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Pull request overview
This PR aligns naming across the RL training configs/code and documentation to the repository’s embodichain package name, and adds user documentation for the URDF Assembly toolkit.
Changes:
- Update default and example Weights & Biases project names from
embodychain-*toembodichain-*. - Fix RL overview documentation to use
embodichainconsistently. - Add a new “URDF Assembly Tool” documentation page and link it into the toolkits docs index.
Reviewed changes
Copilot reviewed 7 out of 7 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
embodichain/agents/rl/train.py |
Updates default wandb_project_name to embodichain-generic. |
configs/agents/rl/push_cube/train_config.json |
Renames W&B project to embodichain-push_cube. |
configs/agents/rl/basic/cart_pole/train_config.json |
Renames W&B project to embodichain-cart_pole. |
configs/agents/rl/basic/cart_pole/train_config_grpo.json |
Renames W&B project to embodichain-cart_pole. |
docs/source/overview/rl/index.rst |
Updates prose references from embodychain to embodichain. |
docs/source/features/toolkits/urdf_assembly.md |
Adds URDF Assembly toolkit documentation (needs import-name typo fixes). |
docs/source/features/toolkits/index.rst |
Adds urdf_assembly page to the toolkits toctree. |
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| ```python | ||
| from pathlib import Path | ||
| import numpy as np | ||
| from embedichain.toolkits.urdf_assembly import URDFAssemblyManager |
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The package name in this code example is misspelled as embedichain. In this repo the Python package is embodichain, so readers copying this snippet will hit an ImportError. Please update the import to use embodichain consistently.
| from embedichain.toolkits.urdf_assembly import URDFAssemblyManager | |
| from embodichain.toolkits.urdf_assembly import URDFAssemblyManager |
| ```python | ||
| from embedichain.lab.sim.cfg import RobotCfg, URDFCfg | ||
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| cfg = RobotCfg( | ||
| uid="my_robot", | ||
| urdf_cfg=URDFCfg( | ||
| components=[ | ||
| { | ||
| "component_type": "arm", | ||
| "urdf_path": "path/to/arm.urdf", | ||
| }, | ||
| { | ||
| "component_type": "hand", | ||
| "urdf_path": "path/to/hand.urdf", | ||
| "transform": hand_transform, # 4x4 transformation matrix | ||
| }, | ||
| ] | ||
| ), | ||
| control_parts={...}, | ||
| drive_pros={...}, | ||
| ) | ||
| ``` | ||
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| ### Complete Example | ||
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| Here's a complete example from `scripts/tutorials/sim/create_robot.py`: | ||
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| ```python | ||
| import numpy as np | ||
| import torch | ||
| from scipy.spatial.transform import Rotation as R | ||
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| from embedichain.lab.sim import SimulationManager, SimulationManagerCfg | ||
| from embedichain.lab.sim.objects import Robot | ||
| from embedichain.lab.sim.cfg import ( | ||
| JointDrivePropertiesCfg, | ||
| RobotCfg, | ||
| URDFCfg, | ||
| ) | ||
| from embedichain.data import get_data_path |
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This section’s example imports RobotCfg/URDFCfg (and other modules) from embedichain.*, but the actual package in this repo is embodichain.*. Please fix these imports so the documentation examples are runnable as-written.
Description
Add documentation for the URDF Assembly Tool
(docs/source/features/urdf_assembly.rst), addressing the feature request
in issue #109.
This new documentation covers:
URDFs
hands, etc.)
IMU, GPS, force)
in simulation, including a complete example from
scripts/tutorials/sim/create_robot.py
Also includes minor typo fixes in the RL documentation (embodychain →
embodychchain).
Fixes #109
Type of change
Checklist