feat(expert-program): configure semantic action options

[yuecideng]

Description

Stack

• Layer: 19/28
• Base: feat/expert-program-presim-catalog
• Depends on: feat(expert-program): add strict pre-simulation catalogs #502
• Followed by: feat(expert-program): add pre-simulation runtime catalog #504

Let immutable, versioned skill presets own typed per-action planning options in addition to motion, tracking, and recovery policies. The compiler selects and snapshots options by semantic skill rather than requiring task code to construct atomic-action option objects.

Profiles validate option types and preset reachability during integration, keeping tuning embodiment-owned and configuration-selectable.

Refs #471
Refs #474

Type of change

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

Screenshots

Not applicable.

Validation

• Focused coverage: tests/sim/skills/test_profiles.py, test_integration.py, test_compiler.py, and Expert Program simulation tests
• Final affected-suite regression on the stack tip: 1215 passed, 2 skipped, 8 deselected
• Changed Python files pass Black 26.3.1; the Sphinx build and rollout-report drift check pass at the stack tip

Checklist

• Changed Python files pass Black 26.3.1.
• Corresponding public/design documentation is included in this stack.
• Tests cover the affected behavior.
• No dependency update is required.

[greptile-apps]

Greptile Summary

The PR moves typed semantic action options into immutable, versioned skill presets and makes integration validate that each reachable semantic call has an exact compatible template.

• Grounds compiler-owned dynamic fields onto independently snapshotted preset templates.
• Prevents registered lowerers from replacing preset-owned action options.
• Adds template validation, registration fingerprinting, task-profile configuration, documentation, and focused tests.

Confidence Score: 5/5

The PR appears safe to merge with no concrete blocking or independently actionable non-blocking issue identified.

Template ownership, validation, copying, compiler grounding, preset reconstruction, task configuration, and repository lowerer implementations are consistently migrated across the changed paths.

Important Files Changed

Filename	Overview
embodichain/lab/sim/skills/profiles.py	Adds immutable action-option template ownership, snapshot validation, and version-2 preset construction.
embodichain/lab/sim/skills/integration.py	Validates template call IDs, exact option types, reserved compiler-owned fields, and selected-preset reachability.
embodichain/lab/sim/skills/compiler.py	Grounds built-in and registered semantic calls from preset-owned option templates while preserving compiler-owned dynamic fields.
embodichain/lab/gym/envs/expert_program/catalog.py	Preserves action templates during cadence alignment and includes them in the updated registration fingerprint schema.
embodichain/lab/gym/envs/expert_program/simulation_environment.py	Preserves option templates when rebuilding presets with the environment control cadence.
embodichain_tasks/embodichain_tasks/multi_segments/cube_pick_place.py	Configures typed pickup and placement options in the task's safe preset.
embodichain_tasks/embodichain_tasks/tableware/open_drawer.py	Configures typed articulation-operation options in the task's safe preset.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
    P[SkillPolicyPreset option templates] --> V[Static integration validation]
    C[Semantic call] --> V
    V --> B[Bound semantic call]
    B --> G[Semantic compiler grounding]
    O[Planning observation] --> G
    G --> I[ActionInvocation with owned options snapshot]
    I --> E[Atomic action engine]

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[yuecideng]

Folded into #504 during stacked-PR consolidation. Its commits remain included in #504; the remote branch is retained for traceability.