refactor(manager): generalize action terms and joint-position actions

[wlgys8]

Summary

• generalize manager ActionTerm with shared ActionState history and host-side processing/reset lifecycle
• move reusable JointPositionAction implementation and action-space helpers into motrix_env_core
• migrate WBT and related consumers, compiler/kernel-data lowering, fingerprints, tests, and manager docs
• simplify JointPositionAction routing and fix actuator-subset joint-limit handling

Validation

• motrix_env_core/tests/test_action_state.py
• motrix_env_core/tests/test_function_fingerprint.py
• motrix_env_core/tests/test_kernel_data_methods.py
• motrix_env_core/tests/test_numba_manager.py
• motrix_envs/tests/test_wbt_numba.py (71 passed across focused action/manager/WBT runs)

This PR intentionally excludes the unrelated G1 terrain/randomization changes and the untracked configs/task/g1-walk-terrain/ file.

[Copilot]

Copilot review overview

🟡 Changes recommended

The deleted wbt/mdp/action.py is still imported by wbt/cfg.py and humanoid/cfg.py, and two tests import Link* write/query symbols that do not exist in the source, so multiple modules and tests fail at import.

Review effort: Balanced
Findings: 4 · 3

Open (7)

• Test imports renamed Link query classes that do not exist · New
• Test imports renamed Link write classes that do not exist · New
• Humanoid cfg still imports deleted WbtControlCfg APIs · New
• WBT cfg still imports deleted WbtJointPositionActionCfg · New
• Add test coverage for non-zero action delay path · New
• Fix grammar: use an ActionState · New
• Error message misuses queue width for action dimension · New

What changed in this PR

This PR refactors the manager-based action pipeline in motrix_env_core. It splits the old per-term action object into a host-side ActionTerm (owns the action space and lifecycle process()/reset()) and a @kernel_data ActionState that holds a manager-owned raw-action ring buffer (action_queue) plus a shared cursor (action_ptr), exposing current()/previous() as kernel-lowerable views. The reusable JointPositionAction implementation and action-space helpers are moved into motrix_env_core.mdp.action/action_space, a shared function_fingerprint is extracted to numba/fingerprint.py, and kernel_data gains @dispatch method lowering so these views compile into the kernel ABI. Consumers (WBT, ball_balance, humanoid-walk), the compiler/env lowering, docs, and tests are updated accordingly.

Changes:

• Introduce manager-owned ActionState ring buffer + ActionTerm host wrapper; relocate generic JointPositionAction* to core.
• Add @dispatch kernel-data method lowering and a shared function_fingerprint, with new tests.
• Migrate action consumers and update WBT/manager tests and manager design docs.

File	Description
numba/​manager/​actions.py	New ActionState (current/previous) and reworked ActionTerm base lifecycle.
numba/​manager/​env.py	Build action terms, validate action_queue shape, use term.action_space.
numba/​manager/​compiler/​{compiler,fingerprint}.py	Lower term.state; move function_fingerprint out of compiler fingerprint.
numba/​fingerprint.py	New shared function-dependency fingerprint via marshal.
numba/​kernel_data/​lowering.py	Lower @dispatch methods into the kernel ABI; fold method fingerprints into cache keys.
mdp/​action.py, mdp/​action_space.py	Generic JointPositionActionCfg/Term/State (+ delay path) and documented space helpers.
mdp/​observations.py, mdp/​rewards.py	Read actions via current()/previous() and .state.
manager/​__init__.py	Re-export ActionState.
wbt/​mdp/​{action.py,rewards,terminations,reset}.py, k1.py, dex_evt.py	Delete WBT action module; repoint consumers to core symbols.
ball_balance/​microduck.py, humanoid/​walk_manager_mdp/​rewards.py	Migrate to JointPositionActionCfg / new action API.
tests/​*	New test_action_state, test_function_fingerprint, test_kernel_data_methods; update manager/WBT/obs/write/query tests.
wiki/​design/​manager/​{runtime,task-authoring}.md	Document the new ActionState/ActionTerm contract.

---

💡 Add a code-review agent skill or configure MCP servers for context-aware, tailored reviews. Learn more in the docs.

[Copilot]

Copilot review overview

🔵 Needs a closer look

It reworks core manager action ABI plus Numba kernel-data method lowering and fingerprint-based cache invalidation—correctness-critical, hard-to-verify infrastructure that warrants human review despite the thorough test suite.

Review effort: Balanced
Findings: 1

Open (1)

• Remove dead mock compile_body_masses helper · New

Resolved since last review (7)

• WBT cfg still imports deleted WbtJointPositionActionCfg
• Humanoid cfg still imports deleted WbtControlCfg APIs
• Test imports renamed Link write classes that do not exist
• Test imports renamed Link query classes that do not exist
• Error message misuses queue width for action dimension
• Fix grammar: use an ActionState
• Add test coverage for non-zero action delay path

[Copilot]

Copilot review overview

🔵 Needs a closer look

It reworks core numba kernel-data lowering/fingerprinting and the manager action ABI across many consumers, which warrants human review despite the code logic appearing correct and well-tested.

Review effort: Balanced
Findings: 3

Open (3)

• Docs describe wrong ActionTerm API and state class names · New
• Constructor example mismatches ActionTerm subclass API · New
• Remove dead mock compile_body_masses helper