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] }
+  ]
+}