Migrate EmbodiAgent #82
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yuecideng
requested changes
Jan 26, 2026
embodichain/toolkits/interfaces.py
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Why put so many help function here? toolkits should not contain module from lab. The correct denpendency relationship is lab <- toolkits. Please discusss this with @yhnsu for a better organization.
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I'v discussed with haonan. I move the function related to math into embodichain/utils/math.py . For the remaining part, I seperated it into atom_action and atom_action_utils and move them to sim.
yuecideng
approved these changes
Jan 27, 2026
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Description
This PR migrates EmbodiAgent, a LLM-based agent system for autonomous robot task execution in EmbodiChain. The system enables robots to perceive, plan, code, execute, and validate complex manipulation tasks through a closed-loop control cycle, which is developed by https://github.com/Jasonxu1225 .
Key Features
Three specialized agents working in coordination:
Key Related Files
embodichain/agents/hierarchy/embodichain/lab/gym/envs/tasks/tableware/embodichain/toolkits/interfaces.pyembodichain/lab/gym/motion_generation/embodichain/agents/README.mdType of change
Screenshots
Pour Water
pour_waterr.mp4
Rearrangement
rearrangement.mp4
Dual Arm Pour Water
pour_water_dual.mp4
Checklist
I have run the
black .command to format the code base.I have made corresponding changes to the documentation
I have added tests that prove my fix is effective or that my feature works
Dependencies have been updated, if applicable.