Command frames

Command frames use the same frame format as observation frames — header, optional extension block, payload — sent by the agent on a command channel while its bound duration: "streaming" action is executing. seq and ts_mono_ns are set by the agent, ts_mono_ns being the setpoint’s issue time on the session clock via the agent’s clock offset (AWP-CLK-009); the world applies frames in seq order, envelope-checks each before actuation, and aggregates receipt minus ts_mono_ns as command latency in session.telemetry. Command frames never carry ts_send_ns. Command frames on a lockstep world (not permitted: command channels are streaming-only, AWP-CMD-001) never carry tick; ts_sim_ns is not meaningful agent→world and MUST be omitted. A servo/json payload against the example channel from the command channels spec page:

{ "q_target_rad": [0.12, -0.87, 1.43, -1.98, 0.05, 1.21, 0.33] }

Inline binding (AWP-DAT-004):

awp:cmd-frame

{ "jsonrpc": "2.0", "method": "cmd.frame",
  "params": { "channel_id": 7, "seq": 1201, "ts_mono_ns": 913005202000, "flags": 0,
              "payload_b64": "eyJxX3RhcmdldF9yYWQiOlswLjEyLC0wLjg3LDEuNDMsLTEuOTgsMC4wNSwxLjIxLDAuMzNdfQ==" } }

Overview

Control channel (JSON-RPC)

Frames

Schemas