Add coordinated placement and atomic action benchmarks

[skywhite1024]

Description

This PR adds the atomic action updates needed for the current branch to merge directly into main:

• CoordinatedPlacement, an object-centric dual-arm atomic action where both arms already hold objects: the support arm keeps holding the support object, while the placing arm aligns its held object, releases it, and retreats.
• A bread-on-pan coordinated placement tutorial with target-axis visualization and a documented GIF.
• The Press atomic action/tutorial documentation and the atomic action benchmark suite that were previously based on ljd/benchmark_atomic_actions.
• Merge conflict resolution against latest origin/main, keeping main robot/tutorial refactors while preserving this PR`s atomic action additions.

Dependencies: none beyond the existing simulation/tutorial dependencies.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• Enhancement (non-breaking change which improves an existing functionality)
• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

Screenshots

See docs/source/_static/atomic_actions/coordinated_placement.gif and the built-in atomic actions documentation.

Notes

• CoordinatedPlacementTarget explicitly carries both placing/support HeldObjectState values instead of relying on the single-slot WorldState.held_object to represent dual held objects.
• On success, WorldState.held_object is updated to the support object held state, because the placing object has been released while the support object remains held.
• The coordinated placement tutorial draws target axes at the support/placing object target poses.

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.

Tests

• conda run -n embodichain python -m pytest tests/sim/atomic_actions/test_actions.py
• conda run -n embodichain python -m pytest tests/sim/atomic_actions/test_trajectory.py
• conda run -n embodichain black --check --diff --color ./

[Copilot]

Pull request overview

This PR expands EmbodiChain’s atomic action layer with new manipulation primitives and supporting developer tooling, including tutorials, documentation, benchmarks, and unit tests.

Changes:

• Added two new atomic actions: Press (single-arm) and CoordinatedPlacement (dual-arm, object-centric target).
• Added/updated tutorial utilities and a new press.py tutorial script, plus documentation updates to include the new actions/targets.
• Introduced an atomic-action benchmark suite (dispatcher + per-action benchmarks) and integrated it into scripts/benchmark.

Reviewed changes

Copilot reviewed 21 out of 26 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
tests/sim/atomic_actions/test_actions.py	Adds unit tests for Press and CoordinatedPlacement behavior/trajectory shapes.
scripts/tutorials/atomic_action/tutorial_utils.py	Adds make_ur5_solver_cfg() and extends axis marker drawing with arena_index.
scripts/tutorials/atomic_action/press.py	New tutorial script demonstrating Press planning/replay and target-axis visualization.
scripts/benchmark/atomic_action/run_benchmark.py	New benchmark dispatcher to run one or many atomic-action benchmarks (optionally subprocess-isolated).
scripts/benchmark/atomic_action/press_benchmark.py	New Press benchmark including timing/memory and “press center hit” metric + markdown report output.
scripts/benchmark/atomic_action/place_benchmark.py	New Place benchmark (with PickUp precondition) using shared benchmark helpers.
scripts/benchmark/atomic_action/pickup_benchmark.py	New PickUp benchmark using shared benchmark helpers.
scripts/benchmark/atomic_action/move_joints_benchmark.py	New MoveJoints benchmark using shared benchmark helpers.
scripts/benchmark/atomic_action/move_held_object_benchmark.py	New MoveHeldObject benchmark (with PickUp precondition) using shared benchmark helpers.
scripts/benchmark/atomic_action/move_end_effector_benchmark.py	New MoveEndEffector benchmark using shared benchmark helpers.
scripts/benchmark/atomic_action/common.py	New shared utilities for benchmark selection, timing/memory, video recording, and markdown reporting.
scripts/benchmark/atomic_action/init.py	New benchmark package initializer.
scripts/benchmark/main.py	Adds atomic-action subcommand wiring to the benchmark CLI.
embodichain/lab/sim/atomic_actions/core.py	Introduces CoordinatedPlacementTarget and extends the Target union + exports.
embodichain/lab/sim/atomic_actions/actions.py	Implements Press + CoordinatedPlacement actions and their config classes; updates module exports/docs.
embodichain/lab/sim/atomic_actions/init.py	Re-exports new action types/configs/targets and updates module docs.
docs/source/tutorial/atomic_actions.rst	Updates tutorial index to include Press and its demo script.
docs/source/overview/sim/atomic_actions/index.md	Updates overview diagrams/tables to include CoordinatedPlacementTarget and new demos.
docs/source/overview/sim/atomic_actions/builtin_actions.md	Documents Press and CoordinatedPlacement with config/target details and GIF references.
docs/source/api_reference/embodichain/embodichain.lab.sim.atomic_actions.rst	Adds API reference entries for Press* and CoordinatedPlacement* symbols.

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