feat(task-engine): add orchestration and end-to-end integration

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

@@ -34,3 +34,69 @@ Ontology
 
 .. automodule:: embodichain.gen_sim.task_engine.ontology
    :members:
+
+Scene adaptation and feasibility
+--------------------------------
+
+.. automodule:: embodichain.gen_sim.task_engine.scene
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.scene.conservative_graph
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.scene.contracts
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.scene.feasibility
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.scene.final_inspection
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.scene.scene_engine_v1
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.scene_backend
+   :members:
+
+Orchestration
+-------------
+
+.. automodule:: embodichain.gen_sim.task_engine.orchestration
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.orchestration.artifacts
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.orchestration.contracts
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.orchestration.coordinator
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.orchestration.legacy_scene
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.orchestration.scene_adapter
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.orchestration.scene_source
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.run_directory
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.state_machine
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.workflow
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.workflow_contracts
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.config
+   :members:
+
+.. automodule:: embodichain.gen_sim.task_engine.cli
+   :members:

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/cli/main.py

@@ -53,6 +53,11 @@ class Command:
         target="embodichain.gen_sim.scene_engine.cli.start:main",
         help="Generate a scene export from an input image using gen_sim/.env.",
     ),
+    Command(
+        name="task-engine",
+        target="embodichain.gen_sim.task_engine.cli:main",
+        help="Run the GenSim task-first scene, planning, and execution workflow.",
+    ),
     Command(
         name="preview-scene",
         target="embodichain.gen_sim.scene_engine.cli.preview:main",

embodichain/gen_sim/action_engine/cli/__init__.py

@@ -14,7 +14,7 @@
 # limitations under the License.
 # ----------------------------------------------------------------------------
 
-"""Command-line entry points for Action Engine generation."""
+"""Command-line entry points for Action Engine generation and execution."""
 
 from __future__ import annotations
 

embodichain/gen_sim/task_engine/__init__.py

@@ -18,6 +18,8 @@
 
 from __future__ import annotations
 
+from typing import Any
+
 from .agent import (
     TaskAgent,
     TaskGenerationError,
@@ -58,6 +60,33 @@
     task_contract,
     task_success_type,
 )
+from .config import (
+    TASK_ENGINE_DEFAULTS_SCHEMA,
+    TaskEngineExecutionCfg,
+    TaskEnginePlanningCfg,
+    TaskEngineWorkflowCfg,
+    load_task_engine_config,
+)
+from .state_machine import (
+    StageStatus,
+    TaskEngineState,
+    WorkflowStage,
+    complete_stage,
+    fail_stage,
+    initial_state,
+    replay_events,
+    skip_stage,
+    start_stage,
+)
+from .workflow_contracts import (
+    TASK_RUN_REQUEST_SCHEMA,
+    SceneInputKind,
+    TaskRunRequest,
+    scene_input_kind,
+    validate_scene_history_root,
+    validate_scene_output_separation,
+    validate_task_run_request,
+)
 
 __all__ = [
     "INSTRUCTION_INTENT_SCHEMA",
@@ -80,16 +109,71 @@
     "TaskContract",
     "TaskDraft",
     "TaskGenerationError",
+    "TASK_RUN_REQUEST_SCHEMA",
+    "TASK_ENGINE_DEFAULTS_SCHEMA",
+    "SceneInputKind",
+    "SceneAnalysis",
+    "SceneEngineBackend",
+    "SceneRevision",
+    "StageStatus",
+    "TaskEngineState",
+    "TaskEngineExecutionCfg",
+    "TaskEnginePlanningCfg",
+    "TaskEngineWorkflowCfg",
+    "TaskEngineRunResult",
+    "TaskEngineWorkflow",
+    "TaskRunRequest",
+    "WorkflowStage",
+    "TASK_ENGINE_RUN_MANIFEST_SCHEMA",
+    "SubprocessActionExecutor",
     "canonical_hash",
     "derive_scene_request",
     "derive_success_spec",
+    "complete_stage",
+    "fail_stage",
+    "initial_state",
     "interpret_instruction_draft",
+    "load_task_engine_config",
+    "replay_events",
     "task_contract",
     "task_success_type",
+    "scene_input_kind",
+    "validate_scene_history_root",
+    "scene_blueprint_objects",
+    "skip_stage",
+    "start_stage",
     "validate_instruction_intent",
     "validate_scene_request",
+    "validate_scene_output_separation",
     "validate_success_spec",
     "validate_task_candidate",
     "validate_task_candidate_set",
     "validate_task_draft",
+    "validate_task_run_request",
 ]
+
+_SCENE_BACKEND_EXPORTS = {
+    "SceneAnalysis",
+    "SceneEngineBackend",
+    "SceneRevision",
+    "scene_blueprint_objects",
+}
+_WORKFLOW_EXPORTS = {
+    "TASK_ENGINE_RUN_MANIFEST_SCHEMA",
+    "SubprocessActionExecutor",
+    "TaskEngineRunResult",
+    "TaskEngineWorkflow",
+}
+
+
+def __getattr__(name: str) -> Any:
+    """Load orchestration entry points lazily to avoid engine import cycles."""
+    if name in _SCENE_BACKEND_EXPORTS:
+        from . import scene_backend
+
+        return getattr(scene_backend, name)
+    if name in _WORKFLOW_EXPORTS:
+        from . import workflow
+
+        return getattr(workflow, name)
+    raise AttributeError(f"module {__name__!r} has no attribute {name!r}")

embodichain/gen_sim/task_engine/__main__.py

@@ -0,0 +1,27 @@
+# ----------------------------------------------------------------------------
+# 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.
+# ----------------------------------------------------------------------------
+
+"""Module entry point for Task Engine workflows."""
+
+from __future__ import annotations
+
+from .cli import main
+
+__all__ = ["main"]
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())