chenlin
0d986f60bd
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集成服务器托管模型、自然语言移动与有界抓放、内置 LeKiwi URL 导入和双摄像头；同步部署契约与指定域名 iframe 白名单，保留原有物理安全、会话及调用预算防护。 更新 npm 包及锁文件版本、CHANGELOG 与发布文档。提交前 typecheck、120 项定向前端测试和 44 项后端测试通过（3 项可选跳过）；真实 v2 云模型抓放仍待单独验收，不包含运行密钥或构建产物。
484 lines
11 KiB
JSON
484 lines
11 KiB
JSON
{
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"$id": "https://mujoco.local/contracts/lekiwi-language-task-v2.schema.json",
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"title": "LeKiwi language task v2",
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"$defs": {
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"Stamp": {
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"type": "object",
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"additionalProperties": false,
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"required": ["runId", "sceneRevision", "sequence", "planRevision", "requestId"],
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"properties": {
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"runId": {
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"type": "string",
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"sceneRevision": {
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},
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"planRevision": {
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"maximum": 1000000000
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},
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"requestId": {
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"type": "string",
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"minLength": 1,
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"maxLength": 128
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}
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}
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},
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"Position": {
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"type": "array",
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"minItems": 3,
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"maxItems": 3,
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"items": {
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"type": "number",
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"minimum": -2,
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"maximum": 2
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}
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},
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"Observation": {
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"type": "object",
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"additionalProperties": false,
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"required": [
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"version",
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"stamp",
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"source",
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"units",
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"frame",
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"time",
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"phase",
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"base",
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"joints",
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"opening",
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"tcp",
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"object",
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"goal",
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"evidence",
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"safety"
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],
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"properties": {
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"version": {
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"const": "lekiwi-language-v2"
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},
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"stamp": {
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"$ref": "#/$defs/Stamp"
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},
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"source": {
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"const": "mujoco-ground-truth"
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},
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"units": {
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"const": "SI"
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},
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"frame": {
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"const": "world-z-up"
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},
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"time": {
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"type": "number",
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"stow",
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"approach",
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"open",
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"pregrasp",
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"descend",
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"close",
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"verify",
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"carry",
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"stop-base",
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"place",
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"release",
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"retreat",
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"settle"
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]
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},
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"base": {
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"type": "object",
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"additionalProperties": false,
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"required": ["position", "yaw"],
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"properties": {
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"position": {
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"$ref": "#/$defs/Position"
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},
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"yaw": {
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"type": "number",
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"minimum": -3.142,
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"maximum": 3.142
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}
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}
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},
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"joints": {
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"type": "array",
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"maxItems": 5,
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"items": {
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"type": "number",
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"maximum": 3.2
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}
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},
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"opening": {
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"type": "number",
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"minimum": 0,
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"maximum": 1
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},
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"tcp": {
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"$ref": "#/$defs/Position"
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},
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"object": {
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"type": "object",
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"additionalProperties": false,
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"required": ["id", "position", "speed"],
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"properties": {
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"id": {
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"const": "block"
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},
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"position": {
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"$ref": "#/$defs/Position"
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},
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"speed": {
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"type": "number",
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"minimum": 0,
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"maximum": 20
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}
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}
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},
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"goal": {
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"type": "object",
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"additionalProperties": false,
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"required": ["id", "position"],
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"properties": {
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"id": {
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"const": "placement"
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},
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"position": {
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"$ref": "#/$defs/Position"
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}
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}
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},
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"evidence": {
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"type": "object",
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"additionalProperties": false,
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"required": ["fingerForces", "supported", "onGoalSupport", "secure", "transported"],
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"properties": {
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"fingerForces": {
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"type": "array",
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"minItems": 2,
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"maxItems": 2,
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"items": {
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"type": "number",
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"minimum": 0,
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"maximum": 10000
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}
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},
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"supported": {
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"type": "boolean"
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},
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"onGoalSupport": {
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"type": "boolean"
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},
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"secure": {
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"type": "boolean"
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},
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"transported": {
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"type": "number",
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"minimum": 0,
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"maximum": 10
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}
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}
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},
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"safety": {
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"type": "array",
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"maxItems": 8,
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"uniqueItems": true,
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"items": {
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"enum": [
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"joint_velocity",
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"joint_stall",
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"base_unstable",
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"unreachable",
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"lost_grasp",
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"episode_timeout",
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"stalled",
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"none"
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]
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}
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}
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}
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},
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"Plan": {
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"type": "object",
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"additionalProperties": false,
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"required": ["version", "objectId", "goalId", "summary", "steps"],
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"properties": {
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"version": {
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"const": "lekiwi-language-v2"
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},
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"objectId": {
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"const": "block"
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},
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"goalId": {
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"const": "placement"
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},
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"summary": {
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"type": "string",
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"minLength": 1,
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"maxLength": 512
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},
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"steps": {
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"type": "array",
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"minItems": 1,
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"maxItems": 13,
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"items": {
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"type": "object",
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"additionalProperties": false,
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"required": ["skill", "precondition", "onFailure"],
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"properties": {
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"skill": {
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"enum": [
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"stow",
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"approach",
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"open",
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"pregrasp",
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"descend",
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"close",
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"verify",
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"carry",
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"stop-base",
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"place",
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"release",
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"retreat",
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"settle"
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]
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},
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"precondition": {
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"enum": [
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"scene-ready",
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"base-stopped",
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"tcp-above",
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"aligned",
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"dual-contact",
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"verified-grasp",
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"transported",
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"supported",
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"released",
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"retreat",
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"arm-safe"
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]
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},
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"onFailure": {
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"enum": ["retry", "replan", "stop"]
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}
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}
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}
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}
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}
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},
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"JevDecision": {
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"type": "object",
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"additionalProperties": false,
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"required": [
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"version",
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"choice",
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"grasp",
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"diagnosis",
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"recovery",
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"noul",
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"score",
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"reason"
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],
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"properties": {
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"version": {
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"const": "lekiwi-language-v2"
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},
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"choice": {
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"enum": [
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"stow",
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"approach",
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"open",
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"pregrasp",
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"descend",
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"close",
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"verify",
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"carry",
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"stop-base",
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"place",
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"release",
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"retreat",
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"settle",
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"stop"
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]
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},
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"grasp": {
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"enum": ["secure", "empty", "slipping", "uncertain"]
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},
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"diagnosis": {
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"enum": ["none", "empty", "slipping", "misaligned", "unreachable", "stalled", "uncertain"]
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},
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"recovery": {
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"enum": ["continue", "retry", "replan", "stop"]
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},
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"noul": {
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"enum": ["allow", "deny", "uncertain"]
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},
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"score": {
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"enum": ["poor", "partial", "good", "excellent", "unavailable"]
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},
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"reason": {
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"enum": ["none", "unsafe", "insufficient_evidence", "tracking_error", "verified_progress"]
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}
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}
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},
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"SkillResult": {
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"type": "object",
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"additionalProperties": false,
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"required": ["version", "skill", "status", "code", "evidenceSequence"],
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"properties": {
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"version": {
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"const": "lekiwi-language-v2"
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},
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"skill": {
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"enum": [
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"stow",
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"approach",
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"open",
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"pregrasp",
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"descend",
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"close",
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"verify",
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"carry",
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"stop-base",
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"place",
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"release",
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"retreat",
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"settle"
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]
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},
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"status": {
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"enum": ["running", "completed", "failed"]
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},
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"code": {
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"enum": [
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"none",
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"joint_velocity",
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"joint_stall",
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"base_unstable",
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"unreachable",
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"lost_grasp",
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"episode_timeout",
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"alignment_timeout",
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"empty_grasp",
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"grasp_unverified",
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"transport_unverified",
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"placement_unsupported",
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"release_blocked",
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"placement_unverified",
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"navigation_timeout",
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"controller_error"
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]
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},
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"evidenceSequence": {
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"type": "integer",
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"minimum": 0,
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"maximum": 1000000000
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}
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}
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},
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"Command": {
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"type": "object",
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"additionalProperties": false,
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"required": [
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"version",
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"action",
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"value",
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"summary",
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"objectId",
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"targetId",
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"position",
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"supportId"
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],
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"properties": {
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"version": {
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"const": "lekiwi-language-v2"
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},
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"action": {
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"enum": ["move", "turn", "pick_place", "stop", "clarify"]
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},
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"value": {
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"type": "number",
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"minimum": -180,
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"maximum": 180
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},
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"summary": {
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"type": "string",
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"minLength": 1,
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"maxLength": 200
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},
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"objectId": {
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"enum": ["block", "none"]
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},
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"targetId": {
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"enum": ["A", "B", "coordinates", "none"]
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},
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"position": {
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"type": "array",
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"items": {
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"type": "number",
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"maximum": 2
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}
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},
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"supportId": {
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"enum": ["source", "table", "none"]
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}
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}
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},
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"SceneContext": {
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"type": "object",
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"additionalProperties": false,
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"required": ["version", "sceneId", "source", "units", "frame", "object", "base", "yaw"],
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"properties": {
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"version": {
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"const": "lekiwi-language-v2"
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},
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"sceneId": {
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"const": "lekiwi-language-scene-v2"
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},
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"source": {
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"const": "mujoco-ground-truth"
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},
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"units": {
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"const": "SI"
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},
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"frame": {
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"const": "world-z-up"
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},
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"object": {
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"$ref": "#/$defs/Position"
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},
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"base": {
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"$ref": "#/$defs/Position"
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},
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"yaw": {
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"type": "number",
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"maximum": 3.142
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}
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}
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}
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}
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}
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