Adding a New Robot — Quick Reference

Adding a New Robot — Quick Reference#

This guide provides a checklist and key reference for adding a new robot to EmbodiChain. For the full step-by-step walkthrough with code examples, see /tutorial/add_robot.

Checklist#

  1. Prepare the URDF — Place your URDF file (and associated meshes) in the robot assets directory.

  2. Create the config class — Inherit from RobotCfg, implement from_dict and _build_default_cfgs.

  3. Define control parts — Group joints into logical sets (e.g., arm, gripper).

  4. Configure IK solver — Choose OPWSolverCfg, SRSSolverCfg, or a generic SolverCfg.

  5. Set drive properties — Configure stiffness, damping, and max effort per joint group.

  6. Implement build_pk_serial_chain — Required for PyTorch-Kinematics IK support.

  7. Register in embodichain/lab/sim/robots/__init__.py.

  8. Add documentation — Create docs/source/resources/robot/my_robot.md and update resources/robot/index.rst.

  9. Test — Add a __main__ block or use the preview-asset CLI to verify.

Approaches#

  • Single-file (simple robots): One my_robot.py with everything.

  • Package (complex robots): Directory with types.py, params.py, utils.py, cfg.py, __init__.py.

Key Parameters#

Parameter

Type

Description

uid

str

Unique robot identifier

urdf_cfg

URDFCfg

URDF file and components

control_parts

Dict[str, List[str]]

Joint groups for control

solver_cfg

Dict[str, SolverCfg]

IK solver configurations

drive_pros

JointDrivePropertiesCfg

Joint stiffness, damping, force

Tip

See the full tutorial for complete code examples of both approaches.

See Also#

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