Add Embodied Environments documentation #64
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yuecideng
requested changes
Jan 14, 2026
docs/source/overview/gym/index.rst
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| from embodichain.utils import configclass | ||
| @configclass | ||
| class MyTaskEnvCfg(EmbodiedEnvCfg): |
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We should also explain the parameters of EmbodiedEnvCfg first
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That's sounds reasonable. Good suggustion!
docs/source/overview/gym/index.rst
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| * ``replace_assets_from_group``: Swap object models from a folder on reset for visual diversity. | ||
| * ``prepare_extra_attr``: Set up additional object attributes dynamically. | ||
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| Observation Manager |
yuecideng
reviewed
Jan 15, 2026
docs/source/overview/gym/env.md
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| ### EmbodiedEnvCfg Parameters | ||
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| The {class}`envs.EmbodiedEnvCfg` class exposes the following parameters: |
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BaseEnvCfg has some important params should be explained as well (eg, sim_steps_per_control)
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Thanks! I've added the explanation of inherited parameters from BaseEnv.
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LGTM, just finish the latest comment and we can merge it. |
yuecideng
approved these changes
Jan 15, 2026
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Description
This PR fills the previously incomplete section (Embodied Environments) of docs. Now it provides explanations of
envs.EmbodiedEnv's core architecture, configuration system, manager systems and action bank.Type of change
Checklist
black .command to format the code base.