From 3ad29356c991b8143c5c29d6fb6b166e89fdbd9d Mon Sep 17 00:00:00 2001 From: cen617-code <1057290604@qq.com> Date: Sun, 20 Sep 2026 14:42:30 +0800 Subject: [PATCH] =?UTF-8?q?feat(lekiwi):=20release=20V0.10.1=20=E5=88=9D?= =?UTF-8?q?=E6=AD=A5=E9=9B=86=E6=88=90=20LeKiwi=EF=BC=8C=E4=BC=98=E5=8C=96?= =?UTF-8?q?=E7=A2=B0=E6=92=9E=E6=A8=A1=E5=9E=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 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。 --- .github/workflows/ci.yml | 11 + .github/workflows/lekiwi-compat.yml | 87 + CHANGELOG.md | 21 + README.md | 21 +- contracts/fixtures/lekiwi-kinematics.json | 14 + contracts/fixtures/single-joint.json | 62 + contracts/robot-v1.schema.json | 110 + control_bridge/LICENSE | 202 + control_bridge/README.md | 64 + control_bridge/pyproject.toml | 18 + .../src/mujoco_control_bridge/__init__.py | 4 + .../src/mujoco_control_bridge/__main__.py | 48 + .../src/mujoco_control_bridge/client.py | 160 + .../src/mujoco_control_bridge/protocol.py | 196 + .../src/mujoco_control_bridge/server.py | 463 + control_bridge/tests/test_protocol.py | 65 + control_bridge/tests/test_server.py | 322 + docs/robot-interface.md | 111 + examples/lekiwi/README.md | 143 + examples/lekiwi/demo_control.py | 98 + examples/lekiwi/generate_arm_collisions.py | 51 + examples/lekiwi/generate_full_collisions.py | 494 + .../lekiwi/generate_gripper_collisions.py | 117 + examples/lekiwi/prepare_assets.py | 116 + examples/lekiwi/requirements-collision.txt | 5 + examples/lekiwi/setup_lerobot.py | 68 + examples/lekiwi/teleoperate_sim.py | 132 + .../lekiwi/tests/test_collision_cooking.py | 175 + integrations/lerobot/LICENSE | 202 + integrations/lerobot/NOTICE.md | 13 + integrations/lerobot/README.md | 35 + integrations/lerobot/pyproject.toml | 19 + integrations/lerobot/requirements-cpu.txt | 52 + .../src/lerobot_robot_mujoco/__init__.py | 4 + .../lerobot_robot_mujoco/config_lekiwi_sim.py | 48 + .../src/lerobot_robot_mujoco/lekiwi-v1.json | 1 + .../src/lerobot_robot_mujoco/lekiwi_sim.py | 217 + .../lerobot/tests/test_keyboard_teleop.py | 188 + integrations/lerobot/tests/test_plugin.py | 201 + .../lerobot/tests/test_upstream_kinematics.py | 54 + package-lock.json | 4 +- package.json | 12 +- requirements-dev.txt | 1 + robot_profiles/LeKiwi.LICENSE.txt | 201 + robot_profiles/NOTICE.md | 52 + robot_profiles/lekiwi-arm-collision.json | 44 + robot_profiles/lekiwi-collision-source.json | 60 + robot_profiles/lekiwi-full-collision.json | 12541 ++++++++++++++++ robot_profiles/lekiwi-gripper-collision.json | 39 + robot_profiles/lekiwi-v1.json | 98 + web_platform/ARCHITECTURE.md | 11 +- web_platform/README.md | 11 +- web_platform/e2e/controlBridge.spec.ts | 46 + web_platform/e2e/fixtures/controlBridge.ts | 82 + web_platform/e2e/lekiwi.armCollision.spec.ts | 42 + web_platform/e2e/lekiwi.bridge.spec.ts | 52 + web_platform/e2e/lekiwi.fullCollision.spec.ts | 91 + web_platform/e2e/lekiwi.gripper.spec.ts | 55 + web_platform/e2e/lekiwi.lerobot.spec.ts | 215 + web_platform/e2e/lekiwi.physics.spec.ts | 97 + web_platform/e2e/lekiwi.workspace.spec.ts | 317 + web_platform/physics/meshDistance.ts | 71 + web_platform/physics/runner.html | 9 + web_platform/physics/runner.ts | 822 + web_platform/playwright.config.ts | 19 +- web_platform/playwright.lekiwi.config.ts | 14 + web_platform/src/app/App.tsx | 106 +- .../src/app/components/SimulationControls.tsx | 6 +- .../components/UrdfImportOptionsDialog.tsx | 214 +- .../src/app/components/ViewerToolDock.tsx | 9 +- .../app/components/WorkspaceToolsPanel.tsx | 42 +- .../src/app/hooks/useExternalControl.ts | 120 + .../src/components/ui/ToolbarToggleGroup.tsx | 2 + .../src/project/robotProfiles/index.ts | 72 + .../robotProfiles/lekiwi.gripper.test.ts | 197 + .../src/project/robotProfiles/lekiwi.test.ts | 52 + .../src/project/robotProfiles/lekiwi.ts | 396 + .../src/rl/runtime/Go2wPolicyBindings.ts | 43 +- .../src/robot/ExternalControlClient.test.ts | 83 + .../ExternalControlClient.transport.test.ts | 231 + .../src/robot/ExternalControlClient.ts | 262 + .../src/robot/ExternalControlPanel.tsx | 171 + web_platform/src/robot/RobotRuntime.test.ts | 118 + web_platform/src/robot/RobotRuntime.ts | 191 + .../src/robot/profiles/lekiwi.test.ts | 13 + web_platform/src/robot/profiles/lekiwi.ts | 74 + web_platform/src/robot/registry.ts | 25 + web_platform/src/robot/types.ts | 76 + web_platform/src/robot/validation.test.ts | 106 + web_platform/src/robot/validation.ts | 167 + .../src/simulation/ActuatorControl.tsx | 15 +- .../src/simulation/ControlArbiter.test.ts | 80 + web_platform/src/simulation/ControlArbiter.ts | 19 + .../src/simulation/ModelBindings.test.ts | 61 + web_platform/src/simulation/ModelBindings.ts | 97 + .../src/simulation/MuJoCoRobotAdapter.ts | 202 + web_platform/src/simulation/PhysicsAdapter.ts | 109 +- .../src/simulation/RobotInspector.tsx | 29 +- .../src/simulation/SimulationSession.ts | 410 +- .../src/simulation/meshDistance.test.ts | 55 + .../src/viewer/MuJoCoViewer.collision.test.ts | 30 + web_platform/src/viewer/MuJoCoViewer.ts | 31 + web_platform/vite.config.ts | 3 + 103 files changed, 23055 insertions(+), 280 deletions(-) create mode 100644 .github/workflows/lekiwi-compat.yml create mode 100644 contracts/fixtures/lekiwi-kinematics.json create mode 100644 contracts/fixtures/single-joint.json create mode 100644 contracts/robot-v1.schema.json create mode 100644 control_bridge/LICENSE create mode 100644 control_bridge/README.md create mode 100644 control_bridge/pyproject.toml create mode 100644 control_bridge/src/mujoco_control_bridge/__init__.py create mode 100644 control_bridge/src/mujoco_control_bridge/__main__.py create mode 100644 control_bridge/src/mujoco_control_bridge/client.py create mode 100644 control_bridge/src/mujoco_control_bridge/protocol.py create mode 100644 control_bridge/src/mujoco_control_bridge/server.py create mode 100644 control_bridge/tests/test_protocol.py create mode 100644 control_bridge/tests/test_server.py create mode 100644 docs/robot-interface.md create mode 100644 examples/lekiwi/README.md create mode 100644 examples/lekiwi/demo_control.py create mode 100644 examples/lekiwi/generate_arm_collisions.py create mode 100644 examples/lekiwi/generate_full_collisions.py create mode 100644 examples/lekiwi/generate_gripper_collisions.py create mode 100644 examples/lekiwi/prepare_assets.py create mode 100644 examples/lekiwi/requirements-collision.txt create mode 100644 examples/lekiwi/setup_lerobot.py create mode 100644 examples/lekiwi/teleoperate_sim.py create mode 100644 examples/lekiwi/tests/test_collision_cooking.py create mode 100644 integrations/lerobot/LICENSE create mode 100644 integrations/lerobot/NOTICE.md create mode 100644 integrations/lerobot/README.md create mode 100644 integrations/lerobot/pyproject.toml create mode 100644 integrations/lerobot/requirements-cpu.txt create mode 100644 integrations/lerobot/src/lerobot_robot_mujoco/__init__.py create mode 100644 integrations/lerobot/src/lerobot_robot_mujoco/config_lekiwi_sim.py create mode 120000 integrations/lerobot/src/lerobot_robot_mujoco/lekiwi-v1.json create mode 100644 integrations/lerobot/src/lerobot_robot_mujoco/lekiwi_sim.py create mode 100644 integrations/lerobot/tests/test_keyboard_teleop.py create mode 100644 integrations/lerobot/tests/test_plugin.py create mode 100644 integrations/lerobot/tests/test_upstream_kinematics.py create mode 100644 robot_profiles/LeKiwi.LICENSE.txt create mode 100644 robot_profiles/NOTICE.md create mode 100644 robot_profiles/lekiwi-arm-collision.json create mode 100644 robot_profiles/lekiwi-collision-source.json create mode 100644 robot_profiles/lekiwi-full-collision.json create mode 100644 robot_profiles/lekiwi-gripper-collision.json create mode 100644 robot_profiles/lekiwi-v1.json create mode 100644 web_platform/e2e/controlBridge.spec.ts create mode 100644 web_platform/e2e/fixtures/controlBridge.ts create mode 100644 web_platform/e2e/lekiwi.armCollision.spec.ts create mode 100644 web_platform/e2e/lekiwi.bridge.spec.ts create mode 100644 web_platform/e2e/lekiwi.fullCollision.spec.ts create mode 100644 web_platform/e2e/lekiwi.gripper.spec.ts create mode 100644 web_platform/e2e/lekiwi.lerobot.spec.ts create mode 100644 web_platform/e2e/lekiwi.physics.spec.ts create mode 100644 web_platform/e2e/lekiwi.workspace.spec.ts create mode 100644 web_platform/physics/meshDistance.ts create mode 100644 web_platform/physics/runner.html create mode 100644 web_platform/physics/runner.ts create mode 100644 web_platform/playwright.lekiwi.config.ts create mode 100644 web_platform/src/app/hooks/useExternalControl.ts create mode 100644 web_platform/src/project/robotProfiles/index.ts create mode 100644 web_platform/src/project/robotProfiles/lekiwi.gripper.test.ts create mode 100644 web_platform/src/project/robotProfiles/lekiwi.test.ts create mode 100644 web_platform/src/project/robotProfiles/lekiwi.ts create mode 100644 web_platform/src/robot/ExternalControlClient.test.ts create mode 100644 web_platform/src/robot/ExternalControlClient.transport.test.ts create mode 100644 web_platform/src/robot/ExternalControlClient.ts create mode 100644 web_platform/src/robot/ExternalControlPanel.tsx create mode 100644 web_platform/src/robot/RobotRuntime.test.ts create mode 100644 web_platform/src/robot/RobotRuntime.ts create mode 100644 web_platform/src/robot/profiles/lekiwi.test.ts create mode 100644 web_platform/src/robot/profiles/lekiwi.ts create mode 100644 web_platform/src/robot/registry.ts create mode 100644 web_platform/src/robot/types.ts create mode 100644 web_platform/src/robot/validation.test.ts create mode 100644 web_platform/src/robot/validation.ts create mode 100644 web_platform/src/simulation/ControlArbiter.test.ts create mode 100644 web_platform/src/simulation/ControlArbiter.ts create mode 100644 web_platform/src/simulation/ModelBindings.test.ts create mode 100644 web_platform/src/simulation/ModelBindings.ts create mode 100644 web_platform/src/simulation/MuJoCoRobotAdapter.ts create mode 100644 web_platform/src/simulation/meshDistance.test.ts create mode 100644 web_platform/src/viewer/MuJoCoViewer.collision.test.ts diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index e4d46194..255648a4 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -40,4 +40,15 @@ jobs: - run: npm ci - run: npx playwright install --with-deps chromium - run: npm run build + - uses: actions/setup-python@v6 + with: + python-version: '3.12' + - run: python -m pip install -e ./control_bridge - run: npm run test:e2e + env: + BRIDGE_PYTHON: python3 + - uses: actions/upload-artifact@v6 + if: failure() + with: + name: ordinary-e2e-evidence + path: test-results/ diff --git a/.github/workflows/lekiwi-compat.yml b/.github/workflows/lekiwi-compat.yml new file mode 100644 index 00000000..bbfe2450 --- /dev/null +++ b/.github/workflows/lekiwi-compat.yml @@ -0,0 +1,87 @@ +name: lekiwi-compatibility + +on: + workflow_dispatch: + push: + paths: + - 'contracts/**' + - 'control_bridge/**' + - 'integrations/lerobot/**' + - 'examples/lekiwi/**' + - 'robot_profiles/**' + - 'web_platform/**' + - 'package*.json' + - '.github/workflows/lekiwi-compat.yml' + pull_request: + paths: + - 'contracts/**' + - 'control_bridge/**' + - 'integrations/lerobot/**' + - 'examples/lekiwi/**' + - 'robot_profiles/**' + - 'web_platform/**' + - 'package*.json' + - '.github/workflows/lekiwi-compat.yml' + +permissions: + contents: read + +jobs: + cpu-compatibility: + runs-on: ubuntu-24.04 + timeout-minutes: 25 + steps: + - uses: actions/checkout@v6 + - uses: actions/setup-node@v6 + with: + node-version-file: .nvmrc + cache: npm + - uses: actions/setup-python@v6 + with: + python-version: '3.12' + cache: pip + cache-dependency-path: | + integrations/lerobot/requirements-cpu.txt + examples/lekiwi/requirements-collision.txt + - run: npm install --global npm@11.17.0 + - run: npm ci + - run: npx playwright install --with-deps chromium + - run: python -m pip install -e control_bridge + - uses: actions/cache@v5 + with: + path: build/lekiwi + key: lekiwi-efa608d7-${{ hashFiles('robot_profiles/lekiwi-v1.json', 'examples/lekiwi/prepare_assets.py') }} + - name: Prepare pinned upstream assets (never skipped) + run: | + if [ -f build/lekiwi/URDF/LeKiwi.urdf ]; then + python examples/lekiwi/prepare_assets.py --source build/lekiwi --output build/lekiwi-verified + cp build/lekiwi-verified/lekiwi-v1.zip build/lekiwi/lekiwi-v1.zip + else + python examples/lekiwi/prepare_assets.py --download + fi + - name: Rebuild and verify collision recipe in its own environment + run: | + python -m venv build/venvs/collision + build/venvs/collision/bin/python -m pip install -r examples/lekiwi/requirements-collision.txt + build/venvs/collision/bin/python -m unittest discover -s examples/lekiwi/tests -v + build/venvs/collision/bin/python examples/lekiwi/generate_full_collisions.py --check + env: + PYTHONPATH: '' + PYTHONNOUSERSITE: '1' + - run: python examples/lekiwi/setup_lerobot.py + - run: build/venvs/lerobot/bin/python -m unittest discover -s integrations/lerobot/tests -v + env: + PYTHONPATH: '' + PYTHONNOUSERSITE: '1' + - run: npm run test:e2e:lekiwi + env: + BRIDGE_PYTHON: python3 + LEROBOT_PYTHON: build/venvs/lerobot/bin/python + - uses: actions/upload-artifact@v6 + if: always() + with: + name: lekiwi-compatibility-evidence + path: | + build/e2e/lekiwi/ + build/lerobot-environment.json + build/lekiwi/source-manifest.json diff --git a/CHANGELOG.md b/CHANGELOG.md index 81ace38e..725a9757 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -4,6 +4,27 @@ ## [未发布] +## [0.10.1] - 2026-09-20 + +### 初步集成 LeKiwi，优化碰撞模型 + +- LeKiwi 碰撞配方升级到 revision 4：新增隔离环境的离线 CoACD 全臂“从视觉生成碰撞体”管线，校验固定 URDF/STL 来源、版本/参数缓存和配方指纹；18 个视觉网格（含焊接附件）的 538 个分解凸包经配合区分割得到 1,220 个零附加质量碰撞体，替代旧胶囊和 revision 2/3 手工分段。旧 MJCF 必须从原始 URDF 重新转换，参考仓库及训练/LeRobot 环境不改。 +- 移除整对相邻连杆排除，以关节局部装配几何分割、有限配合例外和保守整周包络筛选启用 5,581 对结构接触；修复 Mirror/Square 穿入，避免跨轴承区域凸包误锁肩旋。采用 1 ms 物理步长，保持协议、关节范围、单写入者与 500 ms 看门狗；新增 108 次原 CAD 覆盖探针、六关节双向扫掠、实际接触/反向脱离和性能回归。完整几何有额外开销，不承诺任意穿透初态、高速运动或硬实时；已知引擎诊断限制见碰撞数据说明。 +- 机器人 profile 的关节角改为只读，底层拒绝直接 qpos 位姿写入、单独重置关节及忽略限位，禁用关节拖动入口，避免网页姿态编辑绕过物理；手动执行器目标及统一外控仍通过物理积分运动，普通模型的姿态编辑不变。夹爪间隙验收增加独立三角面距离 oracle，不依赖异常零距离查询或放宽断言。 + +- 修正夹爪开度方向与闭合限位，补齐指尖/指面接触并支持碰撞几何显示；保留早期 revision 2/3 手工分段的历史重建工具，当前运行时统一使用 revision 4，旧 MJCF 必须从原始 URDF 重新转换。 + +- LeKiwi 终端遥操作新增五个臂关节与夹爪正反点动、可配置速度和空格停止点动；同一30Hz循环合成底盘/臂动作，从实测初始姿态与限幅确认目标累加，保留超时撤权；补充按键表、leader接入边界、单测和真实PTY/浏览器物理回归。 + +- 修复 LeKiwi/通用桥接将暂停超过500ms误报为观测过期：优先提示播放并重新授权，底层禁止暂停时授权且不切换控制权；保留运行中的500ms安全看门狗，补充回归与键盘演示排障说明。 + +- 新增通用机器人 V1 契约、共享 TS/Python fixtures、模型地址绑定与单写入者仲裁；保留现有 Python、Go2 ONNX 和训练接口。 +- 新增显式 LeKiwi v1：可重建固定来源资产、简化被动滚子/碰撞与九路伺服，真实 WASM 验证全向运动、臂/夹爪和障碍阻挡；不是实机标定。 +- 新增独立回环控制桥、通用同步 Python SDK 和实际 LeRobot 0.6.1 插件；CPU 依赖隔离在 build/venvs/lerobot，不改训练环境或上游源码。 +- 控制台集成 profile 校验、连接/token、明确授权、状态/新鲜度与安全停止；控制凭据仅在页面内存。覆盖 lease/epoch、确认目标与实测状态区分、重载/回滚、过期消息、隐藏/冻结和旧控制回调隔离。 +- 外控使用独立固定步长调度，软件渲染时关闭阴影并限制3D绘制为5FPS，为30Hz通信保留主线程时间；非硬实时、非锁步。修复跨 reset 的观测序号判断及冻结后迟到动作续租问题。 +- 增加普通桥接 CI 与独立固定 CPU LeKiwi 兼容任务、完整工作台60秒真实控制证据、部署/安全/能力矩阵和许可证记录；相机、LeRobot 数据集和实际 RL 训练仍不支持。 + ## [0.9.5] - 2026-09-09 - 修复外力拖动箭头起点停留在初始位置：保存拾取点的 body 局部坐标，每帧随部件平移和旋转更新，即使鼠标静止也持续跟随；保持现有外力方向/大小控制，补充位姿跟随与释放清理测试。 diff --git a/README.md b/README.md index 8a30dc64..08542efa 100644 --- a/README.md +++ b/README.md @@ -13,6 +13,7 @@ - 统一地图资产库：工程地图、认证资产、内置地图及 9 类系统参数化地形共用点击/拖放、场景树、轻量预览、实例变换、放弃和一次编译事务 - 工程地图包：静态 MJCF/OBJ/STL/高度场碰撞层、GLB 视觉层和机器人出生点；同源实例拥有独立位姿，物理/视觉/出生点同步变换 - V3 地图创作层：认证资产可在程序地形上自动重力落位，共用右侧属性和视口操纵器，支持源内容编辑、空白取消选择及导出地图 ZIP +- 通用机器人数值接口、本机控制桥接与 LeKiwi / LeRobot 0.6.1 仿真插件（不接实体硬件） - 浏览器内 Python 控制器（Pyodide） - ONNX 强化学习策略推理（ONNX Runtime Web） - 内置 Go2 PPO 任务的本机 mjlab 训练桥接服务，以及 DeepSeek 驱动的奖励函数自调参、固定评估和 TensorBoard 风格独立工作台 @@ -20,7 +21,7 @@ ## 快速开始 -环境要求：Node.js 24（版本见 `.nvmrc`）和 npm 11.17；仅使用训练桥接服务或执行 Python 检查时需要 Python 3.12。 +环境要求：Node.js 24（版本见 `.nvmrc`）和 npm 11.17；仅使用本机桥接服务或执行 Python 检查时需要 Python 3.12。 ```bash nvm use @@ -43,10 +44,12 @@ npm run check:format # Prettier 格式检查 npm test # Vitest 单元测试 npm run test:coverage # 核心模块覆盖率检查 npm run test:e2e # Playwright Chromium 浏览器测试 +npm run test:control-bridge # 轻量机器人桥接测试，不依赖 LeRobot +npm run control-bridge # 本机数值桥，默认 8766 npm run test:training-server # Python 训练桥接服务测试 npm run check # 除 E2E 和 Ruff 外的完整检查 -# 修改 training_server/ 时额外执行 +# Python 服务/插件/示例检查（使用项目 .venv） python3 -m pip install -r requirements-dev.txt npm run lint:python ``` @@ -58,6 +61,11 @@ npm run lint:python ├── web_platform/ React、TypeScript、Three.js 前端与测试夹具 ├── training_server/ 本机训练桥接服务及内置 Go2 PPO 训练代码/资产 ├── controllers/ 可导入平台的 Python 控制器示例 +├── contracts/ 跨语言机器人协议与 fixtures +├── robot_profiles/ 唯一模型参数/单位/来源清单 +├── control_bridge/ 独立本机数值控制桥与通用 Python SDK +├── integrations/ 可选上游集成（LeRobot） +├── examples/lekiwi/ 资产准备、隔离环境安装及无硬件演示 ├── package.json 根目录统一开发入口 └── LICENSE Apache License 2.0 ``` @@ -70,6 +78,7 @@ npm run lint:python - `web_platform/src/simulation/`：MuJoCo WASM 会话、仿真调度及执行器控制 UI - `web_platform/src/viewer/`：Three.js 渲染、选择和物理交互 - `web_platform/src/map/`：地图加载、创作、校验及对应 UI +- `web_platform/src/robot/`：机器人契约、profile、实时运行时及外部控制客户端/面板 - `web_platform/src/controller/`：Pyodide 控制器运行时及控制面板 - `web_platform/src/rl/`：ONNX 策略运行时、任务绑定及策略面板 - `web_platform/src/training/`：本地训练服务客户端、类型及训练面板 @@ -80,10 +89,18 @@ npm run lint:python 详细使用说明见 [`web_platform/README.md`](web_platform/README.md)，前端依赖边界见 [`web_platform/ARCHITECTURE.md`](web_platform/ARCHITECTURE.md)，训练服务说明见 [`training_server/README.md`](training_server/README.md)。 +## LeKiwi / LeRobot + +按 [LeKiwi 示例](examples/lekiwi/README.md) 重建固定版本模型、安装 `build/venvs/lerobot/` CPU 环境，再从工作台文件导入、选择 profile、连接本机桥并明确授权。已有训练 `.venv` 不安装 LeRobot，也不修改上游代码。支持底盘、臂、夹爪与实测状态；没有相机、dataset、锁步或实际 RL 训练。 + +[通用接口/能力矩阵](docs/robot-interface.md) · [桥接协议与安全](control_bridge/README.md) · [LeRobot 插件](integrations/lerobot/README.md)。普通 CI 不安装重型上游依赖；`npm run test:e2e:lekiwi` 是独立的真实物理/60 秒兼容验收。 + ## 数据与安全边界 模型、资源、Python 控制器和 ONNX 策略默认只在当前浏览器会话中处理，不上传到服务器。训练桥接服务只监听本机回环地址，并仅执行服务端允许列表中的任务。启用自调参时，DeepSeek 只接收脱敏后的奖励参数、曲线摘要和评估数值；API key 仅存在训练服务环境中，不进入浏览器、URL、SQLite 或训练日志。 +机器人控制桥与训练桥是两个服务（分别 8766 / 8765），不共享令牌或训练执行能力。控制令牌只保存在页面内存；外控超时、隐藏、暂停、重载均撤销授权，必须手动重新允许。 + ## 上游与许可证 本项目使用 Google DeepMind 的 MuJoCo WebAssembly npm 包，并保留 Apache License 2.0 许可证。MuJoCo 是 Google DeepMind 的开源项目；本仓库不是 Google 官方支持的产品。 diff --git a/contracts/fixtures/lekiwi-kinematics.json b/contracts/fixtures/lekiwi-kinematics.json new file mode 100644 index 00000000..e9d55be4 --- /dev/null +++ b/contracts/fixtures/lekiwi-kinematics.json @@ -0,0 +1,14 @@ +{ + "upstream": "lerobot 0.6.1", + "wheelOrder": ["base_left_wheel", "base_back_wheel", "base_right_wheel"], + "cases": [ + { "body": [0.1, 0, 0], "wheelRaw": [-1129, 0, 1129] }, + { "body": [-0.1, 0, 0], "wheelRaw": [1129, 0, -1129] }, + { "body": [0, 0.1, 0], "wheelRaw": [652, -1304, 652] }, + { "body": [0, -0.1, 0], "wheelRaw": [-652, 1304, -652] }, + { "body": [0, 0, 30], "wheelRaw": [853, 853, 853] }, + { "body": [0, 0, -30], "wheelRaw": [-853, -853, -853] }, + { "body": [0.2, 0.2, 60], "wheelRaw": [428, -513, 3000] }, + { "body": [-0.2, 0.2, -60], "wheelRaw": [1290, -3000, -1850] } + ] +} diff --git a/contracts/fixtures/single-joint.json b/contracts/fixtures/single-joint.json new file mode 100644 index 00000000..f8f023f1 --- /dev/null +++ b/contracts/fixtures/single-joint.json @@ -0,0 +1,62 @@ +{ + "descriptor": { + "protocolVersion": 1, + "profileId": "test-slider", + "profileVersion": 1, + "modelFingerprint": "aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa", + "frame": "x-forward-y-left-z-up", + "actionChannels": [ + { "id": "slider.position", "unit": "m", "mode": "position", "min": -1, "max": 1 } + ], + "observationChannels": [ + { "id": "slider.position", "unit": "m", "mode": "position", "min": -1, "max": 1 } + ], + "capabilities": { "reset": true, "lockstep": false, "cameras": false, "training": false } + }, + "identity": { "sessionId": "sim-test", "modelEpoch": 2, "leaseId": "lease-test" }, + "validAction": { + "protocolVersion": 1, + "sessionId": "sim-test", + "modelEpoch": 2, + "leaseId": "lease-test", + "actionSeq": 1, + "values": { "slider.position": 0.3 } + }, + "observation": { + "protocolVersion": 1, + "sessionId": "sim-test", + "modelEpoch": 2, + "sequence": 5, + "simTime": 0.1, + "appliedActionSeq": 1, + "paused": false, + "values": { "slider.position": 0.12 } + }, + "invalidActions": [ + { "label": "old epoch", "patch": { "modelEpoch": 1 }, "code": "STALE" }, + { "label": "other lease", "patch": { "leaseId": "other" }, "code": "STALE" }, + { "label": "replayed sequence", "patch": { "actionSeq": 0 }, "code": "INVALID_MESSAGE" }, + { "label": "wrong version", "patch": { "protocolVersion": 2 }, "code": "UNSUPPORTED" }, + { "label": "missing channel", "patch": { "values": {} }, "code": "INVALID_MESSAGE" }, + { + "label": "extra channel", + "patch": { "values": { "slider.position": 0, "unknown": 1 } }, + "code": "INVALID_MESSAGE" + }, + { + "label": "string number", + "patch": { "values": { "slider.position": "0.1" } }, + "code": "INVALID_MESSAGE" + }, + { + "label": "boolean", + "patch": { "values": { "slider.position": true } }, + "code": "INVALID_MESSAGE" + }, + { + "label": "unknown envelope field", + "patch": { "script": "print('no')" }, + "code": "INVALID_MESSAGE" + } + ] +} diff --git a/contracts/robot-v1.schema.json b/contracts/robot-v1.schema.json new file mode 100644 index 00000000..af2e3335 --- /dev/null +++ b/contracts/robot-v1.schema.json @@ -0,0 +1,110 @@ +{ + "$schema": "https://json-schema.org/draft/2020-12/schema", + "$id": "urn:mujoco-web:robot:v1", + "description": "V1 numeric robot payloads. Descriptor semantics and action epoch/lease/sequence are additionally validated at runtime. JSON numbers must be finite. No camera, lockstep or training support.", + "oneOf": [ + { "$ref": "#/$defs/descriptor" }, + { "$ref": "#/$defs/action" }, + { "$ref": "#/$defs/observation" } + ], + "$defs": { + "id": { "type": "string", "pattern": "^[a-zA-Z0-9][a-zA-Z0-9_.:-]{0,127}$" }, + "counter": { "type": "integer", "minimum": 0, "maximum": 9007199254740991 }, + "values": { + "type": "object", + "minProperties": 1, + "maxProperties": 256, + "propertyNames": { "$ref": "#/$defs/id" }, + "additionalProperties": { "type": "number" } + }, + "channel": { + "type": "object", + "additionalProperties": false, + "required": ["id", "unit", "mode", "min", "max"], + "properties": { + "id": { "$ref": "#/$defs/id" }, + "unit": { "enum": ["rad", "rad/s", "m", "m/s", "ratio", "N", "N.m"] }, + "mode": { "enum": ["position", "velocity", "effort", "opening"] }, + "min": { "type": "number" }, + "max": { "type": "number" } + } + }, + "channels": { + "type": "array", + "minItems": 1, + "maxItems": 256, + "items": { "$ref": "#/$defs/channel" } + }, + "descriptor": { + "type": "object", + "additionalProperties": false, + "required": [ + "protocolVersion", + "profileId", + "profileVersion", + "modelFingerprint", + "frame", + "actionChannels", + "observationChannels", + "capabilities" + ], + "properties": { + "protocolVersion": { "const": 1 }, + "profileId": { "$ref": "#/$defs/id" }, + "profileVersion": { "type": "integer", "minimum": 1, "maximum": 9007199254740991 }, + "modelFingerprint": { "type": "string", "pattern": "^[a-f0-9]{64}$" }, + "frame": { "const": "x-forward-y-left-z-up" }, + "actionChannels": { "$ref": "#/$defs/channels" }, + "observationChannels": { "$ref": "#/$defs/channels" }, + "capabilities": { + "type": "object", + "additionalProperties": false, + "required": ["reset", "lockstep", "cameras", "training"], + "properties": { + "reset": { "type": "boolean" }, + "lockstep": { "const": false }, + "cameras": { "const": false }, + "training": { "const": false } + } + } + } + }, + "action": { + "type": "object", + "additionalProperties": false, + "required": ["protocolVersion", "sessionId", "modelEpoch", "leaseId", "actionSeq", "values"], + "properties": { + "protocolVersion": { "const": 1 }, + "sessionId": { "$ref": "#/$defs/id" }, + "modelEpoch": { "$ref": "#/$defs/counter" }, + "leaseId": { "$ref": "#/$defs/id" }, + "actionSeq": { "type": "integer", "minimum": 1, "maximum": 9007199254740991 }, + "values": { "$ref": "#/$defs/values" } + } + }, + "observation": { + "type": "object", + "additionalProperties": false, + "required": [ + "protocolVersion", + "sessionId", + "modelEpoch", + "sequence", + "simTime", + "appliedActionSeq", + "paused", + "values" + ], + "properties": { + "protocolVersion": { "const": 1 }, + "sessionId": { "$ref": "#/$defs/id" }, + "modelEpoch": { "$ref": "#/$defs/counter" }, + "sequence": { "$ref": "#/$defs/counter" }, + "simTime": { "type": "number", "minimum": 0 }, + "appliedActionSeq": { "$ref": "#/$defs/counter" }, + "paused": { "type": "boolean" }, + "values": { "$ref": "#/$defs/values" } + } + } + } +} diff --git a/control_bridge/LICENSE b/control_bridge/LICENSE new file mode 100644 index 00000000..d6456956 --- /dev/null +++ b/control_bridge/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/control_bridge/README.md b/control_bridge/README.md new file mode 100644 index 00000000..5c0acd11 --- /dev/null +++ b/control_bridge/README.md @@ -0,0 +1,64 @@ +# 本机机器人控制桥接 + +独立于 `training_server` 的实时数值接口。默认监听 `127.0.0.1:8766`；不导入 LeRobot、PyTorch 或训练任务，不执行代码、Shell 或服务器文件路径。 + +## 启动 + +从仓库根目录执行（Python 3.12）： + +```bash +source .venv/bin/activate +python -m pip install -e ./control_bridge +python -m mujoco_control_bridge +# 或 npm run control-bridge +``` + +未设置 `MUJOCO_CONTROL_TOKEN` 时，服务生成至少 256 bit 随机 token，只在启动终端显示一次。也可通过该环境变量提供自己的 token（16–4096 个可打印 ASCII 字符，不含空白）。`--port 0` 自动分配端口，仅测试需要；不能配置非回环监听地址。 + +1. 在本机 HTTP 工作台加载受支持的机器人，显式选择 profile 并通过编译校验。 +2. 在“控制台 → 开源项目 / 外部控制”填写地址和 token，连接桥接。 +3. 播放，然后点击“允许外部控制”。接管会停止 Python/ONNX、锁定 1×并禁止冲突写入。 +4. 在另一终端给 SDK 设置相同 token（不要把 token 放进 URL、源码或命令历史）： + +```bash +read -rsp '控制 token: ' MUJOCO_CONTROL_TOKEN; echo +export MUJOCO_CONTROL_TOKEN +export MUJOCO_CONTROL_ENDPOINT=http://127.0.0.1:8766 +``` + +## 通用 Python SDK + +客户端路径仅使用 Python 标准库；HTTP 不使用环境代理，也不跟随重定向。接口不依赖 LeKiwi 的通道名称或数量。 + +```python +import os +import time +from mujoco_control_bridge import SimRobotClient + +with SimRobotClient(os.environ["MUJOCO_CONTROL_ENDPOINT"]) as robot: + descriptor = robot.describe() + values = { + channel["id"]: min(channel["max"], max(channel["min"], 0.0)) + for channel in descriptor["actionChannels"] + } + start = time.monotonic() + for i in range(90): + measured = robot.get_observation() # 实际状态，不是目标回显 + accepted = robot.send_action(values) # 物理步后确认，包含已接受的限幅目标 + time.sleep(max(0, start + (i + 1) / 30 - time.monotonic())) +``` + +通用 SDK 要求提交完整通道集合；部分动作的保持/默认语义由具体插件处理。`robot.reset()` 返回新 `modelEpoch` 的暂停观测，并清除租约；必须在浏览器重新播放、授权，再连接。`is_connected` 不是永久健康承诺：距成功动作超过 500 ms 会在本地失效。 + +## 边界与故障处理 + +- HTTP Bearer token；WS 首帧认证。校验本机 Host/Origin，拒绝查询字符串 token、远程页面和未经认证的预检/连接。 +- 一个浏览器后端、一个 Python 写入者；读取状态不取得写权限。不能自动抢占已有控制者。 +- 64 KiB 帧/请求、每租约至多 100 动作/秒、8 个在途 RPC、一个最新待应用动作；旧目标被替换时返回 `SUPERSEDED`，不会堆积无限队列。 +- 浏览器注册/认证有绝对超时；1 秒 RPC 确认期限、500 ms 动作/观测新鲜度边界。同序号心跳不刷新观测年龄。 +- 暂停、断连、进程崩溃、重载、页面隐藏、冻结超时均撤销授权。轮目标归零、臂/夹爪保持实测姿态，并暂停外控仿真；**不是把所有位置伺服置零**。 +- 回到页面或重新连接不会恢复旧命令。先检查错误、恢复关节限位，再播放/授权。 +- 无 HTTPS/WSS、跨机器访问、锁步、图像流、LeRobot 数据集或训练 API。不要使用端口转发或反向代理扩大此 V1 的信任边界。 +- 浏览器控制 token 仅在页面内存；不写入 `localStorage`/`sessionStorage`、工程导出或应用日志。拥有 token 的本机进程仍被视为可信控制者。 + +测试：`python -m unittest discover -s control_bridge/tests -v`。完整消息结构、错误码和扩展点见 [机器人接口](../docs/robot-interface.md)；LeRobot 用法见 [LeKiwi 示例](../examples/lekiwi/README.md)。 diff --git a/control_bridge/pyproject.toml b/control_bridge/pyproject.toml new file mode 100644 index 00000000..7d267dad --- /dev/null +++ b/control_bridge/pyproject.toml @@ -0,0 +1,18 @@ +[build-system] +requires = ["setuptools>=77,<82"] +build-backend = "setuptools.build_meta" + +[project] +name = "mujoco-control-bridge" +version = "0.1.0" +description = "Loopback-only numeric robot control bridge for MuJoCo Web" +requires-python = ">=3.12" +license = "Apache-2.0" +license-files = ["LICENSE"] +dependencies = ["aiohttp>=3.12,<4"] + +[project.scripts] +mujoco-control-bridge = "mujoco_control_bridge.__main__:main" + +[tool.setuptools.packages.find] +where = ["src"] diff --git a/control_bridge/src/mujoco_control_bridge/__init__.py b/control_bridge/src/mujoco_control_bridge/__init__.py new file mode 100644 index 00000000..a097a689 --- /dev/null +++ b/control_bridge/src/mujoco_control_bridge/__init__.py @@ -0,0 +1,4 @@ +from .client import SimRobotClient +from .protocol import RobotError + +__all__ = ["RobotError", "SimRobotClient"] diff --git a/control_bridge/src/mujoco_control_bridge/__main__.py b/control_bridge/src/mujoco_control_bridge/__main__.py new file mode 100644 index 00000000..a57f6d62 --- /dev/null +++ b/control_bridge/src/mujoco_control_bridge/__main__.py @@ -0,0 +1,48 @@ +"""Run an independent bridge on loopback only; token never goes in URLs.""" + +import argparse +import asyncio +import json +import os +import secrets +import signal + +from aiohttp import web + +from .server import create_app + + +async def serve(port, token): + runner = web.AppRunner(create_app(token), access_log=None, shutdown_timeout=2) + await runner.setup() + try: + await web.TCPSite(runner, "127.0.0.1", port).start() + address = runner.addresses[0] + print( + "CONTROL_BRIDGE_READY " + json.dumps({"endpoint": f"http://127.0.0.1:{address[1]}"}), + flush=True, + ) + stopped = asyncio.Event() + loop = asyncio.get_running_loop() + for signum in (signal.SIGINT, signal.SIGTERM): + loop.add_signal_handler(signum, stopped.set) + await stopped.wait() + finally: + await runner.cleanup() + + +def main(): + parser = argparse.ArgumentParser(description="MuJoCo 本机数值控制桥接（不是训练服务）") + parser.add_argument("--port", type=int, default=8766) + args = parser.parse_args() + if not 0 <= args.port <= 65535: + parser.error("端口必须为 0–65535") + token = os.environ.get("MUJOCO_CONTROL_TOKEN") + if not token: + token = secrets.token_urlsafe(32) + print(f"本次控制 token（仅显示一次；复制到浏览器/Python）：{token}", flush=True) + asyncio.run(serve(args.port, token)) + + +if __name__ == "__main__": + main() diff --git a/control_bridge/src/mujoco_control_bridge/client.py b/control_bridge/src/mujoco_control_bridge/client.py new file mode 100644 index 00000000..ea9d083d --- /dev/null +++ b/control_bridge/src/mujoco_control_bridge/client.py @@ -0,0 +1,160 @@ +"""Synchronous, generic robot SDK; stdlib only on the client path.""" + +import contextlib +import json +import os +import time +from urllib.error import HTTPError, URLError +from urllib.parse import urlparse +from urllib.request import HTTPRedirectHandler, ProxyHandler, Request, build_opener + +from . import protocol as p +from .protocol import RobotError + + +class NoRedirect(HTTPRedirectHandler): + def redirect_request(self, req, fp, code, msg, headers, newurl): + return None # Never forward the bearer token to a redirected endpoint. + + +class SimRobotClient: + def __init__(self, endpoint="http://127.0.0.1:8766", token=None, timeout=2.0): + parsed = urlparse(endpoint) + if ( + parsed.scheme != "http" + or parsed.hostname not in {"127.0.0.1", "localhost"} + or parsed.username + or parsed.password + or parsed.query + or parsed.fragment + or parsed.path not in {"", "/"} + ): + raise ValueError("V1 仅支持本机 http://127.0.0.1:port 或 localhost") + self.endpoint = endpoint.rstrip("/") + self.token = token or os.environ.get("MUJOCO_CONTROL_TOKEN", "") + if not self.token: + raise ValueError("需要 token 或 MUJOCO_CONTROL_TOKEN") + if ( + not isinstance(self.token, str) + or not 16 <= len(self.token) <= 4096 + or not all(33 <= ord(c) <= 126 for c in self.token) + ): + raise ValueError("控制 token 必须为16–4096字符的可打印 ASCII，且不含空白") + self.timeout = timeout + self._opener = build_opener(ProxyHandler({}), NoRedirect()) + self._descriptor = None + self._identity = None + self._action_seq = 0 + self._last_action_at = 0.0 + + def _request(self, method, path, payload=None, lease=None): + headers = {"Authorization": f"Bearer {self.token}"} + if lease: + headers["X-Control-Lease"] = lease["leaseId"] + raw = None + if payload is not None: + raw = json.dumps(payload, allow_nan=False).encode() + if len(raw) > 65536: + raise RobotError("INVALID_MESSAGE", "消息超过64KiB") + headers["Content-Type"] = "application/json" + request = Request( + f"{self.endpoint}/api/control/v1{path}", data=raw, headers=headers, method=method + ) + try: + with self._opener.open(request, timeout=self.timeout) as response: + data = response.read(65537) + if len(data) > 65536: + raise RobotError("INVALID_MESSAGE", "响应超过64KiB") + return p.loads(data) + except HTTPError as exc: + try: + error = p.loads(exc.read(65537))["error"] + code, message = error["code"], error["message"] + except (RobotError, KeyError, TypeError): + code, message = "DISCONNECTED", f"桥接 HTTP {exc.code}" + raise RobotError(code, message) from None + except (URLError, TimeoutError, ConnectionError, OSError) as exc: + raise RobotError("DISCONNECTED", "无法访问本机控制桥接") from exc + + @property + def is_connected(self): + return self._identity is not None and time.monotonic() - self._last_action_at <= 0.5 + + def describe(self): + self._descriptor = p.descriptor(self._request("GET", "/robot")) + return self._descriptor + + def connect(self): + if self._identity: + raise RobotError("CONFLICT", "客户端已连接；请先 disconnect") + desc = self.describe() + obs = p.observation(self._request("GET", "/observation"), desc) + claim = { + "sessionId": obs["sessionId"], + "modelEpoch": obs["modelEpoch"], + "modelFingerprint": desc["modelFingerprint"], + } + lease = p.record(self._request("POST", "/lease", claim), p.IDENTITY) + p.identity(lease) + p.same_identity(lease, obs, ("sessionId", "modelEpoch")) + self._identity = lease + self._action_seq = 0 + self._last_action_at = time.monotonic() + return desc + + def _connected(self): + if not self.is_connected: + raise RobotError("DISCONNECTED", "没有有效租约；请重新在浏览器授权并连接") + return dict(self._identity) + + def get_observation(self): + identity = self._connected() + obs = p.observation(self._request("GET", "/observation"), self._descriptor) + p.same_identity(obs, identity, ("sessionId", "modelEpoch")) + return obs + + def send_action(self, values): + identity = self._connected() + values = p.values(values, self._descriptor["actionChannels"]) + self._action_seq += 1 + packet = {"protocolVersion": 1, **identity, "actionSeq": self._action_seq, "values": values} + try: + result = p.action_result( + self._request("POST", "/action", packet, lease=identity), self._descriptor + ) + p.same_identity(result, packet, (*p.IDENTITY, "actionSeq")) + self._last_action_at = time.monotonic() + return result + except RobotError: + self.disconnect() + raise + + def reset(self): + identity = self._connected() + try: + observed = p.observation( + self._request("POST", "/reset", {}, lease=identity), self._descriptor + ) + if ( + observed["sessionId"] != identity["sessionId"] + or observed["modelEpoch"] <= identity["modelEpoch"] + or not observed["paused"] + ): + raise RobotError("STALE", "reset 没有返回新代次") + return observed + finally: + self.disconnect() + + def disconnect(self): + identity, self._identity = self._identity, None + if identity: + # The server/browser watchdog remains the final safety barrier. + with contextlib.suppress(RobotError): + self._request("DELETE", "/lease", lease=identity) + + def __enter__(self): + self.connect() + return self + + def __exit__(self, *_): + self.disconnect() diff --git a/control_bridge/src/mujoco_control_bridge/protocol.py b/control_bridge/src/mujoco_control_bridge/protocol.py new file mode 100644 index 00000000..c293d6f8 --- /dev/null +++ b/control_bridge/src/mujoco_control_bridge/protocol.py @@ -0,0 +1,196 @@ +"""Strict, framework-independent v1 wire validation (mirrors TS validation.ts).""" + +import json +import math +import re + +UNITS = {"rad", "rad/s", "m", "m/s", "ratio", "N", "N.m"} +MODES = {"position", "velocity", "effort", "opening"} +IDENTITY = {"sessionId", "modelEpoch", "leaseId"} + + +class RobotError(RuntimeError): + def __init__(self, code, message): + super().__init__(message) + self.code = code + + def as_dict(self): + return {"code": self.code, "message": str(self)} + + +def invalid(message): + raise RobotError("INVALID_MESSAGE", message) + + +def record(value, keys, label="message"): + if not isinstance(value, dict) or set(value) != set(keys): + invalid(f"{label} 字段不完整或包含未知字段") + return value + + +def text(value): + if not isinstance(value, str) or not re.fullmatch(r"[a-zA-Z0-9][a-zA-Z0-9_.:-]{0,127}", value): + invalid("标识符无效") + return value + + +def finite(value): + try: + good = type(value) in (int, float) and math.isfinite(value) + except OverflowError: + good = False + if not good: + invalid("数值必须有限且不能为 bool") + return value + + +def integer(value, minimum=0): + finite(value) + if int(value) != value or not minimum <= value <= 2**53 - 1: + invalid("整数超出安全范围") + return value + + +def version(value): + if type(value) not in (int, float) or value != 1: + raise RobotError("UNSUPPORTED", "只支持协议 v1") + + +def identity(value): + text(value["sessionId"]) + integer(value["modelEpoch"]) + text(value["leaseId"]) + + +def channels(value): + if not isinstance(value, list) or not 0 < len(value) <= 256: + invalid("通道列表无效") + seen = set() + for channel in value: + record(channel, {"id", "unit", "mode", "min", "max"}, "channel") + name = text(channel["id"]) + if name in seen: + invalid("通道名称无效或重复") + seen.add(name) + if str(channel["unit"]) not in UNITS or str(channel["mode"]) not in MODES: + invalid("未知单位或通道模式") + for key in ("min", "max"): + finite(channel[key]) + if channel["min"] >= channel["max"]: + invalid("通道范围无效") + return value + + +def descriptor(value): + record( + value, + { + "protocolVersion", + "profileId", + "profileVersion", + "modelFingerprint", + "frame", + "actionChannels", + "observationChannels", + "capabilities", + }, + "descriptor", + ) + version(value["protocolVersion"]) + if value["frame"] != "x-forward-y-left-z-up": + raise RobotError("UNSUPPORTED", "坐标系不支持") + text(value["profileId"]) + integer(value["profileVersion"], 1) + if not isinstance(value["modelFingerprint"], str) or not re.fullmatch( + r"[a-f0-9]{64}", value["modelFingerprint"] + ): + invalid("需要 SHA-256 模型指纹") + channels(value["actionChannels"]) + channels(value["observationChannels"]) + caps = record( + value["capabilities"], {"reset", "lockstep", "cameras", "training"}, "capabilities" + ) + if any(type(v) is not bool for v in caps.values()) or any( + caps[k] is not False for k in ("lockstep", "cameras", "training") + ): + raise RobotError("UNSUPPORTED", "V1 不支持相机、锁步或训练") + return value + + +def values(value, specs, clamp=False): + record(value, {c["id"] for c in specs}, "values") + result = {} + for channel in specs: + number = finite(value[channel["id"]]) + result[channel["id"]] = ( + max(channel["min"], min(channel["max"], number)) if clamp else number + ) + return result + + +def action(value, desc): + record(value, {"protocolVersion", *IDENTITY, "actionSeq", "values"}, "action") + version(value["protocolVersion"]) + identity(value) + integer(value["actionSeq"], 1) + return {**value, "values": values(value["values"], desc["actionChannels"], True)} + + +def action_result(value, desc): + record(value, {*IDENTITY, "actionSeq", "values", "simTime"}, "action result") + identity(value) + integer(value["actionSeq"], 1) + finite(value["simTime"]) + if value["simTime"] < 0: + invalid("仿真时间必须非负") + values(value["values"], desc["actionChannels"]) + return value + + +def observation(value, desc): + record( + value, + { + "protocolVersion", + "sessionId", + "modelEpoch", + "sequence", + "simTime", + "appliedActionSeq", + "paused", + "values", + }, + "observation", + ) + version(value["protocolVersion"]) + text(value["sessionId"]) + integer(value["modelEpoch"]) + integer(value["sequence"]) + integer(value["appliedActionSeq"]) + finite(value["simTime"]) + if value["simTime"] < 0 or type(value["paused"]) is not bool: + invalid("仿真时钟/暂停标记无效") + values(value["values"], desc["observationChannels"]) + return value + + +def same_identity(actual, expected, keys=IDENTITY): + if any(actual.get(key) != expected.get(key) for key in keys): + raise RobotError("STALE", "会话、模型代次或控制租约已失效") + + +def loads(raw): + def pairs(items): + result = {} + for key, value in items: + if key in result: + invalid("重复 JSON 字段") + result[key] = value + return result + + try: + return json.loads( + raw, parse_constant=lambda _: invalid("禁止 NaN/Infinity"), object_pairs_hook=pairs + ) + except (ValueError, TypeError, RecursionError) as exc: + raise RobotError("INVALID_MESSAGE", "无效 JSON") from exc diff --git a/control_bridge/src/mujoco_control_bridge/server.py b/control_bridge/src/mujoco_control_bridge/server.py new file mode 100644 index 00000000..2e742c4c --- /dev/null +++ b/control_bridge/src/mujoco_control_bridge/server.py @@ -0,0 +1,463 @@ +"""Independent loopback broker. No simulation, training or LeRobot imports.""" + +import asyncio +import contextlib +import hmac +import re +import secrets +import time +from collections import deque + +from aiohttp import WSMsgType, web + +from . import protocol as p +from .protocol import RobotError + +MAX_BYTES = 65536 +PREFIX = "/api/control/v1" +ORIGIN = re.compile(r"http://(?:127\.0\.0\.1|localhost)(?::[0-9]{1,5})?\Z") +HOST = re.compile(r"(?:127\.0\.0\.1|localhost)(?::[0-9]{1,5})?\Z") +BROKER = web.AppKey("broker", object) + + +class Broker: + def __init__(self, token): + if ( + not isinstance(token, str) + or not 16 <= len(token) <= 4096 + or not all(33 <= ord(c) <= 126 for c in token) + ): + raise ValueError("控制 token 必须为16–4096字符的可打印 ASCII，且不含空白") + self.token = token + self.ws = None + self.descriptor = None + self.observation = None + self.observed_at = 0.0 + self.authorization_generation = 0 + self.blocked_generation = -1 + self.authorized = False + self.lease = None + self.last_action_at = 0.0 + self.last_action_seq = 0 + self.rate = deque() + self.pending = {} + + def robot(self): + if self.ws is None or self.ws.closed or self.descriptor is None: + raise RobotError("DISCONNECTED", "浏览器机器人未连接") + return self.descriptor + + def fresh_observation(self): + self.robot() + # Paused samples stop advancing by design; do not hide the required play + # step behind a freshness error merely because the user waited to connect. + if self.observation is not None and self.observation["paused"]: + raise RobotError("PAUSED", "仿真已暂停；请先在浏览器点击“播放”，再点击“允许外部控制”") + if self.observation is None or time.monotonic() - self.observed_at > 0.5: + raise RobotError( + "STALE", + "机器人观测超过 500ms 未更新；请保持仿真页面可见，" + "检查仿真是否卡顿，再播放并重新允许外部控制", + ) + return self.observation + + async def state(self, packet): + p.record(packet, {"type", "observation", "enabled", "authorizationGeneration"}) + if type(packet["enabled"]) is not bool: + p.invalid("授权标记必须为 bool") + generation = p.integer(packet["authorizationGeneration"]) + if generation < self.authorization_generation: + raise RobotError("STALE", "授权代次倒退") + observed = p.observation(packet["observation"], self.robot()) + old = self.observation + if old: + p.same_identity(observed, old, ("sessionId",)) + if observed["modelEpoch"] < old["modelEpoch"] or ( + observed["modelEpoch"] == old["modelEpoch"] + and observed["sequence"] < old["sequence"] + ): + raise RobotError("STALE", "观测代次/序号倒退") + # Sequence may restart only in a new epoch. Same-sample heartbeats aren't fresh. + if ( + old is None + or observed["modelEpoch"] > old["modelEpoch"] + or observed["sequence"] > old["sequence"] + ): + self.observation = observed + self.observed_at = time.monotonic() + if self.lease and generation != self.authorization_generation: + # Cancel the previous owner without consuming the new explicit grant. + await self.revoke("浏览器已重新授权", notify=False) + self.authorization_generation = generation + self.authorized = packet["enabled"] and generation > self.blocked_generation + if self.lease and ( + not self.authorized + or observed["paused"] + or any(observed[k] != self.lease[k] for k in ("sessionId", "modelEpoch")) + ): + await self.revoke("浏览器已撤销控制/重置模型", notify=False) + + async def rpc(self, operation, payload): + self.robot() + if operation == "action": + for key, (future, op) in list(self.pending.items()): + if op == "action": + if not future.done(): + future.set_exception(RobotError("SUPERSEDED", "已由更新的目标替代")) + self.pending.pop(key, None) + if len(self.pending) >= 8: + raise RobotError("CONFLICT", "待确认请求已满") + request_id = secrets.token_hex(16) + future = asyncio.get_running_loop().create_future() + ws, lease, generation = self.ws, self.lease, self.authorization_generation + self.pending[request_id] = (future, operation) + try: + await asyncio.wait_for( + self.ws.send_json( + {"type": "request", "id": request_id, "op": operation, "payload": payload} + ), + 1, + ) + return await asyncio.wait_for(future, 1) + except TimeoutError as exc: + if ( + self.ws is ws + and self.lease == lease + and self.authorization_generation == generation + ): + await self.revoke("动作应用确认超时") + raise RobotError("TIMEOUT", "浏览器未在一秒内确认应用") from exc + finally: + self.pending.pop(request_id, None) + if not future.done(): + future.cancel() + elif not future.cancelled(): + future.exception() # Also consume failures delivered during a blocked send. + + async def revoke(self, reason, notify=True): + self.lease = None + self.authorized = False + self.blocked_generation = self.authorization_generation + for future, _ in self.pending.values(): + if not future.done(): + future.set_exception(RobotError("DISCONNECTED", reason)) + self.pending.clear() + if notify and self.ws is not None and not self.ws.closed and self.observation: + with contextlib.suppress(ConnectionError, TimeoutError): + await asyncio.wait_for( + self.ws.send_json( + { + "type": "stop", + "reason": reason, + "sessionId": self.observation["sessionId"], + "authorizationGeneration": self.authorization_generation, + } + ), + 0.1, + ) + + def require_lease(self, request): + provided = request.headers.get("X-Control-Lease", "") + if ( + not self.lease + or not provided.isascii() + or not hmac.compare_digest(provided.encode(), self.lease["leaseId"].encode()) + ): + raise RobotError("UNAUTHORIZED", "控制租约无效") + return dict(self.lease) + + async def monitor(self): + while True: + await asyncio.sleep(0.05) + if self.lease and ( + time.monotonic() - self.last_action_at > 0.5 + or time.monotonic() - self.observed_at > 0.5 + ): + await self.revoke("动作或观测看门狗超时 (500ms)") + + +@web.middleware +async def security(request, handler): + broker = request.app[BROKER] + try: + if not HOST.fullmatch(request.headers.get("Host", "")): + raise RobotError("UNAUTHORIZED", "Host 不被允许") + origin = request.headers.get("Origin") + if origin is not None and not ORIGIN.fullmatch(origin): + raise RobotError("UNAUTHORIZED", "Origin 不被允许") + if request.query: + raise RobotError("INVALID_MESSAGE", "禁止 URL 查询参数及 URL 中的 token") + if request.path != "/ws/control/v1": + expected = f"Bearer {broker.token}".encode() + provided = request.headers.get("Authorization", "") + if not provided.isascii() or not hmac.compare_digest(provided.encode(), expected): + raise RobotError("UNAUTHORIZED", "需要本机控制 Bearer token") + elif origin is None: + raise RobotError("UNAUTHORIZED", "浏览器 WebSocket 必须提供 Origin") + return await handler(request) + except RobotError as exc: + status = { + "UNAUTHORIZED": 401, + "DISCONNECTED": 503, + "TIMEOUT": 504, + "INVALID_MESSAGE": 400, + "UNSUPPORTED": 400, + }.get(exc.code, 409) + return web.json_response({"error": exc.as_dict()}, status=status) + except web.HTTPRequestEntityTooLarge: + return web.json_response( + {"error": {"code": "INVALID_MESSAGE", "message": "消息不能超过64KiB"}}, status=413 + ) + + +async def body(request): + if request.content_type != "application/json": + p.invalid("需要 application/json") + return p.loads(await request.read()) + + +async def health(request): + b = request.app[BROKER] + return web.json_response( + { + "protocolVersion": 1, + "backendConnected": b.descriptor is not None, + "authorized": b.authorized, + "hasLease": b.lease is not None, + } + ) + + +async def robot(request): + return web.json_response(request.app[BROKER].robot()) + + +async def observation(request): + return web.json_response(request.app[BROKER].fresh_observation()) + + +async def claim(request): + b = request.app[BROKER] + data = p.record(await body(request), {"sessionId", "modelEpoch", "modelFingerprint"}) + p.text(data["sessionId"]) + p.integer(data["modelEpoch"]) + b.robot() + observed = b.fresh_observation() + p.same_identity(data, observed, ("sessionId", "modelEpoch")) + if data["modelFingerprint"] != b.descriptor["modelFingerprint"]: + raise RobotError("INCOMPATIBLE_MODEL", "模型指纹已变化") + if b.lease: + raise RobotError("CONFLICT", "已有一个 Python 控制者") + if not b.authorized: + raise RobotError("UNAUTHORIZED", "请先在浏览器显式允许外部控制") + lease = { + "sessionId": data["sessionId"], + "modelEpoch": data["modelEpoch"], + "leaseId": secrets.token_hex(24), + } + b.lease = lease + b.last_action_at = time.monotonic() + b.last_action_seq = 0 + b.rate.clear() + try: + result = p.record( + await b.rpc( + "claim", + { + **lease, + "modelFingerprint": data["modelFingerprint"], + "authorizationGeneration": b.authorization_generation, + }, + ), + p.IDENTITY, + ) + p.same_identity(result, lease) + if b.lease != lease: + raise RobotError("STALE", "租约在申请期间失效") + return web.json_response(result) + except BaseException: + if b.lease == lease: + await b.revoke("租约申请失败") + raise + + +async def action(request): + b = request.app[BROKER] + lease = b.require_lease(request) + b.fresh_observation() + data = p.action(await body(request), b.robot()) + p.same_identity(data, lease) + if data["actionSeq"] <= b.last_action_seq: + raise RobotError("STALE", "拒绝重复/乱序动作") + now = time.monotonic() + while b.rate and now - b.rate[0] >= 1: + b.rate.popleft() + if len(b.rate) >= 100: + raise RobotError("CONFLICT", "动作频率不能超过100Hz") + b.rate.append(now) + b.last_action_seq = data["actionSeq"] + b.last_action_at = now + try: + result = p.action_result(await b.rpc("action", data), b.robot()) + p.same_identity(result, data, (*p.IDENTITY, "actionSeq")) + except RobotError as exc: + if exc.code != "SUPERSEDED" and b.lease == lease: + await b.revoke("动作确认失败") + raise + if b.lease != lease: + raise RobotError("STALE", "动作确认来自失效租约") + return web.json_response(result) + + +async def release(request): + b = request.app[BROKER] + lease = b.require_lease(request) + try: + await b.rpc("release", lease) + finally: + if b.lease == lease: + await b.revoke("控制者断开连接") + return web.json_response({"released": True}) + + +async def reset(request): + b = request.app[BROKER] + lease = b.require_lease(request) + p.record(await body(request), set()) + if not b.robot()["capabilities"]["reset"]: + raise RobotError("UNSUPPORTED", "机器人不支持 reset") + try: + result = p.observation(await b.rpc("reset", lease), b.robot()) + if ( + result["sessionId"] != lease["sessionId"] + or result["modelEpoch"] <= lease["modelEpoch"] + or not result["paused"] + ): + p.invalid("reset 未返回新代次的暂停观测") + finally: + if b.lease == lease: + await b.revoke("reset 后需要重新授权") + return web.json_response(result) + + +async def websocket(request): + b = request.app[BROKER] + ws = web.WebSocketResponse( + max_msg_size=MAX_BYTES, heartbeat=2, receive_timeout=5, compress=False + ) + await ws.prepare(request) + registered = False + times = deque() + try: + # Outer deadline: WS ping/pong must NOT restart the authentication clock. + first = await asyncio.wait_for(ws.receive(), 5) + if first.type != WSMsgType.TEXT: + raise RobotError("UNAUTHORIZED", "必须在5秒内通过认证") + auth = p.record(p.loads(first.data), {"type", "token", "protocolVersion"}) + p.version(auth["protocolVersion"]) + if ( + auth["type"] != "auth" + or not isinstance(auth["token"], str) + or not auth["token"].isascii() + or not hmac.compare_digest(auth["token"].encode(), b.token.encode()) + ): + raise RobotError("UNAUTHORIZED", "WebSocket token 无效") + if b.ws is not None: + raise RobotError("CONFLICT", "已有浏览器后端连接") + b.ws = ws # Reserve the single backend before any further await. + await ws.send_json({"type": "authenticated"}) + while True: + message = ( + await asyncio.wait_for(ws.receive(), 5) if not registered else await ws.receive() + ) + if message.type != WSMsgType.TEXT: + break + now = time.monotonic() + while times and now - times[0] > 1: + times.popleft() + if len(times) >= 256: + raise RobotError("CONFLICT", "浏览器消息过于频繁") + times.append(now) + packet = p.loads(message.data) + if not isinstance(packet, dict): + p.invalid("消息必须是对象") + kind = packet.get("type") + if kind == "register" and not registered: + p.record( + packet, + {"type", "descriptor", "observation", "enabled", "authorizationGeneration"}, + ) + b.descriptor = p.descriptor(packet["descriptor"]) + await b.state({k: v for k, v in packet.items() if k != "descriptor"}) + registered = True + await ws.send_json({"type": "ready"}) + elif kind == "state" and registered: + await b.state(packet) + elif kind == "result" and registered: + p.record(packet, {"type", "id", "ok", "value"}) + p.text(packet["id"]) + if type(packet["ok"]) is not bool: + p.invalid("ok 必须为 bool") + pending = b.pending.get(packet["id"]) + if pending and not pending[0].done(): + if packet["ok"]: + pending[0].set_result(packet["value"]) + else: + error = p.record(packet["value"], {"code", "message"}) + if ( + not isinstance(error["code"], str) + or not isinstance(error["message"], str) + or len(error["message"]) > 1024 + ): + p.invalid("错误格式无效") + pending[0].set_exception(RobotError(error["code"], error["message"])) + else: + p.invalid("未注册后端或未知消息类型") + except (RobotError, TimeoutError, ConnectionError) as exc: + error = ( + exc + if isinstance(exc, RobotError) + else RobotError("DISCONNECTED", "浏览器连接中断/超时") + ) + if not ws.closed: + with contextlib.suppress(ConnectionError): + await ws.send_json({"type": "error", "error": error.as_dict()}) + finally: + if b.ws is ws: + await b.revoke("浏览器已断开", notify=False) + b.ws = b.descriptor = b.observation = None + b.authorization_generation = 0 + b.blocked_generation = -1 + await ws.close() + return ws + + +def create_app(token): + app = web.Application(middlewares=[security], client_max_size=MAX_BYTES) + app[BROKER] = Broker(token) + app.add_routes( + [ + web.get(f"{PREFIX}/health", health), + web.get(f"{PREFIX}/robot", robot), + web.get(f"{PREFIX}/observation", observation), + web.post(f"{PREFIX}/lease", claim), + web.delete(f"{PREFIX}/lease", release), + web.post(f"{PREFIX}/action", action), + web.post(f"{PREFIX}/reset", reset), + web.get("/ws/control/v1", websocket), + ] + ) + + async def lifetime(application): + b = application[BROKER] + task = asyncio.create_task(b.monitor()) + yield + task.cancel() + with contextlib.suppress(asyncio.CancelledError): + await task + await b.revoke("桥接服务关闭") + if b.ws is not None: + await b.ws.close() + + app.cleanup_ctx.append(lifetime) + return app diff --git a/control_bridge/tests/test_protocol.py b/control_bridge/tests/test_protocol.py new file mode 100644 index 00000000..090dbd1c --- /dev/null +++ b/control_bridge/tests/test_protocol.py @@ -0,0 +1,65 @@ +import copy +import json +import unittest +from pathlib import Path + +from mujoco_control_bridge import protocol as p +from mujoco_control_bridge.client import SimRobotClient + +FIXTURE = json.loads( + (Path(__file__).resolve().parents[2] / "contracts/fixtures/single-joint.json").read_text() +) + + +class ProtocolTests(unittest.TestCase): + def test_shared_fixture(self): + descriptor = p.descriptor(FIXTURE["descriptor"]) + p.observation(FIXTURE["observation"], descriptor) + action = p.action(FIXTURE["validAction"], descriptor) + p.same_identity(action, FIXTURE["identity"]) + for invalid in FIXTURE["invalidActions"]: + with self.subTest(invalid["label"]), self.assertRaises(p.RobotError) as caught: + action = p.action({**FIXTURE["validAction"], **invalid["patch"]}, descriptor) + p.same_identity(action, FIXTURE["identity"]) + self.assertEqual(caught.exception.code, invalid["code"]) + + def test_finite_clamp_and_extra_fields(self): + for value in (float("nan"), float("inf"), True, "0", 10**1000): + with self.subTest(value=str(value)[:20]), self.assertRaises(p.RobotError): + p.values({"slider.position": value}, FIXTURE["descriptor"]["actionChannels"]) + self.assertEqual( + p.values({"slider.position": 20}, FIXTURE["descriptor"]["actionChannels"], True), + {"slider.position": 1}, + ) + for raw in ('{"x":1,"x":2}', '{"x":NaN}', '{"x":Infinity}', "["): + with self.assertRaises(p.RobotError): + p.loads(raw) + + def test_unknown_units_capabilities_versions(self): + for mutation in ("unit", "frame", "capability", "fingerprint"): + descriptor = copy.deepcopy(FIXTURE["descriptor"]) + if mutation == "unit": + descriptor["actionChannels"][0]["unit"] = "deg" + elif mutation == "frame": + descriptor["frame"] = "unknown" + elif mutation == "fingerprint": + descriptor["modelFingerprint"] = "not-sha" + else: + descriptor["capabilities"]["training"] = True + with self.subTest(mutation), self.assertRaises(p.RobotError): + p.descriptor(descriptor) + + def test_only_local_endpoints_and_token_not_in_url(self): + for endpoint in ( + "https://127.0.0.1", + "http://evil.test", + "http://user:token@127.0.0.1", + "http://localhost/?token=secret", + "http://localhost/path", + ): + with self.subTest(endpoint), self.assertRaises(ValueError): + SimRobotClient(endpoint, token="test-only-not-a-real-secret") + + +if __name__ == "__main__": + unittest.main() diff --git a/control_bridge/tests/test_server.py b/control_bridge/tests/test_server.py new file mode 100644 index 00000000..568108a1 --- /dev/null +++ b/control_bridge/tests/test_server.py @@ -0,0 +1,322 @@ +import asyncio +import contextlib +import copy +import json +import time +import unittest +from collections import deque +from pathlib import Path + +from aiohttp import ClientSession, WSMsgType, WSServerHandshakeError +from aiohttp.test_utils import TestServer +from mujoco_control_bridge import RobotError, SimRobotClient +from mujoco_control_bridge.server import BROKER, PREFIX, create_app + +FIXTURE = json.loads( + (Path(__file__).resolve().parents[2] / "contracts/fixtures/single-joint.json").read_text() +) +TOKEN = "unit-test-token-not-for-real-use" +ORIGIN = "http://127.0.0.1:5173" + + +class Backend: + """One-channel numeric peer: no LeKiwi knowledge, never used for physics acceptance.""" + + def __init__(self, session, url): + self.session, self.url = session, url + self.obs = copy.deepcopy(FIXTURE["observation"]) + self.enabled = True + self.generation = 1 + self.acknowledge = True + self.calls = [] + + async def connect(self): + self.ws = await self.session.ws_connect(self.url + "/ws/control/v1", origin=ORIGIN) + await self.ws.send_json({"type": "auth", "token": TOKEN, "protocolVersion": 1}) + assert (await self.ws.receive_json())["type"] == "authenticated" + await self.ws.send_json( + {**self.state(), "type": "register", "descriptor": FIXTURE["descriptor"]} + ) + assert (await self.ws.receive_json())["type"] == "ready" + self.task = asyncio.create_task(self.consume()) + + def state(self): + return { + "type": "state", + "observation": self.obs, + "enabled": self.enabled, + "authorizationGeneration": self.generation, + } + + async def push(self): + await self.ws.send_json(self.state()) + + async def consume(self): + async for raw in self.ws: + if raw.type != WSMsgType.TEXT: + break + msg = json.loads(raw.data) + if msg["type"] == "stop": + self.enabled = False + self.obs["paused"] = True + self.obs["sequence"] += 1 + await self.push() + elif msg["type"] == "request": + self.calls.append(msg) + payload, op = msg["payload"], msg["op"] + if not self.acknowledge: + continue + if op == "claim": + result = {k: payload[k] for k in ("sessionId", "modelEpoch", "leaseId")} + elif op == "action": + result = { + k: payload[k] + for k in ("sessionId", "modelEpoch", "leaseId", "actionSeq", "values") + } + result["simTime"] = self.obs["simTime"] + 0.002 + self.obs["simTime"] += 0.002 + self.obs["sequence"] += 1 + self.obs["appliedActionSeq"] = payload["actionSeq"] + elif op == "reset": + self.obs["modelEpoch"] += 1 + self.obs["sequence"] = 1 + self.obs["paused"] = True + self.obs["simTime"] = 0 + self.enabled = False + result = self.obs + else: + self.enabled = False + self.obs["sequence"] += 1 + self.obs["paused"] = True + result = {"released": True} + await self.ws.send_json( + {"type": "result", "id": msg["id"], "ok": True, "value": result} + ) + await self.push() + + async def close(self): + await self.ws.close() + await self.task + + +class BridgeTests(unittest.IsolatedAsyncioTestCase): + async def asyncSetUp(self): + self.server = TestServer(create_app(TOKEN)) + await self.server.start_server() + self.url = str(self.server.make_url("")).rstrip("/") + self.http = ClientSession(headers={"Authorization": f"Bearer {TOKEN}"}) + self.backend = Backend(self.http, self.url) + await self.backend.connect() + self.claim_data = { + "sessionId": "sim-test", + "modelEpoch": 2, + "modelFingerprint": FIXTURE["descriptor"]["modelFingerprint"], + } + + async def asyncTearDown(self): + await self.backend.close() + await self.http.close() + await self.server.close() + + async def claim(self): + response = await self.http.post(self.url + PREFIX + "/lease", json=self.claim_data) + self.assertEqual(response.status, 200, await response.text()) + return await response.json() + + async def test_malformed_tokens_fail_without_encoding_errors(self): + for token in ("x" * 15, "a" * 4097, "中文" * 16, "a" * 16 + " "): + with self.assertRaises(ValueError): + create_app(token) + with self.assertRaises(ValueError): + SimRobotClient(self.url, token) + response = await self.http.get( + self.url + PREFIX + "/health", headers={"Authorization": "Bearer " + "é" * 20} + ) + self.assertEqual(response.status, 401) + async with self.http.ws_connect(self.url + "/ws/control/v1", origin=ORIGIN) as ws: + await ws.send_json({"type": "auth", "protocolVersion": 1, "token": "x" * 16 + "\ud800"}) + self.assertEqual((await ws.receive_json())["error"]["code"], "UNAUTHORIZED") + + async def test_real_sync_sdk_single_joint_and_reset(self): + client = SimRobotClient(self.url, TOKEN) + desc = await asyncio.to_thread(client.connect) + self.assertEqual(len(desc["actionChannels"]), 1) + result = await asyncio.to_thread(client.send_action, {"slider.position": 40}) + self.assertEqual(result["values"], {"slider.position": 1}) + obs = await asyncio.to_thread(client.get_observation) + self.assertEqual(obs["values"], {"slider.position": 0.12}) + self.assertEqual(obs["appliedActionSeq"], 1) + reset = await asyncio.to_thread(client.reset) + self.assertEqual(reset["modelEpoch"], 3) + self.assertTrue(reset["paused"]) + self.assertFalse(client.is_connected) + + async def test_single_browser_single_writer_and_stale_action(self): + lease = await self.claim() + conflict = await self.http.post(self.url + PREFIX + "/lease", json=self.claim_data) + self.assertEqual(conflict.status, 409) + other = await self.http.ws_connect(self.url + "/ws/control/v1", origin=ORIGIN) + await other.send_json({"type": "auth", "token": TOKEN, "protocolVersion": 1}) + self.assertEqual((await other.receive_json())["error"]["code"], "CONFLICT") + await other.close() + packet = {**FIXTURE["validAction"], **lease} + headers = {"X-Control-Lease": lease["leaseId"]} + good = await self.http.post(self.url + PREFIX + "/action", json=packet, headers=headers) + self.assertEqual(good.status, 200) + stale = await self.http.post(self.url + PREFIX + "/action", json=packet, headers=headers) + self.assertEqual((await stale.json())["error"]["code"], "STALE") + self.assertIsNotNone(self.server.app[BROKER].lease) + + async def test_host_origin_auth_and_url_token_rejected(self): + for headers in ( + {"Host": "evil.test"}, + {"Origin": "http://evil.test"}, + {"Authorization": "Bearer wrong"}, + ): + response = await self.http.get(self.url + PREFIX + "/health", headers=headers) + self.assertEqual(response.status, 401) + response = await self.http.get(self.url + PREFIX + "/health?token=secret") + self.assertEqual(response.status, 400) + with self.assertRaises(WSServerHandshakeError): + await self.http.ws_connect(self.url + "/ws/control/v1", origin="http://evil.test") + ws = await self.http.ws_connect(self.url + "/ws/control/v1", origin=ORIGIN) + await ws.send_json({"type": "auth", "token": "wrong", "protocolVersion": 1}) + self.assertEqual((await ws.receive_json())["error"]["code"], "UNAUTHORIZED") + await ws.close() + self.assertIsNotNone(self.server.app[BROKER].descriptor) + + async def test_watchdog_and_old_authorization_cannot_reconnect(self): + await self.claim() + await asyncio.sleep(0.62) + self.assertIsNone(self.server.app[BROKER].lease) + self.assertFalse(self.backend.enabled) + # Replayed enabled heartbeat with the same generation must not reauthorize. + self.backend.enabled = True + self.backend.obs["paused"] = False + self.backend.obs["sequence"] += 1 + await self.backend.push() + response = await self.http.post(self.url + PREFIX + "/lease", json=self.claim_data) + self.assertEqual(response.status, 401) + self.backend.generation += 1 + await self.backend.push() + await self.claim() + + async def test_old_failed_request_cannot_revoke_a_new_authorization(self): + lease = await self.claim() + self.backend.acknowledge = False + pending = asyncio.create_task( + self.http.post( + self.url + PREFIX + "/action", + json={**FIXTURE["validAction"], **lease}, + headers={"X-Control-Lease": lease["leaseId"]}, + ) + ) + await asyncio.sleep(0.03) + self.backend.generation += 1 + self.backend.obs["sequence"] += 1 + await self.backend.push() + failed = await pending + self.assertEqual(failed.status, 503) + self.assertTrue(self.server.app[BROKER].authorized) + self.assertIsNone(self.server.app[BROKER].lease) + self.backend.acknowledge = True + new_lease = await self.claim() + self.assertNotEqual(new_lease["leaseId"], lease["leaseId"]) + + async def test_paused_observation_reports_pause_even_after_freshness_expires(self): + broker = self.server.app[BROKER] + self.backend.obs["paused"] = True + self.backend.obs["sequence"] += 1 + await broker.state(self.backend.state()) + for age in (0.0, 1.0): + with self.subTest(age=age): + broker.observed_at = time.monotonic() - age + client = SimRobotClient(self.url, TOKEN) + with self.assertRaises(RobotError) as raised: + await asyncio.to_thread(client.connect) + self.assertEqual(raised.exception.code, "PAUSED") + self.assertIn("播放", str(raised.exception)) + self.assertFalse(client.is_connected) + response = await self.http.post(self.url + PREFIX + "/lease", json=self.claim_data) + self.assertEqual(response.status, 409) + self.assertEqual((await response.json())["error"]["code"], "PAUSED") + self.assertIsNone(broker.lease) + self.assertFalse(self.backend.calls) + + async def test_stale_observation_is_not_refreshed_by_heartbeat(self): + await asyncio.sleep(0.53) + await self.backend.push() + response = await self.http.get(self.url + PREFIX + "/observation") + self.assertEqual((await response.json())["error"]["code"], "STALE") + client = SimRobotClient(self.url, TOKEN) + with self.assertRaises(RobotError) as raised: + await asyncio.to_thread(client.connect) + self.assertEqual(raised.exception.code, "STALE") + self.assertFalse(client.is_connected) + self.assertIsNone(self.server.app[BROKER].lease) + + async def test_rate_limit_and_http_frame_size(self): + lease = await self.claim() + self.server.app[BROKER].rate = deque([time.monotonic()] * 100) + response = await self.http.post( + self.url + PREFIX + "/action", + json={**FIXTURE["validAction"], **lease}, + headers={"X-Control-Lease": lease["leaseId"]}, + ) + self.assertEqual(response.status, 409) + response = await self.http.post(self.url + PREFIX + "/lease", json={"padding": "x" * 70000}) + self.assertEqual(response.status, 413) + + async def test_no_ack_cancels_pending_and_cannot_keep_lease(self): + client = SimRobotClient(self.url, TOKEN) + await asyncio.to_thread(client.connect) + self.backend.acknowledge = False + with self.assertRaises(RobotError): + await asyncio.to_thread(client.send_action, {"slider.position": 0.2}) + self.assertFalse(client.is_connected) + self.assertFalse(self.server.app[BROKER].pending) + self.assertIsNone(self.server.app[BROKER].lease) + + async def test_latest_request_supersedes_pending(self): + lease = await self.claim() + self.backend.acknowledge = False + headers = {"X-Control-Lease": lease["leaseId"]} + one = asyncio.create_task( + self.http.post( + self.url + PREFIX + "/action", + json={**FIXTURE["validAction"], **lease}, + headers=headers, + ) + ) + await asyncio.sleep(0.03) + two = asyncio.create_task( + self.http.post( + self.url + PREFIX + "/action", + json={**FIXTURE["validAction"], **lease, "actionSeq": 2}, + headers=headers, + ) + ) + self.assertEqual((await (await one).json())["error"]["code"], "SUPERSEDED") + self.assertLessEqual(len(self.server.app[BROKER].pending), 1) + self.backend.acknowledge = True + # A pending write receives an explicit failure on disconnect, not a false ACK. + await self.backend.ws.close() + with contextlib.suppress(ConnectionError): + response = await two + self.assertEqual(response.status, 503) + + async def test_unauthenticated_ws_timeout_and_oversize(self): + ws = await self.http.ws_connect(self.url + "/ws/control/v1", origin=ORIGIN) + error = await ws.receive_json(timeout=6) + self.assertEqual(error["type"], "error") + await ws.close() + # A too-large peer cannot replace the current backend. + ws = await self.http.ws_connect(self.url + "/ws/control/v1", origin=ORIGIN) + await ws.send_str("x" * 70000) + await ws.receive(timeout=1) + await ws.close() + self.assertIsNotNone(self.server.app[BROKER].descriptor) + + +if __name__ == "__main__": + unittest.main() diff --git a/docs/robot-interface.md b/docs/robot-interface.md new file mode 100644 index 00000000..996559eb --- /dev/null +++ b/docs/robot-interface.md @@ -0,0 +1,111 @@ +# 机器人接口 V1：实时控制与任务层分离 + +## 能力与兼容矩阵 + +| 层 | 已验证内容 | 不支持 / 不承诺 | +| ------------------------------------ | ------------------------------------------------------------------------------- | ----------------------------------------------- | +| `RobotDescriptor/Action/Observation` | 通用 SI 标量、单关节与 LeKiwi 后端 | 任意远程可执行插件 | +| LeKiwi profile v1 | 三轮底盘、五个臂关节、夹爪、实测反馈、reset | 实机标定、可靠抓取、崎岖地形或 sim-to-real 保证 | +| `lerobot_robot_mujoco` | 实际 LeRobot 0.6.1 的 Robot/Config、发现、工厂、九维控制循环 | 冒充硬件 ZMQ 服务、官方所有 CLI 原样运行 | +| 仿真 | 官方浏览器 MuJoCo WASM 3.11.0 | 用原生 MuJoCo 测试代替浏览器物理验收 | +| 环境 | Ubuntu 24.04 x86_64、Python 3.12、CPU torch 2.11.0+cpu / torchvision 0.26.0+cpu | 修改既有训练 `.venv` 或加载物理机器人 | +| V1 能力标志 | `lockstep=false`、`cameras=false`、`training=false` | 相机、LeRobot 数据采集、Gym/RL 训练 | + +普通 MJCF/URDF、Pyodide 控制器和 Go2 ONNX/训练链保持独立。未知模型不会因关节数相似自动套用 LeKiwi。平台自己的有界遥测 CSV/JSON 仍可使用，但不是 LeRobot dataset。 + +## 运行链路 + +```text +LeRobot Robot / 通用 SimRobotClient（同步 HTTP） + → 本机 aiohttp broker（认证、租约、限流） + → 浏览器 ExternalControlClient（WS，仅数值消息） + → RobotRuntime（校验、最新目标邮箱、watchdog） + → MuJoCoRobotAdapter + ModelBindings + → 固定 dt 的 mj_step → 实测 observation / applied ACK +``` + +`ModelBindings` 缓存关节/执行器名称、qpos/dof 地址和标量传动约束，复用于 Python 和 Go2 绑定。Embind 临时查询句柄及时释放；关节 ID 不直接当作 qpos/dof 地址。 + +`ControlArbiter` 只有 `manual | python | policy | external` 一个所有者。每次 claim 创建新的身份票据，旧 Python `dispose/step`、旧 ONNX 结果或旧 socket 回调不能覆盖新控制者。非所有者退出不清除另一个控制者的目标。 + +外控使用同一 JS 线程上的约 120 Hz 物理调度器，仍按模型固定 dt 积分并遵循单次 8 ms / 100 步追帧预算；网络事件只入队，不在物理步内 await。普通手动/Python/ONNX 保留原渲染驱动步进。观测约 30 Hz，WS 独立发送；React 完整快照约 5 Hz，不用 UI 帧率充当控制/观测时钟。 + +外控绘制上限 30 FPS。检测到 SwiftShader/llvmpipe 等软件渲染时，profile 关闭阴影，外控绘制上限 5 FPS，为物理/通信留出主线程时间；几何和接触动力学不变。仍非硬实时：主线程卡顿/系统休眠时不能保证及时回调，恢复后先拒绝过期动作。 + +## 协议与身份 + +权威结构：[JSON Schema](../contracts/robot-v1.schema.json)、[共享 fixture](../contracts/fixtures/single-joint.json)。不要根据本页重新发明字段名称。 + +- descriptor：`protocolVersion=1`、`profileId/profileVersion`、`modelFingerprint`、`frame`、`actionChannels/observationChannels`、`capabilities`。 +- 通道：`id/unit/min/max/mode`。只接受有限标量；未知字段、额外通道、重复通道、bool、NaN/Infinity 被拒绝。 +- 身份：`sessionId + modelEpoch + leaseId`。重置递增 epoch；重载新建 session；租约只对当前授权代次有效。 +- action：身份、`protocolVersion=1`、递增 `actionSeq` 和完整 `values`。 +- observation：`protocolVersion/sessionId/modelEpoch/sequence/simTime/appliedActionSeq/paused/values`。`sequence` 可在新 epoch 中重启，同 epoch 不可倒退。 +- action result：身份、`actionSeq/simTime/values`。它在物理步之后确认 **接受的目标**，不是实际位置；实际状态必须读 observation。 + +### HTTP 与 WS + +HTTP 前缀 `/api/control/v1`，均需要 `Authorization: Bearer …`： + +| 方法 / 路径 | 作用 | +| ------------------ | --------------------------------------------- | +| GET `/health` | 本机桥状态 | +| GET `/robot` | 当前 descriptor | +| GET `/observation` | 新鲜的实测状态 | +| POST `/lease` | 用 session/epoch/fingerprint 申请单写入者租约 | +| DELETE `/lease` | 释放，带 `X-Control-Lease` | +| POST `/action` | 完整 action，带 `X-Control-Lease` | +| POST `/reset` | 请求新 epoch 的暂停状态，带 `X-Control-Lease` | + +WS `/ws/control/v1`：先发送 `{type:"auth",token:…}`；注册 descriptor/状态，再交换带 request id 的 claim/action/release/reset RPC、结果和状态更新。以 `ExternalControlClient.ts` 和 `server.py` 为实现依据，SDK 用户无需手写 WS。 + +错误码：`INVALID_MESSAGE`、`INCOMPATIBLE_MODEL`、`UNSUPPORTED`、`UNAUTHORIZED`、`CONFLICT`、`STALE`、`PAUSED`、`TIMEOUT`、`SUPERSEDED`、`DISCONNECTED`。缺能力显式失败，不伪造零图像或假训练支持。 + +## LeKiwi 映射与校验 + +唯一参数源：[lekiwi-v1.json](../robot_profiles/lekiwi-v1.json)，Python 包通过 package-data 发布同一份 JSON。 + +- canonical 机体系：X 前、Y 左、Z 上；CAD +Y 前向经 -π/2 绕 Z 转换。 +- 五个臂角：LeRobot 度 ↔ profile 符号/零偏修正后的 rad；夹爪 0–100 ↔ ratio 0–1 ↔ 关节 -0.18…0.9 rad。CAD 夹爪轴反向，使递增开度对应物理张开；闭合限位不再允许两指交叉。 +- 底盘 `x.vel/y.vel` 为 m/s，LeRobot `theta.vel` 为 deg/s，通用接口为 rad/s。 +- 轮顺序 left/back/right，半径 0.05 m、基座半径 0.125 m；最大 4.601942363656923 rad/s，三轮同比缩放而非分别削顶。 +- LeRobot 九维反馈使用实测轮速里程计以兼容上游；通用 observation 另有真实机身位姿/速度，因此碰撞/打滑时两者可能不同。 +- LeRobot 部分动作仅保持最后 **确认** 的臂/夹爪目标，省略底盘速度为零。连接初始保持值来自实测观测。拒绝 `use_degrees=False`、相机配置、物理校准目录以及非法 scalar。 + +URDF 和整臂 18 个视觉 STL 必须匹配固定来源 SHA-256；导出 MJCF 必须含受支持的 profile、version、source SHA、`platform_lekiwi_collision_revision=4` 和当前 `platform_lekiwi_collision_recipe_sha256`（旧配方，包括 revision 3，必须从原始 URDF 重新转换）。再校验编译后的浮动根、关节/执行器、传动、轴向、限位、增益和力限等。缓存编辑继承当前显式 profile，校验失败保留旧场景但不恢复外部授权。 + +启用机器人 profile 后，关节角仅作实测显示：禁止 `setJointPosition()` 或 `resetJoints()` 直接写 qpos，禁用关节拖动/单独重置关节，也禁止忽略关节限位；完整仿真 reset 的撤权/epoch 行为不变。旧滑条是暂停时的姿态编辑而非物理运动，任何碰撞体都不能防止这种直接插入。需要运动时播放仿真，通过执行器目标或外控驱动；普通非 profile 模型的姿态编辑不变，外控仍排斥手动执行器写入。 + +`modelFingerprint` 是最终输入 XML 字节的 SHA-256，不是语义哈希或所有 mesh 的合并内容哈希；资源另有 `source-manifest.json`。导出保留 `platform_robot_profile`、`platform_robot_profile_version`、`platform_robot_source_sha256`，并添加 `platform_robot_source_fingerprint` 追溯已加载源。重新序列化/导入会重新计算指纹；标记不是签名，也不能代替运行时校验。需要限定精确模型时设置插件的 `expected_model_fingerprint`。 + +## 停止、冻结与回滚 + +超过 500 ms 没有有效动作、观测过期、用户暂停/停止、控制者离线、页面隐藏/退出、模型替换都会撤销 lease/授权，清除待应用目标，停止轮目标、保持实测臂姿态并暂停。重新出现的 WS 事件也不能续期已经过期的租约；第一恢复物理步再次检查期限。心跳不等于新观测。 + +`authorizationGeneration` 隔离旧 release/stop/error/reset 的清理回调。新授权后迟到的旧消息不能把新 lease 清掉。reset 的 observation 序号在新 epoch 中可以从 1 重新开始；同 epoch 回退仍然拒绝。 + +浏览器 token 只在当前页面内存。本机 bearer token 不防已经获得 token 的本机恶意进程；不应开放到局域网/公网。详见 [桥接安全边界](../control_bridge/README.md)。 + +## 验证、性能与升级 + +- 普通 CI：合成单关节真实 SDK→桥接→浏览器 WASM；协议、身份、超时、队列和现有功能测试。不下载 LeKiwi，不安装 LeRobot。 +- 独立 `lekiwi-compatibility` CI：固定资产 revision、固定 CPU 环境、实际上游发现/工厂、完整物理和工作台测试；依赖缺失即失败，不以 skip 通过。 +- revision 4 工作台实测（本机 Ubuntu 24.04、WASM 3.11.0、SwiftShader）：60.022 s / 1800 次动作，仿真推进约 59.636 s；整轮“观测→动作确认→诊断回读”平均 22.6 ms、P95 75.2 ms、最大 151.9 ms；最大观测仿真时间间隔 136 ms，超时/丢弃为 0。外控活跃样本的软件渲染平均约 4.90 FPS；绘制间累计物理耗时最高 139.6 ms，60 次采样中 59 次出现 `overBudget`（至少一次调度仍有待追帧时间），不能宣称无超预算或硬实时。热身后 JS 堆采样约 132.56 MiB、WASM 堆容量 564592640 字节，首末采样无增长。完整碰撞与 1 ms 步长比旧简化模型开销更大；500 ms 看门狗、8 ms/100 步调度预算不变，这不是跨机器性能保证。 +- 专用测试记录逐秒 FPS、step budget、JS 堆、WASM 堆容量及实际机体移动。JSON、物理轨迹和截图输出到 `build/e2e/lekiwi/`；堆容量不等同于实际已用内存，60 秒稳定不等于长期无泄漏证明。 +- revision 4 从整臂 18 个视觉网格（包括焊接舵机/附件）离线 CoACD 生成 538 个凸包，再按配合区边界切分成 1,220 个碰撞凸包，替代旧胶囊/手工分段，显式启用 5,581 对相邻结构接触。仅保留有几何边界的装配配合例外，不整对排除相邻 body。生成/缓存、固定依赖、来源/许可证与审核边界见 [碰撞数据说明](../robot_profiles/NOTICE.md)。 +- `Mirror / Square` 回归使用实际可达的肩旋 0/±0.8 rad：肘目标 −1.3 rad 被挡在约 −0.07953 rad，接触点离轴约 71.8 mm（不是轴承锁死）；峰值软穿入约 0.158 mm，稳定约 0.046 mm。反向到 +0.3 rad 后实测约 +0.29135，接触解除。 +- 上臂/臂座组件测试中，安装板或肩部结构夹片先于 `Base_08q` 本体阻挡：抬升目标 +0.6 rad，实测约 +0.119（肩旋 0）/+0.243（肩旋 ±0.8）；反向到 −0.3 后实测约 −0.2913、接触解除。完整几何下部分抬升/腕俯仰目标会提前遇阻；没有缩小声明的关节范围来隐藏问题。肩旋配合区跨边界凸包切分后，±0.942 rad 双向扫掠实测可达且无配合区接触，不再把轴承锁死冒充结构阻挡。 +- 夹爪闭合/半开/全开的指间距约 1.47/41.10/64.88 mm，三者无指间穿入接触，张开空隙不误封堵；静态 16 mm 球体阻挡闭合，峰值软穿入约 0.320 mm、稳定低于 0.020 mm。间距使用独立三角面距离 oracle：WASM 3.11 的一次薄凸包 `mj_geomDistance` 查询返回零，但两见证点相距超过 50 mm，不能拿该零值作真实间距；没有为通过测试而改 solver 或放宽间隙断言。 +- 另有原始 STL 六向极值的 108 次覆盖探针、六关节各两个目标（上下限的 60%）的 0.4 rad/s 扫掠及数值稳定性检查。这些是有限场景验证，不是全表面几何误差证明、所有关节组合的穷举、自动避障或可靠抓取保证。 +- 浏览器真实物理包括 30 秒站稳、±0.1 m/s 两秒位移约 0.195–0.199 m、双向转动、臂/夹爪以及墙体阻挡；另外测试真实 PTY 键盘输入、Pyodide 旧回调、重载/缓存回滚、reset、崩溃、隐藏事件、CDP 暂停整个 JS 执行后恢复。 +- 本次整臂回归：110 个文件 / 482 个 Vitest、7 个离线生成器单测；专用 LeKiwi 物理/插件/工作台 **14 个 E2E 全部通过，无跳过**，最终证据在 `build/e2e/lekiwi-full-collision-final/`。16 个桥接、19 个 LeRobot/键盘 Python 单测通过，命令见示例 README。旧普通浏览器与训练服务覆盖率记录不是本次重新执行结果，不混作当前碰撞验收。 +- 已知限制：开发诊断强制注入严重重叠 qpos 后的原生几何查询曾触发 WASM 2 GiB 上限/中止；不是受支持的运动路径，未修复引擎对任意穿透初态的健壮性。正常入口已禁止 profile qpos 瞬移，不应把有限动态回归解释为任意姿态保证。详见碰撞数据说明。 +- CI 配置增加隔离的离线分解重建检查；上述数字来自本机执行，不声称已运行远端 GitHub Actions。固定 revision 下载与本地参考目录重建得到相同 ZIP；wheel 已验证包含 canonical profile 和许可证。 + +升级上游/profile/依赖时：审查许可证与源码差异 → 更新 source hash/版本和映射 → 重建资产及 wheel → 跑跨语言 golden、真实物理、完整 60 秒及旧功能回归 → 更新约束文件、环境记录和 CHANGELOG。不要仅改版本号后绕过模型校验。 + +## 后续任务 / RL 层（尚未实现） + +新增后端需要实现 `RobotAdapter` 的 describe/validateAction/applyAction/readObservation/safeStop/reset/dispose，使用可信代码显式注册；无需修改通用桥接。不要把可执行工厂放入用户导入 JSON。 + +在其上单独增加 task 层：原生 MuJoCo 后端、`step(action,n_substeps)`、seed/reset、reward/terminated/truncated、Gym wrapper，再做批量训练/策略部署。需要先验证原生与 WASM 的模型、单位、动作语义一致。当前实时浏览器 bridge 不能冒充确定性锁步或高吞吐训练环境。 diff --git a/examples/lekiwi/README.md b/examples/lekiwi/README.md new file mode 100644 index 00000000..5b62553e --- /dev/null +++ b/examples/lekiwi/README.md @@ -0,0 +1,143 @@ +# LeKiwi 仿真示例 + +目标：通过统一机器人接口连接 LeRobot 0.6.1 的上层控制逻辑。此目录不包含实体硬件驱动、相机或 RL 训练任务。 + +## 可重建模型输入 + +```bash +source .venv/bin/activate +python examples/lekiwi/prepare_assets.py --source /path/to/LeKiwi +# 或明确允许下载固定版本所需文件（不会克隆整个仓库） +python examples/lekiwi/prepare_assets.py --download +``` + +生成 `build/lekiwi/lekiwi-v1.zip`、原始 URDF/资源副本、SHA-256 清单及 Apache-2.0 许可证。原参考仓库保持只读；常规前端构建不下载任何资产。 + +适用源：SIGRobotics-UIUC/LeKiwi 的 `efa608d7ee5a495a4803b1d28cd0c955b4f1e033`；URDF SHA-256 见 `robot_profiles/lekiwi-v1.json`。未知变体拒绝套用。 + +## 动力学边界 + +- CAD 轮 STL 单个超过 300,000 个三角形，超出 MuJoCo 的 STL 上限。因此显式 profile 在中间编译前替换这些几何，之后生成简化轮毂与每轮 12 个被动滚子；不是保留高多边形轮子的视觉模型。 +- 九个主执行器：5 个臂位置伺服、夹爪位置伺服、3 个轮速度伺服；另外 36 个滚子 hinge **不加电机**。仅通过物理接触驱动车体，不强写底盘位姿/速度。 +- CAD +Y 朝前，在 canonical 基座中旋转 -90°。简化三轮按理想 0.125 m 轮距、0.05 m 半径布置；并非沿用 CAD 不等距的轮轴位置。 +- 原始 CAD 的 17.324 kg 惯性估计不用于动力学。仿真采用 2.2 kg 基座、按 profile 给出的臂段/轮质量、简化碰撞和保守限位。惯性、摩擦、增益均为**仿真估计**，不代表实体标定。 +- 当前碰撞配方为 **revision 4**：从整臂 18 个原始视觉网格（含固定舵机/附件）离线 CoACD 分解成 538 个凸包，再按轴承配合区切分成 1,220 个独立碰撞凸包，替代旧臂胶囊和手工分段。保持视觉坐标变换、夹爪空隙、零附加碰撞质量与显式惯性。工具隔离在 `build/venvs/collision`，浏览器仅使用生成数据。来源、许可证、缓存/参数和重建方法见 [碰撞数据说明](../../robot_profiles/NOTICE.md)。 +- 不再整对排除相邻连杆：显式启用 5,581 对结构凸包接触，包括 `SO_ARM100_08k_Mirror-v1` / `SO_ARM100_08k_116_Square-v1`。跨区域凸包先切分，只对完全落入关节轴承/舵机配合区域的部分保留局部例外，以免装配重叠锁死关节；非相邻碰撞保持启用。细化为 1 ms 物理步长，未放宽 500 ms 安全阈值。凸分解仍有误差，不等于逐三角形精确碰撞或所有姿态无穿入保证。 +- 自碰撞会阻挡不可能到达的目标，动作确认值不等于实测关节角；遇阻时目标/实测不一致是正常反馈。这不是自动避障或无碰撞路径规划，也没有关闭全臂自碰撞、缩小肩关节范围来隐藏问题。 +- CAD 夹爪轴已反向，使开度增大确实张开；内部关节范围为 -0.18…0.9 rad，LeRobot 的 0–100 开度接口不变。当前配方闭合端测试间隙约 1.47 mm，另有指面间接触保护；不会通过关闭自碰撞来允许两指交叉。 +- 平地低速控制、静态障碍阻挡和夹爪指尖/物体接触经过真实浏览器 WASM 验证；不保证崎岖地形、可靠抓取、相机、训练或 sim-to-real 策略迁移。MuJoCo 使用软接触，受力时允许小量穿入，瞬态大小取决于速度/载荷；这与缺少碰撞体导致整体穿过不同，高速/薄物体也不属于已验证范围。 + +### 更新碰撞体后必须重新转换模型 + +1. 退出 Python 控制脚本，停止外控；刷新前端页面加载新代码。 +2. **重新导入 `build/lekiwi/lekiwi-v1.zip` 中的原始 URDF**，显式选择 **LeKiwi v1（仿真专用）**，重新“转换并加载”。源 ZIP 没变，不必重新下载；不要继续使用旧的已转换 MJCF/缓存模型。旧 MJCF 会提示从原始 URDF 重新转换。 +3. 在检查器勾选“显示碰撞几何”，可查看橙色凸包，确认覆盖两侧指尖、臂座、`Square`、`Mirror`、其他臂段和固定附件；此开关仅影响显示，不开关物理碰撞。 +4. 重新连接桥接、播放并允许外部控制，再启动键盘脚本。`v` 张开、`b` 闭合；可以先用 `--gripper-speed 25` 低速检查。 + +### 网页关节滑条不是物理运动 + +旧关节滑条是暂停后直接写 `qpos` 的姿态编辑器，会绕过物理积分，碰撞体不能阻止这种“瞬移”。现在启用机器人 profile 时，**关节角只读、禁用关节拖动/单独重置关节、禁止直接位姿写入和忽略关节限位**；要运动请播放后调整“执行器”目标，或使用键盘/外控。普通非 profile 模型仍保留原姿态编辑功能。“重置仿真”仍可用，并保留撤销外控和 epoch 更新。外控期间继续禁止手动执行器写入。 + +## 完整演示 + +从仓库根目录执行： + +```bash +source .venv/bin/activate # Python 3.12 +python -m pip install -e ./control_bridge +python examples/lekiwi/setup_lerobot.py # 固定 CPU 依赖，仅写 build/venvs/lerobot/ +npm ci +npm run dev +``` + +1. 将 `build/lekiwi/lekiwi-v1.zip` 导入工作台，在 URDF 对话框显式选择 **LeKiwi v1（仿真专用）**，点击“转换并加载”。若已导入可兼容 MJCF，在“控制台 → 开源项目 / 外部控制”选择 profile 并重新编译。 +2. 另一终端用 `.venv/bin/python -m mujoco_control_bridge` 启动本机服务。复制启动时显示的 token，在工作台填入 `http://127.0.0.1:8766` 和 token，点击“连接桥接”。 +3. 点击“播放”，再点击“允许外部控制”。外控锁定 1×；手动关节/执行器写入不可用，原 Python/ONNX 停止。 +4. 第三个终端设置同一 token，运行真正的 LeRobot 插件示例： + +```bash +read -rsp '控制 token: ' MUJOCO_CONTROL_TOKEN; echo +export MUJOCO_CONTROL_TOKEN +export MUJOCO_CONTROL_ENDPOINT=http://127.0.0.1:8766 +env -u PYTHONPATH PYTHONNOUSERSITE=1 build/venvs/lerobot/bin/python \ + examples/lekiwi/demo_control.py --duration 60 +``` + +脚本保留“读状态 → 合成动作 → 发送 → 节拍等待”的上游 30 Hz 循环形状，九个通道一起运动，输出确认目标、实测反馈、时间和延迟统计。不运行硬件构造函数，不初始化串口/相机/GPU。 + +脚本退出会自动暂停。重新演示必须再次播放并授权；重置、模型重载、页面隐藏/退出、控制进程崩溃和超时也不会自动恢复。 + +键盘演示（包括从 `demo_control.py` 切换过来）必须再次完成 **播放 → 允许外部控制 → 启动脚本**。授权不会自动播放；确认按钮已变为“暂停”、外控状态为“等待 Python 控制者”，再执行： + +```bash +env -u PYTHONPATH PYTHONNOUSERSITE=1 build/venvs/lerobot/bin/python \ + examples/lekiwi/teleoperate_sim.py +``` + +### 底盘 + 机械臂键盘控制 + +原 LeKiwi 仓库主要提供硬件/CAD/URDF，其 README 的遥操作方案是 **WASD + leader arm**：键盘控制底盘，SO-ARM leader 的六路位置控制从臂。当前仿真已经实现五个臂关节和夹爪的执行器、单位换算与反馈；这里用键盘关节点动替代实体 leader，无需安装硬件驱动或更换桥接；但更新碰撞配方仍须按上文重新转换模型。 + +在运行脚本的 Linux 交互终端使用小写按键： + +| 按键 | 功能 | LeRobot 动作通道 | +| -------------- | ---------------------------------------------- | ----------------------- | +| `w / s` | 底盘前进 / 后退 | `x.vel` | +| `a / d` | 底盘左移 / 右移 | `y.vel` | +| `z / x` | 底盘左转 / 右转 | `theta.vel` | +| `r / f` | 底盘速度升档 / 降档（不改变臂速度） | — | +| `u / j` | 肩部旋转角增大 / 减小 | `arm_shoulder_pan.pos` | +| `i / k` | 肩部俯仰角增大 / 减小 | `arm_shoulder_lift.pos` | +| `o / l` | 肘部角度增大 / 减小 | `arm_elbow_flex.pos` | +| `t / g` | 腕部俯仰角增大 / 减小 | `arm_wrist_flex.pos` | +| `y / h` | 腕部旋转角增大 / 减小 | `arm_wrist_roll.pos` | +| `v / b` | 夹爪张开 / 闭合 | `arm_gripper.pos` | +| 空格 | 清除按键脉冲，底盘停止、机械臂保持最后确认目标 | — | +| `q` / `Ctrl+C` | 退出、释放控制权并暂停仿真 | — | + +- 臂按键是**关节空间点动**，不是末端 XYZ/逆运动学控制。五个关节使用度，夹爪使用 0–100 开度；角度正负不代表相机画面中的上下左右。 +- 初始目标来自实测姿态，不会启动即归零。每轮 30 Hz 将底盘速度与臂增量合成一条动作；关节/夹爪限幅由现有 profile 执行，下一轮从**确认后的目标**累加，避免到限位后积累不可见的超限目标。 +- 默认臂速度为 20 度/秒、夹爪速度为 50 百分点/秒，可用下列参数调慢（上限分别为 90 和 100，必须大于零）。控制循环卡顿不会补发大幅角度跳变。 + +```bash +env -u PYTHONPATH PYTHONNOUSERSITE=1 build/venvs/lerobot/bin/python \ + examples/lekiwi/teleoperate_sim.py --arm-speed 5 --gripper-speed 25 +``` + +终端输入是 **180 ms 脉冲**，不是系统级按下/松开监听；点按为小步调整，长按依赖系统键盘重复，组合键只是重叠脉冲。脉冲过期后底盘速度归零、机械臂保持最后确认目标，脚本仍持续发送动作。空格不会退出授权，也不会将机械臂归零；真正停止仿真请按 `q` 或在页面停止外控。请并排显示浏览器和终端，保持仿真页面可见；隐藏/最小化页面会撤销授权。 + +底盘和机械臂必须由**同一个控制循环**合成动作，不能分别启动两个 Python 控制者；外控期间也不能同时用网页执行器滑条写入。碰到其他臂段/安装板后不会继续到达目标；完整 CAD 下可用运动范围可能比声明的关节上下限窄，遇阻应反向点动，而不是扩大限位或禁用碰撞。 + +### 后续接实体 leader 的接入点 + +若要复用上游 SO100/SO101 leader，保留 `lekiwi_sim` 作为被控机器人，只替换机械臂输入源：在 leader 已连接、完成硬件校准且 `use_degrees=True` 的前提下，将 `leader.get_action()` 的 `shoulder_pan.pos` 等六路键名加 `arm_` 前缀，再与底盘动作合并后调用同一个 `robot.send_action()`。不要启动实体 LeKiwi follower/ZMQ 服务，也不要把归一化的 -100…100 臂角当成度。 + +这只是接口接入说明，当前终端脚本未实现串口 leader 模式，也未做硬件验证；接入前还需核对真实 leader 与仿真 profile 的零位/方向、限位和每步速度限制。当前模型不保证可靠抓取或 sim-to-real 一致性。 + +## 连接时提示“机器人观测超过 500ms 未更新” + +这表示本机桥接可访问，但未收到浏览器端新的机器人观测；不是 LeRobot 安装或 Python 导入错误。桥接连接成功不等于仿真正在运行。 + +1. 将浏览器和终端并排显示，保持仿真页面可见，不要切换到其他浏览器标签、最小化或完全遮住仿真窗口。页面隐藏会撤销授权；若显示“未连接”，先重新连接桥接。 +2. 查看“机器人观测状态”。若显示“已暂停（非实时观测）”或播放按钮仍为“播放”，先点击 **播放**，再点击 **允许外部控制**。前一个脚本退出、停止外控或超时后都会暂停，不能只重新运行 Python。 +3. 确认仿真时间持续增加、观测年龄低于 500 ms，状态显示“等待 Python 控制者”，然后在终端重跑脚本。等待 Python 连接本身没有 500 ms 倒计时；这个阈值检查的是观测新鲜度，取得租约后还会检查动作是否持续更新。 +4. 若正在播放且页面可见时观测仍持续过期，检查页面错误和主线程卡顿；必要时重新加载模型并连接、播放、授权。不要通过增大 SDK HTTP 超时来绕过：HTTP 超时与 500 ms 观测/动作安全看门狗是两回事。 + +旧版桥接会将暂停超过 500 ms 也报成“观测过期”；修复后会明确提示“仿真已暂停；请先在浏览器点击‘播放’，再点击‘允许外部控制’”。更新代码后需重启 `python -m mujoco_control_bridge`，并在页面重新连接、播放、授权；若服务生成了新 token，请同时更新浏览器和终端中的 token。 + +## 回归和证据 + +```bash +source .venv/bin/activate +npm run test:control-bridge +build/venvs/lerobot/bin/python -m unittest discover -s integrations/lerobot/tests -v +LEROBOT_PYTHON="$PWD/build/venvs/lerobot/bin/python" npm run test:e2e:lekiwi +# 仅物理测试（不需 LeRobot） +npx playwright test -c web_platform/playwright.lekiwi.config.ts lekiwi.physics.spec.ts lekiwi.gripper.spec.ts lekiwi.armCollision.spec.ts lekiwi.fullCollision.spec.ts +``` + +专用套件不是 mock：整臂 18 个视觉网格的 108 次独立 CAD 表面接触探针，六关节各两个有界目标扫掠，`Mirror/Square` 主体接触阻挡/脱离及禁止直接 `qpos` 写入；真实 WASM 3.11.0 的 30 仿真秒站稳、正负三轴运动、臂/夹爪、墙体阻挡、两侧 CAD 指尖探针接触、开度与实际指间距同向、张开空隙不误碰撞、闭合被物体阻挡以及指面自碰撞、上臂下压时与自身臂座组件的真实接触/穿入量及反向脱离（完整模型中安装板或肩部结构夹片先于底座本体接触）；真实 Python/LeRobot、PTY 终端底盘 + 六路臂/夹爪正反点动、无输入保持与退出撤权、完整工作台文件导入→编译→授权→60 秒控制；另含旧控制回调、reset、新 epoch、崩溃、重载/回滚、隐藏和 JS 冻结恢复。 + +`build/e2e/lekiwi/` 保存 XML、物理轨迹、60 秒 JSON（RTT、新鲜度、FPS/步进预算、JS/WASM 堆容量）和截图。普通 E2E 不下载资产或安装 LeRobot；专用 CI 缺依赖即失败，不静默跳过。 + +软件 WebGL 比物理计算慢：外控物理/传输独立调度；检测到 SwiftShader 等软件渲染时关闭阴影、3D 显示上限 5 FPS，观测仍约 30 Hz。不能把此模式当作锁步 RL 或硬实时系统。性能实测、兼容矩阵和限制见 [机器人接口](../../docs/robot-interface.md)。 diff --git a/examples/lekiwi/demo_control.py b/examples/lekiwi/demo_control.py new file mode 100644 index 00000000..6be0f7b1 --- /dev/null +++ b/examples/lekiwi/demo_control.py @@ -0,0 +1,98 @@ +"""Hardware-free LeRobot loop: observe -> compose action -> send, at 30 Hz. + +Only the robot implementation and input source differ from the upstream example. +This is real-time control, NOT lockstep RL or dataset recording. +""" + +import argparse +import json +import math +import os +import time +from importlib.metadata import version + +from lerobot.robots.config import RobotConfig +from lerobot.robots.utils import make_robot_from_config +from lerobot.utils.import_utils import register_third_party_plugins + + +def make_robot(endpoint): + register_third_party_plugins() + config_type = RobotConfig.get_choice_class("lekiwi_sim") + return make_robot_from_config(config_type(endpoint=endpoint, id="lekiwi-sim-demo")) + + +def run_demo(endpoint, duration=10.0): + if not math.isfinite(duration) or not 1 <= duration <= 3600: + raise ValueError("演示时长必须为1–3600秒") + robot = make_robot(endpoint) + robot.connect() + try: + start = time.monotonic() + first = robot.get_sim_observation() + latencies, gaps, max_motion = [], [], 0.0 + steps = math.ceil(duration * 30) + previous_sim_time = first["simTime"] + for i in range(steps): + tick = time.monotonic() + observation = robot.get_observation() + t = i / 30 + action = { + "arm_shoulder_pan.pos": 10 * math.sin(t), + "arm_shoulder_lift.pos": 6 * math.sin(t + 0.2), + "arm_elbow_flex.pos": 8 * math.sin(t + 0.4), + "arm_wrist_flex.pos": 6 * math.sin(t + 0.6), + "arm_wrist_roll.pos": 12 * math.sin(t + 0.8), + "arm_gripper.pos": 50 + 25 * math.sin(t), + "x.vel": 0.05 * math.cos(t), + "y.vel": 0.05 * math.sin(t), + "theta.vel": 10 * math.sin(t / 2), + } + accepted = robot.send_action(action) + platform = robot.get_sim_observation() + latencies.append((time.monotonic() - tick) * 1000) + gaps.append(platform["simTime"] - previous_sim_time) + previous_sim_time = platform["simTime"] + max_motion = max( + max_motion, + math.hypot( + platform["values"]["base.x"] - first["values"]["base.x"], + platform["values"]["base.y"] - first["values"]["base.y"], + ), + ) + time.sleep(max(0, start + (i + 1) / 30 - time.monotonic())) + ordered = sorted(latencies) + return { + "lerobot": version("lerobot"), + "torch": version("torch"), + "steps": steps, + "elapsedSeconds": time.monotonic() - start, + "simSeconds": platform["simTime"] - first["simTime"], + "rttMeanMs": sum(latencies) / len(latencies), + "rttP95Ms": ordered[int(0.95 * (len(ordered) - 1))], + "rttMaxMs": max(latencies), + "maxObservationSimGap": max(gaps), + "maxTranslationM": max_motion, + "observation": observation, + "accepted": accepted, + "sequence": platform["sequence"], + "appliedActionSeq": platform["appliedActionSeq"], + "timeouts": 0, + "droppedRequests": 0, + } + finally: + robot.disconnect() + + +def main(): + parser = argparse.ArgumentParser(description="LeKiwi 仿真：先播放并在浏览器显式授权") + parser.add_argument( + "--endpoint", default=os.environ.get("MUJOCO_CONTROL_ENDPOINT", "http://127.0.0.1:8766") + ) + parser.add_argument("--duration", type=float, default=10) + args = parser.parse_args() + print(json.dumps(run_demo(args.endpoint, args.duration), ensure_ascii=False)) + + +if __name__ == "__main__": + main() diff --git a/examples/lekiwi/generate_arm_collisions.py b/examples/lekiwi/generate_arm_collisions.py new file mode 100644 index 00000000..89e6a744 --- /dev/null +++ b/examples/lekiwi/generate_arm_collisions.py @@ -0,0 +1,51 @@ +"""Offline CAD collisions for the fixed arm pedestal and shoulder-lift link. + +Use the same source-bound triangle clipping as the jaw recipe. Separate convex +slices avoid spanning the pedestal's stepped silhouette or the link's full length +with one broad hull. These are conservative parts, not triangle-mesh collisions. +""" + +import argparse +import json +from pathlib import Path + +from generate_gripper_collisions import ROOT, generate + +# Original STL coordinates, millimeters; seams overlap by 1 mm. +PARTS = [ + ("base_foot", "Base_08q-v1", [(1, 1, 16.0)]), + ("base_column", "Base_08q-v1", [(1, -1, -15.0), (1, 1, 59.0)]), + ("base_crown", "Base_08q-v1", [(1, -1, -58.0)]), + ("upper_arm_end", "SO_ARM100_08k_116_Square-v1", [(0, 1, -28.0)]), + ("upper_arm_beam", "SO_ARM100_08k_116_Square-v1", [(0, -1, 29.0), (0, 1, 50.0)]), + ("upper_arm_hinge", "SO_ARM100_08k_116_Square-v1", [(0, -1, -49.0)]), +] +SOURCE_HASHES = { + "Base_08q-v1.stl": "a05be37db52657615ac69423fe577979efa0cd0634a5e9546bbc85537f003172", + "SO_ARM100_08k_116_Square-v1.stl": ( + "64fdc308759ff58756e3c39a0ea8018d6b37b551bc3d29238b6e86bc5acae666" + ), +} + + +def main(): + parser = argparse.ArgumentParser(description="从固定版本 STL 重建 LeKiwi 底座/上臂碰撞体") + parser.add_argument("--source", type=Path, default=ROOT / "build/lekiwi/URDF/meshes") + parser.add_argument( + "--output", type=Path, default=ROOT / "robot_profiles/lekiwi-arm-collision.json" + ) + parser.add_argument("--check", action="store_true", help="只验证已签入的碰撞数据可重建") + args = parser.parse_args() + result = generate(args.source, definitions=PARTS, source_hashes=SOURCE_HASHES, revision=3) + if args.check: + if json.loads(args.output.read_text()) != result: + raise ValueError("底座/上臂碰撞数据与固定 CAD/生成器不一致") + else: + args.output.parent.mkdir(parents=True, exist_ok=True) + args.output.write_text(json.dumps(result, indent=2) + "\n") + status = "验证通过" if args.check else args.output + print(f"LeKiwi 底座/上臂碰撞体：{len(result['parts'])} 个分段凸包，{status}") + + +if __name__ == "__main__": + main() diff --git a/examples/lekiwi/generate_full_collisions.py b/examples/lekiwi/generate_full_collisions.py new file mode 100644 index 00000000..e5025377 --- /dev/null +++ b/examples/lekiwi/generate_full_collisions.py @@ -0,0 +1,494 @@ +"""Offline collision-from-visuals cooking for the complete LeKiwi arm subtree. + +Run in build/venvs/collision, NOT the training or LeRobot environment. CoACD is +never imported by the browser/bridge. Each convex part is a separate MJCF mesh. +""" + +import argparse +import hashlib +import importlib.metadata +import json +import os +import xml.etree.ElementTree as ET +from pathlib import Path + +# Fix the numerical execution environment before importing numpy/CoACD. +os.environ["OMP_NUM_THREADS"] = "4" +os.environ["OPENBLAS_NUM_THREADS"] = "1" + +ROOT = Path(__file__).resolve().parents[2] +CONFIG = ROOT / "robot_profiles/lekiwi-collision-source.json" +VERSIONS = {"coacd": "1.0.14", "trimesh": "4.12.2", "numpy": "2.1.3", "scipy": "1.17.0"} +PARAMETERS = { + "threshold": 0.003, + "real_metric": True, + "preprocess_mode": "auto", + "preprocess_resolution": 60, + "resolution": 1000, + "mcts_nodes": 12, + "mcts_iterations": 60, + "mcts_max_depth": 3, + "decimate": True, + "max_ch_vertex": 96, + "seed": 42, +} + + +def digest(data): + return hashlib.sha256(data).hexdigest() + + +def visuals(source, config): + """Select every visual in the subtree, including welded motors/accessories.""" + urdf = (source / "LeKiwi.urdf").read_bytes() + if digest(urdf) != config["urdfSha256"]: + raise ValueError("URDF 与固定版本不符") + robot = ET.fromstring(urdf) + parents = { + j.find("child").get("link"): j.find("parent").get("link") for j in robot.findall("joint") + } + result = [] + for link in robot.findall("link"): + ancestor = link.get("name") + visited = set() + while ancestor in parents and ancestor != config["rootLink"]: + if ancestor in visited: + raise ValueError("URDF 运动链存在环") + visited.add(ancestor) + ancestor = parents[ancestor] + if ancestor != config["rootLink"]: + continue + for visual in link.findall("visual"): + mesh = visual.find("geometry/mesh") + if mesh is None: + raise ValueError("当前固定资产只支持 STL 视觉网格，不能静默遗漏几何") + filename = mesh.get("filename") + path = (source / filename).resolve() + if not path.is_relative_to(source.resolve()) or filename not in config["meshes"]: + raise ValueError(f"未批准的源网格：{filename}") + sha = digest(path.read_bytes()) + if sha != config["meshes"][filename]: + raise ValueError(f"源网格 SHA-256 不匹配：{filename}") + scale = [float(x) for x in mesh.get("scale", "1 1 1").split()] + if len(scale) != 3 or not all(0 < x < float("inf") for x in scale): + raise ValueError("无效的视觉网格缩放") + result.append( + { + "link": link.get("name"), + "visual": visual.get("name"), + "mesh": filename, + "sha256": sha, + "scale": scale, + } + ) + if not result or {v["mesh"] for v in result} != set(config["meshes"]): + raise ValueError("整臂视觉覆盖清单不完整") + return result + + +def swept_bounds(vertices, axis): + """Conservative axial/radial intervals for a full revolution, not pose sampling.""" + import numpy as np + from scipy.spatial import ConvexHull + + axial = vertices @ axis + reference = np.eye(3)[int(np.argmin(np.abs(axis)))] + x = np.cross(axis, reference) + x /= np.linalg.norm(x) + y = np.cross(axis, x) + projected = vertices @ np.column_stack([x, y]) + hull = ConvexHull(projected) + radial_min = 0.0 + if hull.equations[:, 2].max() > 0: + a = projected[hull.vertices] + b = np.roll(a, -1, axis=0) + edge = b - a + t = np.clip(-(a * edge).sum(axis=1) / (edge * edge).sum(axis=1), 0, 1) + radial_min = float(np.linalg.norm(a + t[:, None] * edge, axis=1).min()) + return ( + float(axial.min()), + float(axial.max()), + radial_min, + float(np.linalg.norm(projected, axis=1).max()), + ) + + +def intervals_overlap(a, b, margin=0.0001): + # 0.1 mm conservative allowance for serialized/compiled frame precision. + return ( + max(a[0], b[0]) <= min(a[1], b[1]) + margin and max(a[2], b[2]) <= min(a[3], b[3]) + margin + ) + + +def assembly_frames(source, config, coverage): + """URDF joint/visual frames for both geometric partitioning and pair policy.""" + import numpy as np + from scipy.spatial.transform import Rotation + + robot = ET.parse(source / "LeKiwi.urdf").getroot() + joints = {j.get("name"): j for j in robot.findall("joint")} + parents = {j.find("child").get("link"): j for j in joints.values()} + links = {link.get("name"): link for link in robot.findall("link")} + poses = {} + + def origin(node): + result = np.eye(4) + if node is not None: + result[:3, 3] = [float(x) for x in node.get("xyz", "0 0 0").split()] + result[:3, :3] = Rotation.from_euler( + "xyz", [float(x) for x in node.get("rpy", "0 0 0").split()] + ).as_matrix() + return result + + def pose(link): + if link not in poses: + j = parents.get(link) + poses[link] = ( + np.eye(4) + if j is None + else pose(j.find("parent").get("link")) @ origin(j.find("origin")) + ) + return poses[link] + + def owner(link): + if link == config["rootLink"]: + return "base" + j = parents[link] + return owner(j.find("parent").get("link")) if j.get("type") == "fixed" else j.get("name") + + by_visual = {} + for item in coverage: + item["weldJoint"] = owner(item["link"]) + visual = next( + v for v in links[item["link"]].findall("visual") if v.get("name") == item["visual"] + ) + by_visual[item["visual"]] = ( + item["weldJoint"], + pose(item["link"]) @ origin(visual.find("origin")), + ) + result = [] + for name, core in config["assemblyCores"].items(): + if not (0 < core["radiusM"] <= 0.025 and 0 < core["axialHalfExtentM"] <= 0.06): + raise ValueError("装配配合区域超出已审核尺寸预算") + j = joints[name] + parent = owner(j.find("parent").get("link")) + transform = pose(j.find("child").get("link")) + axis = transform[:3, :3] @ np.array([float(x) for x in j.find("axis").get("xyz").split()]) + axis /= np.linalg.norm(axis) + result.append((name, parent, transform, axis, core)) + return by_visual, result + + +def joint_policy(source, config, parts, coverage): + """Bound exceptions by joint-local geometry, never by a whole body pair.""" + import numpy as np + + by_visual, frames = assembly_frames(source, config, coverage) + result = [] + for name, parent, transform, axis, core in frames: + members = [] + groups = {parent: {}, name: {}} + for part in parts: + group, visual_pose = by_visual[part["visual"]] + if group not in (parent, name): + continue + vertices = np.fromstring(part["vertices"], sep=" ").reshape(-1, 3) + offsets = vertices @ visual_pose[:3, :3].T + visual_pose[:3, 3] - transform[:3, 3] + bounds = swept_bounds(offsets, axis) + groups[group][part["name"]] = bounds + if ( + bounds[3] <= core["radiusM"] + and max(abs(bounds[0]), abs(bounds[1])) <= core["axialHalfExtentM"] + ): + members.append(part["name"]) + core_set = set(members) + pairs = [] + filtered = pruned = 0 + for a, bound_a in groups[parent].items(): + for b, bound_b in groups[name].items(): + if a in core_set or b in core_set: + filtered += 1 + elif not intervals_overlap(bound_a, bound_b): + pruned += 1 + else: + pairs.append([a, b]) + if not pairs: + raise ValueError(f"不能关闭整对相邻连杆碰撞：{name}") + result.append( + { + "joint": name, + "parent": parent, + **core, + "coreParts": members, + "pairs": pairs, + "coreFilteredPairs": filtered, + "sweptPrunedPairs": pruned, + } + ) + return result + + +def clip_convex(vertices, normal, offset): + """Intersect a convex hull with a half-space, retaining all crossing edges.""" + import numpy as np + from scipy.spatial import ConvexHull, QhullError + + signed = vertices @ normal - offset + if signed.max() <= 1e-10: + return vertices + if signed.min() >= -1e-10: + return None + hull = ConvexHull(vertices) + result = list(vertices[signed <= 0]) + for triangle in hull.simplices: + for i in range(3): + a, b = triangle[i], triangle[(i + 1) % 3] + if signed[a] * signed[b] < 0: + result.append( + vertices[a] + (vertices[b] - vertices[a]) * signed[a] / (signed[a] - signed[b]) + ) + points = np.unique(np.asarray(result), axis=0) + if len(points) < 4: + return None + try: + # Remove edge/triangulation interpolation points BEFORE rounding; + # rounding collinear points first invents tiny zigzag facet vertices. + points = np.unique(np.round(points[ConvexHull(points).vertices], 6), axis=0) + if len(points) < 4: + return None + hull = ConvexHull(points) + except QhullError: + return None # sub-micrometre cutting sliver collapsed by serialization + if hull.volume <= 1e-15: + return None + return points[hull.vertices] + + +def split_core(vertices, planes): + """Partition, not delete: core and every outside fragment retain external contact.""" + result = [] + pending = vertices + for normal, offset in planes: + outside = clip_convex(pending, -normal, -offset) + if outside is not None: + result.append(outside) + pending = clip_convex(pending, normal, offset) + if pending is None: + return result + result.append(pending) + return result + + +def partition_assembly_cores(source, config, parts, coverage): + """Split straddling hulls so a bearing contact cannot lock a structural hull. + + A 16-sided inscribed prism stays inside each reviewed cylinder. The 2um + inset keeps rounding from reclassifying its core as structural. No region + is removed; only whole resulting core parts receive local mating exceptions. + """ + import numpy as np + from scipy.spatial import ConvexHull + + by_visual, frames = assembly_frames(source, config, coverage) + shapes = [ + (part["visual"], np.fromstring(part["vertices"], sep=" ").reshape(-1, 3)) for part in parts + ] + for name, parent, transform, axis, core in frames: + x = np.cross(axis, np.eye(3)[int(np.argmin(np.abs(axis)))]) + x /= np.linalg.norm(x) + y = np.cross(axis, x) + normals = [np.cos(t) * x + np.sin(t) * y for t in np.arange(16) * (2 * np.pi / 16)] + [ + axis, + -axis, + ] + distances = [(core["radiusM"] - 0.000002) * np.cos(np.pi / 16)] * 16 + [ + core["axialHalfExtentM"] - 0.000002 + ] * 2 + divided = [] + for visual, vertices in shapes: + group, pose = by_visual[visual] + if group not in (parent, name): + divided.append((visual, vertices)) + continue + origin = pose[:3, 3] - transform[:3, 3] + bounds = swept_bounds(vertices @ pose[:3, :3].T + origin, axis) + if ( + ( + bounds[3] <= core["radiusM"] + and max(abs(bounds[0]), abs(bounds[1])) <= core["axialHalfExtentM"] + ) + or bounds[2] > core["radiusM"] + or bounds[0] > core["axialHalfExtentM"] + or bounds[1] < -core["axialHalfExtentM"] + ): + divided.append((visual, vertices)) + continue + planes = [ + (pose[:3, :3].T @ n, distance - n @ origin) + for n, distance in zip(normals, distances, strict=True) + ] + pieces = split_core(vertices, planes) + original = ConvexHull(vertices) + volume = sum(ConvexHull(piece).volume for piece in pieces) + if abs(volume - original.volume) > max(original.volume * 0.01, original.area * 0.00001): + raise ValueError(f"配合区切分体积误差超出微米量化预算：{visual}") + divided.extend((visual, piece) for piece in pieces) + shapes = divided + result = [] + for item in coverage: + pieces = [v for visual, v in shapes if visual == item["visual"]] + pieces.sort(key=lambda v: tuple(v.mean(axis=0))) + item["coacdParts"] = item["parts"] + item["parts"] = len(pieces) + if not 1 <= len(pieces) <= 256: + raise ValueError("装配区域分割超出预算") + for i, vertices in enumerate(pieces): + if len(vertices) > 256: + raise ValueError(f"装配分割凸包顶点超出预算：{item['visual']} / {len(vertices)}") + result.append( + { + "name": f"{item['link']}__h{i:03d}", + "visual": item["visual"], + "vertices": " ".join( + f"{value:.6f}" for point in sorted(map(tuple, vertices)) for value in point + ), + } + ) + return result + + +def cook(source, config, cache): + import coacd + import numpy as np + import trimesh + from scipy.spatial import ConvexHull + + for name, version in VERSIONS.items(): + if importlib.metadata.version(name) != version: + raise ValueError(f"请使用离线固定依赖：{name}=={version}") + coacd.set_log_level("info") + parts = [] + coverage = [] + for visual in visuals(source, config): + key = digest( + json.dumps( + { + "source": visual["sha256"], + "scale": visual["scale"], + "parameters": PARAMETERS, + "versions": VERSIONS, + "threads": 4, + }, + sort_keys=True, + ).encode() + ) + cached = cache / f"{key}.json" + mesh = trimesh.load(source / visual["mesh"], force="mesh") + mesh.apply_scale(visual["scale"]) + if cached.exists(): + hulls = json.loads(cached.read_text()) + else: + print(f"生成 {visual['mesh']}", flush=True) + raw = coacd.run_coacd(coacd.Mesh(mesh.vertices, mesh.faces), **PARAMETERS) + hulls = [sorted(np.round(v, 6).tolist()) for v, _ in raw] + hulls.sort(key=lambda vertices: tuple(np.mean(vertices, axis=0))) + cache.mkdir(parents=True, exist_ok=True) + temporary = cached.with_suffix(".tmp") + temporary.write_text(json.dumps(hulls)) + temporary.replace(cached) + if not 1 <= len(hulls) <= 128: + raise ValueError(f"凸包数量超出预算：{visual['mesh']}") + # An explicit sampled coverage diagnostic, not a certified Hausdorff bound. + samples = np.concatenate([mesh.vertices, mesh.triangles_center])[::3] + outside = np.full(len(samples), np.inf) + for index, vertices in enumerate(hulls): + v = np.asarray(vertices) + if ( + v.ndim != 2 + or v.shape[1] != 3 + or not 4 <= len(v) <= PARAMETERS["max_ch_vertex"] + or not np.isfinite(v).all() + ): + raise ValueError("凸包顶点损坏或超出预算") + if (v.min(axis=0) < mesh.bounds[0] - 0.002).any() or ( + v.max(axis=0) > mesh.bounds[1] + 0.002 + ).any(): + raise ValueError("凸包超出源网格边界预算") + hull = ConvexHull(v) + if hull.volume <= 1e-15: + raise ValueError("退化凸包") + signed_planes = (samples @ hull.equations[:, :3].T + hull.equations[:, 3]).max(axis=1) + outside = np.minimum(outside, signed_planes) + parts.append( + { + "name": f"{visual['link']}__h{index:03d}", + "visual": visual["visual"], + "vertices": " ".join(f"{x:.6f}" for x in v.ravel()), + } + ) + if outside.max() > 0.0015: + raise ValueError(f"源表面采样覆盖不合格：{visual['mesh']}") + coverage.append( + { + **visual, + "parts": len(hulls), + "samples": len(samples), + "coacdSampleOutsidePlanesMaxM": float(max(0, outside.max())), + "sourceWatertight": bool(mesh.is_watertight), + "cacheKey": key, + } + ) + print( + f"完成 {visual['link']}: {len(hulls)} hulls; sampled plane gap={outside.max():.6g} m", + flush=True, + ) + parts = partition_assembly_cores(source, config, parts, coverage) + policy = joint_policy(source, config, parts, coverage) + geometry_sha = digest(json.dumps(parts, sort_keys=True, separators=(",", ":")).encode()) + physics = {"timestep": 0.001, "solref": [0.002, 1], "solimp": [0.95, 0.99, 0.001]} + recipe_sha = digest( + json.dumps( + {"geometry": geometry_sha, "policy": policy, "physics": physics}, + sort_keys=True, + separators=(",", ":"), + ).encode() + ) + return { + "revision": 4, + "geometrySha256": geometry_sha, + "recipeSha256": recipe_sha, + "physics": physics, + "jointPolicy": policy, + "source": config, + "generator": { + "versions": VERSIONS, + "parameters": PARAMETERS, + "threads": 4, + "corePartition": {"sides": 16, "insetM": 0.000002}, + }, + "coverage": coverage, + "parts": parts, + } + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--source", type=Path, default=ROOT / "build/lekiwi/URDF") + parser.add_argument("--cache", type=Path, default=ROOT / "build/collision-cache") + parser.add_argument( + "--output", type=Path, default=ROOT / "robot_profiles/lekiwi-full-collision.json" + ) + parser.add_argument("--check", action="store_true") + args = parser.parse_args() + result = cook(args.source, json.loads(CONFIG.read_text()), args.cache) + if args.check: + if json.loads(args.output.read_text()) != result: + raise ValueError("已生成碰撞数据与源文件/算法参数不一致") + else: + args.output.parent.mkdir(parents=True, exist_ok=True) + args.output.write_text(json.dumps(result, indent=2) + "\n") + print(f"整臂碰撞覆盖 {len(result['coverage'])} 个视觉网格 / {len(result['parts'])} 个凸包") + + +if __name__ == "__main__": + main() diff --git a/examples/lekiwi/generate_gripper_collisions.py b/examples/lekiwi/generate_gripper_collisions.py new file mode 100644 index 00000000..50d5d6e4 --- /dev/null +++ b/examples/lekiwi/generate_gripper_collisions.py @@ -0,0 +1,117 @@ +"""Offline, deterministic convex parts from the pinned CAD (requires numpy/scipy). + +Runtime imports the checked-in JSON only; no extra browser/Python teleop dependency. +Do not use one hull for the entire gripper: that would fill its open jaw space. +""" + +import argparse +import hashlib +import json +import struct +from pathlib import Path + +import numpy as np +from scipy.spatial import ConvexHull + +ROOT = Path(__file__).resolve().parents[2] +# Cuts in the original STL's millimeters, with 1 mm overlap at each seam. +# Each plane keeps sign * coordinate[axis] <= limit. +PARTS = [ + ("fixed_palm", "Wrist_Roll_08c-v1", [(2, 1, 39.0)]), + ("fixed_finger", "Wrist_Roll_08c-v1", [(2, -1, -38.0)]), + ("moving_hinge", "Moving_Jaw_08d-v1", [(1, -1, 22.0)]), + ("moving_finger", "Moving_Jaw_08d-v1", [(1, 1, -21.0), (1, -1, 60.0)]), + ("moving_tip", "Moving_Jaw_08d-v1", [(1, 1, -59.0)]), +] +# Bound to prepare_assets.py's pinned source; never silently regenerate for another CAD. +SOURCE_HASHES = { + "Wrist_Roll_08c-v1.stl": "87507f73f485c2cacb3dc83924a712069fbd68f72b82d4a31a2cfe7f58c9e4c9", + "Moving_Jaw_08d-v1.stl": "71caabee267376791210950b3b4e2f7968d9b57b92ed3f57711c03f2b5666912", +} + + +def clip_polygon(polygon, axis, sign, limit): + result = [] + for previous, current in zip(polygon[-1:] + polygon[:-1], polygon, strict=True): + a = sign * previous[axis] - limit + b = sign * current[axis] - limit + if (a <= 0) != (b <= 0): + result.append(previous + (current - previous) * (a / (a - b))) + if b <= 0: + result.append(current) + return result + + +def generate(source, *, definitions=PARTS, source_hashes=SOURCE_HASHES, revision=2): + """Shared CAD-frame convex clipping; callers bind their own source hashes/cuts.""" + parts = [] + for name, mesh, planes in definitions: + raw = (source / (mesh + ".stl")).read_bytes() + digest = hashlib.sha256(raw).hexdigest() + if digest != source_hashes[mesh + ".stl"]: + raise ValueError(f"不支持的碰撞体 CAD：{mesh}.stl ({digest})") + count = struct.unpack_from(" str: + return hashlib.sha256(data).hexdigest() + + +def prepare(source: Path | None, output: Path, download: bool = False) -> Path: + if source is not None: + source = source.resolve() + if source.name == "URDF": + source = source.parent + if not (source / "URDF/LeKiwi.urdf").is_file(): + raise ValueError("Source must be the LeKiwi repository or its URDF directory") + if output.resolve().is_relative_to(source): + raise ValueError("Output must not modify the reference repository") + elif not download: + raise ValueError("Pass --source or explicitly opt in with --download") + files: dict[str, bytes] = {} + total = 0 + + def read(relative: str) -> bytes: + nonlocal total + path = PurePosixPath(relative) + if path.is_absolute() or ".." in path.parts or "\\" in relative: + raise ValueError(f"Unsafe asset path: {relative}") + if source is not None: + file = (source / relative).resolve() + if not file.is_relative_to(source) or file.stat().st_size > MAX_TOTAL: + raise ValueError(f"Invalid asset: {relative}") + data = file.read_bytes() + else: + url = f"https://raw.githubusercontent.com/SIGRobotics-UIUC/LeKiwi/{SOURCE['revision']}/{relative}" + with urllib.request.urlopen(url, timeout=60) as response: + data = response.read(MAX_TOTAL + 1) + total += len(data) + if total > MAX_TOTAL: + raise ValueError("Assets exceed 128 MiB") + files[relative] = data + return data + + urdf = read("URDF/LeKiwi.urdf") + if digest(urdf) != SOURCE["urdfSha256"]: + raise ValueError("URDF revision/hash is not supported by lekiwi-v1") + tree = ET.fromstring(urdf) + for mesh in sorted({m.get("filename", "") for m in tree.iter("mesh")}): + if not mesh.startswith("meshes/") or not mesh.endswith(".stl"): + raise ValueError(f"Unexpected mesh reference: {mesh}") + read(f"URDF/{mesh}") + read("LICENSE.txt") + read("CITATION.cff") + manifest = { + "profileId": PROFILE["id"], + "profileVersion": PROFILE["version"], + "source": SOURCE, + "files": {p: digest(data) for p, data in files.items()}, + } + files["source-manifest.json"] = json.dumps(manifest, indent=2).encode() + files["robot-profile.json"] = json.dumps( + {"id": PROFILE["id"], "version": PROFILE["version"]} + ).encode() + files["SIMULATION-NOTICE.md"] = ( + "# LeKiwi simulation input\n\nSource: " + + SOURCE["repository"] + + "\n\nRevision: " + + SOURCE["revision"] + + "\n\nOriginal URDF/STL files are unmodified, Apache-2.0. " + "The platform applies an explicit simulation-only profile after conversion: estimated " + "mass/inertia/limits/servos and simplified passive-roller contacts. Not a calibrated " + "hardware model; no cameras, training or grasping guarantee.\n" + ).encode() + output.mkdir(parents=True, exist_ok=True) + for relative, data in files.items(): + target = output / relative + if target.is_symlink() or not target.resolve().is_relative_to(output.resolve()): + raise ValueError("Unsafe output path") + target.parent.mkdir(parents=True, exist_ok=True) + target.write_bytes(data) + archive = output / "lekiwi-v1.zip" + if archive.is_symlink() or not archive.resolve().is_relative_to(output.resolve()): + raise ValueError("Unsafe archive output path") + with zipfile.ZipFile(archive, "w", zipfile.ZIP_DEFLATED) as bundle: + for relative, data in files.items(): + info = zipfile.ZipInfo(relative, date_time=(1980, 1, 1, 0, 0, 0)) + info.compress_type = zipfile.ZIP_DEFLATED + info.external_attr = 0o100644 << 16 + bundle.writestr(info, data, compresslevel=9) + return archive + + +def main() -> None: + parser = argparse.ArgumentParser(description=__doc__) + group = parser.add_mutually_exclusive_group(required=True) + group.add_argument("--source", type=Path) + group.add_argument("--download", action="store_true") + parser.add_argument("--output", type=Path, default=ROOT / "build/lekiwi") + args = parser.parse_args() + print(prepare(args.source, args.output, args.download)) + + +if __name__ == "__main__": + main() diff --git a/examples/lekiwi/requirements-collision.txt b/examples/lekiwi/requirements-collision.txt new file mode 100644 index 00000000..6fb81398 --- /dev/null +++ b/examples/lekiwi/requirements-collision.txt @@ -0,0 +1,5 @@ +# Offline cooking only. Do not install into training/LeRobot environments. +coacd==1.0.14 +trimesh==4.12.2 +numpy==2.1.3 +scipy==1.17.0 diff --git a/examples/lekiwi/setup_lerobot.py b/examples/lekiwi/setup_lerobot.py new file mode 100644 index 00000000..e3acd5bc --- /dev/null +++ b/examples/lekiwi/setup_lerobot.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python3 +"""安装经验证的 CPU LeRobot 环境；不修改当前解释器、上游源码或训练环境。""" + +import argparse +import json +import os +import subprocess +import sys +import venv +from pathlib import Path + +ROOT = Path(__file__).resolve().parents[2] + + +def main(): + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--venv", type=Path, default=ROOT / "build/venvs/lerobot") + args = parser.parse_args() + target = args.venv.resolve() + if sys.version_info[:2] != (3, 12): + parser.error("此兼容环境仅验证 Python 3.12，请使用 Python 3.12 执行安装脚本") + if not target.is_relative_to(ROOT / "build") or target == Path(sys.prefix).resolve(): + parser.error("目标必须位于仓库 build/ 下，并且不能是当前环境") + env = {**os.environ, "PYTHONNOUSERSITE": "1", "PYTHONPATH": ""} + if not (target / "bin/python").exists(): + venv.EnvBuilder(with_pip=True).create(target) + python = str(target / "bin/python") + prefix = subprocess.check_output( + [python, "-I", "-c", "import sys; print(sys.prefix)"], env=env, text=True + ).strip() + config = (target / "pyvenv.cfg").read_text().lower() + if Path(prefix).resolve() != target or "include-system-site-packages = false" not in config: + parser.error("目标不是独立 venv；拒绝对共享/其他 Python 环境执行 pip") + + def run(*arguments): + subprocess.run([python, "-m", "pip", *arguments], env=env, cwd=ROOT, check=True) + + run( + "install", + "--index-url", + "https://download.pytorch.org/whl/cpu", + "torch==2.11.0+cpu", + "torchvision==0.26.0+cpu", + ) + constraints = "integrations/lerobot/requirements-cpu.txt" + run("install", "-r", constraints) + run( + "install", + "--no-build-isolation", + "-c", + constraints, + "-e", + "control_bridge", + "-e", + "integrations/lerobot", + ) + run("check") + # Record versions, not pip freeze's private VCS origins or credentials. + result = subprocess.check_output( + [python, "-m", "pip", "list", "--format=json"], env=env, text=True + ) + report = ROOT / "build/lerobot-environment.json" + report.write_text(json.dumps({"python": sys.version, "packages": json.loads(result)}, indent=2)) + print(f"完成：{python}\n版本记录：{report}\n请在此环境执行插件测试和示例。") + + +if __name__ == "__main__": + main() diff --git a/examples/lekiwi/teleoperate_sim.py b/examples/lekiwi/teleoperate_sim.py new file mode 100644 index 00000000..9836ab75 --- /dev/null +++ b/examples/lekiwi/teleoperate_sim.py @@ -0,0 +1,132 @@ +"""Linux terminal base + joint-space arm teleop; no hardware or pynput required.""" + +import argparse +import math +import os +import select +import sys +import termios +import time +import tty + +CONTROL_HZ = 30 +KEY_PULSE_SECONDS = 0.18 +# Positive / negative in LeRobot units: degrees, or 0–100 gripper opening. +ARM_KEYS = { + "arm_shoulder_pan.pos": ("u", "j"), + "arm_shoulder_lift.pos": ("i", "k"), + "arm_elbow_flex.pos": ("o", "l"), + "arm_wrist_flex.pos": ("t", "g"), + "arm_wrist_roll.pos": ("y", "h"), + "arm_gripper.pos": ("v", "b"), +} + + +class KeyboardController: + """Compose base velocities and incremental arm targets in one writer/lease.""" + + def __init__(self, robot, arm_speed=20.0, gripper_speed=50.0): + self.robot = robot + self.arm_speed = arm_speed + self.gripper_speed = gripper_speed + self.targets = robot.get_observation() # Never jump to a hard-coded zero pose. + self.active = {} + self.speed_keys = {robot.teleop_keys[k] for k in ("speed_up", "speed_down")} + self.motion_keys = { + robot.teleop_keys[k] + for k in ("forward", "backward", "left", "right", "rotate_left", "rotate_right") + } | {key for pair in ARM_KEYS.values() for key in pair} + + def step(self, keys, now): + keys = set(keys) + if " " in keys: + self.active.clear() + pressed = set() # Space wins over every movement/speed key in the batch. + else: + self.active = {key: expiry for key, expiry in self.active.items() if expiry > now} + self.active.update(dict.fromkeys(keys & self.motion_keys, now + KEY_PULSE_SECONDS)) + # Speed changes are input events, not a 180 ms pulse repeated every frame. + pressed = set(self.active) | (keys & self.speed_keys) + self.robot.get_observation() # Require fresh feedback even while holding still. + action = self.robot._from_keyboard_to_base_action(pressed) + for channel, (positive, negative) in ARM_KEYS.items(): + direction = int(positive in pressed) - int(negative in pressed) + if direction: + speed = self.gripper_speed if channel == "arm_gripper.pos" else self.arm_speed + # At most one control tick per update: no large catch-up jump after a stall. + action[channel] = self.targets[channel] + direction * speed / CONTROL_HZ + # The plugin holds omitted arm channels and clamps via the browser descriptor. + # Accumulate from confirmed targets only, including any joint/gripper clipping. + self.targets = self.robot.send_action(action) + return self.targets + + +def read_keys(fd): + keys = [] + # Bound input draining so queued terminal data cannot starve the control watchdog. + for _ in range(64): + if not select.select([fd], [], [], 0)[0]: + break + value = os.read(fd, 1) + if not value: + raise EOFError("终端输入已断开") + keys.append(value.decode(errors="ignore")) + return keys + + +def main(): + parser = argparse.ArgumentParser(description="LeKiwi 底盘 + 机械臂终端遥操作（仿真专用）") + parser.add_argument( + "--endpoint", default=os.environ.get("MUJOCO_CONTROL_ENDPOINT", "http://127.0.0.1:8766") + ) + parser.add_argument( + "--arm-speed", type=float, default=20.0, help="臂关节点动速度，0–90 度/秒，默认20" + ) + parser.add_argument( + "--gripper-speed", type=float, default=50.0, help="夹爪点动速度，0–100 百分点/秒，默认50" + ) + args = parser.parse_args() + for name, speed, limit in ( + ("--arm-speed", args.arm_speed, 90), + ("--gripper-speed", args.gripper_speed, 100), + ): + if not math.isfinite(speed) or not 0 < speed <= limit: + parser.error(f"{name} 必须为大于0且不超过{limit}的有限数值") + if not sys.stdin.isatty(): + raise ValueError("请在交互式终端运行；自动测试请用 demo_control.py") + # Keep --help and argument validation usable without importing the LeRobot stack. + from demo_control import make_robot + + fd = sys.stdin.fileno() + previous = termios.tcgetattr(fd) + robot = make_robot(args.endpoint) + try: + robot.connect() + controller = KeyboardController(robot, args.arm_speed, args.gripper_speed) + tty.setcbreak(fd) + print( + "底盘：w/s 前后，a/d 左右，z/x 旋转，r/f 底盘调速；空格停止点动，q 退出。\n" + "机械臂（前键增大/后键减小）：u/j 肩转，i/k 肩俯仰，o/l 肘，t/g 腕俯仰，" + "y/h 腕旋转；v/b 夹爪开/合。\n" + f"臂 {args.arm_speed:g} 度/秒，夹爪 {args.gripper_speed:g} 百分点/秒。" + "终端按键为180ms脉冲；脉冲结束后底盘停止、机械臂保持目标。", + flush=True, + ) + while True: + start = time.monotonic() + keys = read_keys(fd) + if robot.teleop_keys["quit"] in keys: + return + controller.step(keys, start) + time.sleep(max(0, 1 / CONTROL_HZ - (time.monotonic() - start))) + except KeyboardInterrupt: + pass + finally: + try: + robot.disconnect() + finally: + termios.tcsetattr(fd, termios.TCSADRAIN, previous) + + +if __name__ == "__main__": + main() diff --git a/examples/lekiwi/tests/test_collision_cooking.py b/examples/lekiwi/tests/test_collision_cooking.py new file mode 100644 index 00000000..7f13543c --- /dev/null +++ b/examples/lekiwi/tests/test_collision_cooking.py @@ -0,0 +1,175 @@ +"""Offline cooker contracts: no real CAD download or CoACD run required here.""" + +import copy +import hashlib +import importlib.util +import tempfile +import unittest +from pathlib import Path + +import numpy as np + +SCRIPT = Path(__file__).resolve().parents[1] / "generate_full_collisions.py" +spec = importlib.util.spec_from_file_location("collision_cooker", SCRIPT) +cooker = importlib.util.module_from_spec(spec) +spec.loader.exec_module(cooker) + + +def cube(center, size=0.004): + return ( + np.array([[x, y, z] for x in (-size, size) for y in (-size, size) for z in (-size, size)]) + + center + ) + + +class CookingTests(unittest.TestCase): + def setUp(self): + self.temp = tempfile.TemporaryDirectory() + self.addCleanup(self.temp.cleanup) + self.source = Path(self.temp.name) + (self.source / "meshes").mkdir() + (self.source / "meshes/m.stl").write_bytes(b"source") + links = "".join( + f'' + '' + "" + for name in ("base", "motor", "arm") + ) + self.xml = ( + '' + + links + + """ + + + + + """ + ) + self.config = { + "rootLink": "base", + "meshes": {"meshes/m.stl": hashlib.sha256(b"source").hexdigest()}, + "assemblyCores": { + "hinge": {"radiusM": 0.015, "axialHalfExtentM": 0.02, "reason": "fixture bearing"} + }, + } + self.save_source() + + def save_source(self): + data = self.xml.encode() + (self.source / "LeKiwi.urdf").write_bytes(data) + self.config["urdfSha256"] = hashlib.sha256(data).hexdigest() + + def test_covers_fixed_and_moving_visuals_and_preserves_scale(self): + items = cooker.visuals(self.source, self.config) + self.assertEqual( + [x["visual"] for x in items], ["base_visual", "motor_visual", "arm_visual"] + ) + self.assertTrue(all(x["scale"] == [0.001] * 3 for x in items)) + + def test_rejects_changed_source_urdf_and_mesh(self): + (self.source / "LeKiwi.urdf").write_text("modified") + with self.assertRaisesRegex(ValueError, "URDF"): + cooker.visuals(self.source, self.config) + self.save_source() + (self.source / "meshes/m.stl").write_bytes(b"modified") + with self.assertRaisesRegex(ValueError, "SHA-256"): + cooker.visuals(self.source, self.config) + + def test_rejects_unsupported_scale_and_path_escape(self): + for scale in ("nan .001 .001", "-.001 .001 .001", ".001 .001", "inf 1 1"): + original = self.xml + self.xml = self.xml.replace(".001 .001 .001", scale) + self.save_source() + with self.assertRaisesRegex(ValueError, "缩放"): + cooker.visuals(self.source, self.config) + self.xml = original + self.xml = self.xml.replace("meshes/m.stl", "../escape.stl") + self.save_source() + with self.assertRaisesRegex(ValueError, "未批准"): + cooker.visuals(self.source, self.config) + + def test_rejects_missing_or_incomplete_coverage(self): + self.config["meshes"]["meshes/extra.stl"] = "unknown" + with self.assertRaisesRegex(ValueError, "覆盖"): + cooker.visuals(self.source, self.config) + self.config["rootLink"] = "not_present" + self.config["meshes"] = {} + with self.assertRaisesRegex(ValueError, "覆盖"): + cooker.visuals(self.source, self.config) + + def test_radial_minimum_uses_polygon_edges_not_only_vertices(self): + bounds = cooker.swept_bounds(cube([2.0, 0, 0], 0.5), np.array([0, 0, 1.0])) + self.assertAlmostEqual(bounds[2], 1.5) + self.assertGreater(np.linalg.norm(cube([2.0, 0, 0], 0.5)[:, :2], axis=1).min(), bounds[2]) + self.assertTrue(cooker.intervals_overlap(bounds, (-0.1, 0.1, 1.51, 1.52))) + self.assertFalse(cooker.intervals_overlap(bounds, (1.0, 2.0, 1.51, 1.52))) + for angle in np.linspace(-np.pi, np.pi, 37): + rotation = np.array( + [[np.cos(angle), -np.sin(angle), 0], [np.sin(angle), np.cos(angle), 0], [0, 0, 1]] + ) + np.testing.assert_allclose( + cooker.swept_bounds(cube([2.0, 0, 0], 0.5) @ rotation.T, np.array([0, 0, 1.0])), + bounds, + atol=1e-12, + ) + + def test_core_partition_preserves_volume_and_separates_mating_from_structure(self): + from scipy.spatial import ConvexHull + + coverage = cooker.visuals(self.source, self.config) + parts = [ + { + "visual": item["visual"], + "name": item["link"], + "vertices": " ".join(map(str, cube([0.012, 0, 0], 0.01).ravel())), + } + for item in coverage + ] + for item in coverage: + item["parts"] = 1 + divided = cooker.partition_assembly_cores(self.source, self.config, parts, coverage) + policy = cooker.joint_policy(self.source, self.config, divided, coverage)[0] + for visual in (item["visual"] for item in coverage): + group = [piece for piece in divided if piece["visual"] == visual] + volume = 0 + for piece in group: + hull = ConvexHull(np.fromstring(piece["vertices"], sep=" ").reshape(-1, 3)) + volume += hull.volume + # The old unsplit hull locked the bearing although this point is inside its core. + if np.max(hull.equations[:, :3] @ [0.012, 0, 0] + hull.equations[:, 3]) < 1e-8: + self.assertIn(piece["name"], policy["coreParts"]) + if np.max(hull.equations[:, :3] @ [0.021, 0, 0] + hull.equations[:, 3]) < 1e-8: + self.assertNotIn(piece["name"], policy["coreParts"]) + self.assertAlmostEqual(volume / (0.02**3), 1, delta=0.001) + self.assertGreater(len(group), 1) + self.assertTrue(policy["pairs"]) + + def test_exceptions_are_bounded_core_parts_not_whole_adjacent_bodies(self): + coverage = cooker.visuals(self.source, self.config) + parts = [ + {"name": name, "visual": visual, "vertices": " ".join(map(str, cube(center).ravel()))} + for name, visual, center in [ + ("base_core", "base_visual", [0, 0, 0]), + ("base_structural", "base_visual", [0.05, 0, 0]), + ("far_axial", "base_visual", [0.05, 0, 0.2]), + ("arm_core", "arm_visual", [0, 0, 0]), + ("arm_structural", "arm_visual", [0.05, 0, 0]), + ] + ] + policy = cooker.joint_policy(self.source, self.config, parts, coverage)[0] + self.assertEqual(policy["coreParts"], ["base_core", "arm_core"]) + self.assertEqual(policy["pairs"], [["base_structural", "arm_structural"]]) + self.assertGreater(policy["sweptPrunedPairs"], 0) + self.assertEqual([x["weldJoint"] for x in coverage], ["base", "base", "hinge"]) + bad = copy.deepcopy(self.config) + bad["assemblyCores"]["hinge"]["radiusM"] = 1 + with self.assertRaisesRegex(ValueError, "尺寸预算"): + cooker.joint_policy(self.source, bad, parts, coverage) + with self.assertRaisesRegex(ValueError, "整对"): + cooker.joint_policy( + self.source, self.config, [p for p in parts if "core" in p["name"]], coverage + ) + + +if __name__ == "__main__": + unittest.main() diff --git a/integrations/lerobot/LICENSE b/integrations/lerobot/LICENSE new file mode 100644 index 00000000..d6456956 --- /dev/null +++ b/integrations/lerobot/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/integrations/lerobot/NOTICE.md b/integrations/lerobot/NOTICE.md new file mode 100644 index 00000000..e2accbe7 --- /dev/null +++ b/integrations/lerobot/NOTICE.md @@ -0,0 +1,13 @@ +# 归属与兼容范围 + +本包是独立仿真适配器，不是上游 LeRobot 的 fork 或硬件 `LeKiwiClient`/ZMQ 服务器。 + +- LeRobot 0.6.1：[huggingface/lerobot](https://github.com/huggingface/lerobot)，Apache-2.0。 + LeKiwi 运动学、键盘辅助和循环约定参考其 `lerobot/robots/lekiwi/lekiwi_client.py`。 + 保留上游声明：Copyright 2024 The HuggingFace Inc. team. All rights reserved. +- LeKiwi：[SIGRobotics-UIUC/LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi)，Apache-2.0，固定 revision `efa608d7ee5a495a4803b1d28cd0c955b4f1e033`。 + 模型资源不放入本 wheel；显式准备资源时复制其 `LICENSE.txt` 和 `CITATION.cff`。 +- 本项目修改：移除硬件 I/O/校准持久化；增加认证本机仿真传输、SI/上游单位映射、部分动作/确认目标语义以及 profile 校验。 + 简化的质量、惯量、轮几何、碰撞、限位和伺服是仿真估计，不是硬件标定。 + +许可证正文见 `LICENSE`。本包不授予额外的商标或硬件认证权利。 diff --git a/integrations/lerobot/README.md b/integrations/lerobot/README.md new file mode 100644 index 00000000..c1c4a78b --- /dev/null +++ b/integrations/lerobot/README.md @@ -0,0 +1,35 @@ +# LeRobot 仿真插件 + +真实 LeRobot **0.6.1** 的 `Robot` 子类与 `RobotConfig`，注册名 `lekiwi_sim`，发行包名 **`lerobot_robot_mujoco`**。上游按发行包名前缀发现插件，因此不能随意改成连字符名称或只提供自定义 entry point。 + +```bash +source .venv/bin/activate # Python 3.12；只用它创建隔离环境 +python examples/lekiwi/setup_lerobot.py +# 不要在原训练环境直接 pip install lerobot +build/venvs/lerobot/bin/python -m unittest discover -s integrations/lerobot/tests -v +``` + +安装脚本仅修改 `build/venvs/lerobot/`，先装官方 CPU torch/torchvision，再装 [固定兼容集](requirements-cpu.txt)，最后 editable 安装桥接和本插件并执行 `pip check`。版本记录在 `build/lerobot-environment.json`；不会改上游或原 `.venv` 的训练依赖。 + +先按 [示例](../../examples/lekiwi/README.md) 准备模型、连接桥接并在浏览器授权。相同 token 放在 Python 的 `MUJOCO_CONTROL_TOKEN` 环境变量中： + +```python +from lerobot.robots.config import RobotConfig +from lerobot.robots.utils import make_robot_from_config +from lerobot.utils.import_utils import register_third_party_plugins + +register_third_party_plugins() +config_type = RobotConfig.get_choice_class('lekiwi_sim') +robot = make_robot_from_config(config_type(endpoint='http://127.0.0.1:8766', id='sim-demo')) +robot.connect() +try: + measured = robot.get_observation() + accepted = robot.send_action({'x.vel': 0.05}) + diagnostic = robot.get_sim_observation() +finally: + robot.disconnect() +``` + +这是单步 API 演示；实际控制须持续刷新（示例为 30 Hz），不能在两条动作之间阻塞超过 500 ms。`send_action` 返回确认目标，`get_observation` 才是实测反馈。五个臂通道为度，夹爪 0–100，底盘平移 m/s、转动 deg/s。部分动作保持最后确认的臂/夹爪目标，省略的底盘速度为零。 + +仅接受 `use_degrees=True`、`cameras={}`；拒绝物理校准目录和校准文件 I/O。`is_calibrated=True` 表示固定仿真 profile 可用，不代表硬件标定。提供 `stop_base`、键盘辅助函数和完整 SI 诊断，但没有实体 leader、串口、ZMQ、相机、dataset 或训练实现。协议/来源/升级流程见 [机器人接口](../../docs/robot-interface.md)，许可证和上游归属见 [NOTICE](NOTICE.md)。 diff --git a/integrations/lerobot/pyproject.toml b/integrations/lerobot/pyproject.toml new file mode 100644 index 00000000..efe9b471 --- /dev/null +++ b/integrations/lerobot/pyproject.toml @@ -0,0 +1,19 @@ +[build-system] +requires = ["setuptools>=77,<82"] +build-backend = "setuptools.build_meta" + +[project] +# Upstream 0.6.1 discovers the literal distribution Name prefix, not entry points. +name = "lerobot_robot_mujoco" +version = "0.1.0" +description = "Simulation-only LeKiwi adapter for LeRobot 0.6.1 and MuJoCo Web" +requires-python = ">=3.12" +license = "Apache-2.0" +license-files = ["LICENSE", "NOTICE.md"] +dependencies = ["lerobot==0.6.1", "mujoco-control-bridge==0.1.0"] + +[tool.setuptools.packages.find] +where = ["src"] + +[tool.setuptools.package-data] +lerobot_robot_mujoco = ["lekiwi-v1.json"] diff --git a/integrations/lerobot/requirements-cpu.txt b/integrations/lerobot/requirements-cpu.txt new file mode 100644 index 00000000..9bf4ce2a --- /dev/null +++ b/integrations/lerobot/requirements-cpu.txt @@ -0,0 +1,52 @@ +# Ubuntu 24.04 x86_64 / Python 3.12；固定兼容集，不含原训练环境。 +# 先从官方 CPU 索引安装 torch/torchvision，再安装本文件；见 setup_lerobot.py。 +Farama-Notifications==0.0.6 +Jinja2==3.1.6 +MarkupSafe==3.0.3 +PyYAML==6.0.3 +aiohappyeyeballs==2.7.1 +aiohttp==3.14.3 +aiosignal==1.4.0 +anyio==4.15.1 +attrs==26.1.0 +certifi==2026.7.22 +charset-normalizer==3.5.1 +click==8.5.0 +cloudpickle==3.1.2 +cmake==4.1.3 +draccus==0.11.6 +einops==0.8.2 +filelock==3.32.3 +frozenlist==1.8.0 +fsspec==2026.7.0 +gymnasium==1.3.0 +h11==0.16.0 +hf-xet==1.6.0 +httpcore==1.0.9 +httpx==0.28.1 +huggingface_hub==1.32.0 +idna==3.20 +lerobot==0.6.1 +mergedeep==1.3.4 +mpmath==1.3.0 +multidict==6.8.0 +mypy_extensions==1.1.0 +networkx==3.6.1 +numpy==2.2.6 +opencv-python-headless==4.13.0.92 +packaging==25.0 +pillow==12.3.0 +propcache==0.5.4 +requests==2.34.2 +safetensors==0.8.0 +setuptools==78.1.0 +sympy==1.14.0 +termcolor==3.3.0 +toml==0.10.2 +torch==2.11.0+cpu +torchvision==0.26.0+cpu +tqdm==4.70.1 +typing-inspect==0.9.0 +typing_extensions==4.16.0 +urllib3==2.8.0 +yarl==1.25.1 diff --git a/integrations/lerobot/src/lerobot_robot_mujoco/__init__.py b/integrations/lerobot/src/lerobot_robot_mujoco/__init__.py new file mode 100644 index 00000000..4a23259f --- /dev/null +++ b/integrations/lerobot/src/lerobot_robot_mujoco/__init__.py @@ -0,0 +1,4 @@ +from .config_lekiwi_sim import LeKiwiSimConfig +from .lekiwi_sim import LeKiwiSim + +__all__ = ["LeKiwiSim", "LeKiwiSimConfig"] diff --git a/integrations/lerobot/src/lerobot_robot_mujoco/config_lekiwi_sim.py b/integrations/lerobot/src/lerobot_robot_mujoco/config_lekiwi_sim.py new file mode 100644 index 00000000..7370b857 --- /dev/null +++ b/integrations/lerobot/src/lerobot_robot_mujoco/config_lekiwi_sim.py @@ -0,0 +1,48 @@ +from dataclasses import dataclass, field +from urllib.parse import urlparse + +from lerobot.robots.config import RobotConfig + + +@RobotConfig.register_subclass("lekiwi_sim") +@dataclass +class LeKiwiSimConfig(RobotConfig): + endpoint: str = "http://127.0.0.1:8766" + # Prefer MUJOCO_CONTROL_TOKEN. Never include this value in repr/diagnostics. + token: str | None = field(default=None, repr=False) + use_degrees: bool = True + cameras: dict = field(default_factory=dict) + expected_model_fingerprint: str | None = None + teleop_keys: dict[str, str] = field( + default_factory=lambda: { + "forward": "w", + "backward": "s", + "left": "a", + "right": "d", + "rotate_left": "z", + "rotate_right": "x", + "speed_up": "r", + "speed_down": "f", + "quit": "q", + } + ) + + def __post_init__(self): + if self.use_degrees is not True: + raise ValueError("V1 仅支持 use_degrees=True，不支持归一化臂位置") + if self.cameras: + raise ValueError("V1 不支持相机；请使用 cameras={}") + if self.calibration_dir is not None: + raise ValueError("模拟器使用版本化 profile，不接受实体校准目录") + url = urlparse(self.endpoint) + if ( + url.scheme != "http" + or url.hostname not in {"127.0.0.1", "localhost"} + or url.username + or url.password + or url.query + or url.fragment + or url.path not in {"", "/"} + ): + raise ValueError("仅支持不含凭据/查询参数的本机 HTTP 桥接地址") + super().__post_init__() diff --git a/integrations/lerobot/src/lerobot_robot_mujoco/lekiwi-v1.json b/integrations/lerobot/src/lerobot_robot_mujoco/lekiwi-v1.json new file mode 120000 index 00000000..19ea684c --- /dev/null +++ b/integrations/lerobot/src/lerobot_robot_mujoco/lekiwi-v1.json @@ -0,0 +1 @@ +../../../../robot_profiles/lekiwi-v1.json \ No newline at end of file diff --git a/integrations/lerobot/src/lerobot_robot_mujoco/lekiwi_sim.py b/integrations/lerobot/src/lerobot_robot_mujoco/lekiwi_sim.py new file mode 100644 index 00000000..e5d4d036 --- /dev/null +++ b/integrations/lerobot/src/lerobot_robot_mujoco/lekiwi_sim.py @@ -0,0 +1,217 @@ +"""Real LeRobot Robot implementation, with no hardware bus/camera/ZMQ backend.""" + +import json +import math +from importlib.resources import files +from numbers import Real + +from lerobot.robots.robot import Robot +from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected +from mujoco_control_bridge import RobotError, SimRobotClient + +from .config_lekiwi_sim import LeKiwiSimConfig + +PROFILE = json.loads(files(__package__).joinpath("lekiwi-v1.json").read_text()) +ARM = tuple(f"{spec['joint']}.pos" for spec in PROFILE["arm"]) +BASE = ("x.vel", "y.vel", "theta.vel") +FEATURES = (*ARM, *BASE) + + +def scalar(value): + """Accept upstream numpy/torch scalar actions, but never bool/strings/vectors.""" + if ( + not isinstance(value, Real) + and getattr(value, "ndim", None) == 0 + and callable(getattr(value, "item", None)) + ): + value = value.item() + if isinstance(value, bool) or not isinstance(value, Real): + raise RobotError("INVALID_MESSAGE", "动作必须是有限标量，不能是 bool/字符串/数组") + value = float(value) + if not math.isfinite(value): + raise RobotError("INVALID_MESSAGE", "动作不允许 NaN/Infinity") + return value + + +def to_sim(key, value): + value = scalar(value) + if key == "arm_gripper.pos": + return value / 100 + if key in ARM: + i = ARM.index(key) + return ( + PROFILE["mapping"]["armSigns"][i] * math.radians(value) + + PROFILE["mapping"]["armOffsetsRad"][i] + ) + return math.radians(value) if key == "theta.vel" else value + + +def from_sim(key, value): + if key == "arm_gripper.pos": + return value * 100 + if key in ARM: + i = ARM.index(key) + return math.degrees( + (value - PROFILE["mapping"]["armOffsetsRad"][i]) / PROFILE["mapping"]["armSigns"][i] + ) + return math.degrees(value) if key == "theta.vel" else value + + +class LeKiwiSim(Robot): + config_class = LeKiwiSimConfig + name = "lekiwi_sim" + + def __init__(self, config: LeKiwiSimConfig): + # Robot.__init__ reads/creates physical calibration files. This simulation + # implements the same base metadata, deliberately without those side effects. + self.config = config + self.id, self.robot_type = config.id, self.name + self.calibration = {} + self.calibration_dir = self.calibration_fpath = None + self.cameras = {} + self._client = None + self._targets = {} + self.teleop_keys = dict(config.teleop_keys) + self.speed_levels = [ + {"xy": 0.1, "theta": 30}, + {"xy": 0.2, "theta": 60}, + {"xy": 0.3, "theta": 90}, + ] + self.speed_index = 0 + + @property + def action_features(self): + return dict.fromkeys(FEATURES, float) + + @property + def observation_features(self): + return self.action_features + + @property + def is_connected(self): + return self._client is not None and self._client.is_connected + + @property + def is_calibrated(self): + return True # Means the fixed SIMULATION profile is in use, not hardware calibration. + + def calibrate(self): + pass + + def configure(self): + pass + + def _load_calibration(self, fpath=None): + raise RobotError("UNSUPPORTED", "模拟 profile 不读取硬件校准文件") + + def _save_calibration(self, fpath=None): + raise RobotError("UNSUPPORTED", "模拟 profile 不生成硬件校准文件") + + def _validate_descriptor(self, descriptor): + if ( + descriptor["profileId"] != PROFILE["id"] + or descriptor["profileVersion"] != PROFILE["version"] + ): + raise RobotError("INCOMPATIBLE_MODEL", "需要 lekiwi-v1 profile v1") + if ( + self.config.expected_model_fingerprint + and descriptor["modelFingerprint"] != self.config.expected_model_fingerprint + ): + raise RobotError("INCOMPATIBLE_MODEL", "模型指纹不符合固定配置") + channels = descriptor["actionChannels"] + if [c["id"] for c in channels] != list(FEATURES): + raise RobotError("INCOMPATIBLE_MODEL", "LeKiwi 通道集合/顺序不匹配") + for channel in channels: + key = channel["id"] + unit = ( + "ratio" + if key == "arm_gripper.pos" + else "rad" + if key in ARM + else "rad/s" + if key == "theta.vel" + else "m/s" + ) + mode = ( + "opening" if key == "arm_gripper.pos" else "position" if key in ARM else "velocity" + ) + if channel["unit"] != unit or channel["mode"] != mode: + raise RobotError("INCOMPATIBLE_MODEL", f"LeKiwi 通道单位/模式不匹配：{key}") + observations = {c["id"]: c for c in descriptor["observationChannels"]} + if any(key not in observations for key in FEATURES) or any( + observations[c["id"]]["unit"] != c["unit"] for c in channels + ): + raise RobotError("INCOMPATIBLE_MODEL", "LeKiwi 观测通道/单位不匹配") + + @check_if_already_connected + def connect(self, calibrate=True): + self.disconnect() # Clear an expired client, without reusing its old lease. + client = SimRobotClient(self.config.endpoint, self.config.token) + self._validate_descriptor(client.describe()) + try: + self._validate_descriptor( + client.connect() + ) # Recheck after the transactional handshake. + measured = client.get_observation()["values"] + self._targets = {key: measured[key] for key in ARM} + self._client = client + except BaseException: + client.disconnect() + raise + + @check_if_not_connected + def get_observation(self): + # Base velocities are measured-wheel odometry, matching upstream LeKiwi. + # Actual body twist remains available through the generic SDK, not extra ML features. + values = self._client.get_observation()["values"] + return {key: float(from_sim(key, values[key])) for key in FEATURES} + + @check_if_not_connected + def get_sim_observation(self): + """SI diagnostics and epoch metadata, deliberately not LeRobot training features.""" + return self._client.get_observation() + + @check_if_not_connected + def send_action(self, action): + if not isinstance(action, dict) or not set(action).issubset(FEATURES): + raise RobotError("INVALID_MESSAGE", "动作包含未知通道") + values = {**self._targets, **dict.fromkeys(BASE, 0.0)} + values.update({key: to_sim(key, value) for key, value in action.items()}) + accepted = self._client.send_action(values)["values"] + # Only confirmed targets become the next partial-action hold state. + self._targets = {key: accepted[key] for key in ARM} + return {key: float(from_sim(key, accepted[key])) for key in FEATURES} + + @check_if_not_connected + def stop_base(self): + return self.send_action({}) + + def _from_keyboard_to_base_action(self, pressed_keys): + """Same w/s/a/d/z/x and r/f semantics as the upstream 0.6.1 example.""" + keys = set(pressed_keys) + self.speed_index = min( + 2, + max( + 0, + self.speed_index + + int(self.teleop_keys["speed_up"] in keys) + - int(self.teleop_keys["speed_down"] in keys), + ), + ) + speed = self.speed_levels[self.speed_index] + pairs = [ + ("x.vel", "forward", "backward", speed["xy"]), + ("y.vel", "left", "right", speed["xy"]), + ("theta.vel", "rotate_left", "rotate_right", speed["theta"]), + ] + return { + channel: amount + * (int(self.teleop_keys[positive] in keys) - int(self.teleop_keys[negative] in keys)) + for channel, positive, negative, amount in pairs + } + + def disconnect(self): + if self._client is not None: + self._client.disconnect() + self._client = None + self._targets = {} diff --git a/integrations/lerobot/tests/test_keyboard_teleop.py b/integrations/lerobot/tests/test_keyboard_teleop.py new file mode 100644 index 00000000..2798f484 --- /dev/null +++ b/integrations/lerobot/tests/test_keyboard_teleop.py @@ -0,0 +1,188 @@ +"""Keyboard composition uses the real LeRobot plugin; only the transport is fake.""" + +import math +import runpy +import subprocess +import sys +import unittest +from pathlib import Path +from types import SimpleNamespace +from unittest.mock import Mock, patch + +from lerobot_robot_mujoco import LeKiwiSim, LeKiwiSimConfig +from lerobot_robot_mujoco.lekiwi_sim import ARM, BASE, PROFILE +from mujoco_control_bridge import RobotError +from test_plugin import FakeClient + +SCRIPT = Path(__file__).resolve().parents[3] / "examples/lekiwi/teleoperate_sim.py" +DEMO = runpy.run_path(str(SCRIPT)) +KeyboardController = DEMO["KeyboardController"] +ARM_KEYS = DEMO["ARM_KEYS"] + + +class KeyboardTeleopTests(unittest.TestCase): + def setUp(self): + transport = patch("lerobot_robot_mujoco.lekiwi_sim.SimRobotClient", FakeClient) + transport.start() + self.addCleanup(transport.stop) + self.robot = LeKiwiSim(LeKiwiSimConfig()) + self.robot.connect() + self.addCleanup(self.robot.disconnect) + self.controller = KeyboardController(self.robot) + + def test_every_arm_key_moves_only_its_joint_in_degrees_or_percent(self): + self.assertEqual(set(ARM_KEYS), set(ARM)) + all_keys = [key for pair in ARM_KEYS.values() for key in pair] + self.assertEqual(len(set(all_keys)), 12) + self.assertFalse(set(all_keys) & set(self.robot.teleop_keys.values())) + for channel, pair in ARM_KEYS.items(): + for key, direction in zip(pair, (1, -1), strict=True): + with self.subTest(channel=channel, key=key): + self.robot.disconnect() + self.robot.connect() + controller = KeyboardController(self.robot, arm_speed=12, gripper_speed=30) + initial = dict(controller.targets) + result = controller.step([key], 0) + for other in ARM: + delta = direction * (1 if channel == "arm_gripper.pos" else 0.4) + self.assertAlmostEqual( + result[other], initial[other] + (delta if other == channel else 0) + ) + self.assertEqual({key: result[key] for key in BASE}, dict.fromkeys(BASE, 0)) + + def test_compose_all_six_arm_targets_and_base_in_one_action(self): + initial = dict(self.controller.targets) + result = self.controller.step("wauiotyv", 0) + self.assertEqual(result["x.vel"], 0.1) + self.assertEqual(result["y.vel"], 0.1) + self.assertEqual(result["theta.vel"], 0) + for channel in ARM: + speed = 50 if channel == "arm_gripper.pos" else 20 + self.assertAlmostEqual(result[channel], initial[channel] + speed / 30) + self.assertEqual(len(self.robot._client.sent), 1) + self.assertEqual(len(self.robot._client.sent[0]), 9) + + def test_opposing_keys_cancel_without_resetting_arm(self): + initial = dict(self.controller.targets) + keys = [key for pair in ARM_KEYS.values() for key in pair] + list("wsadzx") + result = self.controller.step(keys, 0) + for channel in ARM: + self.assertEqual(result[channel], initial[channel]) + self.assertEqual({key: result[key] for key in BASE}, dict.fromkeys(BASE, 0)) + + def test_expired_pulses_stop_base_and_hold_confirmed_not_measured_arm(self): + first = self.controller.step("wu", 0) + second = self.controller.step([], 0.1) + self.assertGreater(second[ARM[0]], first[ARM[0]]) + expired = self.controller.step([], 0.19) + self.assertEqual(expired["x.vel"], 0) + for channel in ARM: + self.assertEqual(expired[channel], second[channel]) + self.assertNotEqual(expired[ARM[0]], self.robot.get_observation()[ARM[0]]) + self.assertEqual(self.controller.step([], 100), expired) # No catch-up jump. + self.assertFalse(self.controller.active) + + def test_space_clears_motion_and_holds_pose_even_with_other_keys_in_batch(self): + first = self.controller.step("wuv", 0) + stopped = self.controller.step(" wur", 0.05) + self.assertEqual(self.robot.speed_index, 0) + for channel in ARM: + self.assertEqual(stopped[channel], first[channel]) + self.assertEqual(stopped["x.vel"], 0) + self.assertEqual(self.controller.step([], 0.1), stopped) + restarted = self.controller.step("u", 0.12) + self.assertGreater(restarted[ARM[0]], stopped[ARM[0]]) + + def test_confirmed_clipping_prevents_joint_and_gripper_target_windup(self): + for i in range(300): + limited = self.controller.step("uv", i / 30) + self.assertAlmostEqual(limited[ARM[0]], math.degrees(PROFILE["arm"][0]["max"])) + self.assertEqual(limited["arm_gripper.pos"], 100) + self.controller.step(" ", 10) + reversed_action = self.controller.step("jb", 10.01) + self.assertAlmostEqual(reversed_action[ARM[0]], limited[ARM[0]] - 20 / 30) + self.assertAlmostEqual(reversed_action["arm_gripper.pos"], 100 - 50 / 30) + for i in range(600): + limited = self.controller.step("jb", 11 + i / 30) + self.assertAlmostEqual(limited[ARM[0]], math.degrees(PROFILE["arm"][0]["min"])) + self.assertEqual(limited["arm_gripper.pos"], 0) + + def test_base_speed_changes_once_per_input_event_not_each_pulse_tick(self): + self.controller.step("r", 0) + for now in (0.03, 0.06, 0.1, 0.17): + self.controller.step([], now) + self.assertEqual(self.robot.speed_index, 1) + self.controller.step("f", 0.2) + self.assertEqual(self.robot.speed_index, 0) + + def test_failed_send_does_not_commit_unconfirmed_targets(self): + before = dict(self.controller.targets) + with ( + patch.object(self.robot, "send_action", side_effect=RobotError("TIMEOUT", "test")), + self.assertRaises(RobotError), + ): + self.controller.step("u", 0) + self.assertEqual(self.controller.targets, before) + + def test_main_always_releases_lease_and_restores_terminal(self): + self.robot.disconnect() + main = DEMO["main"] + for outcome in (["q"], KeyboardInterrupt(), EOFError("test"), RobotError("STALE", "test")): + with self.subTest(outcome=outcome): + reader = Mock() + if isinstance(outcome, BaseException): + reader.side_effect = outcome + else: + reader.return_value = outcome + with ( + patch.dict(main.__globals__, {"read_keys": reader}), + patch.dict( + sys.modules, + {"demo_control": SimpleNamespace(make_robot=lambda _: self.robot)}, + ), + patch.object(sys, "argv", [str(SCRIPT)]), + patch.object(sys, "stdin") as stdin, + patch("termios.tcgetattr", return_value=["saved"]), + patch("termios.tcsetattr") as restore, + patch("tty.setcbreak"), + patch("builtins.print"), + ): + stdin.isatty.return_value = True + stdin.fileno.return_value = 123 + if isinstance(outcome, Exception): + with self.assertRaises(type(outcome)): + main() + else: + main() + self.assertFalse(self.robot.is_connected) + self.assertIsNone(self.robot._client) + restore.assert_called_once_with(123, DEMO["termios"].TCSADRAIN, ["saved"]) + + def test_input_drain_is_bounded_and_eof_is_not_an_infinite_loop(self): + with patch("select.select", return_value=([123], [], [])): + with patch("os.read", return_value=b"u") as read: + self.assertEqual(DEMO["read_keys"](123), ["u"] * 64) + self.assertEqual(read.call_count, 64) + with patch("os.read", return_value=b""), self.assertRaises(EOFError): + DEMO["read_keys"](123) + + def test_invalid_speeds_rejected_before_loading_robot_or_connecting(self): + for flag, value in ( + ("--arm-speed", "nan"), + ("--arm-speed", "91"), + ("--gripper-speed", "inf"), + ("--gripper-speed", "0"), + ): + with self.subTest(flag=flag, value=value): + result = subprocess.run( + [sys.executable, str(SCRIPT), flag, value], + capture_output=True, + text=True, + timeout=5, + ) + self.assertEqual(result.returncode, 2) + self.assertIn(f"{flag} 必须", result.stderr) + + +if __name__ == "__main__": + unittest.main() diff --git a/integrations/lerobot/tests/test_plugin.py b/integrations/lerobot/tests/test_plugin.py new file mode 100644 index 00000000..9d6c6a1d --- /dev/null +++ b/integrations/lerobot/tests/test_plugin.py @@ -0,0 +1,201 @@ +import copy +import importlib.metadata +import json +import math +import os +import subprocess +import sys +import unittest +from pathlib import Path +from unittest.mock import patch + +import numpy as np +import torch +from lerobot.robots.robot import Robot +from lerobot.robots.utils import make_robot_from_config +from lerobot.utils.errors import DeviceNotConnectedError +from lerobot_robot_mujoco import LeKiwiSim, LeKiwiSimConfig +from lerobot_robot_mujoco.lekiwi_sim import ARM, BASE, FEATURES, PROFILE, from_sim, to_sim +from mujoco_control_bridge import RobotError +from mujoco_control_bridge.protocol import values + + +def descriptor(): + channels = [] + for i, key in enumerate(FEATURES): + gripper = key == "arm_gripper.pos" + base = key in BASE + limit = PROFILE["baseAngularLimit"] if key == "theta.vel" else PROFILE["baseLinearLimit"] + channels.append( + { + "id": key, + "unit": "ratio" + if gripper + else "rad/s" + if key == "theta.vel" + else "m/s" + if base + else "rad", + "mode": "opening" if gripper else "velocity" if base else "position", + "min": 0 if gripper else -limit if base else PROFILE["arm"][i]["min"], + "max": 1 if gripper else limit if base else PROFILE["arm"][i]["max"], + } + ) + return { + "protocolVersion": 1, + "profileId": "lekiwi-v1", + "profileVersion": 1, + "modelFingerprint": "a" * 64, + "frame": "x-forward-y-left-z-up", + "capabilities": {"reset": True, "lockstep": False, "cameras": False, "training": False}, + "actionChannels": channels, + "observationChannels": copy.deepcopy(channels), + } + + +class FakeClient: + def __init__(self, *_): + self.is_connected = False + self.sent = [] + + def describe(self): + return descriptor() + + def connect(self): + self.is_connected = True + return self.describe() + + def get_observation(self): + return {"values": {**dict.fromkeys(FEATURES, 0.1), "arm_gripper.pos": 0.25}} + + def send_action(self, value): + self.sent.append(value) + return {"values": values(value, self.describe()["actionChannels"], True)} + + def disconnect(self): + self.is_connected = False + + +class LeRobotPluginTests(unittest.TestCase): + def test_actual_upstream_factory_and_no_hardware_calibration(self): + self.assertEqual(importlib.metadata.version("lerobot"), "0.6.1") + with patch.object(Path, "mkdir", side_effect=AssertionError("hardware calibration I/O")): + robot = make_robot_from_config(LeKiwiSimConfig()) + self.assertIsInstance(robot, Robot) + self.assertIsInstance(robot, LeKiwiSim) + self.assertEqual(tuple(robot.action_features), FEATURES) + self.assertEqual(robot.observation_features, robot.action_features) + self.assertTrue(robot.is_calibrated) + self.assertFalse(robot.is_connected) + self.assertEqual(robot.cameras, {}) + self.assertFalse(torch.cuda.is_initialized()) + with self.assertRaises(DeviceNotConnectedError): + robot.get_observation() + + def test_fresh_process_plugin_discovery(self): + result = subprocess.run( + [ + sys.executable, + "-c", + """ +import sys +from lerobot.utils.import_utils import register_third_party_plugins +from lerobot.robots.config import RobotConfig +from lerobot.robots.utils import make_robot_from_config +assert 'lerobot_robot_mujoco' not in sys.modules +register_third_party_plugins() +config = RobotConfig.get_choice_class('lekiwi_sim')() +robot = make_robot_from_config(config) +assert robot.name == 'lekiwi_sim' +assert len(robot.action_features) == 9 +assert not any(m in sys.modules for m in ('serial','zmq','pyrealsense2','scservo_sdk')) +""", + ], + env={**os.environ, "PYTHONPATH": "", "PYTHONNOUSERSITE": "1"}, + capture_output=True, + text=True, + ) + self.assertEqual(result.returncode, 0, result.stderr) + + def test_profile_resource_matches_canonical(self): + root = Path(__file__).resolve().parents[3] + self.assertEqual(PROFILE, json.loads((root / "robot_profiles/lekiwi-v1.json").read_text())) + + def test_bidirectional_units_and_upstream_scalar_values(self): + for key in FEATURES: + for value in (-30.0, 0.0, 30.0): + self.assertAlmostEqual(from_sim(key, to_sim(key, value)), value) + self.assertAlmostEqual(to_sim(ARM[0], 90), math.pi / 2) + self.assertEqual(to_sim("arm_gripper.pos", 50), 0.5) + self.assertAlmostEqual(to_sim("theta.vel", 30), math.pi / 6) + self.assertAlmostEqual(to_sim(ARM[0], np.float32(10)), math.radians(10)) + self.assertAlmostEqual(to_sim(ARM[0], torch.tensor(10.0)), math.radians(10)) + for bad in ( + True, + np.bool_(True), + "2", + [1], + np.array([1]), + torch.tensor([1.0]), + float("nan"), + float("inf"), + ): + with self.subTest(value=repr(bad)), self.assertRaises(RobotError): + to_sim(ARM[0], bad) + + def test_partial_action_holds_confirmed_arm_and_stops_omitted_base(self): + with patch("lerobot_robot_mujoco.lekiwi_sim.SimRobotClient", FakeClient): + robot = LeKiwiSim(LeKiwiSimConfig()) + robot.connect() + first = robot.send_action({ARM[0]: 180, "arm_gripper.pos": 150, "x.vel": 0.1}) + self.assertAlmostEqual(first[ARM[0]], math.degrees(PROFILE["arm"][0]["max"])) + self.assertEqual(first["arm_gripper.pos"], 100) + self.assertEqual(first["x.vel"], 0.1) + second = robot.send_action({ARM[1]: 5}) + self.assertEqual(second[ARM[0]], first[ARM[0]]) + self.assertEqual(second["arm_gripper.pos"], 100) + self.assertEqual(second["x.vel"], 0) + self.assertEqual(second["theta.vel"], 0) + self.assertEqual(robot.get_observation()["arm_gripper.pos"], 25) + self.assertNotEqual(robot.get_observation()[ARM[0]], first[ARM[0]]) + with self.assertRaises(RobotError): + robot.send_action({"unknown": 1}) + robot.stop_base() + robot.disconnect() + robot.disconnect() + + def test_reject_unsupported_configuration_and_descriptor(self): + for kwargs in ( + {"use_degrees": False}, + {"cameras": {"camera": object()}}, + {"calibration_dir": Path("/tmp/never-touch")}, + {"endpoint": "http://token@localhost"}, + ): + with self.assertRaises(ValueError): + LeKiwiSimConfig(**kwargs) + config = LeKiwiSimConfig(token="secret-not-real") + self.assertNotIn("secret-not-real", repr(config)) + robot = LeKiwiSim(config) + for field in ("profileId", "profileVersion", "unit", "mode"): + desc = descriptor() + if field == "profileVersion": + desc[field] = 2 + elif field == "profileId": + desc[field] = "other" + else: + desc["actionChannels"][0][field] = "wrong" + with self.assertRaises(RobotError): + robot._validate_descriptor(desc) + + def test_keyboard_helpers_match_upstream_key_semantics(self): + robot = LeKiwiSim(LeKiwiSimConfig()) + self.assertEqual( + robot._from_keyboard_to_base_action(["w", "a", "z"]), + {"x.vel": 0.1, "y.vel": 0.1, "theta.vel": 30}, + ) + self.assertEqual(robot._from_keyboard_to_base_action(["w", "s", "r"])["x.vel"], 0) + self.assertEqual(robot._from_keyboard_to_base_action(["d"])["y.vel"], -0.2) + + +if __name__ == "__main__": + unittest.main() diff --git a/integrations/lerobot/tests/test_upstream_kinematics.py b/integrations/lerobot/tests/test_upstream_kinematics.py new file mode 100644 index 00000000..a881f92b --- /dev/null +++ b/integrations/lerobot/tests/test_upstream_kinematics.py @@ -0,0 +1,54 @@ +"""Run the installed upstream's pure methods, without constructing a hardware robot.""" + +import ast +import importlib.metadata +import json +import unittest +from pathlib import Path +from typing import Any + +import numpy as np + + +class UpstreamKinematicsTests(unittest.TestCase): + def test_actual_061_methods_match_shared_wheel_fixture(self): + self.assertEqual(importlib.metadata.version("lerobot"), "0.6.1") + path = importlib.metadata.distribution("lerobot").locate_file( + "lerobot/robots/lekiwi/lekiwi.py" + ) + tree = ast.parse(path.read_text()) + robot = next( + node for node in tree.body if isinstance(node, ast.ClassDef) and node.name == "LeKiwi" + ) + names = {"_degps_to_raw", "_raw_to_degps", "_body_to_wheel_raw", "_wheel_raw_to_body"} + methods = [ + node for node in robot.body if isinstance(node, ast.FunctionDef) and node.name in names + ] + self.assertEqual({node.name for node in methods}, names) + # Only the four audited numeric methods. No imports, constructors, buses or cameras. + cls = ast.ClassDef( + name="PureKinematics", + bases=[], + keywords=[], + body=methods, + decorator_list=[], + type_params=[], + ) + namespace = {"np": np, "Any": Any} + module = ast.fix_missing_locations(ast.Module(body=[cls], type_ignores=[])) + exec(compile(module, str(path), "exec"), namespace) + pure = namespace["PureKinematics"]() + fixture = json.loads( + ( + Path(__file__).resolve().parents[3] / "contracts/fixtures/lekiwi-kinematics.json" + ).read_text() + ) + for case in fixture["cases"]: + with self.subTest(body=case["body"]): + raw = pure._body_to_wheel_raw(*case["body"]) + self.assertEqual(list(raw), fixture["wheelOrder"]) + self.assertEqual(list(raw.values()), case["wheelRaw"]) + if max(abs(v) for v in case["wheelRaw"]) < 3000: + body = pure._wheel_raw_to_body(*case["wheelRaw"]) + for observed, expected in zip(body.values(), case["body"], strict=True): + self.assertAlmostEqual(observed, expected, delta=0.02) diff --git a/package-lock.json b/package-lock.json index b4d0b8ab..c2e00622 100644 --- a/package-lock.json +++ b/package-lock.json @@ -1,12 +1,12 @@ { "name": "mujoco-web-platform", - "version": "0.9.5", + "version": "0.10.1", "lockfileVersion": 3, "requires": true, "packages": { "": { "name": "mujoco-web-platform", - "version": "0.9.5", + "version": "0.10.1", "license": "Apache-2.0", "dependencies": { "@monaco-editor/react": "^4.7.0", diff --git a/package.json b/package.json index 62bbc0f6..6a15a6d7 100644 --- a/package.json +++ b/package.json @@ -1,6 +1,6 @@ { "name": "mujoco-web-platform", - "version": "0.9.5", + "version": "0.10.1", "description": "基于 MuJoCo WebAssembly 的本地机器人仿真与控制平台", "private": true, "type": "module", @@ -12,14 +12,18 @@ "lint": "eslint web_platform/src web_platform/e2e", "test": "vitest run --config web_platform/vite.config.ts", "test:e2e": "playwright test -c web_platform/playwright.config.ts", + "test:e2e:lekiwi": "playwright test -c web_platform/playwright.lekiwi.config.ts", + "control-bridge": "python3 -m mujoco_control_bridge", + "test:control-bridge": "python3 -m unittest discover -s control_bridge/tests -v", + "setup:lerobot": "python3 examples/lekiwi/setup_lerobot.py", "training-server": "python3 training_server/server.py", "test:training-server": "python3 -m unittest discover -s training_server/tests", - "check": "npm run typecheck && npm run lint && npm run check:format && npm run test:coverage && npm run test:training-server && npm run build", + "check": "npm run typecheck && npm run lint && npm run check:format && npm run test:coverage && npm run test:training-server && npm run test:control-bridge && npm run build", "format": "prettier --write .", "check:format": "prettier --check .", "test:coverage": "vitest run --coverage --config web_platform/vite.config.ts", - "lint:python": "python3 -m ruff check training_server", - "format:python": "python3 -m ruff format training_server" + "lint:python": "python3 -m ruff check training_server control_bridge integrations/lerobot/src integrations/lerobot/tests examples/lekiwi", + "format:python": "python3 -m ruff format training_server control_bridge integrations/lerobot/src integrations/lerobot/tests examples/lekiwi" }, "license": "Apache-2.0", "devDependencies": { diff --git a/requirements-dev.txt b/requirements-dev.txt index 2e813688..6ea5d85a 100644 --- a/requirements-dev.txt +++ b/requirements-dev.txt @@ -1,2 +1,3 @@ -r training_server/requirements.txt ruff==0.16.5 +-e ./control_bridge diff --git a/robot_profiles/LeKiwi.LICENSE.txt b/robot_profiles/LeKiwi.LICENSE.txt new file mode 100644 index 00000000..261eeb9e --- /dev/null +++ b/robot_profiles/LeKiwi.LICENSE.txt @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/robot_profiles/NOTICE.md b/robot_profiles/NOTICE.md new file mode 100644 index 00000000..e088ca72 --- /dev/null +++ b/robot_profiles/NOTICE.md @@ -0,0 +1,52 @@ +# LeKiwi 碰撞数据来源与重建 + +## 当前配方：revision 4 + +`lekiwi-full-collision.json` 是 [SIGRobotics-UIUC/LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi) 的派生模型数据，来源 revision 为 `efa608d7ee5a495a4803b1d28cd0c955b4f1e033`，按 [Apache-2.0](LeKiwi.LICENSE.txt) 分发。固定 URDF/STL SHA-256 与装配例外配置见 `lekiwi-collision-source.json`，生成结果也保存完整 `source`。 + +本项目修改：从 `Base_08q-v1` 子树的**全部 18 个视觉网格**离线 CoACD 得到 538 个凸包，再按装配配合区切分为 1,220 个独立碰撞凸包，包含固定焊接的舵机、安装板、相机支架及相机外壳；替代旧臂胶囊和手工分段配方。此处“整臂”不包含底盘/全向轮；它们仍使用独立简化配方。 + +- 使用 [CoACD](https://github.com/SarahWeiii/CoACD) 1.0.14，`real_metric=true`、`threshold=0.003`、固定 seed=42、4 个 OpenMP 线程，CoACD 阶段每包最多 96 个顶点，切分后预算为 256（当前最多 167）；完整参数和版本存入 `generator`。**3 mm 是分解参数，不是已证明的全表面误差上限。** +- 输入按 URDF `scale` 转成米，输出保留原视觉网格局部坐标、顶点取整到 1 μm。运行时继承 visual geom 的 body/pose，不跨越两指合成凸包；碰撞体 `mass=0`，沿用显式惯性估计。 +- 浏览器只读取生成数据，导入时校验源 STL 哈希、视觉覆盖清单和运动刚体归属；不会在线运行 CoACD，也不修改参考仓库、训练或 LeRobot 环境。 +- 配方使用 1 ms 物理步长、CAD 接触 `solref=".002 1"`；不是加大安全超时或放宽关节范围。几何、关节过滤和这些接触参数共同形成 `recipeSha256`，导出 MJCF 携带 revision 与配方指纹。标记用于兼容性检查，不是防篡改签名。 + +### 相邻关节不能整对排除 + +MuJoCo 的默认父子过滤保持开启；显式加入 **5,581 对结构凸包接触**，包括 `Mirror / Square` 和两指指面。没有整对相邻 body 的 ``。 + +唯一局部装配例外：一个**完整凸包**必须落在该关节审核过的轴承/舵机配合圆柱内，才可忽略它与直接相邻运动组的配合接触。半径分别为肩旋 23、肩俯仰/肘/夹爪 18.5、腕俯仰 16、腕旋 12.1 mm，轴向半长 55 mm；不是“中立位重叠就排除”。这些部件与外界及其他非相邻臂段仍参与碰撞。 + +跨越配合区边界的凸包先按内接 16 边棱柱切开（2 μm 内缩以容纳取整误差），**配合区和外侧各片都保留**，不挖掉对外碰撞几何。生成器检查切分体积的量化误差；单测覆盖体积保持和内部/结构区分类。否则同一个凸包跨越轴承与结构区，即使中立位不碰撞，转动后仍可能误锁轴承。CAD 审核在肩旋约 0.35 rad 发现了这种情况；修复后真实 WASM 肩旋可双向到达 ±0.942 rad，且没有配合区接触。 + +另外以整周旋转的轴向/径向包络保守剔除不可能相交的凸包对，保留 0.1 mm 数值余量。各关节的成员、显式接触对、配合例外/扫掠剔除数量都在 `jointPolicy`，改参数后必须重新审核和跑物理回归，不能只改指纹。 + +### 离线环境和重建 + +从仓库根目录执行，先按 [示例说明](../examples/lekiwi/README.md) 准备固定源资产： + +```bash +python3 -m venv build/venvs/collision +env -u PYTHONPATH PYTHONNOUSERSITE=1 build/venvs/collision/bin/python \ + -m pip install -r examples/lekiwi/requirements-collision.txt +env -u PYTHONPATH PYTHONNOUSERSITE=1 build/venvs/collision/bin/python \ + examples/lekiwi/generate_full_collisions.py --check +# 确需写入重建数据时去掉 --check +``` + +默认源目录 `build/lekiwi/URDF`，缓存 `build/collision-cache`，均可通过 CLI 覆盖。缓存键包含源 STL 哈希、缩放、工具版本、参数与线程数；关节过滤每次重算。`--check` 比较完整生成结果，不改已发布 JSON；使用新的 `--cache` 目录可验证从零分解，而非只命中缓存。本机已完成一次无缓存重建一致性验证，不承诺任意平台/工具版本逐字节相同。 + +```bash +env -u PYTHONPATH PYTHONNOUSERSITE=1 build/venvs/collision/bin/python \ + -m unittest discover -s examples/lekiwi/tests -v +``` + +生成器拒绝缺失/变更源、非法缩放、退化凸包、超预算包数/顶点数及采样覆盖不合格。`coverage.coacdSampleOutsidePlanesMaxM` 是抽样点相对 CoACD 阶段凸包平面的诊断值，**不是 Hausdorff 距离或连续全表面保证**。`coverage.coacdParts/parts` 分别记录切分前后数量。浏览器额外从原始 STL 独立取每个视觉网格的六向极值，做 108 次球体接触探测；另测六关节双向目标扫掠、相邻连杆主体阻挡/脱离、中立位、两指空隙/物体阻挡及真实 60 秒控制性能。仍未穷举多关节配置空间。 + +### 历史数据 + +`lekiwi-gripper-collision.json` / `generate_gripper_collisions.py`（revision 2）和 `lekiwi-arm-collision.json` / `generate_arm_collisions.py`（revision 3）保留历史重建用途，同样源自上述 Apache-2.0 资产；当前前端不再导入它们。旧方案是 STL 平面裁剪、1 mm 接缝重叠后取凸包，并非 CoACD。 + +旧 MJCF（包括 revision 3）必须从原始 URDF 重新转换。自动凸分解、局部装配例外和软接触仍是近似，不保证所有薄壁间隙、任意高速动作、可靠抓取或实体标定；观察到提前接触时，应检查具名接触对与原 CAD，不能靠扩大 body 排除或关闭自碰撞掩盖。当前仅支持上述固定 LeKiwi 资产，不是任意 URDF 的免审核导入开关。 + +开发期强制把 qpos 写入严重重叠姿态的几何查询曾使 WASM 触及 2 GiB 内存上限并原生中止；这不是支持的控制路径，也未在此修复引擎本身。profile 的普通关节编辑入口已禁止瞬移；验收使用有界执行器运动、正常初始姿态和有限场景，不能由此承诺任意穿透初态稳定。诊断失败记录保存在 `build/e2e/lekiwi-full-collision-geometry-diagnostic/`。 diff --git a/robot_profiles/lekiwi-arm-collision.json b/robot_profiles/lekiwi-arm-collision.json new file mode 100644 index 00000000..804ec878 --- /dev/null +++ b/robot_profiles/lekiwi-arm-collision.json @@ -0,0 +1,44 @@ +{ + "revision": 3, + "source": { + "repository": "https://github.com/SIGRobotics-UIUC/LeKiwi", + "revision": "efa608d7ee5a495a4803b1d28cd0c955b4f1e033", + "license": "Apache-2.0" + }, + "sources": { + "Base_08q-v1.stl": "a05be37db52657615ac69423fe577979efa0cd0634a5e9546bbc85537f003172", + "SO_ARM100_08k_116_Square-v1.stl": "64fdc308759ff58756e3c39a0ea8018d6b37b551bc3d29238b6e86bc5acae666" + }, + "parts": [ + { + "name": "base_foot", + "visual": "Base_08q-v1_visual", + "vertices": "-0.055463 0.004400 -0.001262 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hull pairs remain enabled." + }, + "arm_gripper": { + "radiusM": 0.0185, + "axialHalfExtentM": 0.055, + "reason": "Adjacent joint bearing/servo mating core only; outside-core structural hull pairs remain enabled." + } + } +} diff --git a/robot_profiles/lekiwi-full-collision.json b/robot_profiles/lekiwi-full-collision.json new file mode 100644 index 00000000..c7efa083 --- /dev/null +++ b/robot_profiles/lekiwi-full-collision.json @@ -0,0 +1,12541 @@ +{ + "revision": 4, + "geometrySha256": "7dff1e89f839df5da9dc6858c647e5786adb39296377068f6c6886055ef1a7a6", + "recipeSha256": "cfb2bba312819371592ffd21fad4a57b3c9acd94ce709dc000f77cd495c61446", + "physics": { + "timestep": 0.001, + "solref": [0.002, 1], + "solimp": [0.95, 0.99, 0.001] + }, + "jointPolicy": [ + { + "joint": "arm_shoulder_pan", + "parent": "base", + "radiusM": 0.023, + "axialHalfExtentM": 0.055, + "reason": "Bounded mating envelope with straddling hull partitioning: CAD clearance audit found a false bearing contact at radius 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["SO_ARM100_08k_Mirror-v1__h001", "Wrist_Roll_Pitch_08i-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h008"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h011"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h012"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h013"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h014"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h019"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h020"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h024"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h027"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h028"], + ["SO_ARM100_08k_Mirror-v1__h002", "Wrist_Roll_Pitch_08i-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h003", "Wrist_Roll_Pitch_08i-v1__h047"], + ["SO_ARM100_08k_Mirror-v1__h003", "Wrist_Roll_Pitch_08i-v1__h048"], + ["SO_ARM100_08k_Mirror-v1__h003", "Wrist_Roll_Pitch_08i-v1__h054"], + ["SO_ARM100_08k_Mirror-v1__h003", "Wrist_Roll_Pitch_08i-v1__h067"], + ["SO_ARM100_08k_Mirror-v1__h003", "Wrist_Roll_Pitch_08i-v1__h068"], + ["SO_ARM100_08k_Mirror-v1__h003", "Wrist_Roll_Pitch_08i-v1__h069"], + ["SO_ARM100_08k_Mirror-v1__h003", "Wrist_Roll_Pitch_08i-v1__h073"], + ["SO_ARM100_08k_Mirror-v1__h003", "Wrist_Roll_Pitch_08i-v1__h074"], + ["SO_ARM100_08k_Mirror-v1__h003", "Wrist_Roll_Pitch_08i-v1__h075"], + ["SO_ARM100_08k_Mirror-v1__h003", "Wrist_Roll_Pitch_08i-v1__h076"], + ["SO_ARM100_08k_Mirror-v1__h003", "Wrist_Roll_Pitch_08i-v1__h079"], + ["SO_ARM100_08k_Mirror-v1__h003", "Wrist_Roll_Pitch_08i-v1__h080"], + ["SO_ARM100_08k_Mirror-v1__h003", "Wrist_Roll_Pitch_08i-v1__h081"], + ["SO_ARM100_08k_Mirror-v1__h003", "STS3215_03a_Wrist_Roll-v1__h000"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h047"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h048"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h054"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h066"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h067"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h068"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h069"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h073"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h074"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h075"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h076"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h079"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h080"], + ["SO_ARM100_08k_Mirror-v1__h004", "Wrist_Roll_Pitch_08i-v1__h081"], + ["SO_ARM100_08k_Mirror-v1__h004", "STS3215_03a_Wrist_Roll-v1__h000"], + ["SO_ARM100_08k_Mirror-v1__h005", "Wrist_Roll_Pitch_08i-v1__h047"], + ["SO_ARM100_08k_Mirror-v1__h005", "Wrist_Roll_Pitch_08i-v1__h048"], + ["SO_ARM100_08k_Mirror-v1__h005", "Wrist_Roll_Pitch_08i-v1__h054"], + ["SO_ARM100_08k_Mirror-v1__h005", "Wrist_Roll_Pitch_08i-v1__h067"], + ["SO_ARM100_08k_Mirror-v1__h005", "Wrist_Roll_Pitch_08i-v1__h068"], + ["SO_ARM100_08k_Mirror-v1__h005", "Wrist_Roll_Pitch_08i-v1__h069"], + ["SO_ARM100_08k_Mirror-v1__h005", "Wrist_Roll_Pitch_08i-v1__h073"], + ["SO_ARM100_08k_Mirror-v1__h005", "Wrist_Roll_Pitch_08i-v1__h074"], + ["SO_ARM100_08k_Mirror-v1__h005", "Wrist_Roll_Pitch_08i-v1__h075"], + ["SO_ARM100_08k_Mirror-v1__h005", "Wrist_Roll_Pitch_08i-v1__h076"], + ["SO_ARM100_08k_Mirror-v1__h005", "Wrist_Roll_Pitch_08i-v1__h079"], + ["SO_ARM100_08k_Mirror-v1__h005", "Wrist_Roll_Pitch_08i-v1__h080"], + ["SO_ARM100_08k_Mirror-v1__h005", "Wrist_Roll_Pitch_08i-v1__h081"], + ["SO_ARM100_08k_Mirror-v1__h005", "STS3215_03a_Wrist_Roll-v1__h000"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h047"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h048"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h054"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h066"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h067"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h068"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h069"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h073"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h074"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h075"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h076"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h079"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h080"], + ["SO_ARM100_08k_Mirror-v1__h006", "Wrist_Roll_Pitch_08i-v1__h081"], + ["SO_ARM100_08k_Mirror-v1__h006", "STS3215_03a_Wrist_Roll-v1__h000"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h008"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h011"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h012"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h013"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h014"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h019"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h020"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h024"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h027"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h028"], + ["SO_ARM100_08k_Mirror-v1__h007", "Wrist_Roll_Pitch_08i-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h008", "Wrist_Roll_Pitch_08i-v1__h011"], + ["SO_ARM100_08k_Mirror-v1__h008", "Wrist_Roll_Pitch_08i-v1__h012"], + ["SO_ARM100_08k_Mirror-v1__h008", "Wrist_Roll_Pitch_08i-v1__h013"], + ["SO_ARM100_08k_Mirror-v1__h008", "Wrist_Roll_Pitch_08i-v1__h014"], + ["SO_ARM100_08k_Mirror-v1__h008", "Wrist_Roll_Pitch_08i-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h008", "Wrist_Roll_Pitch_08i-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h008", "Wrist_Roll_Pitch_08i-v1__h019"], + ["SO_ARM100_08k_Mirror-v1__h008", "Wrist_Roll_Pitch_08i-v1__h020"], + ["SO_ARM100_08k_Mirror-v1__h008", "Wrist_Roll_Pitch_08i-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h008", "Wrist_Roll_Pitch_08i-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h008", "Wrist_Roll_Pitch_08i-v1__h024"], + ["SO_ARM100_08k_Mirror-v1__h008", "Wrist_Roll_Pitch_08i-v1__h027"], + ["SO_ARM100_08k_Mirror-v1__h008", "Wrist_Roll_Pitch_08i-v1__h028"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h012"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h013"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h014"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h019"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h020"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h023"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h024"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h025"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h026"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h027"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h028"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h029"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h030"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h031"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h032"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h034"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h035"], + ["SO_ARM100_08k_Mirror-v1__h009", "Wrist_Roll_Pitch_08i-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h009", "STS3215_03a_Wrist_Roll-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h009", "STS3215_03a_Wrist_Roll-v1__h034"], + ["SO_ARM100_08k_Mirror-v1__h009", "STS3215_03a_Wrist_Roll-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h009", "STS3215_03a_Wrist_Roll-v1__h037"], + ["SO_ARM100_08k_Mirror-v1__h009", "STS3215_03a_Wrist_Roll-v1__h038"], + ["SO_ARM100_08k_Mirror-v1__h009", "STS3215_03a_Wrist_Roll-v1__h039"], + ["SO_ARM100_08k_Mirror-v1__h009", "STS3215_03a_Wrist_Roll-v1__h040"], + ["SO_ARM100_08k_Mirror-v1__h009", "STS3215_03a_Wrist_Roll-v1__h041"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h031"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h032"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h035"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h037"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h039"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h040"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h041"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h042"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h044"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h045"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h047"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h048"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h051"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h054"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h067"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h069"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h073"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h074"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h075"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h076"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h077"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h078"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h079"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h080"], + ["SO_ARM100_08k_Mirror-v1__h010", "Wrist_Roll_Pitch_08i-v1__h081"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h000"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h001"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h002"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h003"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h004"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h005"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h006"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h007"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h008"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h009"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h010"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h011"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h012"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h013"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h014"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h016"], + ["SO_ARM100_08k_Mirror-v1__h010", "STS3215_03a_Wrist_Roll-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h011", "Wrist_Roll_Pitch_08i-v1__h027"], + ["SO_ARM100_08k_Mirror-v1__h011", "Wrist_Roll_Pitch_08i-v1__h030"], + ["SO_ARM100_08k_Mirror-v1__h011", "Wrist_Roll_Pitch_08i-v1__h031"], + ["SO_ARM100_08k_Mirror-v1__h011", "Wrist_Roll_Pitch_08i-v1__h032"], + ["SO_ARM100_08k_Mirror-v1__h011", "Wrist_Roll_Pitch_08i-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h011", "Wrist_Roll_Pitch_08i-v1__h034"], + ["SO_ARM100_08k_Mirror-v1__h011", "Wrist_Roll_Pitch_08i-v1__h035"], + ["SO_ARM100_08k_Mirror-v1__h011", "Wrist_Roll_Pitch_08i-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h011", "Wrist_Roll_Pitch_08i-v1__h037"], + ["SO_ARM100_08k_Mirror-v1__h011", "Wrist_Roll_Pitch_08i-v1__h038"], + ["SO_ARM100_08k_Mirror-v1__h011", "Wrist_Roll_Pitch_08i-v1__h039"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h020"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h023"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h024"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h027"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h028"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h029"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h030"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h031"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h032"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h034"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h037"], + ["SO_ARM100_08k_Mirror-v1__h011", "STS3215_03a_Wrist_Roll-v1__h038"], + ["SO_ARM100_08k_Mirror-v1__h012", "Wrist_Roll_Pitch_08i-v1__h031"], + ["SO_ARM100_08k_Mirror-v1__h012", "Wrist_Roll_Pitch_08i-v1__h032"], + ["SO_ARM100_08k_Mirror-v1__h012", "Wrist_Roll_Pitch_08i-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h012", "Wrist_Roll_Pitch_08i-v1__h034"], + ["SO_ARM100_08k_Mirror-v1__h012", "Wrist_Roll_Pitch_08i-v1__h035"], + ["SO_ARM100_08k_Mirror-v1__h012", "Wrist_Roll_Pitch_08i-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h012", "Wrist_Roll_Pitch_08i-v1__h037"], + ["SO_ARM100_08k_Mirror-v1__h012", "Wrist_Roll_Pitch_08i-v1__h038"], + ["SO_ARM100_08k_Mirror-v1__h012", "Wrist_Roll_Pitch_08i-v1__h039"], + ["SO_ARM100_08k_Mirror-v1__h012", "Wrist_Roll_Pitch_08i-v1__h040"], + ["SO_ARM100_08k_Mirror-v1__h012", "Wrist_Roll_Pitch_08i-v1__h041"], + ["SO_ARM100_08k_Mirror-v1__h012", "Wrist_Roll_Pitch_08i-v1__h042"], + ["SO_ARM100_08k_Mirror-v1__h012", "STS3215_03a_Wrist_Roll-v1__h011"], + ["SO_ARM100_08k_Mirror-v1__h012", "STS3215_03a_Wrist_Roll-v1__h012"], + ["SO_ARM100_08k_Mirror-v1__h012", "STS3215_03a_Wrist_Roll-v1__h013"], + ["SO_ARM100_08k_Mirror-v1__h012", "STS3215_03a_Wrist_Roll-v1__h014"], + ["SO_ARM100_08k_Mirror-v1__h012", "STS3215_03a_Wrist_Roll-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h012", "STS3215_03a_Wrist_Roll-v1__h016"], + ["SO_ARM100_08k_Mirror-v1__h012", "STS3215_03a_Wrist_Roll-v1__h017"], + 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["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h041"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h042"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h044"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h045"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h047"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h048"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h051"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h054"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h073"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h074"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h075"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h076"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h077"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h078"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h079"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h080"], + ["SO_ARM100_08k_Mirror-v1__h014", "Wrist_Roll_Pitch_08i-v1__h081"], + ["SO_ARM100_08k_Mirror-v1__h014", "STS3215_03a_Wrist_Roll-v1__h000"], + ["SO_ARM100_08k_Mirror-v1__h014", "STS3215_03a_Wrist_Roll-v1__h001"], + ["SO_ARM100_08k_Mirror-v1__h014", "STS3215_03a_Wrist_Roll-v1__h002"], + ["SO_ARM100_08k_Mirror-v1__h014", "STS3215_03a_Wrist_Roll-v1__h003"], + ["SO_ARM100_08k_Mirror-v1__h014", "STS3215_03a_Wrist_Roll-v1__h004"], + ["SO_ARM100_08k_Mirror-v1__h014", "STS3215_03a_Wrist_Roll-v1__h005"], + ["SO_ARM100_08k_Mirror-v1__h014", "STS3215_03a_Wrist_Roll-v1__h006"], + ["SO_ARM100_08k_Mirror-v1__h014", "STS3215_03a_Wrist_Roll-v1__h007"], + ["SO_ARM100_08k_Mirror-v1__h014", "STS3215_03a_Wrist_Roll-v1__h008"], + ["SO_ARM100_08k_Mirror-v1__h014", "STS3215_03a_Wrist_Roll-v1__h009"], + ["SO_ARM100_08k_Mirror-v1__h014", "STS3215_03a_Wrist_Roll-v1__h010"], 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["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h023"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h024"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h025"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h026"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h027"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h028"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h029"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h030"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h031"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h032"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h034"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h035"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h037"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h038"], + ["SO_ARM100_08k_Mirror-v1__h015", "Wrist_Roll_Pitch_08i-v1__h039"], + ["SO_ARM100_08k_Mirror-v1__h015", "STS3215_03a_Wrist_Roll-v1__h020"], + ["SO_ARM100_08k_Mirror-v1__h015", "STS3215_03a_Wrist_Roll-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h015", "STS3215_03a_Wrist_Roll-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h015", "STS3215_03a_Wrist_Roll-v1__h023"], + ["SO_ARM100_08k_Mirror-v1__h015", "STS3215_03a_Wrist_Roll-v1__h024"], + ["SO_ARM100_08k_Mirror-v1__h015", "STS3215_03a_Wrist_Roll-v1__h027"], + ["SO_ARM100_08k_Mirror-v1__h015", "STS3215_03a_Wrist_Roll-v1__h028"], + ["SO_ARM100_08k_Mirror-v1__h015", "STS3215_03a_Wrist_Roll-v1__h029"], + ["SO_ARM100_08k_Mirror-v1__h015", "STS3215_03a_Wrist_Roll-v1__h030"], + ["SO_ARM100_08k_Mirror-v1__h015", "STS3215_03a_Wrist_Roll-v1__h031"], + ["SO_ARM100_08k_Mirror-v1__h015", "STS3215_03a_Wrist_Roll-v1__h032"], 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["SO_ARM100_08k_Mirror-v1__h016", "Wrist_Roll_Pitch_08i-v1__h020"], + ["SO_ARM100_08k_Mirror-v1__h016", "Wrist_Roll_Pitch_08i-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h016", "Wrist_Roll_Pitch_08i-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h016", "Wrist_Roll_Pitch_08i-v1__h023"], + ["SO_ARM100_08k_Mirror-v1__h016", "Wrist_Roll_Pitch_08i-v1__h024"], + ["SO_ARM100_08k_Mirror-v1__h016", "Wrist_Roll_Pitch_08i-v1__h027"], + ["SO_ARM100_08k_Mirror-v1__h016", "Wrist_Roll_Pitch_08i-v1__h028"], + ["SO_ARM100_08k_Mirror-v1__h016", "Wrist_Roll_Pitch_08i-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h017", "Wrist_Roll_Pitch_08i-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h017", "Wrist_Roll_Pitch_08i-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h017", "Wrist_Roll_Pitch_08i-v1__h035"], + ["SO_ARM100_08k_Mirror-v1__h017", "Wrist_Roll_Pitch_08i-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h017", "STS3215_03a_Wrist_Roll-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h017", "STS3215_03a_Wrist_Roll-v1__h034"], + ["SO_ARM100_08k_Mirror-v1__h017", "STS3215_03a_Wrist_Roll-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h017", "STS3215_03a_Wrist_Roll-v1__h037"], + ["SO_ARM100_08k_Mirror-v1__h017", "STS3215_03a_Wrist_Roll-v1__h038"], + ["SO_ARM100_08k_Mirror-v1__h017", "STS3215_03a_Wrist_Roll-v1__h039"], + ["SO_ARM100_08k_Mirror-v1__h017", "STS3215_03a_Wrist_Roll-v1__h040"], + ["SO_ARM100_08k_Mirror-v1__h017", "STS3215_03a_Wrist_Roll-v1__h041"], + ["SO_ARM100_08k_Mirror-v1__h018", "Wrist_Roll_Pitch_08i-v1__h027"], + ["SO_ARM100_08k_Mirror-v1__h018", "Wrist_Roll_Pitch_08i-v1__h030"], + ["SO_ARM100_08k_Mirror-v1__h018", "Wrist_Roll_Pitch_08i-v1__h031"], + ["SO_ARM100_08k_Mirror-v1__h018", "Wrist_Roll_Pitch_08i-v1__h032"], + ["SO_ARM100_08k_Mirror-v1__h018", "Wrist_Roll_Pitch_08i-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h018", "Wrist_Roll_Pitch_08i-v1__h034"], + ["SO_ARM100_08k_Mirror-v1__h018", "Wrist_Roll_Pitch_08i-v1__h035"], + ["SO_ARM100_08k_Mirror-v1__h018", "Wrist_Roll_Pitch_08i-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h018", "Wrist_Roll_Pitch_08i-v1__h037"], + ["SO_ARM100_08k_Mirror-v1__h018", "Wrist_Roll_Pitch_08i-v1__h038"], + ["SO_ARM100_08k_Mirror-v1__h018", "Wrist_Roll_Pitch_08i-v1__h039"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h020"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h023"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h024"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h027"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h028"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h029"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h030"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h031"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h032"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h034"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h037"], + ["SO_ARM100_08k_Mirror-v1__h018", "STS3215_03a_Wrist_Roll-v1__h038"], + ["SO_ARM100_08k_Mirror-v1__h019", "Wrist_Roll_Pitch_08i-v1__h035"], + ["SO_ARM100_08k_Mirror-v1__h019", "Wrist_Roll_Pitch_08i-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h019", "Wrist_Roll_Pitch_08i-v1__h044"], + ["SO_ARM100_08k_Mirror-v1__h019", "Wrist_Roll_Pitch_08i-v1__h045"], + ["SO_ARM100_08k_Mirror-v1__h019", "Wrist_Roll_Pitch_08i-v1__h047"], + ["SO_ARM100_08k_Mirror-v1__h019", "Wrist_Roll_Pitch_08i-v1__h048"], + ["SO_ARM100_08k_Mirror-v1__h019", "Wrist_Roll_Pitch_08i-v1__h051"], + ["SO_ARM100_08k_Mirror-v1__h019", "Wrist_Roll_Pitch_08i-v1__h054"], + ["SO_ARM100_08k_Mirror-v1__h019", "Wrist_Roll_Pitch_08i-v1__h077"], + ["SO_ARM100_08k_Mirror-v1__h019", "Wrist_Roll_Pitch_08i-v1__h078"], + ["SO_ARM100_08k_Mirror-v1__h019", "Wrist_Roll_Pitch_08i-v1__h079"], + ["SO_ARM100_08k_Mirror-v1__h019", "Wrist_Roll_Pitch_08i-v1__h080"], + ["SO_ARM100_08k_Mirror-v1__h019", "Wrist_Roll_Pitch_08i-v1__h081"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h000"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h001"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h002"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h003"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h004"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h005"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h006"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h007"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h008"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h009"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h010"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h011"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h012"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h013"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h014"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h016"], + ["SO_ARM100_08k_Mirror-v1__h019", "STS3215_03a_Wrist_Roll-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h020", "Wrist_Roll_Pitch_08i-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h020", "Wrist_Roll_Pitch_08i-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h020", "Wrist_Roll_Pitch_08i-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h020", "Wrist_Roll_Pitch_08i-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h021", "Wrist_Roll_Pitch_08i-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h021", "Wrist_Roll_Pitch_08i-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h021", "Wrist_Roll_Pitch_08i-v1__h035"], + ["SO_ARM100_08k_Mirror-v1__h021", "Wrist_Roll_Pitch_08i-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h021", "STS3215_03a_Wrist_Roll-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h021", "STS3215_03a_Wrist_Roll-v1__h034"], + ["SO_ARM100_08k_Mirror-v1__h021", "STS3215_03a_Wrist_Roll-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h021", "STS3215_03a_Wrist_Roll-v1__h037"], + ["SO_ARM100_08k_Mirror-v1__h021", "STS3215_03a_Wrist_Roll-v1__h038"], + ["SO_ARM100_08k_Mirror-v1__h021", "STS3215_03a_Wrist_Roll-v1__h039"], + ["SO_ARM100_08k_Mirror-v1__h021", "STS3215_03a_Wrist_Roll-v1__h040"], + ["SO_ARM100_08k_Mirror-v1__h021", "STS3215_03a_Wrist_Roll-v1__h041"], + ["SO_ARM100_08k_Mirror-v1__h022", "Wrist_Roll_Pitch_08i-v1__h044"], + ["SO_ARM100_08k_Mirror-v1__h022", "Wrist_Roll_Pitch_08i-v1__h045"], + ["SO_ARM100_08k_Mirror-v1__h022", "Wrist_Roll_Pitch_08i-v1__h047"], + ["SO_ARM100_08k_Mirror-v1__h022", "Wrist_Roll_Pitch_08i-v1__h048"], + ["SO_ARM100_08k_Mirror-v1__h022", "Wrist_Roll_Pitch_08i-v1__h051"], + ["SO_ARM100_08k_Mirror-v1__h022", "Wrist_Roll_Pitch_08i-v1__h054"], + ["SO_ARM100_08k_Mirror-v1__h022", "Wrist_Roll_Pitch_08i-v1__h079"], + ["SO_ARM100_08k_Mirror-v1__h022", "Wrist_Roll_Pitch_08i-v1__h080"], + ["SO_ARM100_08k_Mirror-v1__h022", "Wrist_Roll_Pitch_08i-v1__h081"], + ["SO_ARM100_08k_Mirror-v1__h022", "STS3215_03a_Wrist_Roll-v1__h000"], + ["SO_ARM100_08k_Mirror-v1__h023", "Wrist_Roll_Pitch_08i-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h023", "Wrist_Roll_Pitch_08i-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h023", "Wrist_Roll_Pitch_08i-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h023", "Wrist_Roll_Pitch_08i-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h024", "Wrist_Roll_Pitch_08i-v1__h035"], + ["SO_ARM100_08k_Mirror-v1__h024", "Wrist_Roll_Pitch_08i-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h024", "Wrist_Roll_Pitch_08i-v1__h044"], + ["SO_ARM100_08k_Mirror-v1__h024", "Wrist_Roll_Pitch_08i-v1__h045"], + ["SO_ARM100_08k_Mirror-v1__h024", "Wrist_Roll_Pitch_08i-v1__h047"], + ["SO_ARM100_08k_Mirror-v1__h024", "Wrist_Roll_Pitch_08i-v1__h048"], + ["SO_ARM100_08k_Mirror-v1__h024", "Wrist_Roll_Pitch_08i-v1__h051"], + ["SO_ARM100_08k_Mirror-v1__h024", "Wrist_Roll_Pitch_08i-v1__h054"], + ["SO_ARM100_08k_Mirror-v1__h024", "Wrist_Roll_Pitch_08i-v1__h077"], + ["SO_ARM100_08k_Mirror-v1__h024", "Wrist_Roll_Pitch_08i-v1__h078"], + ["SO_ARM100_08k_Mirror-v1__h024", "Wrist_Roll_Pitch_08i-v1__h079"], + ["SO_ARM100_08k_Mirror-v1__h024", "Wrist_Roll_Pitch_08i-v1__h080"], + ["SO_ARM100_08k_Mirror-v1__h024", "Wrist_Roll_Pitch_08i-v1__h081"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h000"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h001"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h002"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h003"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h004"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h005"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h006"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h007"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h008"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h009"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h010"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h011"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h012"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h013"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h014"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h016"], + ["SO_ARM100_08k_Mirror-v1__h024", "STS3215_03a_Wrist_Roll-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h025", "Wrist_Roll_Pitch_08i-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h025", "Wrist_Roll_Pitch_08i-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h025", "Wrist_Roll_Pitch_08i-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h025", "Wrist_Roll_Pitch_08i-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h026", "Wrist_Roll_Pitch_08i-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h026", "Wrist_Roll_Pitch_08i-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h026", "Wrist_Roll_Pitch_08i-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h026", "Wrist_Roll_Pitch_08i-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h026", "STS3215_03a_Wrist_Roll-v1__h035"], + ["SO_ARM100_08k_Mirror-v1__h026", "STS3215_03a_Wrist_Roll-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h026", "STS3215_03a_Wrist_Roll-v1__h037"], + ["SO_ARM100_08k_Mirror-v1__h026", "STS3215_03a_Wrist_Roll-v1__h038"], + ["SO_ARM100_08k_Mirror-v1__h026", "STS3215_03a_Wrist_Roll-v1__h039"], + ["SO_ARM100_08k_Mirror-v1__h026", "STS3215_03a_Wrist_Roll-v1__h040"], + ["SO_ARM100_08k_Mirror-v1__h026", "STS3215_03a_Wrist_Roll-v1__h041"], + ["SO_ARM100_08k_Mirror-v1__h027", "Wrist_Roll_Pitch_08i-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h027", "Wrist_Roll_Pitch_08i-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h028", "Wrist_Roll_Pitch_08i-v1__h035"], + ["SO_ARM100_08k_Mirror-v1__h028", "Wrist_Roll_Pitch_08i-v1__h036"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h013"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h014"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h015"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h016"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h017"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h018"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h019"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h020"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h021"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h022"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h023"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h024"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h025"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h026"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h027"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h028"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h030"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h031"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h032"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h033"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h034"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h035"], + ["SO_ARM100_08k_Mirror-v1__h028", "STS3215_03a_Wrist_Roll-v1__h036"], + 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"Moving_Jaw_08d-v1__h060"], + ["Wrist_Roll_08c-v1__h239", "Moving_Jaw_08d-v1__h067"], + ["Wrist_Roll_08c-v1__h241", "Moving_Jaw_08d-v1__h004"], + ["Wrist_Roll_08c-v1__h241", "Moving_Jaw_08d-v1__h005"], + ["Wrist_Roll_08c-v1__h241", "Moving_Jaw_08d-v1__h010"], + ["Wrist_Roll_08c-v1__h241", "Moving_Jaw_08d-v1__h011"], + ["Wrist_Roll_08c-v1__h241", "Moving_Jaw_08d-v1__h029"], + ["Wrist_Roll_08c-v1__h241", "Moving_Jaw_08d-v1__h035"], + ["Wrist_Roll_08c-v1__h241", "Moving_Jaw_08d-v1__h038"], + ["Wrist_Roll_08c-v1__h241", "Moving_Jaw_08d-v1__h058"], + ["Wrist_Roll_08c-v1__h241", "Moving_Jaw_08d-v1__h064"], + ["Wrist_Roll_08c-v1__h241", "Moving_Jaw_08d-v1__h065"], + ["STS3215_03a-v1-4__h000", "Moving_Jaw_08d-v1__h015"], + ["STS3215_03a-v1-4__h000", "Moving_Jaw_08d-v1__h021"], + ["STS3215_03a-v1-4__h000", "Moving_Jaw_08d-v1__h027"], + ["STS3215_03a-v1-4__h000", "Moving_Jaw_08d-v1__h033"], + ["STS3215_03a-v1-4__h000", "Moving_Jaw_08d-v1__h054"], + ["STS3215_03a-v1-4__h000", 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"Moving_Jaw_08d-v1__h057"], + ["STS3215_03a-v1-4__h005", "Moving_Jaw_08d-v1__h058"], + ["STS3215_03a-v1-4__h005", "Moving_Jaw_08d-v1__h064"], + ["STS3215_03a-v1-4__h005", "Moving_Jaw_08d-v1__h065"], + ["STS3215_03a-v1-4__h005", "Moving_Jaw_08d-v1__h066"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h004"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h005"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h009"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h010"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h011"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h016"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h018"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h027"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h029"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h035"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h038"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h055"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h057"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h058"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h064"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h065"], + ["STS3215_03a-v1-4__h006", "Moving_Jaw_08d-v1__h066"], + ["STS3215_03a-v1-4__h007", "Moving_Jaw_08d-v1__h000"], + ["STS3215_03a-v1-4__h007", "Moving_Jaw_08d-v1__h006"], + ["STS3215_03a-v1-4__h007", "Moving_Jaw_08d-v1__h014"], + ["STS3215_03a-v1-4__h007", "Moving_Jaw_08d-v1__h019"], + ["STS3215_03a-v1-4__h007", "Moving_Jaw_08d-v1__h052"], + ["STS3215_03a-v1-4__h007", "Moving_Jaw_08d-v1__h060"], + ["STS3215_03a-v1-4__h007", "Moving_Jaw_08d-v1__h062"], + ["STS3215_03a-v1-4__h007", "Moving_Jaw_08d-v1__h067"], + ["STS3215_03a-v1-4__h008", "Moving_Jaw_08d-v1__h015"], + ["STS3215_03a-v1-4__h008", "Moving_Jaw_08d-v1__h018"], + ["STS3215_03a-v1-4__h008", "Moving_Jaw_08d-v1__h021"], + ["STS3215_03a-v1-4__h008", "Moving_Jaw_08d-v1__h027"], + ["STS3215_03a-v1-4__h008", "Moving_Jaw_08d-v1__h030"], + ["STS3215_03a-v1-4__h008", "Moving_Jaw_08d-v1__h033"], + ["STS3215_03a-v1-4__h008", "Moving_Jaw_08d-v1__h054"], + ["STS3215_03a-v1-4__h008", "Moving_Jaw_08d-v1__h055"], + ["STS3215_03a-v1-4__h008", "Moving_Jaw_08d-v1__h059"], + ["STS3215_03a-v1-4__h008", "Moving_Jaw_08d-v1__h063"], + ["STS3215_03a-v1-4__h009", "Moving_Jaw_08d-v1__h003"], + ["STS3215_03a-v1-4__h009", "Moving_Jaw_08d-v1__h017"], + ["STS3215_03a-v1-4__h009", "Moving_Jaw_08d-v1__h021"], + ["STS3215_03a-v1-4__h009", "Moving_Jaw_08d-v1__h030"], + ["STS3215_03a-v1-4__h009", "Moving_Jaw_08d-v1__h033"], + ["STS3215_03a-v1-4__h009", "Moving_Jaw_08d-v1__h059"], + ["STS3215_03a-v1-4__h009", "Moving_Jaw_08d-v1__h063"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h004"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h005"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h009"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h010"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h011"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h016"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h018"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h027"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h029"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h035"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h055"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h057"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h058"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h064"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h065"], + ["STS3215_03a-v1-4__h010", "Moving_Jaw_08d-v1__h066"], + ["STS3215_03a-v1-4__h011", "Moving_Jaw_08d-v1__h000"], + ["STS3215_03a-v1-4__h011", "Moving_Jaw_08d-v1__h006"], + ["STS3215_03a-v1-4__h011", "Moving_Jaw_08d-v1__h014"], + ["STS3215_03a-v1-4__h011", "Moving_Jaw_08d-v1__h019"], + ["STS3215_03a-v1-4__h011", "Moving_Jaw_08d-v1__h052"], + ["STS3215_03a-v1-4__h011", "Moving_Jaw_08d-v1__h060"], + ["STS3215_03a-v1-4__h011", "Moving_Jaw_08d-v1__h062"], + ["STS3215_03a-v1-4__h011", "Moving_Jaw_08d-v1__h067"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h003"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h011"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h014"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h015"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h017"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h018"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h021"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h027"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h029"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h030"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h033"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h054"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h055"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h058"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h059"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h060"], + ["STS3215_03a-v1-4__h012", "Moving_Jaw_08d-v1__h063"], + 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--- /dev/null +++ b/robot_profiles/lekiwi-v1.json @@ -0,0 +1,98 @@ +{ + "id": "lekiwi-v1", + "version": 1, + "source": { + "repository": "https://github.com/SIGRobotics-UIUC/LeKiwi", + "revision": "efa608d7ee5a495a4803b1d28cd0c955b4f1e033", + "urdfSha256": "36e102375e1e6ffdc1ca2d343c7406284b3cabc77ae16bfc001a3da89fddc6e1", + "license": "Apache-2.0", + "lerobotVersion": "0.6.1" + }, + "baseBody": "base_plate_layer1-v5", + "frame": "x-forward-y-left-z-up", + "mapping": { + "cadYawRad": -1.5707963267948966, + "armSigns": [1, 1, 1, 1, 1], + "armOffsetsRad": [0, 0, 0, 0, 0], + "gripperAxisSign": -1 + }, + "controlHz": 30, + "watchdogMs": 500, + "wheelRadius": 0.05, + "baseRadius": 0.125, + "wheelMaxRadS": 4.601942363656923, + "baseLinearLimit": 0.2, + "baseAngularLimit": 1.0471975511965976, + "wheels": ["base_left_wheel", "base_back_wheel", "base_right_wheel"], + "arm": [ + { + "joint": "arm_shoulder_pan", + "min": -1.57, + "max": 1.57, + "neutral": 0, + "kp": 40, + "kv": 3, + "force": 8 + }, + { + "joint": "arm_shoulder_lift", + "min": -1.4, + "max": 1.4, + "neutral": 0, + "kp": 60, + "kv": 4, + "force": 10 + }, + { + "joint": "arm_elbow_flex", + "min": -1.4, + "max": 1.4, + "neutral": 0, + "kp": 50, + "kv": 3, + "force": 8 + }, + { + "joint": "arm_wrist_flex", + "min": -1.4, + "max": 1.4, + "neutral": 0, + "kp": 30, + "kv": 2, + "force": 5 + }, + { + "joint": "arm_wrist_roll", + "min": -3.14, + "max": 3.14, + "neutral": 0, + "kp": 20, + "kv": 1, + "force": 3 + }, + { + "joint": "arm_gripper", + "min": -0.18, + "max": 0.9, + "neutral": 0, + "kp": 15, + "kv": 1, + "force": 2 + } + ], + "simulation": { + "baseMass": 2.2, + "baseInertia": [0.014, 0.014, 0.022], + "armMasses": [0.1, 0.25, 0.22, 0.08, 0.09, 0.025], + "wheelMass": 0.06, + "rollerCount": 12, + "rollerMass": 0.003, + "wheelKv": 0.5, + "wheelTorqueLimit": 2.0 + }, + "parameterNotes": { + "kinematics": "Wheel radius/base radius and proportional wheel saturation follow LeRobot 0.6.1; raw 3000 ticks/s converts to wheelMaxRadS. CAD frame mapping is explicit in model enhancement. The CAD gripper axis is reversed so increasing canonical angle opens the jaws; the -0.18 rad closing limit leaves approximately 0.5 mm fingertip clearance.", + "dynamics": "Simulation-only estimated collision, mass, inertia, joint limits and servo gains. NOT measured hardware calibration or a sim-to-real model.", + "scope": "Flat ground low-speed control; no cameras, training, rough terrain or reliable grasping claim." + } +} diff --git a/web_platform/ARCHITECTURE.md b/web_platform/ARCHITECTURE.md index cd618cbd..81a3d7d2 100644 --- a/web_platform/ARCHITECTURE.md +++ b/web_platform/ARCHITECTURE.md @@ -12,6 +12,7 @@ src/ ├── map/ 地图加载、生成、编辑和面板 ├── project/ 工程导入、转换、文件树和工作区 ├── rl/ ONNX 策略运行时、任务绑定、类型和面板 +├── robot/ 通用机器人契约、profile、实时协议与外部控制面板 ├── simulation/ MuJoCo 会话、物理适配器和仿真控制组件 ├── telemetry/ 数据源抽象、记录器、导出和数据面板 ├── training/ 本地训练/调参客户端、类型、共享连接和面板 @@ -41,4 +42,12 @@ SimulationSession snapshot → app → viewer / 各业务面板 主工作台由 `index.html → src/main.tsx` 启动；自调参工作台由 Vite MPA 入口 `tuning.html → src/tuning/main.tsx` 启动，避免把 MuJoCo/Three.js 主应用依赖打入监控页面。两页仅通过训练 HTTP API和严格同源的短消息交接训练服务凭据/策略导入请求，不在 URL 中传 token。 -测试文件使用 `*.test.ts(x)` 与被测模块共置；端到端测试统一保存在 `e2e/`。 +## 机器人接口边界 + +`robot/types + validation` 定义跨语言契约，`robot_profiles/` 是唯一参数源；可信 `RobotAdapter` 封装物理模型，`ModelBindings` 为机器人/Python/Go2 共用索引。`ControlArbiter` 在 Session 边界授予身份票据，所有写入都经过所有者检查，不依赖 UI 灰化。 + +外部 Python SDK → 独立 `control_bridge` → `ExternalControlClient` → `RobotRuntime` 最新目标邮箱。网络事件不直接改 qpos/qvel；物理步前施加目标、步后确认，观测是实测状态。外控的有界固定-dt 调度器独立于 renderer，React 快照不是传输时钟。暂停时由轻量生命周期轮询补一次状态快照，避免 UI 停留在旧授权状态。 + +`app/hooks/useExternalControl` 只负责连接、内存凭据、显式授权及隐藏/卸载清理。profile 变更走既有候选编译事务；回滚不恢复 lease。协议、指纹、单位、软件渲染预算和后续独立 task/RL 层详见 [机器人接口](../docs/robot-interface.md)。 + +测试文件使用 `*.test.ts(x)` 与被测模块共置；端到端测试统一保存在 `e2e/`。`physics/runner.html` 是仅开发服务器提供的真实 WASM 夹具，不进入生产构建；普通桥接使用小型通用模型，完整 LeKiwi / LeRobot / 60 秒 UI 回归通过独立配置和 CPU 环境运行。 diff --git a/web_platform/README.md b/web_platform/README.md index 963e2db9..4fc46764 100644 --- a/web_platform/README.md +++ b/web_platform/README.md @@ -17,6 +17,7 @@ - 导入 mjlab 导出的 `policy.onnx`，在浏览器本地执行 Go2-W 平衡/速度策略推理 - 从图形界面向本机训练桥接服务发起 mjlab 强化学习训练、查看进度/日志、停止任务并导入训练生成的 ONNX；可在独立 TensorBoard 风格页面运行 DeepSeek 奖励函数自调参 - 可配置仿真遥测记录，实时查看速度、机身姿态、位置、驱动力等指标并导出 CSV/JSON +- 通用机器人 profile、外部控制授权和独立本机桥接；首个适配为 LeKiwi + 实际 LeRobot 0.6.1 - FPS、物理耗时和主线程步进预算提示 ## 开发 @@ -43,7 +44,7 @@ npm run test:e2e npm run check ``` -E2E 默认使用系统安装的 Google Chrome。若没有 Chrome，可修改 `playwright.config.ts` 或运行 `npx playwright install chromium` 后移除 `channel: 'chrome'`。 +E2E 使用 Playwright Chromium，先运行 `npx playwright install chromium`。普通桥接用例需要 Python 3.12 与 `pip install -e control_bridge`；可设置 `BRIDGE_PYTHON`，默认优先项目 `.venv/bin/python`。完整 LeKiwi 套件单独运行 `npm run test:e2e:lekiwi`，不纳入普通 E2E。 ## 生产构建与本地静态部署 @@ -110,6 +111,14 @@ Python 控制器是可信的单文件脚本，必须同步定义 `step(ctx, stat 当前 Python 与 MuJoCo 都运行在主线程，以保证闭环调用严格位于 `mj_step` 前。仅运行可信脚本；死循环仍可能阻塞页面。Pyodide 及 Python 标准库由 npm 包随生产构建离线发布，不从 CDN 下载；暂不支持第三方 Python 包、`pip` 或多文件 import。 +## 开源项目 / 外部机器人控制 + +右侧“控制台”包含 profile 选择、校验/重编译、桥地址/token、连接、明确授权和停止，以及所有者、epoch、动作确认与观测年龄。URDF 导入对话框可直接选择 LeKiwi v1；普通模型默认不启用，导出 MJCF 重新导入也必须明确选择。模型变更失败保留旧场景，但不恢复授权；profile 的固定伺服参数不能用通用面板修改。 + +先播放再授权。接管会停止 Python/ONNX、锁定 1×，执行器和关节写入被禁止；暂停、重置、隐藏页面、离开、超时或重载后必须重新授权。控制 token 仅在当前页面内存，不保存到工程或浏览器存储。 + +外控物理与约30Hz观测独立于渲染/React。软件 WebGL 会关闭 profile 阴影并把外控显示降至5FPS（硬件上限30FPS），避免主线程渲染拖慢控制；仍不提供硬实时或锁步保证。完整准备、实际 LeRobot 示例和限制见 [LeKiwi 文档](../examples/lekiwi/README.md)、[统一接口](../docs/robot-interface.md)。此控制桥不是训练服务，当前 profile 明确 `training=false/cameras=false/lockstep=false`。 + ## 本地强化学习训练 训练仍由本机 Python/mjlab 进程执行，但可以从右侧“控制 → 本地强化学习训练”直接发起和管理。仓库已经内置默认 Go2 任务的训练代码与资产；先按 [`training_server/README.md`](../training_server/README.md) 安装训练依赖，再使用对应 Python 启动本地桥接服务： diff --git a/web_platform/e2e/controlBridge.spec.ts b/web_platform/e2e/controlBridge.spec.ts new file mode 100644 index 00000000..8b376156 --- /dev/null +++ b/web_platform/e2e/controlBridge.spec.ts @@ -0,0 +1,46 @@ +import { expect, test } from '@playwright/test'; +import { startBridge } from './fixtures/controlBridge'; +import type {} from '../physics/runner'; + +test('通用单关节：真实 Python SDK ↔ 本机桥接 ↔ 浏览器 WASM，断开后安全保持', async ({ page }) => { + const bridge = await startBridge(); + try { + await page.goto('http://127.0.0.1:4174/physics/runner.html'); + await page.waitForFunction(() => Boolean(window.lekiwiPhysics)); + await page.evaluate(() => window.lekiwiPhysics.bootSingle()); + await page.evaluate( + ({ endpoint, token }) => window.lekiwiPhysics.connectBridge(endpoint, token), + { endpoint: bridge.endpoint, token: bridge.token }, + ); + const run = await bridge.python(` +import json, os, time +from mujoco_control_bridge import SimRobotClient +with SimRobotClient(os.environ['MUJOCO_CONTROL_ENDPOINT']) as robot: + start=time.monotonic() + for i in range(60): + accepted=robot.send_action({'slider.position': .5}) + obs=robot.get_observation() + time.sleep(max(0,start+(i+1)/30-time.monotonic())) + print(json.dumps({'accepted':accepted['values'], 'measured':obs['values'], 'seq':obs['appliedActionSeq']})) +`); + const result = JSON.parse(run.stdout.trim()) as { + accepted: Record; + measured: Record; + seq: number; + }; + expect(result.accepted['slider.position']).toBe(0.5); + expect(result.measured['slider.position']).toBeGreaterThan(0.48); + expect(result.measured['slider.position']).toBeLessThan(0.51); + expect(result.seq).toBeGreaterThan(55); + await expect + .poll( + async () => + (await page.evaluate(() => window.lekiwiPhysics.externalState())).observation?.paused, + ) + .toBe(true); + expect(bridge.errors()).toBe(''); + } finally { + await page.evaluate(() => window.lekiwiPhysics?.dispose()).catch(() => {}); + await bridge.stop(); + } +}); diff --git a/web_platform/e2e/fixtures/controlBridge.ts b/web_platform/e2e/fixtures/controlBridge.ts new file mode 100644 index 00000000..ab2aa75b --- /dev/null +++ b/web_platform/e2e/fixtures/controlBridge.ts @@ -0,0 +1,82 @@ +import { spawn, execFile, type ChildProcess } from 'node:child_process'; +import { randomBytes } from 'node:crypto'; +import { existsSync } from 'node:fs'; +import { resolve } from 'node:path'; +import { promisify } from 'node:util'; + +const execFileAsync = promisify(execFile); +export const bridgePython = + process.env.BRIDGE_PYTHON ?? + (existsSync(resolve('.venv/bin/python')) ? resolve('.venv/bin/python') : 'python3'); +export async function stopProcess(child: ChildProcess): Promise { + if (child.exitCode !== null || child.signalCode !== null) return; + await new Promise((resolve) => { + const timer = setTimeout(() => child.kill('SIGKILL'), 3000); + child.once('exit', () => { + clearTimeout(timer); + resolve(); + }); + child.kill('SIGTERM'); + }); +} +export async function startBridge() { + const token = randomBytes(32).toString('hex'); + const child = spawn(bridgePython, ['-m', 'mujoco_control_bridge', '--port', '0'], { + env: { ...process.env, PYTHONPATH: '', PYTHONNOUSERSITE: '1', MUJOCO_CONTROL_TOKEN: token }, + stdio: ['ignore', 'pipe', 'pipe'], + }); + let output = '', + errors = ''; + child.stderr.on('data', (chunk: Buffer) => { + errors = (errors + chunk.toString()).slice(-65536); + }); + try { + const endpoint = await new Promise((resolve, reject) => { + const timeout = setTimeout(() => reject(new Error(`桥接启动超时：${errors}`)), 15000); + child.once('error', (error) => { + clearTimeout(timeout); + reject(error); + }); + child.once('exit', () => { + clearTimeout(timeout); + reject(new Error(`桥接启动失败：${errors}`)); + }); + child.stdout.on('data', (chunk: Buffer) => { + output += chunk.toString(); + const ready = output.match(/CONTROL_BRIDGE_READY (\{[^\n]+\})/); + if (ready) { + clearTimeout(timeout); + resolve((JSON.parse(ready[1]) as { endpoint: string }).endpoint); + } + }); + }); + return { + endpoint, + token, + stop: () => stopProcess(child), + errors: () => errors, + python: async ( + script: string, + python = bridgePython, + environment: Record = {}, + ) => { + const { stdout, stderr } = await execFileAsync(python, ['-c', script], { + env: { + ...process.env, + PYTHONPATH: '', + PYTHONNOUSERSITE: '1', + ...environment, + MUJOCO_CONTROL_TOKEN: token, + MUJOCO_CONTROL_ENDPOINT: endpoint, + }, + timeout: 120000, + maxBuffer: 4 * 1024 * 1024, + }); + return { stdout, stderr }; + }, + }; + } catch (error) { + await stopProcess(child); + throw error; + } +} diff --git a/web_platform/e2e/lekiwi.armCollision.spec.ts b/web_platform/e2e/lekiwi.armCollision.spec.ts new file mode 100644 index 00000000..40da7a76 --- /dev/null +++ b/web_platform/e2e/lekiwi.armCollision.spec.ts @@ -0,0 +1,42 @@ +import { expect, test } from '@playwright/test'; +import { resolve } from 'node:path'; +import { writeFile } from 'node:fs/promises'; +import type {} from '../physics/runner'; + +test('真实 WASM：上臂不能穿过自身臂座组件，接触后仍能反向离开', async ({ page }, info) => { + const errors: string[] = []; + page.on('pageerror', (error) => errors.push(error.message)); + await page.goto('/physics/runner.html'); + await page.waitForFunction(() => Boolean(window.lekiwiPhysics)); + const initial = await page.evaluate( + (path) => window.lekiwiPhysics.boot(path), + `/@fs${resolve('build/lekiwi')}`, + ); + try { + const samples = await page.evaluate(() => window.lekiwiPhysics.armSelfCollisionChecks()); + console.log('arm/base contacts', JSON.stringify(samples)); + const evidence = info.outputPath('arm-base-contacts.json'); + await writeFile(evidence, JSON.stringify({ version: initial.version, samples }, null, 2)); + await info.attach('arm-base-contacts', { path: evidence, contentType: 'application/json' }); + expect(initial.version).toBe('3.11.0'); + for (const sample of samples) { + expect(Math.abs(sample.neutral.actual), `neutral, pan=${sample.pan}`).toBeLessThan(0.01); + expect(sample.neutral.contacts).toEqual([]); + // Full CAD changes the first obstruction: WaveShare plate at pan=0, + // rotating shoulder clip at +/-0.8. Keep real contact/penetration/release + // assertions; original Base_08q coverage is independently probed from STL. + expect(sample.blocked.maxContacts, `blocked, pan=${sample.pan}`).toBeGreaterThan(0); + expect(sample.blocked.contacts.length).toBeGreaterThan(0); + expect(sample.blocked.actual).toBeLessThan(sample.blocked.target - 0.15); + expect(sample.blocked.maxPenetration).toBeLessThan(0.002); + for (const contact of sample.blocked.contacts) + expect(contact.distance).toBeGreaterThan(-0.0005); + expect(sample.blocked.finite).toBe(true); + expect(Math.abs(sample.released.actual + 0.3)).toBeLessThan(0.01); + expect(sample.released.contacts).toEqual([]); + } + expect(errors).toEqual([]); + } finally { + await page.evaluate(() => window.lekiwiPhysics.dispose()); + } +}); diff --git a/web_platform/e2e/lekiwi.bridge.spec.ts b/web_platform/e2e/lekiwi.bridge.spec.ts new file mode 100644 index 00000000..ea6f34bb --- /dev/null +++ b/web_platform/e2e/lekiwi.bridge.spec.ts @@ -0,0 +1,52 @@ +import { expect, test } from '@playwright/test'; +import { resolve } from 'node:path'; +import { startBridge } from './fixtures/controlBridge'; +import type {} from '../physics/runner'; + +test('LeKiwi：真实通用 Python SDK 双向控制，3秒30Hz，无 LeRobot 依赖', async ({ page }) => { + const bridge = await startBridge(); + try { + await page.goto('/physics/runner.html'); + await page.waitForFunction(() => Boolean(window.lekiwiPhysics)); + await page.evaluate( + (path) => window.lekiwiPhysics.boot(path), + `/@fs${resolve(process.cwd(), 'build/lekiwi')}`, + ); + await page.evaluate( + ({ endpoint, token }) => window.lekiwiPhysics.connectBridge(endpoint, token), + { endpoint: bridge.endpoint, token: bridge.token }, + ); + const run = await bridge.python(` +import json, os, time +from mujoco_control_bridge import SimRobotClient +with SimRobotClient(os.environ['MUJOCO_CONTROL_ENDPOINT']) as robot: + values={c['id']:0.0 for c in robot.describe()['actionChannels']} + values.update({'arm_shoulder_pan.pos':.1,'arm_gripper.pos':.5}) + before=robot.get_observation()['values'] + start=time.monotonic(); latency=[] + for i in range(90): + values.update({'x.vel':.08 if i<30 else 0,'y.vel':.08 if 30<=i<60 else 0,'theta.vel':.3 if i>=60 else 0}) + tick=time.monotonic(); robot.send_action(values); obs=robot.get_observation() + latency.append((time.monotonic()-tick)*1000) + time.sleep(max(0,start+(i+1)/30-time.monotonic())) + print(json.dumps({'before':before,'after':obs['values'],'rttMeanMs':sum(latency)/len(latency),'rttMaxMs':max(latency),'seq':obs['appliedActionSeq']})) +`); + const result = JSON.parse(run.stdout.trim()); + expect(result.after['base.x'] - result.before['base.x']).toBeGreaterThan(0.04); + expect(result.after['base.y'] - result.before['base.y']).toBeGreaterThan(0.04); + expect(result.after['base.yaw']).toBeGreaterThan(0.2); + expect(result.after['arm_gripper.pos']).toBeCloseTo(0.5, 1); + expect(result.seq).toBeGreaterThan(85); + console.log('SDK bridge timing', { meanMs: result.rttMeanMs, maxMs: result.rttMaxMs }); + await expect + .poll( + async () => + (await page.evaluate(() => window.lekiwiPhysics.externalState())).observation?.paused, + ) + .toBe(true); + expect(bridge.errors()).toBe(''); + } finally { + await page.evaluate(() => window.lekiwiPhysics?.dispose()).catch(() => {}); + await bridge.stop(); + } +}); diff --git a/web_platform/e2e/lekiwi.fullCollision.spec.ts b/web_platform/e2e/lekiwi.fullCollision.spec.ts new file mode 100644 index 00000000..9218e918 --- /dev/null +++ b/web_platform/e2e/lekiwi.fullCollision.spec.ts @@ -0,0 +1,91 @@ +import { expect, test } from '@playwright/test'; +import { resolve } from 'node:path'; +import { writeFile } from 'node:fs/promises'; +import type {} from '../physics/runner'; + +test('真实 WASM：相邻 Mirror/Square 连杆主体阻挡、反向脱离，机器人禁止 qpos 瞬移', async ({ + page, +}, info) => { + const errors: string[] = []; + page.on('pageerror', (e) => errors.push(e.message)); + await page.goto('/physics/runner.html'); + await page.waitForFunction(() => Boolean(window.lekiwiPhysics)); + await page.evaluate((path) => window.lekiwiPhysics.boot(path), `/@fs${resolve('build/lekiwi')}`); + try { + const result = await page.evaluate(() => window.lekiwiPhysics.adjacentArmChecks()); + console.log('adjacent arm', JSON.stringify(result)); + await writeFile(info.outputPath('adjacent-arm-contacts.json'), JSON.stringify(result, null, 2)); + expect(result.teleportAccepted).toBe(false); + expect(result.jointResetError).toMatch(/profile.*瞬移/); + expect(result.editable).toBe(false); + expect(result.before).toEqual(result.after); + for (const sample of result.samples) { + expect(sample.neutral.contacts).toEqual([]); + expect(Math.abs(sample.neutral.panActual - sample.pan)).toBeLessThan(0.01); + expect(Math.abs(sample.neutral.actual)).toBeLessThan(0.015); + expect(sample.blocked.maxContacts).toBeGreaterThan(0); + expect(sample.blocked.contacts.length).toBeGreaterThan(0); + expect(sample.blocked.actual).toBeGreaterThan(sample.blocked.target + 0.5); + expect(sample.blocked.minContactRadius).toBeGreaterThan(0.04); // structural contact, NOT the bearing core + expect(sample.blocked.maxPenetration).toBeLessThan(0.002); + expect(sample.blocked.finite).toBe(true); + for (const c of sample.blocked.contacts) expect(c.distance).toBeGreaterThan(-0.0005); + expect(Math.abs(sample.released.actual - 0.3)).toBeLessThan(0.015); + expect(sample.released.contacts).toEqual([]); + } + expect(errors).toEqual([]); + } finally { + await page.evaluate(() => window.lekiwiPhysics.dispose()); + } +}); + +test('真实 WASM：六关节双向有界目标扫掠，无整体穿入或数值重置', async ({ page }, info) => { + const errors: string[] = []; + page.on('pageerror', (e) => errors.push(e.message)); + await page.goto('/physics/runner.html'); + await page.waitForFunction(() => Boolean(window.lekiwiPhysics)); + await page.evaluate((path) => window.lekiwiPhysics.boot(path), `/@fs${resolve('build/lekiwi')}`); + try { + const result = await page.evaluate(() => window.lekiwiPhysics.jointSweepChecks()); + await writeFile(info.outputPath('joint-sweeps.json'), JSON.stringify(result, null, 2)); + console.log('joint sweeps', JSON.stringify(result)); + expect(result).toHaveLength(12); + for (const sample of result) { + expect(sample.finite, sample.joint).toBe(true); + expect(sample.elapsed).toBeCloseTo(sample.expectedTime, 6); + expect(sample.maxPenetration, sample.joint).toBeLessThan(0.002); + if (sample.joint === 'arm_shoulder_pan') { + expect(Math.abs(sample.actual - sample.target)).toBeLessThan(0.01); + expect(sample.maxContacts).toBe(0); // core/structural straddlers must not lock the bearing + } + if (Math.abs(sample.actual - sample.target) > 0.05) + expect(sample.maxContacts, sample.joint).toBeGreaterThan(0); + } + expect(errors).toEqual([]); + } finally { + await page.evaluate(() => window.lekiwiPhysics.dispose()); + } +}); + +test('真实 WASM：从原始 STL 独立取六向极值，整臂 18 个视觉网格均有外部物体接触覆盖', async ({ + page, +}, info) => { + const errors: string[] = []; + page.on('pageerror', (e) => errors.push(e.message)); + await page.goto('/physics/runner.html'); + await page.waitForFunction(() => Boolean(window.lekiwiPhysics)); + await page.evaluate((path) => window.lekiwiPhysics.boot(path), `/@fs${resolve('build/lekiwi')}`); + try { + const result = await page.evaluate(() => window.lekiwiPhysics.visualCollisionCoverage()); + await writeFile(info.outputPath('arm-visual-coverage.json'), JSON.stringify(result, null, 2)); + expect(result).toHaveLength(18); + for (const sample of result) { + expect(sample.probes).toHaveLength(6); + for (const probe of sample.probes) + expect(probe.contacts.length, `${sample.visual}: ${probe.point}`).toBeGreaterThan(0); + } + expect(errors).toEqual([]); + } finally { + await page.evaluate(() => window.lekiwiPhysics.dispose()); + } +}); diff --git a/web_platform/e2e/lekiwi.gripper.spec.ts b/web_platform/e2e/lekiwi.gripper.spec.ts new file mode 100644 index 00000000..075d2de1 --- /dev/null +++ b/web_platform/e2e/lekiwi.gripper.spec.ts @@ -0,0 +1,55 @@ +import { expect, test } from '@playwright/test'; +import { resolve } from 'node:path'; +import { writeFile } from 'node:fs/promises'; +import type {} from '../physics/runner'; + +test('真实 WASM：夹爪两侧指尖覆盖、开度方向和物体阻挡，不能只检查关节数值', async ({ + page, +}, info) => { + const errors: string[] = []; + page.on('pageerror', (error) => errors.push(error.message)); + await page.goto('/physics/runner.html'); + await page.waitForFunction(() => Boolean(window.lekiwiPhysics)); + await page.evaluate((path) => window.lekiwiPhysics.boot(path), `/@fs${resolve('build/lekiwi')}`); + try { + const result = await page.evaluate(() => window.lekiwiPhysics.gripperCollisionChecks()); + console.log('gripper contacts', JSON.stringify(result)); + await writeFile(info.outputPath('gripper-contacts.json'), JSON.stringify(result, null, 2)); + await writeFile( + info.outputPath('gripper-scene.xml'), + await page.evaluate(() => window.lekiwiPhysics.xml()), + ); + expect(result.finite).toBe(true); + for (const tip of result.coverage) { + expect( + tip.contacts.some((c) => + c.other.startsWith( + tip.name === 'fixed_tip' + ? '__lekiwi_cad_Wrist_Roll_08c-v1__' + : '__lekiwi_cad_Moving_Jaw_08d-v1__', + ), + ), + tip.name, + ).toBe(true); + } + for (const state of result.openings) { + expect(Math.abs(state.actual - state.target)).toBeLessThan(0.01); + expect(state.contacts).toEqual([]); + } + expect(result.openings[0].separation).toBeGreaterThan(0); + expect(result.openings[0].separation).toBeLessThan(0.002); + expect(result.openings[1].separation).toBeGreaterThan(result.openings[0].separation + 0.02); + expect(result.openings[2].separation).toBeGreaterThan(result.openings[1].separation + 0.01); + expect(result.gapContacts).toEqual([]); // a hull must not seal the open space + expect(result.obstruction.maxContacts).toBeGreaterThan(0); + expect(result.obstruction.maxPenetration).toBeLessThan(0.0015); + expect(result.obstruction.actual).toBeGreaterThan(result.obstruction.target + 0.03); + expect(result.obstruction.contacts.length).toBeGreaterThan(0); + for (const contact of result.obstruction.contacts) + expect(contact.distance).toBeGreaterThan(-0.0002); + expect(result.fingerSelfContacts).toBeGreaterThan(0); + expect(errors).toEqual([]); + } finally { + await page.evaluate(() => window.lekiwiPhysics.dispose()); + } +}); diff --git a/web_platform/e2e/lekiwi.lerobot.spec.ts b/web_platform/e2e/lekiwi.lerobot.spec.ts new file mode 100644 index 00000000..63ea4065 --- /dev/null +++ b/web_platform/e2e/lekiwi.lerobot.spec.ts @@ -0,0 +1,215 @@ +import { expect, test } from '@playwright/test'; +import { resolve } from 'node:path'; +import { existsSync } from 'node:fs'; +import { writeFile } from 'node:fs/promises'; +import { startBridge } from './fixtures/controlBridge'; +import type {} from '../physics/runner'; + +const python = process.env.LEROBOT_PYTHON ?? resolve('build/venvs/lerobot/bin/python'); +test('真实终端输入：底盘与六路臂/夹爪点动、反向、保持和退出撤权', async ({ page }, info) => { + expect(existsSync(python), '需要真实的独立 LeRobot 环境').toBe(true); + const bridge = await startBridge(); + try { + await page.goto('/physics/runner.html'); + await page.waitForFunction(() => Boolean(window.lekiwiPhysics)); + await page.evaluate( + (path) => window.lekiwiPhysics.boot(path), + `/@fs${resolve('build/lekiwi')}`, + ); + await page.evaluate( + ({ endpoint, token }) => window.lekiwiPhysics.connectBridge(endpoint, token), + { endpoint: bridge.endpoint, token: bridge.token }, + ); + const result = await bridge.python( + ` +import json, os, pty, select, subprocess, sys, termios, time +from urllib.request import Request, urlopen + +def observe(): + request=Request(os.environ['MUJOCO_CONTROL_ENDPOINT']+'/api/control/v1/observation', + headers={'Authorization':'Bearer '+os.environ['MUJOCO_CONTROL_TOKEN']}) + with urlopen(request,timeout=2) as response: + return json.load(response) + +master,slave=pty.openpty() +original_terminal=termios.tcgetattr(slave) +# This checks free-space hold, not servo compliance under self contact. The +# complete CAD assembly now blocks shoulder_lift near .12rad at this posture. +# Use 5 deg/s for this free-space test; keep hold/reversal thresholds unchanged. +# armCollision/fullCollision.spec separately exercise physical obstruction. +process=subprocess.Popen([sys.executable,'-u',os.environ['KEYBOARD_DEMO'],'--arm-speed','5'],stdin=slave,stdout=subprocess.PIPE,stderr=subprocess.PIPE) +try: + assert select.select([process.stdout],[],[],10)[0], 'terminal demo did not start' + assert 'w/s' in process.stdout.readline().decode() + initial=observe() + for _ in range(10): + os.write(master,b'wuiotyv');time.sleep(.1) + # No input for longer than the watchdog: base stops, arm holds, actions continue. + time.sleep(.35) + held=observe() + time.sleep(.4) + held_again=observe() + for _ in range(6): + os.write(master,b'jklghb');time.sleep(.1) + os.write(master,b' ') + time.sleep(.35) + reversed_pose=observe() + os.write(master,b'q') + _,err=process.communicate(timeout=5) + assert process.returncode==0,err.decode() + assert termios.tcgetattr(slave)==original_terminal, 'terminal settings were not restored' + print(json.dumps({'exit':process.returncode,'initial':initial,'held':held, + 'heldAgain':held_again,'reversed':reversed_pose})) +finally: + if process.poll() is None: + process.kill();process.wait() + os.close(master);os.close(slave) +`, + python, + { KEYBOARD_DEMO: resolve('examples/lekiwi/teleoperate_sim.py') }, + ); + const report = JSON.parse(result.stdout.trim()); + const reportPath = info.outputPath('keyboard-teleop.json'); + await writeFile(reportPath, JSON.stringify(report, null, 2)); + await info.attach('keyboard-teleop.json', { + path: reportPath, + contentType: 'application/json', + }); + expect(report.exit).toBe(0); + expect(report.held.values['base.x'] - report.initial.values['base.x']).toBeGreaterThan(0.01); + expect(Math.abs(report.heldAgain.values['x.vel'])).toBeLessThan(0.02); + expect(report.heldAgain.appliedActionSeq).toBeGreaterThan(report.held.appliedActionSeq); + for (const joint of [ + 'arm_shoulder_pan', + 'arm_shoulder_lift', + 'arm_elbow_flex', + 'arm_wrist_flex', + 'arm_wrist_roll', + 'arm_gripper', + ]) { + const key = `${joint}.pos`; + expect(report.held.values[key] - report.initial.values[key], `${joint} 正向`).toBeGreaterThan( + 0.03, + ); + expect( + Math.abs(report.heldAgain.values[key] - report.held.values[key]), + `${joint} 保持`, + ).toBeLessThan(0.03); + expect( + report.heldAgain.values[key] - report.reversed.values[key], + `${joint} 反向`, + ).toBeGreaterThan(0.03); + } + await expect + .poll( + async () => + (await page.evaluate(() => window.lekiwiPhysics.externalState())).observation?.paused, + ) + .toBe(true); + const final = await page.evaluate(() => window.lekiwiPhysics.externalState()); + expect(final.control).toMatchObject({ enabled: false, connected: false }); + expect(bridge.errors()).toBe(''); + } finally { + await page.evaluate(() => window.lekiwiPhysics?.dispose()).catch(() => {}); + await bridge.stop(); + } +}); +test('真实 LeRobot 0.6.1 工厂/插件：无硬件 demo 与实际部分动作/限幅回传', async ({ page }) => { + expect( + existsSync(python), + '请先创建隔离 LeRobot 环境或设置 LEROBOT_PYTHON；兼容门槛不能 skipped', + ).toBe(true); + const bridge = await startBridge(); + try { + await page.goto('/physics/runner.html'); + await page.waitForFunction(() => Boolean(window.lekiwiPhysics)); + await page.evaluate( + (path) => window.lekiwiPhysics.boot(path), + `/@fs${resolve('build/lekiwi')}`, + ); + await page.evaluate( + ({ endpoint, token }) => window.lekiwiPhysics.connectBridge(endpoint, token), + { endpoint: bridge.endpoint, token: bridge.token }, + ); + const run = await bridge.python( + ` +import os, runpy, sys +sys.argv=['demo_control.py','--duration','3'] +runpy.run_path(os.environ['LEKIWI_DEMO'],run_name='__main__') +`, + python, + { LEKIWI_DEMO: resolve('examples/lekiwi/demo_control.py') }, + ); + const result = JSON.parse(run.stdout.trim()); + expect(result.lerobot).toBe('0.6.1'); + expect(result.steps).toBe(90); + expect(result.maxTranslationM).toBeGreaterThan(0.05); + expect(result.timeouts).toBe(0); + expect(Object.keys(result.observation)).toHaveLength(9); + await expect + .poll( + async () => + (await page.evaluate(() => window.lekiwiPhysics.externalState())).observation?.paused, + ) + .toBe(true); + // The previous demo paused the simulation. An old paused sample must explain + // the missing play step, not misreport it as a running simulation freeze. + const paused = await bridge.python( + ` +import json, os, time +from mujoco_control_bridge import RobotError +from lerobot_robot_mujoco import LeKiwiSim, LeKiwiSimConfig +time.sleep(.6) +robot=LeKiwiSim(LeKiwiSimConfig(endpoint=os.environ['MUJOCO_CONTROL_ENDPOINT'])) +try: + robot.connect() +except RobotError as error: + assert not robot.is_connected + print(json.dumps({'code':error.code,'message':str(error)})) +else: + robot.disconnect() + raise AssertionError('paused simulation must refuse a new controller') +`, + python, + ); + expect(JSON.parse(paused.stdout.trim())).toMatchObject({ + code: 'PAUSED', + message: expect.stringContaining('播放'), + }); + await page.evaluate(() => window.lekiwiPhysics.authorize()); + const partial = await bridge.python( + ` +import json, os, torch, sys +from lerobot.utils.import_utils import register_third_party_plugins +from lerobot.robots.config import RobotConfig +from lerobot.robots.utils import make_robot_from_config +register_third_party_plugins() +robot=make_robot_from_config(RobotConfig.get_choice_class('lekiwi_sim')(endpoint=os.environ['MUJOCO_CONTROL_ENDPOINT'])) +robot.connect() +try: + first=robot.send_action({'arm_shoulder_pan.pos':180,'arm_gripper.pos':150,'x.vel':.1}) + second=robot.send_action({'arm_shoulder_lift.pos':5}) + observed=robot.get_observation() + assert not torch.cuda.is_initialized() + assert not any(m in sys.modules for m in ('serial','zmq','scservo_sdk','pyrealsense2')) + print(json.dumps({'first':first,'second':second,'observed':observed})) +finally: + robot.disconnect() +`, + python, + ); + const values = JSON.parse(partial.stdout.trim()); + expect(values.first['arm_gripper.pos']).toBe(100); + expect(values.first['arm_shoulder_pan.pos']).toBeCloseTo((1.57 * 180) / Math.PI); + expect(values.second['arm_shoulder_pan.pos']).toBe(values.first['arm_shoulder_pan.pos']); + expect(values.second['x.vel']).toBe(0); + expect(values.second['arm_gripper.pos']).toBe(100); + expect( + Math.abs(values.observed['arm_shoulder_pan.pos'] - values.first['arm_shoulder_pan.pos']), + ).toBeGreaterThan(1); + expect(bridge.errors()).toBe(''); + } finally { + await page.evaluate(() => window.lekiwiPhysics?.dispose()).catch(() => {}); + await bridge.stop(); + } +}); diff --git a/web_platform/e2e/lekiwi.physics.spec.ts b/web_platform/e2e/lekiwi.physics.spec.ts new file mode 100644 index 00000000..ef3e0989 --- /dev/null +++ b/web_platform/e2e/lekiwi.physics.spec.ts @@ -0,0 +1,97 @@ +import { expect, test } from '@playwright/test'; +import { resolve } from 'node:path'; +import { writeFile } from 'node:fs/promises'; +import type {} from '../physics/runner'; + +test('真实 WASM 3.11：LeKiwi 站稳、全向轮、臂夹爪与障碍阻挡', async ({ page }, info) => { + const errors: string[] = []; + page.on('pageerror', (e) => errors.push(e.message)); + page.on('console', (msg) => { + if (msg.type() === 'error') console.log(msg.text()); + }); + await page.goto('/physics/runner.html'); + await page.waitForFunction(() => Boolean(window.lekiwiPhysics)); + const assetBase = `/@fs${resolve(process.cwd(), 'build/lekiwi')}`; + const initial = await page.evaluate((path) => window.lekiwiPhysics.boot(path), assetBase); + console.log('initial', initial); + expect(initial.version).toBe('3.11.0'); + expect(initial.nu).toBe(9); + expect(initial.njnt).toBe(46); + await writeFile( + info.outputPath('lekiwi-profile.xml'), + await page.evaluate(() => window.lekiwiPhysics.xml()), + ); + const stable = await page.evaluate(() => window.lekiwiPhysics.step(30)); + console.log('stable', stable); + expect(stable.finite).toBe(true); + expect(Math.abs(stable.roll)).toBeLessThan(0.15); + expect(Math.abs(stable.pitch)).toBeLessThan(0.15); + const traces: unknown[] = [{ initial, stable }]; + for (const [x, y, w] of [ + [0.1, 0, 0], + [-0.1, 0, 0], + [0, 0.1, 0], + [0, -0.1, 0], + [0, 0, Math.PI / 6], + [0, 0, -Math.PI / 6], + ]) { + const start = await page.evaluate(() => window.lekiwiPhysics.reset()); + const end = await page.evaluate( + ([x, y, w]) => window.lekiwiPhysics.drive(x, y, w, 2), + [x, y, w], + ); + console.log('drive', x, y, w, 'start', start.position, start.yaw, 'end', end.position, end.yaw); + traces.push({ command: [x, y, w], start, end }); + expect(end.finite).toBe(true); + if (x || y) { + expect(Math.abs(end.position[0] - start.position[0] - x * 2)).toBeLessThan(0.05); + expect(Math.abs(end.position[1] - start.position[1] - y * 2)).toBeLessThan(0.05); + } else expect(Math.abs(end.yaw - start.yaw - w * 2)).toBeLessThan((10 * Math.PI) / 180); + } + await page.evaluate(() => window.lekiwiPhysics.reset()); + // Free-space tracking; negative elbow folding now has its own obstruction test. + const targets = [0.1, 0.1, 0.1, 0.1, 0.1, 0.3]; + const arm = await page.evaluate((values) => window.lekiwiPhysics.arm(values, 2), targets); + console.log('arm', arm.arm); + traces.push({ targets, arm }); + arm.arm.forEach((value, i) => expect(Math.abs(value - targets[i])).toBeLessThan(0.015)); + await page.evaluate(() => window.lekiwiPhysics.wall()); + const blocked = await page.evaluate(() => window.lekiwiPhysics.drive(0.1, 0, 0, 5)); + console.log('blocked', blocked); + const contacts = await page.evaluate(() => window.lekiwiPhysics.contactPairs()); + traces.push({ blocked, contacts }); + expect(contacts.some((c) => c.geom1 === 'test_wall' || c.geom2 === 'test_wall')).toBe(true); + expect(blocked.maxContacts).toBeGreaterThan(0); + expect(blocked.position[0]).toBeLessThan(0.22); + // The complete arm/accessory outline reaches the wall before the old chassis proxy. + expect(blocked.position[0]).toBeGreaterThan(0.02); + expect(blocked.finite).toBe(true); + await writeFile(info.outputPath('physics-traces.json'), JSON.stringify(traces, null, 2)); + expect(errors).toEqual([]); + await page.evaluate(() => window.lekiwiPhysics.dispose()); +}); + +test('真实 Python/WASM：控制权、旧回调隔离、安全保持、reset 与导出重载', async ({ page }) => { + await page.goto('/physics/runner.html'); + await page.waitForFunction(() => Boolean(window.lekiwiPhysics)); + await page.evaluate( + (path) => window.lekiwiPhysics.boot(path), + `/@fs${resolve(process.cwd(), 'build/lekiwi')}`, + ); + const result = await page.evaluate(() => window.lekiwiPhysics.runtimeChecks()); + expect(result.pythonTarget).toBe(0.1); + expect(result.accepted.values['arm_shoulder_pan.pos']).toBe(0.3); + expect(result.afterOldDispose).toBe(0.3); + expect(result.manualBlocked).toBe(true); + expect(result.held).toBeCloseTo(result.actual, 10); + expect(result.paused?.enabled).toBe(false); + expect(result.pausedOwner).toBe('manual'); + expect(result.cancel).toBe('DISCONNECTED'); + expect(result.reset?.modelEpoch).toBe(1); + expect(result.reset?.paused).toBe(true); + const reloaded = await page.evaluate(() => window.lekiwiPhysics.reimport()); + expect(reloaded.nu).toBe(9); + expect(reloaded.njnt).toBe(46); + expect(reloaded.robot?.profileId).toBe('lekiwi-v1'); + await page.evaluate(() => window.lekiwiPhysics.dispose()); +}); diff --git a/web_platform/e2e/lekiwi.workspace.spec.ts b/web_platform/e2e/lekiwi.workspace.spec.ts new file mode 100644 index 00000000..f35f7a0d --- /dev/null +++ b/web_platform/e2e/lekiwi.workspace.spec.ts @@ -0,0 +1,317 @@ +import { expect, test, type Page } from '@playwright/test'; +import { resolve } from 'node:path'; +import { writeFile } from 'node:fs/promises'; +import { startBridge } from './fixtures/controlBridge'; + +async function loadWorkspace(page: Page) { + await page.goto('/'); + await page + .locator('input[type="file"]') + .first() + .setInputFiles(resolve('build/lekiwi/lekiwi-v1.zip')); + const dialog = page.getByRole('dialog', { name: '配置 URDF 仿真组件' }); + await expect(dialog).toBeVisible({ timeout: 30000 }); + await expect(dialog.getByLabel('URDF 机器人 profile')).toHaveValue(''); + await dialog.getByLabel('URDF 机器人 profile').selectOption('lekiwi-v1'); + await expect(dialog.getByRole('checkbox', { name: /添加传感器/ })).toBeDisabled(); + await dialog.getByRole('button', { name: '转换并加载' }).click(); + await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 60000 }); + await page.getByRole('tab', { name: '控制台', exact: true }).click(); + await expect(page.getByRole('region', { name: '开源机器人控制' })).toContainText('lekiwi-v1'); +} +async function connect(page: Page, bridge: Awaited>) { + await page.getByLabel('本机桥接地址', { exact: true }).fill(bridge.endpoint); + await page.getByLabel('控制 token', { exact: true }).fill(bridge.token); + await page.getByRole('button', { name: '连接桥接', exact: true }).click(); + await expect(page.getByLabel('桥接连接状态', { exact: true })).toHaveText('已连接'); +} +async function authorize(page: Page) { + await page.getByRole('button', { name: '▶ 播放' }).click(); + await page.getByRole('button', { name: '允许外部控制', exact: true }).click(); + await expect(page.getByLabel('当前控制所有者', { exact: true })).toHaveText('外部'); +} +async function state(page: Page) { + return page.evaluate(async () => { + const path = '/src/stores/useAppStore.ts'; + const { useAppStore } = (await import( + /* @vite-ignore */ path + )) as typeof import('../src/stores/useAppStore'); + const s = useAppStore.getState(); + return { + paused: s.paused, + owner: s.snapshot?.controlOwner, + time: s.snapshot?.time ?? 0, + epoch: s.snapshot?.externalControl?.modelEpoch, + sessionId: s.snapshot?.externalControl?.sessionId, + wasmHeapBytes: s.snapshot?.wasmHeapBytes, + fps: s.fps, + stepMs: s.stepMs, + memoryMb: s.memoryMb, + overBudget: s.overBudget, + actuators: s.snapshot?.actuators.map((a) => ({ name: a.jointName, target: a.value })), + joints: s.snapshot?.joints.map((j) => ({ name: j.name, value: j.value })), + diagnostic: s.diagnostic?.summary, + }; + }); +} + +test('完整工作台 + 真实 LeRobot：文件导入、profile、授权和60秒30Hz控制', async ({ page }, info) => { + const bridge = await startBridge(), + errors: string[] = []; + page.on('pageerror', (error) => errors.push(error.message)); + try { + await loadWorkspace(page); + // Profile pose editing is disabled even before an external controller owns it. + await expect(page.getByRole('button', { name: '关节拖动', exact: true })).toBeDisabled(); + await connect(page, bridge); + await authorize(page); + await expect(page.getByLabel('仿真速度', { exact: true })).toBeDisabled(); + await expect(page.getByLabel('仿真速度', { exact: true })).toHaveValue('1'); + await expect(page.getByRole('button', { name: '关节拖动', exact: true })).toBeDisabled(); + const consolePanel = page.getByRole('tabpanel', { name: '控制台' }); + await consolePanel.getByRole('button', { name: /执行器实时控制/ }).click(); + await expect(consolePanel.getByRole('slider').first()).toBeDisabled(); + await consolePanel.getByRole('button', { name: /执行器实时控制/ }).click(); + const metrics: Awaited>[] = []; + let done = false; + const run = bridge + .python( + ` +import os, runpy, sys +sys.argv=['demo_control.py','--duration','60'] +runpy.run_path(os.environ['LEKIWI_DEMO'],run_name='__main__') +`, + process.env.LEROBOT_PYTHON ?? resolve('build/venvs/lerobot/bin/python'), + { LEKIWI_DEMO: resolve('examples/lekiwi/demo_control.py') }, + ) + .finally(() => { + done = true; + }); + const monitor = (async () => { + while (!done) { + await page.waitForTimeout(1000); + metrics.push(await state(page)); + } + })(); + const [result] = await Promise.all([run, monitor]).catch(async (error: unknown) => { + const path = info.outputPath('partial-metrics.json'); + await writeFile(path, JSON.stringify(metrics)); + await info.attach('partial-metrics.json', { path, contentType: 'application/json' }); + throw error; + }); + const report = JSON.parse(result.stdout.trim()); + const path = info.outputPath('lekiwi-60s.json'); + const graphics = await page.evaluate(() => { + const canvas = document.querySelector('main canvas') as HTMLCanvasElement; + const gl = canvas.getContext('webgl2')!, + ext = gl.getExtension('WEBGL_debug_renderer_info'); + return { + size: [canvas.width, canvas.height], + renderer: ext ? String(gl.getParameter(ext.UNMASKED_RENDERER_WEBGL)) : 'unknown', + }; + }); + await writeFile(path, JSON.stringify({ report, metrics, graphics }, null, 2)); + await info.attach('lekiwi-60s.json', { path, contentType: 'application/json' }); + console.log('LeKiwi 60s evidence', report); + expect(report.steps).toBe(1800); + expect(report.elapsedSeconds).toBeGreaterThanOrEqual(60); + expect(report.elapsedSeconds).toBeLessThan(63); + expect(report.simSeconds).toBeGreaterThan(55); + expect(report.maxTranslationM).toBeGreaterThan(0.05); + expect(report.rttMaxMs).toBeLessThan(500); + expect(report.maxObservationSimGap).toBeLessThan(0.5); + expect(report.timeouts).toBe(0); + expect(report.droppedRequests).toBe(0); + expect(report.appliedActionSeq).toBeGreaterThan(1790); + expect(metrics.every((m) => Number.isFinite(m.time) && !m.diagnostic)).toBe(true); + const heaps = metrics.slice(10).flatMap((m) => (m.memoryMb === undefined ? [] : [m.memoryMb])); + if (heaps.length > 10) expect(heaps.at(-1)! - heaps[0]).toBeLessThan(64); + const wasm = metrics.slice(10).map((m) => m.wasmHeapBytes!); + expect(wasm.every((v) => Number.isFinite(v) && v > 0)).toBe(true); + expect(wasm.at(-1)! - wasm[0]).toBeLessThan(16 * 1024 * 1024); + await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled(); + await expect(page.getByLabel('当前控制所有者', { exact: true })).toHaveText('手动'); + await page.screenshot({ path: info.outputPath('lekiwi-workspace.png') }); + expect(bridge.errors()).toBe(''); + expect(errors).toEqual([]); + } finally { + await page.close(); + await bridge.stop(); + } +}); + +test('工作台重编译与缓存编辑失败回滚不会恢复外部授权', async ({ page }) => { + page.setDefaultTimeout(15000); + const bridge = await startBridge(); + try { + await loadWorkspace(page); + await connect(page, bridge); + await authorize(page); + const old = await state(page); + const driving = bridge.python( + genericDrive + + ` +try: + for i in range(900): + robot.send_action(values);time.sleep(1/30) + raise AssertionError('reload must disconnect the controller') +except RobotError as error: + print(json.dumps({'stopped':error.code})) +finally: + robot.disconnect() +`, + ); + await expect(page.getByLabel('外部控制状态', { exact: true })).toHaveText('外部控制者已连接'); + await page.getByRole('button', { name: '校验并重新编译 profile' }).click(); + await expect.poll(async () => (await state(page)).sessionId).not.toBe(old.sessionId); + expect(JSON.parse((await driving).stdout.trim()).stopped).toBeTruthy(); + await expect(page.getByLabel('桥接连接状态', { exact: true })).toHaveText('未连接'); + await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled(); + await connect(page, bridge); + await authorize(page); + const before = await state(page); + await page.getByRole('button', { name: '源代码', exact: true }).click(); + const dialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' }); + const editor = dialog.locator('.monaco-editor'); + await editor.click({ position: { x: 240, y: 120 } }); + await page.keyboard.press('Control+a'); + await page.keyboard.press('Backspace'); + await page.keyboard.insertText('\n \n\n'); + await dialog.getByRole('button', { name: '保存并重新载入', exact: true }).click(); + await expect.poll(async () => (await state(page)).diagnostic).toBeTruthy(); + expect(await state(page)).toMatchObject({ + sessionId: before.sessionId, + paused: true, + owner: 'manual', + }); + await dialog.getByRole('button', { name: '关闭源代码编辑器' }).click(); + await expect(page.getByLabel('桥接连接状态', { exact: true })).toHaveText('未连接'); + await expect(page.getByLabel('外部控制状态', { exact: true })).toHaveText('未授权'); + } finally { + await bridge.stop(); + } +}); + +test('普通模型不自动套用 profile，错误 profile 保留原场景', async ({ page }) => { + await page.goto('/'); + await page + .locator('input[type="file"]') + .first() + .setInputFiles({ + name: 'generic.xml', + mimeType: 'text/xml', + buffer: Buffer.from( + '', + ), + }); + await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled(); + await page.getByRole('tab', { name: '控制台', exact: true }).click(); + await page.getByRole('button', { name: '开源项目 / 外部控制' }).click(); + await expect(page.getByLabel('控制接口 profile', { exact: true })).toHaveValue(''); + await expect(page.getByRole('button', { name: '连接桥接', exact: true })).toBeDisabled(); + const before = await state(page); + await page.getByLabel('控制接口 profile', { exact: true }).selectOption('lekiwi-v1'); + await page.getByRole('button', { name: '校验并重新编译 profile' }).click(); + await expect.poll(async () => (await state(page)).diagnostic).toBeTruthy(); + expect((await state(page)).actuators).toEqual(before.actuators); + await expect(page.getByRole('button', { name: '连接桥接', exact: true })).toBeDisabled(); +}); + +const genericDrive = ` +import json, os, time +from mujoco_control_bridge import SimRobotClient, RobotError +robot=SimRobotClient(os.environ['MUJOCO_CONTROL_ENDPOINT']);robot.connect() +values={c['id']:0 for c in robot.describe()['actionChannels']} +values.update({'arm_shoulder_pan.pos':.2,'arm_gripper.pos':.7,'x.vel':.1}) +`; + +test('工作台安全生命周期：真实 reset、新 epoch、控制者崩溃、页面隐藏与冻结恢复', async ({ + page, +}) => { + const bridge = await startBridge(); + try { + await loadWorkspace(page); + await connect(page, bridge); + await authorize(page); + const reset = await bridge.python( + genericDrive + + ` +robot.send_action(values) +result=robot.reset() +print(json.dumps({'epoch':result['modelEpoch'],'paused':result['paused']})) +`, + ); + expect(JSON.parse(reset.stdout.trim())).toEqual({ epoch: 1, paused: true }); + await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled(); + await expect(page.getByLabel('桥接连接状态', { exact: true })).toHaveText('已连接'); + expect((await state(page)).epoch).toBe(1); + await authorize(page); + await bridge.python( + genericDrive + + ` +robot.send_action(values) +os._exit(0) # Deliberately crash without a finalizer; watchdog must stop it. +`, + ); + await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 3000 }); + const stopped = await state(page); + expect(stopped.owner).toBe('manual'); + expect( + stopped.actuators?.filter((a) => a.name?.startsWith('base_')).map((a) => a.target), + ).toEqual([0, 0, 0]); + const held = stopped.actuators?.find((a) => a.name === 'arm_shoulder_pan')?.target; + expect(held).toBeGreaterThan(0.05); + expect(held).toBeCloseTo(stopped.joints!.find((j) => j.name === 'arm_shoulder_pan')!.value, 8); + await authorize(page); + await page.evaluate(() => { + Object.defineProperty(document, 'visibilityState', { configurable: true, value: 'hidden' }); + document.dispatchEvent(new Event('visibilitychange')); + }); + await expect(page.getByLabel('桥接连接状态', { exact: true })).toHaveText('未连接'); + await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled(); + await page.evaluate(() => { + Reflect.deleteProperty(document, 'visibilityState'); + document.dispatchEvent(new Event('visibilitychange')); + }); + await expect(page.getByLabel('外部控制状态', { exact: true })).toHaveText('未授权'); + await connect(page, bridge); + await authorize(page); + const driving = bridge.python( + genericDrive + + ` +try: + for i in range(900): + robot.send_action(values);time.sleep(1/30) + raise AssertionError('Frozen browser must revoke the lease') +except RobotError as error: + print(json.dumps({'stopped':error.code})) +finally: + robot.disconnect() +`, + ); + await expect(page.getByLabel('外部控制状态', { exact: true })).toHaveText('外部控制者已连接'); + const before = await state(page), + cdp = await page.context().newCDPSession(page); + await cdp.send('Debugger.enable'); + const paused = new Promise((resolve) => cdp.once('Debugger.paused', () => resolve())); + await cdp.send('Debugger.pause'); + await paused; + try { + await new Promise((resolve) => setTimeout(resolve, 800)); + } finally { + await cdp.send('Debugger.resume'); + await cdp.detach(); + } + const frozen = await driving; + expect(JSON.parse(frozen.stdout.trim()).stopped).toBeTruthy(); + await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled(); + const after = await state(page); + expect(after.time - before.time).toBeLessThan(0.3); + expect( + after.actuators?.filter((a) => a.name?.startsWith('base_')).map((a) => a.target), + ).toEqual([0, 0, 0]); + } finally { + await page.close(); + await bridge.stop(); + } +}); diff --git a/web_platform/physics/meshDistance.ts b/web_platform/physics/meshDistance.ts new file mode 100644 index 00000000..ee0d6b78 --- /dev/null +++ b/web_platform/physics/meshDistance.ts @@ -0,0 +1,71 @@ +import { Ray, Triangle, Vector3 } from 'three'; + +export type Surface = { vertices: Vector3[]; faces: number[][] }; + +/** Independent, unsigned triangle-surface distance oracle for the small E2E tip hulls. + * Not a runtime collision detector. Includes vertex/face, edge/edge and edge/face cases. + */ +export function surfaceDistance(a: Surface, b: Surface) { + let distanceSq = Infinity; + let from = new Vector3(), + to = new Vector3(); + const candidate = new Vector3(), + rayPoint = new Vector3(), + segmentPoint = new Vector3(); + const consider = (p: Vector3, q: Vector3, reversed = false) => { + const distance = p.distanceToSquared(q); + if (distance < distanceSq) { + distanceSq = distance; + from = (reversed ? q : p).clone(); + to = (reversed ? p : q).clone(); + } + }; + const triangles = (surface: Surface) => + surface.faces.map( + ([i, j, k]) => new Triangle(surface.vertices[i], surface.vertices[j], surface.vertices[k]), + ); + const edges = (surface: Surface) => { + const pairs = new Map(); + for (const f of surface.faces) + for (let i = 0; i < 3; i++) { + const p = f[i], + q = f[(i + 1) % 3]; + pairs.set([p, q].sort((x, y) => x - y).join(','), [ + surface.vertices[p], + surface.vertices[q], + ]); + } + return [...pairs.values()]; + }; + const ta = triangles(a), + tb = triangles(b), + ea = edges(a), + eb = edges(b); + for (const v of a.vertices) for (const t of tb) consider(v, t.closestPointToPoint(v, candidate)); + for (const v of b.vertices) + for (const t of ta) consider(v, t.closestPointToPoint(v, candidate), true); + for (const [p, q] of ea) { + const length = p.distanceTo(q); + if (length === 0) continue; + const ray = new Ray(p, q.clone().sub(p).divideScalar(length)); + for (const [v, w] of eb) { + ray.distanceSqToSegment(v, w, rayPoint, segmentPoint); + if (rayPoint.distanceTo(p) <= length) consider(rayPoint, segmentPoint); + } + for (const t of tb) { + const point = ray.intersectTriangle(t.a, t.b, t.c, false, candidate); + if (point && point.distanceTo(p) <= length) consider(point, point); + } + } + for (const [p, q] of eb) { + const length = p.distanceTo(q); + if (length === 0) continue; + const ray = new Ray(p, q.clone().sub(p).divideScalar(length)); + for (const t of ta) { + const point = ray.intersectTriangle(t.a, t.b, t.c, false, candidate); + if (point && point.distanceTo(p) <= length) consider(point, point); + } + } + if (!Number.isFinite(distanceSq)) throw new Error('表面距离查询缺少有效三角形'); + return { distance: Math.sqrt(distanceSq), from: from.toArray(), to: to.toArray() }; +} diff --git a/web_platform/physics/runner.html b/web_platform/physics/runner.html new file mode 100644 index 00000000..3541463d --- /dev/null +++ b/web_platform/physics/runner.html @@ -0,0 +1,9 @@ + + + + LeKiwi WASM physics fixture (development only) + +

真实 WASM 动力学测试，无生产入口。

+ + + diff --git a/web_platform/physics/runner.ts b/web_platform/physics/runner.ts new file mode 100644 index 00000000..d73106b8 --- /dev/null +++ b/web_platform/physics/runner.ts @@ -0,0 +1,822 @@ +import { MainThreadPhysicsAdapter } from '../src/simulation/PhysicsAdapter'; +import { SimulationSession } from '../src/simulation/SimulationSession'; +import { ModelBindings } from '../src/simulation/ModelBindings'; +import { LEKIWI_PROFILE as p, bodyToWheels } from '../src/robot/profiles/lekiwi'; +import type { ProjectManifest } from '../src/project/types'; +import { ExternalControlClient } from '../src/robot/ExternalControlClient'; +import { validateDescriptor, validateValues } from '../src/robot/validation'; +import { sha256 } from '../src/robot/registry'; +import single from '../../contracts/fixtures/single-joint.json'; +import { Quaternion, Vector3 } from 'three'; +import { surfaceDistance, type Surface } from './meshDistance'; + +const adapter = new MainThreadPhysicsAdapter(); +let bindings: ModelBindings; +let currentManifest: ProjectManifest; +let frame: number | undefined; +let bridge: ExternalControlClient | undefined; +function session() { + if (!adapter.session) throw new Error('not initialized'); + return adapter.session; +} +function read() { + const s = session(), + id = bindings.resolve(bindings.bodies, p.baseBody); + const quat = Array.from(s.data.xquat.slice(id * 4, id * 4 + 4), Number); + const [w, x, y, z] = quat; + return { + time: Number(s.data.time), + position: Array.from(s.data.xpos.slice(id * 3, id * 3 + 3), Number), + quaternion: quat, + roll: Math.atan2(2 * (w * x + y * z), 1 - 2 * (x * x + y * y)), + pitch: Math.asin(Math.max(-1, Math.min(1, 2 * (w * y - z * x)))), + yaw: Math.atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z)), + arm: p.arm.map((j) => Number(s.data.qpos[bindings.scalarJoint(j.joint).qposAddress])), + wheel: p.wheels.map((j) => Number(s.data.qvel[bindings.scalarJoint(j).qvelAddress])), + finite: Array.from(s.data.qpos, Number).every(Number.isFinite), + contacts: Number(s.data.ncon), + nu: s.model.nu, + njnt: s.model.njnt, + }; +} +function contactPairs() { + const s = session(); + const result: { + geom1: string; + geom2: string; + body1: number; + body2: number; + distance: number; + position: number[]; + }[] = []; + for (let i = 0; i < s.data.ncon; i++) { + const contact = s.data.contact.get(i)!; + if ( + contact.geom1 < 0 || + contact.geom2 < 0 || + contact.geom1 >= s.model.ngeom || + contact.geom2 >= s.model.ngeom + ) { + const message = `非法接触几何 id: ${contact.geom1}/${contact.geom2}; ${i}/${s.data.ncon}`; + contact.delete(); + throw new Error(message); + } + const a = s.model.geom(contact.geom1), + b = s.model.geom(contact.geom2); + try { + result.push({ + geom1: a.name, + geom2: b.name, + body1: Number(s.model.geom_bodyid[contact.geom1]), + body2: Number(s.model.geom_bodyid[contact.geom2]), + distance: contact.dist, + position: Array.from(contact.pos, Number), + }); + } finally { + a.delete(); + b.delete(); + contact.delete(); + } + } + return result; +} +function step(seconds: number) { + const s = session(), + steps = Math.round(seconds / Number(s.model.opt.timestep)); + let maxContacts = 0; + for (let i = 0; i < steps; i++) { + s.singleStep(); + maxContacts = Math.max(maxContacts, Number(s.data.ncon)); + } + return { ...read(), maxContacts }; +} +const harness = { + async bootSingle() { + const data = new TextEncoder().encode( + '', + ); + const manifest: ProjectManifest = { + id: 'single', + name: 'single', + entries: [{ path: 'single.xml', format: 'mjcf', label: 'single' }], + maps: [], + files: [{ path: 'single.xml', data, size: data.length, mimeType: '', source: 'file' }], + totalBytes: data.length, + }; + await adapter.load(manifest, 'single.xml', { + urdfMode: 'mjcf', + baseMode: 'fixed', + map: { kind: 'none' }, + }); + const s = session(), + b = new ModelBindings(s.model), + j = b.scalarActuator('servo', 'slider', 'position'); + const descriptor = validateDescriptor({ + ...single.descriptor, + modelFingerprint: await sha256(data), + }); + const values = (v: unknown) => validateValues(v, descriptor.actionChannels, true); + s.configureRobotAdapter({ + describe: () => descriptor, + validateAction: values, + applyAction(v) { + const accepted = values(v); + s.data.ctrl[j.controlAddress] = accepted['slider.position']; + return accepted; + }, + readObservation: () => ({ 'slider.position': Number(s.data.qpos[j.qposAddress]) }), + safeStop() { + s.data.ctrl[j.controlAddress] = Math.max( + -1, + Math.min(1, Number(s.data.qpos[j.qposAddress])), + ); + }, + reset() { + s.data.qpos[j.qposAddress] = 0; + s.data.ctrl[j.controlAddress] = 0; + }, + dispose() {}, + }); + return descriptor; + }, + async connectBridge(endpoint: string, token: string) { + bridge?.disconnect(); + bridge = new ExternalControlClient(() => adapter); + session().setPaused(false); + session().setExternalControlEnabled(true); + const tick = (now: number) => { + adapter.advance(now); + frame = requestAnimationFrame(tick); + }; + if (frame === undefined) frame = requestAnimationFrame(tick); + await bridge.connect(endpoint, token); + return bridge.status(); + }, + externalState() { + return { + control: session().externalControlStatus(), + observation: session().robotObservation(), + bridge: bridge?.status(), + }; + }, + authorize() { + session().setPaused(false); + session().setExternalControlEnabled(true); + bridge?.sync(); + }, + pause() { + session().setPaused(true); + bridge?.sync(); + }, + async boot(assetBase: string) { + const response = await fetch(`${assetBase}/source-manifest.json`); + if (!response.ok) throw new Error('Run examples/lekiwi/prepare_assets.py first'); + const source = (await response.json()) as { files: Record }; + const files = await Promise.all( + Object.keys(source.files) + .filter((f) => f.startsWith('URDF/')) + .map(async (path) => { + const response = await fetch(`${assetBase}/${path}`); + if (!response.ok) throw new Error(`Missing ${path}`); + const data = new Uint8Array(await response.arrayBuffer()); + return { path, data, size: data.byteLength, source: 'file' as const, mimeType: '' }; + }), + ); + const manifest: ProjectManifest = { + id: 'lekiwi-physics', + name: 'LeKiwi physics', + files, + entries: [{ path: 'URDF/LeKiwi.urdf', format: 'urdf', label: 'LeKiwi' }], + maps: [], + totalBytes: files.reduce((s, f) => s + f.size, 0), + }; + currentManifest = manifest; + await adapter.load(manifest, 'URDF/LeKiwi.urdf', { + robotProfileId: p.id, + urdfMode: 'mjcf', + baseMode: 'floating', + map: { kind: 'none' }, + enhancements: { addActuators: false, addSensors: false, sensorType: 'camera' }, + }); + bindings = new ModelBindings(session().model); + return { version: session().module.mj_versionString(), ...read() }; + }, + reset() { + session().reset(); + return step(1); + }, + step, + read, + contactPairs, + adjacentArmChecks() { + const s = session(), + joint = bindings.scalarJoint('arm_elbow_flex'); + const upper = bindings.resolve(bindings.bodies, 'SO_ARM100_08k_116_Square-v1'); + const forearm = bindings.resolve(bindings.bodies, 'SO_ARM100_08k_Mirror-v1'); + const touching = () => + contactPairs().filter( + (c) => + (c.body1 === upper && c.body2 === forearm) || (c.body2 === upper && c.body1 === forearm), + ); + s.reset(); + const before = Array.from(s.data.qpos, Number); + const teleportAccepted = s.setJointPosition(joint.id, -1.3); + let jointResetError = ''; + try { + s.resetJoints(); + } catch (error) { + jointResetError = String(error); + } + const after = Array.from(s.data.qpos, Number); + const editable = s.snapshot().joints.find((j) => j.id === joint.id)!.editable; + // Bearing/structural hull partitioning must leave these pan poses reachable. + const samples = [0, 0.8, -0.8].map((pan) => { + s.reset(); + harness.arm([pan, 0, 0, 0, 0, 0], 1.5); + const neutral = { + actual: Number(s.data.qpos[joint.qposAddress]), + panActual: read().arm[0], + contacts: touching(), + }; + s.setActuator(bindings.resolve(bindings.actuators, 'arm_elbow_flex_servo'), -1.3); + let maxPenetration = 0, + maxContacts = 0; + for (let i = 0; i < Math.ceil(3 / Number(s.model.opt.timestep)); i++) { + s.singleStep(); + const contacts = touching(); + maxContacts = Math.max(maxContacts, contacts.length); + for (const c of contacts) maxPenetration = Math.max(maxPenetration, -c.distance); + } + const contacts = touching(); + const anchor = Array.from(s.data.xanchor.slice(joint.id * 3, joint.id * 3 + 3), Number); + const axis = Array.from(s.data.xaxis.slice(joint.id * 3, joint.id * 3 + 3), Number); + const radii = contacts.map((c) => { + const offset = c.position.map((x, i) => x - anchor[i]); + const axial = offset.reduce((sum, x, i) => sum + x * axis[i], 0); + return Math.hypot(...offset.map((x, i) => x - axial * axis[i])); + }); + const blocked = { + actual: Number(s.data.qpos[joint.qposAddress]), + target: -1.3, + contacts, + maxPenetration, + maxContacts, + minContactRadius: Math.min(...radii), + finite: read().finite, + }; + harness.arm([pan, 0, 0.3, 0, 0, 0], 2); + return { + pan, + neutral, + blocked, + released: { actual: Number(s.data.qpos[joint.qposAddress]), contacts: touching() }, + }; + }); + s.reset(); + return { teleportAccepted, jointResetError, editable, before, after, samples }; + }, + jointSweepChecks() { + const s = session(), + dt = Number(s.model.opt.timestep); + const results = []; + for (const spec of p.arm) + for (const target of [spec.min * 0.6, spec.max * 0.6]) { + s.reset(); + step(0.5); + const motor = bindings.resolve(bindings.actuators, `${spec.joint}_servo`); + const joint = bindings.scalarJoint(spec.joint); + const initial = Number(s.data.qpos[joint.qposAddress]); + const duration = Math.abs(target - initial) / 0.4; // bounded 0.4 rad/s target ramp + let maxPenetration = 0, + maxContacts = 0; + const start = Number(s.data.time), + steps = Math.ceil((duration + 0.75) / dt); + for (let i = 0; i < steps; i++) { + if (i % 10 === 0) + s.setActuator(motor, initial + (target - initial) * Math.min(1, (i * dt) / duration)); + s.singleStep(); + const contacts = contactPairs().filter( + (c) => c.geom1.startsWith('__lekiwi_cad_') && c.geom2.startsWith('__lekiwi_cad_'), + ); + maxContacts = Math.max(maxContacts, contacts.length); + for (const c of contacts) maxPenetration = Math.max(maxPenetration, -c.distance); + } + results.push({ + joint: spec.joint, + target, + actual: Number(s.data.qpos[joint.qposAddress]), + maxPenetration, + maxContacts, + finite: read().finite, + elapsed: Number(s.data.time) - start, + expectedTime: steps * dt, + contacts: contactPairs().filter( + (c) => c.geom1.startsWith('__lekiwi_cad_') && c.geom2.startsWith('__lekiwi_cad_'), + ), + }); + } + s.reset(); + return results; + }, + visualCollisionCoverage() { + const xml = new DOMParser().parseFromString(harness.xml(), 'application/xml'); + const arm = xml.querySelector('body[name="Base_08q-v1"]')!; + const original = new DOMParser().parseFromString( + new TextDecoder().decode( + currentManifest.files.find((f) => f.path === 'URDF/LeKiwi.urdf')!.data, + ), + 'application/xml', + ); + const visuals = Array.from(original.querySelectorAll('link > visual')).filter((v) => + arm.querySelector(`geom[name="${v.getAttribute('name')}"]`), + ); + const probeBody = xml.createElement('body'); + probeBody.setAttribute('name', '__coverage_probe_body'); + probeBody.setAttribute('mocap', 'true'); + probeBody.setAttribute('pos', '10 10 10'); + const geom = xml.createElement('geom'); + geom.setAttribute('name', '__coverage_probe'); + geom.setAttribute('type', 'sphere'); + geom.setAttribute('size', '.0015'); + probeBody.append(geom); + xml.querySelector('worldbody')!.append(probeBody); + const path = 'URDF/lekiwi-coverage-test.xml'; + adapter.workspace!.writeGenerated( + path, + new TextEncoder().encode(new XMLSerializer().serializeToString(xml)), + ); + const module = session().module; + session().dispose(); + adapter.session = new SimulationSession(module, adapter.workspace!.path(path)); + const s = session(); + bindings = new ModelBindings(s.model); + const mocap = Number( + s.model.body_mocapid[bindings.resolve(bindings.bodies, '__coverage_probe_body')], + ); + const samples = visuals.map((v) => { + const name = v.getAttribute('name')!, + link = v.parentElement!.getAttribute('name')!; + const sourceMesh = v.querySelector('mesh')!; + const scale = (sourceMesh.getAttribute('scale') ?? '1 1 1').split(/\s+/).map(Number); + const file = currentManifest.files.find( + (f) => f.path === `URDF/${sourceMesh.getAttribute('filename')}`, + )!; + const data = new DataView(file.data.buffer, file.data.byteOffset, file.data.byteLength); + const extrema: number[][] = []; + for (let triangle = 0; triangle < data.getUint32(80, true); triangle++) + for (let vertex = 0; vertex < 3; vertex++) { + const point = [0, 1, 2].map( + (a) => data.getFloat32(84 + triangle * 50 + 12 + vertex * 12 + a * 4, true) * scale[a], + ); + for (let a = 0; a < 3; a++) + for (let sign = 0; sign < 2; sign++) { + const i = a * 2 + sign, + factor = sign ? 1 : -1; + if (!extrema[i] || point[a] * factor > extrema[i][a] * factor) extrema[i] = point; + } + } + const visual = xml.querySelector(`geom[name="${name}"]`)!; + const body = bindings.resolve(bindings.bodies, visual.parentElement!.getAttribute('name')!); + const q = (visual.getAttribute('quat') ?? '1 0 0 0').split(/\s+/).map(Number); + const pos = (visual.getAttribute('pos') ?? '0 0 0').split(/\s+/).map(Number); + const probes = extrema.map((point) => { + const local = new Vector3(...point) + .applyQuaternion(new Quaternion(q[1], q[2], q[3], q[0])) + .add(new Vector3(...pos)) + .toArray(); + const world = [0, 1, 2].map( + (row) => + Number(s.data.xpos[body * 3 + row]) + + local.reduce( + (sum, value, col) => sum + value * Number(s.data.xmat[body * 9 + row * 3 + col]), + 0, + ), + ); + s.data.mocap_pos.set(world, mocap * 3); + module.mj_forward(s.model, s.data); + const contacts = contactPairs().filter( + (c) => + (c.geom1 === '__coverage_probe' && c.geom2.startsWith(`__lekiwi_cad_${link}__`)) || + (c.geom2 === '__coverage_probe' && c.geom1.startsWith(`__lekiwi_cad_${link}__`)), + ); + return { point, contacts }; + }); + return { visual: name, probes }; + }); + s.data.mocap_pos.set([10, 10, 10], mocap * 3); + module.mj_forward(s.model, s.data); + return samples; + }, + drive(x: number, y: number, w: number, seconds: number) { + const wheels = bodyToWheels(x, y, w); + p.wheels.forEach((j, i) => + session().setActuator(bindings.resolve(bindings.actuators, `${j}_servo`), wheels[i]), + ); + return step(seconds); + }, + arm(targets: number[], seconds: number) { + p.arm.forEach((j, i) => + session().setActuator(bindings.resolve(bindings.actuators, `${j.joint}_servo`), targets[i]), + ); + return step(seconds); + }, + wall() { + const xml = new DOMParser().parseFromString( + new TextDecoder().decode(adapter.exportMjcf()), + 'application/xml', + ); + const wall = xml.createElement('geom'); + for (const [k, v] of Object.entries({ + name: 'test_wall', + type: 'box', + pos: '.32 0 .12', + size: '.03 .5 .12', + })) + wall.setAttribute(k, v); + xml.querySelector('worldbody')!.append(wall); + adapter.workspace!.writeGenerated( + 'URDF/lekiwi-test.xml', + new TextEncoder().encode(new XMLSerializer().serializeToString(xml)), + ); + const module = session().module; + session().dispose(); + adapter.session = new SimulationSession( + module, + adapter.workspace!.path('URDF/lekiwi-test.xml'), + ); + bindings = new ModelBindings(session().model); + return step(1); + }, + armSelfCollisionChecks() { + const s = session(); + const supportGroups = new Set([ + bindings.resolve(bindings.bodies, p.baseBody), + bindings.resolve(bindings.bodies, 'Rotation_Pitch_08i-v1'), + ]); + const upperArm = bindings.resolve(bindings.bodies, 'SO_ARM100_08k_116_Square-v1'); + const joint = bindings.scalarJoint('arm_shoulder_lift'); + const geomNames = Array.from({ length: s.model.ngeom }, (_, i) => { + const geom = s.model.geom(i); + try { + return geom.name; + } finally { + geom.delete(); + } + }); + const contacts = () => { + const touching: { distance: number; geom1: string; geom2: string }[] = []; + for (let i = 0; i < s.data.ncon; i++) { + const contact = s.data.contact.get(i)!; + try { + // The fixed base/mounting plate and rotating shoulder clip can all + // stop the upper arm before it reaches the original Base/Square pair. + const a = Number(s.model.body_weldid[Number(s.model.geom_bodyid[contact.geom1])]); + const b = Number(s.model.body_weldid[Number(s.model.geom_bodyid[contact.geom2])]); + if ( + ((supportGroups.has(a) && b === upperArm) || + (a === upperArm && supportGroups.has(b))) && + geomNames[contact.geom1].startsWith('__lekiwi_cad_') && + geomNames[contact.geom2].startsWith('__lekiwi_cad_') + ) + touching.push({ + distance: contact.dist, + geom1: geomNames[contact.geom1], + geom2: geomNames[contact.geom2], + }); + } finally { + contact.delete(); + } + } + return touching; + }; + const samples = [0, 0.8, -0.8].map((pan) => { + s.reset(); + harness.arm([pan, 0, 0, 0, 0, 0], 1.5); + const neutral = { actual: Number(s.data.qpos[joint.qposAddress]), contacts: contacts() }; + const target = 0.6; + s.setActuator(bindings.resolve(bindings.actuators, 'arm_shoulder_lift_servo'), target); + let maxContacts = 0, + maxPenetration = 0; + for (let i = 0; i < Math.ceil(3 / Number(s.model.opt.timestep)); i++) { + s.singleStep(); + const touching = contacts(); + maxContacts = Math.max(maxContacts, touching.length); + for (const contact of touching) + maxPenetration = Math.max(maxPenetration, -contact.distance); + } + const blocked = { + actual: Number(s.data.qpos[joint.qposAddress]), + target, + contacts: contacts(), + allArmContacts: contactPairs().filter( + (c) => c.geom1.startsWith('__lekiwi_cad_') && c.geom2.startsWith('__lekiwi_cad_'), + ), + maxContacts, + maxPenetration, + finite: read().finite, + }; + harness.arm([pan, -0.3, 0, 0, 0, 0], 2); + const released = { actual: Number(s.data.qpos[joint.qposAddress]), contacts: contacts() }; + return { pan, neutral, blocked, released }; + }); + s.reset(); + return samples; + }, + gripperCollisionChecks() { + const xml = new DOMParser().parseFromString(harness.xml(), 'application/xml'); + const probe = xml.createElement('body'); + probe.setAttribute('name', 'gripper_probe_body'); + probe.setAttribute('mocap', 'true'); + probe.setAttribute('pos', '10 10 10'); + const sphere = xml.createElement('geom'); + sphere.setAttribute('name', 'gripper_probe'); + sphere.setAttribute('type', 'sphere'); + sphere.setAttribute('size', '.008'); + probe.append(sphere); + xml.querySelector('worldbody')!.append(probe); + const path = 'URDF/lekiwi-gripper-test.xml'; + adapter.workspace!.writeGenerated( + path, + new TextEncoder().encode(new XMLSerializer().serializeToString(xml)), + ); + const module = session().module; + session().dispose(); + adapter.session = new SimulationSession(module, adapter.workspace!.path(path)); + const s = session(); + bindings = new ModelBindings(s.model); + const geoms = new Map(); + for (let i = 0; i < s.model.ngeom; i++) { + const geom = s.model.geom(i); + try { + geoms.set(geom.name, i); + } finally { + geom.delete(); + } + } + const probeId = geoms.get('gripper_probe')!; + const fixedBody = bindings.resolve(bindings.bodies, 'Wrist_Roll_08c-v1'); + const movingBody = bindings.resolve(bindings.bodies, 'Moving_Jaw_08d-v1'); + const motor = bindings.resolve(bindings.actuators, 'arm_gripper_servo'); + const joint = bindings.scalarJoint('arm_gripper'); + const spec = p.arm[5]; + const sourcePoint = (visualName: string, point: number[]) => { + // Independent CAD surface samples, NOT points taken from the collision recipe. + const visual = xml.querySelector(`geom[name="${visualName}"]`)!; + const body = bindings.resolve(bindings.bodies, visual.parentElement!.getAttribute('name')!); + const q = (visual.getAttribute('quat') ?? '1 0 0 0').split(/\s+/).map(Number); + const pos = (visual.getAttribute('pos') ?? '0 0 0').split(/\s+/).map(Number); + const local = new Vector3(...point) + .multiplyScalar(0.001) + .applyQuaternion(new Quaternion(q[1], q[2], q[3], q[0])) + .add(new Vector3(...pos)) + .toArray(); + return [0, 1, 2].map( + (row) => + Number(s.data.xpos[body * 3 + row]) + + local.reduce( + (sum, value, col) => sum + value * Number(s.data.xmat[body * 9 + row * 3 + col]), + 0, + ), + ); + }; + const contacts = () => { + const result: { other: string; distance: number }[] = []; + for (let i = 0; i < s.data.ncon; i++) { + const contact = s.data.contact.get(i)!; + try { + if (contact.geom1 !== probeId && contact.geom2 !== probeId) continue; + const other = contact.geom1 === probeId ? contact.geom2 : contact.geom1; + result.push({ + other: [...geoms].find(([, id]) => id === other)![0], + distance: contact.dist, + }); + } finally { + contact.delete(); + } + } + return result; + }; + const place = (position: number[]) => { + s.data.mocap_pos.set(position); + module.mj_forward(s.model, s.data); + return contacts(); + }; + step(0.5); + const coverage = [ + { name: 'fixed_tip', visual: 'Wrist_Roll_08c-v1_visual', point: [-12, 0, 99] }, + { name: 'moving_tip', visual: 'Moving_Jaw_08d-v1_visual', point: [-10, -78, 0] }, + ].map(({ name, visual, point }) => ({ name, contacts: place(sourcePoint(visual, point)) })); + place([10, 10, 10]); + // Select actual collision parts contacted by independent CAD tip probes. + // No hull indices or generator vertices are used as the test oracle. + const fingerIds = coverage.map((sample, i) => + sample.contacts + .filter((c) => + c.other.startsWith( + `__lekiwi_cad_${i === 0 ? 'Wrist_Roll_08c-v1' : 'Moving_Jaw_08d-v1'}__`, + ), + ) + .map((c) => geoms.get(c.other)!), + ); + const surface = (geom: number): Surface => { + const m = s.model, + d = s.data, + mesh = Number(m.geom_dataid[geom]); + const va = Number(m.mesh_vertadr[mesh]), + fa = Number(m.mesh_faceadr[mesh]); + return { + vertices: Array.from({ length: Number(m.mesh_vertnum[mesh]) }, (_, i) => { + const local = [0, 1, 2].map((c) => Number(m.mesh_vert[3 * (va + i) + c])); + return new Vector3( + ...[0, 1, 2].map( + (r) => + Number(d.geom_xpos[3 * geom + r]) + + local.reduce((sum, v, c) => sum + v * Number(d.geom_xmat[9 * geom + 3 * r + c]), 0), + ), + ); + }), + faces: Array.from({ length: Number(m.mesh_facenum[mesh]) }, (_, i) => + [0, 1, 2].map((c) => Number(m.mesh_face[3 * (fa + i) + c])), + ), + }; + }; + const closestPair = () => { + // Independent triangle geometry: WASM 3.11 mj_geomDistance returned scalar 0 + // for a separated thin hull pair (its witness points were >50 mm apart). + // Do not silently discard that pair, loosen gap assertions or tune the solver. + const surfaces = fingerIds.map((ids) => ids.map(surface)); + let closest: ReturnType | undefined; + for (const fixed of surfaces[0]) + for (const moving of surfaces[1]) { + const result = surfaceDistance(fixed, moving); + if (!closest || result.distance < closest.distance) closest = result; + } + if (!closest) throw new Error('CAD 指尖没有对应碰撞体'); + return closest; + }; + const openings = [0, 0.5, 1].map((opening) => { + const target = spec.min + opening * (spec.max - spec.min); + s.setActuator(motor, target); + step(1); + return { + opening, + target, + actual: Number(s.data.qpos[joint.qposAddress]), + separation: closestPair().distance, + contacts: contactPairs().filter( + (c) => + (c.body1 === fixedBody && c.body2 === movingBody) || + (c.body1 === movingBody && c.body2 === fixedBody), + ), + }; + }); + // Put a rigid object in the jaw space of the half-open pose; then close on it. + s.setActuator(motor, (spec.min + spec.max) / 2); + step(1); + const closest = closestPair(); + const midpoint = [0, 1, 2].map((axis) => (closest.from[axis] + closest.to[axis]) / 2); + s.setActuator(motor, spec.max); + step(1); + const gapContacts = place(midpoint); + s.setActuator(motor, spec.min); + let maxContacts = 0, + maxPenetration = 0; + for (let i = 0; i < Math.ceil(2 / Number(s.model.opt.timestep)); i++) { + s.singleStep(); + const touching = contacts(); + maxContacts = Math.max(maxContacts, touching.length); + for (const contact of touching) maxPenetration = Math.max(maxPenetration, -contact.distance); + } + const obstruction = { + maxContacts, + maxPenetration, + actual: Number(s.data.qpos[joint.qposAddress]), + target: spec.min, + contacts: contacts(), + }; + place([10, 10, 10]); + // Deliberately overlap the fingers to check structural pairs bypass the + // default parent filter. This is a query, never a normal control command. + s.data.qpos[joint.qposAddress] = -0.24; + module.mj_forward(s.model, s.data); + let fingerSelfContacts = 0; + for (let i = 0; i < s.data.ncon; i++) { + const contact = s.data.contact.get(i)!; + try { + if ( + (s.model.geom_bodyid[contact.geom1] === fixedBody && + s.model.geom_bodyid[contact.geom2] === movingBody) || + (s.model.geom_bodyid[contact.geom2] === fixedBody && + s.model.geom_bodyid[contact.geom1] === movingBody) + ) + fingerSelfContacts++; + } finally { + contact.delete(); + } + } + s.reset(); + return { + coverage, + openings, + gapContacts, + obstruction, + fingerSelfContacts, + finite: read().finite, + }; + }, + async runtimeChecks() { + const s = session(); + await s.loadPythonController( + `OLD = None\nMOTOR = 0\ndef init(model):\n global MOTOR\n MOTOR=model.actuator('arm_shoulder_pan_servo')\n return MOTOR\ndef step(ctx, state):\n global OLD\n OLD=ctx\n ctx.set_control(state, 0.1)\ndef dispose(state):\n if OLD is not None:\n OLD.set_control(MOTOR, 1.2)\n`, + 'scoped.py', + ); + s.setControllerEnabled(true); + s.singleStep(); + const motor = bindings.resolve(bindings.actuators, 'arm_shoulder_pan_servo'); + const pythonTarget = Number(s.data.ctrl[motor]); + s.setPaused(false); + s.setExternalControlEnabled(true); + const identity = s.claimExternalControlLease('browser-lease'); + const values = Object.fromEntries(s.describeRobot()!.actionChannels.map((c) => [c.id, 0])); + values['arm_gripper.pos'] = 0.25; + values['arm_shoulder_pan.pos'] = 0.3; + values['x.vel'] = 0.1; + const pending = s.sendRobotAction({ protocolVersion: 1, ...identity, actionSeq: 1, values }); + s.singleStep(); + const accepted = await pending; + let manualBlocked = false; + try { + s.setActuator(motor, 1); + } catch { + manualBlocked = true; + } + s.removeController(); // old Python dispose tries to write 1.2 through its saved ctx + const afterOldDispose = Number(s.data.ctrl[motor]); + const measured = s.robotObservation(); + s.setPaused(true); + const held = Number(s.data.ctrl[motor]); + const actual = Number(s.data.qpos[bindings.scalarJoint('arm_shoulder_pan').qposAddress]); + const paused = s.snapshot(); + s.setPaused(false); + s.setExternalControlEnabled(true); + const nextIdentity = s.claimExternalControlLease('next-lease'); + const cancel = s + .sendRobotAction({ protocolVersion: 1, ...nextIdentity, actionSeq: 1, values }) + .catch((e) => e.code); + s.reset(); + return { + pythonTarget, + accepted, + manualBlocked, + afterOldDispose, + measured, + held, + actual, + paused: paused.externalControl, + pausedOwner: paused.controlOwner, + reset: s.robotObservation(), + cancel: await cancel, + }; + }, + async reimport() { + const data = adapter.exportMjcf(); + const file = { + path: 'URDF/export.xml', + data, + size: data.length, + mimeType: '', + source: 'file' as const, + }; + const manifest: ProjectManifest = { + ...currentManifest, + files: [...currentManifest.files, file], + entries: [...currentManifest.entries, { path: file.path, format: 'mjcf', label: 'export' }], + }; + await adapter.load(manifest, file.path, { + robotProfileId: p.id, + urdfMode: 'mjcf', + baseMode: 'floating', + map: { kind: 'none' }, + }); + adapter.releaseRetired(); + bindings = new ModelBindings(session().model); + return { robot: adapter.describeRobot(), ...read() }; + }, + xml() { + return new TextDecoder().decode(adapter.exportMjcf()); + }, + dispose() { + if (frame !== undefined) cancelAnimationFrame(frame); + frame = undefined; + bridge?.disconnect(); + bridge = undefined; + adapter.dispose(); + }, +}; +export type PhysicsHarness = typeof harness; +declare global { + interface Window { + lekiwiPhysics: PhysicsHarness; + } +} +window.lekiwiPhysics = harness; diff --git a/web_platform/playwright.config.ts b/web_platform/playwright.config.ts index 3c13e201..ab55ce3e 100644 --- a/web_platform/playwright.config.ts +++ b/web_platform/playwright.config.ts @@ -1,11 +1,20 @@ import { defineConfig } from '@playwright/test'; export default defineConfig({ testDir: './e2e', + testIgnore: /lekiwi.*\.spec\.ts/, timeout: 120_000, use: { baseURL: 'http://127.0.0.1:4173' }, - webServer: { - command: 'npm run preview --prefix .. -- --host 127.0.0.1', - url: 'http://127.0.0.1:4173', - reuseExistingServer: true, - }, + webServer: [ + { + command: 'npm run preview --prefix .. -- --host 127.0.0.1', + url: 'http://127.0.0.1:4173', + reuseExistingServer: true, + }, + { + // Synthetic real-WASM bridge fixture is intentionally not in the production bundle. + command: 'npm run dev --prefix .. -- --host 127.0.0.1 --port 4174 --strictPort', + url: 'http://127.0.0.1:4174', + reuseExistingServer: false, + }, + ], }); diff --git a/web_platform/playwright.lekiwi.config.ts b/web_platform/playwright.lekiwi.config.ts new file mode 100644 index 00000000..55c044c4 --- /dev/null +++ b/web_platform/playwright.lekiwi.config.ts @@ -0,0 +1,14 @@ +import { defineConfig } from '@playwright/test'; +export default defineConfig({ + testDir: './e2e', + outputDir: '../build/e2e/lekiwi', + testMatch: /lekiwi.*\.spec\.ts/, + timeout: 180_000, + workers: 1, + use: { baseURL: 'http://127.0.0.1:4174' }, + webServer: { + command: 'npm run dev --prefix .. -- --host 127.0.0.1 --port 4174 --strictPort', + url: 'http://127.0.0.1:4174', + reuseExistingServer: false, + }, +}); diff --git a/web_platform/src/app/App.tsx b/web_platform/src/app/App.tsx index 1e8a74b2..7df78adc 100644 --- a/web_platform/src/app/App.tsx +++ b/web_platform/src/app/App.tsx @@ -1,4 +1,6 @@ import { useThemePreference } from './hooks/useThemePreference'; +import { useExternalControl } from './hooks/useExternalControl'; +import { ExternalControlPanel } from '../robot/ExternalControlPanel'; import { resolvePolicyDeployment, type PolicyDeployment } from '../rl/deployment'; /* Zustand 的 action 引用稳定；初始化 viewer 与导入回调有意只创建一次。 */ /* eslint-disable react-hooks/exhaustive-deps */ @@ -288,6 +290,7 @@ export function App() { setLeftOpen, setRightOpen, } = useSidebarLayout(); + const robotProfilesRef = useRef(new Map()); const sensorCameraFrame = useRef(null); const orientationHost = useRef(null); const [mapCommitState, setMapCommitState] = useState<'idle' | 'submitting' | 'failed'>('idle'); @@ -298,6 +301,7 @@ export function App() { [generatedMjcf, setGeneratedMjcf] = useState(), [generatedMjcfPath, setGeneratedMjcfPath] = useState(), [pendingUrdfPath, setPendingUrdfPath] = useState(), + [pendingUrdfProfile, setPendingUrdfProfile] = useState(), [pendingUrdfMounts, setPendingUrdfMounts] = useState([]), [removeConfirmOpen, setRemoveConfirmOpen] = useState(false), [fullscreen, setFullscreen] = useState(false), @@ -351,6 +355,16 @@ export function App() { [jointAdvanced, setJointAdvanced] = useState(false), [ignoreJointLimits, setIgnoreJointLimits] = useState(false), [angleUnit, setAngleUnit] = useState<'rad' | 'deg'>('rad'); + const publishExternalSnapshot = useCallback(() => { + const snapshot = adapter.current.snapshot() ?? undefined; + const store = useAppStore.getState(); + store.setSnapshot(snapshot); + if (snapshot?.paused !== undefined) store.setPaused(snapshot.paused); + if (snapshot?.speed !== undefined) store.setSpeed(snapshot.speed); + setControllerStatus(snapshot?.controller); + setPolicyStatus(snapshot?.rlPolicy); + }, []); + const externalControl = useExternalControl(adapter, publishExternalSnapshot); const showCollision = displayOptions.showCollision, setShowCollision = (value: boolean) => setDisplayOptions((options) => ({ ...options, showCollision: value })); @@ -458,6 +472,8 @@ export function App() { ); if (snapshot) { state.setSnapshot(snapshot); + if (snapshot.paused !== undefined) state.setPaused(snapshot.paused); + if (snapshot.speed !== undefined) state.setSpeed(snapshot.speed); setControllerStatus(snapshot.controller); setPolicyStatus(snapshot.rlPolicy); if (snapshot.controller?.error || snapshot.rlPolicy?.error) { @@ -591,7 +607,11 @@ export function App() { ); const previousState = useAppStore.getState(); const previousEntry = previousState.selectedEntry; - const previousPaused = previousState.paused; + const previousSnapshot = adapter.current.snapshot(); + const previousPaused = + previousSnapshot?.controlOwner === 'external' || + (previousSnapshot?.paused ?? previousState.paused); + externalControl.disconnect('模型正在重载，请重新连接并授权'); loadInFlight.current = true; setIgnoreJointLimits(false); setControllerStatus(undefined); @@ -605,8 +625,8 @@ export function App() { value: 0.4, }); state.setDiagnostic(undefined); - setGeneratedMjcf(undefined); - setGeneratedMjcfPath(undefined); + // Keep the current source editor through a failed transactional compile, + // so a rejected profile edit can be corrected rather than losing its UI. adapter.current.setPaused(true); state.setPaused(true); let attachedViewer: MuJoCoViewer | null = null; @@ -618,6 +638,7 @@ export function App() { urdfMode: requestedMode ?? urdfModeRef.current, baseMode: baseModeRef.current, enhancements: urdfEnhancementsRef.current, + robotProfileId: robotProfilesRef.current.get(path), mapAssets: sceneAssets, trainingDeployment: requestedDeployment, trainingPolicy: requestedPolicy, @@ -756,6 +777,7 @@ export function App() { const entry = manifest.current?.entries.find((candidate) => candidate.path === path); if (entry?.format === 'urdf' && urdfModeRef.current === 'mjcf') { setPendingUrdfMounts(urdfLinkNames(manifest.current, path)); + setPendingUrdfProfile(robotProfilesRef.current.get(path)); setPendingUrdfPath(path); return; } @@ -763,20 +785,59 @@ export function App() { }, [loadEntry], ); - const confirmUrdfOptions = (options: UrdfEnhancementOptions) => { + const confirmUrdfOptions = (options: UrdfEnhancementOptions, profileId?: string) => { const path = pendingUrdfPath; if (!path) return; + const choices = robotProfilesRef.current, + previous = choices.get(path), + previousBase = baseModeRef.current; urdfEnhancementsRef.current = options; + if (profileId) { + robotProfilesRef.current.set(path, profileId); + baseModeRef.current = 'floating'; + setBaseMode('floating'); + } else robotProfilesRef.current.delete(path); setPendingUrdfPath(undefined); setPendingUrdfMounts([]); - void loadEntry(path); + void loadEntry(path).then((loaded) => { + if (!loaded && robotProfilesRef.current === choices) { + if (previous) choices.set(path, previous); + else choices.delete(path); + baseModeRef.current = previousBase; + setBaseMode(previousBase); + } + }); }; const skipUrdfOptions = () => confirmUrdfOptions({ addActuators: false, addSensors: false, sensorType: 'camera' }); + const applyRobotProfile = async (profileId?: string) => { + const path = useAppStore.getState().selectedEntry; + if (!path || loadInFlight.current) return; + const choices = robotProfilesRef.current, + previous = choices.get(path), + previousMode = urdfModeRef.current, + previousBase = baseModeRef.current; + if (profileId) { + robotProfilesRef.current.set(path, profileId); + urdfModeRef.current = 'mjcf'; + setUrdfMode('mjcf'); + baseModeRef.current = 'floating'; + setBaseMode('floating'); + } else robotProfilesRef.current.delete(path); + if (!(await loadEntry(path)) && robotProfilesRef.current === choices) { + if (previous) robotProfilesRef.current.set(path, previous); + else robotProfilesRef.current.delete(path); + urdfModeRef.current = previousMode; + setUrdfMode(previousMode); + baseModeRef.current = previousBase; + setBaseMode(previousBase); + } + }; const ingest = useCallback( async (files: File[], lockOwned = false) => { if (importInFlight.current && !lockOwned) return; importInFlight.current = true; + externalControl.disconnect('正在导入工程，请重新连接并授权'); state.setLoading(true); setImportProgress({ title: '正在导入工程', @@ -812,6 +873,7 @@ export function App() { value: 0.39, }); manifest.current = next; + robotProfilesRef.current = new Map(); setProjectMaps(next.maps); setCommittedEditorDocuments(manifestEditorDocuments(next)); setProjectSidebarTab('assets'); @@ -887,6 +949,8 @@ export function App() { if (state.projectName) setRemoveConfirmOpen(true); }; const confirmRemoveProject = () => { + externalControl.disconnect('工程已关闭'); + robotProfilesRef.current = new Map(); setMapCommitState('idle'); void viewer.current?.setVisualMaps([]); viewer.current?.attach(null); @@ -931,6 +995,7 @@ export function App() { if (entry?.format !== 'urdf') return; if (value === 'mjcf') { setPendingUrdfMounts(urdfLinkNames(manifest.current, entry.path)); + setPendingUrdfProfile(robotProfilesRef.current.get(entry.path)); setPendingUrdfPath(entry.path); } else void loadEntry(entry.path, value); }; @@ -1883,7 +1948,14 @@ export function App() { state.setSpeed(value); adapter.current.setSpeed(value); }; - const mode = (value: InteractionMode) => state.setMode(value); + const jointPoseEditingDisabled = Boolean( + state.snapshot?.robot || + (state.snapshot?.controlOwner && state.snapshot.controlOwner !== 'manual'), + ); + const mode = (value: InteractionMode) => { + if (value === 'joint' && jointPoseEditingDisabled) return; + state.setMode(value); + }; const resetJoints = () => { adapter.current.resetJoints(); state.setPaused(true); @@ -2186,6 +2258,8 @@ export function App() { }; const saveCachedSource = async (path: string, text: string) => { if (!manifest.current) return; + const profileId = adapter.current.describeRobot()?.profileId; + if (profileId) robotProfilesRef.current.set(path, profileId); manifest.current = upsertCachedMjcf(manifest.current, path, text); state.setProject( manifest.current.name, @@ -2426,6 +2500,17 @@ export function App() { active={workspaceTool ?? 'controls'} snapshot={state.snapshot} loading={state.loading} + externalControl={ + state.snapshot && ( + void applyRobotProfile(id)} + /> + ) + } ignoreJointLimits={ignoreJointLimits} jointAdvanced={jointAdvanced} angleUnit={angleUnit} @@ -2631,12 +2716,17 @@ export function App() { ready={Boolean(state.snapshot)} speed={state.speed} loading={state.loading} + externalControl={state.snapshot?.controlOwner === 'external'} onTogglePause={togglePause} onStep={singleStep} onReset={reset} onSpeed={changeSpeed} /> - + {pendingUrdfPath && ( diff --git a/web_platform/src/app/components/SimulationControls.tsx b/web_platform/src/app/components/SimulationControls.tsx index 6f846015..b953e692 100644 --- a/web_platform/src/app/components/SimulationControls.tsx +++ b/web_platform/src/app/components/SimulationControls.tsx @@ -5,6 +5,7 @@ export function SimulationControls({ ready, speed, loading, + externalControl = false, onTogglePause, onStep, onReset, @@ -14,6 +15,7 @@ export function SimulationControls({ ready: boolean; speed: number; loading: boolean; + externalControl?: boolean; onTogglePause: () => void; onStep: () => void; onReset: () => void; @@ -34,7 +36,7 @@ export function SimulationControls({ tooltip="单步（暂停时可用）" aria-label="单步" onClick={onStep} - disabled={!ready || !paused} + disabled={!ready || !paused || externalControl} > @@ -49,7 +51,7 @@ export function SimulationControls({ - setOptions((value) => ({ - ...value, - cameraMountBody: event.target.value || undefined, - })) - } - > - {mountBodies.length ? ( - mountBodies.map((name) => ( - - )) - ) : ( - - )} - - -
- {(['X', 'Y', 'Z'] as const).map((axis, index) => ( - - ))} -
- - - - 安装坐标说明 - - - + + {profileId && ( +

+ 将校验固定模型版本，采用浮动基座、简化被动滚子/碰撞和九路伺服；不使用下方通用组件，不启用相机。 +

)} +
+ setOptions((value) => ({ ...value, addActuators }))} + icon={} + title="为关节添加驱动器" + description="生成不限幅 motor 控制输入：hinge 为 N·m，slide 为 N。已有驱动器不重复添加。" + /> + setOptions((value) => ({ ...value, addSensors }))} + icon={} + title="添加传感器" + description="在浮动基座添加三轴陀螺仪和三轴加速度计（6轴 IMU），并添加一台 640×480 固定摄像头。" + /> + {options.addSensors && ( +
+
摄像头安装参数
+ +
+ {(['X', 'Y', 'Z'] as const).map((axis, index) => ( + + ))} +
+ + + + 安装坐标说明 + + +
+ )} +

自动组件只写入浏览器内生成的 MJCF，不会修改本地 URDF 文件；使用“原生 diff --git a/web_platform/src/app/components/ViewerToolDock.tsx b/web_platform/src/app/components/ViewerToolDock.tsx index 045c3bdc..ec132f68 100644 --- a/web_platform/src/app/components/ViewerToolDock.tsx +++ b/web_platform/src/app/components/ViewerToolDock.tsx @@ -9,11 +9,18 @@ const tools: ToolbarItem[] = [ export function ViewerToolDock({ mode, onModeChange, + jointDisabled = false, }: { mode: InteractionMode; + jointDisabled?: boolean; onModeChange: (mode: InteractionMode) => void; }) { return ( - + ({ ...tool, disabled: tool.value === 'joint' && jointDisabled }))} + value={mode} + onChange={onModeChange} + label="视口交互模式" + /> ); } diff --git a/web_platform/src/app/components/WorkspaceToolsPanel.tsx b/web_platform/src/app/components/WorkspaceToolsPanel.tsx index a4703ab5..f39f639f 100644 --- a/web_platform/src/app/components/WorkspaceToolsPanel.tsx +++ b/web_platform/src/app/components/WorkspaceToolsPanel.tsx @@ -1,4 +1,4 @@ -import { useState } from 'react'; +import { useState, type ReactNode } from 'react'; import type { TrainingSceneCompiler } from '../../map/trainingMap'; import type { PolicyDeployment } from '../../rl/deployment'; import type { PlacedMapAsset } from '../../map/types'; @@ -37,6 +37,7 @@ export function WorkspaceToolsPanel({ active, snapshot, loading, + externalControl, ignoreJointLimits, jointAdvanced, angleUnit, @@ -82,6 +83,7 @@ export function WorkspaceToolsPanel({ active: WorkspaceTool; snapshot?: SimulationSnapshot; loading: boolean; + externalControl?: ReactNode; ignoreJointLimits: boolean; jointAdvanced: boolean; angleUnit: 'rad' | 'deg'; @@ -125,10 +127,21 @@ export function WorkspaceToolsPanel({ onDataRecordingExport: (format: 'csv' | 'json') => void; }) { const [trainingSummary, setTrainingSummary] = useState(''); + const manualDisabled = + loading || Boolean(snapshot?.controlOwner && snapshot.controlOwner !== 'manual'); const resolvedControllerStatus = controllerStatus ?? snapshot?.controller; const resolvedPolicyStatus = policyStatus ?? snapshot?.rlPolicy; const controls = snapshot ? ( <> + {externalControl && ( + + {externalControl} + + )} onActuator(actuator.id, value)} onParameters={(parameters) => onActuatorParameters(actuator.id, parameters)} @@ -159,10 +174,13 @@ export function WorkspaceToolsPanel({ badge={} >

- + +

+ 仅显式选择后生效；未知模型/版本拒绝接管。LeKiwi 使用简化动力学，不是实机标定。 +

+

+ 当前 profile：{snapshot.robot?.profileId ?? '未启用'} +

+ {snapshot.robot && ( +

+ 模型指纹： + + {snapshot.robot.modelFingerprint.slice(0, 16)} + +

+ )} + + +
+ + +
+
+ + +
+

+ 连接： + + {ready ? '已连接' : bridge.status.phase === 'connecting' ? '连接中' : '未连接'} + +

+

+ 当前控制所有者：{owner} +

+

+ {external?.connected + ? '外部控制者已连接' + : external?.enabled + ? '等待 Python 控制者' + : '未授权'} +

+

+ {snapshot.paused + ? '已暂停（非实时观测）' + : bridge.observationAgeMs === undefined + ? '尚无观测' + : `观测年龄 ${bridge.observationAgeMs.toFixed(0)} ms${bridge.observationAgeMs > 500 ? ' · 已过期' : ''}`} +

+ {external && ( +

+ epoch {external.modelEpoch} · applied seq {external.lastActionSeq} +

+ )} + {(bridge.status.error || (external?.error && !external.enabled)) && ( +

+ {bridge.status.error || external?.error} +

+ )} +

+ 先播放再授权。接管会停止 Python/ONNX，并锁定 + 1×。暂停、重载、页面隐藏和500ms超时均撤销授权；不会自动恢复旧命令。 +

+

+ 物理/观测不依赖渲染帧率。外控视图上限30FPS；检测到软件渲染时关闭阴影并降至5FPS，为控制保留时间。 +

+

+ V1：底盘/臂/夹爪和状态回读；不支持相机、锁步、LeRobot 数据采集或训练。 +

+ + ); +} diff --git a/web_platform/src/robot/RobotRuntime.test.ts b/web_platform/src/robot/RobotRuntime.test.ts new file mode 100644 index 00000000..f4d3d239 --- /dev/null +++ b/web_platform/src/robot/RobotRuntime.test.ts @@ -0,0 +1,118 @@ +import fixture from '../../../contracts/fixtures/single-joint.json'; +import { RobotRuntime } from './RobotRuntime'; +import type { RobotAdapter } from './types'; +import { validateDescriptor, validateValues } from './validation'; + +function setup() { + const descriptor = validateDescriptor(fixture.descriptor); + let clock = 0, + paused = false, + measured = 0.12; + const adapter: RobotAdapter = { + describe: () => descriptor, + readObservation: () => ({ 'slider.position': measured }), + validateAction: (v) => validateValues(v, descriptor.actionChannels, true), + applyAction: vi.fn((v) => validateValues(v, descriptor.actionChannels, true)), + safeStop: vi.fn(), + reset: () => { + measured = 0; + }, + dispose: vi.fn(), + }; + const fault = vi.fn(() => { + paused = true; + }); + const runtime = new RobotRuntime( + adapter, + 'sim-test', + () => paused, + fault, + () => clock, + ); + runtime.authorize(); + const identity = runtime.claim('lease-test'); + const action = (seq = 1) => ({ ...fixture.validAction, ...identity, actionSeq: seq }); + return { + runtime, + adapter, + fault, + action, + tick: (ms: number) => { + clock += ms; + }, + pause: () => { + paused = true; + }, + }; +} +describe('RobotRuntime bounded mailbox', () => { + it('applies only at a step, confirms after the step, observations are not targets', async () => { + const s = setup(); + let confirmed = false; + const ack = s.runtime.enqueue(s.action()).then((r) => { + confirmed = true; + return r; + }); + expect(s.adapter.applyAction).not.toHaveBeenCalled(); + expect(s.runtime.beforeStep()).toBe(true); + expect(s.adapter.applyAction).toHaveBeenCalledOnce(); + expect(confirmed).toBe(false); + s.runtime.afterStep(0.002); + expect((await ack).values['slider.position']).toBe(0.3); + expect(s.runtime.latest()?.values['slider.position']).toBe(0.12); + expect(s.runtime.latest()?.appliedActionSeq).toBe(1); + }); + it('only newest pending target survives and old sequences cannot replay', async () => { + const s = setup(); + const old = s.runtime.enqueue(s.action()).catch((e) => e.code); + const next = s.runtime.enqueue(s.action(2)); + expect(await old).toBe('SUPERSEDED'); + await expect(s.runtime.enqueue(s.action())).rejects.toMatchObject({ code: 'STALE' }); + s.runtime.beforeStep(); + s.runtime.afterStep(0.002); + expect((await next).actionSeq).toBe(2); + }); + it('wall clock watchdog cancels stale actions before the first resumed step', async () => { + const s = setup(); + const ack = s.runtime.enqueue(s.action()).catch((e) => e.code); + s.tick(501); + expect(s.runtime.beforeStep()).toBe(false); + expect(await ack).toBe('DISCONNECTED'); + expect(s.adapter.applyAction).not.toHaveBeenCalled(); + expect(s.fault).toHaveBeenCalledOnce(); + expect(s.runtime.status().enabled).toBe(false); + await expect(s.runtime.enqueue(s.action(2))).rejects.toMatchObject({ code: 'UNAUTHORIZED' }); + }); + it('a socket event delivered after freeze cannot renew an expired lease', async () => { + const s = setup(); + s.runtime.capture(0); + s.tick(501); + expect(s.runtime.status().observationAgeMs).toBe(501); + await expect(s.runtime.enqueue(s.action())).rejects.toMatchObject({ code: 'TIMEOUT' }); + expect(s.adapter.applyAction).not.toHaveBeenCalled(); + expect(s.fault).toHaveBeenCalledOnce(); + expect(s.runtime.status().enabled).toBe(false); + }); + it('reset/dispose reject outstanding requests and invalidate epoch', async () => { + const s = setup(); + const pending = s.runtime.enqueue(s.action()).catch((e) => e.code); + s.runtime.reset(); + expect(await pending).toBe('DISCONNECTED'); + expect(s.runtime.status().modelEpoch).toBe(1); + s.runtime.authorize(); + s.runtime.claim('new-lease'); + await expect(s.runtime.enqueue(s.action(2))).rejects.toMatchObject({ code: 'STALE' }); + s.runtime.dispose(); + s.runtime.dispose(); + expect(s.adapter.dispose).toHaveBeenCalledOnce(); + }); + it('paused/multiple owners denied and nonowner revocation does not write', async () => { + const s = setup(); + expect(() => s.runtime.claim('other')).toThrow(/已有/); + s.pause(); + await expect(s.runtime.enqueue(s.action())).rejects.toMatchObject({ code: 'PAUSED' }); + vi.mocked(s.adapter.safeStop).mockClear(); + s.runtime.revoke('not owner', false); + expect(s.adapter.safeStop).not.toHaveBeenCalled(); + }); +}); diff --git a/web_platform/src/robot/RobotRuntime.ts b/web_platform/src/robot/RobotRuntime.ts new file mode 100644 index 00000000..1fa24014 --- /dev/null +++ b/web_platform/src/robot/RobotRuntime.ts @@ -0,0 +1,191 @@ +import { + RobotError, + type RobotAdapter, + type RobotAction, + type RobotActionResult, + type RobotIdentity, + type RobotObservation, +} from './types'; +import { identifier, validateAction, validateDescriptor } from './validation'; + +export interface ExternalControlStatus { + enabled: boolean; + connected: boolean; + authorizationGeneration: number; + modelEpoch: number; + sessionId: string; + lastActionSeq: number; + observationAgeMs?: number; + error?: string; +} +interface Pending { + action: RobotAction; + receivedAt: number; + resolve(result: RobotActionResult): void; + reject(error: RobotError): void; +} +/** A bounded mailbox; all adapter mutation happens on the simulation thread. */ +export class RobotRuntime { + private enabled = false; + private authorizationGeneration = 0; + private disposed = false; + private epoch = 0; + private lease?: string; + private sequence = 0; + private lastSeq = 0; + private appliedSeq = 0; + private lastActionAt = 0; + private pending?: Pending; + private applied?: { pending: Pending; values: Record }; + private nextObservationTime = 0; + private observation?: RobotObservation; + private observedAt?: number; + private error?: string; + readonly descriptor; + constructor( + private readonly adapter: RobotAdapter, + readonly sessionId: string, + private readonly isPaused: () => boolean, + private readonly onFault: (reason: string) => void, + private readonly now: () => number = () => performance.now(), + private readonly watchdogMs = 500, + ) { + identifier(sessionId); + this.descriptor = validateDescriptor(adapter.describe()); + } + status(): ExternalControlStatus { + return { + enabled: this.enabled, + connected: Boolean(this.lease), + authorizationGeneration: this.authorizationGeneration, + modelEpoch: this.epoch, + sessionId: this.sessionId, + lastActionSeq: this.appliedSeq, + observationAgeMs: this.observedAt === undefined ? undefined : this.now() - this.observedAt, + error: this.error, + }; + } + authorize(): void { + if (this.disposed) throw new RobotError('DISCONNECTED', '机器人已释放'); + this.revoke('重新授权'); + this.enabled = true; + this.authorizationGeneration++; + this.error = undefined; + } + claim(leaseId: string): RobotIdentity { + if (!this.enabled || this.disposed) + throw new RobotError('UNAUTHORIZED', '请先在浏览器允许外部控制'); + if (this.isPaused()) throw new RobotError('PAUSED', '请先播放仿真'); + if (this.lease) throw new RobotError('CONFLICT', '已有外部控制者'); + this.lease = identifier(leaseId); + this.lastSeq = this.appliedSeq = 0; + this.lastActionAt = this.now(); + return this.identity(); + } + private identity(): RobotIdentity { + return { sessionId: this.sessionId, modelEpoch: this.epoch, leaseId: this.lease ?? 'none' }; + } + enqueue(value: unknown): Promise { + if (!this.enabled || !this.lease) + return Promise.reject(new RobotError('UNAUTHORIZED', '没有外部控制授权')); + if (this.isPaused()) return Promise.reject(new RobotError('PAUSED', '仿真已暂停')); + let action: RobotAction; + try { + action = validateAction(value, this.descriptor, this.identity(), this.lastSeq); + } catch (error) { + return Promise.reject(error); + } + // A socket event buffered while the page was frozen must not renew an + // already-expired lease before the first resumed physical step. + if (this.now() - this.lastActionAt >= this.watchdogMs) { + this.revoke('外部动作超过 500 ms 未刷新'); + this.onFault('外部动作超时'); + return Promise.reject(new RobotError('TIMEOUT', '租约已超时，请重新授权')); + } + this.lastSeq = action.actionSeq; + this.lastActionAt = this.now(); + this.pending?.reject(new RobotError('SUPERSEDED', '已由更新的目标替代')); + return new Promise((resolve, reject) => { + this.pending = { action, receivedAt: this.now(), resolve, reject }; + }); + } + /** Called before ANY physical step, including the first frame after a browser freeze. */ + beforeStep(): boolean { + if (!this.enabled || !this.lease) return true; + if (this.now() - this.lastActionAt >= this.watchdogMs) { + this.revoke('外部动作超过 500 ms 未刷新'); + this.onFault('外部动作超时'); + return false; + } + if (this.pending) { + const pending = this.pending; + this.pending = undefined; + if (this.now() - pending.receivedAt >= this.watchdogMs) { + pending.reject(new RobotError('STALE', '排队动作已过期')); + return false; + } + try { + this.applied = { pending, values: this.adapter.applyAction(pending.action.values) }; + } catch (error) { + pending.reject( + error instanceof RobotError ? error : new RobotError('INVALID_MESSAGE', String(error)), + ); + this.revoke('应用动作失败'); + this.onFault('应用动作失败'); + return false; + } + } + return true; + } + afterStep(time: number): void { + if (this.applied) { + const { pending, values } = this.applied; + this.applied = undefined; + this.appliedSeq = pending.action.actionSeq; + pending.resolve({ ...this.identity(), actionSeq: this.appliedSeq, simTime: time, values }); + } + if (!this.observation || time + 1e-9 >= this.nextObservationTime) this.capture(time); + } + capture(time: number): RobotObservation { + this.observedAt = this.now(); + this.observation = { + protocolVersion: 1, + sessionId: this.sessionId, + modelEpoch: this.epoch, + sequence: ++this.sequence, + simTime: time, + appliedActionSeq: this.appliedSeq, + paused: this.isPaused(), + values: this.adapter.readObservation(), + }; + this.nextObservationTime = time + 1 / 30; + return structuredClone(this.observation); + } + latest(): RobotObservation | undefined { + return this.observation ? structuredClone(this.observation) : undefined; + } + revoke(reason = '外部控制已停止', stop = true): void { + this.enabled = false; + this.lease = undefined; + this.error = reason; + this.pending?.reject(new RobotError('DISCONNECTED', reason)); + this.pending = undefined; + this.applied?.pending.reject(new RobotError('DISCONNECTED', reason)); + this.applied = undefined; + if (stop) this.adapter.safeStop(); + } + reset(): void { + this.revoke('模型已重置，请重新授权'); + this.epoch++; + this.sequence = this.lastSeq = this.appliedSeq = 0; + this.nextObservationTime = 0; + this.adapter.reset(); + } + dispose(): void { + if (!this.disposed) { + this.revoke('模型已释放'); + this.adapter.dispose(); + this.disposed = true; + } + } +} diff --git a/web_platform/src/robot/profiles/lekiwi.test.ts b/web_platform/src/robot/profiles/lekiwi.test.ts new file mode 100644 index 00000000..798970f9 --- /dev/null +++ b/web_platform/src/robot/profiles/lekiwi.test.ts @@ -0,0 +1,13 @@ +import fixture from '../../../../contracts/fixtures/lekiwi-kinematics.json'; +import { bodyToWheels, LEKIWI_PROFILE } from './lekiwi'; + +it('matches the real LeRobot 0.6.1 forward kinematics and proportional saturation within half an encoder tick', () => { + expect(LEKIWI_PROFILE.wheels).toEqual(fixture.wheelOrder); + const radPerTick = (2 * Math.PI) / 4096; + for (const { body, wheelRaw } of fixture.cases) { + const wheel = bodyToWheels(body[0], body[1], (body[2] * Math.PI) / 180); + wheel.forEach((value, i) => + expect(Math.abs(value / radPerTick - wheelRaw[i])).toBeLessThanOrEqual(0.500001), + ); + } +}); diff --git a/web_platform/src/robot/profiles/lekiwi.ts b/web_platform/src/robot/profiles/lekiwi.ts new file mode 100644 index 00000000..c8d30dad --- /dev/null +++ b/web_platform/src/robot/profiles/lekiwi.ts @@ -0,0 +1,74 @@ +import profile from '../../../../robot_profiles/lekiwi-v1.json'; +import type { RobotChannel, RobotDescriptor } from '../types'; +export const LEKIWI_PROFILE = profile; +export const LEKIWI_ACTION_CHANNELS: RobotChannel[] = [ + ...profile.arm.map((j): RobotChannel => ({ + id: `${j.joint}.pos`, + unit: j.joint === 'arm_gripper' ? 'ratio' : 'rad', + mode: j.joint === 'arm_gripper' ? 'opening' : 'position', + min: j.joint === 'arm_gripper' ? 0 : j.min, + max: j.joint === 'arm_gripper' ? 1 : j.max, + })), + ...['x.vel', 'y.vel', 'theta.vel'].map((id): RobotChannel => ({ + id, + mode: 'velocity', + unit: id === 'theta.vel' ? 'rad/s' : 'm/s', + min: -(id === 'theta.vel' ? profile.baseAngularLimit : profile.baseLinearLimit), + max: id === 'theta.vel' ? profile.baseAngularLimit : profile.baseLinearLimit, + })), +]; +// LeRobot 0.6.1: left/back/right, angles [240,0,120]-90 = [150,-90,30]. +export const WHEEL_TANGENTS: readonly (readonly number[])[] = [ + [-Math.sqrt(3) / 2, 0.5], + [0, -1], + [Math.sqrt(3) / 2, 0.5], +]; +export function bodyToWheels(x: number, y: number, yaw: number): number[] { + const raw = WHEEL_TANGENTS.map( + ([tx, ty]) => (tx * x + ty * y + profile.baseRadius * yaw) / profile.wheelRadius, + ); + const scale = Math.min(1, profile.wheelMaxRadS / Math.max(...raw.map(Math.abs), 1e-12)); + return raw.map((value) => value * scale); +} +export function wheelsToBody(wheels: readonly number[]): [number, number, number] { + const [l, b, r] = wheels.map((v) => v * profile.wheelRadius); + return [(r - l) / Math.sqrt(3), (l + r - 2 * b) / 3, (l + b + r) / (3 * profile.baseRadius)]; +} +export function lekiwiDescriptor(modelFingerprint: string): RobotDescriptor { + return { + protocolVersion: 1, + profileId: profile.id, + profileVersion: profile.version, + modelFingerprint, + frame: 'x-forward-y-left-z-up', + actionChannels: LEKIWI_ACTION_CHANNELS.map((c) => ({ ...c })), + observationChannels: [ + ...LEKIWI_ACTION_CHANNELS.map((c) => ({ ...c })), + ...[ + 'base.x', + 'base.y', + 'base.z', + 'base.roll', + 'base.pitch', + 'base.yaw', + 'base.vx', + 'base.vy', + 'base.wz', + ].map((id): RobotChannel => ({ + id, + min: -1e6, + max: 1e6, + mode: id.startsWith('base.v') || id === 'base.wz' ? 'velocity' : 'position', + unit: + id === 'base.wz' + ? 'rad/s' + : id.startsWith('base.v') + ? 'm/s' + : ['base.roll', 'base.pitch', 'base.yaw'].includes(id) + ? 'rad' + : 'm', + })), + ], + capabilities: { reset: true, lockstep: false, cameras: false, training: false }, + }; +} diff --git a/web_platform/src/robot/registry.ts b/web_platform/src/robot/registry.ts new file mode 100644 index 00000000..e6d63447 --- /dev/null +++ b/web_platform/src/robot/registry.ts @@ -0,0 +1,25 @@ +import { RobotError, type RobotDescriptor } from './types'; +import { lekiwiDescriptor, LEKIWI_PROFILE } from './profiles/lekiwi'; +import { validateDescriptor } from './validation'; + +export const ROBOT_PROFILES = [{ id: LEKIWI_PROFILE.id, label: 'LeKiwi v1（仿真专用）' }] as const; + +/** Explicit built-in registry. Project JSON cannot load code or register factories. */ +export function describeProfile(id: string, modelFingerprint: string): RobotDescriptor { + if (id !== LEKIWI_PROFILE.id) + throw new RobotError('UNSUPPORTED', `不支持的机器人 profile：${id}`); + return validateDescriptor(lekiwiDescriptor(modelFingerprint)); +} +export async function sha256(data: Uint8Array): Promise { + const digest = await crypto.subtle.digest('SHA-256', new Uint8Array(data)); + return Array.from(new Uint8Array(digest), (value) => value.toString(16).padStart(2, '0')).join( + '', + ); +} +export async function validateLeKiwiSource(data: Uint8Array): Promise { + if ((await sha256(data)) !== LEKIWI_PROFILE.source.urdfSha256) + throw new RobotError( + 'INCOMPATIBLE_MODEL', + `LeKiwi URDF 与受支持的 ${LEKIWI_PROFILE.source.revision.slice(0, 8)} 版本不符；请使用原始 URDF，不能仅凭关节数量套用 profile`, + ); +} diff --git a/web_platform/src/robot/types.ts b/web_platform/src/robot/types.ts new file mode 100644 index 00000000..3543382b --- /dev/null +++ b/web_platform/src/robot/types.ts @@ -0,0 +1,76 @@ +/** Wire contract v1. Core types have no React, socket or MuJoCo dependencies. */ +export const ROBOT_PROTOCOL_VERSION = 1 as const; +export type RobotUnit = 'rad' | 'rad/s' | 'm' | 'm/s' | 'ratio' | 'N' | 'N.m'; +export type RobotControlMode = 'position' | 'velocity' | 'effort' | 'opening'; +export interface RobotChannel { + id: string; + unit: RobotUnit; + min: number; + max: number; + mode: RobotControlMode; +} +export interface RobotDescriptor { + protocolVersion: 1; + profileId: string; + profileVersion: number; + modelFingerprint: string; + frame: 'x-forward-y-left-z-up'; + actionChannels: RobotChannel[]; + observationChannels: RobotChannel[]; + capabilities: { reset: boolean; lockstep: false; cameras: false; training: false }; +} +export interface RobotIdentity { + sessionId: string; + modelEpoch: number; + leaseId: string; +} +export interface RobotAction extends RobotIdentity { + protocolVersion: 1; + actionSeq: number; + values: Record; +} +export interface RobotObservation { + protocolVersion: 1; + sessionId: string; + modelEpoch: number; + sequence: number; + simTime: number; + appliedActionSeq: number; + paused: boolean; + values: Record; +} +export interface RobotActionResult extends RobotIdentity { + actionSeq: number; + simTime: number; + values: Record; +} +export type RobotErrorCode = + | 'INVALID_MESSAGE' + | 'INCOMPATIBLE_MODEL' + | 'UNSUPPORTED' + | 'UNAUTHORIZED' + | 'CONFLICT' + | 'STALE' + | 'PAUSED' + | 'TIMEOUT' + | 'SUPERSEDED' + | 'DISCONNECTED'; +export class RobotError extends Error { + constructor( + readonly code: RobotErrorCode, + message: string, + ) { + super(message); + this.name = 'RobotError'; + } +} +export interface RobotAdapter { + describe(): RobotDescriptor; + readObservation(): Record; + validateAction(values: unknown): Record; + /** Returns accepted targets, NOT a claim that the robot has reached them. */ + applyAction(values: Record): Record; + safeStop(): void; + reset(): void; + dispose(): void; +} diff --git a/web_platform/src/robot/validation.test.ts b/web_platform/src/robot/validation.test.ts new file mode 100644 index 00000000..dc5999a8 --- /dev/null +++ b/web_platform/src/robot/validation.test.ts @@ -0,0 +1,106 @@ +import fixture from '../../../contracts/fixtures/single-joint.json'; +import { validateAction, validateDescriptor, validateObservation } from './validation'; +import { RobotError } from './types'; +import { bodyToWheels, wheelsToBody, lekiwiDescriptor, LEKIWI_PROFILE } from './profiles/lekiwi'; +import { describeProfile } from './registry'; + +describe('robot v1 / shared fixtures', () => { + const descriptor = validateDescriptor(fixture.descriptor); + it('works for a non-LeKiwi single joint and roundtrips measured state', () => { + expect(validateAction(fixture.validAction, descriptor, fixture.identity, 0)).toEqual( + fixture.validAction, + ); + expect( + validateObservation(JSON.parse(JSON.stringify(fixture.observation)), descriptor), + ).toEqual(fixture.observation); + expect(fixture.observation.values['slider.position']).not.toBe( + fixture.validAction.values['slider.position'], + ); + }); + for (const test of fixture.invalidActions) + it(test.label, () => { + try { + validateAction({ ...fixture.validAction, ...test.patch }, descriptor, fixture.identity, 0); + expect.fail('expected rejection'); + } catch (error) { + expect(error).toBeInstanceOf(RobotError); + expect((error as RobotError).code).toBe(test.code); + } + }); + it('clamps targets and rejects late/NaN/Infinity values', () => { + expect( + validateAction( + { ...fixture.validAction, values: { 'slider.position': 3 } }, + descriptor, + fixture.identity, + 0, + ).values['slider.position'], + ).toBe(1); + expect(() => validateAction(fixture.validAction, descriptor, fixture.identity, 1)).toThrow( + /乱序/, + ); + for (const value of [NaN, Infinity, -Infinity]) + expect(() => + validateAction( + { ...fixture.validAction, values: { 'slider.position': value } }, + descriptor, + fixture.identity, + 0, + ), + ).toThrow(); + }); + it('rejects unsupported capabilities, duplicate ids and invalid ranges', () => { + expect(() => + validateDescriptor({ + ...fixture.descriptor, + capabilities: { ...fixture.descriptor.capabilities, cameras: true }, + }), + ).toThrow(); + expect(() => + validateDescriptor({ + ...fixture.descriptor, + actionChannels: [...descriptor.actionChannels, ...descriptor.actionChannels], + }), + ).toThrow(); + expect(() => + validateDescriptor({ + ...fixture.descriptor, + actionChannels: [{ ...descriptor.actionChannels[0], min: 2 }], + }), + ).toThrow(); + expect(() => describeProfile('arbitrary-code', fixture.descriptor.modelFingerprint)).toThrow(); + }); +}); +describe('LeKiwi kinematic contract', () => { + it('has five radian arm channels, normalized gripper and three SI velocities', () => { + const d = validateDescriptor(lekiwiDescriptor(fixture.descriptor.modelFingerprint)); + expect(d.actionChannels).toHaveLength(9); + expect(d.actionChannels.map((c) => c.unit)).toEqual([ + 'rad', + 'rad', + 'rad', + 'rad', + 'rad', + 'ratio', + 'm/s', + 'm/s', + 'rad/s', + ]); + }); + it.each([ + [0.1, 0, 0], + [0, 0.1, 0], + [0, 0, Math.PI / 6], + [0.08, -0.03, 0.2], + ])('roundtrip %s %s %s', (x, y, w) => { + const actual = wheelsToBody(bodyToWheels(x, y, w)); + actual.forEach((v, i) => expect(v).toBeCloseTo([x, y, w][i], 10)); + }); + it('proportionally saturates wheels instead of changing direction', () => { + const wheels = bodyToWheels(1, 0.2, 3); + expect(Math.max(...wheels.map(Math.abs))).toBeCloseTo(LEKIWI_PROFILE.wheelMaxRadS); + const [x, y, w] = wheelsToBody(wheels); + expect(y / x).toBeCloseTo(0.2); + expect(w / x).toBeCloseTo(3); + }); +}); diff --git a/web_platform/src/robot/validation.ts b/web_platform/src/robot/validation.ts new file mode 100644 index 00000000..d862aee6 --- /dev/null +++ b/web_platform/src/robot/validation.ts @@ -0,0 +1,167 @@ +import { + RobotError, + type RobotAction, + type RobotChannel, + type RobotDescriptor, + type RobotIdentity, + type RobotObservation, +} from './types'; + +export function record(value: unknown, label = '消息'): Record { + if (!value || typeof value !== 'object' || Array.isArray(value)) + throw new RobotError('INVALID_MESSAGE', `${label}必须是对象`); + return value as Record; +} +export function exactKeys(value: Record, keys: readonly string[]): void { + if (Object.keys(value).length !== keys.length || keys.some((key) => !Object.hasOwn(value, key))) + throw new RobotError('INVALID_MESSAGE', '字段缺失或包含未知字段'); +} +export function finite(value: unknown, label: string): number { + if (typeof value !== 'number' || !Number.isFinite(value)) + throw new RobotError('INVALID_MESSAGE', `${label}必须是有限数`); + return value; +} +export function integer(value: unknown, label: string, minimum = 0): number { + const number = finite(value, label); + if (!Number.isSafeInteger(number) || number < minimum) + throw new RobotError('INVALID_MESSAGE', `${label}必须是安全整数且≥${minimum}`); + return number; +} +export function identifier(value: unknown): string { + if (typeof value !== 'string' || !/^[a-zA-Z0-9][a-zA-Z0-9_.:-]{0,127}$/.test(value)) + throw new RobotError('INVALID_MESSAGE', '标识符无效'); + return value; +} +function channels(value: unknown): RobotChannel[] { + if (!Array.isArray(value) || !value.length || value.length > 256) + throw new RobotError('INVALID_MESSAGE', '通道数量必须为1–256'); + const seen = new Set(); + return value.map((item) => { + const c = record(item); + exactKeys(c, ['id', 'unit', 'min', 'max', 'mode']); + const id = identifier(c.id); + if (seen.has(id)) throw new RobotError('INVALID_MESSAGE', '通道名称重复'); + seen.add(id); + if ( + !['rad', 'rad/s', 'm', 'm/s', 'ratio', 'N', 'N.m'].includes(String(c.unit)) || + !['position', 'velocity', 'effort', 'opening'].includes(String(c.mode)) + ) + throw new RobotError('INVALID_MESSAGE', '通道单位/模式不受支持'); + const min = finite(c.min, 'min'), + max = finite(c.max, 'max'); + if (min >= max) throw new RobotError('INVALID_MESSAGE', '通道范围必须递增'); + return { + id, + unit: c.unit as RobotChannel['unit'], + mode: c.mode as RobotChannel['mode'], + min, + max, + }; + }); +} +export function validateDescriptor(value: unknown): RobotDescriptor { + const d = record(value); + exactKeys(d, [ + 'protocolVersion', + 'profileId', + 'profileVersion', + 'modelFingerprint', + 'frame', + 'actionChannels', + 'observationChannels', + 'capabilities', + ]); + if (d.protocolVersion !== 1 || d.frame !== 'x-forward-y-left-z-up') + throw new RobotError('UNSUPPORTED', '机器人协议版本或坐标系不支持'); + if (typeof d.modelFingerprint !== 'string' || !/^[a-f0-9]{64}$/.test(d.modelFingerprint)) + throw new RobotError('INVALID_MESSAGE', '模型指纹必须为SHA-256'); + const caps = record(d.capabilities); + exactKeys(caps, ['reset', 'lockstep', 'cameras', 'training']); + if ( + typeof caps.reset !== 'boolean' || + caps.lockstep !== false || + caps.cameras !== false || + caps.training !== false + ) + throw new RobotError('UNSUPPORTED', 'V1 不支持相机、锁步或训练'); + return { + protocolVersion: 1, + profileId: identifier(d.profileId), + profileVersion: integer(d.profileVersion, 'profileVersion', 1), + modelFingerprint: d.modelFingerprint, + frame: 'x-forward-y-left-z-up', + actionChannels: channels(d.actionChannels), + observationChannels: channels(d.observationChannels), + capabilities: { reset: caps.reset, lockstep: false, cameras: false, training: false }, + }; +} +/** Complete channel set; reject non-numeric input rather than coercing strings/bools. */ +export function validateValues( + value: unknown, + channels: readonly RobotChannel[], + clamp = false, +): Record { + const values = record(value, '通道值'); + exactKeys( + values, + channels.map((c) => c.id), + ); + return Object.fromEntries( + channels.map((c) => { + const n = finite(values[c.id], c.id); + return [c.id, clamp ? Math.max(c.min, Math.min(c.max, n)) : n]; + }), + ); +} +export function validateAction( + value: unknown, + descriptor: RobotDescriptor, + identity: RobotIdentity, + lastSeq: number, +): RobotAction { + const a = record(value); + exactKeys(a, ['protocolVersion', 'sessionId', 'modelEpoch', 'leaseId', 'actionSeq', 'values']); + if (a.protocolVersion !== 1) throw new RobotError('UNSUPPORTED', '协议版本不匹配'); + identifier(a.sessionId); + identifier(a.leaseId); + integer(a.modelEpoch, 'modelEpoch'); + if ( + a.sessionId !== identity.sessionId || + a.modelEpoch !== identity.modelEpoch || + a.leaseId !== identity.leaseId + ) + throw new RobotError('STALE', '模型或控制授权已过期'); + const actionSeq = integer(a.actionSeq, 'actionSeq', 1); + if (actionSeq <= lastSeq) throw new RobotError('STALE', '拒绝重复或乱序动作'); + return { + protocolVersion: 1, + ...identity, + actionSeq, + values: validateValues(a.values, descriptor.actionChannels, true), + }; +} +export function validateObservation(value: unknown, descriptor: RobotDescriptor): RobotObservation { + const o = record(value); + exactKeys(o, [ + 'protocolVersion', + 'sessionId', + 'modelEpoch', + 'sequence', + 'simTime', + 'appliedActionSeq', + 'paused', + 'values', + ]); + if (o.protocolVersion !== 1 || typeof o.paused !== 'boolean' || finite(o.simTime, 'simTime') < 0) + throw new RobotError('INVALID_MESSAGE', '观测格式无效'); + return { + protocolVersion: 1, + sessionId: identifier(o.sessionId), + modelEpoch: integer(o.modelEpoch, 'modelEpoch'), + sequence: integer(o.sequence, 'sequence'), + simTime: o.simTime as number, + appliedActionSeq: integer(o.appliedActionSeq, 'appliedActionSeq'), + paused: o.paused, + values: validateValues(o.values, descriptor.observationChannels), + }; +} diff --git a/web_platform/src/simulation/ActuatorControl.tsx b/web_platform/src/simulation/ActuatorControl.tsx index df80021d..d9863822 100644 --- a/web_platform/src/simulation/ActuatorControl.tsx +++ b/web_platform/src/simulation/ActuatorControl.tsx @@ -6,15 +6,19 @@ export function ActuatorControl({ onControl, onParameters, showParameterNotice = true, + disabled = false, + parametersDisabled = false, }: { actuator: ActuatorInfo; showParameterNotice?: boolean; + disabled?: boolean; + parametersDisabled?: boolean; onControl: (value: number) => void; onParameters: (parameters: ActuatorParameters) => void; }) { const isMotor = actuator.kind === 'motor', isPosition = actuator.kind === 'position', - editable = isMotor || isPosition, + editable = !parametersDisabled && (isMotor || isPosition), baseTargetScale = isPosition && actuator.jointType === 3 ? 180 / Math.PI : 1, targetScale = isPosition && Math.abs(actuator.gear) > 1e-9 @@ -55,7 +59,7 @@ export function ActuatorControl({ controlLabel = isPosition ? (actuator.jointType === 3 ? '角度' : '位置') : '控制', gearSquared = actuator.gear * actuator.gear; return ( -
+
@@ -183,11 +187,12 @@ export function ActuatorControl({ ) : (

- 该驱动器不是可直接编辑的 motor/position 类型，控制值按模型原始单位显示；请在 MJCF - 源码中修改专用参数。 + {parametersDisabled + ? '机器人 profile 固定伺服参数；目标可在手动控制模式调整。' + : '该驱动器不是可直接编辑的 motor/position 类型，控制值按模型原始单位显示；请在 MJCF 源码中修改专用参数。'}

)} -
+
); } function ParameterInput({ diff --git a/web_platform/src/simulation/ControlArbiter.test.ts b/web_platform/src/simulation/ControlArbiter.test.ts new file mode 100644 index 00000000..f74cd7a9 --- /dev/null +++ b/web_platform/src/simulation/ControlArbiter.test.ts @@ -0,0 +1,80 @@ +import { ControlArbiter } from './ControlArbiter'; +import { SimulationSession } from './SimulationSession'; + +describe('ControlArbiter', () => { + it('invalidates capabilities on every owner/generation change', () => { + const arbiter = new ControlArbiter(), + manual = arbiter.current(); + const first = arbiter.claim('external'); + expect(arbiter.owns(manual)).toBe(false); + expect(arbiter.owns(first)).toBe(true); + const second = arbiter.claim('external'); + expect(arbiter.owns(first)).toBe(false); + expect(arbiter.owns(second)).toBe(true); + expect(arbiter.owns({ ...second })).toBe(false); + arbiter.claim('policy'); + expect(arbiter.owns(second)).toBe(false); + }); + it('Session rejects paused authorization before switching control and allows it after play', () => { + const arbiter = new ControlArbiter(), + ticket = arbiter.claim('python'); + const robotRuntime = { authorize: vi.fn(), revoke: vi.fn(), capture: vi.fn() }, + startExternalClock = vi.fn(); + const session = Object.assign(Object.create(SimulationSession.prototype), { + controlArbiter: arbiter, + robotRuntime, + startExternalClock, + paused: true, + speed: 2, + data: { ctrl: new Float64Array([0.4]), time: 0 }, + }) as SimulationSession; + expect(() => session.setExternalControlEnabled(true)).toThrow( + expect.objectContaining({ code: 'PAUSED' }), + ); + expect(arbiter.current()).toBe(ticket); + expect(robotRuntime.authorize).not.toHaveBeenCalled(); + expect(robotRuntime.revoke).not.toHaveBeenCalled(); + expect(startExternalClock).not.toHaveBeenCalled(); + expect(session.data.ctrl[0]).toBe(0.4); + expect(session.speed).toBe(2); + expect(session.paused).toBe(true); + + session.setPaused(false); + session.setExternalControlEnabled(true); + expect(arbiter.current().owner).toBe('external'); + expect(robotRuntime.authorize).toHaveBeenCalledOnce(); + expect(startExternalClock).toHaveBeenCalledOnce(); + expect(session.speed).toBe(1); + }); + it('configured robots cannot teleport joints or disable their physical limits, even in manual mode', () => { + const session = Object.assign(Object.create(SimulationSession.prototype), { + controlArbiter: new ControlArbiter(), + robotAdapter: {}, + paused: false, + data: { qpos: new Float64Array([0.2]), ctrl: new Float64Array([0.4]) }, + module: { mj_forward: vi.fn() }, + }) as SimulationSession; + expect(session.setJointPosition(0, 1)).toBe(false); + expect(() => session.resetJoints()).toThrow(/profile.*瞬移/); + expect(() => session.setIgnoreJointLimits(true)).toThrow(/profile.*限位/); + expect(session.data.qpos[0]).toBe(0.2); + expect(session.data.ctrl[0]).toBe(0.4); + expect(session.paused).toBe(false); + expect(session.module.mj_forward).not.toHaveBeenCalled(); + }); + it('Session refuses direct manual writes when another owner holds control', () => { + const arbiter = new ControlArbiter(); + arbiter.claim('external'); + const session = Object.assign(Object.create(SimulationSession.prototype), { + controlArbiter: arbiter, + model: { njnt: 1 }, + data: { ctrl: new Float64Array([0.4]) }, + }) as SimulationSession; + expect(() => session.setActuator(0, 1)).toThrow(/停止当前/); + expect(session.setJointPosition(0, 1)).toBe(false); + expect(() => session.resetJoints()).toThrow(); + expect(() => session.setIgnoreJointLimits(true)).toThrow(); + expect(() => session.setSpeed(2)).toThrow(); + expect(session.data.ctrl[0]).toBe(0.4); + }); +}); diff --git a/web_platform/src/simulation/ControlArbiter.ts b/web_platform/src/simulation/ControlArbiter.ts new file mode 100644 index 00000000..96701e79 --- /dev/null +++ b/web_platform/src/simulation/ControlArbiter.ts @@ -0,0 +1,19 @@ +export type ControlOwner = 'manual' | 'python' | 'policy' | 'external'; +export interface ControlTicket { + readonly owner: ControlOwner; + readonly generation: number; +} +/** Every transition invalidates all previously handed-out write capabilities. */ +export class ControlArbiter { + private ticket: ControlTicket = Object.freeze({ owner: 'manual', generation: 0 }); + current(): ControlTicket { + return this.ticket; + } + claim(owner: ControlOwner): ControlTicket { + this.ticket = Object.freeze({ owner, generation: this.ticket.generation + 1 }); + return this.ticket; + } + owns(ticket: ControlTicket | undefined): boolean { + return ticket !== undefined && ticket === this.ticket; + } +} diff --git a/web_platform/src/simulation/ModelBindings.test.ts b/web_platform/src/simulation/ModelBindings.test.ts new file mode 100644 index 00000000..032227c1 --- /dev/null +++ b/web_platform/src/simulation/ModelBindings.test.ts @@ -0,0 +1,61 @@ +import type { MjModel } from '@mujoco/mujoco'; +import { ModelBindings } from './ModelBindings'; + +function fakeModel() { + const deleted = vi.fn(); + const joint = { name: 'slider', type: 2, qposadr: 4, dofadr: 3, delete: deleted }; + const motor = { + name: 'servo', + trntype: 0, + trnid: [0, -1], + gear: [1], + gaintype: 0, + dyntype: 0, + gainprm: [10], + biastype: 1, + biasprm: [0, -10, -1], + delete: deleted, + }; + const model = { + njnt: 1, + nactuator: 1, + nsensor: 0, + nbody: 1, + nu: 1, + actuator_ctrladr: [0], + jnt: () => joint, + actuator: () => motor, + body: () => ({ name: 'root', delete: deleted }), + sensor: vi.fn(), + }; + return { model: model as unknown as MjModel, joint, motor, deleted }; +} +describe('ModelBindings', () => { + it('resolves an arbitrary single joint, releasing every temporary handle', () => { + const f = fakeModel(), + b = new ModelBindings(f.model); + expect(f.deleted).toHaveBeenCalledTimes(3); + expect(b.scalarActuator('servo', 'slider', 'position')).toEqual({ + id: 0, + qposAddress: 4, + qvelAddress: 3, + actuatorId: 0, + controlAddress: 0, + }); + expect(f.deleted).toHaveBeenCalledTimes(5); + expect(() => b.resolve(b.joints, 'missing')).toThrow(/找不到/); + }); + it('rejects wrong modes/transmission/gear and cleans up on errors', () => { + const f = fakeModel(), + b = new ModelBindings(f.model); + expect(() => b.scalarActuator('servo', 'slider', 'velocity')).toThrow(); + f.motor.gear[0] = 2; + expect(() => b.scalarActuator('servo', 'slider', 'position')).toThrow(); + f.motor.gear[0] = 1; + f.motor.trnid[0] = 8; + expect(() => b.scalarActuator('servo', 'slider', 'position')).toThrow(); + f.joint.type = 0; + expect(() => b.scalarJoint('slider')).toThrow(); + expect(f.deleted).toHaveBeenCalledTimes(10); + }); +}); diff --git a/web_platform/src/simulation/ModelBindings.ts b/web_platform/src/simulation/ModelBindings.ts new file mode 100644 index 00000000..3701507b --- /dev/null +++ b/web_platform/src/simulation/ModelBindings.ts @@ -0,0 +1,97 @@ +import type { MjModel } from '@mujoco/mujoco'; +import { RobotError, type RobotControlMode } from '../robot/types'; + +export interface ScalarJointBinding { + id: number; + qposAddress: number; + qvelAddress: number; +} +export interface ScalarActuatorBinding extends ScalarJointBinding { + actuatorId: number; + controlAddress: number; +} +/** Only plain indices/addresses are retained, never owning Embind handles. */ +export class ModelBindings { + readonly joints = new Map(); + readonly actuators = new Map(); + readonly sensors = new Map(); + readonly bodies = new Map(); + constructor(private readonly model: MjModel) { + for (const [count, get, names] of [ + [model.njnt, (id: number) => model.jnt(id), this.joints], + [model.nactuator, (id: number) => model.actuator(id), this.actuators], + [model.nsensor, (id: number) => model.sensor(id), this.sensors], + [model.nbody, (id: number) => model.body(id), this.bodies], + ] as const) { + for (let id = 0; id < count; id++) { + const item = get(id); + try { + if (item.name) { + if (names.has(item.name)) + throw new RobotError('INCOMPATIBLE_MODEL', `模型名称重复：${item.name}`); + names.set(item.name, id); + } + } finally { + item.delete(); + } + } + } + } + resolve(names: ReadonlyMap, name: string): number { + const id = names.get(name); + if (id === undefined) throw new RobotError('INCOMPATIBLE_MODEL', `模型中找不到：${name}`); + return id; + } + scalarJoint(name: string): ScalarJointBinding { + const id = this.resolve(this.joints, name), + joint = this.model.jnt(id); + try { + if (Number(joint.type) !== 2 && Number(joint.type) !== 3) + throw new RobotError('INCOMPATIBLE_MODEL', `${name} 不是标量关节`); + return { id, qposAddress: Number(joint.qposadr), qvelAddress: Number(joint.dofadr) }; + } finally { + joint.delete(); + } + } + scalarActuator( + name: string, + jointName: string, + mode: Exclude, + ): ScalarActuatorBinding { + const joint = this.scalarJoint(jointName); + const actuatorId = this.resolve(this.actuators, name), + actuator = this.model.actuator(actuatorId); + try { + const controlAddress = Number(this.model.actuator_ctrladr[actuatorId] ?? actuatorId); + const next = + actuatorId + 1 < this.model.nactuator + ? Number(this.model.actuator_ctrladr[actuatorId + 1]) + : this.model.nu; + const gain = Number(actuator.gainprm[0]); + if ( + next - controlAddress !== 1 || + Number(actuator.trntype) !== 0 || + Number(actuator.trnid[0]) !== joint.id || + Number(actuator.gaintype) !== 0 || + Number(actuator.dyntype) !== 0 || + !Number.isFinite(gain) || + gain <= 0 || + Math.abs(Number(actuator.gear[0]) - 1) > 1e-8 + ) + throw new RobotError('INCOMPATIBLE_MODEL', `${name} 的标量 transmission/gain/gear 不匹配`); + const bias = Number(actuator.biastype), + bp = actuator.biasprm; + const valid = + mode === 'effort' + ? bias === 0 + : bias === 1 && + (mode === 'position' + ? Math.abs(Number(bp[1]) + gain) < 1e-6 + : Math.abs(Number(bp[1])) < 1e-8 && Math.abs(Number(bp[2]) + gain) < 1e-6); + if (!valid) throw new RobotError('INCOMPATIBLE_MODEL', `${name} 不是 ${mode} 驱动器`); + return { ...joint, actuatorId, controlAddress }; + } finally { + actuator.delete(); + } + } +} diff --git a/web_platform/src/simulation/MuJoCoRobotAdapter.ts b/web_platform/src/simulation/MuJoCoRobotAdapter.ts new file mode 100644 index 00000000..3717f870 --- /dev/null +++ b/web_platform/src/simulation/MuJoCoRobotAdapter.ts @@ -0,0 +1,202 @@ +import type { MjData, MjModel } from '@mujoco/mujoco'; +import { ModelBindings, type ScalarActuatorBinding } from './ModelBindings'; +import { + LEKIWI_PROFILE as p, + bodyToWheels, + wheelsToBody, + WHEEL_TANGENTS, +} from '../robot/profiles/lekiwi'; +import { describeProfile } from '../robot/registry'; +import { RobotError, type RobotAdapter, type RobotDescriptor } from '../robot/types'; +import { validateValues } from '../robot/validation'; + +/** MuJoCo backend for the explicitly registered LeKiwi recipe. No transport/UI. */ +export class MuJoCoRobotAdapter implements RobotAdapter { + private readonly descriptor: RobotDescriptor; + private readonly arm: ScalarActuatorBinding[]; + private readonly wheels: ScalarActuatorBinding[]; + private readonly baseId: number; + private readonly freeDof: number; + private disposed = false; + constructor( + private readonly model: MjModel, + private readonly data: MjData, + profileId: string, + fingerprint: string, + ) { + this.descriptor = describeProfile(profileId, fingerprint); + const b = new ModelBindings(model); + this.arm = p.arm.map((spec) => b.scalarActuator(`${spec.joint}_servo`, spec.joint, 'position')); + this.wheels = p.wheels.map((name) => b.scalarActuator(`${name}_servo`, name, 'velocity')); + this.baseId = b.resolve(b.bodies, p.baseBody); + const free = Array.from({ length: model.njnt }, (_, i) => i).filter( + (i) => Number(model.jnt_type[i]) === 0, + ); + if ( + free.length !== 1 || + Number(model.jnt_bodyid[free[0]]) !== this.baseId || + model.nu !== 9 || + model.njnt !== 10 + 3 * p.simulation.rollerCount + ) + throw new RobotError( + 'INCOMPATIBLE_MODEL', + 'LeKiwi 需要唯一 canonical 浮动基座和九个主驱动器', + ); + this.freeDof = Number(model.jnt_dofadr[free[0]]); + const servoCheck = ( + j: ScalarActuatorBinding, + gain: number, + damping: number, + min: number, + max: number, + force: number, + ) => { + const a = model.actuator(j.actuatorId); + try { + const close = (actual: unknown, expected: number) => + Math.abs(Number(actual) - expected) < 1e-5; + if ( + !a.ctrllimited || + !a.forcelimited || + !close(a.gainprm[0], gain) || + !close(a.biasprm[2], -damping) || + !close(a.ctrlrange[0], min) || + !close(a.ctrlrange[1], max) || + !close(a.forcerange[0], -force) || + !close(a.forcerange[1], force) + ) + throw new RobotError('INCOMPATIBLE_MODEL', '伺服参数与声明的 profile 不匹配'); + } finally { + a.delete(); + } + }; + this.wheels.forEach((j, i) => { + servoCheck( + j, + p.simulation.wheelKv, + p.simulation.wheelKv, + -p.wheelMaxRadS, + p.wheelMaxRadS, + p.simulation.wheelTorqueLimit, + ); + const expected = [-WHEEL_TANGENTS[i][1], WHEEL_TANGENTS[i][0], 0]; + if (expected.some((v, axis) => Math.abs(Number(model.jnt_axis[j.id * 3 + axis]) - v) > 1e-6)) + throw new RobotError('INCOMPATIBLE_MODEL', '轮轴方向与 profile 不匹配'); + }); + this.arm.forEach((j, i) => { + const spec = p.arm[i]; + servoCheck(j, spec.kp, spec.kv, spec.min, spec.max, spec.force); + if (spec.joint === 'arm_gripper') { + const expected = [0, -0.906308, -0.422618].map((v) => v * p.mapping.gripperAxisSign); + if ( + expected.some((v, axis) => Math.abs(Number(model.jnt_axis[j.id * 3 + axis]) - v) > 1e-6) + ) + throw new RobotError( + 'INCOMPATIBLE_MODEL', + '夹爪轴方向与 profile 不匹配；请从原始 URDF 重新转换', + ); + } + const joint = model.jnt(j.id); + try { + if ( + !joint.limited || + Math.abs(Number(joint.range[0]) - p.arm[i].min) > 1e-6 || + Math.abs(Number(joint.range[1]) - p.arm[i].max) > 1e-6 + ) + throw new RobotError('INCOMPATIBLE_MODEL', `关节限位与 profile 不符：${p.arm[i].joint}`); + } finally { + joint.delete(); + } + }); + } + describe(): RobotDescriptor { + return structuredClone(this.descriptor); + } + private alive(): void { + if (this.disposed) throw new RobotError('DISCONNECTED', '机器人后端已释放'); + } + validateAction(values: unknown): Record { + this.alive(); + return validateValues(values, this.descriptor.actionChannels, true); + } + applyAction(input: Record): Record { + const values = this.validateAction(input); + const wheel = bodyToWheels(values['x.vel'], values['y.vel'], values['theta.vel']); + this.arm.forEach((j, i) => { + const spec = p.arm[i], + value = values[`${spec.joint}.pos`]; + this.data.ctrl[j.controlAddress] = + spec.joint === 'arm_gripper' ? spec.min + value * (spec.max - spec.min) : value; + }); + this.wheels.forEach((j, i) => { + this.data.ctrl[j.controlAddress] = wheel[i]; + }); + const [x, y, w] = wheelsToBody(wheel); + return { ...values, 'x.vel': x, 'y.vel': y, 'theta.vel': w }; + } + readObservation(): Record { + this.alive(); + const values: Record = {}; + this.arm.forEach((j, i) => { + const spec = p.arm[i], + value = Number(this.data.qpos[j.qposAddress]); + values[`${spec.joint}.pos`] = + spec.joint === 'arm_gripper' ? (value - spec.min) / (spec.max - spec.min) : value; + }); + const [x, y, w] = wheelsToBody(this.wheels.map((j) => Number(this.data.qvel[j.qvelAddress]))); + Object.assign(values, { 'x.vel': x, 'y.vel': y, 'theta.vel': w }); + const q = this.data.xquat.subarray(this.baseId * 4, this.baseId * 4 + 4), + [qw, qx, qy, qz] = Array.from(q, Number); + const pos = this.data.xpos.subarray(this.baseId * 3, this.baseId * 3 + 3); + const mat = this.data.xmat.subarray(this.baseId * 9, this.baseId * 9 + 9), + dof = this.freeDof; + const local = [0, 1, 2].map((col) => + [0, 1, 2].reduce( + (sum, row) => sum + Number(mat[row * 3 + col]) * Number(this.data.qvel[dof + row]), + 0, + ), + ); + Object.assign(values, { + 'base.x': Number(pos[0]), + 'base.y': Number(pos[1]), + 'base.z': Number(pos[2]), + 'base.roll': Math.atan2(2 * (qw * qx + qy * qz), 1 - 2 * (qx * qx + qy * qy)), + 'base.pitch': Math.asin(Math.max(-1, Math.min(1, 2 * (qw * qy - qz * qx)))), + 'base.yaw': Math.atan2(2 * (qw * qz + qx * qy), 1 - 2 * (qy * qy + qz * qz)), + 'base.vx': local[0], + 'base.vy': local[1], + 'base.wz': Number(this.data.qvel[dof + 5]), + }); + return validateValues(values, this.descriptor.observationChannels); + } + safeStop(): void { + if (this.disposed) return; + // Zero on a position servo means "move to zero", not "stop". + this.arm.forEach((j, i) => { + const q = Number(this.data.qpos[j.qposAddress]), + spec = p.arm[i]; + this.data.ctrl[j.controlAddress] = Number.isFinite(q) + ? Math.max(spec.min, Math.min(spec.max, q)) + : spec.neutral; + }); + this.wheels.forEach((j) => { + this.data.ctrl[j.controlAddress] = 0; + }); + } + reset(): void { + this.alive(); + this.arm.forEach((j, i) => { + this.data.qpos[j.qposAddress] = p.arm[i].neutral; + this.data.ctrl[j.controlAddress] = p.arm[i].neutral; + }); + this.wheels.forEach((j) => { + this.data.ctrl[j.controlAddress] = 0; + }); + } + dispose(): void { + if (!this.disposed) { + this.safeStop(); + this.disposed = true; + } + } +} diff --git a/web_platform/src/simulation/PhysicsAdapter.ts b/web_platform/src/simulation/PhysicsAdapter.ts index 7ca5f702..789812fe 100644 --- a/web_platform/src/simulation/PhysicsAdapter.ts +++ b/web_platform/src/simulation/PhysicsAdapter.ts @@ -8,6 +8,17 @@ import type { PolicyDeployment, TrainingTerrain } from '../rl/deployment'; import type { MainModule } from '@mujoco/mujoco'; import type { ProjectFile, ProjectManifest } from '../project/types'; import { prepareProjectForMujoco } from '../project/importer'; +import { prepareRobotProject } from '../project/robotProfiles'; +import { sha256 } from '../robot/registry'; +import type { ExternalControlStatus } from '../robot/RobotRuntime'; +import { + RobotError, + type RobotDescriptor, + type RobotObservation, + type RobotIdentity, + type RobotActionResult, +} from '../robot/types'; +import { enhanceLeKiwiMjcf, type LeKiwiJointGeometry } from '../project/robotProfiles/lekiwi'; import { enhanceConvertedMjcf, groundConvertedMjcf, @@ -43,6 +54,8 @@ export interface PhysicsLoadProgress { } export interface PhysicsLoadOptions { + /** Explicit built-in profile; never inferred from actuator count. */ + robotProfileId?: string; trainingDeployment?: PolicyDeployment; /** Candidate policy is initialized/validated before replacing the active session. */ trainingPolicy?: { data: Uint8Array; path: string }; @@ -67,6 +80,13 @@ export interface PhysicsAdapter { setSpeed(speed: number): void; reset(): void; singleStep(): void; + describeRobot(): RobotDescriptor | undefined; + robotObservation(): RobotObservation | undefined; + externalControlStatus(): ExternalControlStatus | undefined; + setExternalControlEnabled(enabled: boolean): void; + claimExternalControlLease(leaseId: string): RobotIdentity; + sendRobotAction(action: unknown): Promise; + stopExternalControl(reason?: string): void; setActuator(id: number, value: number): void; setActuatorParameters(id: number, parameters: ActuatorParameters): boolean; setJointPosition(id: number, value: number): boolean; @@ -149,6 +169,8 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter { options: PhysicsLoadOptions = {}, ): Promise { if (this.disposed) throw new Error('物理适配器已释放'); + if (this.session?.describeRobot?.()) + this.session.stopExternalControl('模型正在重载，请重新授权'); const generation = ++this.loadGeneration; const urdfMode = options.urdfMode ?? 'mjcf'; const baseMode = options.baseMode ?? 'floating'; @@ -169,7 +191,15 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter { if (this.disposed || generation !== this.loadGeneration) throw new Error('模型加载已取消'); report(0.32, '校验并准备模型资源'); const workspace = new MemfsWorkspace(module, `${manifest.id}_stage_${generation}`); - const prepared = await prepareProjectForMujoco(manifest, entryPath); + if ( + options.robotProfileId && + (urdfMode !== 'mjcf' || baseMode !== 'floating' || options.trainingDeployment) + ) + throw new Error('机器人 profile 需要浮动基座 URDF 转换，不能与 Go2 部署混用'); + const profileManifest = options.robotProfileId + ? await prepareRobotProject(manifest, entryPath, options.robotProfileId) + : manifest; + const prepared = await prepareProjectForMujoco(profileManifest, entryPath); const supportFiles = prepared.manifest.files.filter( (file) => !manifest.files.some((original) => original.path === file.path), ); @@ -199,7 +229,37 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter { baseMode, ); const enhanced = enhanceConvertedMjcf(grounded, enhancements); - workspace.writeGenerated(convertedPath, enhanced.data); + let convertedData = enhanced.data; + if (options.robotProfileId) { + const geometry: LeKiwiJointGeometry[] = []; + for (let id = 0; id < intermediate.model.njnt; id++) { + const joint = intermediate.model.jnt(id); + const bodyId = Number(intermediate.model.jnt_bodyid[id]); + const body = intermediate.model.body(bodyId); + try { + geometry.push({ + name: joint.name, + body: body.name, + position: Array.from( + intermediate.data.xpos.slice(bodyId * 3, bodyId * 3 + 3), + Number, + ), + rotation: Array.from( + intermediate.data.xmat.slice(bodyId * 9, bodyId * 9 + 9), + Number, + ), + }); + } finally { + joint.delete(); + body.delete(); + } + } + convertedData = enhanceLeKiwiMjcf(convertedData, geometry); + warnings.unshift( + 'LeKiwi v1：仿真估计参数，简化被动滚子/碰撞与九路伺服；超大轮 STL 已替换为简化视觉，不代表实机标定', + ); + } + workspace.writeGenerated(convertedPath, convertedData); modelRelativePath = convertedPath; modelPath = workspace.path(modelRelativePath); warnings.push( @@ -285,6 +345,12 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter { report(0.84, '编译模型与物理数据'); console.info('[MuJoCo] 编译模型', modelPath); nextSession = new SimulationSession(module, modelPath, warnings); + if (options.robotProfileId) { + const fingerprint = await sha256( + new TextEncoder().encode(workspace.readText(modelRelativePath)), + ); + nextSession.configureRobot(options.robotProfileId, fingerprint); + } if (options.trainingDeployment) nextSession.configureDeployment(options.trainingDeployment); if (entry?.format === 'urdf' && urdfMode === 'native') { const offset = nextSession.alignLowestPointToGround(); @@ -413,6 +479,29 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter { singleStep(): void { this.session?.singleStep(); } + describeRobot(): RobotDescriptor | undefined { + return this.session?.describeRobot(); + } + externalControlStatus(): ExternalControlStatus | undefined { + return this.session?.externalControlStatus(); + } + robotObservation(): RobotObservation | undefined { + return this.session?.robotObservation(); + } + setExternalControlEnabled(enabled: boolean): void { + this.session?.setExternalControlEnabled(enabled); + } + claimExternalControlLease(leaseId: string): RobotIdentity { + if (!this.session) throw new RobotError('DISCONNECTED', '没有仿真会话'); + return this.session.claimExternalControlLease(leaseId); + } + sendRobotAction(action: unknown): Promise { + if (!this.session) return Promise.reject(new RobotError('DISCONNECTED', '没有仿真会话')); + return this.session.sendRobotAction(action); + } + stopExternalControl(reason?: string): void { + this.session?.stopExternalControl(reason); + } setActuator(id: number, value: number): void { this.session?.setActuator(id, value); } @@ -539,6 +628,22 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter { actuatorSection = document.querySelector('mujoco > actuator'); if (document.querySelector('parsererror')) return new TextEncoder().encode(source); const snapshot = this.session.snapshot(); + if (snapshot.robot) { + const custom = document.querySelector('mujoco > custom') ?? document.createElement('custom'); + if (!custom.parentNode) document.documentElement.append(custom); + for (const [name, value] of [ + ['platform_robot_profile', snapshot.robot.profileId], + ['platform_robot_profile_version', String(snapshot.robot.profileVersion)], + // Provenance of the loaded source, not a self-referential export hash. + ['platform_robot_source_fingerprint', snapshot.robot.modelFingerprint], + ]) { + const marker = + custom.querySelector(`text[name="${name}"]`) ?? document.createElement('text'); + marker.setAttribute('name', name); + marker.setAttribute('data', value); + custom.append(marker); + } + } if (actuatorSection) { for (const info of snapshot.actuators) { const element = Array.from(actuatorSection.children).find( diff --git a/web_platform/src/simulation/RobotInspector.tsx b/web_platform/src/simulation/RobotInspector.tsx index b34d4062..0b21d129 100644 --- a/web_platform/src/simulation/RobotInspector.tsx +++ b/web_platform/src/simulation/RobotInspector.tsx @@ -92,7 +92,7 @@ export function ModelSummaryInspector({ aria-label="URDF 处理方式" className="w-full" value={urdfMode} - disabled={loading} + disabled={loading || Boolean(snapshot.robot)} onChange={(event) => onUrdfMode(event.target.value as UrdfLoadMode)} > @@ -104,7 +104,7 @@ export function ModelSummaryInspector({ aria-label="URDF 基座类型" className="w-full" value={baseMode} - disabled={loading || urdfMode === 'native'} + disabled={loading || urdfMode === 'native' || Boolean(snapshot.robot)} onChange={(event) => onBaseMode(event.target.value as UrdfBaseMode)} > @@ -242,6 +242,12 @@ export function JointInspector({ meta={`${JOINT_TYPE_LABELS[joint.type] ?? `Type ${joint.type}`} · ${body?.name ?? `Body ${joint.bodyId}`}`} /> + {snapshot.robot && ( +

+ 机器人关节角为实测值，只读。请在下方关联 Actuator 中设置目标并点击播放； + 运动由物理伺服执行，遇到碰撞时实际位置可能达不到目标。 +

+ )}
关节标识与轴向 @@ -278,11 +284,22 @@ export function JointInspector({ />
-