DOMINO direct-control protocol

Identity: domino-9c94f2d/click-bell-fixed-manifest/qpos14-rgb-commanded-state/sm120-v1. This is an implemented compatibility/debug track, with native execution acceptance pending. Offline tests do not establish a SIM score or full parity.

Upstream has 35 dynamic manipulation tasks. This service implements only click_bell, pinned to 9c94f2d3a700fff3b65f041df4038d497139ed1f. The horizon YAML contains historical names without matching task sources; it is not an executable task catalog.

Frozen scene selection

demo_clean_dynamic, aloha-agilex, dynamic level 1, coefficient 0.1; background/clutter randomization disabled.
fast: one predeclared native seed from a trusted private, hash-bound fixed episode manifest, one policy attempt. Default selected seed: 100000.
Missing entries or failed dynamic initialization are errors, never triggers for resampling or automatic retries.
full is not implemented. Upstream's default evaluator expert-screens candidates until 100 solvable episodes are found. Its optional fixed-manifest mode retains those accepted episodes and associated dynamic motion data.
Expert screening is separately authorized private environment preparation, not policy assistance or a public RPC. Preparation attempts/resets have their own evidence and counters. The service never invokes play_once.

init_dynamic_motion_for_eval requires the saved native motion payload. Copying a seed alone, inventing a trajectory or turning dynamics off is not the reference evaluation. An exactly-one-candidate preparation diagnostic is not the upstream 100-accepted-episode matrix. All manifest data stays private.

Language uses the native task's fixed full_description, not randomized episode-specific seen/unseen wording. This language selection differs explicitly from the upstream model launcher; no full-parity claim is made.

Public robot interface

Channel	Contract
RGB	`head_camera`, `left_camera`, `right_camera`; native uint8 240×320 RGB; no rotation/crop/resize
State	14 commanded targets, not measured encoders: left six arm targets, left normalized gripper, right six arm targets, right gripper
Action	14 absolute native qpos targets, same order; arm values in radians
Gripper	Nominal 0 closed/1 open; native clipping, interpolation and mapping to `[-0.01,0.045]` metres unchanged
Control	One target per public step; prefix 1; native TOPP expands targets into variable physics ticks at 250Hz
Horizon	400 native target calls, from pinned `click_bell` entry in `_eval_step_limit.yml`

State channel names use commanded_target_ and explicitly declare commanded provenance. No service motion/joint-range guard is added: dimension/type/finiteness checks are mandatory, while native controller constraints stay native. Optional movement guards belong to agents. Physics ticks, started native targets, ACKs and model decisions are recorded separately. Initialization/settling ticks are not currently instrumented; do not report them as zero or model controls.

No object truth, depth, full camera-calibration mapping, expert plan, dynamic motion parameters, hidden score, branch rollout or task-planning RPC is exposed. The EEF path is not selected: this track only uses qpos with native TOPP.

Native scoring and termination

Native take_action owns physics and per-tick success checks and records one metrics step per target, including early success. The wrapper retains evaluator order: lifting requirement, success, dynamic contact-stop, boundary failure, other native failure, horizon. click_bell declares stop_on_contact=False; its moving bell is not silently frozen when contacted.

Native EvalMetricsTracker supplies route completion (RC), manipulation score (MS) and penalties. MS is RC times penalty factors; it is not success rate. Native Boolean success is authoritative. All scores/penalty details/actors stay server/admin-private and never enter policy observations.

Bounded diagnostics or early policy stops may retain partial scores marked native_score_complete=false, not completed native task scores. Transport/native errors retain uncertain started controls without replay. Only error-free native terminal outcomes set that flag. Malformed actions are rejected before execution through shared service validation.

Runtime and evidence

The SM120 compatibility track records Torch2.7.1+CUDA12.8, SAPIEN3.0.0b1 and an owned OIDN2.3.3 overlay. It does not claim upstream Torch2.4.1 runtime parity. CuRobo is pinned to v0.7.8 revision d64c4b005459db10c5dd867d8b30a87d5bda9bdb. Native source, assets, path-only derived configs and selected runtime files are hash-bound; JIT output is isolated in an episode-owned cache.

Retain trusted manifest hash, configuration, all attempts/errors, control/ACK/ physics counts, closed native outcome, cleanup and three-camera video. Video uses 10fps presentation, not physical control frequency. Model results belong under AgentPolicies/<agent>/results/domino/; no-model diagnostics have separate, explicit ignored diagnostic storage.