Add upright atomic action

docs/source/overview/sim/atomic_actions.md

@@ -238,4 +238,4 @@ is_success, traj = engine.execute_static(target_list=[target_pose])
 
 - {doc}`planners/motion_generator` — the trajectory planner used by every action
 - {doc}`sim_robot` — how control parts and IK solvers are configured
-- Tutorial: `scripts/tutorials/sim/atomic_actions.py`
+- Tutorial: `scripts/tutorials/atomic_action/atomic_actions.py`

docs/source/tutorial/atomic_actions.rst

@@ -30,13 +30,13 @@ For the full design overview, architecture diagram, and extension guide see
 The Code
 --------
 
-The tutorial corresponds to the ``atomic_actions.py`` script in the ``scripts/tutorials/sim``
+The tutorial corresponds to the ``atomic_actions.py`` script in the ``scripts/tutorials/atomic_action``
 directory.
 
 .. dropdown:: Code for atomic_actions.py
     :icon: code
 
-    .. literalinclude:: ../../../scripts/tutorials/sim/atomic_actions.py
+    .. literalinclude:: ../../../scripts/tutorials/atomic_action/atomic_actions.py
         :language: python
         :linenos:
 

embodichain/lab/sim/atomic_actions/__init__.py

@@ -33,9 +33,11 @@
     MoveAction,
     PickUpAction,
     PlaceAction,
+    UprightAction,
     MoveActionCfg,
     PickUpActionCfg,
     PlaceActionCfg,
+    UprightActionCfg,
 )
 from .engine import (
     AtomicActionEngine,
@@ -47,7 +49,6 @@
 __all__ = [
     # Core classes
     "Affordance",
-    "GraspPose",
     "InteractionPoints",
     "ObjectSemantics",
     "ActionCfg",
@@ -56,9 +57,11 @@
     "MoveAction",
     "PickUpAction",
     "PlaceAction",
+    "UprightAction",
     "MoveActionCfg",
     "PickUpActionCfg",
     "PlaceActionCfg",
+    "UprightActionCfg",
     # Engine
     "AtomicActionEngine",
     "register_action",