{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "https://raw.githubusercontent.com/api-evangelist/ai-habitat/refs/heads/main/json-schema/ai-habitat-observation-schema.json",
  "title": "Observation",
  "description": "Sensor observation returned from a simulation step",
  "type": "object",
  "properties": {
    "rgb": {
      "type": "object",
      "description": "RGB image array (H x W x 4)"
    },
    "depth": {
      "type": "object",
      "description": "Depth image array (H x W x 1) in meters"
    },
    "semantic": {
      "type": "object",
      "description": "Semantic segmentation array (H x W x 1) with object instance IDs"
    },
    "gps": {
      "type": "array",
      "description": "GPS coordinates [x, z] relative to start",
      "items": {
        "type": "number"
      }
    },
    "compass": {
      "type": "array",
      "description": "Compass heading in radians",
      "items": {
        "type": "number"
      }
    }
  }
}