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feat: release v1.0.1 CADWorld 网站与 LeKiwi 智能抓放
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集成同源 BYOK 会话隔离、精简模型设置、官方订阅入口和 HTTPS 发布运维；保留本地训练/调参与控制能力。同步 npm 版本及 CHANGELOG，记录公网真实 API 验收仍待用户凭据。
This commit is contained in:
cen617-code
2026-09-24 09:57:41 +08:00
parent 3ad29356c9
commit f3a8a38acd
194 changed files with 32918 additions and 236 deletions
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contracts/mobile-robots-v1.json
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[
{
"id": "lekiwi-v1",
"label": "LeKiwi v1 · 原始机械臂",
"recipe": "lekiwi-v1",
"baseBodyName": "base_plate_layer1-v5",
"baseJointName": "__platform_base_freejoint__",
"baseJoints": ["base_left_wheel", "base_back_wheel", "base_right_wheel"],
"baseActuators": ["base_left_wheel_servo", "base_back_wheel_servo", "base_right_wheel_servo"],
"baseMix": [
[-17.32050807568877, 10, 2.5],
[0, -20, 2.5],
[17.32050807568877, 10, 2.5]
],
"baseLimits": [0.2, 0.2, 1.0471975511965976],
"wheelLimit": 4.601942363656923,
"armJoints": [
{
"name": "arm_shoulder_pan",
"min": -1.57,
"max": 1.57,
"neutral": 0,
"mode": "position",
"velocityLimit": 2
},
{
"name": "arm_shoulder_lift",
"min": -1.4,
"max": 1.4,
"neutral": 0,
"mode": "position",
"velocityLimit": 2
},
{
"name": "arm_elbow_flex",
"min": -1.4,
"max": 1.4,
"neutral": 0,
"mode": "position",
"velocityLimit": 2
},
{
"name": "arm_wrist_flex",
"min": -1.4,
"max": 1.4,
"neutral": 0,
"mode": "position",
"velocityLimit": 2
},
{
"name": "arm_wrist_roll",
"min": -3.14,
"max": 3.14,
"neutral": 0,
"mode": "position",
"velocityLimit": 2
}
],
"armActuators": [
"arm_shoulder_pan_servo",
"arm_shoulder_lift_servo",
"arm_elbow_flex_servo",
"arm_wrist_flex_servo",
"arm_wrist_roll_servo"
],
"gripperJoint": "arm_gripper",
"gripperActuators": [{ "name": "arm_gripper_servo", "closed": -0.18, "open": 0.9 }],
"gripperClosed": -0.18,
"gripperOpen": 0.9,
"eefBodyName": "Wrist_Roll_08c-v1",
"eefSiteName": "__mm_eef",
"eefOffset": [0, 0.035, -0.065]
},
{
"id": "lekiwi-bundle",
"label": "robot_urdf_bundle · Link1–Link4 机械臂",
"recipe": "lekiwi-bundle",
"baseBodyName": "base_plate_layer1-v5",
"baseJointName": "__platform_base_freejoint__",
"baseJoints": ["base_left_wheel", "base_back_wheel", "base_right_wheel"],
"baseActuators": ["base_left_wheel_servo", "base_back_wheel_servo", "base_right_wheel_servo"],
"baseMix": [
[-17.32050807568877, 10, 2.5],
[0, -20, 2.5],
[17.32050807568877, 10, 2.5]
],
"baseLimits": [0.2, 0.2, 1.0471975511965976],
"wheelLimit": 4.601942363656923,
"armJoints": [
{
"name": "Link1",
"min": -1.1,
"max": 1.1,
"neutral": 0,
"mode": "position",
"velocityLimit": 2
},
{
"name": "Link2",
"min": -0.3,
"max": 1.1,
"neutral": 0,
"mode": "position",
"velocityLimit": 2
},
{
"name": "Link3",
"min": -1,
"max": 1,
"neutral": 0,
"mode": "position",
"velocityLimit": 2
},
{
"name": "Link4",
"min": -1.1,
"max": 0.3,
"neutral": 0,
"mode": "position",
"velocityLimit": 2
},
{
"name": "arm_wrist_roll",
"min": -3.14,
"max": 3.14,
"neutral": 0,
"mode": "position",
"velocityLimit": 2
}
],
"armActuators": [
"Link1_servo",
"Link2_servo",
"Link3_servo",
"Link4_servo",
"arm_wrist_roll_servo"
],
"gripperJoint": "arm_gripper",
"gripperActuators": [{ "name": "arm_gripper_servo", "closed": -0.18, "open": 0.9 }],
"gripperClosed": -0.18,
"gripperOpen": 0.9,
"eefBodyName": "Wrist_Roll_08c-v1",
"eefSiteName": "__mm_eef",
"eefOffset": [0, 0.035, -0.065]
}
]