feat(sim): add declarative scene and robot skill foundation

agent_context/MAP.yaml

@@ -280,6 +280,8 @@ topics:
       - toppra
       - motion generator
       - trajectory planning
+      - curobo collision world
+      - dynamic collision integration
       - 运动生成
       - 运动规划
       - 轨迹规划
@@ -296,6 +298,16 @@ topics:
       - waypoint
       - velocity
       - acceleration
+      - canonical obstacle ID
+      - logical collision source ID
+      - physical YAML obstacle name
+      - sphere derived obstacle names
+      - empty collision mesh
+      - dynamic_collision_entity_ids
+      - collision_world_entity_ids
+      - collision_world_batch_mode
+      - collision_geometry_by_id
+      - make_planning_scene_provider
     paths:
       - topics/motion-planning/motion-planning.md
     source_of_truth:
@@ -304,9 +316,11 @@ topics:
       - embodichain/lab/sim/planners/curobo/curobo_planner.py
       - embodichain/lab/sim/planners/curobo/curobo_yaml.py
       - embodichain/lab/sim/planners/motion_generator.py
+      - embodichain/lab/sim/skills/scene.py
     related_topics:
       - robot-system
       - ik-solvers
+      - atomic-actions
     status: active
 
   - id: rl-learning
@@ -427,6 +441,15 @@ topics:
       - atomic actions
       - motion primitive
       - action primitive
+      - object semantics
+      - scene grounding
+      - scene registry
+      - semantic scene
+      - robot skill profile
+      - resource graph
+      - resource DAG
+      - semantic skill catalog
+      - capability binding
       - AtomicAction
       - ActionInvocation
       - AtomicActionEngine
@@ -451,12 +474,76 @@ topics:
       - SceneSnapshotSupplier
       - SceneProvider
       - RigidObjectSceneProvider
+      - SceneRegistry
+      - RegistrySceneProvider
+      - SceneEntityRef
+      - SceneObjectRef
+      - SceneArticulationRef
+      - SceneLinkRef
+      - SceneAffordanceRef
+      - SceneEntityRegistration
+      - SceneCollisionRole
+      - SceneCollisionWorldMode
+      - from_simulation
+      - validate_collision_integration
+      - make_planning_scene_provider
+      - collision_geometry_by_id
+      - collision_world_entity_ids
+      - canonical scene ID
+      - logical collision source ID
+      - sphere derived obstacle names
+      - empty collision mesh
+      - flat entity namespace
+      - native_name
+      - parent native source identity
+      - ObjectSemantics
+      - entity_id
+      - frozen ObjectSemantics
+      - legacy uid
+      - stable entity identity
+      - snapshot grounding
+      - AssembleGoal
+      - AssembleAffordance
+      - base_pose
+      - _scene_dependencies
       - collision world revision
       - dynamic obstacle
       - StateDelta
       - held_objects
       - HeldObjectState
       - ActionBinding
+      - ActionBindingRoute
+      - SkillBindingContract
+      - SkillResourceSlot
+      - SkillEndpointRequirement
+      - DisjointSlotEndpoints
+      - DisjointResourceSlots
+      - RobotSkillProfile
+      - BoundRobotSkillProfile
+      - RobotResource
+      - ResourceEndpoint
+      - ResourceEndpointAdapter
+      - ControlPartEndpoint
+      - ControlPartEndpointAdapter
+      - EndpointResolution
+      - ResolvedResourceEndpoint
+      - ResourceBinding
+      - ResourceClaim
+      - ResolvedRobotResource
+      - ResolvedSkillBinding
+      - SkillPolicyPreset
+      - binding_contract
+      - engine.skills
+      - skill_profile
+      - command_profiles
+      - action_control_profiles
+      - endpoint_adapters
+      - endpoint snapshot
+      - requires_command_profile
+      - claim_tokens
+      - capability
+      - whole body resource
+      - leaf resource claim
       - SceneEntityPose
       - dynamic goal
       - error recovery
@@ -486,10 +573,13 @@ topics:
     source_of_truth:
       - embodichain/lab/sim/atomic_actions/core.py
       - embodichain/lab/sim/atomic_actions/goals.py
+      - embodichain/lab/sim/atomic_actions/effects.py
+      - embodichain/lab/sim/atomic_actions/affordance.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/requirements.py
       - embodichain/lab/sim/atomic_actions/runtime.py
       - embodichain/lab/sim/atomic_actions/state.py
       - embodichain/lab/sim/atomic_actions/plans.py
@@ -501,6 +591,9 @@ topics:
       - embodichain/lab/sim/atomic_actions/trajectory_ops.py
       - embodichain/lab/sim/atomic_actions/primitives/
       - embodichain/lab/sim/atomic_actions/__init__.py
+      - embodichain/lab/sim/skills/scene.py
+      - embodichain/lab/sim/skills/profiles.py
+      - embodichain/lab/sim/skills/__init__.py
     related_topics:
       - motion-planning
       - robot-system