SDK update

GitOrigin-RevId: 3d02fd338b00d5f8f26dc17428d6571cbce412d5

Author: nwhite365

intrinsic/solutions/deployments.py

@@ -61,7 +61,7 @@
     "padding-left: var(--jp-code-padding);"
 )
 
-_WORLD_ID = "world"
+
 
 
 class Solution:

intrinsic/solutions/execution.py

@@ -54,6 +54,7 @@
 from intrinsic.solutions import provided
 from intrinsic.solutions import simulation as simulation_mod
 from intrinsic.solutions import utils
+from intrinsic.solutions import worlds  # pylint: disable=line-too-long 
 from intrinsic.solutions.internal import actions
 from intrinsic.solutions.internal import blackboard as blackboard_internal
 from intrinsic.util.grpc import error_handling
@@ -691,6 +692,9 @@ def run_async(
       simulation_mode: Optional["Executive.SimulationMode"] = None,
       embed_skill_traces: bool = False,
 
+      start_from_world_state: worlds.EditWorldId | None = None,
+
+
       keep_blackboard: bool = False,
 
   ):
@@ -727,6 +731,21 @@ def run_async(
         to these nodes and run from there. Only one of recover_from_nodes or
         start_node can be set.
 
+
+      start_from_world_state: Optional parameter to specify what starting world
+        state to run the operation from. If an EditWorldId is set, the execute
+        belief world and simulation world will be reset to the specified world
+        before running the operation. Otherwise, the operation will be run in
+        the current world state as-is.
+
+        Specifying `worlds.EditWorldId.INITIAL` resets the world state to the
+        state of the Initial editing world before running the operation.
+
+        Specifying `worlds.EditWorldId.BELIEF` keeps the execute belief world in
+        its current state, but the simulation world state is first reset to
+        match the execute world.
+
+
     Raises:
       solutions_errors.UnavailableError: On executive service not reachable.
       grpc.RpcError: On any other gRPC error.
@@ -744,6 +763,7 @@ def run_async(
 
         simulation_mode=simulation_mode,
         embed_skill_traces=embed_skill_traces,
+        start_from_world_state=start_from_world_state,  # pylint: disable=line-too-long 
 
         keep_blackboard=keep_blackboard,
 
@@ -765,6 +785,9 @@ def run(
       simulation_mode: Optional["Executive.SimulationMode"] = None,
       embed_skill_traces: bool = False,
 
+      start_from_world_state: worlds.EditWorldId | None = None,
+
+
       keep_blackboard: bool = False,
 
   ):
@@ -804,6 +827,21 @@ def run(
         to these nodes and run from there. Only one of recover_from_nodes or
         start_node can be set.
 
+
+      start_from_world_state: Optional parameter to specify what starting world
+        state to run the operation from. If an EditWorldId is set, the execute
+        belief world and simulation world will be reset to the specified world
+        before running the operation. Otherwise, the operation will be run in
+        the current world state as-is.
+
+        Specifying `worlds.EditWorldId.INITIAL` resets the world state to the
+        state of the Initial editing world before running the operation.
+
+        Specifying `worlds.EditWorldId.BELIEF` keeps the execute belief world in
+        its current state, but the simulation world state is first reset to
+        match the execute world.
+
+
     Raises:
       ExecutionFailedError: On unexpected state of the executive during plan
                 execution.
@@ -827,6 +865,7 @@ def run(
 
         simulation_mode=simulation_mode,
         embed_skill_traces=embed_skill_traces,
+        start_from_world_state=start_from_world_state,  # pylint: disable=line-too-long 
 
         keep_blackboard=keep_blackboard,
 
@@ -869,6 +908,7 @@ def _run(
 
       recover_from_nodes: list[bt.NodeInTreeType] | None,
 
+      start_from_world_state: worlds.EditWorldId | None,  # pylint: disable=line-too-long 
 
       keep_blackboard: bool = False,
 
@@ -903,14 +943,29 @@ def _run(
         to these nodes and run from there. Only one of recover_from_nodes or
         start_node can be set.
 
+
+      start_from_world_state: Optional parameter to specify what starting world
+        state to run the operation from. If an EditWorldId is set, the execute
+        belief world and simulation world will be reset to the specified world
+        before running the operation. Otherwise, the operation will be run in
+        the current world state as-is.
+
+        Specifying `worlds.EditWorldId.INITIAL` resets the world state to the
+        state of the Initial editing world before running the operation.
+
+        Specifying `worlds.EditWorldId.BELIEF` keeps the execute belief world in
+        its current state, but the simulation world state is first reset to
+        match the execute world.
+
+
     Raises:
       ExecutionFailedError: On unexpected state of the executive during plan
                 execution.
       solutions_errors.UnavailableError: On executive service not reachable.
       grpc.RpcError: On any other gRPC error.
       OperationNotFoundError: if no operation is currently active.
     """
-    self._reset_simulation_if_needed(silence_outputs)
+
 
 
     if recover_from_nodes and start_node is not None:
@@ -950,6 +1005,7 @@ def _run(
           embed_skill_traces=embed_skill_traces,
           parameters=None,
           resources=None,
+          start_from_world_state=start_from_world_state,  # pylint: disable=line-too-long 
       )
       return
 
@@ -999,6 +1055,7 @@ def get_node_identifier_for_node_in_tree(
         simulation_mode=simulation_mode,
         embed_skill_traces=embed_skill_traces,
         silence_outputs=silence_outputs,
+        start_from_world_state=start_from_world_state,  # pylint: disable=line-too-long 
     )
 
   # pylint: enable=g-doc-args
@@ -1131,6 +1188,7 @@ def start(
 
       simulation_mode: Optional["Executive.SimulationMode"] = None,
       embed_skill_traces: bool = False,
+      start_from_world_state: worlds.EditWorldId | None = None,  # pylint: disable=line-too-long 
   ) -> None:
     """Starts the currently loaded plan.
 
@@ -1155,6 +1213,21 @@ def start(
       recover_from_nodes: List of nodes to recover from. Execution will forward
         to these nodes and run from there.
 
+
+      start_from_world_state: Optional parameter to specify what starting world
+        state to start the operation from. If an EditWorldId is set, the execute
+        belief world and simulation world will be reset to the specified world
+        before starting the operation. Otherwise, the operation will be started
+        in the current world state as-is.
+
+        Specifying `worlds.EditWorldId.INITIAL` resets the world state to the
+        state of the Initial editing world before starting the operation.
+
+        Specifying `worlds.EditWorldId.BELIEF` keeps the execute belief world in
+        its current state, but the simulation world state is first reset to
+        match the execute world.
+
+
     Raises:
       solutions_errors.UnavailableError: On executive service not reachable.
       grpc.RpcError: On any other gRPC error.
@@ -1190,6 +1263,7 @@ def start(
 
         simulation_mode=simulation_mode,
         embed_skill_traces=embed_skill_traces,
+        start_from_world_state=start_from_world_state,  # pylint: disable=line-too-long 
     )
 
     if blocking:
@@ -1453,6 +1527,7 @@ def _start_with_retry(
 
       simulation_mode: Optional["Executive.SimulationMode"] = None,
       embed_skill_traces: bool = False,
+      start_from_world_state: worlds.EditWorldId | None = None,  # pylint: disable=line-too-long 
   ) -> None:
     """Starts the executive and handles errors."""
     if self._operation is None:
@@ -1492,6 +1567,10 @@ def _start_with_retry(
     if resources is not None:
       for reference, handle in resources.items():
         request.resources[reference] = handle
+
+    if start_from_world_state is not None:
+      request.scene_id = start_from_world_state
+
     self._operation.update_from_proto(self._stub.StartOperation(request))
 
   @error_handling.retry_on_grpc_unavailable

intrinsic/solutions/execution_test.py

@@ -30,6 +30,7 @@
 from intrinsic.solutions import execution
 from intrinsic.solutions import provided
 from intrinsic.solutions import simulation as simulation_mod
+from intrinsic.solutions import worlds  # pylint: disable=line-too-long 
 from intrinsic.solutions.internal import behavior_call
 from intrinsic.solutions.testing import compare
 from intrinsic.solutions.testing import test_skill_params_pb2
@@ -103,6 +104,7 @@ def _create_operation_proto(
       bt_proto: behavior_tree_pb2.BehaviorTree = behavior_tree_pb2.BehaviorTree(),
       name: str = _OPERATION_NAME,
       response: run_response_pb2.RunResponse | None = None,
+      scene_id: str = '',  # pylint: disable=line-too-long 
   ):
     metadata = run_metadata_pb2.RunMetadata(operation_state=state)
     metadata.behavior_tree.CopyFrom(bt_proto)
@@ -113,6 +115,10 @@ def _create_operation_proto(
         run_metadata_pb2.RunMetadata.CANCELED,
     ]:
       done = True
+
+    if scene_id:
+      metadata.scene_id = scene_id
+
     return operations_pb2.Operation(
         name=name,
         done=done,
@@ -161,9 +167,11 @@ def _setup_create_operation(self, setup_empty_list_operations: bool = True):
 
   def _setup_start_operation(
       self,
+      scene_id: str = '',  # pylint: disable=line-too-long 
   ):
     start_response = self._create_operation_proto(
         state=run_metadata_pb2.RunMetadata.RUNNING,
+        scene_id=scene_id,  # pylint: disable=line-too-long 
     )
     self._executive_service_stub.StartOperation.return_value = start_response
 
@@ -438,6 +446,41 @@ def test_run_async_works_on_behavior_tree_node(self):
         create_request
     )
 
+
+  @parameterized.named_parameters(
+      dict(
+          testcase_name='initial_world_id',
+          edit_world_id=worlds.EditWorldId.INITIAL,
+      ),
+      dict(
+          testcase_name='execute_world_id',
+          edit_world_id=worlds.EditWorldId.BELIEF,
+      ),
+  )
+  def test_run_async_sets_scene_id(self, edit_world_id):
+    """Tests if executive.run_async(start_from_world_state) propagates the world id."""
+    self._create_operation()
+    response = self._create_operation_proto(
+        state=run_metadata_pb2.RunMetadata.RUNNING,
+        scene_id=edit_world_id,
+    )
+    self._executive_service_stub.StartOperation.return_value = response
+
+    self._executive.run_async(start_from_world_state=edit_world_id)
+
+    start_request = executive_service_pb2.StartOperationRequest(
+        name=_OPERATION_NAME
+    )
+    start_request.skill_trace_handling = (
+        run_metadata_pb2.RunMetadata.TracingInfo.SKILL_TRACES_LINK
+    )
+    start_request.scene_id = edit_world_id
+    self._executive_service_stub.StartOperation.assert_called_once_with(
+        start_request
+    )
+
+
+
   @parameterized.named_parameters(
       dict(
           testcase_name='operation_state',
@@ -939,6 +982,44 @@ def test_run_recovery_nodes_by_object_works(self):
 
 
 
+
+  @parameterized.named_parameters(
+      dict(
+          testcase_name='initial_world_id',
+          edit_world_id=worlds.EditWorldId.INITIAL,
+      ),
+      dict(
+          testcase_name='execute_world_id',
+          edit_world_id=worlds.EditWorldId.BELIEF,
+      ),
+  )
+  def test_run_sets_scene_id(self, edit_world_id):
+    """Tests if executive.run(start_from_world_state) propagates the world id."""
+    self._setup_create_operation()
+    self._setup_start_operation(scene_id=edit_world_id)
+    self._setup_get_operation_sequence([
+        run_metadata_pb2.RunMetadata.RUNNING,
+        run_metadata_pb2.RunMetadata.RUNNING,
+        run_metadata_pb2.RunMetadata.SUCCEEDED,
+        run_metadata_pb2.RunMetadata.SUCCEEDED,
+    ])
+
+    my_action = behavior_call.Action(skill_id='my_action')
+    self._executive.run(my_action, start_from_world_state=edit_world_id)
+
+    start_request = executive_service_pb2.StartOperationRequest(
+        name=_OPERATION_NAME
+    )
+    start_request.skill_trace_handling = (
+        run_metadata_pb2.RunMetadata.TracingInfo.SKILL_TRACES_LINK
+    )
+    start_request.scene_id = edit_world_id
+    self._executive_service_stub.StartOperation.assert_called_once_with(
+        start_request
+    )
+
+
+
   def test_has_operation_true(self):
     """Tests if executive.has_operation returns true for an operation loaded."""
     response = operations_pb2.ListOperationsResponse()

intrinsic/solutions/simulation.py

@@ -2,6 +2,7 @@
 
 """Provides functionality to interact with a running simulation.
 
+Deprecated. See migration note in `reset()` method below.  # pylint: disable=line-too-long 
 
 Typical usage example:
   from intrinsic.executive.jupyter.workcell import intrinsic
@@ -12,6 +13,7 @@
   simulation.reset()
 """
 
+import warnings  # pylint: disable=line-too-long 
 
 import grpc
 
@@ -71,8 +73,25 @@ def _call_simulation_service_reset(
   def reset(self) -> None:
     """Resets the simulation world to its initial state.
 
+
+    Deprecated: To reset the simulation world before running a process, set the
+    `start_from_world_state` parameter in `Solution.executive.run()` instead.
+    See execution.py for more details.
+
+
     Also makes sure that all affected components such as ICON are in a working
     state.
     """
+
+    warnings.warn(
+        'Simulation.reset() is deprecated. To reset the simulation'
+        ' world before running a process, set the `start_from_world_state'
+        ' parameter in `solution.executive.run()` instead. See docstring for'
+        ' `solution.executive.run()` for more details.',
+        DeprecationWarning,
+        stacklevel=2,
+    )
+
+
     request = simulation_service_pb2.ResetSimulationRequest()
     self._call_simulation_service_reset(request)