chenlin
3ad29356c9
集成通用机器人数值接口、本机控制桥、LeRobot 插件和统一键盘遥操作。采用离线 CoACD 全臂碰撞配方 revision 4、局部装配区切分与结构自接触，限制直接关节位姿写入并保留安全看门狗。同步版本号、变更记录、来源许可证和兼容性验证。
111 lines
3.7 KiB
JSON
111 lines
3.7 KiB
JSON
{
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"$schema": "https://json-schema.org/draft/2020-12/schema",
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"$id": "urn:mujoco-web:robot:v1",
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"description": "V1 numeric robot payloads. Descriptor semantics and action epoch/lease/sequence are additionally validated at runtime. JSON numbers must be finite. No camera, lockstep or training support.",
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"oneOf": [
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{ "$ref": "#/$defs/descriptor" },
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{ "$ref": "#/$defs/action" },
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{ "$ref": "#/$defs/observation" }
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],
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"$defs": {
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"id": { "type": "string", "pattern": "^[a-zA-Z0-9][a-zA-Z0-9_.:-]{0,127}$" },
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"counter": { "type": "integer", "minimum": 0, "maximum": 9007199254740991 },
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"values": {
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"type": "object",
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"minProperties": 1,
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"maxProperties": 256,
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"propertyNames": { "$ref": "#/$defs/id" },
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"additionalProperties": { "type": "number" }
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},
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"channel": {
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"type": "object",
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"additionalProperties": false,
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"required": ["id", "unit", "mode", "min", "max"],
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"properties": {
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"id": { "$ref": "#/$defs/id" },
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"unit": { "enum": ["rad", "rad/s", "m", "m/s", "ratio", "N", "N.m"] },
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"mode": { "enum": ["position", "velocity", "effort", "opening"] },
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"min": { "type": "number" },
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"max": { "type": "number" }
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}
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},
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"channels": {
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"type": "array",
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"minItems": 1,
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"maxItems": 256,
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"items": { "$ref": "#/$defs/channel" }
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},
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"descriptor": {
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"type": "object",
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"additionalProperties": false,
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"required": [
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"protocolVersion",
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"profileId",
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"profileVersion",
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"modelFingerprint",
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"frame",
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"actionChannels",
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"observationChannels",
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"capabilities"
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],
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"properties": {
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"protocolVersion": { "const": 1 },
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"profileId": { "$ref": "#/$defs/id" },
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"profileVersion": { "type": "integer", "minimum": 1, "maximum": 9007199254740991 },
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"modelFingerprint": { "type": "string", "pattern": "^[a-f0-9]{64}$" },
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"frame": { "const": "x-forward-y-left-z-up" },
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"actionChannels": { "$ref": "#/$defs/channels" },
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"observationChannels": { "$ref": "#/$defs/channels" },
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"capabilities": {
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"type": "object",
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"additionalProperties": false,
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"required": ["reset", "lockstep", "cameras", "training"],
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"properties": {
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"reset": { "type": "boolean" },
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"lockstep": { "const": false },
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"cameras": { "const": false },
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"training": { "const": false }
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}
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}
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}
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},
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"action": {
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"type": "object",
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"additionalProperties": false,
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"required": ["protocolVersion", "sessionId", "modelEpoch", "leaseId", "actionSeq", "values"],
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"properties": {
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"protocolVersion": { "const": 1 },
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"sessionId": { "$ref": "#/$defs/id" },
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"modelEpoch": { "$ref": "#/$defs/counter" },
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"leaseId": { "$ref": "#/$defs/id" },
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"actionSeq": { "type": "integer", "minimum": 1, "maximum": 9007199254740991 },
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"values": { "$ref": "#/$defs/values" }
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}
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},
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"observation": {
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"type": "object",
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"additionalProperties": false,
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"required": [
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"protocolVersion",
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"sessionId",
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"modelEpoch",
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"sequence",
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"simTime",
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"appliedActionSeq",
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"paused",
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"values"
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],
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"properties": {
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"protocolVersion": { "const": 1 },
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"sessionId": { "$ref": "#/$defs/id" },
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"modelEpoch": { "$ref": "#/$defs/counter" },
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"sequence": { "$ref": "#/$defs/counter" },
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"simTime": { "type": "number", "minimum": 0 },
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"appliedActionSeq": { "$ref": "#/$defs/counter" },
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"paused": { "type": "boolean" },
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"values": { "$ref": "#/$defs/values" }
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}
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}
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}
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}
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