embodichain.lab.task_program.integrations.simulation

Simulation bindings and factories for Task Program integrations.

These immutable declarations bind canonical Task Program scene and robot contracts to explicitly selected simulation entities and control parts.

AntipodalGraspAffordanceBinding	Build one antipodal grasp affordance from a selected rigid-object mesh.
ContainerAffordanceBinding	Declare one exact object target frame inside a container parent.
ControlPartCommandPreset	Named one-dimensional joint commands for one exact control part.
ControlPartEndpointBinding	Profile endpoint backed by one explicit robot control part.
ControlPartResourceBinding	Joint-backed robot resource containing control-part endpoints.
SimulationArticulationBinding	Explicit binding for one simulation articulation.
SimulationArticulationLinkBinding	Explicit canonical link backed by one native articulation link.
SimulationRigidObjectBinding	Explicit binding for one simulation rigid object.
SimulationRobotSkillProfileBinding	Build a profile from typed resources with strict native validation.
SimulationSceneBinding	Build one authoritative registry from explicit simulation bindings.
SupportSurfaceAffordanceBinding	Declare one exact object target frame on a support parent.

Classes:

AntipodalGraspAffordanceBinding	Build one antipodal grasp affordance from a selected rigid-object mesh.
ContainerAffordanceBinding	Declare one exact object target frame inside a container parent.
ControlPartCommandPreset	Named one-dimensional joint commands for one exact control part.
ControlPartEndpointBinding	Profile endpoint backed by one explicit robot control part.
ControlPartResourceBinding	Joint-backed robot resource containing control-part endpoints.
SimulationArticulationBinding	Explicit binding for one simulation articulation.
SimulationArticulationLinkBinding	Explicit canonical link backed by one native articulation link.
SimulationRigidObjectBinding	Explicit binding for one simulation rigid object.
SimulationRobotSkillProfileBinding	Build a profile from typed resources with strict native validation.
SimulationSceneBinding	Build one authoritative registry from explicit simulation bindings.
SupportSurfaceAffordanceBinding	Declare one exact object target frame on a support parent.

class embodichain.lab.task_program.integrations.simulation.AntipodalGraspAffordanceBinding

Build one antipodal grasp affordance from a selected rigid-object mesh.

internal_axis upgrades the payload to AxisAlignAffordance while preserving the same antipodal grasp capability. The axis is expressed in the rigid object’s local frame and can be reused by held-object skills such as Pour.

Methods:

__init__(entity_id, object_id, native_name, ...)

__init__(entity_id, object_id, native_name, revision, aliases=(), relative_pose=(1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0), mesh_env_id=0, internal_axis=None)

class embodichain.lab.task_program.integrations.simulation.ContainerAffordanceBinding

Declare one exact object target frame inside a container parent.

Parameters:

• entity_id (str) – Canonical ID of the placement affordance.

• parent_id (str) – Canonical object, articulation, or link parent ID.

• native_name (str) – Stable native name of this target frame.

• aliases (tuple[str, ...]) – Optional non-authoritative lookup aliases.

• object_target_pose (tuple[float, ...]) – Desired object pose relative to the parent.

• minimum_confidence (float) – Minimum parent/affordance observation confidence.

• is_default (bool) – Whether this is the parent’s default Place(inside=...) frame.

Methods:

__init__(entity_id, parent_id, native_name)

__init__(entity_id, parent_id, native_name, aliases=(), object_target_pose=(1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0), minimum_confidence=0.0, is_default=False)

class embodichain.lab.task_program.integrations.simulation.ControlPartCommandPreset

Named one-dimensional joint commands for one exact control part.

Methods:

__init__(preset_id, control_part, commands)
build(*, control_dof)	Build a command profile after validating the native control width.
declare()	Build a provider-free command profile from declared tuple widths.

__init__(preset_id, control_part, commands)

build(*, control_dof)

Build a command profile after validating the native control width.

Return type:

ControlPartCommandProfile

declare()

Build a provider-free command profile from declared tuple widths.

Return type:

ControlPartCommandProfile

class embodichain.lab.task_program.integrations.simulation.ControlPartEndpointBinding

Profile endpoint backed by one explicit robot control part.

Methods:

__init__(endpoint_id, control_part, capabilities)
build(robot)	Build a joint-backed endpoint after native control-part validation.
declare()	Return the endpoint contract without reading a robot.

__init__(endpoint_id, control_part, capabilities, command_preset=None)

build(robot)

Build a joint-backed endpoint after native control-part validation.

Return type:

ResourceEndpoint

declare()

Return the endpoint contract without reading a robot.

Return type:

ResourceEndpoint

class embodichain.lab.task_program.integrations.simulation.ControlPartResourceBinding

Joint-backed robot resource containing control-part endpoints.

Methods:

__init__(resource_id[, endpoints, members])
build(robot)	Build a resource containing strictly validated control-part endpoints.
declare()	Return the resource graph without reading native control parts.

__init__(resource_id, endpoints=(), members=())

build(robot)

Build a resource containing strictly validated control-part endpoints.

Return type:

RobotResource

declare()

Return the resource graph without reading native control parts.

Return type:

RobotResource

class embodichain.lab.task_program.integrations.simulation.SimulationArticulationBinding

Explicit binding for one simulation articulation.

Methods:

__init__(entity_id, simulation_uid[, ...])

__init__(entity_id, simulation_uid, aliases=(), dynamics=SceneDynamics.UNKNOWN, collision_role=SceneCollisionRole.NONE, semantic_type=None, geometry_provider=None)

class embodichain.lab.task_program.integrations.simulation.SimulationArticulationLinkBinding

Explicit canonical link backed by one native articulation link.

Methods:

__init__(entity_id, articulation_id, ...[, ...])

__init__(entity_id, articulation_id, native_link_name, aliases=(), dynamics=SceneDynamics.UNKNOWN, semantic_type=None)

class embodichain.lab.task_program.integrations.simulation.SimulationRigidObjectBinding

Explicit binding for one simulation rigid object.

Methods:

__init__(entity_id, simulation_uid[, ...])

__init__(entity_id, simulation_uid, aliases=(), dynamics=SceneDynamics.UNKNOWN, collision_role=SceneCollisionRole.NONE, semantic_type=None, default_grasp_affordance=None, geometry_provider=None)

class embodichain.lab.task_program.integrations.simulation.SimulationRobotSkillProfileBinding

Build a profile from typed resources with strict native validation.

Methods:

__init__(profile_id, resources[, ...])
build(robot)	Build the existing profile after validating every typed resource.
declare()	Project the complete provider-free robot skill profile.

__init__(profile_id, resources, command_presets=(), defaults=<factory>, presets=(), default_preset=None, skill_presets=<factory>, grounding_providers=<factory>)

build(robot)

Build the existing profile after validating every typed resource.

Parameters:

robot (Robot) – Live robot selected by the simulation factory.

Return type:

RobotSkillProfile

Returns:

Reusable, engine-independent robot skill profile.

declare()

Project the complete provider-free robot skill profile.

Return type:

RobotSkillProfile

class embodichain.lab.task_program.integrations.simulation.SimulationSceneBinding

Build one authoritative registry from explicit simulation bindings.

Methods:

__init__(registry_id[, rigid_objects, ...])
build(simulation)	Build the existing authoritative scene registry.
declare()	Project the complete provider-free scene declaration.

__init__(registry_id, rigid_objects=(), articulations=(), links=(), antipodal_grasps=(), support_surfaces=(), containers=(), collision_world_mode=None)

build(simulation)

Build the existing authoritative scene registry.

Parameters:

simulation (SimulationManager) – Live simulation used only for explicitly named lookups.

Return type:

SceneRegistry

Returns:

Immutable registry with typed roots, links, and affordances.

declare()

Project the complete provider-free scene declaration.

Return type:

SceneManifest

class embodichain.lab.task_program.integrations.simulation.SupportSurfaceAffordanceBinding

Declare one exact object target frame on a support parent.

Parameters:

• entity_id (str) – Canonical ID of the placement affordance.

• parent_id (str) – Canonical object, articulation, or link parent ID.

• native_name (str) – Stable native name of this target frame.

• aliases (tuple[str, ...]) – Optional non-authoritative lookup aliases.

• object_target_pose (tuple[float, ...]) – Desired object pose relative to the parent.

• minimum_confidence (float) – Minimum parent/affordance observation confidence.

• is_default (bool) – Whether this is the parent’s default Place(on=...) frame.

Methods:

__init__(entity_id, parent_id, native_name)

__init__(entity_id, parent_id, native_name, aliases=(), object_target_pose=(1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0), minimum_confidence=0.0, is_default=False)