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 an XYZW 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 transaction with optional segment-specific language instruction.
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.
ObjectLiftedValidatorCfg	Require a world-Z increase since the owning segment started.
ObjectNearTargetValidatorCfg	Validate an object's position against one resolved target.
ObjectRelativePositionValidatorCfg	Require an object's position near a live reference plus a declared offset.
ObjectUprightValidatorCfg	Require the object's local Z axis to tilt less than an angle from world Z.
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 an XYZW quaternion.
RegisteredSemanticCallCfg	Safe declarative payload for one catalog-registered semantic call.
RepeatCfg	Repeat one child node a finite validated number of times.
SegmentCfg	Logical transaction with optional segment-specific language instruction.
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

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.

Attributes:

articulation
joint
kind
maximum_position
minimum_position

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

articulation: str

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.

joint: str

kind: str

maximum_position: float | None

minimum_position: float | None

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

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.

Attributes:

failure_policy
kind
name
timeout_steps

__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.

failure_policy: str

kind: str

name: str

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.

timeout_steps: int

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

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.

Attributes:

kind
values

__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.

kind: str

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.

values: tuple[PoseCfg, ...]

class embodichain.lab.task_program.language.HandOverCfg

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.

Attributes:

final_target
kind
object
resources

__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.

final_target: TargetRefCfg | None

kind: str

object: str

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.

resources: dict[str, str]

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

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.

Attributes:

call
kind

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

call: PickCfg | PlaceCfg | HandOverCfg | RegisteredSemanticCallCfg

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.

kind: str

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.ObjectLiftedValidatorCfg

Require a world-Z increase since the owning segment started.

Parameters:

• object (str) – Logical scene object whose observed height is measured.

• minimum_lift (float) – Inclusive minimum increase in meters, relative to the observed pose captured before the segment starts executing.

• kind (str) – Fixed object_lifted discriminator.

Methods:

__init__([object, minimum_lift, 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.

Attributes:

kind
minimum_lift
object

__init__(object=<factory>, minimum_lift=<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.

kind: str

minimum_lift: float

object: str

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

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.

Attributes:

kind
object
position_tolerance
target

__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.

kind: str

object: str

position_tolerance: float

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.

target: str

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.ObjectRelativePositionValidatorCfg

Require an object’s position near a live reference plus a declared offset.

Each tolerance is exclusive; None disables checking that axis. At least one axis must be checked. world_axes preserves world-oriented offsets and tolerances; parent measures them in the live reference frame.

Parameters:

• object (str) – Logical scene object to validate.

• reference (str) – Logical scene object whose live position defines the origin.

• position_offset (tuple[float, float, float]) – Desired XYZ displacement in the selected frame, in meters.

• position_tolerance (tuple[float | None, float | None, float | None]) – Exclusive XYZ error bounds in meters; None disables the corresponding axis.

• reference_frame (str) – world_axes (default) or the live reference’s parent frame.

• kind (str) – Fixed object_relative_position discriminator.

Methods:

__init__([object, reference, ...])
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.

Attributes:

kind
object
position_offset
position_tolerance
reference
reference_frame

__init__(object=<factory>, reference=<factory>, position_offset=<factory>, position_tolerance=<factory>, kind=<factory>, reference_frame=<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.

kind: str

object: str

position_offset: tuple[float, float, float]

position_tolerance: tuple[float | None, float | None, float | None]

reference: str

reference_frame: str

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.ObjectUprightValidatorCfg

Require the object’s local Z axis to tilt less than an angle from world Z.

Parameters:

• object (str) – Logical scene object whose local Z axis is measured.

• maximum_tilt_degrees (float) – Exclusive maximum angle from world Z in degrees.

• kind (str) – Fixed object_upright discriminator.

Methods:

__init__([object, maximum_tilt_degrees, 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.

Attributes:

kind
maximum_tilt_degrees
object

__init__(object=<factory>, maximum_tilt_degrees=<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.

kind: str

maximum_tilt_degrees: float

object: str

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

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.

Attributes:

barrier
branches
kind

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

barrier: BarrierCfg

branches: tuple[SequenceCfg | RepeatCfg | SegmentCfg | InvokeCfg | ParallelCfg, ...]

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.

kind: str

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

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.

Attributes:

grasp
kind
object
resources

__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.

grasp: str | None

kind: str

object: str

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.

resources: dict[str, str]

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

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.

Attributes:

at
inside
kind
object
on
resources

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

at: TargetRefCfg | None

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.

inside: str | None

kind: str

object: str

on: str | None

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.

resources: dict[str, str]

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

One declarative Cartesian pose using an XYZW quaternion.

Methods:

__init__([position, quaternion_xyzw])
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.

Attributes:

position
quaternion_xyzw

__init__(position=<factory>, quaternion_xyzw=<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.

position: tuple[float, float, float]

quaternion_xyzw: tuple[float, float, float, float]

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

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.

Attributes:

arguments
call_id
kind
resources

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

arguments: dict[str, None | bool | int | float | str | tuple[None | bool | int | float | str | tuple[DeclarativeCfgValue, ...] | dict[str, DeclarativeCfgValue], ...] | dict[str, None | bool | int | float | str | tuple[DeclarativeCfgValue, ...] | dict[str, DeclarativeCfgValue]]]

call_id: str

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.

kind: str

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.

resources: dict[str, str]

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

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.

Attributes:

body
count
kind

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

body: SequenceCfg | RepeatCfg | SegmentCfg | InvokeCfg | ParallelCfg

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.

count: int

kind: str

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

Logical transaction with optional segment-specific language instruction.

instruction describes this segment for dataset annotation. When omitted, Gym demonstrations fall back to the episode’s overall task instruction.

Methods:

__init__([name, steps, post, validators, ...])
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.

Attributes:

instruction
kind
name
post
steps
validators

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

instruction: str | None

kind: str

name: str

post: tuple[WaitStablePostCfg, ...]

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.

steps: SequenceCfg | RepeatCfg | SegmentCfg | InvokeCfg | ParallelCfg

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.

validators: tuple[ObjectNearTargetValidatorCfg | ArticulationJointPositionValidatorCfg | ObjectLiftedValidatorCfg | ObjectRelativePositionValidatorCfg | ObjectUprightValidatorCfg, ...]

class embodichain.lab.task_program.language.SequenceCfg

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.

Attributes:

items
kind

__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.

items: tuple[SequenceCfg | RepeatCfg | SegmentCfg | InvokeCfg | ParallelCfg, ...]

kind: str

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

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.

Attributes:

kind
target

__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.

kind: str

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.

target: str

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

Strict, executable-free Task Program configuration.

instruction describes the overall task independently of the selected embodiment and recorder. Segment instructions describe individual phases.

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.

Attributes:

instruction
integration
program
program_id
targets

__init__(program_id=<factory>, integration=<factory>, program=<factory>, targets=<factory>, instruction=<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.

instruction: str | None

integration: TaskProgramIntegrationCfg

program: SequenceCfg | RepeatCfg | SegmentCfg | InvokeCfg | ParallelCfg

program_id: str

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.

targets: dict[str, CyclicPoseTargetCfg]

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

Base pathful diagnostic for Task Program configuration failures.

Methods:

__init__(code, path, message)

Create one stable pathful diagnostic.

__init__(code, path, message)

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

Raised when untrusted data does not match a supported strict schema.

class embodichain.lab.task_program.language.TaskProgramIntegrationCfg

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.

Attributes:

robot_profile
runtime_preset
scene_registry

__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.

robot_profile: str

runtime_preset: str

scene_registry: str

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

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)

Validate integration references at path.

Return type:

None

validate_post_policy(policy, *, path)

Validate a post-policy kind and its named preset.

Return type:

None

validate_scene_reference(reference, *, role, path)

Validate one canonical scene reference with its semantic role.

Return type:

None

validate_semantic_call(call, *, path)

Validate catalog identity, schema revision, and resource overrides.

Return type:

None

validate_validator(validator, *, path)

Validate one registered segment-validator contract.

Return type:

None

exception embodichain.lab.task_program.language.TaskProgramValidationError

Raised when an explicit static integration context rejects a reference.

class embodichain.lab.task_program.language.WaitStablePostCfg

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.

Attributes:

entity
kind
preset

__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.

entity: str

kind: str

preset: str

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)

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)

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)

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)

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)

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)

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

Configuration paths and reference roles

These exported values describe configuration paths and reference categories.

embodichain.lab.task_program.language.ConfigPath(*args, **kwargs)

Built-in immutable sequence.

If no argument is given, the constructor returns an empty tuple. If iterable is specified the tuple is initialized from iterable’s items.

If the argument is a tuple, the return value is the same object.

alias of tuple[str | int, …]

embodichain.lab.task_program.language.ConfigPathPart = str | int

Represent a PEP 604 union type

E.g. for int | str

embodichain.lab.task_program.language.SceneReferenceRole(*args, **kwargs)

alias of Literal[‘entity’, ‘object’, ‘articulation’, ‘affordance’, ‘object_or_affordance’]