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 +1,46 @@
+import { expect, test } from '@playwright/test';
+import { startBridge } from './fixtures/controlBridge';
+import type {} from '../physics/runner';
+
+test('通用单关节：真实 Python SDK ↔ 本机桥接 ↔ 浏览器 WASM，断开后安全保持', async ({ page }) => {
+  const bridge = await startBridge();
+  try {
+    await page.goto('http://127.0.0.1:4174/physics/runner.html');
+    await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
+    await page.evaluate(() => window.lekiwiPhysics.bootSingle());
+    await page.evaluate(
+      ({ endpoint, token }) => window.lekiwiPhysics.connectBridge(endpoint, token),
+      { endpoint: bridge.endpoint, token: bridge.token },
+    );
+    const run = await bridge.python(`
+import json, os, time
+from mujoco_control_bridge import SimRobotClient
+with SimRobotClient(os.environ['MUJOCO_CONTROL_ENDPOINT']) as robot:
+    start=time.monotonic()
+    for i in range(60):
+        accepted=robot.send_action({'slider.position': .5})
+        obs=robot.get_observation()
+        time.sleep(max(0,start+(i+1)/30-time.monotonic()))
+    print(json.dumps({'accepted':accepted['values'], 'measured':obs['values'], 'seq':obs['appliedActionSeq']}))
+`);
+    const result = JSON.parse(run.stdout.trim()) as {
+      accepted: Record<string, number>;
+      measured: Record<string, number>;
+      seq: number;
+    };
+    expect(result.accepted['slider.position']).toBe(0.5);
+    expect(result.measured['slider.position']).toBeGreaterThan(0.48);
+    expect(result.measured['slider.position']).toBeLessThan(0.51);
+    expect(result.seq).toBeGreaterThan(55);
+    await expect
+      .poll(
+        async () =>
+          (await page.evaluate(() => window.lekiwiPhysics.externalState())).observation?.paused,
+      )
+      .toBe(true);
+    expect(bridge.errors()).toBe('');
+  } finally {
+    await page.evaluate(() => window.lekiwiPhysics?.dispose()).catch(() => {});
+    await bridge.stop();
+  }
+});