Add coordinated pickment atomic action#323
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Pull request overview
This PR extends EmbodiChain’s simulation atomic-action system with dual-arm, coordinated motion primitives (“CoordinatedPickment” and “CoordinatedPlacement”), including new typed target/state dataclasses, exports, docs/API reference updates, tutorial demos, and accompanying unit tests.
Changes:
- Added dual-arm coordinated atomic actions and supporting typed targets/state (
CoordinatedPickment*,CoordinatedPlacement*,CoordinatedHeldObjectState), threading the new state through existing actions viaWorldState. - Added tutorial/demo scripts for coordinated pickment and coordinated placement.
- Updated Sphinx API reference + built-in actions docs and added focused tests for the new target/state/action behavior.
Reviewed changes
Copilot reviewed 9 out of 15 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
embodichain/lab/sim/atomic_actions/core.py |
Introduces new coordinated target/state dataclasses and extends WorldState/Target union. |
embodichain/lab/sim/atomic_actions/actions.py |
Implements CoordinatedPickment and CoordinatedPlacement, plus shared dual-arm helpers and state threading. |
embodichain/lab/sim/atomic_actions/__init__.py |
Re-exports coordinated actions/targets/state through the atomic_actions package API. |
tests/sim/atomic_actions/test_core.py |
Adds unit tests for the new coordinated target/state dataclasses and WorldState carriage. |
tests/sim/atomic_actions/test_actions.py |
Adds execution-shape/state tests for coordinated actions using dual-arm mocks. |
scripts/tutorials/atomic_action/coordinated_pickment.py |
Adds an end-to-end demo script for dual-arm coordinated pickment. |
scripts/tutorials/atomic_action/coordinated_placement.py |
Adds an end-to-end demo script for dual-arm coordinated placement. |
docs/source/overview/sim/atomic_actions/builtin_actions.md |
Documents the new coordinated actions in the “built-in actions” overview. |
docs/source/api_reference/embodichain/embodichain.lab.sim.atomic_actions.rst |
Exposes the new actions/targets/state in the generated API reference. |
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| return ( | ||
| True, | ||
| self._interpolate_qpos_keyframes(left_traj, keyframe_indices, n_waypoints), | ||
| self._interpolate_qpos_keyframes(right_traj, keyframe_indices, n_waypoints), | ||
| ) |
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| Dual-arm placement motion for two already-held objects. The placing arm moves its | ||
| held object to the upper target and releases it; the support arm moves its held | ||
| object to the support target and keeps holding. On success, `WorldState.held_object` | ||
| is the support object and `coordinated_held_object` is cleared. | ||
|
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| left_grasp_xpos=left_target_xpos, | ||
| right_grasp_xpos=right_target_xpos, |
| "right_hand_close_qpos", | ||
| ): | ||
| if getattr(self.cfg, name) is None: | ||
| logger.log_error(f"{name} must be specified in CoordinatedPickmentCfg") |
skywhite1024
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yuecideng
requested changes
Jul 1, 2026
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Summary
CoordinatedPickmentdual-arm atomic action for pinching one shared object with two grippers, lifting it, and moving it to an object-centric target pose.CoordinatedPickmentTargetandCoordinatedHeldObjectState, public API exports, API docs, and focused tests for the world-state contract.pencil/potobjects pluspencil.glb,pot.glb, andtable.glbassets.docs/source/_static/atomic_actions/coordinated_pickment.gif.Validation
git diff --check origin/main...HEADpython3 -m py_compile embodichain/lab/sim/atomic_actions/core.py embodichain/lab/sim/atomic_actions/actions.py embodichain/lab/sim/atomic_actions/__init__.py tests/sim/atomic_actions/test_core.py tests/sim/atomic_actions/test_actions.py scripts/tutorials/atomic_action/coordinated_pickment.pyconda run -n embodichain040 python -m black --check --diff --color ./conda run -n embodichain040 pytest tests/sim/atomic_actions/test_actions.py tests/sim/atomic_actions/test_core.py(42 passed)conda run -n embodichain040 pytest tests/sim/atomic_actions/test_engine.py(13 passed)conda run -n embodichain040 python scripts/tutorials/atomic_action/coordinated_pickment.py --object pot --diagnose_plan --headless_playNotes
CoordinatedPlacementcode, docs, tests, demo, and placement-only assets were removed from this PR because that action is handled by a separate PR.main.