API Reference¶

This section is generated from Eden's source and docstrings. Each page opens with what the module family is for and links the guide that explains it, then renders the classes and functions; follow a symbol's source link to read its implementation. Start from a guide when you are learning a concept, and come here for exact signatures, fields and defaults.

To find a term's parameters, the term catalog (or eden terms --grep <text>) is faster than browsing the term pages.

import eden as en  # import Eden before genesis and torch
import genesis as gs

en.init(backend=gs.gpu)  # once per process, before building a scene; the default backend is gs.cpu

Core¶

Page	Modules	What it covers
Configs and task registry	`eden.utils.configs`, `eden.tasks`	`EdenConfig` / `EdenRLConfig` / `EdenMimicConfig`, serialization, `TASK_REGISTRY`, `TaskMod`
Environments	`eden.envs`	`EnvBase`, `RLEnvBase`, `MimicRLEnvBase`, splat envs, RL-library wrappers
Entities	`eden.entities`	rigid, terrain, deformable and Mochi entities; cameras, overlays, sensors
Managers	`eden.managers`	every manager, its term base classes, the term registries
Constants and types	`eden.constants`, `eden.types`	`EventMode`, `MetricDirection`, `MetricMode`, `ReferenceSource`, ...

Options¶

Page	Module	What it covers
Options overview	`eden.options.options`	`ConfigurableOptions`, strict vs. dynamic options
Environment	`eden.options.envs`	`EnvOptions`, `CudaGraphOptions`
Entities	`eden.options.entities`	entity, primitive, terrain, grouped and composite options; `SceneOptions`
Materials	`eden.options.materials`	rigid, MPM, SPH, PBD, FEM and Mochi materials
Surfaces	`eden.options.surfaces`	appearance presets
Scenes	`eden.options.scenes`	scene presets
Robots	`eden.options.robots`	robot presets and composite rigs
Actuators	`eden.options.actuators`	motor specs and presets
Sensors and cameras	`eden.options.sensors`, `eden.options.camera`	sensor and camera options
Splats and renderers	`eden.options.splat`, `eden.options.renderer`	Gaussian splats, point clouds, ray tracer, batch renderer
Managers	`eden.options.managers`	manager and term options
Learning	`eden.options.learning`	rsl_rl and rl_games runner options

Terms¶

Page	Module	What it covers
Built-in terms	`eden.terms`, `eden.managers.terms`	using built-in terms, function wrappers
Term catalog	generated	every registered term and its parameters
Actions, observations, rewards, terminations	`eden.managers.terms.*`	per-kind term reference
Commands, events, curricula, metrics, recorders	`eden.managers.terms.*`	per-kind term reference
Modifiers	`eden.managers.modifiers`	action modifiers, observation noise and modifiers

Data, engine and learning¶

Page	Module	What it covers
Datasets	`eden.datasets`	motion dataset loaders, dataset modifiers, body models
Motion reference	`eden.managers.motion_manager`, `eden.managers.motion`	the motion manager and its collaborators
Engine	`eden.engine`	audio sensors, the MochiSolver
Learning	`eden.learning`	policy export, algorithms built on rsl-rl-lib

Extensions¶

Extensions overview · Deployment · Policies · Retargeting · System identification · Motion planning · Motion optimization · Grasp sampling · Pose estimation · Scripted demonstrations · Teleoperation · Visualization

Utilities¶

Page	Modules	What it covers
Core	`eden`, `eden.utils.registry`, `eden.utils.common`, ...	`eden.init`, registries, configurables, DDP, profiling
Math and geometry	`eden.utils.geom`, `eden.utils.symmetry`, ...	quaternions (wxyz), transforms, symmetry, sampling
Robotics and assets	`eden.utils.actuator`, `eden.utils.terrains`, `eden.utils.assets`, ...	actuator math, meshes, terrain generators, asset download
Teleoperation devices	`eden.utils.devices`	keyboard, gamepad, SpaceMouse, GELLO, Meta Quest, PICO, Wuji Glove
I/O	`eden.utils.file_handler`, `eden.utils.lerobot`, ...	episode files, LeRobot conversion, images
Rendering	`eden.utils.batch_splat_renderer`, ...	batched splat rendering, PLY files, background shadows
CLI internals	`eden.__main__`, `eden.utils.cli`	the command table and how to add a subcommand

What is not rendered¶

A few directories have no __init__.py, so the generator cannot load them as part of the eden package: eden/envs/wrappers/, eden/utils/motion_reference/, eden/utils/buffers/, eden/options/objects/, eden/extensions/deployment/utils/ and the ReplicaCAD and RoboCasa scene modules. The pages above name their main classes and point at the source.