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action.submit params:
awp:action-submit
  • action_id is client-generated and unique per session. A resubmission with the same action_id and identical type, params, embodiment_id, preempt, deadline_ms, basis_ts_mono_ns, and valid_until_ns MUST be idempotent: the world returns the action’s current state and does not execute it again. A resubmission with the same action_id but different content MUST be rejected with AWP_ACTION_ID_CONFLICT and MUST NOT affect the original action. Concurrent duplicate submissions are serialized by the world: the first processed wins, later ones observe its state. [AWP-ACT-001]
  • Worlds MUST validate params against the type’s params_schema and reject invalid submissions with AWP_PARAMS_INVALID before any execution side effect. [AWP-ACT-002]
  • Submissions naming ungranted types or embodiments MUST be rejected with AWP_FORBIDDEN. [AWP-ACT-003]
  • deadline_ms is measured from the world’s receipt of the submission and covers approval and queue waiting as well as execution. It is advisory in lockstep and binding in streaming: on expiry before executing the world MUST reject the action with reason deadline_exceeded; on expiry during executing it MUST apply the type’s safe-abort behavior and fail the action with reason deadline_exceeded. [AWP-ACT-004]
  • The preempt field MUST be one of the policies the type declares (see preemption). [AWP-ACT-005]
  • Worlds MUST retain the action_id and terminal state of every action for at least reconnect_window_ms after its terminal transition, and of every non-terminal action for the life of the session, so that idempotent resubmission and status pulls remain correct across reconnection. [AWP-ACT-006]
  • Basis and validity. basis_ts_mono_ns is the capture time of the newest observation the intent relies on, copied from that frame’s ts_mono_ns; valid_until_ns is the session-clock instant after which the intent MUST NOT begin executing, expressed through the agent’s clock offset (AWP-CLK-009). Both are OPTIONAL in Core and enforced by the world per AWP-SAF-013; the robotics profile requires basis_ts_mono_ns on every submission (AWP-ROB-005). [AWP-ACT-007]

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Trajectory chunks (informative idiom)

Policies that emit action chunks — timed sequences of setpoints executed at 10–50 Hz — map onto the lifecycle without any special machinery: a chunk is one action. Submit type: "follow_trajectory" with params.points as an array of timestamped setpoints and preempt: "replace" (or "blend"); when the policy emits its next chunk, the new submission replaces the unexecuted tail of the running one, and the replaced action terminates preempted per preemption. This yields exactly the receding-horizon behavior chunked policies expect, plus acceptance, progress, clamping, and audit that raw streaming never had. For true high-rate servoing (100–1000 Hz setpoints), per-setpoint JSON-RPC submissions are inappropriate; setpoints stream over agent→world command channels, opened by a duration: "streaming" action.