Add coordinated placement and atomic action benchmarks

docs/source/api_reference/embodichain/embodichain.lab.sim.atomic_actions.rst

@@ -17,6 +17,7 @@ embodichain.lab.sim.atomic_actions
       GraspTarget
       HeldObjectPoseTarget
       CoordinatedPickmentTarget
+      CoordinatedPlacementTarget
       Target
       HeldObjectState
       CoordinatedHeldObjectState
@@ -39,6 +40,8 @@ embodichain.lab.sim.atomic_actions
       Press
       CoordinatedPickmentCfg
       CoordinatedPickment
+      CoordinatedPlacementCfg
+      CoordinatedPlacement
       AtomicActionEngine
 
 .. currentmodule:: embodichain.lab.sim.atomic_actions
@@ -86,6 +89,10 @@ Core
     :members:
     :show-inheritance:
 
+.. autoclass:: CoordinatedPlacementTarget
+    :members:
+    :show-inheritance:
+
 .. autodata:: Target
 
 .. autoclass:: HeldObjectState
@@ -185,6 +192,15 @@ Actions
     :members:
     :show-inheritance:
 
+.. autoclass:: CoordinatedPlacementCfg
+    :members:
+    :exclude-members: __init__, copy, replace, to_dict
+    :show-inheritance:
+
+.. autoclass:: CoordinatedPlacement
+    :members:
+    :show-inheritance:
+
 Engine & Registry
 -----------------
 

docs/source/overview/sim/atomic_actions/builtin_actions.md

@@ -16,6 +16,7 @@ The following actions are available out of the box:
 | `Place` | Single | `EndEffectorPoseTarget` — EEF release pose | Lower → open gripper → retract | <img src="../../../_static/atomic_actions/place.gif" alt="Place" width="480" style="max-width: 100%;" /> |
 | `Press` | Single | `EndEffectorPoseTarget` — EEF press pose | Close gripper → press down → return | <img src="../../../_static/atomic_actions/press.gif" alt="Press" width="480" style="max-width: 100%;" /> |
 | `CoordinatedPickment` | Dual | `CoordinatedPickmentTarget` — shared-object pose | Approach both ends → close both grippers → lift → move object | <img src="../../../_static/atomic_actions/coordinated_pickment.gif" alt="CoordinatedPickment" width="480" style="max-width: 100%;" /> |
+| `CoordinatedPlacement` | Dual | `CoordinatedPlacementTarget` — two held-object poses | Move support object → align placing object → release placing hand → retreat | <img src="../../../_static/atomic_actions/coordinated_placement.gif" alt="CoordinatedPlacement" width="480" style="max-width: 100%;" /> |
 
 ---
 
@@ -171,3 +172,41 @@ while keeping both grippers closed. On success, the returned `WorldState` carrie
 semantics, and left/right object-to-EEF transforms.
 
 ![CoordinatedPickment demo](../../../_static/atomic_actions/coordinated_pickment.gif)
+
+---
+
+## `CoordinatedPlacement`
+
+Dual-arm object-centric placement. The support arm moves its held object to a lower
+target pose and keeps its gripper closed. The placing arm moves its held object to
+the aligned upper target pose, optionally opens the placing hand, then lifts away.
+
+`CoordinatedPlacement` is intentionally explicit about dual-arm state: the target
+contains both `placing_held_object` and `support_held_object`. This avoids relying
+on the engine's single `WorldState.held_object` slot to infer two simultaneously
+held objects.
+
+| Config field | Default | Description |
+|---|---|---|
+| `control_part` | `"dual_arm"` | Robot control part containing both arms |
+| `placing_arm_control_part` | `"left_arm"` | Arm that releases the placed object |
+| `support_arm_control_part` | `"right_arm"` | Arm that keeps holding the support object |
+| `placing_hand_control_part` | `"left_hand"` | Placing gripper control part |
+| `support_hand_control_part` | `"right_hand"` | Support gripper control part |
+| `placing_hand_open_qpos` | `None` | **Required.** Placing gripper open joint positions |
+| `placing_hand_close_qpos` | `None` | **Required.** Placing gripper closed joint positions |
+| `support_hand_close_qpos` | `None` | **Required.** Support gripper closed joint positions |
+| `release` | `True` | Whether to open the placing gripper |
+| `placing_height_offset` | `0.0` | World-Z offset applied to the placing object target pose |
+| `support_height_offset` | `0.0` | World-Z offset applied to the support object target pose |
+| `lift_height` | `0.08` | Placing-arm lift distance after release (m) |
+| `hand_interp_steps` | `10` | Waypoints for placing-hand release |
+| `hold_steps` | `4` | Alignment hold waypoints before release |
+| `retreat_steps` | `16` | Placing-arm retreat waypoints |
+| `sample_interval` | `100` | Total waypoints across all phases |
+
+**Target:** `CoordinatedPlacementTarget(...)` with placing/support object target
+poses plus the corresponding `HeldObjectState` values. On success, the returned
+`WorldState.held_object` is the support object's held state.
+
+![CoordinatedPlacement demo](../../../_static/atomic_actions/coordinated_placement.gif)

docs/source/overview/sim/atomic_actions/index.md

@@ -30,6 +30,7 @@ EndEffectorPoseTarget(xpos)                │
 JointPositionTarget(qpos)                  ├─ IK solve when pose-based
 NamedJointPositionTarget(name)             ├─ Motion plan / interpolation
 HeldObjectPoseTarget(pose)                 └─ Gripper interpolation when needed
+CoordinatedPlacementTarget(...)            │
                                                    │
                                            ActionResult
                                            (success, full-DoF traj, next_state)
@@ -62,6 +63,7 @@ and every action declares the target type, or tuple of target types, it accepts
 | `NamedJointPositionTarget` | `NamedJointPositionTarget(name)` | `MoveJoints` |
 | `GraspTarget` | `GraspTarget(semantics)` | `PickUp` |
 | `HeldObjectPoseTarget` | `HeldObjectPoseTarget(object_target_pose)` | `MoveHeldObject` |
+| `CoordinatedPlacementTarget` | `CoordinatedPlacementTarget(...)` | `CoordinatedPlacement` |
 
 `Target` is the union of these typed target dataclasses.
 
@@ -99,6 +101,7 @@ action's `TargetType` before calling `execute`:
 | `NamedJointPositionTarget(name)` | Name resolved from `MoveJointsCfg.named_joint_positions` | `MoveJoints` |
 | `GraspTarget(semantics)` | `ObjectSemantics` (affordance + entity) | `PickUp` |
 | `HeldObjectPoseTarget(object_target_pose)` | Desired held-object pose tensor | `MoveHeldObject` |
+| `CoordinatedPlacementTarget(...)` | Two held-object states plus object-centric placing/support target poses | `CoordinatedPlacement` |
 
 `WorldState` is threaded between actions and carries the robot's `last_qpos` plus an optional
 `held_object: HeldObjectState`. The built-in actions update it as follows:
@@ -108,6 +111,7 @@ action's `TargetType` before calling `execute`:
 | `PickUp` | Populates it (computed object-to-EEF transform) |
 | `MoveHeldObject` | Requires it; preserves it unchanged |
 | `Place` | Clears it to `None` |
+| `CoordinatedPlacement` | Returns the support arm's `HeldObjectState`; the placing object is released |
 | `MoveEndEffector` | Leaves it unchanged |
 | `MoveJoints` | Leaves it unchanged |
 | `Press` | Leaves it unchanged |
@@ -307,6 +311,7 @@ builtin_actions
   - `scripts/tutorials/atomic_action/move_held_object.py`
   - `scripts/tutorials/atomic_action/place.py`
   - `scripts/tutorials/atomic_action/press.py`
+  - `scripts/tutorials/atomic_action/coordinated_placement.py`
 
 Run a demo in headless CPU mode with `--auto_play --headless --device cpu` to record
 an MP4 under `outputs/videos`. For example:

embodichain/lab/sim/atomic_actions/__init__.py

@@ -33,6 +33,7 @@
     AtomicAction,
     CoordinatedHeldObjectState,
     CoordinatedPickmentTarget,
+    CoordinatedPlacementTarget,
     GraspTarget,
     HeldObjectState,
     HeldObjectPoseTarget,
@@ -46,6 +47,8 @@
 from .actions import (
     CoordinatedPickment,
     CoordinatedPickmentCfg,
+    CoordinatedPlacement,
+    CoordinatedPlacementCfg,
     MoveEndEffector,
     MoveJoints,
     MoveHeldObject,
@@ -75,6 +78,7 @@
     "ObjectSemantics",
     "CoordinatedHeldObjectState",
     "CoordinatedPickmentTarget",
+    "CoordinatedPlacementTarget",
     "HeldObjectState",
     "HeldObjectPoseTarget",
     "JointPositionTarget",
@@ -88,13 +92,15 @@
     "AtomicAction",
     # Action implementations
     "CoordinatedPickment",
+    "CoordinatedPlacement",
     "MoveEndEffector",
     "MoveJoints",
     "MoveHeldObject",
     "PickUp",
     "Place",
     "Press",
     "CoordinatedPickmentCfg",
+    "CoordinatedPlacementCfg",
     "MoveEndEffectorCfg",
     "MoveJointsCfg",
     "MoveHeldObjectCfg",