خلية الروبوتات: فرز الحزام الناقل بحالة حتمية

from assetcore_sdk import AssetCoreClient
from assetcore_sdk.actions import ActionOptions
from assetcore_sdk.operations import (
    AddInstance,
    CreateContainer,
    MoveInstance,
    RegisterClass,
    RegisterClassContinuousShape1d,
    RegisterClassContinuousShape2d,
    RegisterClassShape,
)

# Snippets assume an async context (e.g., inside async def main()).
write_client = AssetCoreClient(
    base_url="http://localhost:8080",
    api_key="WRITE_API_KEY",
)
read_client = AssetCoreClient(
    base_url="http://localhost:8081",
    api_key="READ_API_KEY",
)

#include "asset_core.h"
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>

static void check_ok(int32_t code, const char* label) {
  if (code == ERROR_SUCCESS) {
    return;
  }
  fprintf(stderr, "%s failed: %d\n", label, code);
  abort();
}

OpaqueRuntime* runtime = NULL;
AssetRuntimeConfig config = {0};
config.struct_size = sizeof(AssetRuntimeConfig);
config.clock_type = AssetClockType_System;
check_ok(asset_runtime_create(&config, &runtime), "asset_runtime_create");

use reqwest::Client;
use serde_json::json;

let client = Client::new();
let write_base_url = "http://localhost:8080";
let read_base_url = "http://localhost:8081";
let write_api_key = "WRITE_API_KEY";
let read_api_key = "READ_API_KEY";

await write_client.commit_operations(
    [
        CreateContainer(
            kind={
                "bucket_cell_size": 1000,
                "max_x": 39999,
                "min_x": 0,
                "quantization_inv": 1000,
                "type": "continuous_line_1d",
            },
            policies=None,
            external_id="container-31001",
            owner_external_id="owner-77",
        ),
        CreateContainer(
            kind={"capacity": 16, "grid_width": 4, "type": "grid"},
            policies=None,
            external_id="container-31002",
            owner_external_id="owner-77",
        ),
        CreateContainer(
            kind={"count": 2, "type": "slots"},
            policies=None,
            external_id="container-31003",
            owner_external_id="owner-77",
        ),
        CreateContainer(
            kind={
                "bucket_cell_size": 1000,
                "max_x": 9999,
                "max_y": 9999,
                "min_x": 0,
                "min_y": 0,
                "quantization_inv": 1000,
                "type": "continuous_grid_2d",
            },
            policies=None,
            external_id="container-31004",
            owner_external_id="owner-77",
        ),
        RegisterClass(
            request={
                "behavior": {"balance_scale": 1},
                "class_id": "class-41001",
                "flags": 0,
                "name": "robotics-item-41001",
            },
        ),
        RegisterClass(
            request={
                "behavior": {"balance_scale": 1},
                "class_id": "class-41002",
                "flags": 0,
                "name": "robotics-robot-41002",
            },
        ),
        RegisterClassShape(
            request={"class_id": "class-41001", "shape": {"height": 1, "width": 1}},
        ),
        RegisterClassContinuousShape1d(
            request={"class_id": "class-41001", "span": {"length": 2000}},
        ),
        RegisterClassContinuousShape2d(
            request={
                "class_id": "class-41002",
                "rect": {"height": 1000, "width": 1000},
            },
        ),
    ],
    namespace_id=1,
    idempotency_key="robotics-cell-setup",
    actor_id="robotics-cell",
    metadata={
        "job_id": "job-robotics-001",
        "step": "setup",
        "trace_id": "trace-robotics-001",
    },
)

OpaqueTransaction* tx = NULL;
check_ok(asset_tx_begin(runtime, 1, &tx), "asset_tx_begin");
{
  AssetContainerKind kind = {0};
  kind.kind = AssetContainerKindTag_ContinuousLine1d;
  kind.min_x = 0;
  kind.max_x = 39999;
  kind.quantization_inv = 1000;
  kind.bucket_cell_size = 1000;
  uint32_t out_container_id = 0;
  check_ok(
      asset_tx_create_container(runtime, tx, 31001, kind, 77, NULL, &out_container_id),
      "asset_tx_create_container[0]");
}
{
  AssetContainerKind kind = {0};
  kind.kind = AssetContainerKindTag_Grid;
  kind.capacity = 16;
  kind.grid_width = 4;
  uint32_t out_container_id = 0;
  check_ok(
      asset_tx_create_container(runtime, tx, 31002, kind, 77, NULL, &out_container_id),
      "asset_tx_create_container[1]");
}
{
  AssetContainerKind kind = {0};
  kind.kind = AssetContainerKindTag_Slots;
  kind.slots = 2;
  uint32_t out_container_id = 0;
  check_ok(
      asset_tx_create_container(runtime, tx, 31003, kind, 77, NULL, &out_container_id),
      "asset_tx_create_container[2]");
}
{
  AssetContainerKind kind = {0};
  kind.kind = AssetContainerKindTag_ContinuousGrid2d;
  kind.min_x = 0;
  kind.min_y = 0;
  kind.max_x = 9999;
  kind.max_y = 9999;
  kind.quantization_inv = 1000;
  kind.bucket_cell_size = 1000;
  uint32_t out_container_id = 0;
  check_ok(
      asset_tx_create_container(runtime, tx, 31004, kind, 77, NULL, &out_container_id),
      "asset_tx_create_container[3]");
}
{
  AssetClassBehavior behavior = {0};
  behavior.has_balance_scale = 1;
  behavior.balance_scale = 1;
  uint32_t out_class_id = 0;
  check_ok(asset_tx_register_class(runtime,
                                   tx,
                                   41001,
                                   0,
                                   &behavior,
                                   (const uint8_t*)"robotics-item-41001",
                                   19,
                                   &out_class_id),
           "asset_tx_register_class[4]");
}
{
  AssetClassBehavior behavior = {0};
  behavior.has_balance_scale = 1;
  behavior.balance_scale = 1;
  uint32_t out_class_id = 0;
  check_ok(asset_tx_register_class(runtime,
                                   tx,
                                   41002,
                                   0,
                                   &behavior,
                                   (const uint8_t*)"robotics-robot-41002",
                                   20,
                                   &out_class_id),
           "asset_tx_register_class[5]");
}
{
  AssetItemShape shape = {.width = 1, .height = 1};
  uint32_t inserted = 0;
  check_ok(asset_tx_register_class_shape(runtime, tx, 41001, 0, shape, &inserted),
           "asset_tx_register_class_shape[6]");
}
{
  AssetContinuousSpan span = {.length = 2000};
  uint32_t inserted = 0;
  check_ok(asset_tx_register_class_continuous_shape_1d(
               runtime, tx, 41001, 0, span, &inserted),
           "asset_tx_register_class_continuous_shape_1d[7]");
}
{
  AssetContinuousRect rect = {.width = 1000, .height = 1000};
  uint32_t inserted = 0;
  check_ok(
      asset_tx_register_class_continuous_shape(runtime, tx, 41002, 0, rect, &inserted),
      "asset_tx_register_class_continuous_shape[8]");
}
AssetTxMeta meta = {0};
OpaqueEventBatch* batch = NULL;
check_ok(asset_tx_commit(runtime, tx, &meta, &batch), "asset_tx_commit");
asset_event_batch_destroy(runtime, batch);

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_commit",
  "params": {
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-setup",
    "metadata": {
      "job_id": "job-robotics-001",
      "step": "setup",
      "trace_id": "trace-robotics-001"
    },
    "namespace_id": 1,
    "operations": [
      {
        "args": {
          "external_id": "container-31001",
          "kind": {
            "bucket_cell_size": 1000,
            "max_x": 39999,
            "min_x": 0,
            "quantization_inv": 1000,
            "type": "continuous_line_1d"
          },
          "owner_external_id": "owner-77",
          "policies": null
        },
        "op": "CreateContainer"
      },
      {
        "args": {
          "external_id": "container-31002",
          "kind": {
            "capacity": 16,
            "grid_width": 4,
            "type": "grid"
          },
          "owner_external_id": "owner-77",
          "policies": null
        },
        "op": "CreateContainer"
      },
      {
        "args": {
          "external_id": "container-31003",
          "kind": {
            "count": 2,
            "type": "slots"
          },
          "owner_external_id": "owner-77",
          "policies": null
        },
        "op": "CreateContainer"
      },
      {
        "args": {
          "external_id": "container-31004",
          "kind": {
            "bucket_cell_size": 1000,
            "max_x": 9999,
            "max_y": 9999,
            "min_x": 0,
            "min_y": 0,
            "quantization_inv": 1000,
            "type": "continuous_grid_2d"
          },
          "owner_external_id": "owner-77",
          "policies": null
        },
        "op": "CreateContainer"
      },
      {
        "args": {
          "request": {
            "behavior": {
              "balance_scale": 1
            },
            "class_id": "class-41001",
            "flags": 0,
            "name": "robotics-item-41001"
          }
        },
        "op": "RegisterClass"
      },
      {
        "args": {
          "request": {
            "behavior": {
              "balance_scale": 1
            },
            "class_id": "class-41002",
            "flags": 0,
            "name": "robotics-robot-41002"
          }
        },
        "op": "RegisterClass"
      },
      {
        "args": {
          "request": {
            "class_id": "class-41001",
            "shape": {
              "height": 1,
              "width": 1
            }
          }
        },
        "op": "RegisterClassShape"
      },
      {
        "args": {
          "request": {
            "class_id": "class-41001",
            "span": {
              "length": 2000
            }
          }
        },
        "op": "RegisterClassContinuousShape1d"
      },
      {
        "args": {
          "request": {
            "class_id": "class-41002",
            "rect": {
              "height": 1000,
              "width": 1000
            }
          }
        },
        "op": "RegisterClassContinuousShape2d"
      }
    ]
  }
}

let payload = json!({
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-setup",
    "metadata": {
      "job_id": "job-robotics-001",
      "step": "setup",
      "trace_id": "trace-robotics-001"
    },
    "operations": [
      {
        "args": {
          "external_id": "container-31001",
          "kind": {
            "bucket_cell_size": 1000,
            "max_x": 39999,
            "min_x": 0,
            "quantization_inv": 1000,
            "type": "continuous_line_1d"
          },
          "owner_external_id": "owner-77",
          "policies": null
        },
        "op": "CreateContainer"
      },
      {
        "args": {
          "external_id": "container-31002",
          "kind": {
            "capacity": 16,
            "grid_width": 4,
            "type": "grid"
          },
          "owner_external_id": "owner-77",
          "policies": null
        },
        "op": "CreateContainer"
      },
      {
        "args": {
          "external_id": "container-31003",
          "kind": {
            "count": 2,
            "type": "slots"
          },
          "owner_external_id": "owner-77",
          "policies": null
        },
        "op": "CreateContainer"
      },
      {
        "args": {
          "external_id": "container-31004",
          "kind": {
            "bucket_cell_size": 1000,
            "max_x": 9999,
            "max_y": 9999,
            "min_x": 0,
            "min_y": 0,
            "quantization_inv": 1000,
            "type": "continuous_grid_2d"
          },
          "owner_external_id": "owner-77",
          "policies": null
        },
        "op": "CreateContainer"
      },
      {
        "args": {
          "request": {
            "behavior": {
              "balance_scale": 1
            },
            "class_id": "class-41001",
            "flags": 0,
            "name": "robotics-item-41001"
          }
        },
        "op": "RegisterClass"
      },
      {
        "args": {
          "request": {
            "behavior": {
              "balance_scale": 1
            },
            "class_id": "class-41002",
            "flags": 0,
            "name": "robotics-robot-41002"
          }
        },
        "op": "RegisterClass"
      },
      {
        "args": {
          "request": {
            "class_id": "class-41001",
            "shape": {
              "height": 1,
              "width": 1
            }
          }
        },
        "op": "RegisterClassShape"
      },
      {
        "args": {
          "request": {
            "class_id": "class-41001",
            "span": {
              "length": 2000
            }
          }
        },
        "op": "RegisterClassContinuousShape1d"
      },
      {
        "args": {
          "request": {
            "class_id": "class-41002",
            "rect": {
              "height": 1000,
              "width": 1000
            }
          }
        },
        "op": "RegisterClassContinuousShape2d"
      }
    ]
});
let response = client
    .post(format!("{}/v1/write/namespaces/1/commit", write_base_url))
    .bearer_auth(write_api_key)
    .json(&payload)
    .send()
    .await?;

await write_client.commit_operations(
    [
        AddInstance(
            class_id="class-41002",
            client_tag="robot-arm-1",
            key=None,
            location={
                "container_id": "container-31004",
                "coord": {"x": 2000, "y": 3000},
                "kind": "continuous_2d",
                "rotation_millideg": 0,
            },
        ),
        AddInstance(
            class_id="class-41001",
            client_tag="inbound-item",
            key=None,
            location={
                "container_id": "container-31001",
                "coord": {"x": 4000},
                "kind": "continuous_1d",
            },
        ),
        AddInstance(
            class_id="class-41001",
            client_tag="blocked-bin",
            key=None,
            location={
                "container_id": "container-31002",
                "kind": "grid_cell",
                "position": 6,
                "rotation": None,
            },
        ),
    ],
    namespace_id=1,
    idempotency_key="robotics-cell-seed",
    actor_id="robotics-cell",
    metadata={
        "job_id": "job-robotics-001",
        "sensor_ts_ms": 1725000000000,
        "step": "seed",
        "trace_id": "trace-robotics-001",
        "vision_confidence": 0.82,
    },
)

OpaqueTransaction* tx = NULL;
check_ok(asset_tx_begin(runtime, 1, &tx), "asset_tx_begin");
AssetInstanceLocation location_0 = {0};
location_0.kind = AssetInstanceLocationKind_Continuous2d;
location_0.container = 31004;
location_0.coord_x = 2000;
location_0.coord_y = 3000;
location_0.rotation_millideg = 0;
{
  uint64_t instance_id = 0;
  check_ok(
      asset_tx_add_instance_semantic(runtime, tx, 41002, 0, location_0, &instance_id),
      "asset_tx_add_instance_semantic[0]");
}
AssetInstanceLocation location_1 = {0};
location_1.kind = AssetInstanceLocationKind_Continuous1d;
location_1.container = 31001;
location_1.coord_x = 4000;
{
  uint64_t instance_id = 0;
  check_ok(
      asset_tx_add_instance_semantic(runtime, tx, 41001, 0, location_1, &instance_id),
      "asset_tx_add_instance_semantic[1]");
}
AssetInstanceLocation location_2 = {0};
location_2.kind = AssetInstanceLocationKind_GridCell;
location_2.container = 31002;
location_2.position = 6;
location_2.rotation = AssetRotation_None;
{
  uint64_t instance_id = 0;
  check_ok(
      asset_tx_add_instance_semantic(runtime, tx, 41001, 0, location_2, &instance_id),
      "asset_tx_add_instance_semantic[2]");
}
AssetTxMeta meta = {0};
OpaqueEventBatch* batch = NULL;
check_ok(asset_tx_commit(runtime, tx, &meta, &batch), "asset_tx_commit");
asset_event_batch_destroy(runtime, batch);

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_commit",
  "params": {
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-seed",
    "metadata": {
      "job_id": "job-robotics-001",
      "sensor_ts_ms": 1725000000000,
      "step": "seed",
      "trace_id": "trace-robotics-001",
      "vision_confidence": 0.82
    },
    "namespace_id": 1,
    "operations": [
      {
        "args": {
          "class_id": "class-41002",
          "client_tag": "robot-arm-1",
          "key": null,
          "location": {
            "container_id": "container-31004",
            "coord": {
              "x": 2000,
              "y": 3000
            },
            "kind": "continuous_2d",
            "rotation_millideg": 0
          }
        },
        "op": "AddInstance"
      },
      {
        "args": {
          "class_id": "class-41001",
          "client_tag": "inbound-item",
          "key": null,
          "location": {
            "container_id": "container-31001",
            "coord": {
              "x": 4000
            },
            "kind": "continuous_1d"
          }
        },
        "op": "AddInstance"
      },
      {
        "args": {
          "class_id": "class-41001",
          "client_tag": "blocked-bin",
          "key": null,
          "location": {
            "container_id": "container-31002",
            "kind": "grid_cell",
            "position": 6,
            "rotation": null
          }
        },
        "op": "AddInstance"
      }
    ]
  }
}

let payload = json!({
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-seed",
    "metadata": {
      "job_id": "job-robotics-001",
      "sensor_ts_ms": 1725000000000,
      "step": "seed",
      "trace_id": "trace-robotics-001",
      "vision_confidence": 0.82
    },
    "operations": [
      {
        "args": {
          "class_id": "class-41002",
          "client_tag": "robot-arm-1",
          "key": null,
          "location": {
            "container_id": "container-31004",
            "coord": {
              "x": 2000,
              "y": 3000
            },
            "kind": "continuous_2d",
            "rotation_millideg": 0
          }
        },
        "op": "AddInstance"
      },
      {
        "args": {
          "class_id": "class-41001",
          "client_tag": "inbound-item",
          "key": null,
          "location": {
            "container_id": "container-31001",
            "coord": {
              "x": 4000
            },
            "kind": "continuous_1d"
          }
        },
        "op": "AddInstance"
      },
      {
        "args": {
          "class_id": "class-41001",
          "client_tag": "blocked-bin",
          "key": null,
          "location": {
            "container_id": "container-31002",
            "kind": "grid_cell",
            "position": 6,
            "rotation": null
          }
        },
        "op": "AddInstance"
      }
    ]
});
let response = client
    .post(format!("{}/v1/write/namespaces/1/commit", write_base_url))
    .bearer_auth(write_api_key)
    .json(&payload)
    .send()
    .await?;

await write_client.actions.move_instance(
    instance="inst-2",
    to={
        "container_id": "container-31001",
        "coord": {"x": 10000},
        "kind": "continuous_1d",
    },
    options=ActionOptions(
        namespace_id=1,
        idempotency_key="robotics-cell-advance",
        actor_id="robotics-cell",
        metadata={
            "encoder_ticks": 1825,
            "job_id": "job-robotics-001",
            "speed_mm_s": 450,
            "step": "conveyor-advance",
            "trace_id": "trace-robotics-001",
        },
    ),
)

OpaqueTransaction* tx = NULL;
check_ok(asset_tx_begin(runtime, 1, &tx), "asset_tx_begin");
AssetInstanceLocation location_0 = {0};
location_0.kind = AssetInstanceLocationKind_Continuous1d;
location_0.container = 31001;
location_0.coord_x = 10000;
check_ok(asset_tx_move_instance_semantic(runtime, tx, 2, location_0),
         "asset_tx_move_instance_semantic[0]");
AssetTxMeta meta = {0};
OpaqueEventBatch* batch = NULL;
check_ok(asset_tx_commit(runtime, tx, &meta, &batch), "asset_tx_commit");
asset_event_batch_destroy(runtime, batch);

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_move_instance",
  "params": {
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-advance",
    "metadata": {
      "encoder_ticks": 1825,
      "job_id": "job-robotics-001",
      "speed_mm_s": 450,
      "step": "conveyor-advance",
      "trace_id": "trace-robotics-001"
    },
    "namespace_id": 1,
    "operations": [
      {
        "args": {
          "instance": "inst-2",
          "to": {
            "container_id": "container-31001",
            "coord": {
              "x": 10000
            },
            "kind": "continuous_1d"
          }
        },
        "op": "MoveInstance"
      }
    ]
  }
}

let payload = json!({
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-advance",
    "metadata": {
      "encoder_ticks": 1825,
      "job_id": "job-robotics-001",
      "speed_mm_s": 450,
      "step": "conveyor-advance",
      "trace_id": "trace-robotics-001"
    },
    "operations": [
      {
        "args": {
          "instance": "inst-2",
          "to": {
            "container_id": "container-31001",
            "coord": {
              "x": 10000
            },
            "kind": "continuous_1d"
          }
        },
        "op": "MoveInstance"
      }
    ]
});
let response = client
    .post(format!("{}/v1/write/namespaces/1/commit", write_base_url))
    .bearer_auth(write_api_key)
    .json(&payload)
    .send()
    .await?;

await write_client.actions.move_instance(
    instance="inst-2",
    to={
        "container_id": "container-31001",
        "coord": {"x": 11250},
        "kind": "continuous_1d",
    },
    options=ActionOptions(
        namespace_id=1,
        idempotency_key="robotics-cell-reconcile",
        actor_id="robotics-cell",
        metadata={
            "job_id": "job-robotics-001",
            "sensor_ts_ms": 1725000001250,
            "step": "conveyor-reconcile",
            "trace_id": "trace-robotics-001",
            "vision_confidence": 0.78,
        },
    ),
)

OpaqueTransaction* tx = NULL;
check_ok(asset_tx_begin(runtime, 1, &tx), "asset_tx_begin");
AssetInstanceLocation location_0 = {0};
location_0.kind = AssetInstanceLocationKind_Continuous1d;
location_0.container = 31001;
location_0.coord_x = 11250;
check_ok(asset_tx_move_instance_semantic(runtime, tx, 2, location_0),
         "asset_tx_move_instance_semantic[0]");
AssetTxMeta meta = {0};
OpaqueEventBatch* batch = NULL;
check_ok(asset_tx_commit(runtime, tx, &meta, &batch), "asset_tx_commit");
asset_event_batch_destroy(runtime, batch);

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_move_instance",
  "params": {
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-reconcile",
    "metadata": {
      "job_id": "job-robotics-001",
      "sensor_ts_ms": 1725000001250,
      "step": "conveyor-reconcile",
      "trace_id": "trace-robotics-001",
      "vision_confidence": 0.78
    },
    "namespace_id": 1,
    "operations": [
      {
        "args": {
          "instance": "inst-2",
          "to": {
            "container_id": "container-31001",
            "coord": {
              "x": 11250
            },
            "kind": "continuous_1d"
          }
        },
        "op": "MoveInstance"
      }
    ]
  }
}

let payload = json!({
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-reconcile",
    "metadata": {
      "job_id": "job-robotics-001",
      "sensor_ts_ms": 1725000001250,
      "step": "conveyor-reconcile",
      "trace_id": "trace-robotics-001",
      "vision_confidence": 0.78
    },
    "operations": [
      {
        "args": {
          "instance": "inst-2",
          "to": {
            "container_id": "container-31001",
            "coord": {
              "x": 11250
            },
            "kind": "continuous_1d"
          }
        },
        "op": "MoveInstance"
      }
    ]
});
let response = client
    .post(format!("{}/v1/write/namespaces/1/commit", write_base_url))
    .bearer_auth(write_api_key)
    .json(&payload)
    .send()
    .await?;

await write_client.actions.move_instance(
    instance="inst-1",
    to={
        "container_id": "container-31004",
        "coord": {"x": 3500, "y": 4000},
        "kind": "continuous_2d",
        "rotation_millideg": 0,
    },
    options=ActionOptions(
        namespace_id=1,
        idempotency_key="robotics-cell-robot-move",
        actor_id="robotics-cell",
        metadata={
            "job_id": "job-robotics-001",
            "step": "robot-move",
            "trace_id": "trace-robotics-001",
        },
    ),
)

OpaqueTransaction* tx = NULL;
check_ok(asset_tx_begin(runtime, 1, &tx), "asset_tx_begin");
AssetInstanceLocation location_0 = {0};
location_0.kind = AssetInstanceLocationKind_Continuous2d;
location_0.container = 31004;
location_0.coord_x = 3500;
location_0.coord_y = 4000;
location_0.rotation_millideg = 0;
check_ok(asset_tx_move_instance_semantic(runtime, tx, 1, location_0),
         "asset_tx_move_instance_semantic[0]");
AssetTxMeta meta = {0};
OpaqueEventBatch* batch = NULL;
check_ok(asset_tx_commit(runtime, tx, &meta, &batch), "asset_tx_commit");
asset_event_batch_destroy(runtime, batch);

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_move_instance",
  "params": {
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-robot-move",
    "metadata": {
      "job_id": "job-robotics-001",
      "step": "robot-move",
      "trace_id": "trace-robotics-001"
    },
    "namespace_id": 1,
    "operations": [
      {
        "args": {
          "instance": "inst-1",
          "to": {
            "container_id": "container-31004",
            "coord": {
              "x": 3500,
              "y": 4000
            },
            "kind": "continuous_2d",
            "rotation_millideg": 0
          }
        },
        "op": "MoveInstance"
      }
    ]
  }
}

let payload = json!({
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-robot-move",
    "metadata": {
      "job_id": "job-robotics-001",
      "step": "robot-move",
      "trace_id": "trace-robotics-001"
    },
    "operations": [
      {
        "args": {
          "instance": "inst-1",
          "to": {
            "container_id": "container-31004",
            "coord": {
              "x": 3500,
              "y": 4000
            },
            "kind": "continuous_2d",
            "rotation_millideg": 0
          }
        },
        "op": "MoveInstance"
      }
    ]
});
let response = client
    .post(format!("{}/v1/write/namespaces/1/commit", write_base_url))
    .bearer_auth(write_api_key)
    .json(&payload)
    .send()
    .await?;

await write_client.actions.move_instance(
    instance="inst-2",
    to={"container_id": "container-31003", "kind": "slot", "slot_index": 1},
    options=ActionOptions(
        namespace_id=1,
        idempotency_key="robotics-cell-pick",
        actor_id="robotics-cell",
        metadata={
            "job_id": "job-robotics-001",
            "step": "pick",
            "trace_id": "trace-robotics-001",
        },
    ),
)

OpaqueTransaction* tx = NULL;
check_ok(asset_tx_begin(runtime, 1, &tx), "asset_tx_begin");
AssetInstanceLocation location_0 = {0};
location_0.kind = AssetInstanceLocationKind_Slot;
location_0.container = 31003;
location_0.slot = 1;
check_ok(asset_tx_move_instance_semantic(runtime, tx, 2, location_0),
         "asset_tx_move_instance_semantic[0]");
AssetTxMeta meta = {0};
OpaqueEventBatch* batch = NULL;
check_ok(asset_tx_commit(runtime, tx, &meta, &batch), "asset_tx_commit");
asset_event_batch_destroy(runtime, batch);

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_move_instance",
  "params": {
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-pick",
    "metadata": {
      "job_id": "job-robotics-001",
      "step": "pick",
      "trace_id": "trace-robotics-001"
    },
    "namespace_id": 1,
    "operations": [
      {
        "args": {
          "instance": "inst-2",
          "to": {
            "container_id": "container-31003",
            "kind": "slot",
            "slot_index": 1
          }
        },
        "op": "MoveInstance"
      }
    ]
  }
}

let payload = json!({
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-pick",
    "metadata": {
      "job_id": "job-robotics-001",
      "step": "pick",
      "trace_id": "trace-robotics-001"
    },
    "operations": [
      {
        "args": {
          "instance": "inst-2",
          "to": {
            "container_id": "container-31003",
            "kind": "slot",
            "slot_index": 1
          }
        },
        "op": "MoveInstance"
      }
    ]
});
let response = client
    .post(format!("{}/v1/write/namespaces/1/commit", write_base_url))
    .bearer_auth(write_api_key)
    .json(&payload)
    .send()
    .await?;

await write_client.actions.move_instance(
    instance="inst-2",
    to={
        "container_id": "container-31002",
        "kind": "grid_cell",
        "position": 6,
        "rotation": None,
    },
    options=ActionOptions(
        namespace_id=1,
        idempotency_key="robotics-cell-place",
        actor_id="robotics-cell",
        metadata={
            "job_id": "job-robotics-001",
            "step": "place-attempt",
            "trace_id": "trace-robotics-001",
        },
    ),
)

OpaqueTransaction* tx = NULL;
check_ok(asset_tx_begin(runtime, 1, &tx), "asset_tx_begin");
AssetInstanceLocation location_0 = {0};
location_0.kind = AssetInstanceLocationKind_GridCell;
location_0.container = 31002;
location_0.position = 6;
location_0.rotation = AssetRotation_None;
check_ok(asset_tx_move_instance_semantic(runtime, tx, 2, location_0),
         "asset_tx_move_instance_semantic[0]");
AssetTxMeta meta = {0};
OpaqueEventBatch* batch = NULL;
check_ok(asset_tx_commit(runtime, tx, &meta, &batch), "asset_tx_commit");
asset_event_batch_destroy(runtime, batch);

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_move_instance",
  "params": {
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-place",
    "metadata": {
      "job_id": "job-robotics-001",
      "step": "place-attempt",
      "trace_id": "trace-robotics-001"
    },
    "namespace_id": 1,
    "operations": [
      {
        "args": {
          "instance": "inst-2",
          "to": {
            "container_id": "container-31002",
            "kind": "grid_cell",
            "position": 6,
            "rotation": null
          }
        },
        "op": "MoveInstance"
      }
    ]
  }
}

let payload = json!({
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-place",
    "metadata": {
      "job_id": "job-robotics-001",
      "step": "place-attempt",
      "trace_id": "trace-robotics-001"
    },
    "operations": [
      {
        "args": {
          "instance": "inst-2",
          "to": {
            "container_id": "container-31002",
            "kind": "grid_cell",
            "position": 6,
            "rotation": null
          }
        },
        "op": "MoveInstance"
      }
    ]
});
let response = client
    .post(format!("{}/v1/write/namespaces/1/commit", write_base_url))
    .bearer_auth(write_api_key)
    .json(&payload)
    .send()
    .await?;

await read_client.get_container_grid_free(
    container_id="container-31002",
    namespace_id=1,
    height=1,
    width=1,
)

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_find_grid_free",
  "params": {
    "container_id": "container-31002",
    "height": 1,
    "namespace_id": 1,
    "width": 1
  }
}

let request = client
    .get(format!("{}/v1/read/namespaces/1/containers/container-31002/grid/free", read_base_url))
    .query(&[("height", 1), ("width", 1)])
    .bearer_auth(read_api_key)
    .send()
    .await?;
let body = request.text().await?;

await write_client.actions.move_instance(
    instance="inst-2",
    to={
        "container_id": "container-31002",
        "kind": "grid_cell",
        "position": 1,
        "rotation": None,
    },
    options=ActionOptions(
        namespace_id=1,
        idempotency_key="robotics-cell-place",
        actor_id="robotics-cell",
        metadata={
            "job_id": "job-robotics-001",
            "replan_reason": "grid_free",
            "step": "place",
            "trace_id": "trace-robotics-001",
        },
    ),
)

OpaqueTransaction* tx = NULL;
check_ok(asset_tx_begin(runtime, 1, &tx), "asset_tx_begin");
AssetInstanceLocation location_0 = {0};
location_0.kind = AssetInstanceLocationKind_GridCell;
location_0.container = 31002;
location_0.position = 1;
location_0.rotation = AssetRotation_None;
check_ok(asset_tx_move_instance_semantic(runtime, tx, 2, location_0),
         "asset_tx_move_instance_semantic[0]");
AssetTxMeta meta = {0};
OpaqueEventBatch* batch = NULL;
check_ok(asset_tx_commit(runtime, tx, &meta, &batch), "asset_tx_commit");
asset_event_batch_destroy(runtime, batch);

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_move_instance",
  "params": {
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-place",
    "metadata": {
      "job_id": "job-robotics-001",
      "replan_reason": "grid_free",
      "step": "place",
      "trace_id": "trace-robotics-001"
    },
    "namespace_id": 1,
    "operations": [
      {
        "args": {
          "instance": "inst-2",
          "to": {
            "container_id": "container-31002",
            "kind": "grid_cell",
            "position": 1,
            "rotation": null
          }
        },
        "op": "MoveInstance"
      }
    ]
  }
}

let payload = json!({
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-place",
    "metadata": {
      "job_id": "job-robotics-001",
      "replan_reason": "grid_free",
      "step": "place",
      "trace_id": "trace-robotics-001"
    },
    "operations": [
      {
        "args": {
          "instance": "inst-2",
          "to": {
            "container_id": "container-31002",
            "kind": "grid_cell",
            "position": 1,
            "rotation": null
          }
        },
        "op": "MoveInstance"
      }
    ]
});
let response = client
    .post(format!("{}/v1/write/namespaces/1/commit", write_base_url))
    .bearer_auth(write_api_key)
    .json(&payload)
    .send()
    .await?;

await write_client.actions.move_instance(
    instance="inst-2",
    to={
        "container_id": "container-31002",
        "kind": "grid_cell",
        "position": 1,
        "rotation": None,
    },
    options=ActionOptions(
        namespace_id=1,
        idempotency_key="robotics-cell-place",
        actor_id="robotics-cell",
        metadata={
            "job_id": "job-robotics-001",
            "replan_reason": "grid_free",
            "step": "place",
            "trace_id": "trace-robotics-001",
        },
    ),
)

OpaqueTransaction* tx = NULL;
check_ok(asset_tx_begin(runtime, 1, &tx), "asset_tx_begin");
AssetInstanceLocation location_0 = {0};
location_0.kind = AssetInstanceLocationKind_GridCell;
location_0.container = 31002;
location_0.position = 1;
location_0.rotation = AssetRotation_None;
check_ok(asset_tx_move_instance_semantic(runtime, tx, 2, location_0),
         "asset_tx_move_instance_semantic[0]");
AssetTxMeta meta = {0};
OpaqueEventBatch* batch = NULL;
check_ok(asset_tx_commit(runtime, tx, &meta, &batch), "asset_tx_commit");
asset_event_batch_destroy(runtime, batch);

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_move_instance",
  "params": {
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-place",
    "metadata": {
      "job_id": "job-robotics-001",
      "replan_reason": "grid_free",
      "step": "place",
      "trace_id": "trace-robotics-001"
    },
    "namespace_id": 1,
    "operations": [
      {
        "args": {
          "instance": "inst-2",
          "to": {
            "container_id": "container-31002",
            "kind": "grid_cell",
            "position": 1,
            "rotation": null
          }
        },
        "op": "MoveInstance"
      }
    ]
  }
}

let payload = json!({
    "actor_id": "robotics-cell",
    "idempotency_key": "robotics-cell-place",
    "metadata": {
      "job_id": "job-robotics-001",
      "replan_reason": "grid_free",
      "step": "place",
      "trace_id": "trace-robotics-001"
    },
    "operations": [
      {
        "args": {
          "instance": "inst-2",
          "to": {
            "container_id": "container-31002",
            "kind": "grid_cell",
            "position": 1,
            "rotation": null
          }
        },
        "op": "MoveInstance"
      }
    ]
});
let response = client
    .post(format!("{}/v1/write/namespaces/1/commit", write_base_url))
    .bearer_auth(write_api_key)
    .json(&payload)
    .send()
    .await?;

await read_client.get_container_continuous_placements_1d(
    container_id="container-31001",
    namespace_id=1,
)

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_get_container_continuous_placements_1d",
  "params": {
    "container_id": "container-31001",
    "namespace_id": 1
  }
}

let request = client
    .get(format!("{}/v1/read/namespaces/1/containers/container-31001/continuous_1d/placements", read_base_url))
    .bearer_auth(read_api_key)
    .send()
    .await?;
let body = request.text().await?;

await read_client.get_container_slots(
    container_id="container-31003",
    namespace_id=1,
)

let request = client
    .get(format!("{}/v1/read/namespaces/1/containers/container-31003/slots", read_base_url))
    .bearer_auth(read_api_key)
    .send()
    .await?;
let body = request.text().await?;

await read_client.get_container_grid(
    container_id="container-31002",
    namespace_id=1,
)

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_get_container_grid",
  "params": {
    "container_id": "container-31002",
    "namespace_id": 1
  }
}

let request = client
    .get(format!("{}/v1/read/namespaces/1/containers/container-31002/grid/cells", read_base_url))
    .bearer_auth(read_api_key)
    .send()
    .await?;
let body = request.text().await?;

await read_client.get_container_continuous_placements_2d(
    container_id="container-31004",
    namespace_id=1,
)

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_get_container_continuous_placements_2d",
  "params": {
    "container_id": "container-31004",
    "namespace_id": 1
  }
}

let request = client
    .get(format!("{}/v1/read/namespaces/1/containers/container-31004/continuous_2d/placements", read_base_url))
    .bearer_auth(read_api_key)
    .send()
    .await?;
let body = request.text().await?;

{
  "id": 1,
  "jsonrpc": "2.0",
  "method": "assetcore_read_stream",
  "params": {
    "from_world_seq": 22,
    "limit": 1,
    "namespace_id": 1
  }
}

let request = client
    .get(format!("{}/v1/read/namespaces/1/stream", read_base_url))
    .query(&[("from_world_seq", 22), ("limit", 1)])
    .bearer_auth(read_api_key)
    .send()
    .await?;
let body = request.text().await?;