Units and frames

All physical quantities use SI units. Field names carry unit suffixes: _m, _rad, _s, _ns, _mps, _radps, _n (newtons), _nm (newton-metres), _kg, _hz. [AWP-UNI-001]
Coordinate systems are right-handed; rotations are unit quaternions q: [x, y, z, w]. [AWP-UNI-002]
The world publishes a frame tree in session.ready: named frames with parent links and static or timestamped transforms. Every pose in any message MUST name its frame; the frame MUST exist in the tree. [AWP-UNI-003]
Dynamic transforms (e.g. base → world for a mobile robot) are published on the reserved awp.tf channel. [AWP-UNI-004]

awp:frame-tree

{ "frames": [
  { "id": "world", "parent": null },
  { "id": "base",  "parent": "world", "dynamic": true },
  { "id": "cam_wrist", "parent": "arm_01_ee",
    "transform": { "p_m": [0,0,0.05], "q": [0,0,0,1] } }
]}

Overview

Layer 0 — Transport

Layer 1 — Session & capabilities

Layer 2 — Perception & action

Layer 3 — Semantics & grounding

Cross-cutting

Profiles