Add dynamic scene recovery for atomic actions

[yuecideng]

Description

This PR adds dynamic-scene recovery to the typed atomic-action execution stack.

It introduces a SceneProvider boundary, a RigidObjectSceneProvider, global/per-environment collision-world revisions, and collision-sensitive phase invalidation. AtomicAction.plan() now owns scene binding and delegates skill logic to _plan(), so current obstacle poses are injected into copied planner options instead of being repeated across individual skill parameters. cuRobo implements the dynamic-world bridge, and ExecutionSession emits collision_world_changed before bounded per-environment replanning.

The PR also adds runnable moving-target and dynamic-obstacle recovery tutorials, focused multi-environment recovery tests, planner/provider tests, and corresponding Sphinx and agent-context updates.

Dependencies: #449. This is a stacked PR whose base is feat/atomic-action-pr2a-execution-runner; commit 7cbba908 is the PR2B-only change.

Fixes: N/A (no linked issue).

Type of change

• Breaking change (existing functionality will not work without user modification)

The extension hook for AtomicAction subclasses changes from overriding public plan() to implementing _plan(). This is intentional within the unmerged refactor stack and prevents actions from bypassing framework-owned scene binding.

Validation

• black --check --diff --color ./ — 562 files unchanged
• pytest -q tests/sim/atomic_actions tests/sim/planners/test_curobo_planner.py tests/sim/planners/test_motion_generator_batched.py — 181 passed, 4 skipped
• python -m compileall -q embodichain/lab/sim/atomic_actions scripts/tutorials/atomic_action
• agent_context/MAP.yaml YAML parsing
• Moving-target headless simulation — dynamic_goal_changed → replanned → completed after 83 accepted commands
• Dynamic-obstacle headless simulation — collision_world_changed → replanned → completed after 83 accepted commands
• Sphinx HTML build completed; existing repository-wide autodoc warnings remain
• Full test suite was not run; affected atomic-action and planner scopes were validated proportionally

Screenshots

Not applicable; this change adds runtime APIs and headless simulation tutorials.

Checklist

• I have run the black . command to format the code base.
• I have made corresponding changes to the documentation
• I have added tests that prove my fix is effective or that my feature works
• Dependencies have been updated, if applicable.