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。
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@@ -0,0 +1,52 @@
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# LeKiwi 碰撞数据来源与重建
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## 当前配方：revision 4
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`lekiwi-full-collision.json` 是 [SIGRobotics-UIUC/LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi) 的派生模型数据，来源 revision 为 `efa608d7ee5a495a4803b1d28cd0c955b4f1e033`，按 [Apache-2.0](LeKiwi.LICENSE.txt) 分发。固定 URDF/STL SHA-256 与装配例外配置见 `lekiwi-collision-source.json`，生成结果也保存完整 `source`。
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本项目修改：从 `Base_08q-v1` 子树的**全部 18 个视觉网格**离线 CoACD 得到 538 个凸包，再按装配配合区切分为 1,220 个独立碰撞凸包，包含固定焊接的舵机、安装板、相机支架及相机外壳；替代旧臂胶囊和手工分段配方。此处“整臂”不包含底盘/全向轮；它们仍使用独立简化配方。
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- 使用 [CoACD](https://github.com/SarahWeiii/CoACD) 1.0.14，`real_metric=true`、`threshold=0.003`、固定 seed=42、4 个 OpenMP 线程，CoACD 阶段每包最多 96 个顶点，切分后预算为 256（当前最多 167）；完整参数和版本存入 `generator`。**3 mm 是分解参数，不是已证明的全表面误差上限。**
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- 输入按 URDF `scale` 转成米，输出保留原视觉网格局部坐标、顶点取整到 1 μm。运行时继承 visual geom 的 body/pose，不跨越两指合成凸包；碰撞体 `mass=0`，沿用显式惯性估计。
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- 浏览器只读取生成数据，导入时校验源 STL 哈希、视觉覆盖清单和运动刚体归属；不会在线运行 CoACD，也不修改参考仓库、训练或 LeRobot 环境。
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- 配方使用 1 ms 物理步长、CAD 接触 `solref=".002 1"`；不是加大安全超时或放宽关节范围。几何、关节过滤和这些接触参数共同形成 `recipeSha256`，导出 MJCF 携带 revision 与配方指纹。标记用于兼容性检查，不是防篡改签名。
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### 相邻关节不能整对排除
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MuJoCo 的默认父子过滤保持开启；显式加入 **5,581 对结构凸包接触**，包括 `Mirror / Square` 和两指指面。没有整对相邻 body 的 `<exclude>`。
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唯一局部装配例外：一个**完整凸包**必须落在该关节审核过的轴承/舵机配合圆柱内，才可忽略它与直接相邻运动组的配合接触。半径分别为肩旋 23、肩俯仰/肘/夹爪 18.5、腕俯仰 16、腕旋 12.1 mm，轴向半长 55 mm；不是“中立位重叠就排除”。这些部件与外界及其他非相邻臂段仍参与碰撞。
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跨越配合区边界的凸包先按内接 16 边棱柱切开（2 μm 内缩以容纳取整误差），**配合区和外侧各片都保留**，不挖掉对外碰撞几何。生成器检查切分体积的量化误差；单测覆盖体积保持和内部/结构区分类。否则同一个凸包跨越轴承与结构区，即使中立位不碰撞，转动后仍可能误锁轴承。CAD 审核在肩旋约 0.35 rad 发现了这种情况；修复后真实 WASM 肩旋可双向到达 ±0.942 rad，且没有配合区接触。
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另外以整周旋转的轴向/径向包络保守剔除不可能相交的凸包对，保留 0.1 mm 数值余量。各关节的成员、显式接触对、配合例外/扫掠剔除数量都在 `jointPolicy`，改参数后必须重新审核和跑物理回归，不能只改指纹。
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### 离线环境和重建
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从仓库根目录执行，先按 [示例说明](../examples/lekiwi/README.md) 准备固定源资产：
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```bash
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python3 -m venv build/venvs/collision
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env -u PYTHONPATH PYTHONNOUSERSITE=1 build/venvs/collision/bin/python \
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-m pip install -r examples/lekiwi/requirements-collision.txt
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env -u PYTHONPATH PYTHONNOUSERSITE=1 build/venvs/collision/bin/python \
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examples/lekiwi/generate_full_collisions.py --check
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# 确需写入重建数据时去掉 --check
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```
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默认源目录 `build/lekiwi/URDF`，缓存 `build/collision-cache`，均可通过 CLI 覆盖。缓存键包含源 STL 哈希、缩放、工具版本、参数与线程数；关节过滤每次重算。`--check` 比较完整生成结果，不改已发布 JSON；使用新的 `--cache` 目录可验证从零分解，而非只命中缓存。本机已完成一次无缓存重建一致性验证，不承诺任意平台/工具版本逐字节相同。
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```bash
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env -u PYTHONPATH PYTHONNOUSERSITE=1 build/venvs/collision/bin/python \
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-m unittest discover -s examples/lekiwi/tests -v
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```
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生成器拒绝缺失/变更源、非法缩放、退化凸包、超预算包数/顶点数及采样覆盖不合格。`coverage.coacdSampleOutsidePlanesMaxM` 是抽样点相对 CoACD 阶段凸包平面的诊断值，**不是 Hausdorff 距离或连续全表面保证**。`coverage.coacdParts/parts` 分别记录切分前后数量。浏览器额外从原始 STL 独立取每个视觉网格的六向极值，做 108 次球体接触探测；另测六关节双向目标扫掠、相邻连杆主体阻挡/脱离、中立位、两指空隙/物体阻挡及真实 60 秒控制性能。仍未穷举多关节配置空间。
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### 历史数据
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`lekiwi-gripper-collision.json` / `generate_gripper_collisions.py`（revision 2）和 `lekiwi-arm-collision.json` / `generate_arm_collisions.py`（revision 3）保留历史重建用途，同样源自上述 Apache-2.0 资产；当前前端不再导入它们。旧方案是 STL 平面裁剪、1 mm 接缝重叠后取凸包，并非 CoACD。
|
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||||
旧 MJCF（包括 revision 3）必须从原始 URDF 重新转换。自动凸分解、局部装配例外和软接触仍是近似，不保证所有薄壁间隙、任意高速动作、可靠抓取或实体标定；观察到提前接触时，应检查具名接触对与原 CAD，不能靠扩大 body 排除或关闭自碰撞掩盖。当前仅支持上述固定 LeKiwi 资产，不是任意 URDF 的免审核导入开关。
|
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||||
开发期强制把 qpos 写入严重重叠姿态的几何查询曾使 WASM 触及 2 GiB 内存上限并原生中止；这不是支持的控制路径，也未在此修复引擎本身。profile 的普通关节编辑入口已禁止瞬移；验收使用有界执行器运动、正常初始姿态和有限场景，不能由此承诺任意穿透初态稳定。诊断失败记录保存在 `build/e2e/lekiwi-full-collision-geometry-diagnostic/`。
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File diff suppressed because one or more lines are too long
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{
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||||
"repository": "https://github.com/SIGRobotics-UIUC/LeKiwi",
|
||||
"revision": "efa608d7ee5a495a4803b1d28cd0c955b4f1e033",
|
||||
"urdfSha256": "36e102375e1e6ffdc1ca2d343c7406284b3cabc77ae16bfc001a3da89fddc6e1",
|
||||
"license": "Apache-2.0",
|
||||
"lerobotVersion": "0.6.1",
|
||||
"rootLink": "Base_08q-v1",
|
||||
"meshes": {
|
||||
"meshes/Base_08q-v1.stl": "a05be37db52657615ac69423fe577979efa0cd0634a5e9546bbc85537f003172",
|
||||
"meshes/WaveShare_Mounting_Plate_01d-v1.stl": "abde2af470078f125c6e001e64abcae7c4307bff02f27c3a10dc2a87f7039bed",
|
||||
"meshes/Rotation_Pitch_08i-v1.stl": "747a37e0c99c8fa85ad52ccf9fbfbb945468d8f9f590a1b7faadf5188d741ba9",
|
||||
"meshes/STS3215_03a-v1.stl": "07695009c2e9ef352787fe98814d85eb936228a1843a0c76d22ab1bb3d37eb92",
|
||||
"meshes/SO_ARM100_08k_Asym_Mirror_Clip-v1.stl": "0f336a7f3940c943554252032ae8e351196353b8aa983827f045c4d7aa4cc52d",
|
||||
"meshes/Passive_Horn_01-v1.stl": "fca61eb1fb63b4bb04ff0c80d395ae10ae69787a7da7e15414234d39b8b0ab7d",
|
||||
"meshes/STS3215_03a-v1-1.stl": "07695009c2e9ef352787fe98814d85eb936228a1843a0c76d22ab1bb3d37eb92",
|
||||
"meshes/SO_ARM100_08k_116_Square-v1.stl": "64fdc308759ff58756e3c39a0ea8018d6b37b551bc3d29238b6e86bc5acae666",
|
||||
"meshes/STS3215_03a-v1-2.stl": "07695009c2e9ef352787fe98814d85eb936228a1843a0c76d22ab1bb3d37eb92",
|
||||
"meshes/SO_ARM100_08k_Mirror-v1.stl": "f6a2abf909ddd6e27c6fef5791937497a7686221dc1d877a7b30820b91cc1ca6",
|
||||
"meshes/STS3215_03a-v1-3.stl": "07695009c2e9ef352787fe98814d85eb936228a1843a0c76d22ab1bb3d37eb92",
|
||||
"meshes/Wrist_Roll_Pitch_08i-v1.stl": "964cef356d5a120cd7d65018fcbd89a7f2dcd5f7a503d415720f94c452eb5da6",
|
||||
"meshes/STS3215_03a_Wrist_Roll-v1.stl": "b390f54c455a7900687af22432c8f742f4060d3c1afb90091c2fbf1dc3a9b978",
|
||||
"meshes/Wrist_Roll_08c-v1.stl": "87507f73f485c2cacb3dc83924a712069fbd68f72b82d4a31a2cfe7f58c9e4c9",
|
||||
"meshes/STS3215_03a-v1-4.stl": "07695009c2e9ef352787fe98814d85eb936228a1843a0c76d22ab1bb3d37eb92",
|
||||
"meshes/Moving_Jaw_08d-v1.stl": "71caabee267376791210950b3b4e2f7968d9b57b92ed3f57711c03f2b5666912",
|
||||
"meshes/Wrist-Camera-Mount-v11.stl": "2bb123c754eff42c57c4605a533b94d14e7b51889a813764f798b7878489a98a",
|
||||
"meshes/Camera-Model-v3-1.stl": "f5ff94543c19e91a6d5ffb540e2d25347d813d191793405ff2e4178230dec21e"
|
||||
},
|
||||
"assemblyCores": {
|
||||
"arm_shoulder_pan": {
|
||||
"radiusM": 0.023,
|
||||
"axialHalfExtentM": 0.055,
|
||||
"reason": "Bounded mating envelope with straddling hull partitioning: CAD clearance audit found a false bearing contact at radius 19.1mm; verify both pan directions remain free, while outside-core structural contacts stay enabled."
|
||||
},
|
||||
"arm_shoulder_lift": {
|
||||
"radiusM": 0.0185,
|
||||
"axialHalfExtentM": 0.055,
|
||||
"reason": "Adjacent joint bearing/servo mating core only; outside-core structural hull pairs remain enabled."
|
||||
},
|
||||
"arm_elbow_flex": {
|
||||
"radiusM": 0.0185,
|
||||
"axialHalfExtentM": 0.055,
|
||||
"reason": "Adjacent joint bearing/servo mating core only; outside-core structural hull pairs remain enabled."
|
||||
},
|
||||
"arm_wrist_flex": {
|
||||
"radiusM": 0.016,
|
||||
"axialHalfExtentM": 0.055,
|
||||
"reason": "Adjacent joint bearing/servo mating core only; outside-core structural hull pairs remain enabled."
|
||||
},
|
||||
"arm_wrist_roll": {
|
||||
"radiusM": 0.0121,
|
||||
"axialHalfExtentM": 0.055,
|
||||
"reason": "Adjacent joint bearing/servo mating core only; outside-core structural hull pairs remain enabled."
|
||||
},
|
||||
"arm_gripper": {
|
||||
"radiusM": 0.0185,
|
||||
"axialHalfExtentM": 0.055,
|
||||
"reason": "Adjacent joint bearing/servo mating core only; outside-core structural hull pairs remain enabled."
|
||||
}
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because one or more lines are too long
@@ -0,0 +1,98 @@
|
||||
{
|
||||
"id": "lekiwi-v1",
|
||||
"version": 1,
|
||||
"source": {
|
||||
"repository": "https://github.com/SIGRobotics-UIUC/LeKiwi",
|
||||
"revision": "efa608d7ee5a495a4803b1d28cd0c955b4f1e033",
|
||||
"urdfSha256": "36e102375e1e6ffdc1ca2d343c7406284b3cabc77ae16bfc001a3da89fddc6e1",
|
||||
"license": "Apache-2.0",
|
||||
"lerobotVersion": "0.6.1"
|
||||
},
|
||||
"baseBody": "base_plate_layer1-v5",
|
||||
"frame": "x-forward-y-left-z-up",
|
||||
"mapping": {
|
||||
"cadYawRad": -1.5707963267948966,
|
||||
"armSigns": [1, 1, 1, 1, 1],
|
||||
"armOffsetsRad": [0, 0, 0, 0, 0],
|
||||
"gripperAxisSign": -1
|
||||
},
|
||||
"controlHz": 30,
|
||||
"watchdogMs": 500,
|
||||
"wheelRadius": 0.05,
|
||||
"baseRadius": 0.125,
|
||||
"wheelMaxRadS": 4.601942363656923,
|
||||
"baseLinearLimit": 0.2,
|
||||
"baseAngularLimit": 1.0471975511965976,
|
||||
"wheels": ["base_left_wheel", "base_back_wheel", "base_right_wheel"],
|
||||
"arm": [
|
||||
{
|
||||
"joint": "arm_shoulder_pan",
|
||||
"min": -1.57,
|
||||
"max": 1.57,
|
||||
"neutral": 0,
|
||||
"kp": 40,
|
||||
"kv": 3,
|
||||
"force": 8
|
||||
},
|
||||
{
|
||||
"joint": "arm_shoulder_lift",
|
||||
"min": -1.4,
|
||||
"max": 1.4,
|
||||
"neutral": 0,
|
||||
"kp": 60,
|
||||
"kv": 4,
|
||||
"force": 10
|
||||
},
|
||||
{
|
||||
"joint": "arm_elbow_flex",
|
||||
"min": -1.4,
|
||||
"max": 1.4,
|
||||
"neutral": 0,
|
||||
"kp": 50,
|
||||
"kv": 3,
|
||||
"force": 8
|
||||
},
|
||||
{
|
||||
"joint": "arm_wrist_flex",
|
||||
"min": -1.4,
|
||||
"max": 1.4,
|
||||
"neutral": 0,
|
||||
"kp": 30,
|
||||
"kv": 2,
|
||||
"force": 5
|
||||
},
|
||||
{
|
||||
"joint": "arm_wrist_roll",
|
||||
"min": -3.14,
|
||||
"max": 3.14,
|
||||
"neutral": 0,
|
||||
"kp": 20,
|
||||
"kv": 1,
|
||||
"force": 3
|
||||
},
|
||||
{
|
||||
"joint": "arm_gripper",
|
||||
"min": -0.18,
|
||||
"max": 0.9,
|
||||
"neutral": 0,
|
||||
"kp": 15,
|
||||
"kv": 1,
|
||||
"force": 2
|
||||
}
|
||||
],
|
||||
"simulation": {
|
||||
"baseMass": 2.2,
|
||||
"baseInertia": [0.014, 0.014, 0.022],
|
||||
"armMasses": [0.1, 0.25, 0.22, 0.08, 0.09, 0.025],
|
||||
"wheelMass": 0.06,
|
||||
"rollerCount": 12,
|
||||
"rollerMass": 0.003,
|
||||
"wheelKv": 0.5,
|
||||
"wheelTorqueLimit": 2.0
|
||||
},
|
||||
"parameterNotes": {
|
||||
"kinematics": "Wheel radius/base radius and proportional wheel saturation follow LeRobot 0.6.1; raw 3000 ticks/s converts to wheelMaxRadS. CAD frame mapping is explicit in model enhancement. The CAD gripper axis is reversed so increasing canonical angle opens the jaws; the -0.18 rad closing limit leaves approximately 0.5 mm fingertip clearance.",
|
||||
"dynamics": "Simulation-only estimated collision, mass, inertia, joint limits and servo gains. NOT measured hardware calibration or a sim-to-real model.",
|
||||
"scope": "Flat ground low-speed control; no cameras, training, rough terrain or reliable grasping claim."
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user