Built-In Tasks¶
SIMPLE ships 31 registered environments built from over 1,500 Objaverse objects, 75 GraspNet-1B objects and 50 HSSD indoor scenes. Tasks span rigid pick-and-place, non-prehensile interaction and articulated-object manipulation.
List them at runtime:
import gymnasium as gym
import simple.envs as _ # register all envs
[k for k in gym.registry if k.startswith("simple/")]
Naming¶
simple/<Robot><Skill><Variant?><Pipeline>-v0
The pipeline suffix says how demonstrations are produced — MP (automated
CuRobo motion planning, 18 envs) or Teleop / Sonic (VR
teleoperation, 13 envs) — and selects the data-generation and evaluation path.
Environment families¶
Entry point |
Envs |
Scope |
|---|---|---|
|
13 |
Whole-body teleoperation via the external SONIC controller |
|
11 |
G1 whole-body and fixed-base G1 motion planning |
|
7 |
Fixed-base tabletop arms (Franka, Aloha, Vega) |
Whole-body task names compose a locomotion primitive with a manipulation skill
— XMove, Locomotion for the base; Pick, PickAndPlace, Bend,
Handover for the body — for example
simple/G1WholebodyLocomotionPickBetweenTablesTeleop-v0.