Refactor atomic actions for typed planning and recovery

agent_context/MAP.yaml

@@ -422,7 +422,7 @@ topics:
       - motion primitive
       - action primitive
       - AtomicAction
-      - ActionTarget
+      - ActionInvocation
       - AtomicActionEngine
       - TrajectoryBuilder
       - 原子动作
@@ -432,26 +432,46 @@ topics:
       - AtomicAction
       - AtomicActionEngine
       - TrajectoryBuilder
-      - ActionResult
-      - WorldState
+      - ActionPlan
+      - PlanningContext
+      - ExecutionSession
+      - StateDelta
       - held_objects
-      - ObjectActionTarget
-      - PlaceTarget
-      - PressTarget
-      - target ownership
-      - ActionCfg
-      - motion_source
+      - ActionBinding
+      - SceneEntityPose
+      - dynamic goal
+      - error recovery
+      - ActionOptions
+      - ResolvedActionRequest
+      - ControlPartCommandProfile
+      - ActionControlOverrides
+      - JointPositionCommand
+      - invocation revision
+      - MotionPolicy
+      - RecoveryPolicy
       - plan_arm_traj
       - register_action
+      - BUILTIN_ACTION_TYPES
+      - load_builtins
+      - engine.plan
+      - engine.compile
+      - engine.start
     paths:
       - topics/atomic-actions/atomic-actions.md
     source_of_truth:
       - embodichain/lab/sim/atomic_actions/core.py
-      - embodichain/lab/sim/atomic_actions/targets.py
+      - embodichain/lab/sim/atomic_actions/goals.py
+      - embodichain/lab/sim/atomic_actions/bindings.py
+      - embodichain/lab/sim/atomic_actions/control.py
+      - embodichain/lab/sim/atomic_actions/invocation.py
+      - embodichain/lab/sim/atomic_actions/policies.py
+      - embodichain/lab/sim/atomic_actions/runtime.py
+      - embodichain/lab/sim/atomic_actions/state.py
+      - embodichain/lab/sim/atomic_actions/plans.py
+      - embodichain/lab/sim/atomic_actions/execution.py
       - embodichain/lab/sim/atomic_actions/engine.py
       - embodichain/lab/sim/atomic_actions/trajectory.py
       - embodichain/lab/sim/atomic_actions/primitives/
-      - embodichain/lab/sim/atomic_actions/actions.py
       - embodichain/lab/sim/atomic_actions/__init__.py
     related_topics:
       - motion-planning

docs/source/api_reference/embodichain/embodichain.lab.sim.atomic_actions.primitives.rst

@@ -1,5 +1,5 @@
 embodichain.lab.sim.atomic_actions.primitives
-============================================
+=============================================
 
 .. automodule:: embodichain.lab.sim.atomic_actions.primitives
 
@@ -8,49 +8,47 @@ Overview
 
 Concrete implementations of the built-in atomic-action primitives. Each
 primitive is an :class:`~embodichain.lab.sim.atomic_actions.AtomicAction` that
-accepts a typed target and a
-:class:`~embodichain.lab.sim.atomic_actions.WorldState`, plans a full-DoF
-trajectory for all parallel environments, and returns an
-:class:`~embodichain.lab.sim.atomic_actions.ActionResult`. The primitives are
-chained by :class:`~embodichain.lab.sim.atomic_actions.AtomicActionEngine`,
-which threads ``WorldState`` from one action to the next and concatenates the
-resulting trajectories along the time axis.
+accepts a :class:`~embodichain.lab.sim.atomic_actions.ResolvedActionRequest` and a
+:class:`~embodichain.lab.sim.atomic_actions.PlanningContext`. Planning returns a
+side-effect-free :class:`~embodichain.lab.sim.atomic_actions.ActionPlan` with a
+full-robot timed trajectory and uncommitted expected effects.
 
    .. rubric:: Built-in Primitive Actions
 
    .. autosummary::
 
-      MoveEndEffectorCfg
       MoveEndEffector
-      MoveJointsCfg
+      MoveEndEffectorOptions
       MoveJoints
-      PickUpCfg
+      MoveJointsOptions
       PickUp
-      MoveHeldObjectCfg
+      PickUpOptions
       MoveHeldObject
-      PlaceCfg
+      MoveHeldObjectOptions
       Place
-      PressCfg
+      PlaceOptions
       Press
-      CoordinatedPickmentCfg
+      PressOptions
       CoordinatedPickment
-      CoordinatedPlacementCfg
+      CoordinatedPickmentOptions
       CoordinatedPlacement
+      CoordinatedPlacementOptions
+      HandOver
+      HandOverOptions
 
-   .. rubric:: Built-in Target Contracts
+   .. rubric:: Built-in Goal Contracts
 
    .. autosummary::
 
-      EndEffectorPoseTarget
-      JointPositionTarget
-      NamedJointPositionTarget
-      GraspTarget
-      HeldObjectPoseTarget
-      PlaceTarget
-      PressTarget
-      CoordinatedPickTarget
-      CoordinatedPickmentTarget
-      CoordinatedPlacementTarget
+      EndEffectorPoseGoal
+      JointPositionGoal
+      GraspGoal
+      HeldObjectPoseGoal
+      PlaceGoal
+      AssembleGoal
+      PressGoal
+      CoordinatedPickGoal
+      CoordinatedPlacementGoal
 
 .. currentmodule:: embodichain.lab.sim.atomic_actions.primitives
 
@@ -117,3 +115,11 @@ CoordinatedPlacement
    :members:
    :show-inheritance:
    :exclude-members: __init__, copy, replace, to_dict
+
+HandOver
+--------
+
+.. automodule:: embodichain.lab.sim.atomic_actions.primitives.hand_over
+   :members:
+   :show-inheritance:
+   :exclude-members: __init__, copy, replace, to_dict