Mobile Manipulation World

A portable World contract for a mobile robot that observes a workspace, navigates/manipulates objects, and pursues a declared task outcome under safety constraints.

Scope

Included: robot, workspace, target_object, target_zone, task, observations, action_space, safety_constraints, task_outcome.

Excluded: specific_robot_firmware, specific_simulator_runtime.

Sensor frames and raw video are observation artifacts, not the World itself. The World contract supplies identity, semantics, observation/action meaning, constraints, and reusable task views.

Sources

• Observation and action interfaces: ROS 2 message and action types (interfaces/observations.yaml, interfaces/actions.yaml).
• Scene: an OpenUSD warehouse scene on Hugging Face (environment/reference-environment.yaml).
• Episodes: a LeRobot dataset on Hugging Face (datasets/manipulation-episodes.yaml).

Details, pins, and licenses are under Adjacent standards.

Use it for

• What are the robot's joint and gripper state, the target object's pose, the target zone, and the active safety constraints right now?
• Did a grasp really move the object into the target zone, beyond the controller accepting the command (interfaces/effect-verification.yaml, interfaces/commit.yaml)?
• Which ROS 2 action type carries each robot command (navigate, reach, grasp, release)?
• Run the pick-and-place scenario in the reference simulation environment (scenarios/pick-place.yaml).

Limitations

• Reference semantics and interfaces only.
• The environment's runtime binding is unspecified. The scene's full layer closure is about 10 GB, so it is referenced, not fetched in CI.
• The episode dataset is a personal repository; the State Compiler reads only its metadata and parquet data, not the videos.

Versions

• 0.1.0: first public example.

Conformance

Declared profile: action-ready — a World View, a State Compiler with a concrete EWS schema, and action/commit/effect-verification interfaces.

Adjacent standards

OWP does not replace these standards; it records how they relate inside this World and View.

• Scene: OpenUSD (environment/reference-environment.yaml): NVIDIA Physical AI SimReady Warehouse 01 on Hugging Face, pinned by commit; CC-BY-4.0, by NVIDIA Corporation
• Observation/action interfaces: ROS 2 message and action types (interfaces/)
• Episodes: LeRobot dataset format (datasets/manipulation-episodes.yaml): k-chan-l/lekiwi_pick_and_place2 on Hugging Face, pinned by commit; Apache-2.0. It is a personal repository; lerobot/droid_100 (MIT) is an official-organization alternative without a mobile base

Assets

Path	Kind
datasets/manipulation-episodes.yaml	Dataset
environment/reference-environment.yaml	EnvironmentProfile
examples/basic.yaml	PackageExample
examples/expected-ews.yaml	PackageExample
examples/observations.yaml	PackageExample
interfaces/actions.yaml	ActionBindingProfile
interfaces/commit.yaml	CommitContract
interfaces/effect-verification.yaml	EffectVerificationProfile
interfaces/observations.yaml	ObservationAcquisitionProfile
scenarios/pick-place.yaml	ScenarioProfile
state/pick-place-compiler.yaml	StateCompilerProfile
views/pick-place-task.yaml	WorldViewProfile