feat(task-engine): add TaskSpec and semantic task-graph contracts

[skywhite1024]

Description

Stack

• Stack: #543
• Layer: 3/8
• Base: ljd/gen-sim-refactor-01-scene-engine
• Depends on: feat(scene-engine): add generated-scene authoring and editing #532
• Followed by: feat(task-engine): add task interpretation and canonical scene binding #534

Replace the direct-AtomicAction SeedGraph foundation with immutable Task Engine contracts built around the canonical Semantic Skill call format.

Architecture boundary

• Adds immutable, JSON-safe TaskSpec, SuccessSpec, and SemanticTaskGraph values.
• Freezes semantic_task_graph/v1; each node contains exactly one call decoded and re-encoded by the public Expert Program semantic-call codec.
• Carries the canonical 64-character semantic integration fingerprint instead of a GenSim capability-catalog hash.
• Validates node and TaskGroup DAGs, complete TaskGroup membership, semantic success predicates, planner provenance, and bounded TaskGroup failure policies.
• Rejects grounded, atomic, controller, robot-route, motion-policy, physical-state, and resource-claim fields recursively, including nested metadata and registered-call arguments.
• Keeps the E1-E9 ontology scene-independent and removes hard-coded arm fields.
• Removes GenSim-owned capability registries, AtomicAction recipes, runtime policy defaults, motion policies, and the parallel Action Engine contract surface.

Unsupported task semantics remain expressible in TaskSpec; #535 planning will return a structured unsupported_semantic_capability result when the canonical catalog cannot execute them.

Refs #531

Type of change

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

Validation

• pytest -q tests/gen_sim/task_engine tests/gym/envs/expert_program/test_decoder.py - 79 passed
• pytest -q tests/docs/test_check_api_docs.py - 8 passed
• Black 26.3.1 - 787 Python files unchanged
• Public API docs - 1830/1830 exports documented
• git diff --check - passed
• Full Sphinx build not run locally because sphinx-build is unavailable in the validation environment

Checklist

• Code passes Black 26.3.1.
• Tests cover immutable round-trips, canonical codec compatibility, deterministic hashes, topology, and recursive forbidden fields.
• Public API documentation is aligned.
• No new third-party dependency is required.

[greptile-apps]

Greptile Summary

This PR introduces the Action Engine's SeedGraph contracts, semantic and atomic capability registries, runtime policy configuration, motion/orientation contracts, and task ontology.

• Adds strict validation and hashing for task specifications, SeedGraphs, execution programs, and action contracts.
• Adds deterministic semantic-operator expansion and atomic capability metadata.
• Adds versioned runtime-policy defaults, migration paths, and typed motion modifiers.
• Adds focused tests for runtime policy, task contracts, and motion policy.

Confidence Score: 4/5

The profile normalization defect should be fixed before merging because supported snapshot-less and legacy agent configurations can fail during policy loading.

Agent runtime-policy loading bypasses the singular-to-dual profile aliases used elsewhere, so the package's own ur10 default is rejected by fallback and legacy migration paths.

Files Needing Attention: embodichain/gen_sim/action_engine/config/runtime_policy.py

Important Files Changed

Filename	Overview
embodichain/gen_sim/action_engine/config/runtime_policy.py	Adds strict runtime-policy loading and migrations, but agent loading fails for supported singular robot profile names on fallback and legacy paths.
embodichain/gen_sim/action_engine/domain/v2.py	Adds comprehensive SeedGraph v3 validation for topology, contracts, ownership transitions, cleanup barriers, and resource conflicts.
embodichain/gen_sim/action_engine/capabilities/atomic.py	Defines atomic capability metadata and serializable state/resource contracts; no independently publishable defect was established on a current caller path.
embodichain/gen_sim/action_engine/capabilities/builtins.py	Adds semantic operator expansion and phase templates for placement, arrangement, orientation, and coordinated transport.
embodichain/gen_sim/action_engine/domain/programs.py	Adds strict coordinate-free TaskAgent and ExecutionProgram validation and hashing.
embodichain/gen_sim/task_engine/ontology.py	Adds the canonical task ontology consumed by the new Action Engine task contracts.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
TS[Task specification] --> OP[Semantic operator expansion]
OP --> SG[SeedGraph with action contracts]
SG --> VP[SeedGraph validation]
VP --> EP[Execution program]
RP[Runtime policy snapshot] --> MR[Motion policy resolution]
EP --> MR
MR --> AA[Atomic action execution]

Loading

Prompt To Fix All With AI

### Issue 1
embodichain/gen_sim/action_engine/config/runtime_policy.py:623-625
**Profile aliases bypassed during loading**
When a snapshot-less or legacy agent uses a supported singular profile such as `ur10`, `ur5`, `ur3`, or `franka`, `resolve_agent_runtime_policy` forwards it without the alias normalization used by motion-policy resolution, causing `default_runtime_policy` to raise `ValueError` instead of loading the corresponding `dual_*` defaults.
---
For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.

_{Reviews (1): Last reviewed commit: "feat(action-engine): add SeedGraph contr..." | Re-trigger Greptile}

[greptile-apps]

Profile aliases bypassed during loading

When a snapshot-less or legacy agent uses a supported singular profile such as ur10, ur5, ur3, or franka, resolve_agent_runtime_policy forwards it without the alias normalization used by motion-policy resolution, causing default_runtime_policy to raise ValueError instead of loading the corresponding dual_* defaults.

Prompt To Fix With AI

This is a comment left during a code review.
Path: embodichain/gen_sim/action_engine/config/runtime_policy.py
Line: 623-625
Comment:
**Profile aliases bypassed during loading**
When a snapshot-less or legacy agent uses a supported singular profile such as `ur10`, `ur5`, `ur3`, or `franka`, `resolve_agent_runtime_policy` forwards it without the alias normalization used by motion-policy resolution, causing `default_runtime_policy` to raise `ValueError` instead of loading the corresponding `dual_*` defaults.
---
For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.