Use inbuild

intrinsic_pybind11_vendor/package.xml

@@ -20,6 +20,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
+  <buildtool_depend>python3-dev</buildtool_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

intrinsic_sdk_cmake/cmake/api/all.cmake

@@ -41,7 +41,7 @@ include("${intrinsic_sdk_cmake_API_DIR}/skill/intrinsic_sdk_generate_skill.cmake
 include("${intrinsic_sdk_cmake_API_DIR}/skill/intrinsic_sdk_generate_skill_config.cmake")
 include("${intrinsic_sdk_cmake_API_DIR}/skill/intrinsic_sdk_generate_skill_container_image.cmake")
 include("${intrinsic_sdk_cmake_API_DIR}/skill/intrinsic_sdk_generate_skill_main_cc.cmake")
-include("${intrinsic_sdk_cmake_API_DIR}/skill/intrinsic_sdk_generate_skill_manifest_pbbin.cmake")
+include("${intrinsic_sdk_cmake_API_DIR}/skill/intrinsic_sdk_generate_skill_bundle.cmake")
 
 # Service APIs
 include("${intrinsic_sdk_cmake_API_DIR}/service/intrinsic_sdk_generate_service_manifest.cmake")

intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_bundle.cmake

@@ -0,0 +1,76 @@
+# Copyright 2025 Intrinsic Innovation LLC
+#
+# You are hereby granted a non-exclusive, worldwide, royalty-free license to use,
+# copy, modify, and distribute this Intrinsic SDK in source code or binary form for use
+# in connection with the services and APIs provided by Intrinsic Innovation LLC (“Intrinsic”).
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+# FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+# COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+# IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+# CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# If you use this Intrinsic SDK with any Intrinsic services, your use is subject to the Intrinsic
+# Platform Terms of Service [https://intrinsic.ai/platform-terms].  If you create works that call
+# Intrinsic APIs, you must agree to the terms of service for those APIs separately. This license
+# does not grant you any special rights to use the services.
+#
+# This copyright notice shall be included in all copies or substantial portions of the software.
+
+include_guard(GLOBAL)
+
+#
+# Generate a skill bundle that can be deployed to Flowstate.
+#
+# :param MANIFEST: the path to the manifest file
+# :type MANIFEST: string
+# :param PROTOS_TARGET: the cmake target for generating the skill's proto files
+# :type PROTOS_TARGET: cmake target
+# :param SOURCES: the list of source files for the skill target
+# :type SOURCES: list of strings
+#
+# @public
+#
+function(intrinsic_sdk_generate_skill_bundle)
+set(options)
+set(one_value_args
+  TARGET
+  MANIFEST
+  PROTO_DESCRIPTOR_FILE
+  OCI_IMAGE
+  SKILL_BUNDLE_OUTPUT
+)
+set(multi_value_args)
+
+cmake_parse_arguments(
+  arg
+  "${options}"
+  "${one_value_args}"
+  "${multi_value_args}"
+  ${ARGN}
+)
+
+set(OUT_DIR ${CMAKE_CURRENT_BINARY_DIR})
+
+# Generate the binary proto skill config
+add_custom_command(
+  OUTPUT ${arg_SKILL_BUNDLE_OUTPUT}
+  COMMAND inbuild_import
+  ARGS
+    skill bundle
+    --manifest=${arg_MANIFEST}
+    --file_descriptor_set=${arg_PROTO_DESCRIPTOR_FILE}
+    --oci_image=${arg_OCI_IMAGE}
+    --output=${arg_SKILL_BUNDLE_OUTPUT}
+  COMMENT "Generating skill config for ${arg_TARGET}"
+  DEPENDS
+    ${arg_PROTO_DESCRIPTOR_FILE}
+    ${arg_OCI_IMAGE}
+)
+
+add_custom_target(${arg_TARGET} ALL
+  DEPENDS
+    ${arg_SKILL_BUNDLE_OUTPUT}
+)
+endfunction()

intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_config.cmake

@@ -25,10 +25,8 @@ include_guard(GLOBAL)
 #
 # :param TARGET: the name for the target that generates the skill config file
 # :type TARGET: string
-# :param SKILL_NAME: the name of the skill
-# :type SKILL_NAME: string
-# :param MANIFEST_PBBIN: the path to the manifest file
-# :type MANIFEST_PBBIN: string
+# :param MANIFEST: the path to the manifest textproto file
+# :type MANIFEST: string
 # :param PROTO_DESCRIPTOR_FILE: the path to the proto descriptor file
 # :type PROTO_DESCRIPTOR_FILE: string
 # :param SKILL_CONFIG_FILE_OUTPUT: the output path for the skill config file
@@ -40,9 +38,7 @@ function(intrinsic_sdk_generate_skill_config)
   set(options)
   set(one_value_args
     TARGET
-    # TODO(wjwwood): extract skill name from manifest
-    SKILL_NAME
-    MANIFEST_PBBIN
+    MANIFEST
     PROTO_DESCRIPTOR_FILE
     SKILL_CONFIG_FILE_OUTPUT
   )
@@ -61,16 +57,14 @@ function(intrinsic_sdk_generate_skill_config)
   # Generate the binary proto skill config
   add_custom_command(
     OUTPUT ${arg_SKILL_CONFIG_FILE_OUTPUT}
-    # TODO(wjwwood): figure out why the alias does not work...
-    # COMMAND intrinsic_sdk_cmake::skillserviceconfiggen_main
-    COMMAND skillserviceconfiggen_main_import
+    COMMAND inbuild_import
     ARGS
-      --manifest_pbbin_filename=${arg_MANIFEST_PBBIN}
-      --proto_descriptor_filename=${arg_PROTO_DESCRIPTOR_FILE}
-      --output_config_filename=${arg_SKILL_CONFIG_FILE_OUTPUT}
-    COMMENT "Generating skill config for ${arg_SKILL_NAME}"
+      skill generate config
+      --manifest=${arg_MANIFEST}
+      --file_descriptor_set=${arg_PROTO_DESCRIPTOR_FILE}
+      --output=${arg_SKILL_CONFIG_FILE_OUTPUT}
+    COMMENT "Generating skill config for ${arg_TARGET}"
     DEPENDS
-      ${arg_MANIFEST_PBBIN}
       ${arg_PROTO_DESCRIPTOR_FILE}
   )
 

intrinsic_sdk_cmake/cmake/api/skill/intrinsic_sdk_generate_skill_main_cc.cmake

@@ -26,20 +26,20 @@ include_guard(GLOBAL)
 # This file needs to be generated because it contains variable things like the
 # skill name and the name of the skill's header, etc.
 #
-# :param MANIFEST_PBBIN: the path to the pbbin file for the skill manifest.
-#   This can be generated using intrinsic_sdk_generate_skill_manifest_pbbin().
-# :type MANIFEST_PBBIN: string
-# :param HEADER_FILES: the paths to additional header files that need to be included
-# :type HEADER_FILES: list of strings
+# :param MANIFEST: the path to the skill manifest in textproto format.
+# :type MANIFEST: string
+# :param HEADER_FILE: the path to the header file containing the
+#     "create skill" method referenced in the Skill Manifest.
+# :type HEADER_FILE: lstring
 # :param MAIN_FILE_OUTPUT: the path of the output C++ main function file
 # :type MAIN_FILE_OUTPUT: string
 #
 # @public
 #
 function(intrinsic_sdk_generate_skill_main_cc)
   set(options)
-  set(one_value_args MANIFEST_PBBIN MAIN_FILE_OUTPUT)
-  set(multi_value_args HEADER_FILES)
+  set(one_value_args MANIFEST MAIN_FILE_OUTPUT HEADER_FILE)
+  set(multi_value_args)
 
   cmake_parse_arguments(
     arg
@@ -49,23 +49,15 @@ function(intrinsic_sdk_generate_skill_main_cc)
     ${ARGN}
   )
 
-  list(JOIN arg_HEADER_FILES "," joined_header_files)
-
-  # get_property(skill_service_generator_path
-  #   TARGET skill_service_generator_import
-  #   PROPERTY IMPORTED_LOCATION
-  # )
-  # message(FATAL_ERROR "skill_service_generator_path: ${skill_service_generator_path}")
   add_custom_command(
     OUTPUT ${arg_MAIN_FILE_OUTPUT}
-    # TODO(wjwwood): figure out why the alias does not work...
-    # COMMAND intrinsic_sdk_cmake::skill_service_generator
-    COMMAND skill_service_generator_import
-      --manifest=${arg_MANIFEST_PBBIN}
-      --lang=cpp
-      --out=${arg_MAIN_FILE_OUTPUT}
-      --cc_headers=${joined_header_files}
-    DEPENDS ${arg_MANIFEST_PBBIN}
+    COMMAND inbuild_import
+      skill generate entrypoint
+      --manifest=${arg_MANIFEST}
+      --language=cpp
+      --output=${arg_MAIN_FILE_OUTPUT}
+      --cc_header=${arg_HEADER_FILE}
+    DEPENDS ${arg_MANIFEST}
     COMMENT "Generating skill cpp main file: ${arg_MAIN_FILE_OUTPUT}"
   )
 endfunction()

intrinsic_sdk_cmake/cmake/fetch_sdk.cmake

@@ -4,8 +4,8 @@ include(FetchContent)
 # Fetch the intrinsic sdk source code during configure stage.
 FetchContent_Declare(
   intrinsic_sdk
-  URL https://github.com/intrinsic-ai/sdk/archive/refs/tags/v1.16.20250210.tar.gz
-  URL_HASH SHA256=be55bdb2c761b7d55476c2ee843c4e444e0953f03aafce2481797eec98e19ac0
+  URL https://github.com/intrinsic-ai/sdk/archive/refs/tags/v1.16.20250303.tar.gz
+  URL_HASH SHA256=2181ae09684bc35e47b251e21d969a4e0f3cbf72818470caaa416e2834748d32
   DOWNLOAD_EXTRACT_TIMESTAMP FALSE
 )
 FetchContent_GetProperties(intrinsic_sdk)

intrinsic_sdk_cmake/cmake/sdk.cmake

@@ -43,6 +43,7 @@ list(FILTER intrinsic_SRCS EXCLUDE REGEX "_main\\.cc$")
 list(FILTER intrinsic_SRCS EXCLUDE REGEX "_tmpl\\.cc$")
 list(FILTER intrinsic_SRCS EXCLUDE REGEX "/examples/")
 list(FILTER intrinsic_SRCS EXCLUDE REGEX "/skills/testing/")
+list(FILTER intrinsic_SRCS EXCLUDE REGEX "/intrinsic/icon/control/c_api/external_action_api/.*\.cc")
 list(FILTER intrinsic_SRCS EXCLUDE REGEX "/intrinsic/icon/release/hello_world.cc")
 list(FILTER intrinsic_SRCS EXCLUDE REGEX "/intrinsic/icon/release/reset_simulation.cc")
 list(FILTER intrinsic_SRCS EXCLUDE REGEX "/intrinsic/icon/tools")