Supported Tasks

Supported Tasks#

The official task environments are bundled in the embodichain wheel under the embodichain_tasks import package. Import-backed tasks register during package discovery; configuration-defined Task Program tasks register when their gym config is loaded. No second package installation is needed.

Run a task by passing one of its gym configuration files to the unified CLI:

embodichain run-env \
    --gym_config embodichain_tasks/configs/tasks/manipulation/tableware/pour_water/task.cobotmagic.yaml

Use --preview to inspect a configured environment without starting a data generation run. See Running Environments with run-env for all launch options and Expert Data Generation for the dataset workflow.

Environment catalog#

Domain

Environment ID

Example gym config

Classic control

CartPoleRL

embodichain_tasks/configs/tasks/classic_control/cart_pole/env.yaml

Manipulation

PushCubeRL

embodichain_tasks/configs/tasks/manipulation/push_cube/env.json

Manipulation

TaskProgramRepeatedPickPlace-v1

embodichain_tasks/configs/tasks/manipulation/repeated_pick_place/task.ur5.yaml

Manipulation

TaskProgramRepeatedPickPlace-Franka-v1

embodichain_tasks/configs/tasks/manipulation/repeated_pick_place/task.franka.yaml

Special

SimpleTask-v1

embodichain_tasks/configs/tasks/special/simple_task/env_ur10.json

Special

StayStillSave-v1

embodichain_tasks/configs/tasks/special/stay_still_save/env_ur10.json

Tableware

BlocksRankingRGB-v1

embodichain_tasks/configs/tasks/manipulation/tableware/blocks_ranking_rgb/env.json

Tableware

BlocksRankingSize-v1

embodichain_tasks/configs/tasks/manipulation/tableware/blocks_ranking_size/env.json

Tableware

MatchObjectContainer-v1

embodichain_tasks/configs/tasks/manipulation/tableware/match_object_container/env.json

Manipulation

TaskProgramOpenDrawer-v1

embodichain_tasks/configs/tasks/manipulation/open_drawer/task.ur5.yaml

Manipulation

TaskProgramOpenDrawer-Franka-v1

embodichain_tasks/configs/tasks/manipulation/open_drawer/task.franka.yaml

Manipulation

HandOver-v1

embodichain_tasks/configs/tasks/manipulation/hand_over/task.dual_ur5_dh_pgi_140_80.yaml

Tableware

PlaceObjectDrawer-v1

embodichain_tasks/configs/tasks/manipulation/tableware/place_object_drawer/env.json

Tableware

PourWater-v1

embodichain_tasks/configs/tasks/manipulation/tableware/pour_water/task.cobotmagic.yaml

Tableware

ScoopIce-v1

embodichain_tasks/configs/tasks/manipulation/tableware/scoop_ice/env.json

Tableware

StackBlocksTwo-v1

embodichain_tasks/configs/tasks/manipulation/tableware/stack_blocks_two/env.json

Tableware

StackCups-v1

embodichain_tasks/configs/tasks/manipulation/tableware/stack_cups/env.json

The value of id inside a conventional gym config must match a registered environment ID. A supported configuration-defined Task Program deployment declares environment.component, task_program.{program,integration,execution_policy}, and embodiment.component; loading it registers its free id against the common EmbodiedEnv. A pure env.yaml component has environment_id but no runnable id, so task discovery does not list it. Discovery is based on the top-level id schema rather than an env* filename prefix. When adding a task, update this catalog together with its runnable config.

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