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 +1,116 @@
+#!/usr/bin/env python3
+"""Rebuild a provenance-bound LeKiwi input ZIP without modifying the source repo."""
+
+import argparse
+import hashlib
+import json
+import urllib.request
+import xml.etree.ElementTree as ET
+import zipfile
+from pathlib import Path, PurePosixPath
+
+ROOT = Path(__file__).resolve().parents[2]
+PROFILE = json.loads((ROOT / "robot_profiles/lekiwi-v1.json").read_text())
+SOURCE = PROFILE["source"]
+MAX_TOTAL = 128 * 1024 * 1024
+
+
+def digest(data: bytes) -> str:
+    return hashlib.sha256(data).hexdigest()
+
+
+def prepare(source: Path | None, output: Path, download: bool = False) -> Path:
+    if source is not None:
+        source = source.resolve()
+        if source.name == "URDF":
+            source = source.parent
+        if not (source / "URDF/LeKiwi.urdf").is_file():
+            raise ValueError("Source must be the LeKiwi repository or its URDF directory")
+        if output.resolve().is_relative_to(source):
+            raise ValueError("Output must not modify the reference repository")
+    elif not download:
+        raise ValueError("Pass --source or explicitly opt in with --download")
+    files: dict[str, bytes] = {}
+    total = 0
+
+    def read(relative: str) -> bytes:
+        nonlocal total
+        path = PurePosixPath(relative)
+        if path.is_absolute() or ".." in path.parts or "\\" in relative:
+            raise ValueError(f"Unsafe asset path: {relative}")
+        if source is not None:
+            file = (source / relative).resolve()
+            if not file.is_relative_to(source) or file.stat().st_size > MAX_TOTAL:
+                raise ValueError(f"Invalid asset: {relative}")
+            data = file.read_bytes()
+        else:
+            url = f"https://raw.githubusercontent.com/SIGRobotics-UIUC/LeKiwi/{SOURCE['revision']}/{relative}"
+            with urllib.request.urlopen(url, timeout=60) as response:
+                data = response.read(MAX_TOTAL + 1)
+        total += len(data)
+        if total > MAX_TOTAL:
+            raise ValueError("Assets exceed 128 MiB")
+        files[relative] = data
+        return data
+
+    urdf = read("URDF/LeKiwi.urdf")
+    if digest(urdf) != SOURCE["urdfSha256"]:
+        raise ValueError("URDF revision/hash is not supported by lekiwi-v1")
+    tree = ET.fromstring(urdf)
+    for mesh in sorted({m.get("filename", "") for m in tree.iter("mesh")}):
+        if not mesh.startswith("meshes/") or not mesh.endswith(".stl"):
+            raise ValueError(f"Unexpected mesh reference: {mesh}")
+        read(f"URDF/{mesh}")
+    read("LICENSE.txt")
+    read("CITATION.cff")
+    manifest = {
+        "profileId": PROFILE["id"],
+        "profileVersion": PROFILE["version"],
+        "source": SOURCE,
+        "files": {p: digest(data) for p, data in files.items()},
+    }
+    files["source-manifest.json"] = json.dumps(manifest, indent=2).encode()
+    files["robot-profile.json"] = json.dumps(
+        {"id": PROFILE["id"], "version": PROFILE["version"]}
+    ).encode()
+    files["SIMULATION-NOTICE.md"] = (
+        "# LeKiwi simulation input\n\nSource: "
+        + SOURCE["repository"]
+        + "\n\nRevision: "
+        + SOURCE["revision"]
+        + "\n\nOriginal URDF/STL files are unmodified, Apache-2.0. "
+        "The platform applies an explicit simulation-only profile after conversion: estimated "
+        "mass/inertia/limits/servos and simplified passive-roller contacts. Not a calibrated "
+        "hardware model; no cameras, training or grasping guarantee.\n"
+    ).encode()
+    output.mkdir(parents=True, exist_ok=True)
+    for relative, data in files.items():
+        target = output / relative
+        if target.is_symlink() or not target.resolve().is_relative_to(output.resolve()):
+            raise ValueError("Unsafe output path")
+        target.parent.mkdir(parents=True, exist_ok=True)
+        target.write_bytes(data)
+    archive = output / "lekiwi-v1.zip"
+    if archive.is_symlink() or not archive.resolve().is_relative_to(output.resolve()):
+        raise ValueError("Unsafe archive output path")
+    with zipfile.ZipFile(archive, "w", zipfile.ZIP_DEFLATED) as bundle:
+        for relative, data in files.items():
+            info = zipfile.ZipInfo(relative, date_time=(1980, 1, 1, 0, 0, 0))
+            info.compress_type = zipfile.ZIP_DEFLATED
+            info.external_attr = 0o100644 << 16
+            bundle.writestr(info, data, compresslevel=9)
+    return archive
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    group = parser.add_mutually_exclusive_group(required=True)
+    group.add_argument("--source", type=Path)
+    group.add_argument("--download", action="store_true")
+    parser.add_argument("--output", type=Path, default=ROOT / "build/lekiwi")
+    args = parser.parse_args()
+    print(prepare(args.source, args.output, args.download))
+
+
+if __name__ == "__main__":
+    main()