chenlin
f3a8a38acd
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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。
48 lines
1.4 KiB
JSON
48 lines
1.4 KiB
JSON
{
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"id": "lekiwi-pick-place-v1",
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"robotId": "lekiwi-v1",
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"sourceZipSha256": "a10ac577ea49cdf87f324f3f6e9a7a887a1e3c0254ae638059711fef9e385b04",
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"units": "SI",
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"frame": "world-z-up",
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"object": { "id": "block", "halfSize": 0.018, "mass": 0.05, "position": [0.257, 0.015, 0.128] },
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"goal": { "id": "placement", "position": [0.257, 0.615, 0.128] },
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"supportHeight": 0.11,
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"supportHalfSize": [0.045, 0.055, 0.055],
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"tcpSite": "__agent_tcp",
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"tcpOffset": [-0.01, 0.037, -0.081],
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"pregraspHeight": 0.195,
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"carryHeight": 0.205,
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"retreatHeight": 0.223,
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"baseTranslation": [0, 0.6],
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"controlDt": 0.02,
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"armSpeed": 0.35,
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"armAcceleration": 1.0,
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"armTrackingError": 0.15,
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"armStallError": 0.14,
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"armStallSpeed": 0.02,
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"armStallDuration": 0.75,
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"gripperOpeningRate": 0.5,
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"baseSpeed": 0.04,
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"baseAcceleration": 0.3,
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"yawSpeed": 0.15,
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"yawAcceleration": 0.8,
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"jointSpeedStop": 2.0,
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"fingerForceMin": 0.2,
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"graspStableTime": 0.15,
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"liftMin": 0.045,
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"relativeDriftMax": 0.012,
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"transportMin": 0.5,
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"placementTolerance": 0.04,
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"placementSpeedMax": 0.05,
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"retreatMin": 0.09,
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"placementStableTime": 0.5,
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"episodeTimeout": 70,
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"frozenSeeds": [
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{ "id": 0, "offset": [0, 0] },
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{ "id": 1, "offset": [-0.002, 0] },
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{ "id": 2, "offset": [0.002, 0] },
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{ "id": 3, "offset": [0, -0.002] },
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{ "id": 4, "offset": [0, 0.002] }
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]
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}
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