Composite Tasks
This page categorizes and lists all Robocasa composite kitchen manipulation tasks that are registered as Gymnasium environments, grouped according to their implementation module in the codebase. Each task can be instantiated with gym.make(<Task ID>) using the Gymnasium API. All environments share the base entry point isaaclab.envs:ManagerBasedRLEnv, and specific task logic is specified via the env_cfg_entry_point argument.
Washing Dishes
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-DryDrinkware | DryDrinkware | Pick up cups from counter and place upside down in upper cabinet |
| Robocasa-Task-StackBowlsInSink | StackBowlsInSink | Put bowls in sink |
| Robocasa-Task-DryDishes | DryDishes | Take cups and bowls from sink and place on counter |
| Robocasa-Task-SortingCleanup | SortingCleanup | Pick up cup and put in sink, pick up bowl and put in cabinet, close cabinet |
| Robocasa-Task-PreSoakPan | PreSoakPan | Pick up pan and sponge, place in sink, turn on faucet |
Clearing Table
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-FoodCleanup | FoodCleanup | Pick up random items from counter, put in cabinet, and close cabinet door |
| Robocasa-Task-BowlAndCup | BowlAndCup | Put cup from dining table in bowl, place bowl on any counter |
| Robocasa-Task-CondimentCollection | CondimentCollection | Pick up shaker and seasoning jars from counter and put them in cabinet |
| Robocasa-Task-DessertAssembly | DessertAssembly | Place bowl with donuts and cupcakes on tray |
| Robocasa-Task-CandleCleanup | CandleCleanup | Take candles and jars from dining table, place in open cabinet, close cabinet after placing items |
| Robocasa-Task-DrinkwareConsolidation | DrinkwareConsolidation | Pick up beer and water bottles from counter and place in open cabinet |
| Robocasa-Task-ClearingCleaningReceptacles | ClearingCleaningReceptacles | Pick the obj_name_1 and obj_name_2 and place them in the sink. Then turn on the water |
Making Toast
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-CheesyBread | CheesyBread | Pick up cheese and place on bread |
| Robocasa-Task-PrepareToast | PrepareToast | Pick up bread and place on cutting board, pick up jam and place on counter, close cabinet |
| Robocasa-Task-BreadSelection | BreadSelection | Place one croissant on cutting board, take jam jar from cabinet and place on board too |
| Robocasa-Task-SweetSavoryToastSetup | SweetSavoryToastSetup | Take avocado and bread from counter, place on plate, take jam from cabinet and place near plate, close cabinet |
Setting the Table
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-SizeSorting | SizeSorting | Stack objects on counter from large to small |
| Robocasa-Task-ArrangeBreadBasket | ArrangeBreadBasket | Open cabinet, take bread from cabinet, put in bowl on counter, take bowl to dining counter |
| Robocasa-Task-SetBowlsForSoup | SetBowlsForSoup | Open cabinet, take bowls one by one and place on plates on dining counter |
| Robocasa-Task-DateNight | DateNight | Take candles and wine from cabinet and move to dining table |
| Robocasa-Task-BeverageOrganization | BeverageOrganization | Move multiple beverages to dining table |
| Robocasa-Task-SeasoningSpiceSetup | SeasoningSpiceSetup | Open cabinet door and move shaker and syrup bottle to dining table |
Boiling & Steaming
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-HeatMultipleWater | HeatMultipleWater | Place kettle from cabinet on one burner, place pot from counter on another burner, turn both knobs to start burners |
| Robocasa-Task-FillKettle | FillKettle | Open cabinet, take kettle from cabinet, place in sink |
| Robocasa-Task-VeggieBoil | VeggieBoil | Pick up the pot and place it in the sink. Then turn on the sink faucet and let the pot fill up with water. Then turn the sink faucet off and move the pot to the stove. Lastly, turn on the stove and place the food in the pot |
| Robocasa-Task-SteamInMicrowave | SteamInMicrowave | Take object from sink, put in bowl on counter, place bowl in microwave, close door and press start |
| Robocasa-Task-MultistepSteaming | MultistepSteaming | Turn on faucet, pick up object and place in sink, turn off faucet, move object from sink to pot near stove, move pot to specified burner |
| Robocasa-Task-SteamVegetables | SteamVegetables |
Frying
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-FryingPanAdjustment | FryingPanAdjustment | Move pan from current burner to another burner and turn target knob to start burner |
| Robocasa-Task-SearingMeat | SearingMeat | Take pan from cabinet, place on random burner, put fish in pan, turn knob to start burner |
| Robocasa-Task-SetupFrying | SetupFrying | Take pan from cabinet, place on stove, turn on corresponding burner |
| Robocasa-Task-AssembleCookingArray | AssembleCookingArray | Move shrimp to pan on stove, then move tomato sauce and avocado from cabinet to counter with plates |
| Robocasa-Task-MealPrepStaging | MealPrepStaging | Then place the obj_name_1 and the obj_name_2 on different pans |
Reheating Food
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-SimmeringSauce | SimmeringSauce | Place pan on specified burner, put objects in pan, turn corresponding knob to start burner |
| Robocasa-Task-WaffleReheat | WaffleReheat | Open microwave, place bowl with object inside, close door and press start |
| Robocasa-Task-HeatMug | HeatMug | Pick up mug from counter, place in microwave, close microwave |
| Robocasa-Task-MakeLoadedPotato | MakeLoadedPotato | Take reheated potato from microwave, place potato, cheese and seasonings on cutting board |
| Robocasa-Task-WarmCroissant | WarmCroissant | Pick up croissant, place in pan, turn on stove to heat croissant |
Washing Fruits and Vegetables
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-PrewashFoodAssembly | PrewashFoodAssembly | Pick up object from cabinet, put in bowl, place bowl in sink, and turn on faucet to fill bowl |
| Robocasa-Task-ClearClutter | ClearClutter | Pick up fruits and vegetables, place in sink, turn on faucet to wash them, turn off faucet, place in tray |
| Robocasa-Task-DrainVeggies | DrainVeggies | Pour items from pot to sink, turn on faucet to wash items, turn off faucet, put items back in pot |
| Robocasa-Task-AfterwashSorting | AfterwashSorting | Sort different types of food (fruits/vegetables) from sink into different bowls, turn off faucet |
Baking
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-CupcakeCleanup | CupcakeCleanup | Put objects from tray on counter, put bowls from counter in sink |
| Robocasa-Task-PastryDisplay | PastryDisplay | Place pastries on plate |
| Robocasa-Task-OrganizeBakingIngredients | OrganizeBakingIngredients | Collect eggs and milk near sink area and place beside bowl |
Brewing
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-ArrangeTea | ArrangeTea | Pick up kettle from counter, place on tray, take cup from cabinet, place on tray, close cabinet |
| Robocasa-Task-PrepareCoffee | PrepareCoffee | Take cup from cabinet, place under coffee machine spout, press start button |
| Robocasa-Task-KettleBoiling | KettleBoiling | Pick up kettle from counter, place on stove, turn on stove |
Chopping Food
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-ArrangeVegetables | ArrangeVegetables | Take vegetables from sink and place on cutting board |
| Robocasa-Task-ArrangeVegetablesSimple | ArrangeVegetablesSimple | Pick the vegetables from the sink and place them on the cutting board |
| Robocasa-Task-OrganizeVegetables | OrganizeVegetables | Place cucumber and garlic on different cutting boards |
| Robocasa-Task-BreadSetupSlicing | BreadSetupSlicing | Place all bread on cutting board |
| Robocasa-Task-MeatTransfer | MeatTransfer | Open cabinet door, take bowl from cabinet and place on table, put raw meat in bowl |
| Robocasa-Task-ClearingTheCuttingBoard | ClearingTheCuttingBoard | Clear the non-vegetable object off the cutting board and place the vegetables onto it |
Cleaning & Sanitizing Surface
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-PrepForSanitizing | PrepForSanitizing | Open cabinet and take out objects, place them on counter |
| Robocasa-Task-CleanMicrowave | CleanMicrowave | Place sponge inside microwave for sanitizing preparation |
| Robocasa-Task-CountertopCleanup | CountertopCleanup | Pick the fruit and vegetable from the counter and place them in the cabinet . Then open the drawer and pick the cleaner and sponge from the drawer and place them on the counter |
| Robocasa-Task-PushUtensilsToSink | PushUtensilsToSink | Push the utensils into the sink |
Meat Preparation
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-PrepMarinatingMeat | PrepMarinatingMeat | Take steak from plate to cutting board, take seasoning bottle from cabinet and place near board |
| Robocasa-Task-PrepForTenderizing | PrepForTenderizing | Open cabinet, take rolling pin, place next to meat on cutting board for tenderizing prep |
Mixing and Blending
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-SpicyMarinade | SpicyMarinade | Open cabinet, place objects from cabinet on counter, place objects from counter on cutting board |
| Robocasa-Task-ColorfulSalsa | ColorfulSalsa | Place required items on cutting board |
| Robocasa-Task-SetupJuicing | SetupJuicing | Open the cabinet, pick all fruits from the cabinet and place them on the counter |
Serving Food
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-PanTransfer | PanTransfer | Pick up pan, pour object from pan to plate on nearby counter, put empty pan back on stove |
| Robocasa-Task-ServeSteak | ServeSteak | Pick up pan with steak, place on dining table, then put steak on plate |
| Robocasa-Task-PrepareSoupServing | PrepareSoupServing | Open cabinet, move spoon to pot, close cabinet |
| Robocasa-Task-DessertUpgrade | DessertUpgrade | Move dessert from plate to tray |
| Robocasa-Task-PlaceFoodInBowls | PlaceFoodInBowls | Pick up two bowls and place on counter, put eggs in one bowl and steak in another |
| Robocasa-Task-WineServingPrep | WineServingPrep | Open the cabinet directly in front，then move the alcohol and the cup to the counter with the decoration on it |
Defrosting Food
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-MicrowaveThawing | MicrowaveThawing | Open microwave, take item from plate on counter, place in microwave, close and start |
| Robocasa-Task-DefrostByCategory | DefrostByCategory | Find all frozen vegetables and put in bowl on counter, put all frozen fruits in sink |
| Robocasa-Task-ThawInSink | ThawInSink | Take eggplant from counter, place in sink, turn on faucet |
| Robocasa-Task-QuickThaw | QuickThaw | Take meat from bowl, place in pot on stove, turn on stove |
Snack Preparation
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-VeggieDipPrep | VeggieDipPrep | Place two vegetables and bowl on tray to set up veggie dip station |
| Robocasa-Task-MakeFruitBowl | MakeFruitBowl | Open cabinet, take oranges and peaches from cabinet and put in bowl, close cabinet |
| Robocasa-Task-BreadAndCheese | BreadAndCheese | Place bread and cheese on cutting board |
| Robocasa-Task-CerealAndBowl | CerealAndBowl | Open cabinet, take cereal and bowl from cabinet and place on counter near milk, close cabinet |
| Robocasa-Task-YogurtDelightPrep | YogurtDelightPrep | Place yogurt and fruit on counter |
Tidying Cabinets and Drawers
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-SnackSorting | SnackSorting | Put snacks in bowl and close drawer |
| Robocasa-Task-OrganizeCleaningSupplies | OrganizeCleaningSupplies | Open cabinet, take out soap dispenser and place near sink, close cabinet |
| Robocasa-Task-DrawerUtensilSort | DrawerUtensilSort | Open drawer and push the utensils inside it |
| Robocasa-Task-PantryMishap | PantryMishap | Place the vegetable on the counter and the canned food in the drawer. Close the cabinet |
| Robocasa-Task-ShakerShuffle | ShakerShuffle | Pick and place the shaker into the drawer. Then close the cabinet |
Restocking Supplies
| TaskID | TaskName | Description |
|---|---|---|
| Robocasa-Task-RestockPantry | RestockPantry | Take cans from counter and place them on specified side of cabinet |
| Robocasa-Task-StockingBreakfastFoods | StockingBreakfastFoods | Pick up objects from counter and place them in nearest cabinets respectively |
| Robocasa-Task-BeverageSorting | BeverageSorting | Place all alcoholic beverages in one cabinet, non-alcoholic beverages in another cabinet |
| Robocasa-Task-RestockBowls | RestockBowls | Open cabinet, take bowls from counter and place in cabinet, close cabinet |
Example
import gymnasium as gym
import inspect
# Retrieve the entry point for a composite task (e.g., "Robocasa-Task-DryDishes")
entry_point = gym.spec("Robocasa-Task-DryDishes").kwargs.get("env_cfg_entry_point")
DryDishesTaskCls = inspect.getfile(entry_point)
dry_dishes_task = DryDishesTaskCls()
# Similarly, retrieve the entry point for another composite task
entry_point_stack = gym.spec("Robocasa-Task-StackBowlsInSink").kwargs.get("env_cfg_entry_point")
StackBowlsTaskCls = inspect.getfile(entry_point_stack)
stack_bowls_task = StackBowlsTaskCls()
# You can pass these task objects to IsaacLabArenaEnvironment or compatible RL frameworks
# isaac_env = IsaacLabArenaEnvironment(scene=anyscene, embodiment=anyrobot, task=dry_dishes_task)
# isaac_env_stack = IsaacLabArenaEnvironment(scene=anyscene, embodiment=anyrobot, task=stack_bowls_task)