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。

examples/lekiwi/demo_control.py

@@ -0,0 +1,98 @@
+"""Hardware-free LeRobot loop: observe -> compose action -> send, at 30 Hz.
+
+Only the robot implementation and input source differ from the upstream example.
+This is real-time control, NOT lockstep RL or dataset recording.
+"""
+
+import argparse
+import json
+import math
+import os
+import time
+from importlib.metadata import version
+
+from lerobot.robots.config import RobotConfig
+from lerobot.robots.utils import make_robot_from_config
+from lerobot.utils.import_utils import register_third_party_plugins
+
+
+def make_robot(endpoint):
+    register_third_party_plugins()
+    config_type = RobotConfig.get_choice_class("lekiwi_sim")
+    return make_robot_from_config(config_type(endpoint=endpoint, id="lekiwi-sim-demo"))
+
+
+def run_demo(endpoint, duration=10.0):
+    if not math.isfinite(duration) or not 1 <= duration <= 3600:
+        raise ValueError("演示时长必须为1–3600秒")
+    robot = make_robot(endpoint)
+    robot.connect()
+    try:
+        start = time.monotonic()
+        first = robot.get_sim_observation()
+        latencies, gaps, max_motion = [], [], 0.0
+        steps = math.ceil(duration * 30)
+        previous_sim_time = first["simTime"]
+        for i in range(steps):
+            tick = time.monotonic()
+            observation = robot.get_observation()
+            t = i / 30
+            action = {
+                "arm_shoulder_pan.pos": 10 * math.sin(t),
+                "arm_shoulder_lift.pos": 6 * math.sin(t + 0.2),
+                "arm_elbow_flex.pos": 8 * math.sin(t + 0.4),
+                "arm_wrist_flex.pos": 6 * math.sin(t + 0.6),
+                "arm_wrist_roll.pos": 12 * math.sin(t + 0.8),
+                "arm_gripper.pos": 50 + 25 * math.sin(t),
+                "x.vel": 0.05 * math.cos(t),
+                "y.vel": 0.05 * math.sin(t),
+                "theta.vel": 10 * math.sin(t / 2),
+            }
+            accepted = robot.send_action(action)
+            platform = robot.get_sim_observation()
+            latencies.append((time.monotonic() - tick) * 1000)
+            gaps.append(platform["simTime"] - previous_sim_time)
+            previous_sim_time = platform["simTime"]
+            max_motion = max(
+                max_motion,
+                math.hypot(
+                    platform["values"]["base.x"] - first["values"]["base.x"],
+                    platform["values"]["base.y"] - first["values"]["base.y"],
+                ),
+            )
+            time.sleep(max(0, start + (i + 1) / 30 - time.monotonic()))
+        ordered = sorted(latencies)
+        return {
+            "lerobot": version("lerobot"),
+            "torch": version("torch"),
+            "steps": steps,
+            "elapsedSeconds": time.monotonic() - start,
+            "simSeconds": platform["simTime"] - first["simTime"],
+            "rttMeanMs": sum(latencies) / len(latencies),
+            "rttP95Ms": ordered[int(0.95 * (len(ordered) - 1))],
+            "rttMaxMs": max(latencies),
+            "maxObservationSimGap": max(gaps),
+            "maxTranslationM": max_motion,
+            "observation": observation,
+            "accepted": accepted,
+            "sequence": platform["sequence"],
+            "appliedActionSeq": platform["appliedActionSeq"],
+            "timeouts": 0,
+            "droppedRequests": 0,
+        }
+    finally:
+        robot.disconnect()
+
+
+def main():
+    parser = argparse.ArgumentParser(description="LeKiwi 仿真：先播放并在浏览器显式授权")
+    parser.add_argument(
+        "--endpoint", default=os.environ.get("MUJOCO_CONTROL_ENDPOINT", "http://127.0.0.1:8766")
+    )
+    parser.add_argument("--duration", type=float, default=10)
+    args = parser.parse_args()
+    print(json.dumps(run_demo(args.endpoint, args.duration), ensure_ascii=False))
+
+
+if __name__ == "__main__":
+    main()