Add coordinated pickment atomic action

.gitignore

@@ -190,6 +190,8 @@ embodichain/agents/policy/runs/*
 *.pth
 outputs
 test_configs/*
+embodichain_data/
+scripts/tutorials/atomic_action/*.glb
 
 wandb/
 *.mp4
@@ -200,4 +202,4 @@ wandb/
 embodichain/VERSION
 
 # benchmark results
-scripts/benchmark/rl/reports/*
+scripts/benchmark/rl/reports/*

docs/source/api_reference/embodichain/embodichain.lab.sim.atomic_actions.rst

@@ -16,8 +16,10 @@ embodichain.lab.sim.atomic_actions
       NamedJointPositionTarget
       GraspTarget
       HeldObjectPoseTarget
+      CoordinatedPickmentTarget
       Target
       HeldObjectState
+      CoordinatedHeldObjectState
       WorldState
       ActionResult
       ActionCfg
@@ -35,6 +37,8 @@ embodichain.lab.sim.atomic_actions
       Place
       PressCfg
       Press
+      CoordinatedPickmentCfg
+      CoordinatedPickment
       AtomicActionEngine
 
 .. currentmodule:: embodichain.lab.sim.atomic_actions
@@ -78,12 +82,20 @@ Core
     :members:
     :show-inheritance:
 
+.. autoclass:: CoordinatedPickmentTarget
+    :members:
+    :show-inheritance:
+
 .. autodata:: Target
 
 .. autoclass:: HeldObjectState
     :members:
     :show-inheritance:
 
+.. autoclass:: CoordinatedHeldObjectState
+    :members:
+    :show-inheritance:
+
 .. autoclass:: WorldState
     :members:
     :show-inheritance:
@@ -164,6 +176,15 @@ Actions
     :members:
     :show-inheritance:
 
+.. autoclass:: CoordinatedPickmentCfg
+    :members:
+    :exclude-members: __init__, copy, replace, to_dict
+    :show-inheritance:
+
+.. autoclass:: CoordinatedPickment
+    :members:
+    :show-inheritance:
+
 Engine & Registry
 -----------------
 

docs/source/overview/sim/atomic_actions/builtin_actions.md

@@ -15,6 +15,7 @@ The following actions are available out of the box:
 | `MoveHeldObject` | Single | `HeldObjectPoseTarget` — held-object pose | Move held object while keeping gripper closed | <img src="../../../_static/atomic_actions/move_held_object.gif" alt="MoveHeldObject" width="480" style="max-width: 100%;" /> |
 | `Place` | Single | `EndEffectorPoseTarget` — EEF release pose | Lower → open gripper → retract | <img src="../../../_static/atomic_actions/place.gif" alt="Place" width="480" style="max-width: 100%;" /> |
 | `Press` | Single | `EndEffectorPoseTarget` — EEF press pose | Close gripper → press down → return | <img src="../../../_static/atomic_actions/press.gif" alt="Press" width="480" style="max-width: 100%;" /> |
+| `CoordinatedPickment` | Dual | `CoordinatedPickmentTarget` — shared-object pose | Approach both ends → close both grippers → lift → move object | <img src="../../../_static/atomic_actions/coordinated_pickment.gif" alt="CoordinatedPickment" width="480" style="max-width: 100%;" /> |
 
 ---
 
@@ -145,3 +146,28 @@ threaded into it.
 of shape `(4, 4)` or `(n_envs, 4, 4)`.
 
 ![Press demo](../../../_static/atomic_actions/press.gif)
+
+---
+
+## `CoordinatedPickment`
+
+Dual-arm grasp motion for one shared object. Both arms move to object-relative
+grasp poses, close both grippers, lift the object, and move it to an object pose
+while keeping both grippers closed. On success, the returned `WorldState` carries
+`coordinated_held_object` (`CoordinatedHeldObjectState`) and leaves
+`held_object` as `None`.
+
+| Config field | Default | Description |
+|---|---|---|
+| `control_part` | `"dual_arm"` | Combined arm control part |
+| `left_arm_control_part` / `right_arm_control_part` | `"left_arm"` / `"right_arm"` | Arm control parts for each grasp |
+| `left_hand_control_part` / `right_hand_control_part` | `"left_hand"` / `"right_hand"` | Hand control parts for each gripper |
+| `pre_grasp_distance` | `0.10` | Distance to back away from each grasp TCP |
+| `lift_height` | `0.08` | World-Z lift distance before moving to the target pose |
+| `object_motion_keyframes` | `6` | Sparse object-pose IK keyframes for synchronized motion |
+| `sample_interval` | `120` | Total waypoints across all phases |
+
+**Target:** `CoordinatedPickmentTarget(...)` with a target object pose, object
+semantics, and left/right object-to-EEF transforms.
+
+![CoordinatedPickment demo](../../../_static/atomic_actions/coordinated_pickment.gif)

embodichain/data/assets/demo_assets.py

@@ -14,6 +14,8 @@
 # limitations under the License.
 # ----------------------------------------------------------------------------
 
+from __future__ import annotations
+
 import open3d as o3d
 import os
 
@@ -49,3 +51,20 @@ def __init__(self, data_root: str = None):
         prefix = type(self).__name__
         path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root
         super().__init__(prefix, data_descriptor, path)
+
+
+class CoordinatedPlacementAndPickment(EmbodiChainDataset):
+    """Dataset class for coordinated placement and pickment tutorial meshes."""
+
+    def __init__(self, data_root: str = None):
+        data_descriptor = o3d.data.DataDescriptor(
+            os.path.join(
+                EMBODICHAIN_DOWNLOAD_PREFIX,
+                demo_assets,
+                "coordinated_placement_and_pickment.zip",
+            ),
+            "297c10b386a4d7a8ccb68926d69425e9",
+        )
+        prefix = type(self).__name__
+        path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root
+        super().__init__(prefix, data_descriptor, path)

embodichain/lab/sim/atomic_actions/__init__.py

@@ -31,6 +31,8 @@
     ActionCfg,
     ActionResult,
     AtomicAction,
+    CoordinatedHeldObjectState,
+    CoordinatedPickmentTarget,
     GraspTarget,
     HeldObjectState,
     HeldObjectPoseTarget,
@@ -42,6 +44,8 @@
     WorldState,
 )
 from .actions import (
+    CoordinatedPickment,
+    CoordinatedPickmentCfg,
     MoveEndEffector,
     MoveJoints,
     MoveHeldObject,
@@ -69,6 +73,8 @@
     "AntipodalAffordance",
     "InteractionPoints",
     "ObjectSemantics",
+    "CoordinatedHeldObjectState",
+    "CoordinatedPickmentTarget",
     "HeldObjectState",
     "HeldObjectPoseTarget",
     "JointPositionTarget",
@@ -81,12 +87,14 @@
     "ActionCfg",
     "AtomicAction",
     # Action implementations
+    "CoordinatedPickment",
     "MoveEndEffector",
     "MoveJoints",
     "MoveHeldObject",
     "PickUp",
     "Place",
     "Press",
+    "CoordinatedPickmentCfg",
     "MoveEndEffectorCfg",
     "MoveJointsCfg",
     "MoveHeldObjectCfg",