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CLI Reference

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

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

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

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