Skip to content

Guides

Topic guides for EmbodiK beyond the Quickstart. Use them when you need solver behavior, safety tuning, or scale-out patterns — not when you are still wiring your first solve_position_step() loop.

Choose a path

Your goal Start here Then
First working IK loop Quickstart → Basic IK KinematicsSolver API
Teleop freezes, weak tracking, or limit stalls Solver Robustness & Recovery Teleop IK, Collision-Aware IK
Collision too slow or too strict in WBC Collision Constraints & Tuning Collision-Aware IK
Whole-body stability (CoM, dual-arm) CoM example, Dual-Arm ECTS Solver Robustness (stall + fallback)
Batch / GPU throughput GPU Batch Solvers GPU examples
Rotation / pose math without SciPy Working with Transforms Transforms API

How the solver guides fit together

flowchart TB
  Q[Quickstart + examples] --> R[Solver Robustness]
  R --> C[Collision Constraints]
  R --> API[KinematicsSolver API]
  C --> API
  Q --> T[Transforms]
  Q --> G[GPU Batch Solvers]

Solver Robustness & Recovery covers runtime policy in C++: adaptive dt, elastic joint limits, auto task layout, weighted fallback, stall handler, CoM proximity rows, and diagnostics. Read this when interactive loops stall or behave inconsistently near limits.

Collision Constraints & Tuning covers the collision stack: pairwise bounds, Speed / Balanced / Precise presets, post-step guards, non-worsening floors, and offline process-pool sweeps. Read this when collision checking dominates latency or when you need to trade fidelity for control rate.

The two guides overlap by design — robustness explains recovery, collision explains monitoring and acceptance. Example scripts link to both; the KinematicsSolver API is the reference for flags and result fields.