{
  "descriptor": {
    "protocolVersion": 1,
    "profileId": "test-slider",
    "profileVersion": 1,
    "modelFingerprint": "aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa",
    "frame": "x-forward-y-left-z-up",
    "actionChannels": [
      { "id": "slider.position", "unit": "m", "mode": "position", "min": -1, "max": 1 }
    ],
    "observationChannels": [
      { "id": "slider.position", "unit": "m", "mode": "position", "min": -1, "max": 1 }
    ],
    "capabilities": { "reset": true, "lockstep": false, "cameras": false, "training": false }
  },
  "identity": { "sessionId": "sim-test", "modelEpoch": 2, "leaseId": "lease-test" },
  "validAction": {
    "protocolVersion": 1,
    "sessionId": "sim-test",
    "modelEpoch": 2,
    "leaseId": "lease-test",
    "actionSeq": 1,
    "values": { "slider.position": 0.3 }
  },
  "observation": {
    "protocolVersion": 1,
    "sessionId": "sim-test",
    "modelEpoch": 2,
    "sequence": 5,
    "simTime": 0.1,
    "appliedActionSeq": 1,
    "paused": false,
    "values": { "slider.position": 0.12 }
  },
  "invalidActions": [
    { "label": "old epoch", "patch": { "modelEpoch": 1 }, "code": "STALE" },
    { "label": "other lease", "patch": { "leaseId": "other" }, "code": "STALE" },
    { "label": "replayed sequence", "patch": { "actionSeq": 0 }, "code": "INVALID_MESSAGE" },
    { "label": "wrong version", "patch": { "protocolVersion": 2 }, "code": "UNSUPPORTED" },
    { "label": "missing channel", "patch": { "values": {} }, "code": "INVALID_MESSAGE" },
    {
      "label": "extra channel",
      "patch": { "values": { "slider.position": 0, "unknown": 1 } },
      "code": "INVALID_MESSAGE"
    },
    {
      "label": "string number",
      "patch": { "values": { "slider.position": "0.1" } },
      "code": "INVALID_MESSAGE"
    },
    {
      "label": "boolean",
      "patch": { "values": { "slider.position": true } },
      "code": "INVALID_MESSAGE"
    },
    {
      "label": "unknown envelope field",
      "patch": { "script": "print('no')" },
      "code": "INVALID_MESSAGE"
    }
  ]
}