Examples

Example code and tutorials for EmbodiK.

Core Guides

• Basic IK Example — Minimal solve_position_step() IK bring-up
• Multi-Task Multi-Constraints IK Example — Hierarchical tasks with CoM support-polygon constraint
• Collision-Aware IK Example — Self-collision avoidance with velocity-damper constraints
• CoM Constraint Example Overview — Support-polygon inequality constraints and visualization
• Dual-Arm ECTS Example Overview — Coordinated bimanual control modes and constraints

Script Catalog

Interactive IK

• 01_basic_ik_simple.py — Minimal fixed-base IK loop with interactive target
• 02_collision_aware_IK.py — Collision-aware IK with optional GPU mode
• 03_teleop_ik.py — Minimal teleop input adapter into EmbodiK IK
• 08_com_constraint_example.py — CoM support-polygon constraint demo in Viser
• 09_dual_arm_ects.py — Dual-arm ECTS/Orthogonal coordination with collision handling
• 12_ai_worker_constraint_teleop.py — Dual-arm ROBOTIS AI Worker constraint teleop with CoM and collision handling

GPU and Batch

• 04_gpu_batch_ik.py — GPU batched velocity IK benchmark
• 05_gpu_collision_batch.py — GPU batch collision detection benchmark
• 06_gpu_solver_demo.py — CPU vs GPU solver scaling demo
• 07_parallel_trajectory_tracking.py — 100+ robots tracking trajectories in parallel

Utilities and Visualization

• robot_model_example.py — RobotModel API walkthrough (FK/Jacobians/CoM)
• visualization_example.py — Visualization and interactive marker usage

Running Examples

For pip-installed users (recommended)

python3 -m venv .venv
source .venv/bin/activate
pip install -U pip

unset LD_LIBRARY_PATH CMAKE_PREFIX_PATH pinocchio_DIR
pip install pin scikit-build-core nanobind cmake ninja
export CMAKE_PREFIX_PATH=$(python3 -c "import pinocchio, pathlib; print(pathlib.Path(pinocchio.__file__).resolve().parents[4])")

pip install --no-build-isolation embodik
pip install "embodik[examples]"
embodik-examples --copy

cd embodik_examples
python3 01_basic_ik_simple.py

Examples default to the Panda preset; use --robot <key> to switch models.

For developers (from repository)

pixi run install
pixi run python examples/01_basic_ik_simple.py
pixi run python examples/03_teleop_ik.py
pixi run demo-advanced-ik  # clone-only advanced/dev IK surface

Pass --robot <key> when you want a non-default robot preset.

Clone-only advanced surfaces live in dev_examples/ and are intentionally not part of the pip-facing embodik-examples --copy workflow.

Example Helpers

The examples/example_helpers/ directory contains reusable utilities:

• ik_common.py — Shared defaults and small IK/collision helper functions
• teleop_ik_backend.py — Reusable stepping IK backend for the teleop example
• dual_arm_ik_helper.py — Dual-arm IK utilities
• limit_profiles/ — Joint limit profile configurations