{
  "$defs": {
    "EpisodeTrace": {
      "additionalProperties": false,
      "properties": {
        "arrays": {
          "$ref": "#/$defs/TraceArrays"
        },
        "convention": {
          "additionalProperties": {
            "type": "string"
          },
          "title": "Convention",
          "type": "object"
        },
        "effects": {
          "anyOf": [
            {
              "$ref": "#/$defs/TraceEffects"
            },
            {
              "type": "null"
            }
          ],
          "default": null
        },
        "format": {
          "const": "certanix-embodied-trace/1",
          "title": "Format",
          "type": "string"
        },
        "frame_sha256": {
          "description": "per observation; sha256 hex",
          "items": {
            "pattern": "^[0-9a-f]{64}$",
            "type": "string"
          },
          "title": "Frame Sha256",
          "type": "array"
        },
        "model": {
          "$ref": "#/$defs/TraceModel"
        },
        "outcome": {
          "$ref": "#/$defs/TraceOutcome"
        },
        "scenario": {
          "$ref": "#/$defs/TraceScenario"
        },
        "state_sha256": {
          "description": "per observation; sha256 hex",
          "items": {
            "pattern": "^[0-9a-f]{64}$",
            "type": "string"
          },
          "title": "State Sha256",
          "type": "array"
        },
        "steps": {
          "title": "Steps",
          "type": "integer"
        }
      },
      "required": [
        "format",
        "arrays",
        "convention",
        "frame_sha256",
        "state_sha256",
        "model",
        "outcome",
        "scenario",
        "steps"
      ],
      "title": "EpisodeTrace",
      "type": "object"
    },
    "TraceArray": {
      "additionalProperties": false,
      "description": "One array as exact bytes: base64 of the C-order buffer, dtype with byte order.",
      "properties": {
        "b64": {
          "title": "B64",
          "type": "string"
        },
        "dtype": {
          "description": "numpy notation, byte order explicit",
          "pattern": "^[<>|][a-z][0-9]+$",
          "title": "Dtype",
          "type": "string"
        },
        "shape": {
          "items": {
            "type": "integer"
          },
          "title": "Shape",
          "type": "array"
        }
      },
      "required": [
        "dtype",
        "shape",
        "b64"
      ],
      "title": "TraceArray",
      "type": "object"
    },
    "TraceArrays": {
      "additionalProperties": false,
      "properties": {
        "action": {
          "$ref": "#/$defs/TraceArray",
          "description": "the action applied, one row per step"
        },
        "contact_offsets": {
          "$ref": "#/$defs/TraceArray"
        },
        "contact_pairs": {
          "$ref": "#/$defs/TraceArray",
          "description": "geom index pairs, see model.geom_names"
        },
        "ctrl": {
          "$ref": "#/$defs/TraceArray"
        },
        "policy_action": {
          "anyOf": [
            {
              "$ref": "#/$defs/TraceArray"
            },
            {
              "type": "null"
            }
          ],
          "default": null,
          "description": "WP2, only under control latency: what the policy emitted per step"
        },
        "qpos": {
          "$ref": "#/$defs/TraceArray",
          "description": "row 0 after reset, row i+1 after step i"
        },
        "qvel": {
          "$ref": "#/$defs/TraceArray"
        },
        "reward": {
          "$ref": "#/$defs/TraceArray"
        }
      },
      "required": [
        "action",
        "contact_offsets",
        "contact_pairs",
        "ctrl",
        "qpos",
        "qvel",
        "reward"
      ],
      "title": "TraceArrays",
      "type": "object"
    },
    "TraceEffects": {
      "additionalProperties": false,
      "description": "WP2, present only when a scenario changed something: what was actually applied.",
      "properties": {
        "params_applied": {
          "items": {
            "type": "string"
          },
          "title": "Params Applied",
          "type": "array"
        },
        "reset_mode": {
          "anyOf": [
            {
              "const": "explicit",
              "type": "string"
            },
            {
              "type": "null"
            }
          ],
          "default": null,
          "title": "Reset Mode"
        }
      },
      "required": [
        "params_applied"
      ],
      "title": "TraceEffects",
      "type": "object"
    },
    "TraceModel": {
      "additionalProperties": false,
      "properties": {
        "geom_names": {
          "items": {
            "type": "string"
          },
          "title": "Geom Names",
          "type": "array"
        },
        "integrator": {
          "title": "Integrator",
          "type": "string"
        },
        "n_sub_steps": {
          "title": "N Sub Steps",
          "type": "integer"
        },
        "nq": {
          "title": "Nq",
          "type": "integer"
        },
        "nu": {
          "title": "Nu",
          "type": "integer"
        },
        "nv": {
          "title": "Nv",
          "type": "integer"
        },
        "timestep_s": {
          "title": "Timestep S",
          "type": "number"
        },
        "xml_physics": {
          "$ref": "#/$defs/TraceXmlPhysics"
        }
      },
      "required": [
        "geom_names",
        "integrator",
        "n_sub_steps",
        "nq",
        "nu",
        "nv",
        "timestep_s",
        "xml_physics"
      ],
      "title": "TraceModel",
      "type": "object"
    },
    "TraceOutcome": {
      "additionalProperties": false,
      "properties": {
        "max_reward": {
          "title": "Max Reward",
          "type": "number"
        },
        "steps_executed": {
          "title": "Steps Executed",
          "type": "integer"
        },
        "success": {
          "title": "Success",
          "type": "boolean"
        }
      },
      "required": [
        "max_reward",
        "steps_executed",
        "success"
      ],
      "title": "TraceOutcome",
      "type": "object"
    },
    "TraceScenario": {
      "additionalProperties": false,
      "properties": {
        "camera": {
          "title": "Camera",
          "type": "string"
        },
        "env_seed": {
          "title": "Env Seed",
          "type": "integer"
        },
        "height": {
          "title": "Height",
          "type": "integer"
        },
        "integrator": {
          "title": "Integrator",
          "type": "string"
        },
        "max_steps": {
          "title": "Max Steps",
          "type": "integer"
        },
        "n_sub_steps": {
          "title": "N Sub Steps",
          "type": "integer"
        },
        "params": {
          "anyOf": [
            {
              "additionalProperties": {
                "anyOf": [
                  {
                    "type": "number"
                  },
                  {
                    "type": "string"
                  }
                ]
              },
              "type": "object"
            },
            {
              "type": "null"
            }
          ],
          "default": null,
          "description": "WP2: the scenario's parameter values",
          "title": "Params"
        },
        "reset_mode": {
          "anyOf": [
            {
              "const": "explicit",
              "type": "string"
            },
            {
              "type": "null"
            }
          ],
          "default": null,
          "description": "WP2: absent means the seed-derived reset",
          "title": "Reset Mode"
        },
        "scenario_id": {
          "title": "Scenario Id",
          "type": "string"
        },
        "task": {
          "title": "Task",
          "type": "string"
        },
        "timestep_s": {
          "title": "Timestep S",
          "type": "number"
        },
        "width": {
          "title": "Width",
          "type": "integer"
        }
      },
      "required": [
        "camera",
        "env_seed",
        "height",
        "integrator",
        "max_steps",
        "n_sub_steps",
        "scenario_id",
        "task",
        "timestep_s",
        "width"
      ],
      "title": "TraceScenario",
      "type": "object"
    },
    "TraceXmlPhysics": {
      "additionalProperties": false,
      "properties": {
        "integrator": {
          "title": "Integrator",
          "type": "integer"
        },
        "timestep_s": {
          "title": "Timestep S",
          "type": "number"
        }
      },
      "required": [
        "integrator",
        "timestep_s"
      ],
      "title": "TraceXmlPhysics",
      "type": "object"
    }
  },
  "$id": "https://schema.certanix.eu/v1/embodied-trace-1.0.schema.json",
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "additionalProperties": false,
  "description": "The trace companion of an embodied pack (artefact type `embodied-trace`): a `certanix-embodied-trace-bundle/1` file holding every episode as a `certanix-embodied-trace/1` record. Arrays are exact bytes (base64, dtype with byte order, shape), never rounded floats. Fields marked WP2 are optional and appear only when a scenario changed something. A COMPANION file, bound into a pack by its sha256, not a pack field: the pack schema does not move when this one does. FROZEN: a correction is a new version. Structural validity only.",
  "properties": {
    "campaign_id": {
      "title": "Campaign Id",
      "type": "string"
    },
    "convention": {
      "additionalProperties": {
        "type": "string"
      },
      "title": "Convention",
      "type": "object"
    },
    "episodes": {
      "items": {
        "$ref": "#/$defs/EpisodeTrace"
      },
      "title": "Episodes",
      "type": "array"
    },
    "format": {
      "const": "certanix-embodied-trace-bundle/1",
      "title": "Format",
      "type": "string"
    }
  },
  "required": [
    "format",
    "campaign_id",
    "convention",
    "episodes"
  ],
  "title": "Certanix embodied trace, schema 1.0",
  "type": "object"
}