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。
29 lines
639 B
JSON
29 lines
639 B
JSON
{
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"id": "mobile-manipulator-v1",
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"observationSize": 68,
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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": [0.25, 0, 0.019],
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"goalStart": [0.55, 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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}
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