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/tests/test_collision_cooking.py

@@ -0,0 +1,175 @@
+"""Offline cooker contracts: no real CAD download or CoACD run required here."""
+
+import copy
+import hashlib
+import importlib.util
+import tempfile
+import unittest
+from pathlib import Path
+
+import numpy as np
+
+SCRIPT = Path(__file__).resolve().parents[1] / "generate_full_collisions.py"
+spec = importlib.util.spec_from_file_location("collision_cooker", SCRIPT)
+cooker = importlib.util.module_from_spec(spec)
+spec.loader.exec_module(cooker)
+
+
+def cube(center, size=0.004):
+    return (
+        np.array([[x, y, z] for x in (-size, size) for y in (-size, size) for z in (-size, size)])
+        + center
+    )
+
+
+class CookingTests(unittest.TestCase):
+    def setUp(self):
+        self.temp = tempfile.TemporaryDirectory()
+        self.addCleanup(self.temp.cleanup)
+        self.source = Path(self.temp.name)
+        (self.source / "meshes").mkdir()
+        (self.source / "meshes/m.stl").write_bytes(b"source")
+        links = "".join(
+            f'<link name="{name}"><visual name="{name}_visual"><geometry>'
+            '<mesh filename="meshes/m.stl" scale=".001 .001 .001"/>'
+            "</geometry></visual></link>"
+            for name in ("base", "motor", "arm")
+        )
+        self.xml = (
+            '<robot name="fixture">'
+            + links
+            + """
+          <joint name="fixed" type="fixed"><parent link="base"/><child link="motor"/></joint>
+          <joint name="hinge" type="continuous">
+            <parent link="motor"/><child link="arm"/><axis xyz="0 0 1"/>
+          </joint>
+        </robot>"""
+        )
+        self.config = {
+            "rootLink": "base",
+            "meshes": {"meshes/m.stl": hashlib.sha256(b"source").hexdigest()},
+            "assemblyCores": {
+                "hinge": {"radiusM": 0.015, "axialHalfExtentM": 0.02, "reason": "fixture bearing"}
+            },
+        }
+        self.save_source()
+
+    def save_source(self):
+        data = self.xml.encode()
+        (self.source / "LeKiwi.urdf").write_bytes(data)
+        self.config["urdfSha256"] = hashlib.sha256(data).hexdigest()
+
+    def test_covers_fixed_and_moving_visuals_and_preserves_scale(self):
+        items = cooker.visuals(self.source, self.config)
+        self.assertEqual(
+            [x["visual"] for x in items], ["base_visual", "motor_visual", "arm_visual"]
+        )
+        self.assertTrue(all(x["scale"] == [0.001] * 3 for x in items))
+
+    def test_rejects_changed_source_urdf_and_mesh(self):
+        (self.source / "LeKiwi.urdf").write_text("modified")
+        with self.assertRaisesRegex(ValueError, "URDF"):
+            cooker.visuals(self.source, self.config)
+        self.save_source()
+        (self.source / "meshes/m.stl").write_bytes(b"modified")
+        with self.assertRaisesRegex(ValueError, "SHA-256"):
+            cooker.visuals(self.source, self.config)
+
+    def test_rejects_unsupported_scale_and_path_escape(self):
+        for scale in ("nan .001 .001", "-.001 .001 .001", ".001 .001", "inf 1 1"):
+            original = self.xml
+            self.xml = self.xml.replace(".001 .001 .001", scale)
+            self.save_source()
+            with self.assertRaisesRegex(ValueError, "缩放"):
+                cooker.visuals(self.source, self.config)
+            self.xml = original
+        self.xml = self.xml.replace("meshes/m.stl", "../escape.stl")
+        self.save_source()
+        with self.assertRaisesRegex(ValueError, "未批准"):
+            cooker.visuals(self.source, self.config)
+
+    def test_rejects_missing_or_incomplete_coverage(self):
+        self.config["meshes"]["meshes/extra.stl"] = "unknown"
+        with self.assertRaisesRegex(ValueError, "覆盖"):
+            cooker.visuals(self.source, self.config)
+        self.config["rootLink"] = "not_present"
+        self.config["meshes"] = {}
+        with self.assertRaisesRegex(ValueError, "覆盖"):
+            cooker.visuals(self.source, self.config)
+
+    def test_radial_minimum_uses_polygon_edges_not_only_vertices(self):
+        bounds = cooker.swept_bounds(cube([2.0, 0, 0], 0.5), np.array([0, 0, 1.0]))
+        self.assertAlmostEqual(bounds[2], 1.5)
+        self.assertGreater(np.linalg.norm(cube([2.0, 0, 0], 0.5)[:, :2], axis=1).min(), bounds[2])
+        self.assertTrue(cooker.intervals_overlap(bounds, (-0.1, 0.1, 1.51, 1.52)))
+        self.assertFalse(cooker.intervals_overlap(bounds, (1.0, 2.0, 1.51, 1.52)))
+        for angle in np.linspace(-np.pi, np.pi, 37):
+            rotation = np.array(
+                [[np.cos(angle), -np.sin(angle), 0], [np.sin(angle), np.cos(angle), 0], [0, 0, 1]]
+            )
+            np.testing.assert_allclose(
+                cooker.swept_bounds(cube([2.0, 0, 0], 0.5) @ rotation.T, np.array([0, 0, 1.0])),
+                bounds,
+                atol=1e-12,
+            )
+
+    def test_core_partition_preserves_volume_and_separates_mating_from_structure(self):
+        from scipy.spatial import ConvexHull
+
+        coverage = cooker.visuals(self.source, self.config)
+        parts = [
+            {
+                "visual": item["visual"],
+                "name": item["link"],
+                "vertices": " ".join(map(str, cube([0.012, 0, 0], 0.01).ravel())),
+            }
+            for item in coverage
+        ]
+        for item in coverage:
+            item["parts"] = 1
+        divided = cooker.partition_assembly_cores(self.source, self.config, parts, coverage)
+        policy = cooker.joint_policy(self.source, self.config, divided, coverage)[0]
+        for visual in (item["visual"] for item in coverage):
+            group = [piece for piece in divided if piece["visual"] == visual]
+            volume = 0
+            for piece in group:
+                hull = ConvexHull(np.fromstring(piece["vertices"], sep=" ").reshape(-1, 3))
+                volume += hull.volume
+                # The old unsplit hull locked the bearing although this point is inside its core.
+                if np.max(hull.equations[:, :3] @ [0.012, 0, 0] + hull.equations[:, 3]) < 1e-8:
+                    self.assertIn(piece["name"], policy["coreParts"])
+                if np.max(hull.equations[:, :3] @ [0.021, 0, 0] + hull.equations[:, 3]) < 1e-8:
+                    self.assertNotIn(piece["name"], policy["coreParts"])
+            self.assertAlmostEqual(volume / (0.02**3), 1, delta=0.001)
+            self.assertGreater(len(group), 1)
+        self.assertTrue(policy["pairs"])
+
+    def test_exceptions_are_bounded_core_parts_not_whole_adjacent_bodies(self):
+        coverage = cooker.visuals(self.source, self.config)
+        parts = [
+            {"name": name, "visual": visual, "vertices": " ".join(map(str, cube(center).ravel()))}
+            for name, visual, center in [
+                ("base_core", "base_visual", [0, 0, 0]),
+                ("base_structural", "base_visual", [0.05, 0, 0]),
+                ("far_axial", "base_visual", [0.05, 0, 0.2]),
+                ("arm_core", "arm_visual", [0, 0, 0]),
+                ("arm_structural", "arm_visual", [0.05, 0, 0]),
+            ]
+        ]
+        policy = cooker.joint_policy(self.source, self.config, parts, coverage)[0]
+        self.assertEqual(policy["coreParts"], ["base_core", "arm_core"])
+        self.assertEqual(policy["pairs"], [["base_structural", "arm_structural"]])
+        self.assertGreater(policy["sweptPrunedPairs"], 0)
+        self.assertEqual([x["weldJoint"] for x in coverage], ["base", "base", "hinge"])
+        bad = copy.deepcopy(self.config)
+        bad["assemblyCores"]["hinge"]["radiusM"] = 1
+        with self.assertRaisesRegex(ValueError, "尺寸预算"):
+            cooker.joint_policy(self.source, bad, parts, coverage)
+        with self.assertRaisesRegex(ValueError, "整对"):
+            cooker.joint_policy(
+                self.source, self.config, [p for p in parts if "core" in p["name"]], coverage
+            )
+
+
+if __name__ == "__main__":
+    unittest.main()