LICENSE
MANIFEST.in
README.md
VERSION
pyproject.toml
setup.py
configs/agents/rl/basic/cart_pole/gym_config.json
configs/agents/rl/basic/cart_pole/train_config.json
configs/agents/rl/basic/cart_pole/train_config_grpo.json
configs/agents/rl/push_cube/gym_config.json
configs/agents/rl/push_cube/train_config.json
configs/agents/rl/push_cube/train_config_grpo.json
configs/gym/cobotmagic.json
configs/gym/dexforce_w1.json
configs/gym/action_bank/conf.json
configs/gym/agent/pour_water_agent/agent_config.json
configs/gym/agent/pour_water_agent/agent_config_dual.json
configs/gym/agent/pour_water_agent/fast_gym_config.json
configs/gym/agent/pour_water_agent/task_prompt.txt
configs/gym/agent/pour_water_agent/task_prompt_dual.txt
configs/gym/agent/rearrangement_agent/agent_config.json
configs/gym/agent/rearrangement_agent/fast_gym_config.json
configs/gym/agent/rearrangement_agent/task_prompt.txt
configs/gym/blocks_ranking_rgb/cobot_magic_3cam.json
configs/gym/blocks_ranking_size/cobot_magic_3cam.json
configs/gym/match_object_container/cobot_magic_3cam.json
configs/gym/place_object_drawer/cobot_magic_3cam.json
configs/gym/pour_water/action_config.json
configs/gym/pour_water/gym_config.json
configs/gym/pour_water/gym_config_simple.json
configs/gym/scoop_ice/gym_config.json
configs/gym/special/simple_task_ur10.json
configs/gym/stack_blocks_two/cobot_magic_3cam.json
configs/gym/stack_cups/cobot_magic_3cam.json
docs/scripts/build_versions.py
docs/scripts/generate_versions_json.py
docs/scripts/sync_readme.py
docs/source/conf.py
embodichain/VERSION
embodichain/__init__.py
embodichain/__main__.py
embodichain.egg-info/PKG-INFO
embodichain.egg-info/SOURCES.txt
embodichain.egg-info/dependency_links.txt
embodichain.egg-info/requires.txt
embodichain.egg-info/top_level.txt
embodichain/agents/__init__.py
embodichain/agents/datasets/__init__.py
embodichain/agents/datasets/online_data.py
embodichain/agents/datasets/sampler.py
embodichain/agents/engine/__init__.py
embodichain/agents/engine/data.py
embodichain/agents/hierarchy/__init__.py
embodichain/agents/hierarchy/agent_base.py
embodichain/agents/hierarchy/code_agent.py
embodichain/agents/hierarchy/llm.py
embodichain/agents/hierarchy/task_agent.py
embodichain/agents/hierarchy/validation_agent.py
embodichain/agents/mllm/prompt/__init__.py
embodichain/agents/mllm/prompt/code_prompt.py
embodichain/agents/mllm/prompt/task_prompt.py
embodichain/agents/prompts/atom_actions.txt
embodichain/agents/prompts/basic_background.txt
embodichain/agents/prompts/code_example.txt
embodichain/agents/prompts/code_prompt.txt
embodichain/agents/rl/__init__.py
embodichain/agents/rl/train.py
embodichain/agents/rl/algo/__init__.py
embodichain/agents/rl/algo/base.py
embodichain/agents/rl/algo/common.py
embodichain/agents/rl/algo/grpo.py
embodichain/agents/rl/algo/ppo.py
embodichain/agents/rl/buffer/__init__.py
embodichain/agents/rl/buffer/standard_buffer.py
embodichain/agents/rl/buffer/utils.py
embodichain/agents/rl/collector/__init__.py
embodichain/agents/rl/collector/base.py
embodichain/agents/rl/collector/sync_collector.py
embodichain/agents/rl/models/__init__.py
embodichain/agents/rl/models/actor_critic.py
embodichain/agents/rl/models/actor_only.py
embodichain/agents/rl/models/mlp.py
embodichain/agents/rl/models/policy.py
embodichain/agents/rl/utils/__init__.py
embodichain/agents/rl/utils/config.py
embodichain/agents/rl/utils/helper.py
embodichain/agents/rl/utils/trainer.py
embodichain/data/__init__.py
embodichain/data/__main__.py
embodichain/data/constants.py
embodichain/data/dataset.py
embodichain/data/download.py
embodichain/data/enum.py
embodichain/data/assets/__init__.py
embodichain/data/assets/demo_assets.py
embodichain/data/assets/eef_assets.py
embodichain/data/assets/materials.py
embodichain/data/assets/obj_assets.py
embodichain/data/assets/robot_assets.py
embodichain/data/assets/scene_assets.py
embodichain/data/assets/w1_assets.py
embodichain/gen_sim/__init__.py
embodichain/gen_sim/simready_pipeline/__init__.py
embodichain/gen_sim/simready_pipeline/cli/__init__.py
embodichain/gen_sim/simready_pipeline/cli/start.py
embodichain/gen_sim/simready_pipeline/configs/__init__.py
embodichain/gen_sim/simready_pipeline/configs/gen_config.json
embodichain/gen_sim/simready_pipeline/core/__init__.py
embodichain/gen_sim/simready_pipeline/core/asset.py
embodichain/gen_sim/simready_pipeline/io/__init__.py
embodichain/gen_sim/simready_pipeline/io/json_store.py
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embodichain/gen_sim/simready_pipeline/parser/base.py
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embodichain/gen_sim/simready_pipeline/parser/physics.py
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embodichain/gen_sim/simready_pipeline/pipeline/__init__.py
embodichain/gen_sim/simready_pipeline/pipeline/ingest.py
embodichain/gen_sim/simready_pipeline/utils/__init__.py
embodichain/gen_sim/simready_pipeline/utils/geometry_utils.py
embodichain/gen_sim/simready_pipeline/utils/ingest_utils.py
embodichain/gen_sim/simready_pipeline/utils/simready_utils.py
embodichain/gen_sim/simready_pipeline/utils/texture_utils.py
embodichain/gen_sim/simready_pipeline/utils/usd_utils.py
embodichain/lab/__init__.py
embodichain/lab/devices/__init__.py
embodichain/lab/devices/device.py
embodichain/lab/devices/device_controller.py
embodichain/lab/gym/__init__.py
embodichain/lab/gym/envs/__init__.py
embodichain/lab/gym/envs/base_env.py
embodichain/lab/gym/envs/embodied_env.py
embodichain/lab/gym/envs/action_bank/configurable_action.py
embodichain/lab/gym/envs/action_bank/utils.py
embodichain/lab/gym/envs/managers/__init__.py
embodichain/lab/gym/envs/managers/action_manager.py
embodichain/lab/gym/envs/managers/actions.py
embodichain/lab/gym/envs/managers/cfg.py
embodichain/lab/gym/envs/managers/dataset_manager.py
embodichain/lab/gym/envs/managers/datasets.py
embodichain/lab/gym/envs/managers/event_manager.py
embodichain/lab/gym/envs/managers/events.py
embodichain/lab/gym/envs/managers/manager_base.py
embodichain/lab/gym/envs/managers/observation_manager.py
embodichain/lab/gym/envs/managers/observations.py
embodichain/lab/gym/envs/managers/record.py
embodichain/lab/gym/envs/managers/reward_manager.py
embodichain/lab/gym/envs/managers/rewards.py
embodichain/lab/gym/envs/managers/object/__init__.py
embodichain/lab/gym/envs/managers/object/geometry.py
embodichain/lab/gym/envs/managers/randomization/__init__.py
embodichain/lab/gym/envs/managers/randomization/geometry.py
embodichain/lab/gym/envs/managers/randomization/physics.py
embodichain/lab/gym/envs/managers/randomization/spatial.py
embodichain/lab/gym/envs/managers/randomization/visual.py
embodichain/lab/gym/envs/tasks/__init__.py
embodichain/lab/gym/envs/tasks/rl/__init__.py
embodichain/lab/gym/envs/tasks/rl/push_cube.py
embodichain/lab/gym/envs/tasks/rl/basic/cart_pole.py
embodichain/lab/gym/envs/tasks/special/simple_task.py
embodichain/lab/gym/envs/tasks/tableware/__init__.py
embodichain/lab/gym/envs/tasks/tableware/base_agent_env.py
embodichain/lab/gym/envs/tasks/tableware/blocks_ranking_rgb.py
embodichain/lab/gym/envs/tasks/tableware/blocks_ranking_size.py
embodichain/lab/gym/envs/tasks/tableware/match_object_container.py
embodichain/lab/gym/envs/tasks/tableware/place_object_drawer.py
embodichain/lab/gym/envs/tasks/tableware/rearrangement.py
embodichain/lab/gym/envs/tasks/tableware/scoop_ice.py
embodichain/lab/gym/envs/tasks/tableware/stack_blocks_two.py
embodichain/lab/gym/envs/tasks/tableware/stack_cups.py
embodichain/lab/gym/envs/tasks/tableware/pour_water/__init__.py
embodichain/lab/gym/envs/tasks/tableware/pour_water/action_bank.py
embodichain/lab/gym/envs/tasks/tableware/pour_water/pour_water.py
embodichain/lab/gym/envs/wrapper/__init__.py
embodichain/lab/gym/envs/wrapper/no_fail.py
embodichain/lab/gym/utils/__init__.py
embodichain/lab/gym/utils/gym_utils.py
embodichain/lab/gym/utils/misc.py
embodichain/lab/gym/utils/registration.py
embodichain/lab/scripts/preview_asset.py
embodichain/lab/scripts/run_agent.py
embodichain/lab/scripts/run_env.py
embodichain/lab/sim/__init__.py
embodichain/lab/sim/atom_actions.py
embodichain/lab/sim/cfg.py
embodichain/lab/sim/common.py
embodichain/lab/sim/material.py
embodichain/lab/sim/shapes.py
embodichain/lab/sim/sim_manager.py
embodichain/lab/sim/types.py
embodichain/lab/sim/atomic_actions/__init__.py
embodichain/lab/sim/atomic_actions/actions.py
embodichain/lab/sim/atomic_actions/core.py
embodichain/lab/sim/atomic_actions/engine.py
embodichain/lab/sim/objects/__init__.py
embodichain/lab/sim/objects/articulation.py
embodichain/lab/sim/objects/cloth_object.py
embodichain/lab/sim/objects/gizmo.py
embodichain/lab/sim/objects/light.py
embodichain/lab/sim/objects/rigid_object.py
embodichain/lab/sim/objects/rigid_object_group.py
embodichain/lab/sim/objects/robot.py
embodichain/lab/sim/objects/soft_object.py
embodichain/lab/sim/planners/__init__.py
embodichain/lab/sim/planners/base_planner.py
embodichain/lab/sim/planners/motion_generator.py
embodichain/lab/sim/planners/toppra_planner.py
embodichain/lab/sim/planners/utils.py
embodichain/lab/sim/robots/__init__.py
embodichain/lab/sim/robots/cobotmagic.py
embodichain/lab/sim/robots/dexforce_w1/__init__.py
embodichain/lab/sim/robots/dexforce_w1/cfg.py
embodichain/lab/sim/robots/dexforce_w1/params.py
embodichain/lab/sim/robots/dexforce_w1/types.py
embodichain/lab/sim/robots/dexforce_w1/utils.py
embodichain/lab/sim/sensors/__init__.py
embodichain/lab/sim/sensors/base_sensor.py
embodichain/lab/sim/sensors/camera.py
embodichain/lab/sim/sensors/contact_sensor.py
embodichain/lab/sim/sensors/stereo.py
embodichain/lab/sim/solvers/__init__.py
embodichain/lab/sim/solvers/base_solver.py
embodichain/lab/sim/solvers/differential_solver.py
embodichain/lab/sim/solvers/null_space_posture_task.py
embodichain/lab/sim/solvers/opw_solver.py
embodichain/lab/sim/solvers/pink_solver.py
embodichain/lab/sim/solvers/pinocchio_solver.py
embodichain/lab/sim/solvers/pytorch_solver.py
embodichain/lab/sim/solvers/qpos_seed_sampler.py
embodichain/lab/sim/solvers/srs_solver.py
embodichain/lab/sim/utility/__init__.py
embodichain/lab/sim/utility/action_utils.py
embodichain/lab/sim/utility/atom_action_utils.py
embodichain/lab/sim/utility/cfg_utils.py
embodichain/lab/sim/utility/dynamic_pybind.py
embodichain/lab/sim/utility/gizmo_utils.py
embodichain/lab/sim/utility/import_utils.py
embodichain/lab/sim/utility/io_utils.py
embodichain/lab/sim/utility/keyboard_utils.py
embodichain/lab/sim/utility/mesh_utils.py
embodichain/lab/sim/utility/sim_utils.py
embodichain/lab/sim/utility/solver_utils.py
embodichain/lab/sim/utility/tensor.py
embodichain/lab/sim/utility/workspace_analyzer/__init__.py
embodichain/lab/sim/utility/workspace_analyzer/workspace_analyzer.py
embodichain/lab/sim/utility/workspace_analyzer/caches/__init__.py
embodichain/lab/sim/utility/workspace_analyzer/caches/base_cache.py
embodichain/lab/sim/utility/workspace_analyzer/caches/cache_manager.py
embodichain/lab/sim/utility/workspace_analyzer/caches/cache_utils.py
embodichain/lab/sim/utility/workspace_analyzer/caches/disk_cache.py
embodichain/lab/sim/utility/workspace_analyzer/caches/memory_cache.py
embodichain/lab/sim/utility/workspace_analyzer/configs/__init__.py
embodichain/lab/sim/utility/workspace_analyzer/configs/cache_config.py
embodichain/lab/sim/utility/workspace_analyzer/configs/dimension_constraint.py
embodichain/lab/sim/utility/workspace_analyzer/configs/metric_config.py
embodichain/lab/sim/utility/workspace_analyzer/configs/sampling_config.py
embodichain/lab/sim/utility/workspace_analyzer/configs/visualization_config.py
embodichain/lab/sim/utility/workspace_analyzer/constraints/__init__.py
embodichain/lab/sim/utility/workspace_analyzer/constraints/base_constraint.py
embodichain/lab/sim/utility/workspace_analyzer/constraints/workspace_constraint.py
embodichain/lab/sim/utility/workspace_analyzer/metrics/__init__.py
embodichain/lab/sim/utility/workspace_analyzer/metrics/base_metric.py
embodichain/lab/sim/utility/workspace_analyzer/metrics/density_metric.py
embodichain/lab/sim/utility/workspace_analyzer/metrics/manipulability_metric.py
embodichain/lab/sim/utility/workspace_analyzer/metrics/reachability_metric.py
embodichain/lab/sim/utility/workspace_analyzer/samplers/__init__.py
embodichain/lab/sim/utility/workspace_analyzer/samplers/base_sampler.py
embodichain/lab/sim/utility/workspace_analyzer/samplers/gaussian_sampler.py
embodichain/lab/sim/utility/workspace_analyzer/samplers/halton_sampler.py
embodichain/lab/sim/utility/workspace_analyzer/samplers/importance_sampler.py
embodichain/lab/sim/utility/workspace_analyzer/samplers/iniform_sampler.py
embodichain/lab/sim/utility/workspace_analyzer/samplers/lhs_sampler.py
embodichain/lab/sim/utility/workspace_analyzer/samplers/random_sampler.py
embodichain/lab/sim/utility/workspace_analyzer/samplers/sampler_factory.py
embodichain/lab/sim/utility/workspace_analyzer/samplers/sobol_sampler.py
embodichain/lab/sim/utility/workspace_analyzer/visualizers/__init__.py
embodichain/lab/sim/utility/workspace_analyzer/visualizers/axis_visualizer.py
embodichain/lab/sim/utility/workspace_analyzer/visualizers/base_visualizer.py
embodichain/lab/sim/utility/workspace_analyzer/visualizers/point_cloud_visualizer.py
embodichain/lab/sim/utility/workspace_analyzer/visualizers/sphere_visualizer.py
embodichain/lab/sim/utility/workspace_analyzer/visualizers/visualizer_factory.py
embodichain/lab/sim/utility/workspace_analyzer/visualizers/voxel_visualizer.py
embodichain/toolkits/__init__.py
embodichain/toolkits/code_generation.py
embodichain/toolkits/toolkits.py
embodichain/toolkits/acd/__init__.py
embodichain/toolkits/acd/urdf_modifider.py
embodichain/toolkits/graspkit/pg_grasp/__init__.py
embodichain/toolkits/graspkit/pg_grasp/antipodal_generator.py
embodichain/toolkits/graspkit/pg_grasp/antipodal_sampler.py
embodichain/toolkits/graspkit/pg_grasp/collision_checker.py
embodichain/toolkits/graspkit/pg_grasp/gripper_collision_checker.py
embodichain/toolkits/graspkit/scripts/__init__.py
embodichain/toolkits/graspkit/scripts/annotate_grasp.py
embodichain/toolkits/urdf_assembly/__init__.py
embodichain/toolkits/urdf_assembly/component.py
embodichain/toolkits/urdf_assembly/connection.py
embodichain/toolkits/urdf_assembly/file_writer.py
embodichain/toolkits/urdf_assembly/logging_utils.py
embodichain/toolkits/urdf_assembly/mesh.py
embodichain/toolkits/urdf_assembly/name_normalizer.py
embodichain/toolkits/urdf_assembly/sensor.py
embodichain/toolkits/urdf_assembly/signature.py
embodichain/toolkits/urdf_assembly/urdf_assembly_manager.py
embodichain/toolkits/urdf_assembly/utils.py
embodichain/utils/__init__.py
embodichain/utils/cfg.py
embodichain/utils/configclass.py
embodichain/utils/device_utils.py
embodichain/utils/file.py
embodichain/utils/img_utils.py
embodichain/utils/logger.py
embodichain/utils/math.py
embodichain/utils/module_utils.py
embodichain/utils/string.py
embodichain/utils/utility.py
embodichain/utils/visualizer.py
embodichain/utils/warp/__init__.py
embodichain/utils/warp/kernels.py
embodichain/utils/warp/collision/__init__.py
embodichain/utils/warp/collision/convex_query.py
embodichain/utils/warp/kinematics/__init__.py
embodichain/utils/warp/kinematics/interpolate.py
embodichain/utils/warp/kinematics/opw_solver.py
embodichain/utils/warp/kinematics/srs_solver.py
embodichain/utils/warp/kinematics/warp_trajectory.py
examples/agents/datasets/online_dataset_demo.py
examples/sim/demo/grasp_cup_to_caffe.py
examples/sim/demo/pick_up_cloth.py
examples/sim/demo/press_softbody.py
examples/sim/demo/scoop_ice.py
examples/sim/gizmo/gizmo_camera.py
examples/sim/gizmo/gizmo_object.py
examples/sim/gizmo/gizmo_robot.py
examples/sim/gizmo/gizmo_scene.py
examples/sim/gizmo/gizmo_w1.py
examples/sim/planners/motion_generator.py
examples/sim/robot/dexforce_w1.py
examples/sim/scene/scene_demo.py
examples/sim/sensors/batch_camera.py
examples/sim/sensors/create_contact_sensor.py
examples/sim/solvers/differential_solver.py
examples/sim/solvers/opw_solver.py
examples/sim/solvers/pink_solver.py
examples/sim/solvers/pinocchio_solver.py
examples/sim/solvers/pytorch_solver.py
examples/sim/solvers/srs_solver.py
examples/sim/utility/workspace_analyzer/analyze_cartesian_workspace.py
examples/sim/utility/workspace_analyzer/analyze_joint_workspace.py
examples/sim/utility/workspace_analyzer/analyze_plane_workspace.py
scripts/benchmark/__init__.py
scripts/benchmark/__main__.py
scripts/benchmark/rl/__init__.py
scripts/benchmark/rl/config.py
scripts/benchmark/rl/metrics.py
scripts/benchmark/rl/plots.py
scripts/benchmark/rl/reporting.py
scripts/benchmark/rl/run_benchmark.py
scripts/benchmark/rl/runner.py
scripts/benchmark/rl/runtime.py
scripts/benchmark/rl/algorithms/__init__.py
scripts/benchmark/rl/suites/__init__.py
scripts/benchmark/rl/tasks/__init__.py
scripts/benchmark/robotics/kinematic_solver/run_benchmark.py
scripts/benchmark/workspace_analyzer/benchmark_workspace_analyzer.py
scripts/tutorials/grasp/grasp_generator.py
scripts/tutorials/gym/modular_env.py
scripts/tutorials/gym/random_reach.py
scripts/tutorials/sim/atomic_actions.py
scripts/tutorials/sim/create_cloth.py
scripts/tutorials/sim/create_rigid_object_group.py
scripts/tutorials/sim/create_robot.py
scripts/tutorials/sim/create_scene.py
scripts/tutorials/sim/create_sensor.py
scripts/tutorials/sim/create_softbody.py
scripts/tutorials/sim/export_usd.py
scripts/tutorials/sim/gizmo_robot.py
scripts/tutorials/sim/import_usd.py
scripts/tutorials/sim/motion_generator.py
scripts/tutorials/sim/srs_solver.py
tests/common.py
tests/conftest.py
tests/agents/test_online_data.py
tests/agents/test_rl.py
tests/agents/test_rl_distributed.py
tests/agents/test_shared_rollout.py
tests/benchmark/test_leaderboard.py
tests/benchmark/test_metrics.py
tests/benchmark/test_plots.py
tests/benchmark/test_reporting.py
tests/gen_sim/simready_pipeline/test_config.py
tests/gen_sim/simready_pipeline/test_trimesh_ingest.py
tests/gym/action_bank/test_configurable_action.py
tests/gym/envs/test_base_env.py
tests/gym/envs/test_embodied_env.py
tests/gym/envs/managers/test_action_manager.py
tests/gym/envs/managers/test_dataset_functors.py
tests/gym/envs/managers/test_event_functors.py
tests/gym/envs/managers/test_observation_functors.py
tests/gym/envs/managers/test_reward_functors.py
tests/gym/utils/test_gym_utils.py
tests/sim/atomic_actions/__init__.py
tests/sim/atomic_actions/test_actions.py
tests/sim/atomic_actions/test_core.py
tests/sim/atomic_actions/test_engine.py
tests/sim/objects/test_articulation.py
tests/sim/objects/test_cloth_object.py
tests/sim/objects/test_light.py
tests/sim/objects/test_rigid_object.py
tests/sim/objects/test_rigid_object_group.py
tests/sim/objects/test_robot.py
tests/sim/objects/test_soft_object.py
tests/sim/objects/test_usd.py
tests/sim/planners/test_motion_generator.py
tests/sim/planners/test_toppra_planner.py
tests/sim/sensors/test_camera.py
tests/sim/sensors/test_contact.py
tests/sim/sensors/test_stereo.py
tests/sim/solvers/test_differential_solver.py
tests/sim/solvers/test_opw_solver.py
tests/sim/solvers/test_pink_solver.py
tests/sim/solvers/test_pinocchio_solver.py
tests/sim/solvers/test_pytorch_solver.py
tests/sim/solvers/test_srs_solver.py
tests/sim/utility/test_workspace_analyze.py
tests/toolkits/test_batch_convex_collision.py