refactor(atomic-actions): add typed tracking contracts

[yuecideng]

Description

Stack

• Layer: 9/14
• Base: feat/expert-program-rollout-validation
• Depends on: feat(tasks): add declarative task slices and rollout validation #500
• Followed by: feat(expert-program): add pre-simulation runtime catalog #504
  Replace implicit trajectory-error callbacks with typed tracking observations, metric bands, in-flight/terminal policies, and immutable tracking results.

The execution session can now diagnose row-local divergence, success, staleness, and retry through a stable public contract shared by direct atomic actions and semantic runtimes.

Refs #471
Refs #474

Type of change

• Breaking change (tracking callbacks are replaced by typed contracts)

Screenshots

Not applicable.

Validation

• Focused coverage: tests/sim/atomic_actions/test_tracking.py, test_engine_per_env.py, test_runner.py, and semantic runtime/profile tests
• Final affected-suite regression on the stack tip: 1215 passed, 2 skipped, 8 deselected
• Changed Python files pass Black 26.3.1; the Sphinx build and rollout-report drift check pass at the stack tip

Checklist

• Changed Python files pass Black 26.3.1.
• Corresponding public/design documentation is included in this stack.
• Tests cover the affected behavior.
• No dependency update is required.

[greptile-apps]

Greptile Summary

This PR replaces implicit trajectory-error callbacks with typed, versioned tracking contracts shared by direct atomic actions and semantic skill runtimes.

• Adds typed tracking channels, feedback providers, command projectors, metric evaluators, policies, and immutable evaluation results.
• Integrates in-flight tracking and terminal acceptance into execution, bindings, action profiles, and semantic runtimes.
• Updates public exports, documentation, tutorials, and focused execution and tracking tests.

Confidence Score: 5/5

The PR appears safe to merge because no blocking failure remains.

No blocking failure remains.

Important Files Changed

Filename	Overview
embodichain/lab/sim/atomic_actions/tracking.py	Introduces typed tracking channels, states, policies, registries, built-in providers, projectors, evaluators, and immutable evaluation contracts.
embodichain/lab/sim/atomic_actions/execution.py	Integrates typed in-flight evaluation, terminal acceptance, feedback failure handling, and tracking-route continuity into execution.
embodichain/lab/sim/atomic_actions/core.py	Projects endpoint commands into command-aligned tracking frames while validating channel coverage.
embodichain/lab/sim/atomic_actions/plans.py	Extends action plans with tracking sequences and validates consistent setpoint identities and routes across frames.
embodichain/lab/sim/skills/profiles.py	Adds tracking policies and typed endpoint tracking bindings to semantic skill profiles.
embodichain/lab/sim/skills/runtime.py	Propagates typed tracking behavior through semantic workflow execution and result reporting.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
A[Action invocation] --> B[Action plan]
B --> C[Timed command sequence]
B --> D[Timed tracking sequence]
C --> E[Command transport]
E --> F[Robot or simulator]
F --> G[Typed feedback provider]
D --> H[Tracking frame]
G --> I[Metric evaluator]
H --> I
I --> J{Tracking policy}
J -->|Accepted| K[Complete or verify effect]
J -->|Pending| L[Continue or settle]
J -->|Violation| M[Retry or replan]

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