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 +1,65 @@
+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()