feat(gen_sim): add Scene Engine and Gradio workspace

.gitignore

@@ -208,3 +208,9 @@ scripts/benchmark/rl/reports/*
 .worktrees/
 # Local gym project workspace
 /gym_project/
+.debug_engine/
+
+# Local Gradio UI dependencies, generated Articraft records, and bytecode
+/embodichain/gen_sim/gradio_ui/.articraft/
+/embodichain/gen_sim/gradio_ui/.debug_engine/
+/embodichain/gen_sim/gradio_ui/__pycache__/

embodichain/__main__.py

@@ -96,11 +96,6 @@ class Command:
         target="embodichain.workspace_cache_cli:main",
         help="Inspect and clean workspace analyzer caches.",
     ),
-    Command(
-        name="analyze-workspace",
-        target="embodichain.lab.scripts.analyze_workspace:cli",
-        help="Analyze a robot's reachable workspace from a URDF/USD asset.",
-    ),
 )
 
 

embodichain/gen_sim/.env.example

@@ -0,0 +1,39 @@
+# Shared GenSim configuration
+# Copy this file to .env and set deployment-specific values.  Values exported
+# by the shell, container, or CI environment take precedence over this file.
+
+# Common OpenAI-compatible LLM endpoint used by Scene Engine.
+OPENAI_API_KEY=""
+OPENAI_MODEL=""
+OPENAI_BASE_URL=""
+SCENE_ENGINE_OPENAI_DEFAULT_QUERY="{}"
+OPENAI_MAX_ATTEMPTS=3
+
+# Scene Engine services.
+SCENE_ENGINE_IMAGE_SEGMENTATION_BASE_URL=""
+SCENE_ENGINE_IMAGE_SEGMENTATION_TIMEOUT_S=30
+SCENE_ENGINE_IMAGE_SEGMENTATION_MAX_ATTEMPTS=3
+SCENE_ENGINE_IMAGE_SEGMENTATION_HEALTH_PATH="/health"
+SCENE_ENGINE_IMAGE_SEGMENTATION_SINGLE_OBJECT_PATH="/predict"
+SCENE_ENGINE_GEOMETRY_GENERATION_BASE_URL=""
+SCENE_ENGINE_GEOMETRY_GENERATION_TIMEOUT_S=600
+SCENE_ENGINE_GEOMETRY_GENERATION_MAX_ATTEMPTS=3
+SCENE_ENGINE_GEOMETRY_GENERATION_HEALTH_PATH="/health"
+SCENE_ENGINE_GEOMETRY_GENERATION_OBJECTS_PATH="/generate_multiple_objects"
+
+# Gradio application and local workbench settings. The EmbodiChain repository
+# root is derived automatically from the installed source tree.
+GRADIO_SERVER_NAME="0.0.0.0"
+GRADIO_SERVER_PORT=7860
+SCENE_ENGINE_VISER_PORT=8080
+ARTICRAFT_VISER_PORT=8081
+ARTICRAFT_ROOT=""
+ARTICRAFT_REPOSITORY_URL="https://github.com/mattzh72/articraft.git"
+ARTICRAFT_CONDA_ENV="articraft"
+ARTICRAFT_OUTPUT_ROOT=""
+
+# Optional SimReady endpoint. These values are mapped to OPENAI_* only for
+# SimReady subprocesses, leaving Scene Engine settings unchanged.
+SIMREADY_OPENAI_API_KEY=""
+SIMREADY_OPENAI_MODEL=""
+SIMREADY_OPENAI_BASE_URL=""

embodichain/gen_sim/env.py

@@ -0,0 +1,105 @@
+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+"""Load the shared GenSim environment configuration."""
+
+from __future__ import annotations
+
+import os
+from pathlib import Path
+from typing import MutableMapping
+
+__all__ = ["find_gen_sim_env_file", "get_embodichain_root", "load_gen_sim_env"]
+
+
+def get_embodichain_root() -> Path:
+    """Return the repository containing the installed GenSim source tree.
+
+    The Gradio app always launches its local tools from this directory. It is
+    derived from this module instead of a machine-specific dotenv value, so a
+    checkout continues to work after it is moved or cloned elsewhere.
+    """
+    return Path(__file__).resolve().parents[2]
+
+
+def find_gen_sim_env_file() -> Path:
+    """Return the configured shared ``.env`` file path.
+
+    ``EMBODICHAIN_ENV_FILE`` is useful for deployments that keep secrets outside
+    the source tree. Otherwise GenSim uses ``embodichain/gen_sim/.env``. The
+    repository-root ``.env`` remains a backward-compatible fallback.
+    """
+    configured_path = os.environ.get("EMBODICHAIN_ENV_FILE")
+    if configured_path:
+        return Path(configured_path).expanduser().resolve()
+    default_path = Path(__file__).resolve().parent / ".env"
+    if default_path.is_file():
+        return default_path
+
+
+def load_gen_sim_env(env: MutableMapping[str, str] | None = None) -> Path | None:
+    """Load missing variables from the shared GenSim ``.env`` file.
+
+    Existing process environment variables are never overwritten so container,
+    CI, and shell-provided settings retain precedence over the local file.
+
+    Args:
+        env: Environment mapping to populate. Defaults to :data:`os.environ`.
+
+    Returns:
+        The loaded path, or ``None`` when no local ``.env`` file exists.
+
+    Raises:
+        ValueError: If the file contains an invalid ``KEY=VALUE`` entry.
+    """
+    target_env = os.environ if env is None else env
+    env_path = find_gen_sim_env_file()
+    if not env_path.is_file():
+        return None
+
+    for line_number, raw_line in enumerate(
+        env_path.read_text(encoding="utf-8").splitlines(), start=1
+    ):
+        parsed = _parse_env_line(raw_line)
+        if parsed is None:
+            continue
+        key, value = parsed
+        if not key.isidentifier():
+            raise ValueError(
+                f"Invalid environment variable name at {env_path}:{line_number}: {key!r}"
+            )
+        target_env.setdefault(key, value)
+    return env_path
+
+
+def _parse_env_line(line: str) -> tuple[str, str] | None:
+    """Parse one conventional dotenv line without requiring a third-party package."""
+    stripped = line.strip()
+    if not stripped or stripped.startswith("#"):
+        return None
+    if stripped.startswith("export "):
+        stripped = stripped.removeprefix("export ").lstrip()
+    if "=" not in stripped:
+        raise ValueError(f"Expected KEY=VALUE entry, got: {line!r}")
+
+    key, value = stripped.split("=", maxsplit=1)
+    key = key.strip()
+    value = value.strip()
+    if len(value) >= 2 and value[0] == value[-1] and value[0] in {"'", '"'}:
+        value = value[1:-1]
+    elif " #" in value:
+        value = value.split(" #", maxsplit=1)[0].rstrip()
+    return key, value