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atomic action #243

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6f3a2c2
Bug: motion generate failed
Apr 21, 2026
c2c8f69
implement pick up action
Apr 22, 2026
ef67125
add place action
Apr 22, 2026
dbd28be
add move action
Apr 22, 2026
e0f1264
style
Apr 22, 2026
7f4e4df
update comments
Apr 22, 2026
820010a
update
Apr 22, 2026
768edb9
update
Apr 22, 2026
eced4f3
add unittest
Apr 22, 2026
399193c
update
Apr 22, 2026
d454c82
use interpolate as planner
Apr 29, 2026
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17 changes: 10 additions & 7 deletions embodichain/lab/sim/atomic_actions/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,17 +23,18 @@

from .core import (
Affordance,
GraspPose,
InteractionPoints,
ObjectSemantics,
ActionCfg,
Comment on lines 24 to 28
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Copilot AI Apr 22, 2026

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GraspPose is no longer imported from .core, but __all__ still includes "GraspPose" and downstream code/tests import it from embodichain.lab.sim.atomic_actions. Either restore GraspPose (if still supported) or remove it from __all__ and update imports to the new affordance type.

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AtomicAction,
)
from .actions import (
ReachAction,
GraspAction,
ReleaseAction,
MoveAction,
PickUpAction,
PlaceAction,
MoveActionCfg,
PickUpActionCfg,
PlaceActionCfg,
)
from .engine import (
AtomicActionEngine,
Expand All @@ -51,10 +52,12 @@
"ActionCfg",
"AtomicAction",
# Action implementations
"ReachAction",
"GraspAction",
"ReleaseAction",
"MoveAction",
"PickUpAction",
"PlaceAction",
"MoveActionCfg",
"PickUpActionCfg",
"PlaceActionCfg",
# Engine
"AtomicActionEngine",
"register_action",
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