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feat(skills): add declarative placement relations #481

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4 changes: 4 additions & 0 deletions embodichain/lab/gym/envs/expert_program/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -118,6 +118,7 @@
AntipodalGraspAffordanceBinding,
ArticulationOperationAffordanceBinding,
ArticulationOperationTargetBinding,
ContainerAffordanceBinding,
ControlPartCommandPreset,
ControlPartEndpointBinding,
ControlPartResourceBinding,
Expand All @@ -129,6 +130,7 @@
SimulationRobotResourceBinding,
SimulationRobotSkillProfileBinding,
SimulationSceneBinding,
SupportSurfaceAffordanceBinding,
)
from .catalog import (
ExpertProgramIntegrationCatalog,
Expand Down Expand Up @@ -180,6 +182,7 @@
"CompiledProgramValidator",
"CompiledRepeatFrame",
"CompiledTargetSelection",
"ContainerAffordanceBinding",
"ControlCommandStateEvidenceTracker",
"ControlPartCommandPreset",
"ControlPartEndpointBinding",
Expand Down Expand Up @@ -261,6 +264,7 @@
"SimulationSceneBinding",
"SimulationSegmentPolicyPort",
"StandardExtensionDeclarations",
"SupportSurfaceAffordanceBinding",
"SUPPORTED_EXPERT_PROGRAM_SCHEMA_VERSIONS",
"TargetCfg",
"TargetRefCfg",
Expand Down
24 changes: 23 additions & 1 deletion embodichain/lab/gym/envs/expert_program/catalog.py
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,7 @@
PLACE_ON_AFFORDANCE_CAPABILITY,
POSE_RELATION_EFFECT_CHANNEL,
BoundRobotSkillProfile,
ContainerRelationTargetGrounder,
HandOverPoseProvider,
OperateArticulation,
Place,
Expand All @@ -74,6 +75,7 @@
SemanticIntegrationManifest,
SemanticValidationError,
SkillPolicyPreset,
SupportSurfaceRelationTargetGrounder,
builtin_semantic_call_catalog,
)
from embodichain.lab.sim.skills.effects import (
Expand Down Expand Up @@ -301,6 +303,18 @@ def _snapshot_relation_grounders(
return tuple(values)


def _builtin_relation_grounders(
scene_binding: SimulationSceneBinding,
) -> tuple[RelationTargetGrounder, ...]:
"""Install standard grounders for declared production relation bindings."""
values: list[RelationTargetGrounder] = []
if scene_binding.support_surfaces:
values.append(SupportSurfaceRelationTargetGrounder())
if scene_binding.containers:
values.append(ContainerRelationTargetGrounder())
return tuple(values)


def _snapshot_relation_grounder_keys(
values: frozenset[tuple[str, type[Affordance], str]],
) -> frozenset[tuple[str, type[Affordance], str]]:
Expand Down Expand Up @@ -1262,7 +1276,15 @@ def __post_init__(self) -> None:
_validate_standard_call_catalog(self.call_catalog)
settle_presets = _snapshot_settle_presets(self.settle_presets)
object.__setattr__(self, "settle_presets", settle_presets)
relation_grounders = _snapshot_relation_grounders(self.relation_grounders)
configured_relation_grounders = _snapshot_relation_grounders(
self.relation_grounders
)
relation_grounders = _snapshot_relation_grounders(
(
*_builtin_relation_grounders(self.scene_binding),
*configured_relation_grounders,
)
)
object.__setattr__(self, "relation_grounders", relation_grounders)
relation_grounder_keys = frozenset(
_relation_grounder_key(grounder) for grounder in relation_grounders
Expand Down
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