Simulation and Control

Start here to learn EmbodiChain’s simulation objects, sensors, robot control, motion generation, Atomic Skills, and provider-independent task authoring. The pages are ordered as a progressive learning path.

• Creating a simulation scene
• Visualizing a Point Cloud
• Creating a soft-body simulation
• Creating a cloth simulation
• Rigid object group tutorial
• Rigid constraint tutorial
• Loading an Articulation
• Simulating a Robot
• Simulating a Camera Sensor
• Create a solver
• Motion Generator
• Trajectory planning diagnostics
• Robot Workspace: Red and Green Scene Initialization
• Opening a Drawer with Contact-Rich Motion
• Atomic Skills
• Authoring a Task Program in Python
• Interactive Robot Control with Gizmo

Additional runnable scripts

The repository also includes focused scripts that are intentionally kept standalone rather than expanded into separate narrative pages:

• scripts/tutorials/grasp/grasp_generator.py demonstrates antipodal grasp annotation and trajectory generation.

• scripts/tutorials/sim/import_usd.py and scripts/tutorials/sim/export_usd.py demonstrate USD scene I/O.

• scripts/tutorials/visualization/viser_scene.py is a lower-level Viser runtime example; its options and expected browser endpoint are documented in scripts/tutorials/visualization/README.md.