chenlin
3ad29356c9
集成通用机器人数值接口、本机控制桥、LeRobot 插件和统一键盘遥操作。采用离线 CoACD 全臂碰撞配方 revision 4、局部装配区切分与结构自接触，限制直接关节位姿写入并保留安全看门狗。同步版本号、变更记录、来源许可证和兼容性验证。
63 lines
2.0 KiB
JSON
63 lines
2.0 KiB
JSON
{
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"descriptor": {
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"protocolVersion": 1,
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"profileId": "test-slider",
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"profileVersion": 1,
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"modelFingerprint": "aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa",
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"frame": "x-forward-y-left-z-up",
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"actionChannels": [
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{ "id": "slider.position", "unit": "m", "mode": "position", "min": -1, "max": 1 }
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],
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"observationChannels": [
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{ "id": "slider.position", "unit": "m", "mode": "position", "min": -1, "max": 1 }
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],
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"capabilities": { "reset": true, "lockstep": false, "cameras": false, "training": false }
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},
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"identity": { "sessionId": "sim-test", "modelEpoch": 2, "leaseId": "lease-test" },
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"validAction": {
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"protocolVersion": 1,
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"sessionId": "sim-test",
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"modelEpoch": 2,
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"leaseId": "lease-test",
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"actionSeq": 1,
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"values": { "slider.position": 0.3 }
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},
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"observation": {
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"protocolVersion": 1,
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"sessionId": "sim-test",
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"modelEpoch": 2,
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"sequence": 5,
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"simTime": 0.1,
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"appliedActionSeq": 1,
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"paused": false,
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"values": { "slider.position": 0.12 }
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},
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"invalidActions": [
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{ "label": "old epoch", "patch": { "modelEpoch": 1 }, "code": "STALE" },
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{ "label": "other lease", "patch": { "leaseId": "other" }, "code": "STALE" },
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{ "label": "replayed sequence", "patch": { "actionSeq": 0 }, "code": "INVALID_MESSAGE" },
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{ "label": "wrong version", "patch": { "protocolVersion": 2 }, "code": "UNSUPPORTED" },
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{ "label": "missing channel", "patch": { "values": {} }, "code": "INVALID_MESSAGE" },
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{
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"label": "extra channel",
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"patch": { "values": { "slider.position": 0, "unknown": 1 } },
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"code": "INVALID_MESSAGE"
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},
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{
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"label": "string number",
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"patch": { "values": { "slider.position": "0.1" } },
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"code": "INVALID_MESSAGE"
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},
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{
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"label": "boolean",
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"patch": { "values": { "slider.position": true } },
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"code": "INVALID_MESSAGE"
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},
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{
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"label": "unknown envelope field",
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"patch": { "script": "print('no')" },
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"code": "INVALID_MESSAGE"
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}
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]
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}
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