Fix pose-sensitive MoveHeldObject prompt flow

[skywhite1024]

Description

This PR simplifies pose-sensitive relative placement prompts to use exactly one MoveHeldObject action that moves directly to the final release pose while applying the requested orientation. It removes the intermediate high-staging moves and updates single-arm, dual-arm, and action-pattern prompt generation accordingly.

The related prompt-generation tests now assert a five-edge graph and a single final-pose MoveHeldObject.

Dependencies: None.

Issue: Not linked.

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.

Verification

• black --check --diff --color ./: passed (679 files unchanged)
• 3 focused pose-sensitive prompt tests: passed
• Broader two-file test run: 91 passed, 31 failed due to existing robot-profile, scene-geometry, and arm-mapping expectation mismatches outside this change

Checklist

• I have run the black . equivalent check to verify formatting.
• I have made corresponding changes to the documentation (not applicable).
• I have added tests that prove my fix is effective.
• Dependencies have been updated (not applicable).

[Copilot]

Pull request overview

This pull request updates pose-sensitive relative placement prompt generation so the execution-stage graph uses a single MoveHeldObject that moves directly to the final release pose while applying the requested orientation, removing prior high-staging intermediate moves. This aligns prompt text, dual-arm sequencing, and action-pattern guidance with the simplified flow and updates tests to match the new five-edge nominal graph expectation.

Changes:

• Simplified pose-sensitive relative placement instructions and nominal step construction to remove high-staging edges and use one final-pose MoveHeldObject.
• Updated dual-arm relative placement release edge blocks and rules to match the single final move approach.
• Adjusted prompt-generation tests to assert a 5-edge graph and exactly one MoveHeldObject occurrence.

Reviewed changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated no comments.

File	Description
tests/gen_sim/action_agent_pipeline/test_ur5_basket_config_generation.py	Updates prompt assertions to expect 5 nominal edges and a single MoveHeldObject spec for pose-sensitive placements.
tests/gen_sim/action_agent_pipeline/test_stacking_spec.py	Renames and updates the pose-sensitive relative graph test to assert a single final MoveHeldObject target.
embodichain/gen_sim/action_agent_pipeline/generation/prompt_builders.py	Removes high-staging prompt/edge generation for pose-sensitive relative placements and updates single/dual-arm prompt rules and action patterns accordingly.

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