feat(lekiwi): release V0.10.1 初步集成 LeKiwi，优化碰撞模型

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。
2026-09-20 14:42:30 +08:00
parent da4d59c31a
commit 3ad29356c9
103 changed files with 23055 additions and 280 deletions
@@ -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/
@@ -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