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The portability contract is AWP-TIM-008: a world offering both time models must keep manifests, schemas, and lifecycles identical across them — and a sim adapter and a robot adapter for the same platform should share one manifest by construction. What changes between sim and real: What must not change: channel ids, action types, param schemas, frames, units. Practical recipe: develop in lockstep against a simulator adapter (the planned awp-sim is the reference design); graduate to streaming against the simulator (same worlds often offer both) to shake out staleness handling; only then point the same binary at the robotics adapter with conservative envelopes and approval on risky types.