embodichain 0.1.0__tar.gz

embodichain-0.1.0/LICENSE

@@ -0,0 +1,201 @@
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+   Copyright [2025] [DexForce Technology]
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embodichain-0.1.0/MANIFEST.in

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+include VERSION

embodichain-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: embodichain
+Version: 0.1.0
+Summary: An end-to-end, GPU-accelerated, and modular platform for building generalized Embodied Intelligence.
+Home-page: https://github.com/DexForce/EmbodiChain
+Author: EmbodiChain Developers
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: dexsim_engine==0.3.9
+Requires-Dist: setuptools>=78.1.1
+Requires-Dist: gymnasium>=0.29.1
+Requires-Dist: langchain
+Requires-Dist: langchain-openai
+Requires-Dist: toppra==0.6.3
+Requires-Dist: pin
+Requires-Dist: pin-pink
+Requires-Dist: casadi
+Requires-Dist: qpsolvers==4.8.1
+Requires-Dist: py_opw_kinematics==0.1.6
+Requires-Dist: pytorch_kinematics==0.7.6
+Requires-Dist: polars==1.31.0
+Requires-Dist: PyYAML>=6.0
+Requires-Dist: accelerate>=1.10.0
+Requires-Dist: wandb>=0.21.0
+Requires-Dist: tensorboard>=2.20.0
+Requires-Dist: transformers>=4.53.0
+Requires-Dist: diffusers>=0.32.1
+Requires-Dist: deepspeed>=0.16.2
+Requires-Dist: ortools
+Requires-Dist: prettytable
+Requires-Dist: black==24.3.0
+Requires-Dist: fvcore
+Requires-Dist: h5py
+Provides-Extra: lerobot
+Requires-Dist: lerobot==0.4.2; extra == "lerobot"
+Dynamic: home-page
+Dynamic: license-file
+
+# EmbodiChain
+
+![teaser](assets/imgs/teaser.jpg)
+
+[![License](https://img.shields.io/github/license/DexForce/EmbodiChain)](LICENSE)
+[![Website](https://img.shields.io/badge/website-dexforce.com-green?logo=google-chrome&logoColor=white)](https://dexforce.com/embodichain/index.html#/)
+[![GitHub Pages](https://img.shields.io/badge/GitHub%20Pages-docs-blue?logo=github&logoColor=white)](https://dexforce.github.io/EmbodiChain/introduction.html)
+[![Python](https://img.shields.io/badge/python-3.10%20|%203.11-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
+[![Version](https://img.shields.io/badge/version-0.1.0-blue.svg)](https://github.com/DexForce/EmbodiChain/releases)
+---
+
+EmbodiChain is an end-to-end, GPU-accelerated framework for Embodied AI. It streamlines research and development by unifying high-performance simulation, real-to-sim data pipelines, modular model architectures, and efficient training workflows. This integration enables rapid experimentation, seamless deployment of intelligent agents, and effective Sim2Real transfer for real-world robotic systems.
+
+> [!NOTE]
+> EmbodiChain is in Alpha and under active development:
+> * More features will be continually added in the coming months. You can find more details in the [roadmap](https://dexforce.github.io/EmbodiChain/resources/roadmap.html).
+> * Since this is an early release, we welcome feedback (bug reports, feature requests, etc.) via GitHub Issues.
+
+
+## Key Features
+
+- 🚀 **High-Fidelity GPU Simulation**: Realistic physics for rigid & deformable objects, advanced ray-traced sensors, all GPU-accelerated for high-throughput batch simulation.
+- 🤖 **Unified Robot Learning Environment**: Standardized interfaces for Imitation Learning, Reinforcement Learning, and more.
+- 📊 **Scalable Data Pipeline**: Automated data collection, efficient processing, and large-scale generation for model training.
+- ⚡ **Efficient Training & Evaluation**: Online data streaming, parallel environment rollouts, and modern training paradigms.
+- 🧩 **Modular & Extensible**: Easily integrate new robots, environments, and learning algorithms.
+
+The figure below illustrates the overall architecture of EmbodiChain:
+
+<p align="center">
+  <img src="assets/imgs/frameworks.jpg" alt="architecture" width="90%"/>
+</p>
+
+
+
+## Getting Started
+
+To get started with EmbodiChain, follow these steps:
+
+- [Installation Guide](https://dexforce.github.io/EmbodiChain/quick_start/install.html)
+- [Quick Start Tutorial](https://dexforce.github.io/EmbodiChain/tutorial/index.html)
+- [API Reference](https://dexforce.github.io/EmbodiChain/api_reference/index.html)
+
+
+## Citation
+
+If you find EmbodiChain helpful for your research, please consider citing our work:
+
+```bibtex
+@misc{EmbodiChain,
+  author = {EmbodiChain Developers},
+  title = {EmbodiChain: An end-to-end, GPU-accelerated, and modular platform for building generalized Embodied Intelligence},
+  month = {November},
+  year = {2025},
+  url = {https://github.com/DexForce/EmbodiChain}
+}
+```
+
+```bibtex
+@misc{GS-World,
+  author = {Liu, G., Deng, Y., Liu, Z., and Jia, K},
+  title = {GS-World: An Efficient, Engine-driven Learning Paradigm for Pursuing Embodied Intelligence using World
+   Models of Generative Simulation},
+  month = {October},
+  year = {2025},
+  journal = {TechRxiv}
+}
+```

embodichain-0.1.0/README.md

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+# EmbodiChain
+
+![teaser](assets/imgs/teaser.jpg)
+
+[![License](https://img.shields.io/github/license/DexForce/EmbodiChain)](LICENSE)
+[![Website](https://img.shields.io/badge/website-dexforce.com-green?logo=google-chrome&logoColor=white)](https://dexforce.com/embodichain/index.html#/)
+[![GitHub Pages](https://img.shields.io/badge/GitHub%20Pages-docs-blue?logo=github&logoColor=white)](https://dexforce.github.io/EmbodiChain/introduction.html)
+[![Python](https://img.shields.io/badge/python-3.10%20|%203.11-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html)
+[![Version](https://img.shields.io/badge/version-0.1.0-blue.svg)](https://github.com/DexForce/EmbodiChain/releases)
+---
+
+EmbodiChain is an end-to-end, GPU-accelerated framework for Embodied AI. It streamlines research and development by unifying high-performance simulation, real-to-sim data pipelines, modular model architectures, and efficient training workflows. This integration enables rapid experimentation, seamless deployment of intelligent agents, and effective Sim2Real transfer for real-world robotic systems.
+
+> [!NOTE]
+> EmbodiChain is in Alpha and under active development:
+> * More features will be continually added in the coming months. You can find more details in the [roadmap](https://dexforce.github.io/EmbodiChain/resources/roadmap.html).
+> * Since this is an early release, we welcome feedback (bug reports, feature requests, etc.) via GitHub Issues.
+
+
+## Key Features
+
+- 🚀 **High-Fidelity GPU Simulation**: Realistic physics for rigid & deformable objects, advanced ray-traced sensors, all GPU-accelerated for high-throughput batch simulation.
+- 🤖 **Unified Robot Learning Environment**: Standardized interfaces for Imitation Learning, Reinforcement Learning, and more.
+- 📊 **Scalable Data Pipeline**: Automated data collection, efficient processing, and large-scale generation for model training.
+- ⚡ **Efficient Training & Evaluation**: Online data streaming, parallel environment rollouts, and modern training paradigms.
+- 🧩 **Modular & Extensible**: Easily integrate new robots, environments, and learning algorithms.
+
+The figure below illustrates the overall architecture of EmbodiChain:
+
+<p align="center">
+  <img src="assets/imgs/frameworks.jpg" alt="architecture" width="90%"/>
+</p>
+
+
+
+## Getting Started
+
+To get started with EmbodiChain, follow these steps:
+
+- [Installation Guide](https://dexforce.github.io/EmbodiChain/quick_start/install.html)
+- [Quick Start Tutorial](https://dexforce.github.io/EmbodiChain/tutorial/index.html)
+- [API Reference](https://dexforce.github.io/EmbodiChain/api_reference/index.html)
+
+
+## Citation
+
+If you find EmbodiChain helpful for your research, please consider citing our work:
+
+```bibtex
+@misc{EmbodiChain,
+  author = {EmbodiChain Developers},
+  title = {EmbodiChain: An end-to-end, GPU-accelerated, and modular platform for building generalized Embodied Intelligence},
+  month = {November},
+  year = {2025},
+  url = {https://github.com/DexForce/EmbodiChain}
+}
+```
+
+```bibtex
+@misc{GS-World,
+  author = {Liu, G., Deng, Y., Liu, Z., and Jia, K},
+  title = {GS-World: An Efficient, Engine-driven Learning Paradigm for Pursuing Embodied Intelligence using World
+   Models of Generative Simulation},
+  month = {October},
+  year = {2025},
+  journal = {TechRxiv}
+}
+```

embodichain-0.1.0/VERSION

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+0.1.0

embodichain-0.1.0/docs/source/conf.py

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+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+import os
+import sys
+
+os.environ.setdefault(
+    "AZURE_OPENAI_ENDPOINT", "https://mock-endpoint.openai.azure.com/"
+)
+os.environ.setdefault("AZURE_OPENAI_API_KEY", "mock-api-key-for-docs-build")
+
+sys.path.insert(0, os.path.abspath("../.."))
+
+
+project = "EmbodiChain"
+copyright = "2025, The EmbodiChain Project Developers"
+author = "The EmbodiChain Project Developers"
+
+# Read version from VERSION file if it exists
+with open(os.path.join(os.path.dirname(__file__), "..", "..", "VERSION")) as f:
+    full_version = f.read().strip()
+    version = ".".join(full_version.split(".")[:3])
+
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+
+extensions = [
+    "autodocsumm",
+    "sphinx.ext.autodoc",
+    "sphinx.ext.autosummary",
+    "sphinx.ext.napoleon",
+    "sphinx.ext.viewcode",
+    "sphinx_autodoc_typehints",  # optional, shows type hints
+    "sphinx_design",
+    "myst_parser",  # if you prefer Markdown pages
+]
+# Napoleon settings if using Google/NumPy docstring style:
+napoleon_google_docstring = True
+napoleon_numpy_docstring = True
+
+autodoc_typehints = "signature"
+autodoc_class_signature = "separated"
+# generate autosummary even if no references
+autosummary_generate = True
+autosummary_generate_overwrite = False
+# default autodoc settings
+autodoc_default_options = {
+    "autosummary": True,
+}
+
+# If using MyST and writing .md API stubs:
+myst_enable_extensions = ["colon_fence", "deflist", "html_admonition"]
+
+
+templates_path = ["_templates"]
+exclude_patterns = []
+
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+html_theme = "sphinx_book_theme"
+html_static_path = ["_static"]
+# html_logo = "_static/logo_e.png"

embodichain-0.1.0/embodichain/VERSION

@@ -0,0 +1 @@
+0.1.0

embodichain-0.1.0/embodichain/__init__.py

@@ -0,0 +1,33 @@
+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2025 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+import os
+
+embodichain_dir = os.path.dirname(__file__)
+
+
+# Read version from VERSION file
+def _get_version():
+    version_file = os.path.join(embodichain_dir, "VERSION")
+    try:
+        with open(version_file, "r") as f:
+            return f.read().strip()
+    except FileNotFoundError:
+        print("VERSION file not found.")
+        return "unknown"
+
+
+__version__ = _get_version()

embodichain-0.1.0/embodichain/agents/hierarchy/__init__.py

@@ -0,0 +1,19 @@
+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2025 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+from langchain_openai import AzureChatOpenAI
+from langchain_openai import ChatOpenAI
+import os

embodichain-0.1.0/embodichain/agents/hierarchy/agent_base.py

@@ -0,0 +1,94 @@
+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2025 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+from abc import ABCMeta
+import os
+from pathlib import Path
+from embodichain.utils.utility import load_txt
+import embodichain.agents.mllm.prompt as mllm_prompt
+from embodichain.data import database_2d_dir
+
+
+def _resolve_prompt_path(file_name: str, config_dir: str = None) -> str:
+    # If absolute path, use directly
+    if os.path.isabs(file_name):
+        if os.path.exists(file_name):
+            return file_name
+        raise FileNotFoundError(f"Prompt file not found: {file_name}")
+
+    # Try config directory first (for task-specific prompts)
+    if config_dir:
+        config_path = os.path.join(config_dir, file_name)
+        if os.path.exists(config_path):
+            return config_path
+
+    # Try agents/prompts directory (for reusable prompts)
+    agents_prompts_dir = os.path.join(
+        os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "prompts"
+    )
+    agents_path = os.path.join(agents_prompts_dir, file_name)
+    if os.path.exists(agents_path):
+        return agents_path
+
+    # If still not found, raise error with search paths
+    searched_paths = []
+    if config_dir:
+        searched_paths.append(f"  - {config_dir}/{file_name}")
+    searched_paths.append(f"  - {agents_prompts_dir}/{file_name}")
+
+    raise FileNotFoundError(
+        f"Prompt file not found: {file_name}\n"
+        f"Searched in:\n" + "\n".join(searched_paths)
+    )
+
+
+class AgentBase(metaclass=ABCMeta):
+    def __init__(self, **kwargs) -> None:
+
+        assert (
+            "prompt_kwargs" in kwargs.keys()
+        ), "Key prompt_kwargs must exist in config."
+
+        for key, value in kwargs.items():
+            setattr(self, key, value)
+
+        # Get config directory if provided
+        config_dir = kwargs.get("config_dir", None)
+        if config_dir:
+            config_dir = os.path.dirname(os.path.abspath(config_dir))
+
+        # Preload and store prompt contents inside self.prompt_kwargs
+        for key, val in self.prompt_kwargs.items():
+            if val["type"] == "text":
+                file_path = _resolve_prompt_path(val["name"], config_dir)
+                val["content"] = load_txt(file_path)  # ← store content here
+            else:
+                raise ValueError(
+                    f"Now only support `text` type but {val['type']} is given."
+                )
+
+    def generate(self, *args, **kwargs):
+        pass
+
+    def act(self, *args, **kwargs):
+        pass
+
+    def get_composed_observations(self, **kwargs):
+        ret = {"observations": kwargs.get("env").get_obs_for_agent()}
+        for key, val in self.prompt_kwargs.items():
+            ret[key] = val["content"]
+        ret.update(kwargs)
+        return ret