test(tasks): gate cube physical recovery

docs/design/declarative_expert_program_plan.md

@@ -4,9 +4,11 @@
   branches. A real CUDA/cuRobo dynamic-obstacle recovery gate is landed and
   runs conditionally when cuRobo is installed, CUDA is available, and GPU/slow
   tests are explicitly enabled. Open Drawer has completed its
-  supported-simulation physical run; repeated cube pick/place has completed one
-  Pick/Place/settle/validator cycle, while the full three-cycle run remains in
-  threshold calibration. Dual-UR5/PGI HandOver has completed three consecutive
+  supported-simulation physical run; repeated cube pick/place now completes all
+  three independently observed Pick/Place/settle/validator cycles. A physical
+  gripper-command fault gate also proves held-object loss, symbolic invalidation,
+  real re-acquisition, and retry without simulator-side repair. Dual-UR5/PGI
+  HandOver has completed three consecutive
   supported-simulation Pick/transfer/settle/validator runs using contact
   dynamics only. Named trajectory-segment effect gates now block Pick lift,
   Place retract, and HandOver source release until fresh physical evidence
@@ -1232,9 +1234,11 @@ it only when GPU and slow tests are explicitly selected.
 
 Implementation status: the semantic facade, provider-free linking, canonical
 compiler, bounded program preflight, and cross-segment sequential look-ahead are
-implemented. Relation placement remains an exact typed integration capability;
-a reusable production support-surface/container affordance and grounder are
-follow-up work rather than inferred behavior.
+implemented. Relation placement remains an exact typed integration capability.
+Production support-surface and container bindings now declare a desired object
+target frame relative to an object, articulation, or link parent; registration
+installs their exact versioned grounders automatically. No geometric target is
+guessed from a name, mesh, or bounding box.
 
 Deliverables:
 
@@ -1260,16 +1264,19 @@ effects, row-local composite hysteresis kernel, canonical `SkillRuntime`, and
 production simulation evidence ports are wired end to end. Segment-scoped
 held-object guard requests, live evidence collection, row-local symbolic
 invalidation, bounded Pick retry, and typed external-recovery hand-off are also
-implemented. Physical simulation acceptance is partial: Open Drawer and one
-cube Pick/Place/settle/validator cycle have completed. The embodiment-owned
+implemented. Physical simulation acceptance covers Open Drawer and all three
+cube Pick/Place/settle/validator cycles. The embodiment-owned
 dual-UR5/PGI HandOver slice now completes Pick, transfer, terminal
 physical-effect verification, settling, and target validation through real
 contact dynamics. Per-expectation terminal outcomes, core-owned failure
 invalidation, row-local retry/recovery decisions, fail-closed deadline
 reconciliation, and blocking named-segment effect gates are implemented.
 Workflow-level re-acquisition is implemented through the preset-owned bounded
-policy and canonical runtime. Real-simulation fault-injection coverage and the
-full repeated-cube run remain validation work.
+policy and canonical runtime. A supported-simulation fault gate now replaces a
+bounded window of outgoing gripper commands with a real open command during
+Place, observes pose-relation contradiction and symbolic invalidation, performs
+a real Pick, retries Place, and completes the remaining program. The wrapper
+never writes object pose, velocity, attachment, constraint, or task state.
 
 Deliverables:
 
@@ -1314,9 +1321,9 @@ strict decoder/loader, lazy compiler, environment/CLI integration, shared
 simulation factory, and three-segment cube program are implemented. The task
 combines declarative program configuration with typed scene/profile integration
 declarations and installs the shared adapter without overriding task motion
-generation. A supported-simulation run has completed the first physical
-Pick/Place/settle/validator cycle; completing all three cycles remains an
-acceptance item while thresholds are calibrated.
+generation. The UR5 embodiment preset uses 100 motion samples while retaining
+the 0.08-rad tracking gate and bounded replanning. A supported-simulation run
+now completes all three physical Pick/Place/settle/validator cycles.
 
 Deliverables:
 
@@ -1361,13 +1368,16 @@ trajectories in task code.
 
 ### Phase 7: parallel execution and PourWater
 
-Implementation status: the schema/runtime contracts and fail-closed safety
-boundary are implemented. Schema
+Implementation status: the schema/runtime contracts, fail-closed safety
+boundary, and production simulation validator are implemented. Schema
 version 2 provides explicit parallel branches and barriers; static resource
 conflict analysis, shared-clock lane coordination, deterministic hold padding,
 transport/safety validation, row-local failure and cancellation, timeouts, and
-deterministic state merge are covered by tests. A production simulation safety
-validator and parallel physical integration remain pending. The PourWater task
+deterministic state merge are covered by tests. The cuRobo validator assembles
+the exact aggregate joint segment, densifies it under a configured maximum joint
+step, and checks every sample against joint bounds, self collision, and the
+registry-backed live world without replanning or replacing the command. A
+parallel physical integration remains pending. The PourWater task
 migration is outside the current scope because it would require modifying
 Action Bank code.
 
@@ -1516,22 +1526,22 @@ The design is complete when all of the following hold:
 - [x] Automatic grasping tracks target revisions and receives downstream object
       goals without caller duplication.
 - [x] `Place` is object-centric and consumes verified held-object state.
-- [ ] Built-in grasp, release, handover, and supported articulation effect
-      monitors work in simulation. The dual-UR5/PGI HandOver vertical slice is
-      physically validated; remaining skill/embodiment coverage keeps this
-      aggregate item open.
-- [ ] Grasp and handover simulation gates retain objects through configured
+- [x] Built-in grasp, release, handover, and supported articulation effect
+      monitors work in simulation across the repeated cube, dual-UR5/PGI
+      HandOver, and Open Drawer vertical slices.
+- [x] Grasp and handover simulation gates retain objects through configured
       drive/contact dynamics only; no monitor or runtime path creates a
       synthetic attachment, freezes the object, or overrides its pose.
-- [ ] Physical held-object loss is observed as effect failure, invalidates the
+- [x] Physical held-object loss is observed as effect failure, invalidates the
       affected symbolic relation, and exercises bounded recovery rather than
       being hidden by a simulator-side attachment. The segment-aware observation,
       row-local core-owned invalidation, per-expectation terminal
       reconciliation, fail-closed deadline handling, bounded Pick/retained-Place
       retry, typed recovery boundary, and blocking acquisition/release gates are
       implemented. Preset-owned per-row workflow re-acquisition now performs
-      real `Pick` and semantic-call retries; real-simulation fault injection
-      remains open.
+      real `Pick` and semantic-call retries. The supported-simulation gate opens
+      the real gripper during Place, observes the loss, re-acquires the fallen
+      cube, and completes the retried call.
 - [x] Repeated sub-threshold motion eventually publishes the correct scene
       revision.
 - [x] Custom actions have a documented and tested intentional hard-break
@@ -1543,7 +1553,7 @@ The design is complete when all of the following hold:
       through `env.step()`.
 - [x] No program post-policy, effect, or tracing integration depends on
       hard-coded waypoint indices.
-- [ ] Repeated cube pick/place completes at least three lazy, independently
+- [x] Repeated cube pick/place completes at least three lazy, independently
       observed program/demo segments with settle/effect/validation metadata.
 - [x] Version 1 uses one shared program/call barrier while per-environment task
       state, effects, recovery, eligibility, success, and failure remain

docs/design/expert_program_rollout_report.md

@@ -13,25 +13,26 @@ This is a deterministic, static Phase 8 snapshot of checked-in framework and int
 | OperateArticulation | framework-tested | per-embodiment integration | Typed articulation goals and execution contracts are covered. |
 | Articulation effect | framework-tested | per-embodiment integration | Joint-state terminal effect validation is covered. |
 | V1 sequential | framework-tested | per-task integration | Ordered call execution and failure propagation are covered. |
-| HandOver | framework-tested | integration-required | No landed task integration is claimed by this report. |
-| Place relation (on/inside) | framework-tested | integration-required | Embodiment frames and relation validators must be supplied. |
+| HandOver | framework-tested | per-embodiment integration | Coordinated effects and bounded recovery are covered. |
+| Place relation (on/inside) | framework-tested | per-scene integration | Standard support/container target-frame bindings install exact grounders. |
 | Registered call | framework-tested | integration-required | Production registration must declare and validate its concrete contract. |
-| V2 parallel | framework-tested | integration-required | Fail-closed by default; production use requires an authoritative validator. |
+| V2 parallel | framework-tested | integration-required | Joint/cuRobo validation is available; physical parallel acceptance remains. |
 
 Parallel execution remains fail-closed by default. Resource declarations alone do not authorize production concurrency; the selected embodiment must provide an authoritative validator.
 
 ## Checked-in Integration Matrix
 
-Only the two checked-in vertical slices below are classified as integration/production code. Physical acceptance is tracked separately.
+Only the checked-in vertical slices below are classified as integration/production code. Physical acceptance is tracked separately.
 
 | Embodiment | Task | Skill contract | Terminal effect | Program schema | Code status | Physical acceptance |
 | --- | --- | --- | --- | --- | --- | --- |
-| UR5 | Cube Pick + Place | Pick + Place(at) | attach/release | V1 sequential | checked in | pending: one cycle passed; full three-cycle gate remains |
+| UR5 | Cube Pick + Place | Pick + Place(at) | attach/release | V1 sequential | checked in | fixed-seed three-cycle and physical-loss recovery slow gates |
 | CobotMagic | Open Drawer | OperateArticulation | articulation effect | V1 sequential | checked in | fixed-seed supported-simulation slow gate; not release-required |
+| Dual UR5 + PGI | HandOver | Pick + HandOver | attach/transfer | V1 sequential | checked in | three consecutive supported-simulation contact-dynamics runs |
 
-HandOver, Place relations (`on`/`inside`), Registered calls, and V2 parallel are framework-tested but integration-required. They are intentionally not listed as checked-in integrations.
+Place-relation bindings are reusable scene integration rather than a task vertical slice. Registered calls and V2 parallel remain integration-required; physical parallel acceptance is still open.
 
-Both checked-in environment classes have zero task-local motion or demo-generation overrides; `test_task_classes_do_not_override_motion_or_demo_generation` keeps that structural metric at zero.
+The checked-in environment classes have zero task-local motion or demo-generation overrides; `test_task_classes_do_not_override_motion_or_demo_generation` keeps that structural metric at zero.
 
 ## Migration Size Snapshot
 
@@ -43,15 +44,15 @@ Counting rule: `lines` is the number of raw LF (`0x0A`) bytes; `bytes` is the ra
 
 | Task | Baseline lines | Current lines | Line delta | Baseline bytes | Current bytes | Byte delta | Current source files |
 | --- | --- | --- | --- | --- | --- | --- | --- |
-| Cube | 598 | 366 | -232 (-38.8%) | 23912 | 12448 | -11464 (-47.9%) | `embodichain_tasks/embodichain_tasks/multi_segments/cube_pick_place.py`<br>`embodichain_tasks/configs/expert_program/multi_segments/repeated_cube_pick_place.yaml` |
-| Drawer | 245 | 246 | +1 (+0.4%) | 8833 | 8391 | -442 (-5.0%) | `embodichain_tasks/embodichain_tasks/tableware/open_drawer.py`<br>`embodichain_tasks/configs/expert_program/tableware/open_drawer.json` |
-| Total | 843 | 612 | -231 (-27.4%) | 32745 | 20839 | -11906 (-36.4%) | the four files above |
+| Cube | 598 | 395 | -203 (-33.9%) | 23912 | 13272 | -10640 (-44.5%) | `embodichain_tasks/embodichain_tasks/multi_segments/cube_pick_place.py`<br>`embodichain_tasks/configs/expert_program/multi_segments/repeated_cube_pick_place.yaml` |
+| Drawer | 245 | 265 | +20 (+8.2%) | 8833 | 8916 | +83 (+0.9%) | `embodichain_tasks/embodichain_tasks/tableware/open_drawer.py`<br>`embodichain_tasks/configs/expert_program/tableware/open_drawer.json` |
+| Total | 843 | 660 | -183 (-21.7%) | 32745 | 22188 | -10557 (-32.2%) | the four files above |
 
 ## Demo Success Measurement
 
 `scripts/benchmark/expert_program/demo_success.py` executes each fixed seed exactly once, always discards the episode buffer, and counts executor exceptions as failed rows. It writes raw JSON plus a three-table Markdown report. Its CLI supports offline raw-JSON re-aggregation and an explicit `--run-simulation` mode that constructs one standard Gym environment from Gym and Expert Program configurations.
 
-No success-rate result or release gate is checked in yet. Open Drawer has a single real-simulation smoke pass, while repeated Cube still needs the tracking-threshold decision and three-cycle physical acceptance before a fixed-seed rate is meaningful.
+No multi-seed success-rate or release gate is checked in yet. Open Drawer has a real-simulation smoke pass; repeated Cube has a fixed-seed three-cycle pass plus physical-loss/re-acquisition gate; and HandOver has three consecutive contact-dynamics runs.
 
 ## Drift Check
 

docs/source/api_reference/embodichain/embodichain.lab.gym.envs.expert_program.rst

@@ -16,6 +16,8 @@ embodichain.lab.gym.envs.expert_program
       ExpertProgramEnvironmentMixin
       ExpertProgramEnvironmentAdapter
       SimulationSceneBinding
+      SupportSurfaceAffordanceBinding
+      ContainerAffordanceBinding
       SimulationResourceEndpointBinding
       SimulationRobotResourceBinding
       RobotResourceBinding
@@ -25,6 +27,7 @@ embodichain.lab.gym.envs.expert_program
       SimulationExpertProgramFactory
       SimulationSegmentPolicyPort
       ControlCommandStateEvidenceTracker
+      CuroboParallelSafetyValidatorFactory
 
 .. currentmodule:: embodichain.lab.gym.envs.expert_program
 
@@ -80,6 +83,12 @@ Simulation integration
 .. autoclass:: SimulationSceneBinding
    :members:
 
+.. autoclass:: SupportSurfaceAffordanceBinding
+   :members:
+
+.. autoclass:: ContainerAffordanceBinding
+   :members:
+
 .. autoclass:: SimulationResourceEndpointBinding
 
 .. autoclass:: SimulationRobotResourceBinding
@@ -104,3 +113,6 @@ Simulation integration
 
 .. autoclass:: ControlCommandStateEvidenceTracker
    :members:
+
+.. autoclass:: CuroboParallelSafetyValidatorFactory
+   :members: