embodichain.lab.task_program.language

embodichain.lab.task_program.language#

Task Program source schema, strict decoding, validation, and loading.

Task Program source is represented by executable-free schema values. The same package owns strict JSON/YAML decoding, reference validation, bounded loading, and pathful configuration errors.

`ArticulationJointPositionValidatorCfg`	Validate one articulation joint against an inclusive position interval.
`BarrierCfg`	Explicit synchronization boundary owned by one parallel node.
`ConfigPath`	Built-in immutable sequence.
`ConfigPathPart`	Represent a PEP 604 union type
`CyclicPoseTargetCfg`	Finite pose values selected cyclically by the enclosing repeat index.
`HandOverCfg`	Declarative request to transfer one held object between resources.
`InvokeCfg`	Invoke exactly one semantic call at the current program boundary.
`ObjectNearTargetValidatorCfg`	Validate an object's position against one resolved target.
`ParallelCfg`	Execute two or more branches concurrently and join at one barrier.
`PickCfg`	Declarative request to acquire one registered object.
`PlaceCfg`	Declarative request to place one held object at one destination.
`PoseCfg`	One declarative Cartesian pose using a WXYZ quaternion.
`RegisteredSemanticCallCfg`	Safe declarative payload for one catalog-registered semantic call.
`RepeatCfg`	Repeat one child node a finite validated number of times.
`SceneReferenceRole`	alias of `Literal`['entity', 'object', 'articulation', 'affordance', 'object_or_affordance']
`SegmentCfg`	Logical program transaction with post-policies and validators.
`SequenceCfg`	Execute one non-empty ordered tuple of program nodes.
`TargetRefCfg`	Reference to one top-level typed target provider.
`TaskProgramCfg`	Strict, executable-free Task Program configuration.
`TaskProgramConfigError`	Base pathful diagnostic for Task Program configuration failures.
`TaskProgramDecodeError`	Raised when untrusted data does not match a supported strict schema.
`TaskProgramIntegrationCfg`	Static integration references selected by one Task Program.
`TaskProgramValidationContext`	Provider-free static validation boundary for external references.
`TaskProgramValidationError`	Raised when an explicit static integration context rejects a reference.
`WaitStablePostCfg`	Wait for one registered entity to satisfy a named stability preset.
`decode_task_program`(data, *[, ...])	Decode untrusted JSON/YAML-shaped values into strict program config.
`load_task_program`(path, *[, base_dir, ...])	Safely load and strictly decode one JSON or YAML Task Program file.
`loads_task_program_json`(text, *[, ...])	Strictly parse and decode one untrusted Task Program JSON document.
`parse_task_program_json`(text, *[, max_bytes])	Parse one bounded Task Program JSON object without decoding its schema.
`render_config_path`(path)	Render one configuration path using JSONPath-like notation.
`validate_task_program`(config, context)	Resolve external references without observing or executing an environment.

Classes:

`ArticulationJointPositionValidatorCfg`	Validate one articulation joint against an inclusive position interval.
`BarrierCfg`	Explicit synchronization boundary owned by one parallel node.
`CyclicPoseTargetCfg`	Finite pose values selected cyclically by the enclosing repeat index.
`HandOverCfg`	Declarative request to transfer one held object between resources.
`InvokeCfg`	Invoke exactly one semantic call at the current program boundary.
`ObjectNearTargetValidatorCfg`	Validate an object's position against one resolved target.
`ParallelCfg`	Execute two or more branches concurrently and join at one barrier.
`PickCfg`	Declarative request to acquire one registered object.
`PlaceCfg`	Declarative request to place one held object at one destination.
`PoseCfg`	One declarative Cartesian pose using a WXYZ quaternion.
`RegisteredSemanticCallCfg`	Safe declarative payload for one catalog-registered semantic call.
`RepeatCfg`	Repeat one child node a finite validated number of times.
`SegmentCfg`	Logical program transaction with post-policies and validators.
`SequenceCfg`	Execute one non-empty ordered tuple of program nodes.
`TargetRefCfg`	Reference to one top-level typed target provider.
`TaskProgramCfg`	Strict, executable-free Task Program configuration.
`TaskProgramIntegrationCfg`	Static integration references selected by one Task Program.
`TaskProgramValidationContext`	Provider-free static validation boundary for external references.
`WaitStablePostCfg`	Wait for one registered entity to satisfy a named stability preset.

Exceptions:

`TaskProgramConfigError`	Base pathful diagnostic for Task Program configuration failures.
`TaskProgramDecodeError`	Raised when untrusted data does not match a supported strict schema.
`TaskProgramValidationError`	Raised when an explicit static integration context rejects a reference.

Functions:

`decode_task_program`(data, *[, ...])	Decode untrusted JSON/YAML-shaped values into strict program config.
`load_task_program`(path, *[, base_dir, ...])	Safely load and strictly decode one JSON or YAML Task Program file.
`loads_task_program_json`(text, *[, ...])	Strictly parse and decode one untrusted Task Program JSON document.
`parse_task_program_json`(text, *[, max_bytes])	Parse one bounded Task Program JSON object without decoding its schema.
`render_config_path`(path)	Render one configuration path using JSONPath-like notation.
`validate_task_program`(config, context)	Resolve external references without observing or executing an environment.

class embodichain.lab.task_program.language.ArticulationJointPositionValidatorCfg[source]

Validate one articulation joint against an inclusive position interval.

Methods:

`__init__`([articulation, joint, ...])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(articulation=<factory>, joint=<factory>, minimum_position=<factory>, maximum_position=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.BarrierCfg[source]

Explicit synchronization boundary owned by one parallel node.

Methods:

`__init__`([name, timeout_steps, ...])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(name=<factory>, timeout_steps=<factory>, failure_policy=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.CyclicPoseTargetCfg[source]

Finite pose values selected cyclically by the enclosing repeat index.

Methods:

`__init__`([values, kind])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(values=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.HandOverCfg[source]

Declarative request to transfer one held object between resources.

Methods:

`__init__`([object, final_target, resources, kind])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(object=<factory>, final_target=<factory>, resources=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.InvokeCfg[source]

Invoke exactly one semantic call at the current program boundary.

Methods:

`__init__`([call, kind])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(call=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.ObjectNearTargetValidatorCfg[source]

Validate an object’s position against one resolved target.

Methods:

`__init__`([object, target, ...])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(object=<factory>, target=<factory>, position_tolerance=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.ParallelCfg[source]

Execute two or more branches concurrently and join at one barrier.

Methods:

`__init__`([branches, barrier, kind])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(branches=<factory>, barrier=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.PickCfg[source]

Declarative request to acquire one registered object.

Methods:

`__init__`([object, grasp, resources, kind])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(object=<factory>, grasp=<factory>, resources=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.PlaceCfg[source]

Declarative request to place one held object at one destination.

Methods:

`__init__`([object, at, on, inside, ...])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(object=<factory>, at=<factory>, on=<factory>, inside=<factory>, resources=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.PoseCfg[source]

One declarative Cartesian pose using a WXYZ quaternion.

Methods:

`__init__`([position, quaternion_wxyz])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(position=<factory>, quaternion_wxyz=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.RegisteredSemanticCallCfg[source]

Safe declarative payload for one catalog-registered semantic call.

Methods:

`__init__`([call_id, arguments, resources, kind])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(call_id=<factory>, arguments=<factory>, resources=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.RepeatCfg[source]

Repeat one child node a finite validated number of times.

Methods:

`__init__`([count, body, kind])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(count=<factory>, body=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.SegmentCfg[source]

Logical program transaction with post-policies and validators.

Methods:

`__init__`([name, steps, post, validators, kind])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(name=<factory>, steps=<factory>, post=<factory>, validators=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.SequenceCfg[source]

Execute one non-empty ordered tuple of program nodes.

Methods:

`__init__`([items, kind])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(items=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.TargetRefCfg[source]

Reference to one top-level typed target provider.

Methods:

`__init__`([target, kind])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(target=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.TaskProgramCfg[source]

Strict, executable-free Task Program configuration.

Methods:

`__init__`([program_id, integration, program, ...])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(program_id=<factory>, integration=<factory>, program=<factory>, targets=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

exception embodichain.lab.task_program.language.TaskProgramConfigError[source]

Base pathful diagnostic for Task Program configuration failures.

Methods:

__init__(code, path, message)

Create one stable pathful diagnostic.

__init__(code, path, message)[source]

Create one stable pathful diagnostic.

Parameters:

code (str) – Machine-readable failure code.
path (tuple[str | int, ...]) – Exact configuration location.
message (str) – Human-readable explanation.

exception embodichain.lab.task_program.language.TaskProgramDecodeError[source]: Raised when untrusted data does not match a supported strict schema.

class embodichain.lab.task_program.language.TaskProgramIntegrationCfg[source]

Static integration references selected by one Task Program.

Methods:

`__init__`([robot_profile, scene_registry, ...])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(robot_profile=<factory>, scene_registry=<factory>, runtime_preset=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

class embodichain.lab.task_program.language.TaskProgramValidationContext[source]

Provider-free static validation boundary for external references.

Implementations may resolve profile, scene, preset, catalog, affordance, and resource IDs, but must not observe simulation state, construct planners, or execute calls.

Methods:

`__init__`(args, *kwargs)
`validate_integration`(integration, *, path)	Validate integration references at `path`.
`validate_post_policy`(policy, *, path)	Validate a post-policy kind and its named preset.
`validate_scene_reference`(reference, *, role, ...)	Validate one canonical scene reference with its semantic role.
`validate_semantic_call`(call, *, path)	Validate catalog identity, schema revision, and resource overrides.
`validate_validator`(validator, *, path)	Validate one registered segment-validator contract.

__init__(*args, **kwargs)

validate_integration(integration, *, path)[source]

Validate integration references at path.

Return type:: None

validate_post_policy(policy, *, path)[source]

Validate a post-policy kind and its named preset.

Return type:: None

validate_scene_reference(reference, *, role, path)[source]

Validate one canonical scene reference with its semantic role.

Return type:: None

validate_semantic_call(call, *, path)[source]

Validate catalog identity, schema revision, and resource overrides.

Return type:: None

validate_validator(validator, *, path)[source]

Validate one registered segment-validator contract.

Return type:: None

exception embodichain.lab.task_program.language.TaskProgramValidationError[source]: Raised when an explicit static integration context rejects a reference.

class embodichain.lab.task_program.language.WaitStablePostCfg[source]

Wait for one registered entity to satisfy a named stability preset.

Methods:

`__init__`([entity, preset, kind])
`copy`(**kwargs)	Return a new object replacing specified fields with new values.
`replace`(**kwargs)	Return a new object replacing specified fields with new values.
`to_dict`()	Convert an object into dictionary recursively.
`validate`([prefix])	Check the validity of configclass object.

__init__(entity=<factory>, preset=<factory>, kind=<factory>)

copy(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

replace(**kwargs)

Return a new object replacing specified fields with new values.

This is especially useful for frozen classes. Example usage:

@configclass(frozen=True)
class C:
    x: int
    y: int

c = C(1, 2)
c1 = c.replace(x=3)
assert c1.x == 3 and c1.y == 2

Parameters:

obj (object) – The object to replace.
**kwargs – The fields to replace and their new values.

Return type:

object

Returns:

The new object.

to_dict()

Convert an object into dictionary recursively.

Note

Ignores all names starting with “__” (i.e. built-in methods).

Parameters:: obj (object) – An instance of a class to convert.
Raises:: ValueError – When input argument is not an object.
Return type:: dict[str, Any]
Returns:: Converted dictionary mapping.

validate(prefix='')

Check the validity of configclass object.

This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING entries.

Parameters:

obj (object) – The object to check.
prefix (str) – The prefix to add to the missing fields. Defaults to ‘’.

Return type:

list[str]

Returns:

A list of missing fields.

Raises:

TypeError – When the object is not a valid configuration object.

embodichain.lab.task_program.language.decode_task_program(data, *, validation_context=None)[source]

Decode untrusted JSON/YAML-shaped values into strict program config.

The schema contains sequential nodes plus deterministic parallel blocks with explicit barriers.

Parameters:

data (object) – Exact JSON-compatible mapping produced by a trusted parser.
validation_context (TaskProgramValidationContext | None) – Optional provider-free static reference validator.

Return type:

TaskProgramCfg

Returns:

Fully owned and internally validated Task Program configuration.

Raises:

TaskProgramDecodeError – If data is unsafe or violates the schema.
TaskProgramValidationError – If an explicit context rejects a reference.

embodichain.lab.task_program.language.load_task_program(path, *, base_dir=None, integration=None, validation_context=None)[source]

Safely load and strictly decode one JSON or YAML Task Program file.

Relative paths are resolved from base_dir when provided. Otherwise, they retain normal pathlib.Path semantics and therefore resolve from the process working directory when opened.

Parameters:

path (str | PathLike[str]) – JSON, YAML, or YML file to load.
base_dir (str | PathLike[str] | None) – Optional directory used to resolve a relative path.
integration (TaskProgramIntegrationCfg | None) – Optional trusted integration selection injected into an unbound program before strict decoding.
validation_context (TaskProgramValidationContext | None) – Optional provider-free static reference validator applied after decoding either serialized format.

Return type:

TaskProgramCfg

Returns:

An owned, validated Task Program configuration.

Raises:

FileNotFoundError – If the resolved path is not a regular file.
ValueError – If the file is too large, has an unsupported extension, or contains ambiguous or invalid serialized data.
TaskProgramValidationError – If validation_context rejects an external reference.
UnicodeDecodeError – If the file is not valid UTF-8.

embodichain.lab.task_program.language.loads_task_program_json(text, *, integration=None, validation_context=None, max_bytes=4194304)[source]

Strictly parse and decode one untrusted Task Program JSON document.

The input must be one plain JSON document. Markdown fences, trailing text, multiple documents, duplicate keys, non-finite numbers, and oversized input are rejected before the existing Task Program decoder is called.

Parameters:

text (str) – Untrusted JSON response text.
integration (TaskProgramIntegrationCfg | None) – Optional trusted integration selection injected before strict decoding. The source document must omit integration when this is provided.
validation_context (TaskProgramValidationContext | None) – Optional provider-free static reference validator.
max_bytes (int) – Maximum UTF-8 encoded response size.

Return type:

TaskProgramCfg

Returns:

Fully owned and internally validated Task Program configuration.

Raises:

TypeError – If text or max_bytes has the wrong exact type.
ValueError – If max_bytes is not positive.
TaskProgramDecodeError – If parsing or strict decoding fails.

embodichain.lab.task_program.language.parse_task_program_json(text, *, max_bytes=4194304)[source]

Parse one bounded Task Program JSON object without decoding its schema.

This parse-only boundary lets a host-controlled frontend inspect or inject fields before calling decode_task_program(). It rejects duplicate keys, non-finite numbers, trailing content, invalid Unicode, excessive nesting, oversized UTF-8 input, and non-object top-level values. It does not validate the Task Program schema.

Parameters:

text (str) – Untrusted JSON document text.
max_bytes (int) – Maximum accepted UTF-8 encoded input size.

Return type:

dict[str, object]

Returns:

Exact JSON object mapping ready for explicit schema decoding.

Raises:

TypeError – If text or max_bytes has the wrong exact type.
ValueError – If max_bytes is not positive.
TaskProgramDecodeError – If strict JSON parsing fails.

embodichain.lab.task_program.language.render_config_path(path)[source]

Render one configuration path using JSONPath-like notation.

Parameters:: path (tuple[str | int, ...]) – Tuple of mapping keys and sequence indices.
Return type:: str
Returns:: Stable human-readable path beginning at $.

embodichain.lab.task_program.language.validate_task_program(config, context)[source]

Resolve external references without observing or executing an environment.

Parameters:

config (TaskProgramCfg) – Fully decoded and internally validated Task Program.
context (TaskProgramValidationContext) – Provider-free static integration/catalog/scene validator.

Raises:

TypeError – If either argument has the wrong contract.
TaskProgramValidationError – If an external reference is unavailable.

Return type:

None