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 +1,55 @@
+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：夹爪两侧指尖覆盖、开度方向和物体阻挡，不能只检查关节数值', 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));
+  await page.evaluate((path) => window.lekiwiPhysics.boot(path), `/@fs${resolve('build/lekiwi')}`);
+  try {
+    const result = await page.evaluate(() => window.lekiwiPhysics.gripperCollisionChecks());
+    console.log('gripper contacts', JSON.stringify(result));
+    await writeFile(info.outputPath('gripper-contacts.json'), JSON.stringify(result, null, 2));
+    await writeFile(
+      info.outputPath('gripper-scene.xml'),
+      await page.evaluate(() => window.lekiwiPhysics.xml()),
+    );
+    expect(result.finite).toBe(true);
+    for (const tip of result.coverage) {
+      expect(
+        tip.contacts.some((c) =>
+          c.other.startsWith(
+            tip.name === 'fixed_tip'
+              ? '__lekiwi_cad_Wrist_Roll_08c-v1__'
+              : '__lekiwi_cad_Moving_Jaw_08d-v1__',
+          ),
+        ),
+        tip.name,
+      ).toBe(true);
+    }
+    for (const state of result.openings) {
+      expect(Math.abs(state.actual - state.target)).toBeLessThan(0.01);
+      expect(state.contacts).toEqual([]);
+    }
+    expect(result.openings[0].separation).toBeGreaterThan(0);
+    expect(result.openings[0].separation).toBeLessThan(0.002);
+    expect(result.openings[1].separation).toBeGreaterThan(result.openings[0].separation + 0.02);
+    expect(result.openings[2].separation).toBeGreaterThan(result.openings[1].separation + 0.01);
+    expect(result.gapContacts).toEqual([]); // a hull must not seal the open space
+    expect(result.obstruction.maxContacts).toBeGreaterThan(0);
+    expect(result.obstruction.maxPenetration).toBeLessThan(0.0015);
+    expect(result.obstruction.actual).toBeGreaterThan(result.obstruction.target + 0.03);
+    expect(result.obstruction.contacts.length).toBeGreaterThan(0);
+    for (const contact of result.obstruction.contacts)
+      expect(contact.distance).toBeGreaterThan(-0.0002);
+    expect(result.fingerSelfContacts).toBeGreaterThan(0);
+    expect(errors).toEqual([]);
+  } finally {
+    await page.evaluate(() => window.lekiwiPhysics.dispose());
+  }
+});