feat(skills): add physical-effect workflows and recovery

[yuecideng]

Description

Stack

• Layer: 11/14
• Base: feat/expert-program-registration-runtime-catalog
• Depends on: feat(expert-program): add pre-simulation runtime catalog #504
• Followed by: feat(skills): add declarative placement relations #481

Consolidation

Consolidates #505 and #477 through #479 into this layer. Scope: physical handover, effect outcomes, terminal failure reconciliation, phase gates, and bounded reacquisition.
Add preset-owned, bounded workflow recovery inside the canonical SkillRuntime. Recovery starts only after the atomic-action layer emits RECOVERY_REQUIRED: rows that still physically retain the relation retry the original semantic call, while rows that lost it execute a real Pick and then retry.

Attempt budgets are per row, recovery cohorts retain the shared call barrier, every recovery call is freshly observed and grounded, and immutable traces distinguish retained retry, re-acquisition, and post-reacquisition retry. No pose, velocity, constraint, attachment, or symbolic state is fabricated to force success.

Refs #471
Refs #474

Type of change

• New feature (non-breaking change which adds functionality)

Screenshots

Not applicable.

Validation

• pytest -q tests/sim/skills/test_runtime.py tests/sim/skills/test_profiles.py tests/sim/skills/test_integration.py tests/sim/skills/test_compiler.py tests/gym/envs/expert_program/test_catalog.py tests/gym/envs/expert_program/test_simulation_environment.py tests/gym/envs/tasks/test_multi_segments_cube_pick_place.py tests/gym/envs/tasks/test_open_drawer.py tests/gym/envs/tasks/test_hand_over.py — 265 passed, 2 deselected
• Black 26.3.1 check on changed Python files

Checklist

• Changed Python files pass Black 26.3.1.
• The design plan documents the workflow-recovery policy and boundary.
• Tests cover retained relation retry, real re-acquisition, budgets, barriers, and traces.
• No dependency update is required.

[greptile-apps]

Greptile Summary

The PR adds physical-effect reconciliation and bounded workflow recovery to the semantic skill runtime, together with a unified dual-arm handover workflow.

• Adds row-local retained-relation retries and real Pick-based reacquisition.
• Adds phase-effect gates, held-object guards, and terminal failure reconciliation.
• Adds the HandOver-v1 Expert Program task, simulation bindings, configuration, documentation, and focused tests.

Confidence Score: 5/5

The PR appears safe to merge because no blocking failure remains in the eligible follow-up review scope.

No blocking failure remains.

Important Files Changed

Filename	Overview
embodichain/lab/sim/skills/runtime.py	Adds the row-local workflow recovery state machine, shared barriers, real reacquisition, retry scheduling, and immutable recovery traces.
embodichain/lab/sim/atomic_actions/execution.py	Adds correlated phase gates, held-object guards, failure-policy masks, terminal reconciliation, and their session lifecycle.
embodichain/lab/sim/atomic_actions/runner.py	Integrates physical gate and guard polling into execution while preserving controller safe-stop behavior.
embodichain/lab/sim/skills/compiler.py	Lowers semantic effects, physical checks, recovery descriptors, and unified handover calls into executable invocations.
embodichain/lab/sim/skills/effects.py	Extends effect monitoring with typed physical outcomes used for retry and invalidation decisions.
embodichain/lab/sim/atomic_actions/primitives/hand_over.py	Reworks handover into a unified pickup, transfer, receiver acquisition, placement, and release action.
embodichain_tasks/embodichain_tasks/expert_program/hand_over.py	Adds the registered dual-UR5 handover task and its scene, profile, evidence, planning, and success integration.
embodichain_tasks/configs/gym/expert_program/hand_over.json	Defines the runnable simulation scene and environment configuration for the new handover task.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
A[Execute semantic call] --> B{Physical effect verified?}
B -->|Yes| C[Commit verified task state]
B -->|No| D[Reconcile terminal evidence]
D --> E{Recovery required and budget available?}
E -->|No| F[Record terminal failure]
E -->|Yes| G{Source relation retained?}
G -->|Yes| H[Retry original semantic call]
G -->|No| I[Execute real Pick reacquisition]
I --> H
H --> A
C --> J[Advance shared call barrier]

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_{Reviews (6): Last reviewed commit: "wip" | Re-trigger Greptile}