) joint_velocity_penalty() (in module embodichain.lab.gym.envs.managers.rewards) JointControlCommand (class in embodichain.lab.visualization) JointControlCommandQueue (class in embodichain.lab.visualization) JointControlProvider (class in embodichain.lab.visualization) JointControlSpec (class in embodichain.lab.visualization) JointControlState (class in embodichain.lab.visualization) JointDrivePropertiesCfg (class in embodichain.lab.sim.cfg) JointPositionCommand (class in embodichain.lab.sim.atomic_actions) JointPositionGoal (class in embodichain.lab.sim.atomic_actions.primitives.move_joints) JointPositionPayload (class in embodichain.lab.sim.atomic_actions) JointPositionTarget (class in embodichain.lab.sim.atomic_actions) JointType (class in embodichain.data.enum)

K

k_neighbors (embodichain.lab.sim.motion.workspace.configs.DensityConfig attribute) keep_numeric_fallback (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] key (embodichain.lab.sim.atomic_actions.EndpointBinding property) key_in_nested_dict() (in module embodichain.utils.utility) kind (embodichain.lab.visualization.SceneNode attribute)

kl_coef (embodichain.learning.rl.algo.GRPOCfg attribute), [1] kwargs (embodichain.learning.rl.utils.config.LRSchedulerCfg attribute) (embodichain.learning.rl.utils.config.OptimizerCfg attribute) (embodichain.learning.rl.utils.LRSchedulerCfg attribute) (embodichain.learning.rl.utils.OptimizerCfg attribute)

L

label (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) (embodichain.lab.visualization.ViserServerCfg attribute) last_qpos (embodichain.lab.sim.atomic_actions.PlanningContext property) latest_context (embodichain.lab.sim.atomic_actions.ExecutionSession property) LatestFrameQueue (class in embodichain.lab.visualization) LATIN_HYPERCUBE (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) LatinHypercubeSampler (class in embodichain.lab.sim.motion.workspace.samplers) lazy_import_casadi() (in module embodichain.lab.sim.utility.import_utils) lazy_import_pink() (in module embodichain.lab.sim.utility.import_utils) lazy_import_pinocchio() (in module embodichain.lab.sim.utility.import_utils) lazy_import_pinocchio_casadi() (in module embodichain.lab.sim.utility.import_utils) lazy_import_pytorch_kinematics() (in module embodichain.lab.sim.utility.import_utils) learning_rate (embodichain.learning.rl.utils.config.OptimizerCfg attribute) (embodichain.learning.rl.utils.OptimizerCfg attribute) LearningVecEnv (class in embodichain.learning.rl) (class in embodichain.learning.rl.env) LEFT (embodichain.lab.sim.motion.planners.MovePart attribute), [1] LEFT_ARM (embodichain.data.enum.ControlParts attribute) LEFT_EEF (embodichain.data.enum.ControlParts attribute) left_to_right (embodichain.lab.sim.sensors.StereoCameraCfg property) left_to_right_arm_direction (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) length_tolerance (embodichain.lab.sim.cfg.PhysicsCfg attribute) length_unit (embodichain.lab.visualization.SceneManifest attribute) LeRobotKey (class in embodichain.data.enum) LeRobotRecorder (class in embodichain.lab.gym.envs.managers.datasets) lift_height (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.place.PlaceOptions attribute) Light (class in embodichain.lab.sim.objects) light_type (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) LightCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) line_color (embodichain.lab.sim.cfg.MarkerCfg attribute) line_width (embodichain.lab.visualization.GizmoSpec attribute) (embodichain.lab.visualization.TrajectoryOverlay attribute) linear_damping (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) linear_velocity_threshold (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg attribute) link_attrs (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute)

link_attrs_from_dict() (in module embodichain.lab.sim.cfg) link_call() (embodichain.lab.task_program.semantics.SemanticIntegrationManifest method) link_lengths (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) link_name_list (embodichain.lab.sim.sensors.ArticulationContactFilterCfg attribute) link_names (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationGeometryProvider attribute) (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.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_available_strategies() (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory method) list_available_types() (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory method) list_entries() (embodichain.lab.sim.motion.workspace.caches.ResultsCache method) list_gizmos() (embodichain.lab.sim.sim_manager.SimulationManager method) load() (embodichain.lab.sim.motion.workspace.caches.ResultsCache method) load_cfg_from_file() (embodichain.utils.cfg.CfgNode class method) load_checkpoint() (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainer method) (embodichain.learning.rl.DifferentiableTrainer method) load_config() (in module embodichain.utils.utility) load_depth_dataset() (in module embodichain.data_pipeline.depth_video.reader) 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_task_program() (in module embodichain.lab.task_program) load_txt() (in module embodichain.utils.utility) LoadOption (class in embodichain.lab.sim.shapes) loads_task_program_json() (in module embodichain.lab.task_program) local_frame_a (embodichain.lab.sim.cfg.RigidConstraintCfg attribute) local_frame_b (embodichain.lab.sim.cfg.RigidConstraintCfg attribute) 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) lookup() (embodichain.lab.task_program.semantics.SceneManifest method) (embodichain.lab.task_program.semantics.SceneRegistry method) lossless (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] lower (embodichain.lab.visualization.JointControlSpec attribute) lr_scheduler (embodichain.learning.rl.algo.APG attribute), [1] (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.BaseAlgorithm attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute) LRSchedulerCfg (class in embodichain.learning.rl.utils) (class in embodichain.learning.rl.utils.config)

M

main() (in module embodichain.data.download) make() (in module embodichain.lab.gym.utils.registration), [1] make_invocation() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) make_planning_scene_provider() (embodichain.lab.task_program.semantics.SceneRegistry method) make_pose() (in module embodichain.utils.math) make_scene_provider() (embodichain.lab.task_program.semantics.SceneRegistry method) make_vec() (in module embodichain.lab.gym.utils.registration) ManagerBase (class in embodichain.lab.gym.envs.managers) manifest (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) manifest_bytes (embodichain.lab.visualization.RuntimeStats attribute) manipulability (embodichain.lab.sim.motion.workspace.configs.MetricConfig attribute) MANIPULABILITY (embodichain.lab.sim.motion.workspace.configs.MetricType attribute) ManipulabilityConfig (class in embodichain.lab.sim.motion.workspace.configs) ManipulabilityMetric (class in embodichain.lab.sim.motion.workspace.metrics) mark_rollout_started() (embodichain.lab.sim.motion.expansion.GenerationSession method) 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_action_retries (embodichain.lab.sim.atomic_actions.RecoveryPolicy attribute) max_angle (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg attribute) max_angular_velocity (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) max_approach_retract_z (embodichain.lab.sim.atomic_actions.primitives.place.PlaceOptions attribute) max_backtracks (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) max_bounds (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) max_cache_size_mb (embodichain.lab.sim.motion.workspace.configs.CacheConfig attribute) max_candidates (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGeneratorCfg attribute) max_contacts_per_env (embodichain.lab.sim.sensors.ContactSensorCfg attribute) max_convex_hull_num (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) max_damping (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) max_decomposition_hulls (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) (embodichain.toolkits.graspkit.pg_grasp.ParallelJawGraspCollisionCfg attribute) max_depenetration_velocity (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) max_effort (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) max_episode_steps (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg attribute) (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute), [1] (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] max_generation_attempts (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg attribute) (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute), [1] max_grad_norm (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute) max_iterations (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.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_opening_width (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) max_replans (embodichain.lab.sim.atomic_actions.RecoveryPolicy attribute) max_rigid_contact_count (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) max_rigid_patch_count (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) max_steps (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) max_total_contacts (embodichain.lab.sim.sensors.ContactSensor property) max_velocity (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) max_visible_envs (embodichain.lab.visualization.VisualizationCfg attribute) max_workers (embodichain.lab.sim.motion.planners.ToppraPlannerCfg attribute) maximal_edge_length (embodichain.lab.sim.cfg.SoftbodyVoxelAttributesCfg attribute) MemoryCache (class in embodichain.lab.sim.motion.workspace.caches) merge_from_other_cfg() (embodichain.utils.cfg.CfgNode method) merge_robot_cfg() (in module embodichain.lab.sim.utility.cfg_utils) merge_solver_cfg() (in module embodichain.lab.sim.utility.cfg_utils) merge_urdfs() (embodichain.toolkits.urdf_assembly.URDFAssemblyManager method) merge_with() (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg method) mesh_id (embodichain.lab.sim.material.ReuseSegmentState attribute), [1] mesh_path (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) MeshCfg (class in embodichain.lab.sim.shapes) MeshGeometry (class in embodichain.lab.visualization) message (embodichain.lab.sim.atomic_actions.CommandAcknowledgement attribute) (embodichain.lab.sim.atomic_actions.RunnerStep attribute) META_FILENAME (embodichain.lab.sim.motion.workspace.caches.ResultsCache attribute) metallic (embodichain.lab.sim.material.VisualMaterialCfg attribute) metallic_texture (embodichain.lab.sim.material.VisualMaterialCfg attribute) metric (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) MetricConfig (class in embodichain.lab.sim.motion.workspace.configs) metrics_results (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer attribute) MetricType (class in embodichain.lab.sim.motion.workspace.configs) middle_empty_ratio (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) mimic_ids (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) mimic_multipliers (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) mimic_offsets (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) mimic_parents (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) min_bounds (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) min_length (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg attribute) min_opening_width (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) min_points_per_voxel (embodichain.lab.sim.motion.workspace.configs.ReachabilityConfig attribute) min_position_iters (embodichain.lab.sim.cfg.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) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) min_score (embodichain.lab.sim.motion.workspace.cfg.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg attribute) (embodichain.lab.sim.objects.RobotWorkspaceCfg attribute) min_steps (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg attribute) min_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) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) minimum_confidence (embodichain.lab.sim.atomic_actions.SceneEntityPose attribute) minimum_cycle_time (embodichain.lab.sim.atomic_actions.ExecutionRunnerCfg attribute) MLP (class in embodichain.learning.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) (embodichain.lab.gym.envs.managers.RewardCfg attribute) (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) model_id (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) module embodichain.compute.trajectory embodichain.compute.trajectory.interpolation embodichain.compute.trajectory.resampling embodichain.compute.trajectory.warping embodichain.data embodichain.data.assets embodichain.data.constants embodichain.data.dataset embodichain.data.download embodichain.data.enum embodichain.data_pipeline embodichain.data_pipeline.datasets, [1], [2] embodichain.data_pipeline.datasets.online_data embodichain.data_pipeline.datasets.sampler embodichain.data_pipeline.depth_video embodichain.data_pipeline.depth_video.cfg embodichain.data_pipeline.depth_video.codec embodichain.data_pipeline.depth_video.depth_utils embodichain.data_pipeline.depth_video.reader embodichain.data_pipeline.depth_video.writer embodichain.data_pipeline.engine, [1], [2] embodichain.data_pipeline.engine.data embodichain.lab embodichain.lab.devices embodichain.lab.gym embodichain.lab.gym.envs embodichain.lab.gym.envs.managers embodichain.lab.gym.envs.managers.async_datasets embodichain.lab.gym.envs.managers.dataset_manager embodichain.lab.gym.envs.managers.datasets embodichain.lab.gym.envs.managers.events embodichain.lab.gym.envs.managers.observations embodichain.lab.gym.envs.managers.randomization embodichain.lab.gym.envs.managers.randomization.geometry embodichain.lab.gym.envs.managers.randomization.physics embodichain.lab.gym.envs.managers.randomization.spatial embodichain.lab.gym.envs.managers.randomization.visual embodichain.lab.gym.envs.managers.record embodichain.lab.gym.envs.managers.rewards embodichain.lab.gym.utils embodichain.lab.gym.utils.gym_utils, [1] embodichain.lab.gym.utils.misc, [1] embodichain.lab.gym.utils.profiler embodichain.lab.gym.utils.registration embodichain.lab.sim embodichain.lab.sim.atomic_actions.primitives.axis_align embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment embodichain.lab.sim.atomic_actions.primitives.coordinated_placement embodichain.lab.sim.atomic_actions.primitives.hand_over embodichain.lab.sim.atomic_actions.primitives.move_end_effector embodichain.lab.sim.atomic_actions.primitives.move_held_object embodichain.lab.sim.atomic_actions.primitives.move_joints embodichain.lab.sim.atomic_actions.primitives.open_door embodichain.lab.sim.atomic_actions.primitives.pick_up embodichain.lab.sim.atomic_actions.primitives.place embodichain.lab.sim.atomic_actions.primitives.pour embodichain.lab.sim.atomic_actions.primitives.press embodichain.lab.sim.atomic_actions.primitives.push_object embodichain.lab.sim.atomic_actions.primitives.slide embodichain.lab.sim.atomic_actions.primitives.twist embodichain.lab.sim.cfg, [1] embodichain.lab.sim.common embodichain.lab.sim.material embodichain.lab.sim.motion embodichain.lab.sim.motion.motion_generator embodichain.lab.sim.motion.planners embodichain.lab.sim.motion.solvers embodichain.lab.sim.motion.workspace embodichain.lab.sim.motion.workspace.analyzer embodichain.lab.sim.motion.workspace.caches embodichain.lab.sim.motion.workspace.cfg embodichain.lab.sim.motion.workspace.configs embodichain.lab.sim.motion.workspace.constraints embodichain.lab.sim.motion.workspace.metrics embodichain.lab.sim.motion.workspace.runtime embodichain.lab.sim.motion.workspace.samplers embodichain.lab.sim.motion.workspace.visualizers embodichain.lab.sim.objects embodichain.lab.sim.profiler embodichain.lab.sim.robots embodichain.lab.sim.sensors embodichain.lab.sim.shapes embodichain.lab.sim.sim_manager embodichain.lab.sim.types, [1] embodichain.lab.sim.utility embodichain.lab.sim.utility.action_utils embodichain.lab.sim.utility.atom_action_utils embodichain.lab.sim.utility.cfg_utils embodichain.lab.sim.utility.import_utils embodichain.lab.sim.utility.io_utils embodichain.lab.sim.utility.keyboard_utils embodichain.lab.sim.utility.mesh_utils embodichain.lab.sim.utility.sim_utils embodichain.lab.sim.utility.solver_utils embodichain.lab.sim.utility.tensor embodichain.lab.visualization embodichain.learning embodichain.learning.rl, [1] embodichain.learning.rl.algo, [1], [2] embodichain.learning.rl.buffer, [1] embodichain.learning.rl.buffer.standard_buffer embodichain.learning.rl.buffer.utils embodichain.learning.rl.collector, [1] embodichain.learning.rl.differentiable_trainer embodichain.learning.rl.env embodichain.learning.rl.evaluation embodichain.learning.rl.models, [1], [2] embodichain.learning.rl.routing embodichain.learning.rl.train, [1], [2] embodichain.learning.rl.utils, [1] embodichain.learning.rl.utils.config embodichain.learning.rl.utils.helper embodichain.learning.rl.utils.trainer embodichain.toolkits embodichain.toolkits.urdf_assembly embodichain.utils embodichain.utils.cfg embodichain.utils.config_paths embodichain.utils.configclass embodichain.utils.device_utils embodichain.utils.file embodichain.utils.img_utils embodichain.utils.logger embodichain.utils.math embodichain.utils.module_utils embodichain.utils.nms embodichain.utils.string embodichain.utils.utility embodichain.utils.visualizer embodichain.utils.warp embodichain.utils.warp.collision embodichain.utils.warp.collision.convex_query embodichain.utils.warp.kernels, [1] embodichain.utils.warp.kinematics, [1] embodichain.utils.warp.kinematics.interpolate embodichain.utils.warp.kinematics.opw_solver, [1] embodichain.utils.warp.kinematics.srs_solver embodichain.utils.warp.kinematics.ur_solver embodichain.utils.warp.kinematics.warp_trajectory, [1]

MonotonicExecutionClock (class in embodichain.lab.sim.atomic_actions) motion_generator (embodichain.lab.sim.atomic_actions.AtomicAction property) (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) motion_policy (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) (embodichain.lab.task_program.semantics.SkillPolicyPreset property) MotionGenCfg (class in embodichain.lab.sim.motion.motion_generator) MotionGenerator (class in embodichain.lab.sim.motion.motion_generator) MotionGenOptions (class in embodichain.lab.sim.motion.motion_generator) MotionPolicy (class in embodichain.lab.sim.atomic_actions) MotionSnapshot (class in embodichain.lab.sim.motion.expansion) mount (embodichain.lab.sim.robots.DualArmRobotCfg attribute) move_part (embodichain.lab.sim.motion.planners.PlanState attribute) move_type (embodichain.lab.sim.motion.planners.PlanState attribute) MoveEndEffector (class in embodichain.lab.sim.atomic_actions.primitives.move_end_effector) MoveEndEffectorOptions (class in embodichain.lab.sim.atomic_actions.primitives.move_end_effector) MoveHeldObject (class in embodichain.lab.sim.atomic_actions.primitives.move_held_object) MoveHeldObjectOptions (class in embodichain.lab.sim.atomic_actions.primitives.move_held_object) MoveJoints (class in embodichain.lab.sim.atomic_actions.primitives.move_joints) MoveJointsOptions (class in embodichain.lab.sim.atomic_actions.primitives.move_joints) MovePart (class in embodichain.lab.sim.motion.planners) MoveType (class in embodichain.lab.sim.motion.planners) mp_context (embodichain.lab.sim.motion.planners.ToppraPlannerCfg attribute) MutableCfgNode (class in embodichain.utils.cfg)

N

n_epochs (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] n_query_mesh_samples (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg attribute) n_sample (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg attribute) name (embodichain.lab.gym.envs.managers.ObservationCfg attribute) (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry attribute) (embodichain.lab.sim.cfg.MarkerCfg attribute) (embodichain.lab.sim.cfg.RigidConstraintCfg attribute) (embodichain.learning.rl.utils.config.LRSchedulerCfg attribute) (embodichain.learning.rl.utils.config.OptimizerCfg attribute) (embodichain.learning.rl.utils.LRSchedulerCfg attribute) (embodichain.learning.rl.utils.OptimizerCfg attribute) name_case (embodichain.lab.sim.cfg.URDFCfg attribute) (embodichain.toolkits.urdf_assembly.URDFAssemblyManager property) native_name (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) nb_neighbors (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) near (embodichain.lab.visualization.CameraSpec attribute) NeuralIKSolver (class in embodichain.lab.sim.motion.solvers) NeuralIKSolverCfg (class in embodichain.lab.sim.motion.solvers) next_observation (embodichain.learning.rl.collector.DifferentiableTransition attribute) node_id (embodichain.lab.visualization.DynamicMeshUpdate attribute) (embodichain.lab.visualization.PickCommand attribute) (embodichain.lab.visualization.SceneNode attribute) node_ids (embodichain.lab.visualization.SceneFrame attribute) nodes (embodichain.lab.visualization.SceneManifest attribute) NoFailWrapper (class in embodichain.lab.gym.envs) normal_texture (embodichain.lab.sim.material.VisualMaterialCfg attribute) normalize_robot_joint_data() (in module embodichain.lab.gym.envs.managers.observations) notify_visualization_topology_changed() (embodichain.lab.sim.sim_manager.SimulationManager method) now() (embodichain.lab.gym.envs.task_program.EnvironmentStepClock method) (embodichain.lab.sim.atomic_actions.ExecutionClock method) (embodichain.lab.sim.atomic_actions.MonotonicExecutionClock method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) np_random (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnv property), [1] np_random_seed (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnv property), [1] num_arm_joints (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) 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.DatasetManager 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.QposNormalizedTerm property) (embodichain.lab.gym.envs.managers.QposTerm property) (embodichain.lab.gym.envs.managers.QvelTerm property) (embodichain.lab.gym.envs.managers.RewardManager property) (embodichain.lab.sim.atomic_actions.AtomicAction property) (embodichain.lab.sim.objects.RigidConstraint property) (embodichain.lab.sim.sim_manager.SimulationManager property) (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) (embodichain.learning.rl.env.LearningVecEnv attribute) (embodichain.learning.rl.LearningVecEnv attribute)

num_eval_episodes (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) (embodichain.learning.rl.DifferentiableTrainerCfg 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.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.sim.motion.workspace.RobotWorkspace property) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace property) num_steps (embodichain.learning.rl.collector.DifferentiableRollout property) nvtx (embodichain.lab.sim.profiler.ProfilerCfg attribute) (embodichain.lab.sim.ProfilerCfg attribute)

O

obj_upright_direction (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) object_contact_offset (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) object_initial_pose (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickGoal attribute) object_motion_keyframes (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) object_semantics() (embodichain.lab.task_program.semantics.SceneRegistry method) object_target_pose (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.move_held_object.HeldObjectPoseGoal attribute) object_to_eef (embodichain.lab.sim.atomic_actions.HeldObjectState attribute) ObjectBaseCfg (class in embodichain.lab.sim.cfg) ObjectNearTargetValidatorCfg (class in embodichain.lab.task_program) ObjectSemantics (class in embodichain.lab.sim.atomic_actions) obs_dim (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) OBS_ENV_STATE (embodichain.data.enum.LeRobotKey attribute) OBS_IMAGE (embodichain.data.enum.LeRobotKey attribute) OBS_IMAGES (embodichain.data.enum.LeRobotKey attribute) OBS_LANGUAGE (embodichain.data.enum.LeRobotKey attribute) OBS_LANGUAGE_ATTENTION_MASK (embodichain.data.enum.LeRobotKey attribute) OBS_LANGUAGE_SUBTASK (embodichain.data.enum.LeRobotKey attribute) OBS_LANGUAGE_SUBTASK_ATTENTION_MASK (embodichain.data.enum.LeRobotKey attribute) OBS_LANGUAGE_SUBTASK_TOKENS (embodichain.data.enum.LeRobotKey attribute) OBS_LANGUAGE_TOKENS (embodichain.data.enum.LeRobotKey attribute) OBS_PREFIX (embodichain.data.enum.LeRobotKey attribute) OBS_QF (embodichain.data.enum.LeRobotKey attribute) OBS_QVEL (embodichain.data.enum.LeRobotKey attribute) OBS_STATE (embodichain.data.enum.LeRobotKey attribute) OBS_STR (embodichain.data.enum.LeRobotKey attribute) observation (embodichain.learning.rl.collector.DifferentiableTransition attribute) observation_provider (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) ObservationCfg (class in embodichain.lab.gym.envs.managers) ObservationManager (class in embodichain.lab.gym.envs.managers) ObservationProvider (class in embodichain.lab.sim.atomic_actions) observations (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] observe() (embodichain.lab.gym.envs.settling.DynamicSettleMonitor method) (embodichain.lab.gym.envs.task_program.GymPlanningObservationProvider method) (embodichain.lab.sim.atomic_actions.ObservationProvider method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) (embodichain.lab.task_program.semantics.EffectMonitor method) (embodichain.lab.task_program.semantics.SceneEntityStateProvider method) offscreen_dlss_enabled (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) OnlineDataEngine (class in embodichain.data_pipeline.engine), [1] (class in embodichain.data_pipeline.engine.data) OnlineDataEngineCfg (class in embodichain.data_pipeline.engine), [1] (class in embodichain.data_pipeline.engine.data) OnlineDataEngineState (class in embodichain.data_pipeline.engine), [1] (class in embodichain.data_pipeline.engine.data) OnlineDataset (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.online_data) OnlineDataWorkerError, [1], [2] OPEN (embodichain.data.enum.EefExecute attribute) open_check_margin (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) open_fraction (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorGoal attribute) open_loop (embodichain.lab.sim.atomic_actions.AtomicAction attribute) (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlign attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOver attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoor attribute) (embodichain.lab.sim.atomic_actions.primitives.pour.Pour attribute) (embodichain.lab.sim.atomic_actions.primitives.press.Press attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObject attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.Slide attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.Twist attribute) (embodichain.lab.sim.atomic_actions.SkillDescriptor attribute)

open_window() (embodichain.lab.sim.sim_manager.SimulationManager method) OpenDoor (class in embodichain.lab.sim.atomic_actions.primitives.open_door) OpenDoorGoal (class in embodichain.lab.sim.atomic_actions.primitives.open_door) OpenDoorOptions (class in embodichain.lab.sim.atomic_actions.primitives.open_door) opening_margin (embodichain.toolkits.graspkit.pg_grasp.ParallelJawGraspCollisionCfg attribute) optimization (embodichain.lab.sim.motion.workspace.samplers.LatinHypercubeSampler attribute) optimizer (embodichain.learning.rl.algo.APG attribute), [1] (embodichain.learning.rl.algo.APGCfg attribute), [1] (embodichain.learning.rl.algo.BaseAlgorithm attribute), [1] (embodichain.learning.rl.algo.GRPOCfg attribute), [1] (embodichain.learning.rl.algo.PPOCfg attribute), [1] (embodichain.learning.rl.utils.AlgorithmCfg attribute) (embodichain.learning.rl.utils.config.AlgorithmCfg attribute) OptimizerCfg (class in embodichain.learning.rl.utils) (class in embodichain.learning.rl.utils.config) OptionsType (embodichain.lab.sim.atomic_actions.AtomicAction attribute) (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlign attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickment attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacement attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOver attribute) (embodichain.lab.sim.atomic_actions.primitives.move_end_effector.MoveEndEffector attribute) (embodichain.lab.sim.atomic_actions.primitives.move_held_object.MoveHeldObject attribute) (embodichain.lab.sim.atomic_actions.primitives.move_joints.MoveJoints attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoor attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUp attribute) (embodichain.lab.sim.atomic_actions.primitives.place.Place attribute) (embodichain.lab.sim.atomic_actions.primitives.pour.Pour attribute) (embodichain.lab.sim.atomic_actions.primitives.press.Press attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObject attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.Slide attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.Twist attribute) OPWSolver (class in embodichain.lab.sim.motion.solvers) OPWSolverCfg (class in embodichain.lab.sim.motion.solvers) orientation_alignment() (in module embodichain.lab.gym.envs.managers.rewards) origin_pose (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry attribute) original_inst (embodichain.lab.sim.material.ReuseSegmentState attribute), [1] output_format (embodichain.lab.sim.motion.workspace.configs.MetricConfig attribute) output_path (embodichain.lab.sim.profiler.ProfilerCfg attribute) (embodichain.lab.sim.ProfilerCfg attribute) output_unit (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] overlay_id (embodichain.lab.visualization.FrameOverlay attribute) (embodichain.lab.visualization.PointCloudOverlay attribute) (embodichain.lab.visualization.TargetOverlay attribute) (embodichain.lab.visualization.TrajectoryOverlay attribute) overlays (embodichain.lab.visualization.SceneFrame attribute)

P

Package (class in embodichain.utils.visualizer) pad_img_list() (in module embodichain.utils.utility) pad_to_chunk() (in module embodichain.utils.utility) padding_by_longest_edge() (in module embodichain.utils.utility) palm_depth (embodichain.toolkits.graspkit.ParallelJawGripperModelCfg attribute) parallel_safety_validator (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) ParallelCfg (class in embodichain.lab.task_program) ParallelCommandSafetyValidatorFactory (class in embodichain.lab.task_program.integrations) ParallelJawGraspCollisionCfg (class in embodichain.toolkits.graspkit.pg_grasp) ParallelJawGraspPoseGenerator (class in embodichain.toolkits.graspkit) ParallelJawGripperModelCfg (class in embodichain.toolkits.graspkit) ParallelSafetyDeclaration (class in embodichain.lab.task_program.integrations) params (embodichain.lab.gym.envs.managers.ActionTermCfg attribute) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg attribute) (embodichain.lab.gym.envs.managers.EventCfg attribute) (embodichain.lab.gym.envs.managers.FunctorCfg attribute) (embodichain.lab.gym.envs.managers.ObservationCfg attribute) (embodichain.lab.gym.envs.managers.RewardCfg attribute) parent (embodichain.lab.sim.sensors.CameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.CameraCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.ContactSensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.SensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.OffsetCfg attribute) (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) parent_id (embodichain.lab.visualization.SceneNode attribute) parent_link_name (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationJointGeometry attribute) parse_args() (in module embodichain.learning.rl.train), [1] parse_task_program_json() (in module embodichain.lab.task_program) parser2dict() (in module embodichain.utils.utility) passthrough_collate_fn() (embodichain.data_pipeline.datasets.online_data.OnlineDataset static method) (embodichain.data_pipeline.datasets.OnlineDataset static method), [1] path (embodichain.lab.visualization.CameraSpec attribute) (embodichain.lab.visualization.GizmoSpec attribute) (embodichain.lab.visualization.SceneNode attribute) PAUSE (embodichain.lab.sim.motion.planners.MoveType attribute), [1] pause_seconds (embodichain.lab.sim.motion.planners.PlanState attribute) payload_type (embodichain.lab.sim.atomic_actions.EndpointCommandTransport property) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter attribute) pending_count (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink property) pending_effect (embodichain.lab.sim.atomic_actions.ExecutionSession property) phase (embodichain.lab.visualization.GizmoCommand attribute) phase_effect_gate_request (embodichain.lab.sim.atomic_actions.ExecutionSession property) phase_effect_gates (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) physical_attr (embodichain.lab.sim.cfg.ClothObjectCfg attribute) (embodichain.lab.sim.cfg.SoftObjectCfg attribute) (embodichain.lab.sim.objects.ClothObjectCfg attribute) (embodichain.lab.sim.objects.SoftObjectCfg attribute) physics_config (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) physics_dt (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnv property), [1] (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) physics_frequency (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnv property), [1] PhysicsCfg (class in embodichain.lab.sim.cfg) Pick (class in embodichain.lab.task_program.semantics) pick() (embodichain.lab.visualization.picker.ScenePicker method) pick_object_part (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) PickCfg (class in embodichain.lab.task_program) PickCommand (class in embodichain.lab.visualization) PickUp (class in embodichain.lab.sim.atomic_actions.primitives.pick_up) PickUpOptions (class in embodichain.lab.sim.atomic_actions.primitives.pick_up) PinkSolver (class in embodichain.lab.sim.motion.solvers) PinkSolverCfg (class in embodichain.lab.sim.motion.solvers) PinocchioSolver (class in embodichain.lab.sim.motion.solvers) PinocchioSolverCfg (class in embodichain.lab.sim.motion.solvers) pix_fmt (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] Place (class in embodichain.lab.sim.atomic_actions.primitives.place) (class in embodichain.lab.task_program.semantics) PLACE_IN_AFFORDANCE_CAPABILITY (in module embodichain.lab.task_program.semantics) PLACE_ON_AFFORDANCE_CAPABILITY (in module embodichain.lab.task_program.semantics) PlaceCfg (class in embodichain.lab.task_program) PlaceGoal (class in embodichain.lab.sim.atomic_actions.primitives.place) PlaceOptions (class in embodichain.lab.sim.atomic_actions.primitives.place) placing_height_offset (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) placing_object_target_pose (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementGoal attribute) plan() (embodichain.lab.sim.atomic_actions.AtomicAction method) (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) plan_attempts (embodichain.lab.sim.atomic_actions.ExecutionSession property) plan_gripper_trajectory() (in module embodichain.lab.sim.utility.atom_action_utils) plan_opts (embodichain.lab.sim.atomic_actions.MotionPolicy attribute) (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) plan_request() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) plan_trajectory() (in module embodichain.lab.sim.utility.atom_action_utils) plane_bounds (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) plane_normal (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) plane_point (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) PLANE_SAMPLING (embodichain.lab.sim.motion.workspace.AnalysisMode attribute) (embodichain.lab.sim.motion.workspace.analyzer.AnalysisMode attribute) planner_cfg (embodichain.lab.sim.motion.motion_generator.MotionGenCfg attribute) planner_grid_cell_sampler (class in embodichain.lab.gym.envs.managers.randomization.spatial) planning_services (embodichain.lab.sim.atomic_actions.AtomicAction property) (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) PlanningContext (class in embodichain.lab.sim.atomic_actions) PlanningFailure (class in embodichain.lab.sim.atomic_actions) PlanningObservationPort (class in embodichain.lab.task_program.integrations) PlanResult (class in embodichain.lab.sim.motion.planners) PlanState (class in embodichain.lab.sim.motion.planners) plot_trajectory() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) POINT_CLOUD (embodichain.lab.sim.motion.workspace.configs.VisualizationType attribute) (embodichain.lab.sim.motion.workspace.visualizers.VisualizationType attribute) point_cloud_max_points (embodichain.lab.visualization.VisualizationCfg attribute) point_clouds (embodichain.lab.visualization.SceneOverlays attribute)

point_sample_dense (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg attribute) point_sample_density (embodichain.toolkits.graspkit.pg_grasp.ParallelJawGraspCollisionCfg attribute) point_size (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) (embodichain.lab.sim.motion.workspace.visualizers.PointCloudVisualizer attribute) (embodichain.lab.visualization.PointCloudOverlay attribute) PointCloudOverlay (class in embodichain.lab.visualization) PointCloudVisualizer (class in embodichain.lab.sim.motion.workspace.visualizers) points (embodichain.lab.visualization.PointCloudOverlay attribute) (embodichain.lab.visualization.TrajectoryOverlay attribute) poissons (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) Policy (class in embodichain.learning.rl.models), [1] policy_output (embodichain.learning.rl.collector.DifferentiableTransition attribute) pop() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) port (embodichain.lab.visualization.ViserServerCfg attribute) pos (embodichain.lab.sim.sensors.CameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.CameraCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.ContactSensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.SensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.OffsetCfg attribute) pos_eps (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) POSE (embodichain.data.enum.EefType attribute) pose (embodichain.lab.sim.common.BatchEntity property) pose_in_A_to_pose_in_B() (in module embodichain.utils.math) pose_inv() (in module embodichain.utils.math) pose_nms() (in module embodichain.utils.nms) pose_nms_indices() (in module embodichain.utils.nms) pose_to_position_wxyz() (in module embodichain.lab.visualization) PoseCfg (class in embodichain.lab.task_program) position (embodichain.lab.task_program.semantics.SemanticPose property) (embodichain.lab.visualization.FrameOverlay attribute) (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.GizmoState attribute) (embodichain.lab.visualization.TargetOverlay attribute) positions (embodichain.lab.sim.atomic_actions.JointPositionCommand property) (embodichain.lab.sim.motion.planners.PlanResult attribute) (embodichain.lab.visualization.SceneFrame attribute) post_policy_metadata() (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) post_policy_result() (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) postprocess_small_regions() (in module embodichain.utils.utility) Pour (class in embodichain.lab.sim.atomic_actions.primitives.pour) PourGoal (class in embodichain.lab.sim.atomic_actions.primitives.pour) PourOptions (class in embodichain.lab.sim.atomic_actions.primitives.pour) PPO (class in embodichain.learning.rl.algo), [1] PPOCfg (class in embodichain.learning.rl.algo), [1] pre_grasp_distance (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickmentOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.TwistOptions attribute) preflight() (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) preflight_analyses() (embodichain.lab.task_program.CompiledTaskProgram method) prepare_extra_attr (class in embodichain.lab.gym.envs.managers.events) prepare_mesh() (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGenerator method) preserve_cartesian_samples (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) preserve_current_object_orientation (embodichain.lab.sim.atomic_actions.primitives.place.PlaceOptions attribute) preserve_order (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) preserve_plan_samples (embodichain.lab.sim.motion.planners.BasePlanner attribute) (embodichain.lab.sim.motion.planners.ToppraPlanner attribute) preset() (embodichain.lab.task_program.semantics.BoundRobotSkillProfile method) Press (class in embodichain.lab.sim.atomic_actions.primitives.press) press_distance (embodichain.lab.sim.atomic_actions.primitives.press.PressOptions attribute) press_position (embodichain.lab.sim.atomic_actions.primitives.press.PressOptions attribute) PressGoal (class in embodichain.lab.sim.atomic_actions.primitives.press) PressOptions (class in embodichain.lab.sim.atomic_actions.primitives.press) preview_sensor_data() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] print_window_camera_pose() (embodichain.lab.sim.sim_manager.SimulationManager method) 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.QposNormalizedTerm method) (embodichain.lab.gym.envs.managers.QposTerm method) (embodichain.lab.gym.envs.managers.QvelTerm method) process_pick_commands() (embodichain.lab.sim.sim_manager.SimulationManager method) process_visualization_commands() (embodichain.lab.sim.sim_manager.SimulationManager method) profile_id (embodichain.lab.task_program.semantics.BoundRobotSkillProfile property) Profiler (class in embodichain.lab.sim) (class in embodichain.lab.sim.profiler) profiler (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) ProfilerCfg (class in embodichain.lab.sim) (class in embodichain.lab.sim.profiler) ProfileValidationError (class in embodichain.lab.task_program.semantics) profiling() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) program_completed (embodichain.lab.gym.envs.task_program.TaskProgramDemoBridge property) project() (embodichain.lab.sim.atomic_actions.PlanningContext method) project_direction (embodichain.lab.sim.shapes.MeshCfg attribute) properties (embodichain.lab.sim.atomic_actions.ObjectSemantics attribute) propose() (embodichain.lab.sim.motion.expansion.GenerationSession method) publish_replay_control() (embodichain.lab.visualization.VisualizationRuntime method) published_frames (embodichain.lab.visualization.RuntimeStats attribute) published_image_frames (embodichain.lab.visualization.RuntimeStats attribute) published_scene_revision (embodichain.lab.visualization.RuntimeHealth attribute) push_overshoot (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) PushObject (class in embodichain.lab.sim.atomic_actions.primitives.push_object) PushObjectGoal (class in embodichain.lab.sim.atomic_actions.primitives.push_object) PushObjectOptions (class in embodichain.lab.sim.atomic_actions.primitives.push_object) PushObjectToolCalibration (class in embodichain.lab.sim.atomic_actions.primitives.push_object) put() (embodichain.lab.visualization.GizmoCommandQueue method) (embodichain.lab.visualization.JointControlCommandQueue method) put_latest() (embodichain.lab.visualization.LatestFrameQueue method) PytorchSolver (class in embodichain.lab.sim.motion.solvers) PytorchSolverCfg (class in embodichain.lab.sim.motion.solvers)

Q

qacc (embodichain.lab.sim.motion.planners.PlanState attribute) (embodichain.lab.sim.objects.ArticulationData property) qf (embodichain.lab.sim.objects.ArticulationData property) qf_limits (embodichain.lab.sim.objects.ArticulationData property) QfTerm (class in embodichain.lab.gym.envs.managers) QPOS (embodichain.data.enum.JointType attribute) qpos (embodichain.lab.sim.motion.planners.PlanState attribute) (embodichain.lab.sim.motion.workspace.runtime.WorkspaceSample attribute) (embodichain.lab.sim.motion.workspace.WorkspaceSample attribute) (embodichain.lab.sim.objects.ArticulationData property) qpos_limits (embodichain.lab.sim.cfg.ArticulationCfg attribute) (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.ArticulationCfg attribute) (embodichain.lab.sim.objects.ArticulationData property) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute)

qpos_to_limits() (embodichain.lab.sim.motion.solvers.PinocchioSolver method) QposDenormalizedTerm (class in embodichain.lab.gym.envs.managers) QposNormalizedTerm (class in embodichain.lab.gym.envs.managers) QposSeedSelSampler (class in embodichain.lab.sim.motion.solvers.qpos_seed_sel_sampler) QposTerm (class in embodichain.lab.gym.envs.managers) QUANTITY (embodichain.lab.sim.motion.planners.TrajectorySampleMethod attribute) quantize_depth() (in module embodichain.data_pipeline.depth_video.depth_utils) quat (embodichain.lab.sim.sensors.CameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.CameraCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.ContactSensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.SensorCfg.OffsetCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.OffsetCfg attribute) quat_slerp() (in module embodichain.utils.math) quaternion_wxyz (embodichain.lab.task_program.semantics.SemanticPose property) query() (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionChecker method) query_batch_points() (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionChecker method) qvel (embodichain.lab.sim.motion.planners.PlanState attribute) (embodichain.lab.sim.objects.ArticulationData property) qvel_limits (embodichain.lab.sim.objects.ArticulationData property) QvelTerm (class in embodichain.lab.gym.envs.managers)

R

radius (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.motion.workspace.configs.DensityConfig attribute) (embodichain.lab.sim.objects.LightCfg attribute) (embodichain.lab.sim.shapes.SphereCfg attribute) RANDOM (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) randomize_anchor_height (class in embodichain.lab.gym.envs.managers.randomization.spatial) randomize_articulation_mass() (in module embodichain.lab.gym.envs.managers.randomization.physics) randomize_articulation_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_body_scale() (in module embodichain.lab.gym.envs.managers.randomization.geometry) randomize_rigid_object_center_of_mass() (in module embodichain.lab.gym.envs.managers.randomization.physics) randomize_rigid_object_mass() (in module embodichain.lab.gym.envs.managers.randomization.physics) randomize_rigid_object_pose() (in module embodichain.lab.gym.envs.managers.randomization.spatial) randomize_rigid_object_scale() (in module embodichain.lab.gym.envs.managers.randomization.geometry) randomize_rigid_objects_scale() (in module embodichain.lab.gym.envs.managers.randomization.geometry) randomize_robot_eef_pose() (in module embodichain.lab.gym.envs.managers.randomization.spatial) randomize_robot_qpos() (in module embodichain.lab.gym.envs.managers.randomization.spatial) randomize_target_pose() (in module embodichain.lab.gym.envs.managers.randomization.spatial) randomize_visual_material (class in embodichain.lab.gym.envs.managers.randomization.visual) RandomSampler (class in embodichain.lab.sim.motion.workspace.samplers) ray_deviation_angle (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGeneratorCfg attribute) rayreconstruction_enabled (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) reachability (embodichain.lab.sim.motion.workspace.configs.MetricConfig attribute) REACHABILITY (embodichain.lab.sim.motion.workspace.configs.MetricType attribute) ReachabilityConfig (class in embodichain.lab.sim.motion.workspace.configs) ReachabilityMetric (class in embodichain.lab.sim.motion.workspace.metrics) reaching_behind_object() (in module embodichain.lab.gym.envs.managers.rewards) read() (embodichain.data_pipeline.depth_video.reader.DepthVideoReader method) read_all_folder_images() (in module embodichain.utils.utility) read_video() (in module embodichain.utils.utility) READY (embodichain.data_pipeline.engine.data.OnlineDataEngineState attribute) (embodichain.data_pipeline.engine.OnlineDataEngineState attribute), [1] 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) record_trajectory (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] recovery_policy (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) (embodichain.lab.task_program.semantics.SkillPolicyPreset property) RecoveryPolicy (class in embodichain.lab.sim.atomic_actions) rect_height (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) rect_width (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) redundancy_step (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) ref (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) reference_pose (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) refill_threshold (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg attribute) (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute), [1] refresh_scene() (embodichain.lab.visualization.VisualizationRuntime method) refresh_visualization() (embodichain.lab.sim.sim_manager.SimulationManager method) register() (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (in module embodichain.lab.gym.utils.registration), [1] register_case() (embodichain.lab.sim.motion.expansion.GenerationSession method) register_entity_attrs() (in module embodichain.lab.gym.envs.managers.events) register_env() (in module embodichain.lab.gym.utils.registration), [1] register_env_function() (in module embodichain.lab.gym.utils.registration) register_learning_env() (in module embodichain.learning.rl) (in module embodichain.learning.rl.env) register_planner_type() (embodichain.lab.sim.motion.motion_generator.MotionGenerator class method) register_policy() (in module embodichain.learning.rl.models), [1] register_sampler() (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory method) register_sensor() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) register_transport() (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder method) register_visualizer() (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory method) REGISTERED_ENVS (in module embodichain.lab.gym.utils.registration) RegisteredSemanticCall (class in embodichain.lab.task_program.semantics) RegisteredSemanticCallCfg (class in embodichain.lab.task_program) RegisteredSemanticLowererDeclaration (class in embodichain.lab.task_program.integrations) RegisteredSemanticLowererFactory (class in embodichain.lab.task_program.integrations) registration (embodichain.lab.task_program.integrations.SimulationTaskProgramAdapterFactory property) registration_owned_segment_policy_ports() (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory method) registrations (embodichain.lab.task_program.semantics.SceneRegistry property) registry (embodichain.lab.task_program.semantics.EffectEvidenceCollector property) RegistrySceneProvider (class in embodichain.lab.task_program.semantics) rejected_frames (embodichain.lab.visualization.RuntimeStats attribute) rejected_image_frames (embodichain.lab.visualization.RuntimeStats attribute) RELATIVE (embodichain.data.enum.ActionMode attribute) relative_pose (embodichain.lab.sim.atomic_actions.SceneEntityPose attribute) (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) release (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) release() (embodichain.lab.sim.motion.expansion.CoverageIndex method) (embodichain.lab.sim.motion.expansion.GenerationSession method) release_settle_steps (embodichain.lab.sim.atomic_actions.primitives.place.PlaceOptions attribute) remove_asset() (embodichain.lab.sim.sim_manager.SimulationManager method) remove_device() (embodichain.lab.devices.DeviceController method) remove_geometry() (embodichain.lab.visualization.picker.ScenePicker method) remove_marker() (embodichain.lab.sim.sim_manager.SimulationManager method) remove_overlap_mask() (in module embodichain.utils.utility) remove_regex_chars() (in module embodichain.utils.string) remove_rigid_constraint() (embodichain.lab.sim.sim_manager.SimulationManager method) (in module embodichain.lab.gym.envs.managers.events) render() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.utils.visualizer.Gantt method) render_camera_group() (embodichain.lab.sim.sim_manager.SimulationManager method) render_cfg (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) render_config_path() (in module embodichain.lab.task_program) render_height (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) render_width (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) RenderCfg (class in embodichain.lab.sim.cfg) rendered_path (embodichain.lab.task_program.semantics.SemanticDiagnostic property) renderer (embodichain.lab.sim.cfg.RenderCfg attribute) reorder_array() (embodichain.lab.sim.motion.solvers.PinkSolver static method) RepeatCfg (class in embodichain.lab.task_program) replace() (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg method) (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg method) (embodichain.data_pipeline.engine.OnlineDataEngineCfg method), [1] (embodichain.lab.gym.envs.demo.DemoExecutionCfg method) (embodichain.lab.gym.envs.EmbodiedEnvCfg method), [1] (embodichain.lab.gym.envs.EmbodiedEnvCfg.EnvLightCfg method), [1] (embodichain.lab.gym.envs.EnvCfg method), [1] (embodichain.lab.gym.envs.managers.ActionTermCfg method) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg method) (embodichain.lab.gym.envs.managers.EventCfg method) (embodichain.lab.gym.envs.managers.FunctorCfg method) (embodichain.lab.gym.envs.managers.ObservationCfg method) (embodichain.lab.gym.envs.managers.RewardCfg method) (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg method) (embodichain.lab.sim.DLSSCfg method) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg method) (embodichain.lab.sim.sensors.ArticulationContactFilterCfg method) (embodichain.lab.sim.shapes.LoadOption method) (embodichain.lab.task_program.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.BarrierCfg method) (embodichain.lab.task_program.CyclicPoseTargetCfg method) (embodichain.lab.task_program.HandOverCfg method) (embodichain.lab.task_program.InvokeCfg method) (embodichain.lab.task_program.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.ParallelCfg method) (embodichain.lab.task_program.PickCfg method) (embodichain.lab.task_program.PlaceCfg method) (embodichain.lab.task_program.PoseCfg method) (embodichain.lab.task_program.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.RepeatCfg method) (embodichain.lab.task_program.SegmentCfg method) (embodichain.lab.task_program.SequenceCfg method) (embodichain.lab.task_program.TargetRefCfg method) (embodichain.lab.task_program.TaskProgramCfg method) (embodichain.lab.task_program.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.WaitStablePostCfg method) (embodichain.learning.rl.algo.APGCfg method), [1] (embodichain.learning.rl.algo.GRPOCfg method), [1] (embodichain.learning.rl.algo.PPOCfg method), [1] (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg method) (embodichain.learning.rl.DifferentiableTrainerCfg method) (embodichain.learning.rl.utils.AlgorithmCfg method) (embodichain.learning.rl.utils.config.AlgorithmCfg method) (embodichain.learning.rl.utils.config.LRSchedulerCfg method) (embodichain.learning.rl.utils.config.OptimizerCfg method) (embodichain.learning.rl.utils.LRSchedulerCfg method) (embodichain.learning.rl.utils.OptimizerCfg method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg 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) ReplayWrapper (class in embodichain.lab.gym.envs) report() (embodichain.lab.sim.Profiler method) (embodichain.lab.sim.profiler.Profiler method) request_local_pose() (embodichain.lab.sim.objects.Gizmo method) require_control_dt() (embodichain.lab.sim.atomic_actions.PlanningContext method) require_goal() (embodichain.lab.sim.atomic_actions.AtomicAction method) require_target() (embodichain.lab.sim.atomic_actions.EndpointBinding method) required_commands (embodichain.lab.sim.atomic_actions.SkillEndpointRequirement attribute) required_planner (embodichain.lab.task_program.semantics.SkillPolicyPreset attribute) required_stable_checks (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg attribute) requires_command_profile (embodichain.lab.task_program.semantics.EndpointResolution attribute) requires_effect_verification (embodichain.lab.sim.atomic_actions.ActionPlan property) resample_with_distance() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.resampling) (in module embodichain.lab.sim.utility.action_utils) reserve() (embodichain.lab.sim.motion.expansion.CoverageIndex method) 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.dataset_manager.DatasetManager method) (embodichain.lab.gym.envs.managers.DatasetManager 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.QposNormalizedTerm 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.RewardManager method) (embodichain.lab.gym.envs.ReplayWrapper method) (embodichain.lab.sim.common.BatchEntity method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.workspace.metrics.BaseMetric method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.ClothObject method) (embodichain.lab.sim.objects.Light method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.SoftObject method) (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) (embodichain.lab.sim.sim_manager.SimulationManager class method) (embodichain.learning.rl.collector.DifferentiableCollector method) (embodichain.learning.rl.env.LearningVecEnv method) (embodichain.learning.rl.LearningVecEnv method)

reset_all_seeds() (in module embodichain.utils.utility) reset_every_rollout (embodichain.learning.rl.algo.GRPOCfg attribute), [1] reset_instance() (embodichain.lab.sim.motion.workspace.samplers.SamplerFactory class method) (embodichain.lab.sim.motion.workspace.visualizers.VisualizerFactory class method) reset_objects_state() (embodichain.lab.sim.sim_manager.SimulationManager method) reshape_tiled_image (in module embodichain.utils.warp.kernels) resolution (embodichain.lab.sim.shapes.SphereCfg attribute) resolve() (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (embodichain.lab.sim.atomic_actions.JointPositionCommand method) (embodichain.lab.task_program.integrations.ConfiguredHandOverPoseProvider method) (embodichain.lab.task_program.semantics.BoundRobotSkillProfile method) (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter method) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter method) (embodichain.lab.task_program.semantics.SceneManifest method) (embodichain.lab.task_program.semantics.SceneRegistry method) resolve_affordance() (embodichain.lab.task_program.semantics.SceneManifest method) (embodichain.lab.task_program.semantics.SceneRegistry method) resolve_collision_world_mode() (embodichain.lab.task_program.semantics.SceneRegistry method) resolve_config_path() (in module embodichain.utils) (in module embodichain.utils.config_paths) resolve_demo_segments() (in module embodichain.lab.gym.envs.demo) resolve_depth_vcodec() (in module embodichain.data_pipeline.depth_video.codec) resolve_matching_names() (in module embodichain.utils.string) resolve_matching_names_values() (in module embodichain.utils.string) resolve_node_target() (embodichain.lab.visualization.SceneExporter method) resolve_parent_nodes() (in module embodichain.lab.sim.sensors.attachment) resolve_plan_options() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) resolve_request() (embodichain.lab.sim.atomic_actions.AtomicAction method) resolved_params (embodichain.lab.task_program.semantics.EffectMonitor property) ResolvedActionRequest (class in embodichain.lab.sim.atomic_actions) ResolvedResourceEndpoint (class in embodichain.lab.task_program.semantics) ResolvedRobotResource (class in embodichain.lab.task_program.semantics) ResolvedSkillBinding (class in embodichain.lab.task_program.semantics) resource_ids (embodichain.lab.task_program.semantics.ResolvedSkillBinding property) ResourceBinding (class in embodichain.lab.task_program.semantics) ResourceClaim (class in embodichain.lab.task_program.semantics) ResourceEndpoint (class in embodichain.lab.task_program.semantics) ResourceEndpointAdapter (class in embodichain.lab.task_program.semantics) resources (embodichain.lab.task_program.semantics.BoundRobotSkillProfile property) rest_collision_vertices (embodichain.lab.sim.objects.SoftBodyData property) rest_offset (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) rest_sim_vertices (embodichain.lab.sim.objects.SoftBodyData property) rest_vertices (embodichain.lab.sim.objects.ClothBodyData property) restitution (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) restore_visual_material() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.ClothObject method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.SoftObject method) RESULTS_FILENAME (embodichain.lab.sim.motion.workspace.caches.ResultsCache attribute) ResultsCache (class in embodichain.lab.sim.motion.workspace.caches) retime() (in module embodichain.lab.sim.motion.expansion) retract_distance (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorOptions attribute) retract_height (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) retreat_steps (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) retry_write() (embodichain.lab.sim.motion.expansion.GenerationSession method) ReuseSegmentState (class in embodichain.lab.sim.material) revise_current() (embodichain.lab.sim.atomic_actions.ExecutionRunner method) (embodichain.lab.sim.atomic_actions.ExecutionSession method) revision (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) REWARD (embodichain.data.enum.LeRobotKey attribute) reward (embodichain.learning.rl.collector.DifferentiableTransition attribute) RewardCfg (class in embodichain.lab.gym.envs.managers) RewardManager (class in embodichain.lab.gym.envs.managers) rewards (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.learning.rl.collector.DifferentiableRollout property) RIGHT (embodichain.lab.sim.motion.planners.MovePart attribute), [1] RIGHT_ARM (embodichain.data.enum.ControlParts attribute) RIGHT_EEF (embodichain.data.enum.ControlParts attribute) right_to_left (embodichain.lab.sim.sensors.StereoCameraCfg property) rigid_body_twist_transform() (in module embodichain.utils.math) rigid_object_a_uid (embodichain.lab.sim.cfg.RigidConstraintCfg attribute) rigid_object_b_uid (embodichain.lab.sim.cfg.RigidConstraintCfg attribute) rigid_objects (embodichain.lab.sim.cfg.RigidObjectGroupCfg attribute) (embodichain.lab.sim.objects.RigidObjectGroupCfg attribute) rigid_uid_list (embodichain.lab.sim.sensors.ContactSensorCfg 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) RigidConstraint (class in embodichain.lab.sim.objects) RigidConstraintCfg (class in embodichain.lab.sim.cfg) RigidObject (class in embodichain.lab.sim.objects) RigidObjectCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) RigidObjectGroup (class in embodichain.lab.sim.objects) RigidObjectGroupCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) rings_radius (embodichain.lab.sim.objects.GizmoCfg attribute) rings_size (embodichain.lab.sim.objects.GizmoCfg attribute) rng (embodichain.lab.sim.motion.workspace.samplers.BaseSampler attribute) Robot (class in embodichain.lab.sim.objects) robot (embodichain.lab.sim.atomic_actions.AtomicAction property) (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) robot_dof (embodichain.lab.sim.atomic_actions.AtomicAction property) (embodichain.lab.sim.atomic_actions.RobotObservation property) (embodichain.lab.sim.atomic_actions.TimedTrajectory property) robot_ik_gizmo (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) ROBOT_LEFT (embodichain.data.enum.SemanticMask attribute), [1] robot_profile (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) robot_profile_id (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory property) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter property) ROBOT_RIGHT (embodichain.data.enum.SemanticMask attribute), [1] robot_uid (embodichain.lab.sim.motion.planners.BasePlannerCfg attribute) (embodichain.lab.sim.motion.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) RobotObservation (class in embodichain.lab.sim.atomic_actions) RobotResource (class in embodichain.lab.task_program.semantics) RobotSkillProfile (class in embodichain.lab.task_program.semantics) RobotWorkspace (class in embodichain.lab.sim.motion.workspace) (class in embodichain.lab.sim.motion.workspace.runtime) RobotWorkspaceCfg (class in embodichain.lab.sim.motion.workspace) (class in embodichain.lab.sim.motion.workspace.cfg) (class in embodichain.lab.sim.objects) role (embodichain.lab.visualization.CameraSpec attribute) rollout_kind (embodichain.learning.rl.algo.APG attribute), [1] (embodichain.learning.rl.algo.BaseAlgorithm attribute), [1] RolloutBuffer (class in embodichain.learning.rl.buffer) (class in embodichain.learning.rl.buffer.standard_buffer) RolloutKind (class in embodichain.learning.rl.algo), [1] 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.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.Articulation property) (embodichain.lab.sim.objects.Robot property) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg.SolverCfg attribute) (embodichain.lab.sim.robots.URRobotCfg.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.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) rotate_angle (embodichain.lab.sim.atomic_actions.primitives.pour.PourOptions attribute) rotate_grasp_about_object_axis() (in module embodichain.lab.sim.motion.expansion) rotate_upright (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUpOptions attribute) rotation_directions (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) roughness (embodichain.lab.sim.material.VisualMaterialCfg attribute) roughness_texture (embodichain.lab.sim.material.VisualMaterialCfg attribute) row() (embodichain.lab.sim.motion.expansion.CandidateTrajectoryBatch method) RT_MATERIAL_TYPES (embodichain.lab.sim.material.VisualMaterial attribute) run_id (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.PickCommand attribute) (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.SceneManifest attribute) run_keyboard_control_for_camera() (in module embodichain.lab.sim.utility.keyboard_utils) run_keyboard_control_for_light() (in module embodichain.lab.sim.utility.keyboard_utils) run_until_blocked() (embodichain.lab.sim.atomic_actions.ExecutionRunner method) runner_cfg (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) (embodichain.lab.task_program.semantics.SkillPolicyPreset property) RunnerStatus (class in embodichain.lab.sim.atomic_actions) RunnerStep (class in embodichain.lab.sim.atomic_actions) running (embodichain.lab.visualization.RuntimeHealth attribute) runtime (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) runtime_target (embodichain.lab.task_program.semantics.EndpointResolution attribute) runtime_target_types (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) runtime_transport_ids (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) RuntimeCommandFrame (class in embodichain.lab.sim.atomic_actions) RuntimeCommandFrameEncoder (class in embodichain.lab.gym.envs.task_program) RuntimeCommandPayload (class in embodichain.lab.sim.atomic_actions) RuntimeEndpointTarget (class in embodichain.lab.sim.atomic_actions) RuntimeHealth (class in embodichain.lab.visualization) RuntimeStats (class in embodichain.lab.visualization) RuntimeTransportActionEncoder (class in embodichain.lab.gym.envs.task_program) RuntimeTransportDeclaration (class in embodichain.lab.task_program.integrations)

S

safe_stop_timeout (embodichain.lab.sim.atomic_actions.ExecutionRunnerCfg attribute) sample() (embodichain.lab.sim.motion.solvers.qpos_seed_sel_sampler.QposSeedSelSampler method) (embodichain.lab.sim.motion.workspace.samplers.BaseSampler method) (embodichain.lab.sim.motion.workspace.samplers.ISampler method) (embodichain.lab.sim.motion.workspace.samplers.LatinHypercubeSampler method) (embodichain.lab.sim.motion.workspace.samplers.SobolSampler method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSampler method) sample_batch() (embodichain.data_pipeline.engine.data.OnlineDataEngine method) (embodichain.data_pipeline.engine.OnlineDataEngine method), [1] sample_cartesian_space() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) sample_count (embodichain.lab.sim.atomic_actions.MotionPolicy attribute) (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) (embodichain.toolkits.graspkit.pg_grasp.AntipodalGraspPoseGeneratorCfg attribute) sample_cylinder() (in module embodichain.utils.math) sample_gaussian() (in module embodichain.utils.math) sample_indices() (embodichain.lab.sim.motion.workspace.RobotWorkspace method) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace method) sample_initial_articulation_geometry() (in module embodichain.lab.sim.atomic_actions.articulation_geometry) sample_joint_space() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) sample_log_uniform() (in module embodichain.utils.math) sample_plane() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) sample_reachable_pose() (embodichain.lab.sim.objects.Robot method) sample_rigid_object_pose_from_workspace (class in embodichain.lab.gym.envs.managers.randomization.spatial) sample_triangle() (in module embodichain.utils.math) sample_uniform() (in module embodichain.utils.math) SamplerFactory (class in embodichain.lab.sim.motion.workspace.samplers) samples_per_dim (embodichain.lab.sim.motion.workspace.samplers.UniformSampler attribute) sampling (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) SamplingConfig (class in embodichain.lab.sim.motion.workspace.configs) SamplingStrategy (class in embodichain.lab.sim.motion.workspace.configs) save() (embodichain.lab.sim.motion.workspace.caches.ResultsCache method) (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.IVisualizer method) (embodichain.utils.cfg.CfgNode method) (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.learning.rl.differentiable_trainer.DifferentiableTrainer method) (embodichain.learning.rl.DifferentiableTrainer method) (embodichain.learning.rl.utils.trainer.Trainer method) save_config() (in module embodichain.utils.utility) save_failed_episodes (embodichain.lab.gym.envs.managers.dataset_manager.DatasetManager property) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg attribute) (embodichain.lab.gym.envs.managers.DatasetManager property) save_frequency_updates (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) (embodichain.learning.rl.DifferentiableTrainerCfg attribute) save_json() (in module embodichain.utils.utility) save_map() (embodichain.utils.visualizer.HeatMapEnv method) save_path (embodichain.lab.sim.cfg.WindowRecordCfg attribute) save_pkl() (in module embodichain.utils.utility) save_results (embodichain.lab.sim.motion.workspace.configs.MetricConfig attribute) save_to_file() (embodichain.lab.sim.cfg.RobotCfg method) (embodichain.lab.sim.objects.RobotCfg method) (embodichain.lab.sim.robots.CobotMagicCfg method) (embodichain.lab.sim.robots.DexforceW1Cfg method) (embodichain.lab.sim.robots.DualArmRobotCfg method) (embodichain.lab.sim.robots.FrankaPandaCfg method) (embodichain.lab.sim.robots.URRobotCfg method) save_trajectory() (embodichain.lab.gym.envs.EmbodiedEnv method), [1] scale (embodichain.lab.visualization.GizmoSpec attribute) scale_image() (in module embodichain.utils.utility) scene_dependency_end_segment (embodichain.lab.sim.atomic_actions.ActionPlan attribute) scene_dependency_monitor_until (embodichain.lab.sim.atomic_actions.ActionPlan attribute) scene_fps (embodichain.lab.visualization.VisualizationCfg attribute) scene_registry (embodichain.lab.task_program.integrations.TaskProgramRuntimeAssembly attribute) scene_registry_id (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory property) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter property) scene_revision (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.PickCommand attribute) (embodichain.lab.visualization.SceneExporter property) (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.SceneManifest attribute) SceneAffordanceRef (class in embodichain.lab.task_program.semantics) SceneArticulationRef (class in embodichain.lab.task_program.semantics) SceneCase (class in embodichain.lab.sim.motion.expansion) SceneCollisionRole (class in embodichain.lab.task_program.semantics) SceneCollisionWorldMode (class in embodichain.lab.task_program.semantics) SceneDynamics (class in embodichain.lab.task_program.semantics) SceneEntityCfg (class in embodichain.lab.gym.envs.managers) SceneEntityManifest (class in embodichain.lab.task_program.semantics) SceneEntityMetadata (class in embodichain.lab.task_program.semantics) SceneEntityPose (class in embodichain.lab.sim.atomic_actions) SceneEntityRef (class in embodichain.lab.task_program.semantics) SceneEntityRegistration (class in embodichain.lab.task_program.semantics) SceneEntityStateProvider (class in embodichain.lab.task_program.semantics) SceneExporter (class in embodichain.lab.visualization) SceneFrame (class in embodichain.lab.visualization) SceneGeometryProvider (class in embodichain.lab.task_program.semantics) SceneLinkRef (class in embodichain.lab.task_program.semantics) SceneManifest (class in embodichain.lab.task_program.semantics) (class in embodichain.lab.visualization) SceneNode (class in embodichain.lab.visualization) SceneObjectRef (class in embodichain.lab.task_program.semantics) SceneOverlays (class in embodichain.lab.visualization) ScenePicker (class in embodichain.lab.visualization.picker) SceneReferenceRole (in module embodichain.lab.task_program) SceneRegistry (class in embodichain.lab.task_program.semantics) SceneSnapshot (class in embodichain.lab.sim.atomic_actions) scheduler_needs_horizon() (in module embodichain.learning.rl.utils) schema_version (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.PickCommand attribute) (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.SceneManifest attribute) score (embodichain.lab.sim.motion.workspace.runtime.WorkspaceSample attribute) (embodichain.lab.sim.motion.workspace.WorkspaceSample attribute) scramble (embodichain.lab.sim.motion.workspace.samplers.SobolSampler attribute) sdf_resolution (embodichain.lab.sim.cfg.RigidObjectCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.shapes.MeshCfg attribute) search_mode (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) section() (embodichain.lab.sim.Profiler method) (embodichain.lab.sim.profiler.Profiler method) seed (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] (embodichain.lab.gym.envs.managers.EventManager property) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.sim.motion.workspace.samplers.BaseSampler attribute) seed_db_size (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) seed_rot_scale (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) segment() (embodichain.lab.sim.atomic_actions.ActionPlan method) segment_at() (embodichain.lab.sim.atomic_actions.ActionPlan method) segment_count (embodichain.lab.task_program.CompiledTaskProgram property) segment_length (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) (embodichain.learning.rl.DifferentiableTrainerCfg attribute) segment_policy_port (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory property) SegmentCfg (class in embodichain.lab.task_program) segmented_discounted_return() (in module embodichain.learning.rl.algo), [1] SegmentPostPolicyPort (class in embodichain.lab.gym.envs.task_program) SegmentValidatorPort (class in embodichain.lab.gym.envs.task_program) selection_mode (embodichain.toolkits.graspkit.pg_grasp.GraspAnnotationCfg attribute) self_collision_check (embodichain.lab.sim.motion.workspace.configs.DimensionConstraint attribute) 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) semantic_id (embodichain.lab.task_program.semantics.RegisteredSemanticCall property) (embodichain.lab.task_program.semantics.SemanticCallSpec property) semantic_type (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) SemanticCallCatalog (class in embodichain.lab.task_program.semantics) SemanticCallDescriptor (class in embodichain.lab.task_program.semantics) SemanticCallSpec (class in embodichain.lab.task_program.semantics) SemanticDiagnostic (class in embodichain.lab.task_program.semantics) SemanticEffectSpec (class in embodichain.lab.task_program.semantics) SemanticIntegrationManifest (class in embodichain.lab.task_program.semantics) SemanticMask (class in embodichain.data.enum) SemanticPose (class in embodichain.lab.task_program.semantics) semantics (embodichain.lab.sim.atomic_actions.HeldObjectState attribute) SemanticValidationError (class in embodichain.lab.task_program.semantics) send() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) (embodichain.lab.sim.atomic_actions.CommandSink method) (embodichain.lab.sim.atomic_actions.EndpointCommandRouter method) (embodichain.lab.sim.atomic_actions.EndpointCommandTransport method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) sensor_image_fps (embodichain.lab.visualization.VisualizationCfg attribute) sensor_meta() (embodichain.data_pipeline.depth_video.reader.DepthVideoLibrary method) sensor_uid (embodichain.lab.visualization.CameraSpec attribute) SensorCfg (class in embodichain.lab.sim.sensors) SensorCfg.OffsetCfg (class in embodichain.lab.sim.sensors) sensors (embodichain.data_pipeline.depth_video.reader.DepthVideoLibrary property) (embodichain.lab.sim.cfg.URDFCfg attribute) sequence (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.SceneFrame attribute) SequenceCfg (class in embodichain.lab.task_program) sequential_execution_analysis() (embodichain.lab.task_program.CompiledTaskProgram method) 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.QposNormalizedTerm method) (embodichain.lab.gym.envs.managers.QposTerm method) (embodichain.lab.gym.envs.managers.QvelTerm method) session (embodichain.lab.sim.atomic_actions.ExecutionRunner property) 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.ClothObject method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.SoftObject method) set_color() (embodichain.lab.sim.objects.Light method) set_com_pose() (embodichain.lab.sim.objects.RigidObject method) set_command() (embodichain.lab.sim.motion.solvers.DifferentialSolver method) set_damping() (embodichain.lab.sim.objects.RigidObject method) set_default_background() (embodichain.lab.sim.sim_manager.SimulationManager method) set_default_global_lighting() (embodichain.lab.sim.sim_manager.SimulationManager method) set_default_properties() (embodichain.lab.sim.material.VisualMaterial method) set_default_renderer() (embodichain.lab.sim.sim_manager.SimulationManager class method) set_detached_uids_for_env_reset() (in module embodichain.lab.gym.envs.managers.events) set_dexsim_articulation_cfg() (in module embodichain.lab.sim.utility.sim_utils) set_direction() (embodichain.lab.sim.objects.Light method) set_emission_light() (embodichain.lab.sim.sim_manager.SimulationManager method) set_emissive() (embodichain.lab.sim.material.VisualMaterialInst method) set_emissive_intensity() (embodichain.lab.sim.material.VisualMaterialInst method) set_falloff() (embodichain.lab.sim.objects.Light method) set_fix_base() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_friction() (embodichain.lab.sim.objects.RigidObject method) set_functor_cfg() (embodichain.lab.gym.envs.managers.EventManager method) set_geometry() (embodichain.lab.visualization.picker.ScenePicker method) set_gizmo_visibility() (embodichain.lab.sim.sim_manager.SimulationManager method) set_gravity() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_ground_plane_visibility() (embodichain.lab.sim.sim_manager.SimulationManager method) set_ik_nearest_weight() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) set_indirect_lighting() (embodichain.lab.sim.sim_manager.SimulationManager method) set_inertia() (embodichain.lab.sim.objects.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.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) set_joint_control_provider() (embodichain.lab.visualization.SceneExporter method) (embodichain.lab.visualization.VisualizationRuntime method) set_joint_drive() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_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.ClothObject method) (embodichain.lab.sim.objects.Light method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.SoftObject method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) set_log_level() (in module embodichain.utils.logger) set_mass() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.Robot method) set_mesh() (embodichain.lab.sim.objects.Light method) set_metallic() (embodichain.lab.sim.material.VisualMaterialInst method) set_metallic_texture() (embodichain.lab.sim.material.VisualMaterialInst method) set_normal_texture() (embodichain.lab.sim.material.VisualMaterialInst method) set_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_qf_limits() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_qpos() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_qpos_limits() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_qvel() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_qvel_limits() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_rect_wh() (embodichain.lab.sim.objects.Light method) set_rigid_object_group_visual_material() (in module embodichain.lab.gym.envs.managers.randomization.visual) set_rigid_object_visual_material() (in module embodichain.lab.gym.envs.managers.randomization.visual) set_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_seed() (embodichain.lab.gym.envs.managers.EventManager method) (in module embodichain.utils) set_self_collision() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.Robot method) set_spot_angle() (embodichain.lab.sim.objects.Light method) set_tcp() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) set_texture_cache() (embodichain.lab.sim.sim_manager.SimulationManager method) set_texture_to_material() (in module embodichain.utils.utility) set_urdf() (embodichain.lab.sim.cfg.URDFCfg method) set_velocity() (embodichain.lab.sim.objects.RigidObject method) set_visible() (embodichain.lab.sim.objects.Gizmo method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method)

set_visual_material() (embodichain.lab.sim.objects.Articulation method) (embodichain.lab.sim.objects.ClothObject method) (embodichain.lab.sim.objects.RigidObject method) (embodichain.lab.sim.objects.RigidObjectGroup method) (embodichain.lab.sim.objects.Robot method) (embodichain.lab.sim.objects.SoftObject method) set_visualization_overlays() (embodichain.lab.sim.sim_manager.SimulationManager method) set_wrapper_attr() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] settle_preset_ids (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort property) 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.ClothObjectCfg attribute) (embodichain.lab.sim.objects.RigidObjectCfg attribute) (embodichain.lab.sim.objects.SoftObjectCfg 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.data_pipeline.engine.data.OnlineDataEngine attribute) (embodichain.data_pipeline.engine.OnlineDataEngine attribute), [1] shift (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] shift_pose() (embodichain.lab.gym.envs.managers.observations.compute_exteroception static method) show() (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer method) (embodichain.utils.visualizer.Gantt static method) show_ik_warnings (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) show_unreachable_points (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) sim_cfg (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] sim_device (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) sim_step (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.SceneFrame attribute) sim_steps_per_control (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] sim_time (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.SceneFrame attribute) sim_vertex_position (embodichain.lab.sim.objects.SoftBodyData property) sim_vertex_velocity (embodichain.lab.sim.objects.SoftBodyData property) simulation_mesh_output_obj (embodichain.lab.sim.cfg.SoftbodyVoxelAttributesCfg attribute) simulation_mesh_resolution (embodichain.lab.sim.cfg.SoftbodyVoxelAttributesCfg attribute) SimulationArticulationBinding (class in embodichain.lab.task_program.integrations) SimulationArticulationLinkBinding (class in embodichain.lab.task_program.integrations) SimulationExecutionAdapter (class in embodichain.lab.sim.atomic_actions) SimulationManager (class in embodichain.lab.sim.sim_manager) SimulationManagerCfg (class in embodichain.lab.sim.sim_manager) SimulationRigidObjectBinding (class in embodichain.lab.task_program.integrations) SimulationRobotSkillProfileBinding (class in embodichain.lab.task_program.integrations) SimulationSceneBinding (class in embodichain.lab.task_program.integrations) SimulationSegmentPolicyPort (class in embodichain.lab.task_program.integrations) SimulationTaskProgramAdapterFactory (class in embodichain.lab.task_program.integrations) SimulationTaskProgramFactory (class in embodichain.lab.task_program.integrations) SimulationTaskProgramRegistration (class in embodichain.lab.task_program.integrations) single() (embodichain.lab.sim.motion.planners.PlanState class method) single_action_space (embodichain.learning.rl.env.LearningVecEnv attribute) (embodichain.learning.rl.LearningVecEnv attribute) single_observation_space (embodichain.learning.rl.env.LearningVecEnv attribute) (embodichain.learning.rl.LearningVecEnv attribute) size (embodichain.lab.sim.shapes.CubeCfg attribute) skill_catalog_revision (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) skill_id (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) (embodichain.lab.sim.atomic_actions.AtomicAction attribute) (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlign attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_pickment.CoordinatedPickment attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacement attribute) (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOver attribute) (embodichain.lab.sim.atomic_actions.primitives.move_end_effector.MoveEndEffector attribute) (embodichain.lab.sim.atomic_actions.primitives.move_held_object.MoveHeldObject attribute) (embodichain.lab.sim.atomic_actions.primitives.move_joints.MoveJoints attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoor attribute) (embodichain.lab.sim.atomic_actions.primitives.pick_up.PickUp attribute) (embodichain.lab.sim.atomic_actions.primitives.place.Place attribute) (embodichain.lab.sim.atomic_actions.primitives.pour.Pour attribute) (embodichain.lab.sim.atomic_actions.primitives.press.Press attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObject attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.Slide attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.Twist attribute) (embodichain.lab.task_program.semantics.SemanticCallDescriptor property) skill_options (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) SkillBindingContract (class in embodichain.lab.sim.atomic_actions) SkillDescriptor (class in embodichain.lab.sim.atomic_actions) SkillEndpointRequirement (class in embodichain.lab.sim.atomic_actions) SkillPolicyPreset (class in embodichain.lab.task_program.semantics) SkillResourceSlot (class in embodichain.lab.sim.atomic_actions) skills (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) (embodichain.lab.task_program.semantics.BoundRobotSkillProfile property) skip (embodichain.lab.sim.motion.workspace.samplers.HaltonSampler attribute) (embodichain.lab.sim.motion.workspace.samplers.SobolSampler attribute) skip_nonfinite_updates (embodichain.learning.rl.algo.APGCfg attribute), [1] sleep() (embodichain.lab.gym.envs.task_program.EnvironmentStepClock method) (embodichain.lab.sim.atomic_actions.ExecutionClock method) (embodichain.lab.sim.atomic_actions.MonotonicExecutionClock method) (embodichain.lab.sim.atomic_actions.SimulationExecutionAdapter method) sleep_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) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) Slide (class in embodichain.lab.sim.atomic_actions.primitives.slide) SlideGoal (class in embodichain.lab.sim.atomic_actions.primitives.slide) SlideOptions (class in embodichain.lab.sim.atomic_actions.primitives.slide) slot_id (embodichain.lab.sim.atomic_actions.SkillResourceSlot attribute) slot_ids (embodichain.lab.sim.atomic_actions.SkillBindingContract property) smooth (embodichain.lab.sim.shapes.LoadOption attribute) snake_to_camel() (in module embodichain.utils.utility) snapshot() (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg method) (embodichain.lab.gym.envs.settling.DynamicSettleSample method) (embodichain.lab.gym.envs.types.ControllerAction method) (embodichain.lab.sim.atomic_actions.ActionPlan method) (embodichain.lab.sim.atomic_actions.ControlCommand method) (embodichain.lab.sim.atomic_actions.ControlPartCommandProfile method) (embodichain.lab.sim.atomic_actions.EffectVerificationRequest method) (embodichain.lab.sim.atomic_actions.EffectVerificationRequirement method) (embodichain.lab.sim.atomic_actions.EndpointBinding method) (embodichain.lab.sim.atomic_actions.EndpointCommand method) (embodichain.lab.sim.atomic_actions.ExecutionPlanAttempt method) (embodichain.lab.sim.atomic_actions.JointPositionCommand method) (embodichain.lab.sim.atomic_actions.JointPositionPayload method) (embodichain.lab.sim.atomic_actions.ResolvedActionRequest method) (embodichain.lab.sim.atomic_actions.RuntimeCommandFrame method) (embodichain.lab.sim.atomic_actions.RuntimeCommandPayload method) (embodichain.lab.sim.atomic_actions.RuntimeEndpointTarget method) (embodichain.lab.sim.atomic_actions.SceneEntityPose method) (embodichain.lab.sim.atomic_actions.StateDelta method) (embodichain.lab.sim.atomic_actions.TimedCommandSequence method) (embodichain.lab.sim.atomic_actions.TimedTrajectory method) (embodichain.lab.sim.motion.expansion.GenerationSession method) (embodichain.lab.task_program.semantics.EffectMonitorRef method) (embodichain.lab.task_program.semantics.RegistrySceneProvider method) (embodichain.lab.task_program.semantics.ResourceEndpoint method) (embodichain.lab.task_program.semantics.RobotResource method) (embodichain.lab.task_program.semantics.SemanticEffectSpec method) (embodichain.lab.task_program.semantics.SemanticPose method) (embodichain.lab.task_program.semantics.SkillPolicyPreset method) SOBOL (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) SobolSampler (class in embodichain.lab.sim.motion.workspace.samplers) soft_body_fps (embodichain.lab.visualization.VisualizationCfg attribute) SoftBodyData (class in embodichain.lab.sim.objects) SoftbodyPhysicalAttributesCfg (class in embodichain.lab.sim.cfg) SoftbodyVoxelAttributesCfg (class in embodichain.lab.sim.cfg) SoftObject (class in embodichain.lab.sim.objects) SoftObjectCfg (class in embodichain.lab.sim.cfg) (class in embodichain.lab.sim.objects) solver_cfg (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) solver_type (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) SolverCfg (class in embodichain.lab.sim.motion.solvers) sort_and_padding_key_frame() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.warping) (in module embodichain.lab.sim.utility.action_utils) sort_ik (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) source_profile (embodichain.lab.task_program.semantics.BoundRobotSkillProfile property) spec (embodichain.lab.task_program.semantics.EffectMonitor property) speed_tolerance (embodichain.lab.sim.cfg.PhysicsCfg attribute) SPHERE (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) (embodichain.lab.sim.motion.workspace.configs.VisualizationType attribute) (embodichain.lab.sim.motion.workspace.visualizers.VisualizationType attribute) sphere_boundary_handling (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) sphere_center (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) sphere_center_mode (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) sphere_radius (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) (embodichain.lab.sim.motion.workspace.visualizers.SphereVisualizer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) sphere_radius_mode (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) sphere_resolution (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) (embodichain.lab.sim.motion.workspace.visualizers.SphereVisualizer attribute) SphereCfg (class in embodichain.lab.sim.shapes) SphereVisualizer (class in embodichain.lab.sim.motion.workspace.visualizers) spot_angle_inner (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) spot_angle_outer (embodichain.lab.sim.cfg.LightCfg attribute) (embodichain.lab.sim.objects.LightCfg attribute) spp (embodichain.lab.sim.cfg.RenderCfg attribute) squeeze_single_channel() (in module embodichain.data_pipeline.depth_video.depth_utils) SRSSolver (class in embodichain.lab.sim.motion.solvers) SRSSolverCfg (class in embodichain.lab.sim.motion.solvers) stagnation_iterations (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) stagnation_tolerance (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) STANDARD (embodichain.learning.rl.algo.RolloutKind attribute), [1] StandardExtensionDeclarations (class in embodichain.lab.task_program.integrations) standardize_device_string() (in module embodichain.utils.device_utils) start() (embodichain.data_pipeline.engine.data.OnlineDataEngine method) (embodichain.data_pipeline.engine.OnlineDataEngine method), [1] (embodichain.lab.sim.atomic_actions.AtomicActionEngine method) (embodichain.lab.visualization.VisualizationRuntime method) start_control() (embodichain.lab.devices.Device method) start_episode() (embodichain.data_pipeline.depth_video.writer.DepthSidecarManager method) start_qpos (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) start_rollout() (embodichain.learning.rl.buffer.RolloutBuffer method) (embodichain.learning.rl.buffer.standard_buffer.RolloutBuffer method) start_visualization() (embodichain.lab.sim.sim_manager.SimulationManager method) start_window_record() (embodichain.lab.sim.sim_manager.SimulationManager method) STARTING (embodichain.data_pipeline.engine.data.OnlineDataEngineState attribute) (embodichain.data_pipeline.engine.OnlineDataEngineState attribute), [1] state (embodichain.data_pipeline.engine.data.OnlineDataEngine attribute) (embodichain.data_pipeline.engine.data.OnlineDataEngine property) (embodichain.data_pipeline.engine.OnlineDataEngine attribute), [1] (embodichain.data_pipeline.engine.OnlineDataEngine property), [1] state_dim (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg attribute) (embodichain.data_pipeline.engine.OnlineDataEngineCfg attribute), [1] state_expectation() (embodichain.lab.task_program.semantics.SemanticEffectSpec method) state_provider (embodichain.lab.task_program.semantics.SceneEntityRegistration attribute) StateDelta (class in embodichain.lab.sim.atomic_actions) static_collision_entity_ids (embodichain.lab.task_program.semantics.SceneRegistry property) static_friction (embodichain.lab.sim.cfg.RigidBodyAttributesCfg attribute) (embodichain.lab.sim.cfg.RigidBodyAttributesOverrideCfg attribute) stats (embodichain.lab.visualization.VisualizationRuntime property) status (embodichain.lab.sim.atomic_actions.CommandAcknowledgement attribute) (embodichain.lab.sim.atomic_actions.ExecutionRunner property) (embodichain.lab.sim.atomic_actions.ExecutionSession property) (embodichain.lab.visualization.RuntimeHealth attribute) std_ratio (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) step (embodichain.lab.visualization.JointControlSpec attribute) step() (embodichain.lab.gym.envs.BaseEnv method), [1] (embodichain.lab.gym.envs.EmbodiedEnv method), [1] (embodichain.lab.gym.envs.ReplayWrapper method) (embodichain.lab.gym.utils.registration.TimeLimitWrapper method), [1] (embodichain.lab.sim.atomic_actions.ExecutionRunner method) (embodichain.learning.rl.env.LearningVecEnv method) (embodichain.learning.rl.LearningVecEnv method) step_dt (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnv property), [1] (embodichain.lab.gym.envs.task_program.EnvironmentStepClock property) (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory property) (embodichain.lab.task_program.integrations.TaskProgramEnvironmentAdapter property) step_index (embodichain.lab.gym.envs.task_program.EnvironmentStepClock property) steps_for_duration() (embodichain.lab.gym.envs.task_program.EnvironmentStepClock method) StereoCamera (class in embodichain.lab.sim.sensors) StereoCameraCfg (class in embodichain.lab.sim.sensors) StereoCameraCfg.ExtrinsicsCfg (class in embodichain.lab.sim.sensors) StereoCameraCfg.OffsetCfg (class in embodichain.lab.sim.sensors) stiffness (embodichain.lab.sim.cfg.JointDrivePropertiesCfg attribute) stop() (embodichain.data_pipeline.engine.data.OnlineDataEngine method) (embodichain.data_pipeline.engine.OnlineDataEngine method), [1] (embodichain.lab.visualization.VisualizationRuntime method) stop_control() (embodichain.lab.devices.Device method) stop_reason (embodichain.lab.sim.motion.expansion.GenerationSession property) stop_visualization() (embodichain.lab.sim.sim_manager.SimulationManager method) stop_window_record() (embodichain.lab.sim.sim_manager.SimulationManager method) STOPPED (embodichain.data_pipeline.engine.data.OnlineDataEngineState attribute) (embodichain.data_pipeline.engine.OnlineDataEngineState attribute), [1] strategy (embodichain.lab.sim.atomic_actions.MotionPolicy attribute) (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) (embodichain.lab.sim.motion.workspace.cfg.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.workspace.configs.SamplingConfig attribute) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg attribute) (embodichain.lab.sim.objects.RobotWorkspaceCfg attribute) strength (embodichain.lab.sim.motion.workspace.samplers.LatinHypercubeSampler attribute) string_to_callable() (in module embodichain.utils.string) subtract_frame_transforms() (in module embodichain.utils.math) success (embodichain.lab.sim.motion.planners.PlanResult attribute) success_all (embodichain.lab.sim.atomic_actions.ActionPlan property) success_rates (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer attribute) success_reward() (in module embodichain.lab.gym.envs.managers.rewards) successful_fragment_count_by_env (embodichain.lab.gym.envs.demo.DemoEpisodeResult property) support_frame_planar_contact_offset (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) support_height_offset (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementOptions attribute) support_object_target_pose (embodichain.lab.sim.atomic_actions.primitives.coordinated_placement.CoordinatedPlacementGoal attribute) SUPPORTED_COMPONENTS (embodichain.toolkits.urdf_assembly.URDFAssemblyManager attribute) SUPPORTED_MESH_TYPES (embodichain.toolkits.urdf_assembly.URDFAssemblyManager attribute) supported_move_types (embodichain.lab.sim.motion.planners.BasePlanner attribute) (embodichain.lab.sim.motion.planners.ToppraPlanner attribute) SUPPORTED_SENSOR_TYPES (embodichain.lab.sim.sim_manager.SimulationManager attribute) SUPPORTED_SENSORS (embodichain.toolkits.urdf_assembly.URDFAssemblyManager attribute) SUPPORTED_STRATEGIES (embodichain.lab.sim.motion.workspace.RobotWorkspace attribute) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace attribute) SUPPORTED_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.QposNormalizedTerm attribute) (embodichain.lab.gym.envs.managers.QposTerm attribute) (embodichain.lab.gym.envs.managers.QvelTerm attribute) SUPPORTED_WHEEL_TYPES (embodichain.toolkits.urdf_assembly.URDFAssemblyManager attribute) supports_collision_world_updates (embodichain.lab.sim.motion.planners.BasePlanner attribute) (embodichain.lab.sim.motion.planners.ToppraPlanner attribute) supports_dynamic_collision_world (embodichain.lab.sim.motion.motion_generator.MotionGenerator property) supports_joint_trajectory_validation (embodichain.lab.sim.motion.motion_generator.MotionGenerator property) (embodichain.lab.sim.motion.planners.BasePlanner attribute) (embodichain.lab.sim.motion.planners.ToppraPlanner attribute) supports_move_type() (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) SupportSurfaceAffordanceBinding (class in embodichain.lab.task_program.integrations) suppress_stdout_stderr() (in module embodichain.lab.sim.utility.io_utils) SYNC (embodichain.lab.sim.motion.planners.MoveType attribute), [1] sync_cuda (embodichain.lab.sim.profiler.ProfilerCfg attribute) (embodichain.lab.sim.ProfilerCfg attribute) SyncCollector (class in embodichain.learning.rl.collector), [1]

T

T_b_ob (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) T_e_oe (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) TagDecorator (class in embodichain.utils.utility) take_ready() (embodichain.lab.sim.motion.expansion.GenerationSession method) target (embodichain.lab.sim.atomic_actions.primitives.move_joints.JointPositionGoal attribute) target_axis (embodichain.lab.sim.atomic_actions.primitives.axis_align.AxisAlignOptions attribute) target_control_frequency (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] (embodichain.lab.gym.envs.EnvCfg attribute), [1] target_height (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) target_id (embodichain.lab.sim.atomic_actions.JointPositionTarget property) (embodichain.lab.sim.atomic_actions.RuntimeEndpointTarget property) target_pose (embodichain.lab.sim.atomic_actions.primitives.hand_over.HandOverGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.open_door.OpenDoorGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.press.PressGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.slide.SlideGoal attribute) (embodichain.lab.sim.atomic_actions.primitives.twist.TwistGoal attribute) target_position() (in module embodichain.lab.gym.envs.managers.observations) target_qpos (embodichain.lab.sim.objects.ArticulationData property) target_qvel (embodichain.lab.sim.objects.ArticulationData property) target_type (embodichain.lab.sim.objects.Gizmo property) (embodichain.lab.visualization.GizmoSpec attribute) target_uid (embodichain.lab.visualization.GizmoSpec attribute) target_width (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) TargetOverlay (class in embodichain.lab.visualization) TargetRefCfg (class in embodichain.lab.task_program) targets (embodichain.lab.sim.atomic_actions.ActionBinding property) (embodichain.lab.sim.atomic_actions.RuntimeCommandFrame property) (embodichain.lab.sim.atomic_actions.TimedCommandSequence property) (embodichain.lab.visualization.SceneOverlays attribute) task_program (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] task_program_adapter (embodichain.lab.gym.envs.EmbodiedEnv property), [1] task_program_registration (embodichain.lab.task_program.integrations.SimulationTaskProgramFactory property) task_state (embodichain.lab.sim.atomic_actions.ExecutionSession property) task_state_key (embodichain.lab.sim.atomic_actions.EndpointBinding attribute) (embodichain.lab.task_program.semantics.EndpointResolution attribute) TaskProgramAdapterFactory (class in embodichain.lab.task_program.integrations) TaskProgramBridgeError (class in embodichain.lab.gym.envs.task_program) TaskProgramCfg (class in embodichain.lab.task_program) TaskProgramCompileError (class in embodichain.lab.task_program) TaskProgramCompiler (class in embodichain.lab.task_program) TaskProgramConfigError (class in embodichain.lab.task_program) TaskProgramDecodeError (class in embodichain.lab.task_program) TaskProgramDemoBridge (class in embodichain.lab.gym.envs.task_program) TaskProgramEnvironmentAdapter (class in embodichain.lab.task_program.integrations) TaskProgramEnvironmentFactory (class in embodichain.lab.task_program.integrations) TaskProgramIntegrationCatalog (class in embodichain.lab.task_program.integrations) TaskProgramIntegrationCfg (class in embodichain.lab.task_program) TaskProgramRuntimeAssembly (class in embodichain.lab.task_program.integrations) TaskProgramValidationContext (class in embodichain.lab.task_program) TaskProgramValidationError (class in embodichain.lab.task_program) TaskState (class in embodichain.lab.sim.atomic_actions) tcp (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg.SolverCfg attribute) (embodichain.lab.sim.robots.URRobotCfg.SolverCfg attribute) tcp_symmetry (embodichain.lab.sim.atomic_actions.primitives.place.PlaceGoal attribute) temp_buffer_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) terminated (embodichain.learning.rl.collector.DifferentiableTransition attribute) thickness (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) thread_mode (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) tick() (embodichain.lab.sim.atomic_actions.ExecutionSession method) TIME (embodichain.lab.sim.motion.planners.TrajectorySampleMethod attribute) TimedCommandSequence (class in embodichain.lab.sim.atomic_actions) TimedTrajectory (class in embodichain.lab.sim.atomic_actions) TimeLimitWrapper (class in embodichain.lab.gym.utils.registration), [1] timer() (in module embodichain.utils.utility) to() (embodichain.lab.sim.motion.workspace.RobotWorkspace method) (embodichain.lab.sim.motion.workspace.runtime.RobotWorkspace method) 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_cfg() (embodichain.lab.sim.cfg.DLSSCfg method) (embodichain.lab.sim.DLSSCfg method) to_dexsim_flags() (embodichain.lab.sim.cfg.RenderCfg method) to_dict() (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg method) (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg method) (embodichain.data_pipeline.engine.OnlineDataEngineCfg method), [1] (embodichain.lab.gym.envs.demo.DemoExecutionCfg method) (embodichain.lab.gym.envs.EmbodiedEnvCfg method), [1] (embodichain.lab.gym.envs.EmbodiedEnvCfg.EnvLightCfg method), [1] (embodichain.lab.gym.envs.EnvCfg method), [1] (embodichain.lab.gym.envs.managers.ActionTermCfg method) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg method) (embodichain.lab.gym.envs.managers.EventCfg method) (embodichain.lab.gym.envs.managers.FunctorCfg method) (embodichain.lab.gym.envs.managers.ObservationCfg method) (embodichain.lab.gym.envs.managers.RewardCfg method) (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg method) (embodichain.lab.sim.DLSSCfg method) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg method) (embodichain.lab.sim.sensors.ArticulationContactFilterCfg method) (embodichain.lab.sim.shapes.LoadOption method) (embodichain.lab.task_program.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.BarrierCfg method) (embodichain.lab.task_program.CyclicPoseTargetCfg method) (embodichain.lab.task_program.HandOverCfg method) (embodichain.lab.task_program.InvokeCfg method) (embodichain.lab.task_program.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.ParallelCfg method) (embodichain.lab.task_program.PickCfg method) (embodichain.lab.task_program.PlaceCfg method) (embodichain.lab.task_program.PoseCfg method) (embodichain.lab.task_program.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.RepeatCfg method) (embodichain.lab.task_program.SegmentCfg method) (embodichain.lab.task_program.SequenceCfg method) (embodichain.lab.task_program.TargetRefCfg method) (embodichain.lab.task_program.TaskProgramCfg method) (embodichain.lab.task_program.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.WaitStablePostCfg method) (embodichain.learning.rl.algo.APGCfg method), [1] (embodichain.learning.rl.algo.GRPOCfg method), [1] (embodichain.learning.rl.algo.PPOCfg method), [1] (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg method) (embodichain.learning.rl.DifferentiableTrainerCfg method) (embodichain.learning.rl.utils.AlgorithmCfg method) (embodichain.learning.rl.utils.config.AlgorithmCfg method) (embodichain.learning.rl.utils.config.LRSchedulerCfg method) (embodichain.learning.rl.utils.config.OptimizerCfg method) (embodichain.learning.rl.utils.LRSchedulerCfg method) (embodichain.learning.rl.utils.OptimizerCfg method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method)

to_matrix() (embodichain.lab.task_program.semantics.SemanticPose method) to_metadata() (embodichain.lab.gym.envs.demo.DemoEpisodeResult method) (embodichain.lab.gym.envs.demo.DemoSegmentResult method) (embodichain.lab.gym.envs.settling.DynamicSettleState method) (embodichain.lab.task_program.semantics.EffectMonitorRef method) (embodichain.lab.task_program.semantics.SemanticCallSpec method) (embodichain.lab.task_program.semantics.SemanticEffectSpec method) (embodichain.lab.task_program.semantics.SemanticPose method) to_motion_gen_options() (embodichain.lab.sim.atomic_actions.MotionPolicy method) to_object_geometry() (embodichain.lab.sim.atomic_actions.articulation_geometry.ArticulationAffordanceGeometry method) to_string() (embodichain.lab.sim.cfg.RobotCfg method) (embodichain.lab.sim.objects.RobotCfg method) (embodichain.lab.sim.robots.CobotMagicCfg method) (embodichain.lab.sim.robots.DexforceW1Cfg method) (embodichain.lab.sim.robots.DualArmRobotCfg method) (embodichain.lab.sim.robots.FrankaPandaCfg method) (embodichain.lab.sim.robots.URRobotCfg method) to_tensor() (in module embodichain.lab.sim.utility.tensor) toggle_gizmo_visibility() (embodichain.lab.sim.sim_manager.SimulationManager method) toggle_visibility() (embodichain.lab.sim.objects.Gizmo method) toggle_window_record() (embodichain.lab.sim.sim_manager.SimulationManager method) tone_mapping_enabled (embodichain.lab.sim.cfg.RenderCfg attribute) tone_mapping_exposure (embodichain.lab.sim.cfg.RenderCfg attribute) TOOL (embodichain.lab.sim.motion.planners.MoveType attribute), [1] tool_calibrations (embodichain.lab.sim.atomic_actions.primitives.push_object.PushObjectOptions attribute) ToppraPlanner (class in embodichain.lab.sim.motion.planners) ToppraPlannerCfg (class in embodichain.lab.sim.motion.planners) TORSO (embodichain.lab.sim.motion.planners.MovePart attribute), [1] total_action_dim (embodichain.lab.gym.envs.managers.ActionManager property) total_aggregate_pairs_capacity (embodichain.lab.sim.cfg.GPUMemoryCfg attribute) total_current_contacts (embodichain.lab.sim.sensors.ContactSensor property) total_processed (embodichain.lab.sim.motion.workspace.caches.BaseCache property) tracking_channel() (embodichain.lab.sim.atomic_actions.EndpointBinding method) tracking_channels (embodichain.lab.task_program.semantics.EndpointResolution attribute) tracking_feedback_source_keys (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) tracking_policy (embodichain.lab.sim.atomic_actions.ActionInvocation attribute) (embodichain.lab.task_program.semantics.SkillPolicyPreset property) tracking_projector_keys (embodichain.lab.task_program.semantics.ControlPartEndpointAdapter attribute) (embodichain.lab.task_program.semantics.ResourceEndpointAdapter attribute) tracking_runtime (embodichain.lab.sim.atomic_actions.AtomicActionEngine property) train() (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainer method) (embodichain.learning.rl.DifferentiableTrainer method) (embodichain.learning.rl.utils.trainer.Trainer method) train_from_config() (in module embodichain.learning.rl.train), [1] Trainer (class in embodichain.learning.rl.utils.trainer) training (embodichain.learning.rl.models.Policy attribute), [1] trajectories (embodichain.lab.visualization.SceneOverlays attribute) trajectory_auto_save (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] trajectory_save_dir (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] trajectory_segment() (embodichain.lab.sim.atomic_actions.ExecutionSession method) trajectory_uids (embodichain.lab.gym.envs.EmbodiedEnvCfg attribute), [1] TrajectoryAugmentationCfg (class in embodichain.lab.sim.motion.expansion) TrajectoryDescriptor (class in embodichain.lab.sim.motion.expansion) TrajectoryGenerationJobCfg (class in embodichain.lab.sim.motion.expansion) TrajectoryOverlay (class in embodichain.lab.visualization) TrajectoryPhase (class in embodichain.lab.sim.motion.expansion) TrajectorySampleMethod (class in embodichain.lab.sim.motion.planners) TrajectoryTemplate (class in embodichain.lab.sim.motion.expansion) 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.learning.rl.buffer) (in module embodichain.learning.rl.buffer.utils) transitions (embodichain.learning.rl.collector.DifferentiableRollout attribute) translation_distance (embodichain.lab.sim.atomic_actions.primitives.slide.SlideOptions attribute) transport_id (embodichain.lab.sim.atomic_actions.EndpointCommand property) (embodichain.lab.sim.atomic_actions.EndpointCommandTransport property) (embodichain.lab.sim.atomic_actions.JointPositionPayload property) (embodichain.lab.sim.atomic_actions.JointPositionTarget property) (embodichain.lab.sim.atomic_actions.RuntimeCommandPayload property) (embodichain.lab.sim.atomic_actions.RuntimeEndpointTarget property) transport_ids (embodichain.lab.gym.envs.task_program.RuntimeCommandFrameEncoder property) transports (embodichain.lab.sim.atomic_actions.EndpointCommandRouter property) triangle_remesh_resolution (embodichain.lab.sim.cfg.SoftbodyVoxelAttributesCfg attribute) triangle_simplify_target (embodichain.lab.sim.cfg.SoftbodyVoxelAttributesCfg attribute) truncate_at_first_done (embodichain.learning.rl.algo.GRPOCfg attribute), [1] TRUNCATED (embodichain.data.enum.LeRobotKey attribute) truncated (embodichain.learning.rl.collector.DifferentiableTransition attribute) Twist (class in embodichain.lab.sim.atomic_actions.primitives.twist) twist_angle (embodichain.lab.sim.atomic_actions.primitives.twist.TwistOptions attribute) twist_waypoint_count (embodichain.lab.sim.atomic_actions.primitives.twist.TwistOptions attribute) TwistGoal (class in embodichain.lab.sim.atomic_actions.primitives.twist) TwistOptions (class in embodichain.lab.sim.atomic_actions.primitives.twist)

U

uid (embodichain.lab.gym.envs.managers.SceneEntityCfg attribute) (embodichain.lab.sim.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) UNIFORM (embodichain.lab.sim.motion.workspace.configs.SamplingStrategy attribute) UniformChunkSampler (class in embodichain.data_pipeline.datasets), [1] (class in embodichain.data_pipeline.datasets.sampler) UniformSampler (class in embodichain.lab.sim.motion.workspace.samplers) unmake_pose() (in module embodichain.utils.math) UnsupportedRuntimeTransportError (class in embodichain.lab.gym.envs.task_program) UnsupportedSceneAffordanceError (class in embodichain.lab.task_program.semantics) UnsupportedSkillError (class in embodichain.lab.task_program.semantics) unvisited_keys() (embodichain.utils.cfg.CfgNode method) unwrapped (embodichain.lab.gym.envs.BaseEnv property), [1] (embodichain.lab.gym.envs.EmbodiedEnv property), [1] up (embodichain.lab.sim.sensors.CameraCfg.ExtrinsicsCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg.ExtrinsicsCfg attribute) up_direction (embodichain.lab.visualization.SceneManifest attribute) update() (embodichain.lab.sim.objects.Gizmo method) (embodichain.lab.sim.sensors.BaseSensor method) (embodichain.lab.sim.sensors.Camera method) (embodichain.lab.sim.sensors.ContactSensor method) (embodichain.lab.sim.sensors.StereoCamera method) (embodichain.lab.sim.sim_manager.SimulationManager method) (embodichain.learning.rl.algo.APG method), [1] (embodichain.learning.rl.algo.BaseAlgorithm method), [1] (embodichain.learning.rl.algo.GRPO method), [1] (embodichain.learning.rl.algo.PPO method), [1] update_array() (in module embodichain.utils.utility) update_class_from_dict() (in module embodichain.utils.configclass) update_gizmos() (embodichain.lab.sim.sim_manager.SimulationManager method) update_heatmap() (embodichain.utils.visualizer.HeatMapEnv method) update_horizon (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) (embodichain.learning.rl.DifferentiableTrainerCfg attribute) update_native() (embodichain.lab.sim.objects.Gizmo method) update_null_space_joint_targets() (embodichain.lab.sim.motion.solvers.PinkSolver method) update_with_robot_limit() (embodichain.lab.sim.motion.solvers.BaseSolver method) (embodichain.lab.sim.motion.solvers.DifferentialSolver method) (embodichain.lab.sim.motion.solvers.NeuralIKSolver method) (embodichain.lab.sim.motion.solvers.OPWSolver method) (embodichain.lab.sim.motion.solvers.PinkSolver method) (embodichain.lab.sim.motion.solvers.PinocchioSolver method) (embodichain.lab.sim.motion.solvers.PytorchSolver method) (embodichain.lab.sim.motion.solvers.SRSSolver method) (embodichain.lab.sim.motion.solvers.URSolver method) upload_seconds (embodichain.lab.visualization.RuntimeStats attribute) upper (embodichain.lab.visualization.JointControlSpec attribute) upsample_ratio (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) upscale_enabled (embodichain.lab.sim.cfg.DLSSCfg attribute) (embodichain.lab.sim.DLSSCfg attribute) urdf_cfg (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute)

urdf_path (embodichain.lab.sim.cfg.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg.SolverCfg attribute) (embodichain.lab.sim.robots.URRobotCfg.SolverCfg attribute) URDFAssemblyManager (class in embodichain.toolkits.urdf_assembly) URDFCfg (class in embodichain.lab.sim.cfg) URRobotCfg (class in embodichain.lab.sim.robots) URRobotCfg.SolverCfg (class in embodichain.lab.sim.robots) URSolver (class in embodichain.lab.sim.motion.solvers) URSolverCfg (class in embodichain.lab.sim.motion.solvers) use_hash (embodichain.lab.sim.motion.workspace.configs.CacheConfig attribute) use_largest_connected_component (embodichain.toolkits.graspkit.pg_grasp.GraspAnnotationCfg attribute) use_log (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] use_signature_check (embodichain.lab.sim.cfg.URDFCfg attribute) use_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) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) use_wandb (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg attribute) (embodichain.learning.rl.DifferentiableTrainerCfg 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.motion.solvers.DifferentialSolverCfg attribute) (embodichain.lab.sim.motion.solvers.NeuralIKSolverCfg attribute) (embodichain.lab.sim.motion.solvers.OPWSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PinocchioSolverCfg attribute) (embodichain.lab.sim.motion.solvers.PytorchSolverCfg attribute) (embodichain.lab.sim.motion.solvers.SolverCfg attribute) (embodichain.lab.sim.motion.solvers.SRSSolverCfg attribute) (embodichain.lab.sim.motion.solvers.URSolverCfg attribute) (embodichain.lab.sim.objects.RobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg.SolverCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg.SolverCfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg.SolverCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg.SolverCfg attribute) (embodichain.lab.sim.robots.URRobotCfg.SolverCfg attribute)

V

valid (embodichain.lab.sim.motion.workspace.runtime.WorkspaceSample attribute) (embodichain.lab.sim.motion.workspace.WorkspaceSample attribute) valid_mask (embodichain.lab.sim.motion.expansion.CandidateTrajectoryBatch property) validate() (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg method) (embodichain.data_pipeline.engine.data.OnlineDataEngineCfg method) (embodichain.data_pipeline.engine.OnlineDataEngineCfg method), [1] (embodichain.lab.gym.envs.demo.DemoExecutionCfg method) (embodichain.lab.gym.envs.EmbodiedEnvCfg method), [1] (embodichain.lab.gym.envs.EmbodiedEnvCfg.EnvLightCfg method), [1] (embodichain.lab.gym.envs.EnvCfg method), [1] (embodichain.lab.gym.envs.managers.ActionTermCfg method) (embodichain.lab.gym.envs.managers.DatasetFunctorCfg method) (embodichain.lab.gym.envs.managers.EventCfg method) (embodichain.lab.gym.envs.managers.FunctorCfg method) (embodichain.lab.gym.envs.managers.ObservationCfg method) (embodichain.lab.gym.envs.managers.RewardCfg method) (embodichain.lab.gym.envs.managers.SceneEntityCfg method) (embodichain.lab.gym.envs.settling.DynamicSettleMonitorCfg method) (embodichain.lab.sim.atomic_actions.ExecutionRunnerCfg method) (embodichain.lab.sim.DLSSCfg method) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg method) (embodichain.lab.sim.sensors.ArticulationContactFilterCfg method) (embodichain.lab.sim.shapes.LoadOption method) (embodichain.lab.task_program.ArticulationJointPositionValidatorCfg method) (embodichain.lab.task_program.BarrierCfg method) (embodichain.lab.task_program.CyclicPoseTargetCfg method) (embodichain.lab.task_program.HandOverCfg method) (embodichain.lab.task_program.integrations.CuroboParallelCommandSafetyValidator method) (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) (embodichain.lab.task_program.InvokeCfg method) (embodichain.lab.task_program.ObjectNearTargetValidatorCfg method) (embodichain.lab.task_program.ParallelCfg method) (embodichain.lab.task_program.PickCfg method) (embodichain.lab.task_program.PlaceCfg method) (embodichain.lab.task_program.PoseCfg method) (embodichain.lab.task_program.RegisteredSemanticCallCfg method) (embodichain.lab.task_program.RepeatCfg method) (embodichain.lab.task_program.SegmentCfg method) (embodichain.lab.task_program.SequenceCfg method) (embodichain.lab.task_program.TargetRefCfg method) (embodichain.lab.task_program.TaskProgramCfg method) (embodichain.lab.task_program.TaskProgramIntegrationCfg method) (embodichain.lab.task_program.WaitStablePostCfg method) (embodichain.learning.rl.algo.APGCfg method), [1] (embodichain.learning.rl.algo.GRPOCfg method), [1] (embodichain.learning.rl.algo.PPOCfg method), [1] (embodichain.learning.rl.differentiable_trainer.DifferentiableTrainerCfg method) (embodichain.learning.rl.DifferentiableTrainerCfg method) (embodichain.learning.rl.utils.AlgorithmCfg method) (embodichain.learning.rl.utils.config.AlgorithmCfg method) (embodichain.learning.rl.utils.config.LRSchedulerCfg method) (embodichain.learning.rl.utils.config.OptimizerCfg method) (embodichain.learning.rl.utils.LRSchedulerCfg method) (embodichain.learning.rl.utils.OptimizerCfg method) (embodichain.toolkits.graspkit.pg_grasp.AntipodalSamplerCfg method) (embodichain.toolkits.graspkit.pg_grasp.ConvexCollisionCheckerCfg method) (embodichain.toolkits.graspkit.pg_grasp.GripperCollisionCfg method) validate_bound_endpoint_extensions() (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) validate_bound_profile() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) validate_capabilities() (embodichain.lab.sim.motion.expansion.TrajectoryGenerationJobCfg method) validate_collision_integration() (embodichain.lab.task_program.semantics.SceneRegistry method) validate_engine() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) validate_frame() (embodichain.lab.gym.envs.task_program.EnvironmentStepClock method) validate_immutable_extension_declaration() (in module embodichain.lab.task_program.integrations.extensions) validate_integration() (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) validate_iteration_params() (in module embodichain.lab.sim.utility.solver_utils) validate_joint_trajectory() (embodichain.lab.sim.motion.motion_generator.MotionGenerator method) (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) validate_motion_limits() (in module embodichain.lab.sim.motion.expansion) validate_policy() (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) validate_post_policy() (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) validate_registry() (embodichain.lab.task_program.semantics.SceneManifest method) validate_request() (embodichain.lab.task_program.semantics.SemanticEffectSpec method) validate_robot_profile() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) validate_scene_reference() (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) validate_scene_registry() (embodichain.lab.task_program.integrations.SimulationTaskProgramRegistration method) validate_semantic_call() (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) validate_semantics() (embodichain.lab.sim.motion.expansion.TrajectoryAugmentationCfg method) (embodichain.lab.sim.motion.expansion.TrajectoryGenerationJobCfg method)

validate_task_program() (in module embodichain.lab.task_program) validate_validator() (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) (embodichain.lab.task_program.integrations.TaskProgramIntegrationCatalog method) validation_cameras (class in embodichain.lab.gym.envs.managers.record) ValidationCheck (class in embodichain.lab.sim.motion.expansion) ValidationResult (class in embodichain.lab.sim.motion.expansion) validator_metadata() (embodichain.lab.task_program.integrations.SimulationSegmentPolicyPort method) value (embodichain.lab.visualization.JointControlCommand attribute) (embodichain.lab.visualization.JointControlState attribute) variable_input_tasks (embodichain.lab.sim.motion.solvers.PinkSolverCfg attribute) vcodec (embodichain.data_pipeline.depth_video.cfg.DepthVideoCfg attribute), [1] vel (embodichain.lab.sim.objects.RigidBodyData property) (embodichain.lab.sim.objects.RigidBodyGroupData property) velocities (embodichain.lab.sim.motion.planners.PlanResult attribute) velocity_limit (embodichain.lab.sim.motion.motion_generator.MotionGenOptions attribute) verbose (embodichain.lab.visualization.ViserServerCfg attribute) VersionedKey (in module embodichain.lab.task_program.integrations) vertex_position (embodichain.lab.sim.objects.ClothBodyData property) vertex_velocity (embodichain.lab.sim.objects.ClothBodyData property) vertex_velocity_damping (embodichain.lab.sim.cfg.ClothPhysicalAttributesCfg attribute) (embodichain.lab.sim.cfg.SoftbodyPhysicalAttributesCfg attribute) vertices (embodichain.lab.visualization.DynamicMeshUpdate attribute) (embodichain.lab.visualization.MeshGeometry attribute) vf_coef (embodichain.learning.rl.algo.PPOCfg attribute), [1] video_prefix (embodichain.lab.sim.cfg.WindowRecordCfg attribute) vis_type (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) viser_point_size (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) viser_port (embodichain.toolkits.graspkit.pg_grasp.GraspAnnotationCfg attribute) viser_server (embodichain.lab.visualization.VisualizationCfg attribute) ViserServerCfg (class in embodichain.lab.visualization) visible (embodichain.lab.visualization.FrameOverlay attribute) (embodichain.lab.visualization.GizmoSpec attribute) (embodichain.lab.visualization.GizmoState attribute) (embodichain.lab.visualization.PointCloudOverlay attribute) (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.SceneNode attribute) (embodichain.lab.visualization.TargetOverlay attribute) (embodichain.lab.visualization.TrajectoryOverlay attribute) visual_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) visualization (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzerConfig attribute) (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) visualization_cfg_from_args() (in module embodichain.lab.visualization) visualization_health (embodichain.lab.sim.sim_manager.SimulationManager property) visualization_overlays (embodichain.lab.sim.sim_manager.SimulationManager property) visualization_role (embodichain.lab.sim.sensors.CameraCfg attribute) (embodichain.lab.sim.sensors.StereoCameraCfg attribute) visualization_runtime (embodichain.lab.sim.sim_manager.SimulationManager property) visualization_stats (embodichain.lab.sim.sim_manager.SimulationManager property) VisualizationCfg (class in embodichain.lab.visualization) VisualizationConfig (class in embodichain.lab.sim.motion.workspace.configs) VisualizationRuntime (class in embodichain.lab.visualization) VisualizationType (class in embodichain.lab.sim.motion.workspace.configs) (class in embodichain.lab.sim.motion.workspace.visualizers) visualize() (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer method) (embodichain.lab.sim.motion.workspace.visualizers.AxisVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.BaseVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.IVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.PointCloudVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.SphereVisualizer method) (embodichain.lab.sim.motion.workspace.visualizers.VoxelVisualizer method) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer method) visualize_point_cloud() (embodichain.lab.sim.sim_manager.SimulationManager method) visualize_trajectory() (in module embodichain.utils.visualizer) VisualizerFactory (class in embodichain.lab.sim.motion.workspace.visualizers) VisualMaterial (class in embodichain.lab.sim.material) VisualMaterialCfg (class in embodichain.lab.sim.material) VisualMaterialInst (class in embodichain.lab.sim.material) VOXEL (embodichain.lab.sim.motion.workspace.configs.VisualizationType attribute) (embodichain.lab.sim.motion.workspace.visualizers.VisualizationType attribute) voxel_attr (embodichain.lab.sim.cfg.SoftObjectCfg attribute) (embodichain.lab.sim.objects.SoftObjectCfg attribute) voxel_size (embodichain.lab.sim.motion.workspace.cfg.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.workspace.configs.ReachabilityConfig attribute) (embodichain.lab.sim.motion.workspace.configs.VisualizationConfig attribute) (embodichain.lab.sim.motion.workspace.RobotWorkspaceCfg attribute) (embodichain.lab.sim.motion.workspace.visualizers.VoxelVisualizer attribute) (embodichain.lab.sim.objects.RobotWorkspaceCfg attribute) VoxelVisualizer (class in embodichain.lab.sim.motion.workspace.visualizers)

W

WAIST (embodichain.data.enum.ControlParts attribute) wait_for_dynamic_objects_to_settle() (in module embodichain.lab.gym.envs.managers.events) wait_hold() (embodichain.lab.gym.envs.task_program.BufferedGymCommandSink method) wait_scene_destruction() (embodichain.lab.sim.sim_manager.SimulationManager static method) wait_window_record_saves() (embodichain.lab.sim.sim_manager.SimulationManager method) WaitStablePostCfg (class in embodichain.lab.task_program) wall_time (embodichain.lab.visualization.CameraImageFrame attribute) (embodichain.lab.visualization.SceneFrame attribute) warmup_steps (embodichain.lab.sim.profiler.ProfilerCfg attribute) (embodichain.lab.sim.ProfilerCfg attribute) warp_trajectory_qpos() (in module embodichain.compute.trajectory) (in module embodichain.compute.trajectory.warping) (in module embodichain.lab.sim.utility.action_utils) waypoint_count (embodichain.lab.sim.atomic_actions.TimedTrajectory property) weight (embodichain.lab.gym.envs.managers.RewardCfg attribute) width (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) window_camera_pose (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) window_record (embodichain.lab.sim.sim_manager.SimulationManagerCfg attribute) WindowCameraPoseCfg (class in embodichain.lab.sim.cfg) WindowRecordCfg (class in embodichain.lab.sim.cfg) with_active_mask() (embodichain.lab.sim.atomic_actions.RuntimeCommandFrame method) with_collision_world() (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) with_command_overrides() (embodichain.lab.sim.atomic_actions.ActionBinding method) with_commands() (embodichain.lab.sim.atomic_actions.EndpointBinding method) with_descriptor() (embodichain.lab.task_program.semantics.SemanticCallCatalog method) with_motion_context() (embodichain.lab.sim.motion.planners.BasePlanner method) (embodichain.lab.sim.motion.planners.ToppraPlanner method) with_qpos() (embodichain.lab.sim.atomic_actions.RobotObservation method)

worker_error (embodichain.lab.visualization.RuntimeHealth attribute) workflow_recovery_policy (embodichain.lab.task_program.semantics.SkillPolicyPreset property) working_inst (embodichain.lab.sim.material.ReuseSegmentState attribute), [1] workspace_cfg (embodichain.lab.sim.cfg.RobotCfg attribute) (embodichain.lab.sim.objects.RobotCfg attribute) (embodichain.lab.sim.robots.CobotMagicCfg attribute) (embodichain.lab.sim.robots.DexforceW1Cfg attribute) (embodichain.lab.sim.robots.DualArmRobotCfg attribute) (embodichain.lab.sim.robots.FrankaPandaCfg attribute) (embodichain.lab.sim.robots.URRobotCfg attribute) workspace_points (embodichain.lab.sim.motion.workspace.analyzer.WorkspaceAnalyzer attribute) (embodichain.lab.sim.motion.workspace.WorkspaceAnalyzer attribute) WorkspaceAnalyzer (class in embodichain.lab.sim.motion.workspace) (class in embodichain.lab.sim.motion.workspace.analyzer) WorkspaceAnalyzerConfig (class in embodichain.lab.sim.motion.workspace) (class in embodichain.lab.sim.motion.workspace.analyzer) WorkspaceConstraintChecker (class in embodichain.lab.sim.motion.workspace.constraints) WorkspaceSample (class in embodichain.lab.sim.motion.workspace) (class in embodichain.lab.sim.motion.workspace.runtime) wp_vec48f (in module embodichain.utils.warp.kinematics.opw_solver) (in module embodichain.utils.warp.kinematics.ur_solver) wp_vec6f (in module embodichain.utils.warp.kinematics.opw_solver) (in module embodichain.utils.warp.kinematics.ur_solver) write_u16_plane() (in module embodichain.data_pipeline.depth_video.depth_utils) wxyz (embodichain.lab.visualization.FrameOverlay attribute) (embodichain.lab.visualization.GizmoCommand attribute) (embodichain.lab.visualization.GizmoState attribute) (embodichain.lab.visualization.SceneFrame attribute) (embodichain.lab.visualization.TargetOverlay attribute)

X

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

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

Y

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

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