Refactor atomic actions into primitives package#346
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Move built-in atomic action implementations into atomic_actions.primitives while preserving existing package-level and actions.py imports. Update tutorial, API reference, overview docs, and the add-atomic-action skill to reflect the new layout.
yuecideng
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Pull request overview
This PR reorganizes EmbodiChain’s built-in atomic action implementations into a dedicated embodichain.lab.sim.atomic_actions.primitives subpackage while keeping existing public and legacy import paths working, and updates the docs/skill guidance accordingly.
Changes:
- Split each built-in atomic action into its own module under
atomic_actions/primitives/and added aprimitivespackage export surface. - Converted
atomic_actions/actions.pyinto a backward-compatible re-export facade and updatedatomic_actions/__init__.pyto import fromprimitives. - Extended Sphinx API reference and tutorial/overview docs (plus the
add-atomic-actionskill) to reflect the new layout.
Reviewed changes
Copilot reviewed 14 out of 14 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| embodichain/lab/sim/atomic_actions/primitives/place.py | New Place primitive module. |
| embodichain/lab/sim/atomic_actions/primitives/pick_up.py | New PickUp primitive module (grasp planning + held-object state). |
| embodichain/lab/sim/atomic_actions/primitives/move_joints.py | New MoveJoints primitive module (joint-space planning). |
| embodichain/lab/sim/atomic_actions/primitives/move_held_object.py | New MoveHeldObject primitive module (object-pose target while holding). |
| embodichain/lab/sim/atomic_actions/primitives/move_end_effector.py | New MoveEndEffector primitive module (EEF pose planning). |
| embodichain/lab/sim/atomic_actions/primitives/_helpers.py | Shared internal helpers extracted for primitives. |
| embodichain/lab/sim/atomic_actions/primitives/init.py | New primitives package exports. |
| embodichain/lab/sim/atomic_actions/actions.py | Replaced concrete implementations with compatibility re-exports. |
| embodichain/lab/sim/atomic_actions/init.py | Public API now imports built-ins from primitives. |
| docs/source/tutorial/atomic_actions.rst | Tutorial updated to describe new primitives layout and export steps. |
| docs/source/overview/sim/atomic_actions/index.md | Overview updated to mention primitives and legacy facade. |
| docs/source/api_reference/embodichain/embodichain.lab.sim.atomic_actions.rst | API reference updated with layout notes + hidden toctree to primitives. |
| docs/source/api_reference/embodichain/embodichain.lab.sim.atomic_actions.primitives.rst | New API reference page documenting primitive modules. |
| .agents/skills/add-atomic-action/SKILL.md | Skill guidance updated to scaffold built-ins under primitives/ and docs paths. |
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| lift_offset = torch.tensor([0, 0, 1], device=self.device) * self.cfg.lift_height |
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Description
This PR refactors the built-in atomic action implementations into a dedicated
embodichain.lab.sim.atomic_actions.primitivessubpackage while preserving existing public imports.Summary:
atomic_actions/primitives/.embodichain.lab.sim.atomic_actionsas the recommended public API andatomic_actions.actionsas a backward-compatible re-export facade.add-atomic-actionskill to point future built-ins at the new layout.Dependencies: None.
Fixes: N/A
Type of change
Screenshots
N/A
Verification
black .black --check --diff --color ./git diff --checkpython -m compileall -q embodichain/lab/sim/atomic_actionspytest tests/sim/atomic_actions -q(93 passed)python -m sphinx -b html docs/source /tmp/embodichain-docs-atomic-actions(succeeded with existing project-wide warnings)--headless --auto_play --device cpuChecklist
black .command to format the code base.