sequence-base 0.4.31__tar.gz → 0.4.33__tar.gz

{sequence_base-0.4.31 → sequence_base-0.4.33}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.5
 Name: sequence-base
-Version: 0.4.31
+Version: 0.4.33
 Summary: Shared foundation for the Sequences platform — wire contract, correlation, error taxonomy, constants. Used by the robot SDK, gateway, and container harness.
 Project-URL: Changelog, https://generalsequences.com/docs/changelog/
 Requires-Python: >=3.10

{sequence_base-0.4.31 → sequence_base-0.4.33}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "sequence-base"
-version = "0.4.31"
+version = "0.4.33"
 description = "Shared foundation for the Sequences platform — wire contract, correlation, error taxonomy, constants. Used by the robot SDK, gateway, and container harness."
 requires-python = ">=3.10"
 dependencies = ["pydantic>=2.0"]

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/__init__.py

@@ -24,7 +24,6 @@ from sequence_base.contract import (
     Project,
     ImageStepProject,
     Camera,
-    Embodiment,
     ObservationContract,
     ObserveFrame,
     ObserveRequest,
@@ -130,9 +129,6 @@ from sequence_base.errors.transport import (
 from sequence_base.episode import Episode
 
 
-from sequence_base.feedback import Feedback
-
-
 from sequence_base import auth
 
 
@@ -148,7 +144,7 @@ __all__ = [
 
     "SeqFlags", "ImageStepUvPip", "ImageStepApt", "ImageStepEnv", "ImageStepRun", "AddLocal", "ImageStepAddLocal",
     "FROZEN_PATH", "TemplateFiles", "ImageStepTemplateFiles", "Project", "ImageStepProject", "ImageStep", "ImageSpec",
-    "VolumeMount", "VolumeRef", "Concurrency", "ActionContract", "Camera", "ObservationContract", "Embodiment",
+    "VolumeMount", "VolumeRef", "Concurrency", "ActionContract", "Camera", "ObservationContract",
     "PolicySpec", "PolicyRegistration", "PolicyConstructor",
     "Observations", "Stream", "Actions", "Tensors",
 
@@ -177,7 +173,7 @@ __all__ = [
 
     "TransportUnavailable", "TransportWarming", "TransportRejected", "TransportOverloaded",
 
-    "Episode", "Feedback",
+    "Episode",
 
     "auth",
 ]

sequence_base-0.4.33/sequence_base/by_name.py

@@ -0,0 +1,175 @@
+"""
+Which arguments of a method a policy class names (infer=, observe=) an act's inputs fill: the inputs whole, its one
+argument - or, when it takes two or more without a default, each key of the inputs to its argument of that name.
+
+In one sentence: `takes_by_name(parameters, platform)` reads the method's arguments - less *args, **kwargs and the ones
+the platform hands it itself (`platform`: INFER_PLATFORM, OBSERVE_PLATFORM) → two or more of them without a default:
+it takes its inputs by name (ByName), each of its arguments a key - one without a default a key the inputs must hold,
+one with a default a key they may → `ByName.call(inputs, what)` makes what it is called with, refusing inputs that are
+no dict, lack a key it needs, or hold one it takes no argument for (unless it takes **kwargs), each named; fewer than
+two: None, the inputs go to its first argument whole and its others with a default are inference parameters, as before.
+
+WHY by the arguments without a default: a method that needs two or more could never be handed an act's inputs whole -
+the platform refused to deploy one - so binding them by name changes nothing a class deployed today does, and a method
+that takes one beside its inference parameters keeps taking its inputs whole. The SDK reads the rule when a class is
+declared (seq/named.py, registry.infer_params), the worker when it calls the method (harness/handler/loader.py): one
+rule on both sides.
+
+What the platform hands a method itself is `episode` - an act function, an observe function and the method an
+episode's end calls alike - and an eval's `seed`; `retired(parameters, what)` refuses a method that still takes what it
+handed once (episode_id, embodiment, feedback, and a composite's plan and robot), and `ends(parameters, what)` an end
+method that takes anything but the episode, each in words that say what to write instead - the SDK when a class is
+declared, the worker when it loads one declared before.
+
+
+A composite's planner, @seq.plan, is called on a clock with the episode alone and what it returns is kept in the
+episode's state, which the act function beside it reads: `plan_refused(plan, infer_takes_episode=...)` says why a plan
+method cannot be served as it is written, and `wake_on_refused(value)` why a wake_on is no list of keys - one set of
+words for the SDK and the worker.
+"""
+from __future__ import annotations
+
+import inspect
+from collections.abc import Iterable, Mapping
+from dataclasses import dataclass
+from typing import Any
+
+__all__ = ["INFER_PLATFORM", "OBSERVE_PLATFORM", "RETIRED", "WAKE_ON", "ByName", "ends", "plan_refused", "retired",
+           "takes_by_name", "wake_on_refused"]
+
+
+
+INFER_PLATFORM = frozenset({"seed", "episode"})
+OBSERVE_PLATFORM = frozenset({"step", "episode"})
+
+
+RETIRED = {"episode_id": "take episode, a seq.Episode, and read episode.id",
+           "embodiment": "send what the robot is with its observations, in observe(x)",
+           "feedback": "send what the robot was playing with its observations, in observe(x)",
+
+           "plan": ('take episode and read the newest plan as episode.state["seq.plans"][-1]["value"], what '
+                    '@seq.plan returned (before the first, episode.state.get("seq.plans") is None)'),
+           "robot": ("take episode: episode.state is the robot's own dict, which @seq.plan is handed too, and "
+                     "episode.id names it")}
+
+WAKE_ON = ('@seq.plan(wake_on=...) is a list of the observation\'s keys whose arrival plans at once, each a string - '
+           'wake_on=["say"]: an observation that holds "say" plans its episode then, its clock going on beside')
+
+_VARIADIC = (inspect.Parameter.VAR_POSITIONAL, inspect.Parameter.VAR_KEYWORD)
+
+
+@dataclass(frozen=True)
+class ByName:
+    """A method that takes an act's inputs by name: `names`, the arguments they fill, in order; `required`, those with
+    no default; `positional`, those it takes by position only (before a `/`); `rest`, whether it takes **kwargs - any
+    other key of the inputs going there; `platform`, the names the platform hands it itself."""
+
+    names: tuple[str, ...]
+    required: tuple[str, ...]
+    positional: tuple[str, ...]
+    rest: bool
+    platform: frozenset[str]
+
+    def call(self, inputs: Any, what: str) -> tuple[list, dict]:
+        """(args, kwargs) the method `what` ("Model.predict") is called with for an act's `inputs`; ValueError, in its
+        words, for inputs that are not a dict of its arguments."""
+        takes = ", ".join(n if n in self.required else f"{n} (optional)" for n in self.names) or "none of them"
+        if not isinstance(inputs, Mapping):
+            raise ValueError(f"{what} takes its inputs by name ({takes}): an act's inputs are a dict of them, and "
+                             f"these are a {type(inputs).__name__}")
+        missing = [n for n in self.required if n not in inputs]
+        extra = [k for k in inputs if k not in self.names
+                 and not (self.rest and isinstance(k, str) and k not in self.platform)]
+        if missing or extra:
+            held = f"lack {_keys(missing)}" if missing else ""
+            if extra:
+                held += (" and " if held else "") + f"hold {_keys(extra)}, which it takes no argument for"
+            ours = [k for k in extra if k in self.platform]
+            mine = f" ({_keys(ours)}: the platform's to hand it)" if ours else ""
+            raise ValueError(f"{what} takes its inputs by name ({takes}), and these {held}{mine}")
+        args: list = []
+        for i, name in enumerate(self.positional):
+            if name not in inputs:
+                later = next((n for n in self.positional[i + 1:] if n in inputs), None)
+                if later is not None:
+                    raise ValueError(f"{what} takes {name} and {later} by position only, in that order: these hold "
+                                     f"{later!r} and no {name!r}")
+                break
+            args.append(inputs[name])
+        return args, {k: v for k, v in inputs.items() if k not in self.positional}
+
+
+def takes_by_name(parameters: Iterable[inspect.Parameter], platform: frozenset[str] = frozenset(), *,
+                  always: bool = False) -> ByName | None:
+    """How a method of these `parameters` (self left out) takes an act's inputs: by name (ByName) when two or more of
+    its arguments - *args, **kwargs and `platform`'s left out - have no default, else None: whole, as one argument.
+    `always`: by name however many it takes - an infer= beside observe=, handed an act's arguments alone (plan3.5/92)."""
+    every = list(parameters)
+    params = [p for p in every if p.kind not in _VARIADIC and p.name not in platform]
+    required = tuple(p.name for p in params if p.default is inspect.Parameter.empty)
+    if len(required) < 2 and not always:
+        return None
+    return ByName(names=tuple(p.name for p in params), required=required,
+                  positional=tuple(p.name for p in params if p.kind is inspect.Parameter.POSITIONAL_ONLY),
+                  rest=any(p.kind is inspect.Parameter.VAR_KEYWORD for p in every), platform=frozenset(platform))
+
+
+def retired(parameters: Iterable[inspect.Parameter], what: str) -> str | None:
+    """Why `what` ("Model.infer"), a method the platform calls, cannot be deployed: it takes what the platform no longer
+    hands it (RETIRED), said with what to write instead - or None, when it takes none of it."""
+    names = [p.name for p in parameters if p.name in RETIRED]
+    if not names:
+        return None
+    return (f"{what} takes {' and '.join(names)}, which the platform no longer hands it: "
+            + "; ".join(RETIRED[n] for n in names))
+
+
+def ends(parameters: Iterable[inspect.Parameter], what: str) -> str | None:
+    """Why `what` ("Model.end"), the method an episode's end calls (@seq.on_episode), cannot be deployed: an episode's
+    end hands it the episode alone, so it takes `episode` or nothing - any other argument with a default, never one
+    the platform no longer hands (RETIRED) - or None, when it does."""
+    taken = [p.name for p in parameters if p.kind not in _VARIADIC
+             and (p.name in RETIRED or (p.name != "episode" and p.default is inspect.Parameter.empty))]
+    if not taken:
+        return None
+    name = what.rsplit(".", 1)[-1]
+    return (f"{what} takes {' and '.join(taken)}: an episode's end hands it the episode alone - write "
+            f"def {name}(self, episode) and read its id as episode.id, or def {name}(self)")
+
+
+def _keys(names: list) -> str:
+    return ", ".join(repr(n) for n in names)
+
+
+def plan_refused(plan: Any, *, infer_takes_episode: bool) -> str | None:
+    """Why `plan`, a policy's @seq.plan method, cannot be served as it is written - or None, when it can: it is called on
+    a clock with the episode alone, plain or async, returning (never yielding) what is kept in the episode's state for
+    the act function beside it, which must take the episode to read it.
+"""
+    name = getattr(plan, "__name__", "plan")
+    if inspect.isgeneratorfunction(plan) or inspect.isasyncgenfunction(plan):
+        return (f"@seq.plan {name} returns its plan rather than yielding it: return the value, which is kept in "
+                'episode.state["seq.plans"] (None keeps the plans as they are)')
+    try:
+        params = inspect.signature(plan).parameters
+    except (TypeError, ValueError):
+        params = {}
+    others = [n for n, p in params.items()
+              if n not in ("self", "episode") and p.default is inspect.Parameter.empty and p.kind not in _VARIADIC]
+    if "episode" not in params or others:
+        return (f"@seq.plan is handed the episode alone: write def {name}(self, episode) - read what it needs from "
+                'episode.state, and return the plan, which is kept in episode.state["seq.plans"] (None keeps the plans '
+                "as they are)")
+    if not infer_takes_episode:
+        return ("a policy with @seq.plan reads its plans where its act function runs: take episode in it and read "
+                'episode.state["seq.plans"][-1]["value"]')
+    return None
+
+
+def wake_on_refused(value: Any) -> str | None:
+    """Why `value` cannot be a @seq.plan's wake_on - the observation's top-level keys whose arrival plans an episode at
+    once - or None, when it can: a list (or tuple) of strings, or None for none.
+"""
+    if value is None or (isinstance(value, (list, tuple)) and all(isinstance(k, str) for k in value)):
+        return None
+    return WAKE_ON

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/constants/version.py

@@ -4,7 +4,8 @@
 
 
 
-CONTRACT_VERSION = "0.5.28"
+CONTRACT_VERSION = "0.5.29"
+
 
 
 

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/contract/__init__.py

@@ -21,7 +21,6 @@ from sequence_base.contract.observe import ObserveFrame, ObserveRequest, Observe
 from sequence_base.contract.flags import SeqFlags
 from sequence_base.contract.policy import (
     Camera,
-    Embodiment,
     ObservationContract,
     ActionContract,
     Concurrency,
@@ -129,7 +128,7 @@ __all__ = [
     "SeqFlags",
     "ImageStepUvPip", "ImageStepApt", "ImageStepEnv", "ImageStepRun", "AddLocal", "ImageStepAddLocal",
     "TemplateFiles", "ImageStepTemplateFiles", "Project", "ImageStepProject", "FROZEN_PATH", "ImageStep", "ImageSpec",
-    "VolumeMount", "VolumeRef", "Concurrency", "ActionContract", "Camera", "ObservationContract", "Embodiment",
+    "VolumeMount", "VolumeRef", "Concurrency", "ActionContract", "Camera", "ObservationContract",
     "PolicySpec", "PolicyRegistration", "PolicyConstructor",
     "Observations", "Stream", "Actions", "Tensors",
 

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/contract/connect.py

@@ -10,13 +10,15 @@ and the warming ETA are typed and checkable.
 from __future__ import annotations
 
 from datetime import datetime
+from typing import Any
 
-from pydantic import BaseModel, ConfigDict, Field
+from pydantic import BaseModel, ConfigDict, Field, model_validator
 
 
 from sequence_base.contract.errors import WarmingError
 from sequence_base.contract.io import ActionContract, ObservationContract
 from sequence_base.contract.own_io import Actions, Observations
+from sequence_base.contract.retired import dropped
 
 __all__ = ["Lease", "ConnectRequest", "ConnectResponse", "WarmingError"]
 
@@ -37,7 +39,11 @@ class ConnectRequest(BaseModel):
     model_config = ConfigDict(extra="forbid")
 
     model: str = Field(..., description="Deployment name to connect to")
-    embodiment: str | None = Field(default=None, description="Which declared embodiment this session drives")
+
+    @model_validator(mode="before")
+    @classmethod
+    def _retired(cls, data: Any) -> Any:
+        return dropped(data, "embodiment")
 
 
 class ConnectResponse(BaseModel):
@@ -55,7 +61,6 @@ class ConnectResponse(BaseModel):
 
     action: ActionContract | None = None
     observation: ObservationContract | None = None
-    embodiment: str | None = None
 
     io: str | None = None
 
@@ -63,5 +68,7 @@ class ConnectResponse(BaseModel):
     observations: Observations | None = None
     actions: Actions | None = None
 
-
-    feedback: bool | None = None
+    @model_validator(mode="before")
+    @classmethod
+    def _retired(cls, data: Any) -> Any:
+        return dropped(data, "embodiment", "feedback")

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/contract/deployments.py

@@ -16,13 +16,14 @@ import binascii
 import hashlib
 import re
 from enum import Enum
-from typing import Literal
+from typing import Any, Literal
 
 from pydantic import BaseModel, ConfigDict, Field, field_validator, model_validator
 
 from sequence_base.contract.accounts import SecretRef
-from sequence_base.contract.io import Embodiment, ObservationContract
+from sequence_base.contract.io import ObservationContract
 from sequence_base.contract.own_io import Actions, Observations, Tensors, check_own_io
+from sequence_base.contract.retired import dropped
 from sequence_base.contract.policy import (
     KIND_NAME,
     ActionContract,
@@ -165,8 +166,9 @@ def describe(param: "InferParam") -> str:
 
 class DeploymentPolicy(BaseModel):
     """The policy block of the deployments body. Only `handler_ref` is required. The robot-arm preset's contracts
-    (`action`, `observation`, `embodiments`) are optional since contract 0.4.14: a deployment that declares none is held
-    to nothing and its inputs / outputs pass through the worker untouched.
+    (`action`, `observation`) are optional since contract 0.4.14: a deployment that declares none is held to nothing and
+    its inputs / outputs pass through the worker untouched. One stored from before contract 0.5.29 reads with its
+    `embodiments` and `feedback` dropped (contract.retired).
 
     `secrets` carries the policy's declared secret BUNDLES BY NAME ONLY (list[SecretRef]) — the gateway
     validates each name exists and belongs to the deployer at submit time, and the
@@ -176,6 +178,11 @@ class DeploymentPolicy(BaseModel):
 
     model_config = ConfigDict(extra="forbid")
 
+    @model_validator(mode="before")
+    @classmethod
+    def _retired(cls, data: Any) -> Any:
+        return dropped(data, "embodiments", "feedback")
+
     handler_ref: str
     action: ActionContract | None = None
 
@@ -184,14 +191,9 @@ class DeploymentPolicy(BaseModel):
 
 
     streaming: bool = Field(default=False, exclude=True)
-
-
-    feedback: bool | None = None
     secrets: list[SecretRef] = Field(default_factory=list)
 
-
     observation: ObservationContract | None = None
-    embodiments: dict[str, Embodiment] | None = None
 
 
 

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/contract/io.py

@@ -1,5 +1,5 @@
 """
-The robot-arm I/O contracts (`action=`, `observation=`, `embodiments=`), re-exported from
+The robot-arm I/O contracts (`action=`, `observation=`), re-exported from
 `sequence_base.presets.robot_arm`.
 
 Declaring one is optional since contract 0.4.14: a deployment that declares none is held to nothing, and its
@@ -11,11 +11,10 @@ from sequence_base.presets.robot_arm import (
     PROPRIO_FIELDS,
     ActionContract,
     Camera,
-    Embodiment,
     ObservationContract,
     fit_hint,
     frame_size_problem,
 )
 
-__all__ = ["ActionContract", "PROPRIO_FIELDS", "Camera", "ObservationContract", "Embodiment", "frame_size_problem",
-           "fit_hint", "PAYLOAD_HINT"]
+__all__ = ["ActionContract", "PROPRIO_FIELDS", "Camera", "ObservationContract", "frame_size_problem", "fit_hint",
+           "PAYLOAD_HINT"]

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/contract/own_io.py

@@ -235,7 +235,7 @@ def check_own_io(spec: Any) -> None:
     new = [name for name in ("observations", "actions", "tensors") if getattr(spec, name) is not None]
     if not new:
         return
-    if spec.action or spec.observation or spec.embodiments:
+    if spec.action or spec.observation:
         raise ValueError(f"{', '.join(new)} {'is' if len(new) == 1 else 'are'} for a policy of its own inputs and "
                          "outputs; this one declares the robot-arm contract, where observation history and the action "
                          "chunk say it")

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/contract/policy.py

@@ -20,11 +20,11 @@ from sequence_base.contract.io import (
     PROPRIO_FIELDS,
     ActionContract,
     Camera,
-    Embodiment,
     ObservationContract,
 )
 from sequence_base.contract.flags import SeqFlags
 from sequence_base.contract.own_io import Actions, Observations, Tensors, check_own_io
+from sequence_base.contract.retired import dropped
 
 __all__ = [
     "Episodes",
@@ -347,12 +347,18 @@ Episodes = Literal["shared", "own"]
 
 
 class PolicySpec(BaseModel):
-    """What `@seq.policy(...)` accrues — a policy's complete infra declaration, losslessly. `action` /
-    `observation` / `embodiments` are optional (contract 0.4.14): a policy that declares none defines its I/O in its own
-    code, and the platform passes it through."""
+    """What `@seq.policy(...)` accrues — a policy's complete infra declaration, losslessly. `action` / `observation`
+    are optional (contract 0.4.14): a policy that declares none defines its I/O in its own code, and the platform passes
+    it through. A spec from before contract 0.5.29 reads
+    with its `embodiments` and `feedback` dropped (contract.retired)."""
 
     model_config = ConfigDict(extra="forbid")
 
+    @model_validator(mode="before")
+    @classmethod
+    def _retired(cls, data: Any) -> Any:
+        return dropped(data, "embodiments", "feedback")
+
     name: str
 
 
@@ -377,14 +383,9 @@ class PolicySpec(BaseModel):
 
     streaming: bool = Field(default=False, exclude=True)
 
-
-
-    feedback: bool | None = None
-
     action: ActionContract | None = None
 
     observation: ObservationContract | None = None
-    embodiments: dict[str, Embodiment] | None = None
 
 
 

sequence_base-0.4.33/sequence_base/contract/retired.py

@@ -0,0 +1,22 @@
+"""
+Fields the wire carried once and carries no more (contract 0.5.29): what a robot is (`embodiment`, `embodiments`) and
+what it was playing (`feedback`). A body from before - a spec stored when its policy was deployed, an act or a connect
+an older gateway queued or an older SDK sends - still reads under extra="forbid", each of them dropped as it is read.
+
+WHY dropped rather than kept unread: nothing reads them - an act function is handed its episode alone, and a robot sends
+what it is, and what it played, with its observations - so a model that kept them would only carry them on.
+
+
+"""
+from __future__ import annotations
+
+from typing import Any
+
+__all__ = ["dropped"]
+
+
+def dropped(data: Any, *names: str) -> Any:
+    """`data` without `names`: a dict that holds any of them, a copy without them; anything else as it is."""
+    if isinstance(data, dict) and any(n in data for n in names):
+        return {k: v for k, v in data.items() if k not in names}
+    return data

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/contract/wire.py

@@ -7,8 +7,8 @@ posts them to the worker's /act unchanged → the worker hands them to the polic
 of the user's own code, never by the platform.
 
 Alongside the payload the envelope carries only what the platform itself acts on: a seed (determinism), the episode
-(per-episode state and `/act/episode_end`), the declared inference parameters, and — for a robot-arm preset policy with
-several bodies — the embodiment chosen at connect.
+(per-episode state and `/act/episode_end`) and the declared inference parameters. An act from before contract 0.5.29
+reads with its `embodiment` and `feedback` dropped (contract.retired).
 
 Compatibility: a worker also accepts the version-1 body (`observation` instead of `inputs`), and a policy written
 against the robot-arm preset (`infer(self, obs: Observation) -> ActionChunk`) also answers `action_chunk`, so older SDKs
@@ -18,7 +18,9 @@ from __future__ import annotations
 
 from typing import Any
 
-from pydantic import BaseModel, ConfigDict, Field
+from pydantic import BaseModel, ConfigDict, Field, model_validator
+
+from sequence_base.contract.retired import dropped
 
 __all__ = ["ActRequest", "ActResponse"]
 
@@ -33,8 +35,6 @@ class ActRequest(BaseModel):
     episode_id: str | None = Field(default=None, description="The episode this call belongs to (per-episode state)")
     params: dict[str, Any] | None = Field(default=None,
                                           description="Values for the inference parameters the policy declares")
-    embodiment: str | None = Field(default=None,
-                                   description="Robot-arm preset only: which declared embodiment this session drives")
 
 
     plan: dict[str, Any] | None = Field(default=None,
@@ -45,10 +45,10 @@ class ActRequest(BaseModel):
     seq: int | None = Field(default=None, ge=0,
                             description="The newest observation's number in its episode's stream (POST /observe)")
 
-
-
-    feedback: dict[str, Any] | None = Field(default=None,
-                                            description="What the robot was playing: left, delay, played, last")
+    @model_validator(mode="before")
+    @classmethod
+    def _retired(cls, data: Any) -> Any:
+        return dropped(data, "embodiment", "feedback")
 
 
 class ActResponse(BaseModel):

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/presets/robot_arm.py

@@ -5,7 +5,7 @@ Optional, not the platform's wire. Under custom-io the worker hands a policy's `
 returns whatever it answers; this module is the shape OUR templates and benchmarks agree on, kept so they keep
 working. A policy uses it by annotating `infer(self, obs: Observation, ...) -> ActionChunk` (the worker then parses
 `inputs` into an Observation and serializes the chunk) and, if it wants them enforced, by declaring `action=` /
-`observation=` / `embodiments=` contracts.
+`observation=` contracts.
 
 `sequence_base.contract.act` and `sequence_base.contract.io` re-export everything here, so existing imports keep
 resolving to these same classes.
@@ -277,12 +277,3 @@ class ObservationContract(BaseModel):
         return v
 
 
-class Embodiment(BaseModel):
-    """One robot body a multi-embodiment policy serves: its action contract, its observation contract, and
-    free-form metadata the policy reads (e.g. which normalisation statistics). Chosen per session at connect."""
-
-    model_config = ConfigDict(extra="forbid")
-
-    action: ActionContract
-    observation: ObservationContract | None = None
-    meta: dict[str, Any] = Field(default_factory=dict)

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/schema_export.py

@@ -80,7 +80,6 @@ from sequence_base.contract.eval import (
 from sequence_base.contract.flags import seqflags_json_schema
 from sequence_base.contract.policy import (
     Camera,
-    Embodiment,
     ObservationContract,
     ActionContract,
     Concurrency,
@@ -136,7 +135,6 @@ WIRE_MODELS: dict[str, type[BaseModel]] = {
     "ActionContract": ActionContract,
     "Camera": Camera,
     "ObservationContract": ObservationContract,
-    "Embodiment": Embodiment,
     "PolicySpec": PolicySpec,
     "PolicyRegistration": PolicyRegistration,
 

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/schemas/ActRequest.json

@@ -2,19 +2,6 @@
   "additionalProperties": false,
   "description": "POST /act, version 2. `inputs` is any JSON value; the worker does not inspect it.",
   "properties": {
-    "embodiment": {
-      "anyOf": [
-        {
-          "type": "string"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "Robot-arm preset only: which declared embodiment this session drives",
-      "title": "Embodiment"
-    },
     "episode_id": {
       "anyOf": [
         {
@@ -28,20 +15,6 @@
       "description": "The episode this call belongs to (per-episode state)",
       "title": "Episode Id"
     },
-    "feedback": {
-      "anyOf": [
-        {
-          "additionalProperties": true,
-          "type": "object"
-        },
-        {
-          "type": "null"
-        }
-      ],
-      "default": null,
-      "description": "What the robot was playing: left, delay, played, last",
-      "title": "Feedback"
-    },
     "inputs": {
       "description": "Whatever the policy's infer() takes, exactly as the robot's code built it",
       "title": "Inputs"
@@ -107,5 +80,5 @@
   ],
   "title": "ActRequest",
   "type": "object",
-  "x-contract-version": "0.5.28"
+  "x-contract-version": "0.5.29"
 }

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/schemas/ActResponse.json

@@ -89,5 +89,5 @@
   ],
   "title": "ActResponse",
   "type": "object",
-  "x-contract-version": "0.5.28"
+  "x-contract-version": "0.5.29"
 }

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/schemas/ActionChunk.json

@@ -99,5 +99,5 @@
   ],
   "title": "ActionChunk",
   "type": "object",
-  "x-contract-version": "0.5.28"
+  "x-contract-version": "0.5.29"
 }

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/schemas/ActionContract.json

@@ -96,5 +96,5 @@
   ],
   "title": "ActionContract",
   "type": "object",
-  "x-contract-version": "0.5.28"
+  "x-contract-version": "0.5.29"
 }

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/schemas/ActionStep.json

@@ -19,5 +19,5 @@
   ],
   "title": "ActionStep",
   "type": "object",
-  "x-contract-version": "0.5.28"
+  "x-contract-version": "0.5.29"
 }

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/schemas/Actions.json

@@ -59,5 +59,5 @@
   },
   "title": "Actions",
   "type": "object",
-  "x-contract-version": "0.5.28"
+  "x-contract-version": "0.5.29"
 }

{sequence_base-0.4.31 → sequence_base-0.4.33}/sequence_base/schemas/AdapterPair.json

@@ -17,5 +17,5 @@
   ],
   "title": "AdapterPair",
   "type": "object",
-  "x-contract-version": "0.5.28"
+  "x-contract-version": "0.5.29"
 }