Environment schema

env.json is the single source of truth for a mission. This page documents every field. Coordinates are world-space, and forward is −X.

Top level

Key	Type	Meaning
`name`	string	Mission name (used in fine-tune prompts).
`robot`	string	`go1` (default) or `g1`.
`spawn`	`[x, y, z]`	Robot start position.
`scene`	object	Static world: `objects` and `zones`.
`phases`	array	Ordered sub-goals, executed in sequence.
`vla_finetune`	object	Prompt template for exported training rows.

`scene`

"scene": {
  "objects": [
    {"type": "box",    "tag": "rubble", "position": [-1.35, 0.20, 0.08],
     "size": [0.18, 0.18, 0.08]},
    {"type": "marker", "tag": "victim", "position": [-2.80, 0.0, 0.02],
     "size": [0.12, 0.12, 0.02], "rgba": [1.0, 0.2, 0.2, 1.0]}
  ],
  "zones": [
    {"name": "spawn",            "aabb": [[-0.5,-0.8,0],[ 0.5,0.8,1]]},
    {"name": "debris_perimeter", "aabb": [[-1.2,-0.9,0],[-0.8,0.9,1]]}
  ]
}

Objects

Field	Meaning
`type`	`box` (solid, collidable) or `marker` (visual-only thin plate).
`tag`	Label referenced by rewards/predicates (e.g. `rubble`, `victim`). Tags need not be unique.
`position`	`[x, y, z]` center, world coords.
`size`	`[sx, sy, sz]` half-extents.
`rgba`	Optional color `[r, g, b, a]` (markers).

Zones

Field	Meaning
`name`	Zone name, referenced by predicates and `distance_to_zone`.
`aabb`	Axis-aligned box `[[min_x,min_y,min_z],[max_x,max_y,max_z]]`.

`phases`

Phases run in order. The mission advances when a phase’s success_when fires, and ends early if any fail_when fires or max_ticks is exceeded.

{
  "name": "approach",
  "goal_prompt": "walk forward 1.0 meters and reach the edge of the debris field",
  "success_when": {"enter_zone": "debris_perimeter"},
  "fail_when":    {"flipped": true},
  "reward": {
    "step_cost": -0.05,
    "distance_to_zone": {"zone": "debris_perimeter", "weight": 0.4},
    "forward_distance_gain": 0.2,
    "fall_penalty": -2.0,
    "phase_success_bonus": 2.0
  },
  "max_ticks": 25
}

Field	Meaning
`name`	Phase identifier.
`goal_prompt`	Natural-language goal. Drives the scripted driver and is the prompt fed to a policy/VLA for this phase.
`success_when`	Predicate that completes the phase.
`fail_when`	Predicate that fails the phase (usually `{"flipped": true}`).
`reward`	Reward-shaping terms (below).
`max_ticks`	Phase timeout.

Predicates

Used by both success_when and fail_when:

Predicate	Fires when
`{"enter_zone": "<name>"}`	Robot enters the named zone.
`{"exit_zone": "<name>"}`	Robot leaves the named zone.
`{"near_object": {"tag": "<tag>", "max_distance_m": 0.5, "for_ticks": 3}}`	Robot stays within `max_distance_m` of a tagged object for `for_ticks`.
`{"elapsed_ticks": <int>}`	A tick count is reached.
`{"flipped": true}`	Robot has flipped/fallen.

Reward terms

All optional and additive per tick:

Term	Effect
`step_cost`	Constant per-tick reward. Set negative as a time penalty.
`distance_to_zone`	`{zone, weight}` → `weight × (prev_dist − now_dist)` to the zone center. Positive = getting closer.
`distance_to_tag`	`{tag, weight}` → same, but to the first object with that tag.
`forward_distance_gain`	scalar × `(prev_x − now_x)`. Rewards moving forward (−X).
`contact_with_rubble_penalty`	Per-tick penalty for being within 0.25 m of any `rubble`-tagged object.
`fall_penalty`	Applied each tick roll/pitch exceeds 60°.
`phase_success_bonus`	One-shot bonus when `success_when` fires.
`phase_failure_penalty`	One-shot penalty when `fail_when` fires.

`vla_finetune`

"vla_finetune": {
  "prompt_template": "[MISSION: {mission_name}] [PHASE {phase_idx}/{n_phases}: {phase_name}]\n[GOAL: {goal_prompt}]\n[OBS] ...\n[ACTION]",
  "include_failures": true
}

Field	Meaning
`prompt_template`	Format string for each exported row. Placeholders: `{mission_name}`, `{phase_idx}`, `{n_phases}`, `{phase_name}`, `{goal_prompt}`.
`include_failures`	If `true`, failed-phase transitions are also exported.

This template renders the prompt field in <run-id>.finetune.jsonl and in env finetune output. Feed those rows straight into a VLA SFT or offline-RL pipeline.

Introduction

Configure

Using the CLI

Megan

Reference

Top level

`scene`

`phases`

Predicates

Reward terms

`vla_finetune`

​Top level

​scene

​phases

​Predicates

​Reward terms

​vla_finetune

Top level

`scene`

`phases`

Predicates

Reward terms

`vla_finetune`