{
  "schema": "benchmark_baseline_control_contract.v2",
  "status": "schema_verified_from_owner_reference",
  "version": "g1_omnipicker_jointpos20_basevw_v1",
  "action_dim": 22,
  "state_dim": 23,
  "action_channels": [
    {
      "name": "idx21_arm_l_joint1",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx22_arm_l_joint2",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx23_arm_l_joint3",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx24_arm_l_joint4",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx25_arm_l_joint5",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx26_arm_l_joint6",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx27_arm_l_joint7",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx61_arm_r_joint1",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx62_arm_r_joint2",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx63_arm_r_joint3",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx64_arm_r_joint4",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx65_arm_r_joint5",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx66_arm_r_joint6",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx67_arm_r_joint7",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx01_body_joint1",
      "unit": "m",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx02_body_joint2",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx11_head_joint1",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx12_head_joint2",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx41_gripper_l_outer_joint1",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "idx81_gripper_r_outer_joint1",
      "unit": "rad",
      "representation": "absolute_joint_position_target"
    },
    {
      "name": "base_forward_m_s",
      "unit": "m/s",
      "representation": "body_forward_velocity"
    },
    {
      "name": "base_yaw_rate_rad_s",
      "unit": "rad/s",
      "representation": "world_z_yaw_rate"
    }
  ],
  "state_channels": [
    {
      "name": "idx21_arm_l_joint1",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx22_arm_l_joint2",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx23_arm_l_joint3",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx24_arm_l_joint4",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx25_arm_l_joint5",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx26_arm_l_joint6",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx27_arm_l_joint7",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx61_arm_r_joint1",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx62_arm_r_joint2",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx63_arm_r_joint3",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx64_arm_r_joint4",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx65_arm_r_joint5",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx66_arm_r_joint6",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx67_arm_r_joint7",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx01_body_joint1",
      "unit": "m",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx02_body_joint2",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx11_head_joint1",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx12_head_joint2",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx41_gripper_l_outer_joint1",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "idx81_gripper_r_outer_joint1",
      "unit": "rad",
      "representation": "measured_joint_position"
    },
    {
      "name": "base_x_world_m",
      "unit": "m",
      "representation": "measured_world_position"
    },
    {
      "name": "base_y_world_m",
      "unit": "m",
      "representation": "measured_world_position"
    },
    {
      "name": "base_yaw_world_unwrapped_rad",
      "unit": "rad",
      "representation": "measured_world_unwrapped_yaw"
    }
  ],
  "base_action_indices": [
    20,
    21
  ],
  "base_command_frame": "body +X forward velocity; world +Z yaw rate; body +Y left",
  "control_hz": 20,
  "native_control_hz": 60,
  "physics_hz": 240,
  "command_alignment": "applied_absolute_joint_position_targets_and_body_forward_yaw_velocity; post_control_step_measured_joint_positions_and_measured_base_pose; recorded action_state_shift=0",
  "sample_native_indices": "arange(2,N,3)",
  "source_control_tick_first": 3,
  "action_state_shift": 0,
  "training_target_alignment": "recorded_same_step: action applied at source_control_tick; state/video after that step; no implicit row shift",
  "camera_columns": {
    "head": "observation.images.top_head",
    "left": "observation.images.hand_left",
    "right": "observation.images.hand_right"
  },
  "base_limits_reference": {
    "forward_m_s": 0.18,
    "yaw_rate_rad_s": 0.25,
    "linear_acceleration_m_s2": 0.12,
    "angular_acceleration_rad_s2": 0.3
  },
  "representation_policy": "Preserve recorded absolute joint targets and body velocity commands. Never subtract base pose from base velocity. State width is 23; action width is 22.",
  "dtype": "float32",
  "training_timing_mode": "recorded_same_step",
  "next_command_view": "optional explicit loader conversion, preserving raw rows; next 20 Hz command is not the first next native 60 Hz command",
  "raw_action_state_shift": 0,
  "base_controller_policy": {
    "reference_version": "reference_turn_or_translate_v1",
    "reference_exclusive_forward_and_turn": true,
    "scope": "reference acquisition only",
    "extended_policy_requires_version": true,
    "force_zero_model_channels": false
  },
  "base_limits_kind": "reference acquisition controller limits, not hardware limits or normalization bounds",
  "state_yaw_policy": "xyzw quaternion; unwrap along entire episode; no wrapping at model input/output",
  "fixed_channel_policy": "retain all targets, measured state, and active supervision even when constant",
  "normalization_policy": "training-only statistics, separate from raw physical values, reversible; constant columns retain unit/effective finite scale and remain active",
  "training_dataset": null,
  "directions": {
    "14": "lift displacement from minimum, positive up; not absolute height",
    "15": "waist pitch, positive forward tilt; not yaw",
    "16": "head yaw relative to torso, positive left; axis follows torso",
    "17": "head pitch, positive down, negative up",
    "18,19": "outer active gripper joint angle; large open, small closed; continuous radians",
    "20": "body +X m/s, positive forward, negative reverse",
    "21": "world +Z rad/s, positive CCW left viewed from above"
  }
}