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 +1,110 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$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" }
+      }
+    }
+  }
+}