{
  "currency": "USD",
  "meters": [
    {
      "id": "robot_hours",
      "label": "Robot-hours",
      "unit": "robot-hour",
      "description": "Occupancy of an embodiment: metered per minute while your policy holds the cell, from first motor enable to final reset."
    },
    {
      "id": "environment_hours",
      "label": "Environment-hours",
      "unit": "environment-hour",
      "description": "Occupancy of a versioned catalogue scene, metered per minute alongside the robot meter. Both meters appear in every quote and every result."
    }
  ],
  "billing_note": "Metered per minute, displayed per hour. Hours in results are rounded to 0.1 h; billing uses exact minutes. A max_budget_usd on any run is a hard stop, metered live.",
  "robot_rates": [
    {
      "id": "nori-a3",
      "class": "arm-pod",
      "tier": "soak",
      "usd_per_robot_hour": 7,
      "note": "Commodity soak pods, 24 cells. Iterate here; escalate when the numbers hold."
    },
    {
      "id": "so-101",
      "class": "arm-pod",
      "tier": "soak",
      "usd_per_robot_hour": 9,
      "note": "Hobby-class 5-DoF pods, 16 cells. The cheapest smoke test for a policy."
    },
    {
      "id": "stretch3",
      "class": "mobile-manipulator",
      "tier": "verify",
      "usd_per_robot_hour": 34,
      "note": "Mobile manipulation, firmware-pinned."
    },
    {
      "id": "fr3-bench",
      "class": "fixed-arm",
      "tier": "verify",
      "usd_per_robot_hour": 38,
      "note": "Torque-controlled 7-DoF industrial arm on a fixed bench."
    },
    {
      "id": "aloha-bimanual",
      "class": "bimanual",
      "tier": "verify",
      "usd_per_robot_hour": 52,
      "note": "Bimanual teleop-grade rig."
    },
    {
      "id": "tiago-pro",
      "class": "mobile-manipulator",
      "tier": "verify",
      "usd_per_robot_hour": 61,
      "note": "Premium mobile manipulator; torso lift and force-torque wrists."
    },
    {
      "id": "aloha2-pro",
      "class": "bimanual",
      "tier": "verify",
      "usd_per_robot_hour": 74,
      "note": "Second-generation bimanual rig, gravity-compensated, higher payload."
    },
    {
      "id": "spot-arm",
      "class": "quadruped-manip",
      "tier": "verify",
      "usd_per_robot_hour": 89,
      "note": "Quadruped with a 6-DoF arm; uneven-floor manipulation cells."
    },
    {
      "id": "g1-edu-pro",
      "class": "humanoid",
      "tier": "verify",
      "usd_per_robot_hour": 148,
      "note": "37-DoF humanoid with dex3-1 hands; the verification-tier default."
    },
    {
      "id": "g1-edu-plus",
      "class": "humanoid",
      "tier": "verify",
      "usd_per_robot_hour": 176,
      "note": "43-DoF humanoid; limited cells."
    }
  ],
  "environment_rates": [
    {
      "adder_tier": "bare",
      "usd_per_env_hour": 12,
      "examples": ["cell-a@v1.0"],
      "note": "Bare bench cell, overhead camera."
    },
    {
      "adder_tier": "standard",
      "usd_per_env_hour": 24,
      "examples": ["warehouse-std@v2.0"],
      "note": "Standard catalogue scene with mocap."
    },
    {
      "adder_tier": "replica",
      "usd_per_env_hour": 39,
      "examples": ["kitchen-std@v1.2"],
      "note": "Full replica scene, mocap + force-torque."
    },
    {
      "adder_tier": "instrumented-replica",
      "usd_per_env_hour": 85,
      "examples": ["surgical-replica@v3"],
      "note": "High-instrumentation replica, high-speed capture."
    }
  ],
  "priority": [
    {
      "id": "burst",
      "multiplier": 1.5,
      "note": "Expedited queue: next available cell, both meters at 1.5×."
    },
    { "id": "standard", "multiplier": 1.0, "note": "Default queue." },
    {
      "id": "soak",
      "multiplier": 0.6,
      "note": "Off-peak, interruptible scheduling at 0.6×."
    }
  ],
  "adders": [
    {
      "id": "teleop-fallback",
      "usd_per_robot_hour": 18,
      "note": "Human takeover on policy halt (Policy.endpoint fallback)."
    },
    {
      "id": "extra-instrumentation",
      "usd_per_env_hour": 12,
      "note": "Additional mocap or high-speed capture beyond the environment's base kit."
    }
  ],
  "packages": [
    {
      "id": "suite-manip-core-v3",
      "label": "rbr-manip-core@v3 suite run",
      "usd": 9500,
      "includes": "5 tasks × 300 episodes on g1-edu-pro@fw2.3; suite attestation (rbr:att: id) and the verification report."
    },
    {
      "id": "threshold-contract",
      "label": "Outcome contract — threshold()",
      "usd": null,
      "pricing": "monthly_cap_usd you set",
      "includes": "Soak-tier iteration (e.g. nori-a3 pods) with automatic escalation to verification-tier hardware on threshold crossing; on_verified webhook; hard monthly cap."
    }
  ],
  "worked_quote": {
    "label": "What do 600 humanoid episodes cost?",
    "robot": "g1-edu-pro",
    "environment": "kitchen-std@v1.2",
    "episodes": 600,
    "priority": "standard",
    "minutes_per_episode_est": 2.0,
    "robot_hours": 20.0,
    "env_hours": 20.0,
    "robot_usd_per_hour": 148,
    "env_usd_per_hour": 39,
    "robot_usd": 2960,
    "env_usd": 780,
    "usd": 3740,
    "queue_eta": "6h"
  }
}