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。
88 lines
2.9 KiB
YAML
88 lines
2.9 KiB
YAML
name: lekiwi-compatibility
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on:
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workflow_dispatch:
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push:
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paths:
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- 'contracts/**'
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- 'control_bridge/**'
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- 'integrations/lerobot/**'
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- 'examples/lekiwi/**'
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- 'robot_profiles/**'
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- 'web_platform/**'
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- 'package*.json'
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- '.github/workflows/lekiwi-compat.yml'
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pull_request:
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paths:
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- 'contracts/**'
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- 'control_bridge/**'
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- 'integrations/lerobot/**'
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- 'examples/lekiwi/**'
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- 'robot_profiles/**'
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- 'web_platform/**'
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- 'package*.json'
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- '.github/workflows/lekiwi-compat.yml'
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permissions:
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contents: read
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jobs:
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cpu-compatibility:
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runs-on: ubuntu-24.04
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timeout-minutes: 25
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steps:
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- uses: actions/checkout@v6
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- uses: actions/setup-node@v6
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with:
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node-version-file: .nvmrc
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cache: npm
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- uses: actions/setup-python@v6
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with:
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python-version: '3.12'
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cache: pip
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cache-dependency-path: |
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integrations/lerobot/requirements-cpu.txt
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examples/lekiwi/requirements-collision.txt
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- run: npm install --global npm@11.17.0
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- run: npm ci
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- run: npx playwright install --with-deps chromium
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- run: python -m pip install -e control_bridge
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- uses: actions/cache@v5
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with:
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path: build/lekiwi
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key: lekiwi-efa608d7-${{ hashFiles('robot_profiles/lekiwi-v1.json', 'examples/lekiwi/prepare_assets.py') }}
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- name: Prepare pinned upstream assets (never skipped)
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run: |
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if [ -f build/lekiwi/URDF/LeKiwi.urdf ]; then
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python examples/lekiwi/prepare_assets.py --source build/lekiwi --output build/lekiwi-verified
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cp build/lekiwi-verified/lekiwi-v1.zip build/lekiwi/lekiwi-v1.zip
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else
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python examples/lekiwi/prepare_assets.py --download
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fi
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- name: Rebuild and verify collision recipe in its own environment
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run: |
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python -m venv build/venvs/collision
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build/venvs/collision/bin/python -m pip install -r examples/lekiwi/requirements-collision.txt
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build/venvs/collision/bin/python -m unittest discover -s examples/lekiwi/tests -v
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build/venvs/collision/bin/python examples/lekiwi/generate_full_collisions.py --check
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env:
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PYTHONPATH: ''
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PYTHONNOUSERSITE: '1'
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- run: python examples/lekiwi/setup_lerobot.py
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- run: build/venvs/lerobot/bin/python -m unittest discover -s integrations/lerobot/tests -v
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env:
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PYTHONPATH: ''
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PYTHONNOUSERSITE: '1'
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- run: npm run test:e2e:lekiwi
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env:
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BRIDGE_PYTHON: python3
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LEROBOT_PYTHON: build/venvs/lerobot/bin/python
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- uses: actions/upload-artifact@v6
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if: always()
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with:
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name: lekiwi-compatibility-evidence
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path: |
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build/e2e/lekiwi/
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build/lerobot-environment.json
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build/lekiwi/source-manifest.json
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