CLI Reference

EmbodiChain provides a unified CLI via python -m embodichain <subcommand>.

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Asset Download

List and download simulation assets (robots, objects, scenes, etc.).

# List all available assets
python -m embodichain.data list

# List assets in a category
python -m embodichain.data list --category robot

# Download a specific asset
python -m embodichain.data download --name CobotMagicArm

# Download all assets in a category
python -m embodichain.data download --category robot

# Download everything
python -m embodichain.data download --all

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Preview Asset

Preview a USD or mesh asset in the simulation without writing code.

# Preview a rigid object
python -m embodichain preview-asset \
    --asset_path /path/to/sugar_box.usda \
    --asset_type rigid \
    --preview

# Preview an articulation
python -m embodichain preview-asset \
    --asset_path /path/to/robot.usd \
    --asset_type articulation \
    --preview

# Headless check (no render window)
python -m embodichain preview-asset \
    --asset_path /path/to/asset.usda \
    --headless

Arguments

Argument	Default	Description
--asset_path	(required)	Path to the asset file (.usd/.usda/.usdc/.obj/.stl/.glb)
--asset_type	rigid	Asset type: rigid or articulation. URDF files are auto-detected as articulation.
--uid	(from filename)	Unique identifier for the asset in the scene
--init_pos X Y Z	0 0 0.5	Initial position
--init_rot RX RY RZ	0 0 0	Initial rotation in degrees
--body_type	kinematic	Body type for rigid objects: dynamic, kinematic, or static
--use_usd_properties	False	Use physical properties from the USD file
--fix_base	True	Fix the base of articulations
--sim_device	cpu	Simulation device
--headless	False	Run without rendering window
--enable_rt	False	Enable ray tracing
--preview	False	Enter interactive embed mode after loading

Preview Mode

When --preview is enabled, an interactive REPL is available:

• p — enter an IPython embed session with sim and asset in scope

• s <N> — step the simulation N times (default 10)

• q — quit

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Run Environment

Launch a Gymnasium environment for data generation or interactive preview.

# Run an environment with a gym config file
python -m embodichain run-env --gym_config path/to/config.json

# Run with multiple environments on GPU
python -m embodichain run-env \
    --gym_config config.json \
    --num_envs 4 \
    --device cuda \
    --gpu_id 0

# Preview mode for interactive development
python -m embodichain run-env --gym_config config.json --preview

# Headless execution
python -m embodichain run-env --gym_config config.json --headless

Arguments

Argument	Default	Description
--gym_config	(required)	Path to gym config file
--action_config	None	Path to action config file
--num_envs	1	Number of parallel environments
--device	cpu	Device (cpu or cuda)
--headless	False	Run in headless mode
--enable_rt	False	Use RTX rendering backend
--arena_space	5.0	Arena space size
--gpu_id	0	GPU ID to use
--preview	False	Enter interactive preview mode
--filter_visual_rand	False	Filter out visual randomization
--filter_dataset_saving	False	Filter out dataset saving

Preview Mode

When --preview is enabled, an interactive REPL is available:

• p — enter an IPython embed session with env in scope

• q — quit