feat(action-engine): add planning and bundle generation

docs/source/api_reference/embodichain/embodichain.gen_sim.action_engine.rst

@@ -0,0 +1,172 @@
+embodichain.gen_sim.action_engine
+==================================
+
+Action Engine turns validated task semantics into coordinate-free action
+graphs and reproducible execution bundles. This page documents the planning
+and generation surface; live grounding and execution are added in the
+dependent runtime layers.
+
+Core protocol and capabilities
+------------------------------
+
+.. automodule:: embodichain.gen_sim.action_engine
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.protocol
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.capabilities
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.capabilities.atomic
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.capabilities.builtins
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.capabilities.held_hand_over
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.capabilities.registry
+   :members:
+
+Domain contracts
+----------------
+
+.. automodule:: embodichain.gen_sim.action_engine.domain
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.domain.motion
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.domain.programs
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.domain.task_contracts
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.domain.v2
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.domain.visual_contracts
+   :members:
+
+Compilation and planning
+------------------------
+
+.. automodule:: embodichain.gen_sim.action_engine.compiler
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.compiler.core
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.compiler.v2
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.planning
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.planning.dual
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.planning.linker
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.planning.online
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.planning.planner
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.planning.selection
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.planning.task_planner_prompt
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.planning.vision
+   :members:
+
+Task assembly
+-------------
+
+.. automodule:: embodichain.gen_sim.action_engine.tasks
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.tasks.assembly
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.tasks.grounding
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.tasks.interpretation
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.tasks.recipes
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.tasks.scene
+   :members:
+
+Bundle generation
+-----------------
+
+.. automodule:: embodichain.gen_sim.action_engine.config
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.config.runtime_policy
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.generation
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.generation.artifacts
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.generation.assets
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.generation.config_builder
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.generation.generator
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.generation.models
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.generation.source_scene
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.cli.generate_action_agent_config
+   :members:
+
+Supporting planning utilities
+-----------------------------
+
+.. automodule:: embodichain.gen_sim.action_engine.graph_visualization
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.gripper_profiles
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.orientation
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.solver_profiles
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.runtime
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.runtime.loader
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.runtime.models
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.runtime.motion_policy
+   :members:
+
+.. automodule:: embodichain.gen_sim.action_engine.runtime.state
+   :members:

docs/source/api_reference/index.rst

@@ -80,4 +80,5 @@ documentation. CI runs this same checker after style checks and before tests.
    :maxdepth: 1
 
    public_api
+   embodichain/embodichain.gen_sim.action_engine
    embodichain/embodichain.gen_sim.task_engine

embodichain/gen_sim/action_engine/__init__.py

@@ -0,0 +1,33 @@
+# ----------------------------------------------------------------------------
+# 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 for generated simulations."""
+
+from __future__ import annotations
+
+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",
+]

embodichain/gen_sim/action_engine/capabilities/__init__.py

@@ -0,0 +1,60 @@
+# ----------------------------------------------------------------------------
+# 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.
+# ----------------------------------------------------------------------------
+
+"""Semantic operator and atomic-action capability registry."""
+
+from __future__ import annotations
+
+from .atomic import (
+    ACTION_CONTRACT_VERSION,
+    AtomicCapability,
+    AtomicCapabilityRegistry,
+    ResolvedActionContract,
+    ResourceClaim,
+    StateAtom,
+    StateEffect,
+    build_atomic_capability_registry,
+    capability_precondition,
+)
+from .builtins import build_default_registry
+from .held_hand_over import HeldObjectHandOver, HeldObjectHandOverOptions
+from .registry import (
+    ActionCapability,
+    ActionTemplate,
+    CapabilityRegistry,
+    OperatorCapability,
+    PhaseTemplate,
+)
+
+__all__ = [
+    "ACTION_CONTRACT_VERSION",
+    "ActionCapability",
+    "ActionTemplate",
+    "AtomicCapability",
+    "AtomicCapabilityRegistry",
+    "CapabilityRegistry",
+    "HeldObjectHandOver",
+    "HeldObjectHandOverOptions",
+    "OperatorCapability",
+    "PhaseTemplate",
+    "ResolvedActionContract",
+    "ResourceClaim",
+    "StateAtom",
+    "StateEffect",
+    "build_atomic_capability_registry",
+    "build_default_registry",
+    "capability_precondition",
+]