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 +1,54 @@
+"""Run the installed upstream's pure methods, without constructing a hardware robot."""
+
+import ast
+import importlib.metadata
+import json
+import unittest
+from pathlib import Path
+from typing import Any
+
+import numpy as np
+
+
+class UpstreamKinematicsTests(unittest.TestCase):
+    def test_actual_061_methods_match_shared_wheel_fixture(self):
+        self.assertEqual(importlib.metadata.version("lerobot"), "0.6.1")
+        path = importlib.metadata.distribution("lerobot").locate_file(
+            "lerobot/robots/lekiwi/lekiwi.py"
+        )
+        tree = ast.parse(path.read_text())
+        robot = next(
+            node for node in tree.body if isinstance(node, ast.ClassDef) and node.name == "LeKiwi"
+        )
+        names = {"_degps_to_raw", "_raw_to_degps", "_body_to_wheel_raw", "_wheel_raw_to_body"}
+        methods = [
+            node for node in robot.body if isinstance(node, ast.FunctionDef) and node.name in names
+        ]
+        self.assertEqual({node.name for node in methods}, names)
+        # Only the four audited numeric methods. No imports, constructors, buses or cameras.
+        cls = ast.ClassDef(
+            name="PureKinematics",
+            bases=[],
+            keywords=[],
+            body=methods,
+            decorator_list=[],
+            type_params=[],
+        )
+        namespace = {"np": np, "Any": Any}
+        module = ast.fix_missing_locations(ast.Module(body=[cls], type_ignores=[]))
+        exec(compile(module, str(path), "exec"), namespace)
+        pure = namespace["PureKinematics"]()
+        fixture = json.loads(
+            (
+                Path(__file__).resolve().parents[3] / "contracts/fixtures/lekiwi-kinematics.json"
+            ).read_text()
+        )
+        for case in fixture["cases"]:
+            with self.subTest(body=case["body"]):
+                raw = pure._body_to_wheel_raw(*case["body"])
+                self.assertEqual(list(raw), fixture["wheelOrder"])
+                self.assertEqual(list(raw.values()), case["wheelRaw"])
+                if max(abs(v) for v in case["wheelRaw"]) < 3000:
+                    body = pure._wheel_raw_to_body(*case["wheelRaw"])
+                    for observed, expected in zip(body.values(), case["body"], strict=True):
+                        self.assertAlmostEqual(observed, expected, delta=0.02)