feat(expert-program): validate parallel joint segments

[yuecideng]

Description

Stack

• Layer: 13/14
• Base: feat/placement-relation-bindings
• Depends on: feat(skills): add declarative placement relations #481
• Followed by: test(tasks): gate cube physical recovery #483
  Add a production cuRobo-backed safety validator for synchronized joint-position branches. The validator combines the merged command with measured full-robot state, requires an aggregate control part covering every commanded joint, and densifies the exact segment under a configured maximum joint step.

Every supplied sample is checked against cuRobo joint bounds, self-collision, and the registry-backed live static/dynamic world. Uncovered joints, overlapping commands, collision rows, and sample-cap under-sampling fail closed. The gate validates the command as written; it neither replans nor replaces the trajectory.

Refs #471
Refs #474

Type of change

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

Screenshots

Not applicable.

Validation

• pytest -q tests/gym/envs/expert_program/test_simulation_parallel_safety.py tests/sim/planners/test_curobo_planner.py tests/gym/envs/expert_program/test_catalog.py tests/gym/envs/expert_program/test_extensions.py tests/gym/envs/expert_program/test_simulation_environment.py — 164 passed, 1 skipped, 2 deselected
• Black 26.3.1 check on changed Python files

Checklist

• Changed Python files pass Black 26.3.1.
• Public API and usage documentation is completed by follow-up layer test(tasks): gate cube physical recovery #483.
• Tests cover exact sample order, dense interpolation, row-local collision, live world updates, and fail-closed configuration.
• No dependency update is required.

[greptile-apps]

Greptile Summary

This PR adds a cuRobo-backed safety gate for synchronized joint-position branches.

• Introduces validator and factory APIs bound to the assembled simulation runtime.
• Densifies merged joint segments and validates bounds, self-collision, and the live collision world.
• Extends planner interfaces with exact joint-trajectory validation support.
• Adds focused catalog, extension, planner, and parallel-safety tests.

Confidence Score: 5/5

The PR appears safe to merge.

No blocking failure remains.

Important Files Changed

Filename	Overview
embodichain/lab/gym/envs/expert_program/simulation_parallel_safety.py	Adds the cuRobo-backed parallel-command validator, runtime-bound factory, interpolation, and fail-closed validation.
embodichain/lab/gym/envs/expert_program/catalog.py	Binds validator creation to the exact scene registry, action engine, and robot owned by the runtime assembly.
embodichain/lab/gym/envs/expert_program/simulation_environment.py	Passes the assembled scene registry and action engine into registration-owned validator creation.
embodichain/lab/sim/planners/curobo/curobo_planner.py	Adds cuRobo trajectory-validation behavior used by the parallel safety gate.
embodichain/lab/sim/planners/motion_generator.py	Exposes planner trajectory-validation capability through the motion-generator boundary.
tests/gym/envs/expert_program/test_simulation_parallel_safety.py	Covers synchronized sampling, interpolation, collision handling, live world updates, and fail-closed configuration.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
A[Parallel branch frames] --> B[Merge joint commands]
B --> C[Combine with measured robot state]
C --> D[Densify joint segment]
D --> E[Validate joint bounds]
E --> F[Validate self-collision]
F --> G[Validate live world collision]
G --> H{All samples safe?}
H -->|Yes| I[Dispatch merged command]
H -->|No| J[Reject command]

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_{Reviews (5): Last reviewed commit: "Merge branch 'main' into feat/production..." | Re-trigger Greptile}

[greptile-apps]

Document the public safety APIs

These exports add public validator and factory APIs without documenting their required aggregate control-part configuration, interpolation limits, runtime dependencies, or integration procedure, leaving users without the repository's required public API guidance.

Context Used: AGENTS.md (source)

Prompt To Fix With AI

This is a comment left during a code review.
Path: embodichain/lab/gym/envs/expert_program/__init__.py
Line: 158-161
Comment:
**Document the public safety APIs**
These exports add public validator and factory APIs without documenting their required aggregate control-part configuration, interpolation limits, runtime dependencies, or integration procedure, leaving users without the repository's required public API guidance.
**Context Used:** AGENTS.md ([source](https://github.com/dexforce/embodichain/blob/main/AGENTS.md))
---
For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!