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 +1,52 @@
+import { expect, test } from '@playwright/test';
+import { resolve } from 'node:path';
+import { startBridge } from './fixtures/controlBridge';
+import type {} from '../physics/runner';
+
+test('LeKiwi：真实通用 Python SDK 双向控制，3秒30Hz，无 LeRobot 依赖', async ({ page }) => {
+  const bridge = await startBridge();
+  try {
+    await page.goto('/physics/runner.html');
+    await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
+    await page.evaluate(
+      (path) => window.lekiwiPhysics.boot(path),
+      `/@fs${resolve(process.cwd(), 'build/lekiwi')}`,
+    );
+    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:
+    values={c['id']:0.0 for c in robot.describe()['actionChannels']}
+    values.update({'arm_shoulder_pan.pos':.1,'arm_gripper.pos':.5})
+    before=robot.get_observation()['values']
+    start=time.monotonic(); latency=[]
+    for i in range(90):
+        values.update({'x.vel':.08 if i<30 else 0,'y.vel':.08 if 30<=i<60 else 0,'theta.vel':.3 if i>=60 else 0})
+        tick=time.monotonic(); robot.send_action(values); obs=robot.get_observation()
+        latency.append((time.monotonic()-tick)*1000)
+        time.sleep(max(0,start+(i+1)/30-time.monotonic()))
+    print(json.dumps({'before':before,'after':obs['values'],'rttMeanMs':sum(latency)/len(latency),'rttMaxMs':max(latency),'seq':obs['appliedActionSeq']}))
+`);
+    const result = JSON.parse(run.stdout.trim());
+    expect(result.after['base.x'] - result.before['base.x']).toBeGreaterThan(0.04);
+    expect(result.after['base.y'] - result.before['base.y']).toBeGreaterThan(0.04);
+    expect(result.after['base.yaw']).toBeGreaterThan(0.2);
+    expect(result.after['arm_gripper.pos']).toBeCloseTo(0.5, 1);
+    expect(result.seq).toBeGreaterThan(85);
+    console.log('SDK bridge timing', { meanMs: result.rttMeanMs, maxMs: result.rttMaxMs });
+    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();
+  }
+});