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 +1,42 @@
+import { expect, test } from '@playwright/test';
+import { resolve } from 'node:path';
+import { writeFile } from 'node:fs/promises';
+import type {} from '../physics/runner';
+
+test('真实 WASM：上臂不能穿过自身臂座组件，接触后仍能反向离开', async ({ page }, info) => {
+  const errors: string[] = [];
+  page.on('pageerror', (error) => errors.push(error.message));
+  await page.goto('/physics/runner.html');
+  await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
+  const initial = await page.evaluate(
+    (path) => window.lekiwiPhysics.boot(path),
+    `/@fs${resolve('build/lekiwi')}`,
+  );
+  try {
+    const samples = await page.evaluate(() => window.lekiwiPhysics.armSelfCollisionChecks());
+    console.log('arm/base contacts', JSON.stringify(samples));
+    const evidence = info.outputPath('arm-base-contacts.json');
+    await writeFile(evidence, JSON.stringify({ version: initial.version, samples }, null, 2));
+    await info.attach('arm-base-contacts', { path: evidence, contentType: 'application/json' });
+    expect(initial.version).toBe('3.11.0');
+    for (const sample of samples) {
+      expect(Math.abs(sample.neutral.actual), `neutral, pan=${sample.pan}`).toBeLessThan(0.01);
+      expect(sample.neutral.contacts).toEqual([]);
+      // Full CAD changes the first obstruction: WaveShare plate at pan=0,
+      // rotating shoulder clip at +/-0.8. Keep real contact/penetration/release
+      // assertions; original Base_08q coverage is independently probed from STL.
+      expect(sample.blocked.maxContacts, `blocked, pan=${sample.pan}`).toBeGreaterThan(0);
+      expect(sample.blocked.contacts.length).toBeGreaterThan(0);
+      expect(sample.blocked.actual).toBeLessThan(sample.blocked.target - 0.15);
+      expect(sample.blocked.maxPenetration).toBeLessThan(0.002);
+      for (const contact of sample.blocked.contacts)
+        expect(contact.distance).toBeGreaterThan(-0.0005);
+      expect(sample.blocked.finite).toBe(true);
+      expect(Math.abs(sample.released.actual + 0.3)).toBeLessThan(0.01);
+      expect(sample.released.contacts).toEqual([]);
+    }
+    expect(errors).toEqual([]);
+  } finally {
+    await page.evaluate(() => window.lekiwiPhysics.dispose());
+  }
+});