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The world’s safety_policy declares envelopes per embodiment:
awp:envelope
  • Enforcement is world-side and unconditional: no agent input may cause envelope violation. [AWP-ENV-001]
  • on_violation is clamp (execute at the limit, report clamped: true in status) or reject (AWP_ENVELOPE_EXCEEDED). Declared per envelope. [AWP-ENV-002]
  • Violations of physical envelopes during execution (external disturbance) MUST fail the action (reason envelope) and emit world.event: envelope_violation. [AWP-ENV-003]
  • Rate limiting applies to action.submit admission; excess returns AWP_ENVELOPE_EXCEEDED with retryable: true and retry_after_ms. [AWP-ENV-004]
  • Each envelope declares enforcement: command_check (requested commands are clamped or rejected before actuation; the default), measured (executed motion is monitored and violations fail the action per AWP-ENV-003), or both. A world MUST NOT declare a limit it cannot enforce at least by command_check, and MUST NOT declare measured or both for a quantity it cannot observe. The robotics profile fixes which mode each limit requires. [AWP-ENV-005]
On command channels, enforcement applies per inbound frame (AWP-CMD-006).