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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。
46 lines
1.2 KiB
JSON
46 lines
1.2 KiB
JSON
{
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"id": "mobile-manipulator-v2",
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"actionSemantics": "rate-limited-position-target-v1",
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"observationSize": 92,
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"actionSize": 12,
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"maxArmJoints": 8,
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"stateSize": 54,
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"controlDt": 0.02,
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"positionScale": 2,
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"linearVelocityScale": 2,
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"angularVelocityScale": 4,
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"jointVelocityScale": 4,
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"objectHalfSize": 0.018,
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"objectStart": [0.7, 0, 0.019],
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"goalStart": [0.95, 0.15, 0.019],
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"liftHeight": 0.08,
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"graspDistance": 0.09,
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"goalTolerance": 0.04,
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"settleSpeed": 0.05,
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"releaseOpening": 0.65,
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"settleSteps": 10,
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"maxSteps": 1000,
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"reachGain": 8,
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"transportGain": 4,
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"reachWeight": 0.1,
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"liftWeight": 0.3,
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"transportWeight": 0.5,
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"successBonus": 20,
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"baseSpeedLimits": [0.12, 0.12, 0.5],
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"baseAccelerationLimits": [0.3, 0.3, 0.8],
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"armSpeedLimit": 0.5,
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"armAccelerationLimit": 1.5,
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"armTrackingError": 0.2,
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"jointSpeedStop": 2,
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"gripperOpeningRate": 0.5,
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"actionRateWeight": 0.005,
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"jointVelocityWeight": 0.01,
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"navigationOffset": [0.3, 0, 0],
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"navigationTolerance": 0.06,
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"navigationYawTolerance": 0.2,
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"navigationSpeedTolerance": 0.035,
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"navigationProgressWeight": 4,
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"navigationSuccessRate": 0.8,
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"safetyPenalty": 5
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}
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