Add task-first GenSim action and orchestration pipeline

docs/source/api_reference/public_api.rst

@@ -238,6 +238,58 @@ embodichain.gen_sim.scene_engine.core.scene_edit_plan
    SceneEditOperation
    SceneEditPlan
 
+embodichain.gen_sim.scene_engine.errors
+---------------------------------------
+
+.. currentmodule:: embodichain.gen_sim.scene_engine.errors
+
+Scene service failures preserve typed preparation and materialization errors
+across the Task Engine boundary.
+
+.. autosummary::
+
+   SceneServiceError
+
+embodichain.gen_sim.scene_engine.pipeline
+-----------------------------------------
+
+.. currentmodule:: embodichain.gen_sim.scene_engine.pipeline
+
+The public authoring boundary separates deterministic scene analysis from
+side-effecting materialization for generated and edited scenes.
+
+.. autosummary::
+
+   SCENE_BLUEPRINT_SCHEMA
+   SCENE_EDIT_BLUEPRINT_SCHEMA
+   SceneBlueprintPackage
+   SceneEditBlueprintPackage
+   SceneMaterialization
+   analyze_edit
+   analyze_image
+   materialize_blueprint
+   materialize_edit
+
+embodichain.gen_sim.scene_engine.pipeline.api
+---------------------------------------------
+
+.. currentmodule:: embodichain.gen_sim.scene_engine.pipeline.api
+
+Versioned blueprint artifacts and analyze/materialize operations provide the
+implementation-level Scene Engine authoring contract.
+
+.. autosummary::
+
+   SCENE_BLUEPRINT_SCHEMA
+   SCENE_EDIT_BLUEPRINT_SCHEMA
+   SceneBlueprintPackage
+   SceneEditBlueprintPackage
+   SceneMaterialization
+   analyze_edit
+   analyze_image
+   materialize_blueprint
+   materialize_edit
+
 embodichain.gen_sim.scene_engine.pipeline.editing.scene_edit_asset_preparation
 -------------------------------------------------------------------------------
 

docs/source/features/generative_sim/scene_engine.md

@@ -57,7 +57,9 @@ debugging.
 ## Configuration
 
 Scene Engine reads the LLM, segmentation, image-generation, and
-geometry-generation settings from `embodichain/gen_sim/.env`:
+geometry-generation settings from `embodichain/gen_sim/.env`. The same file
+also contains the optional articulation-server connection used by the
+articulated-asset generation client:
 
 ```bash
 OPENAI_API_KEY="your-api-key"
@@ -83,6 +85,12 @@ SCENE_ENGINE_GEOMETRY_GENERATION_TIMEOUT_S=600
 SCENE_ENGINE_GEOMETRY_GENERATION_MAX_ATTEMPTS=3
 SCENE_ENGINE_GEOMETRY_GENERATION_HEALTH_PATH="/health"
 SCENE_ENGINE_GEOMETRY_GENERATION_OBJECTS_PATH="/generate_multiple_objects"
+
+SCENE_ENGINE_ARTICULATED_GENERATION_BASE_URL="http://host:port"
+SCENE_ENGINE_ARTICULATED_GENERATION_TIMEOUT_S=7200
+SCENE_ENGINE_ARTICULATED_GENERATION_MAX_ATTEMPTS=3
+SCENE_ENGINE_ARTICULATED_GENERATION_HEALTH_PATH="/health"
+SCENE_ENGINE_ARTICULATED_GENERATION_GENERATE_PATH="/generate_articulation"
 ```
 
 ## Processing Flow

docs/source/overview/sim/atomic_actions/index.md

@@ -352,7 +352,7 @@ instances to the engine's planning services:
 ```python
 engine = AtomicActionEngine(motion_generator, control_profiles=profiles)
 
-# All eleven built-ins are immediately usable by stable skill ID.
+# All twelve built-ins are immediately usable by stable skill ID.
 assert "move_end_effector" in engine.actions
 assert "pick_up" in engine.actions
 ```

embodichain/data/assets/obj_assets.py

@@ -291,7 +291,7 @@ class Drawer(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
             os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "Drawer.zip"),
-            "3981636db1f4188146fce25d54084612",
+            "eba30c852074388c2e5b634b1ae37572",
         )
         prefix = type(self).__name__
         path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root

embodichain/gen_sim/action_engine/__init__.py

@@ -0,0 +1,50 @@
+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+"""Capability-driven planning and live execution for generated simulations.
+
+Action Engine deliberately exposes a small public surface. Natural-language
+goals become a typed TaskSpec, deterministic planning lowers them into a
+coordinate-free SeedGraph, and the runtime grounds that graph only against live
+simulator state.
+"""
+
+from __future__ import annotations
+
+from .unbound import (
+    UNBOUND_ACTION_PLAN_SCHEMA,
+    UnboundActionPlan,
+    build_unbound_action_plan,
+    validate_unbound_action_plan,
+)
+
+from .protocol import (
+    ACTION_ENGINE_CONFIG_SCHEMA,
+    ACTION_ENGINE_ENV_ID,
+    EXECUTION_PROGRAM_SCHEMA,
+    TASK_AGENT_SCHEMA,
+)
+
+__all__ = [
+    "ACTION_ENGINE_CONFIG_SCHEMA",
+    "ACTION_ENGINE_ENV_ID",
+    "EXECUTION_PROGRAM_SCHEMA",
+    "TASK_AGENT_SCHEMA",
+    "UNBOUND_ACTION_PLAN_SCHEMA",
+    "UnboundActionPlan",
+    "build_unbound_action_plan",
+    "validate_unbound_action_plan",
+]