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The control channel is JSON-RPC 2.0; each method has a page listing params, result, errors, and examples. Frames on observation and command channels are a binary format documented in hand-written pages (it is not HTTP, so there is no playground for it). Schemas are generated from the canonical JSON Schemas in this repository (schemas/v0.1/*.schema.json); every tagged example on these pages is validated against them in CI.
Examples use a small grid world (gridworld) as the running example. No demo world is published yet; the examples are complete, validated messages, not transcripts of a running server. End-to-end sequences are in the wire traces.
Conventions: requests may originate from either side; notifications have no id; all timestamps are ts_mono_ns on the session clock; all errors carry AWP codes from the error registry.