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
@@ -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] }
+  ]
+}
@@ -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"
+    }
+  ]
+}
@@ -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" }
+      }
+    }
+  }
+}