Simplify atomic action scene context setup

[yuecideng]

Description

This PR simplifies direct simulation setup for atomic actions by allowing an engine to borrow a default scene provider and by adding a public create_simulation_atomic_action_engine(...) factory for explicitly selected rigid objects.

It also:

• updates all 18 atomic-action tutorials to use the appropriate scene strategy;
• removes redundant manually assembled scene snapshots from rigid-object and static-pose examples;
• preserves explicit scene lifecycle handling for articulation and dynamic-recovery examples;
• forwards tracking_policy through AtomicActionEngine.make_invocation();
• adds engine, simulation-adapter, and tutorial-contract regression tests;
• removes stale rearrangement task tests and agent-context declarations because that task is not currently shipped;
• updates agent context and public API documentation.

This keeps direct examples concise while retaining scene_provider= as the advanced override for aliases, articulations, collision roles, dynamic execution, and external perception.

Dependencies: None.

Issue reference: None.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• Enhancement (non-breaking change which improves an existing functionality)
• New feature (non-breaking change which adds functionality)
• Breaking change (existing functionality will not work without user modification)
• Documentation update

Screenshots

Not applicable.

Validation

• black .
• black --check --diff --color ./
• python docs/scripts/check_api_docs.py — 1716/1716 exports documented
• python -m compileall -q embodichain/lab/sim/atomic_actions scripts/tutorials/atomic_action tests/sim/atomic_actions/test_engine.py tests/sim/atomic_actions/test_sim_adapter.py tests/sim/atomic_actions/test_tutorial_utils.py
• pytest -q tests/sim/atomic_actions — 618 passed, 1 skipped, 3 deselected
• pytest tests/docs -q --confcutdir=tests/docs — 20 passed
• pytest tests --ignore=tests/docs -m "not requires_sim and not gpu" -n 4 --dist loadgroup — 2574 passed, 2 skipped
• sphinx-build -b dummy docs/source docs/build/dummy — succeeded with repository warnings
• git diff --check

Checklist

• I have run the black . command to format the code base.
• I have made corresponding changes to the documentation.
• Public API changes are reflected in the API docs (python docs/scripts/check_api_docs.py).
• I have added tests that prove the change works.
• Dependencies have been updated, if applicable (no dependency changes required).

[greptile-apps]

Greptile Summary

The PR simplifies direct atomic-action simulation setup by allowing engines to obtain initial scene snapshots from a borrowed provider and by adding a public rigid-object factory.

• Adds default scene-provider support to AtomicActionEngine.
• Adds and exports create_simulation_atomic_action_engine.
• Forwards invocation-level tracking policies.
• Updates tutorials, documentation, and regression tests to use explicit scene strategies.

Confidence Score: 5/5

The PR appears safe to merge because no blocking failure remains.

No blocking failure remains.

Important Files Changed

Filename	Overview
embodichain/lab/sim/atomic_actions/engine.py	Adds optional scene-provider capture to initial context creation and forwards caller-selected tracking policies into invocations.
embodichain/lab/sim/atomic_actions/sim_adapter.py	Adds the public factory that builds an atomic-action engine around explicitly selected rigid objects.
embodichain/lab/sim/atomic_actions/init.py	Exposes the new simulation engine factory through the package API.
tests/sim/atomic_actions/test_engine.py	Covers provider capture, explicit-scene precedence, provider validation, and tracking-policy forwarding.
tests/sim/atomic_actions/test_sim_adapter.py	Covers factory argument forwarding, selected UID registration, snapshot generation, and duplicate UID rejection.
tests/sim/atomic_actions/test_tutorial_utils.py	Verifies that all tutorial entry points use their designated rigid, static-pose, explicit-lifecycle, or scene-free strategy.

Sequence Diagram

sequenceDiagram
    participant Caller
    participant Factory as create_simulation_atomic_action_engine
    participant Engine as AtomicActionEngine
    participant Provider as RigidObjectSceneProvider
    participant Object as RigidObject

    Caller->>Factory: motion generator + selected scene entities
    Factory->>Provider: construct UID-keyed provider
    Factory->>Engine: construct with scene_provider
    Caller->>Engine: initial_context(timestamp, control_dt)
    Engine->>Provider: snapshot(timestamp, env_ids)
    Provider->>Object: "get_local_pose(to_matrix=True)"
    Object-->>Provider: batched pose
    Provider-->>Engine: SceneSnapshot
    Engine-->>Caller: PlanningContext

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_{Reviews (3): Last reviewed commit: "Merge remote-tracking branch 'origin/mai..." | Re-trigger Greptile}