Add six new environments: BlocksRanking, StackCups, StackBlocksTwo, MatchObjectContainer, and PlaceObjectDrawer #70

yangchen73 · 2026-01-15T09:01:58Z

Description

This PR adds six new environments to EmbodiChain.

1. BlocksRankingRGB-v1 (`BlocksRankingRGBEnv`)

Task: Arrange three colored blocks in RGB order (Red → Green → Blue) from left to right.
Success Criteria:
- Blocks are arranged in RGB order along the x-axis.
- All blocks are close together

2. BlocksRankingSize-v1 (`BlocksRankingSizeEnv`)

Task: Arrange three blocks in size order (Large → Medium → Small) from left to right.
Success Criteria:
- Blocks are arranged in size order along the x-axis.
- All blocks are close together.

3. StackCups-v1 (`StackCupsEnv`)

Task: Stack two cups with the top cup properly aligned on the base cup.
Success Criteria:
- Cups are aligned in the xy plane.
- Top cup is slightly higher than the base cup.
- Both cups haven't fallen over.

4. StackBlocksTwo-v1 (`StackBlocksTwoEnv`)

Task: Stack block_2 on top of block_1.
Success Criteria:
- Block_2 is positioned on top of block_1.
- Both blocks haven't fallen over.

5. MatchObjectContainer-v1 (`MatchObjectContainerEnv`)

Task: Place blocks into matching shaped containers (cubes → cube container, spheres → sphere container).
Success Criteria:
- Both cube blocks are inside container_cube.
- Both sphere blocks are inside container_sphere.
- Both containers are upright (not fallen).

6. PlaceObjectDrawer-v1 (`PlaceObjectDrawerEnv`)

Task: Place an object inside a drawer and close it.
Success Criteria:
- Object is within the drawer inner_box area.
- Drawer joint position < 0.05.

Type of change

New feature (non-breaking change which adds functionality)

Screenshots

Task	Screenshot
1. StackCups
2. StackBlocksTwo
3. BlocksRankingRGB
4. BlocksRankingSize
5. MatchObjectContainer
6. PlaceObjectDrawer

Checklist

I have run the black . command to format the code base.

Co-authored-by: Lihao <lihao@dhcp-10-105-153-63.wireless.northwestern.private>

Co-authored-by: yuanhaonan <yuanhaonan@dexforce.top>

…exforceW1 config construction (#10) Co-authored-by: Jietao Chen <chenjietao@dexforce.com>

Co-authored-by: chenjian <chenjian@dexforce.com>

Co-authored-by: zengkehuan <zengkehuan@dexforece.com> Co-authored-by: yuecideng <dengyueci@qq.com>

Co-authored-by: zengkehuan <zengkehuan@dexforece.com>

…nings, optimize loops (#19) Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: yuecideng <dengyueci@qq.com>

Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: yuecideng <dengyueci@qq.com>

Co-authored-by: yuanhaonan <yuanhaonan@dexforce.top>

Co-authored-by: chenjian <chenjian@dexforce.com>

#27) Co-authored-by: chenjian <chenjian@dexforce.com> Co-authored-by: Yueci Deng <dengyueci@qq.com>

Co-authored-by: Jietao Chen <chenjietao@dexforce.com> Co-authored-by: Copilot <198982749+Copilot@users.noreply.github.com> Co-authored-by: yuecideng <dengyueci@qq.com>

Co-authored-by: yuanhaonan <yuanhaonan@dexforce.top> Co-authored-by: yuecideng <dengyueci@qq.com>

Co-authored-by: yuanhaonan <yuanhaonan@dexforce.top> Co-authored-by: Yueci Deng <dengyueci@qq.com>

Co-authored-by: Jietao Chen <chenjietao@dexforce.com>

Co-authored-by: chenjian <chenjian@dexforce.com>

Co-authored-by: yuanhaonan <yuanhaonan@dexforce.top>

Co-authored-by: guilong li <liguilong46@gmail.com>

configs/gym/blocks_ranking_rgb/gym_config.json

yuecideng · 2026-01-16T06:31:59Z

configs/gym/blocks_ranking_rgb/gym_config.json

+    },
+    "sensor": [
+        {
+            "sensor_type": "StereoCamera",


We may follow the common setup of cobotmagic robot (3 camera with the similar params)

I'v update sensors.

configs/gym/blocks_ranking_rgb/gym_config.json

embodichain/lab/gym/envs/managers/randomization/scale.py

yuecideng · 2026-01-16T06:44:44Z

embodichain/lab/gym/envs/managers/randomization/scale.py

+        )
+
+
+def randomize_rigid_object_body_scale(


Could we remove these two functors if they will not be used anymore

I think it is better to keep it. Maybe some environments in the future may use them.

yuecideng · 2026-01-16T06:46:34Z

embodichain/lab/gym/envs/managers/randomization/visual.py

+    env: EmbodiedEnv,
+    env_ids: Union[torch.Tensor, None],
+    entity_cfg: SceneEntityCfg,
+    base_color: list[float] | None = None,


Could we just use VisualMaterialCfg? It can also created from dict

Yes. I'v use VisualMaterialCfg in set_rigid_object_visual_material：

cfg = VisualMaterialCfg( uid=mat_uid, base_color=base_color if base_color is not None else [0.5, 0.5, 0.5, 1.0], metallic=metallic, roughness=roughness, )

I mean the args related to material are replaced by just VisualMaterialCfg. For example:

def set_rigid_object_visual_material( env: EmbodiedEnv, env_ids: Union[torch.Tensor, None], entity_cfg: SceneEntityCfg, mat_cfg: VisualMaterialCfg,

Since we may extend and change the param in VisualMaterialCfg. And we do not want to change the functor args when changes have happened to VisualMaterialCfg

yuecideng · 2026-01-16T06:47:49Z

embodichain/lab/gym/envs/tasks/tableware/blocks_ranking_rgb.py

+
+
+@register_env("BlocksRankingRGB-v1", max_episode_steps=600)
+class BlocksRankingRGBEnv(EmbodiedEnv):


For these six task, we may create a simple expert trajectory for demonstration

Co-authored-by: chenjian <chenjian@dexforce.com> Co-authored-by: yuecideng <dengyueci@qq.com>

…c/more_envs

yuecideng and others added 30 commits October 25, 2025 01:25

Initial commit

e743973

Init Project (#1)

001437a

Try to fix docs build (#2)

cc52fa4

Add tmp docs link (#3)

361a39c

Simple modifications to documentation (#4)

c133927

Co-authored-by: Lihao <lihao@dhcp-10-105-153-63.wireless.northwestern.private>

Remove some codes (#5)

417244a

Update default physics mode to manual (#6)

91284a2

Simple Modification t o the documentation (#7)

75b8546

Minor modification on docs (#8)

bd87a43

fix gizmo solver size mismatch (#9)

f542f69

Co-authored-by: yuanhaonan <yuanhaonan@dexforce.top>

Add usage documentation for DexforceW1 and CobotMagic, and optimize D…

698121b

…exforceW1 config construction (#10) Co-authored-by: Jietao Chen <chenjietao@dexforce.com>

Remove gizmo collision body (#11)

691c763

Co-authored-by: chenjian <chenjian@dexforce.com>

Updata docs (#12)

db02df5

Misc update (#17)

e3f40ce

Upgrade dependencies version (#24)

8bf13c4

NEW: init workflow file (#13)

74a2324

Co-authored-by: zengkehuan <zengkehuan@dexforece.com> Co-authored-by: yuecideng <dengyueci@qq.com>

FIX: fix main branch rule (#25)

d1524f8

Co-authored-by: zengkehuan <zengkehuan@dexforece.com>

Fix performance issues: remove duplicates, fix broken deprecation war…

1929efc

…nings, optimize loops (#19) Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: yuecideng <dengyueci@qq.com>

Refactor duplicated code in solver modules (#20)

976c8d5

Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: yuecideng <dengyueci@qq.com>

Enable unit test in workflow (#29)

5fe1aa7

add solver and motion generator docs (#31)

d45503f

Co-authored-by: yuanhaonan <yuanhaonan@dexforce.top>

Add camera extrinsics randomization functor (#32)

c458918

upgrade to dexsim 0.3.7 (#33)

85feeb9

Co-authored-by: chenjian <chenjian@dexforce.com>

Update rendering related functors (#34)

cfa0fa0

Change typing Optional to | to consistent with python 3.10 (#35)

afbe161

Update simulation manager resources init (#37)

3afdfa7

support collision body visualization for rigid object and articulation (

c07e4be

#27) Co-authored-by: chenjian <chenjian@dexforce.com> Co-authored-by: Yueci Deng <dengyueci@qq.com>

Enable unit test for soft object (#39)

c4ccdeb

Update project setup method (#40)

806c4a2

Fix camera extrinsics functor (#43)

474ed57

chase6305 and others added 14 commits December 27, 2025 17:59

Add workspace analyzer and user docs (#14)

6202660

Co-authored-by: Jietao Chen <chenjietao@dexforce.com> Co-authored-by: Copilot <198982749+Copilot@users.noreply.github.com> Co-authored-by: yuecideng <dengyueci@qq.com>

Upgrade dexsim to v0.3.8 (#53)

be35015

Add basic physics randomization functor (#54)

8a7845e

Support merge robot cfg from dict (#55)

6f68256

Support merge RobotCfg (#57)

b79230e

Update material randomization (#59)

51cfa19

update recent changes (#58)

3961731

Co-authored-by: yuanhaonan <yuanhaonan@dexforce.top> Co-authored-by: yuecideng <dengyueci@qq.com>

Add LeRobot Data Handler for Dataset Export (#41)

2471b8d

Co-authored-by: yuanhaonan <yuanhaonan@dexforce.top> Co-authored-by: Yueci Deng <dengyueci@qq.com>

Change dependencies version (#62)

4d7bcc3

Merge branch 'main' into yc/more_envs

18824de

Merge branch 'main' into yc/more_envs

e8d9863

Fix: Add CPU Version Limits Check for SRS Solver (#68)

0c563c6

Co-authored-by: Jietao Chen <chenjietao@dexforce.com>

Fix dataset config parsing for plain config items

25bdab7

Fix dataset config parsing for plain config items

54b1c84

yangchen73 requested a review from yuecideng January 15, 2026 09:01

matafela and others added 4 commits January 15, 2026 17:02

Fix: srs solover cpu batch ik failed (#69)

162067f

Co-authored-by: chenjian <chenjian@dexforce.com>

Add Embodied Environments documentation (#64)

6df5f17

fix refactor problems (#63)

b1a8961

Co-authored-by: yuanhaonan <yuanhaonan@dexforce.top>

Add basic simulation docs (#61)

9456c0e

Co-authored-by: guilong li <liguilong46@gmail.com>

yuecideng requested changes Jan 16, 2026

View reviewed changes

yuecideng requested a review from yhnsu January 16, 2026 06:49

yuecideng and others added 9 commits January 17, 2026 22:52

Add contribution docs (#72)

c508a00

Add contact sensor (#23)

48a533a

Co-authored-by: chenjian <chenjian@dexforce.com> Co-authored-by: yuecideng <dengyueci@qq.com>

Improve Embodied Env function (#73)

5537539

Update config files

c91728d

Rename scale.py to geometry.py

1ec497c

Merge branch 'yc/more_envs' of github.com:DexForce/EmbodiChain into y…

ce796c5

…c/more_envs

Merge branch 'main' into yc/more_envs

afb4df3

Merge main into yc/more_envs: resolve conflicts

018fa71

Use main branch versions for all documentation files

2734fe8

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Add six new environments: BlocksRanking, StackCups, StackBlocksTwo, MatchObjectContainer, and PlaceObjectDrawer #70

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		@register_env("BlocksRankingRGB-v1", max_episode_steps=600)
		class BlocksRankingRGBEnv(EmbodiedEnv):

Add six new environments: BlocksRanking, StackCups, StackBlocksTwo, MatchObjectContainer, and PlaceObjectDrawer #70

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yangchen73 commented Jan 15, 2026

Description

1. BlocksRankingRGB-v1 (BlocksRankingRGBEnv)

2. BlocksRankingSize-v1 (BlocksRankingSizeEnv)

3. StackCups-v1 (StackCupsEnv)

4. StackBlocksTwo-v1 (StackBlocksTwoEnv)

5. MatchObjectContainer-v1 (MatchObjectContainerEnv)

6. PlaceObjectDrawer-v1 (PlaceObjectDrawerEnv)

Type of change

Screenshots

Checklist

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1. BlocksRankingRGB-v1 (`BlocksRankingRGBEnv`)

2. BlocksRankingSize-v1 (`BlocksRankingSizeEnv`)

3. StackCups-v1 (`StackCupsEnv`)

4. StackBlocksTwo-v1 (`StackBlocksTwoEnv`)

5. MatchObjectContainer-v1 (`MatchObjectContainerEnv`)

6. PlaceObjectDrawer-v1 (`PlaceObjectDrawerEnv`)