feat(task-engine): add semantic task interpretation and grounding

embodichain/gen_sim/action_engine/generation/models.py

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+# ----------------------------------------------------------------------------
+# 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.
+# ----------------------------------------------------------------------------
+
+"""Small value objects used by Action Engine config generation."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Any
+
+__all__ = ["GeneratedConfigPaths", "PreparedScene"]
+
+
+@dataclass(frozen=True)
+class GeneratedConfigPaths:
+    """Paths written by one successful generation transaction."""
+
+    gym_config: Path
+    agent_config: Path
+    task_spec: Path
+    scene_requirements: Path
+    seed_task_graph: Path
+    seed_task_graph_png: Path
+    planning_mode: str = "offline"
+
+    @property
+    def execution_program(self) -> Path:
+        """Retain the Python API alias for callers migrating to SeedGraph v3."""
+        return self.seed_task_graph
+
+    @property
+    def offline_seed_task_graph(self) -> Path:
+        """Explicit A/B alias for the immutable offline SeedGraph artifact."""
+        return self.seed_task_graph
+
+    @property
+    def seed_task_graph_path(self) -> Path:
+        """Path-style alias used by runtime config loaders."""
+        return self.seed_task_graph
+
+    @property
+    def offline_seed_task_graph_path(self) -> Path:
+        """Verbose alias for callers that distinguish A/B graph branches."""
+        return self.seed_task_graph
+
+    @property
+    def offline_seed_task_graph_png(self) -> Path:
+        """Explicit A/B alias for the review rendering of the offline graph."""
+        return self.seed_task_graph_png
+
+
+@dataclass(frozen=True)
+class PreparedScene:
+    """A source scene normalized for both planning and simulator loading."""
+
+    source_config_path: Path
+    scene_dir: Path
+    planner_objects: tuple[dict[str, Any], ...]
+    background: tuple[dict[str, Any], ...]
+    rigid_objects: tuple[dict[str, Any], ...]
+    articulations: tuple[dict[str, Any], ...]
+    uid_map: dict[str, str]
+    table_top_z: float | None
+    z_rotation_degrees: float
+    body_scale_policy: str
+    body_scale: tuple[float, float, float]
+    asset_hashes: dict[str, str]
+    asset_provenance: tuple[dict[str, Any], ...] = ()

embodichain/gen_sim/action_engine/generation/templates/robot_profiles.json

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+{
+  "dual_franka": {
+    "aliases": ["franka", "panda", "dual_panda", "dual_franka_panda"],
+    "template": "dual_franka_robot.json",
+    "robot_family": "franka",
+    "tabletop_clearance": 0.05,
+    "arm_component_z": 0.4,
+    "arm_base_x": -1.45,
+    "gripper_open_state": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+    "gripper_close_state": [0.7, -0.7, 0.7, -0.7, -0.7, 0.7]
+  },
+  "dual_ur3": {
+    "aliases": ["ur3", "dual_ur3_dh_pgi", "dual_ur3_robotiq", "dual_ur3_robotiq_arg2f_140"],
+    "template": "dual_ur_robot.json",
+    "robot_family": "ur3",
+    "tabletop_clearance": 0.05,
+    "arm_component_z": 0.4,
+    "arm_base_x": -1.45,
+    "max_effort": 56.0,
+    "gripper_open_state": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+    "gripper_close_state": [0.7, -0.7, 0.7, -0.7, -0.7, 0.7]
+  },
+  "dual_ur5": {
+    "aliases": ["ur5", "dual_ur5_dh_pgi", "dual_ur5_robotiq", "dual_ur5_robotiq_arg2f_140"],
+    "template": "dual_ur_robot.json",
+    "robot_family": "ur5",
+    "tabletop_clearance": 0.05,
+    "arm_component_z": 0.4,
+    "arm_base_x": -1.45,
+    "max_effort": 10000.0,
+    "gripper_open_state": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+    "gripper_close_state": [0.7, -0.7, 0.7, -0.7, -0.7, 0.7]
+  },
+  "dual_ur10": {
+    "aliases": ["ur10", "dual_ur10_dh_pgi", "dual_ur10_robotiq", "dual_ur10_robotiq_arg2f_140"],
+    "template": "dual_ur_robot.json",
+    "robot_family": "ur10",
+    "tabletop_clearance": 0.05,
+    "arm_component_z": 0.3,
+    "arm_base_x": -1.1,
+    "max_effort": 330.0,
+    "gripper_open_state": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+    "gripper_close_state": [0.7, -0.7, 0.7, -0.7, -0.7, 0.7]
+  }
+}

embodichain/gen_sim/action_engine/tasks/__init__.py

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+# ----------------------------------------------------------------------------
+# 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.
+# ----------------------------------------------------------------------------
+
+"""Task-first generation and scene hand-off for Action Engine v2."""
+
+from __future__ import annotations
+
+from .assembly import GroundedTaskSpec
+from .interpretation import (
+    GroundingCaller,
+    INSTRUCTION_INTENT_SCHEMA,
+    InstructionDraftResult,
+    InstructionCaller,
+    InstructionIntent,
+    ground_instruction_draft,
+    interpret_instruction_draft,
+    interpret_and_ground_task_spec,
+    validate_instruction_intent,
+)
+from .scene import SceneHandoff, validate_scene_handoff
+
+__all__ = [
+    "GroundedTaskSpec",
+    "GroundingCaller",
+    "INSTRUCTION_INTENT_SCHEMA",
+    "InstructionDraftResult",
+    "InstructionCaller",
+    "InstructionIntent",
+    "SceneHandoff",
+    "ground_instruction_draft",
+    "interpret_instruction_draft",
+    "interpret_and_ground_task_spec",
+    "validate_instruction_intent",
+    "validate_scene_handoff",
+]