Special Tasks

Special Tasks#

Special tasks are standalone examples or specialized environments that do not belong to the main control, locomotion, or manipulation families.

Task

Environment ID

Entry point

Capability

Franka Reach APG

FrankaReachApg-v0

Python registration in embodichain_tasks.special.franka_reach_apg; no standard Gym config

Differentiable RL / APG

Simple Task

SimpleTask-v1

simple_task/env_ur10.json

Environment only

Stay Still Save

StayStillSave-v1

stay_still_save/env_ur10.json or stay_still_save/env_async_ur10.json

Environment only

Launch a configuration-backed special task in the same way as other task families:

embodichain run-env \
    --gym_config embodichain_tasks/configs/tasks/special/simple_task/env_ur10.json