Supported Tasks

Supported Tasks#

Task environments combine a simulation scene, robot, and task logic behind a Gymnasium-compatible interface.

The official task environments are bundled in the embodichain wheel under the embodichain_tasks import package. This section follows the task-first layout under embodichain_tasks/configs/tasks so that documentation, configuration paths, and list-task output use the same hierarchy.

Find a Task#

Use the catalog commands to inspect the installed task set:

embodichain list-task
embodichain list-task --category manipulation
embodichain show-task embodichain_tasks:repeated_pick_place

Preview a task with its runnable JSON or YAML configuration:

embodichain run-task \
    --gym_config embodichain_tasks/configs/tasks/manipulation/repeated_pick_place/task.ur5.yaml \
    --preview

Configuration-backed environments run through embodichain run-task. Tasks that exist only as learning environments or Python registrations are identified on their category page. See Task Catalog for catalog metadata and static gallery export, and Running Tasks with run-task for launch options. See Reinforcement Learning Training to train an RL policy.

Task hierarchy#

Domain

Configuration hierarchy

Scope

Classic control

classic_control/

Compact control and learning environments.

Locomotion

locomotion/velocity/

Velocity-tracking tasks for legged robots.

Manipulation

manipulation/ and manipulation/tableware/

RL, Task Program, and environment-only manipulation tasks.

Special

special/

Standalone examples and specialized differentiable environments.

The top-level id in a runnable JSON or YAML configuration is the Gym environment ID. A reusable env.yaml component may instead expose only environment_id and is not runnable by itself. Import-backed tasks register during package discovery; configuration-defined Task Program tasks register when their runnable task configuration is loaded.

Create a Task#

Start from the task template. Use an EmbodiedEnv subclass for custom Python behavior, or compose a configuration-defined Task Program from reusable components. Third-party task packages are discovered through the embodichain.tasks entry point. See Embodied Environments for environment authoring and Configure and Run an Embodied Task Program for Task Programs. The official task package README describes package layout and registration.

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