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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。
267 lines
7.8 KiB
JSON
267 lines
7.8 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-agent-v1.schema.json",
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"title": "LeKiwi agent v1: SI ground truth and constrained decisions",
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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": { "type": "string", "minLength": 1, "maxLength": 128 },
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"sceneRevision": { "type": "integer", "minimum": 0, "maximum": 1000000000 },
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"sequence": { "type": "integer", "minimum": 0, "maximum": 1000000000 },
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"planRevision": { "type": "integer", "minimum": 0, "maximum": 1000000000 },
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"requestId": { "type": "string", "minLength": 1, "maxLength": 128 }
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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": { "type": "number", "minimum": -2, "maximum": 2 }
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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": { "const": "lekiwi-agent-v1" },
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"stamp": { "$ref": "#/$defs/Stamp" },
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"source": { "const": "mujoco-ground-truth" },
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"units": { "const": "SI" },
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"frame": { "const": "world-z-up" },
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"time": { "type": "number", "minimum": 0, "maximum": 1000000 },
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"phase": {
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"enum": [
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"open",
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"pregrasp",
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"descend",
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"close",
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"verify",
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"carry",
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"stop-base",
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"place",
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"release",
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"retreat",
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"settle"
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]
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},
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"base": {
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"type": "object",
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"additionalProperties": false,
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"required": ["position", "yaw"],
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"properties": {
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"position": { "$ref": "#/$defs/Position" },
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"yaw": { "type": "number", "minimum": -3.142, "maximum": 3.142 }
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}
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},
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"joints": {
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"type": "array",
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"minItems": 5,
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"maxItems": 5,
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"items": { "type": "number", "minimum": -3.2, "maximum": 3.2 }
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},
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"opening": { "type": "number", "minimum": 0, "maximum": 1 },
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"tcp": { "$ref": "#/$defs/Position" },
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"object": {
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"type": "object",
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"additionalProperties": false,
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"required": ["id", "position", "speed"],
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"properties": {
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"id": { "const": "block" },
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"position": { "$ref": "#/$defs/Position" },
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"speed": { "type": "number", "minimum": 0, "maximum": 20 }
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}
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},
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"goal": {
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"type": "object",
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"additionalProperties": false,
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"required": ["id", "position"],
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"properties": {
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"id": { "const": "placement" },
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"position": { "$ref": "#/$defs/Position" }
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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": { "type": "number", "minimum": 0, "maximum": 10000 }
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},
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"supported": { "type": "boolean" },
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"onGoalSupport": { "type": "boolean" },
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"secure": { "type": "boolean" },
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"transported": { "type": "number", "minimum": 0, "maximum": 10 }
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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": { "const": "lekiwi-agent-v1" },
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"objectId": { "const": "block" },
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"goalId": { "const": "placement" },
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"summary": { "type": "string", "minLength": 1, "maxLength": 512 },
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"steps": {
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"type": "array",
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"minItems": 1,
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"maxItems": 11,
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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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"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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]
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},
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"onFailure": { "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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"JevDecision": {
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"type": "object",
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"additionalProperties": false,
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"required": ["version", "choice", "grasp", "diagnosis", "recovery"],
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"properties": {
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"version": { "const": "lekiwi-agent-v1" },
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"choice": {
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"enum": [
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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": { "enum": ["secure", "empty", "slipping", "uncertain"] },
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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": { "enum": ["continue", "retry", "replan", "stop"] }
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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": { "const": "lekiwi-agent-v1" },
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"skill": {
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"enum": [
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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": { "enum": ["running", "completed", "failed"] },
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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": { "type": "integer", "minimum": 0, "maximum": 1000000000 }
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}
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}
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}
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}
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