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
@@ -5,6 +5,7 @@ export function SimulationControls({
  ready,
  speed,
  loading,
+  externalControl = false,
  onTogglePause,
  onStep,
  onReset,
@@ -14,6 +15,7 @@ export function SimulationControls({
  ready: boolean;
  speed: number;
  loading: boolean;
+  externalControl?: boolean;
  onTogglePause: () => void;
  onStep: () => void;
  onReset: () => void;
@@ -34,7 +36,7 @@ export function SimulationControls({
        tooltip="单步（暂停时可用）"
        aria-label="单步"
        onClick={onStep}
-        disabled={!ready || !paused}
+        disabled={!ready || !paused || externalControl}
      >
        <StepForward className="h-3.5 w-3.5" />
      </IconButton>
@@ -49,7 +51,7 @@ export function SimulationControls({
      <Select
        aria-label="仿真速度"
        value={speed}
-        disabled={loading}
+        disabled={loading || externalControl}
        onChange={(event) => onSpeed(Number(event.target.value))}
        className="w-[70px]"
      >
@@ -2,6 +2,7 @@ import { useState, type ReactNode } from 'react';
 import { Camera, Settings2 } from 'lucide-react';
 import type { CameraDirection, UrdfEnhancementOptions } from '../../project/urdfToMjcf';
 import { Button, Dialog, Select, Tooltip } from '../../components/ui';
+import { ROBOT_PROFILES } from '../../robot/registry';

 function OptionCard({
  checked,
@@ -44,15 +45,18 @@ export function UrdfImportOptionsDialog({
  open,
  path,
  mountBodies = [],
+  initialProfileId = '',
  onConfirm,
  onSkip,
 }: {
  open: boolean;
  path?: string;
  mountBodies?: string[];
-  onConfirm: (options: UrdfEnhancementOptions) => void;
+  initialProfileId?: string;
+  onConfirm: (options: UrdfEnhancementOptions, profileId?: string) => void;
  onSkip: () => void;
 }) {
+  const [profileId, setProfileId] = useState(initialProfileId);
  const [options, setOptions] = useState<UrdfEnhancementOptions>(() => ({
    addActuators: true,
    addSensors: true,
@@ -77,8 +81,20 @@ export function UrdfImportOptionsDialog({
      className="max-w-xl"
      footer={
        <div className="flex justify-end gap-2">
-          <Button onClick={onSkip}>不添加，直接加载</Button>
-          <Button variant="primary" onClick={() => onConfirm(options)}>
+          <Button onClick={onSkip} disabled={Boolean(profileId)}>
+            不添加，直接加载
+          </Button>
+          <Button
+            variant="primary"
+            onClick={() =>
+              profileId
+                ? onConfirm(
+                    { addActuators: false, addSensors: false, sensorType: 'camera' },
+                    profileId,
+                  )
+                : onConfirm(options)
+            }
+          >
            转换并加载
          </Button>
        </div>
@@ -88,90 +104,116 @@ export function UrdfImportOptionsDialog({
        导入 <strong className="text-text-primary">{path}</strong> 的仿真组件
      </p>
      <div className="mt-4 space-y-3">
-        <OptionCard
-          checked={options.addActuators}
-          onChange={(addActuators) => setOptions((value) => ({ ...value, addActuators }))}
-          icon={<Settings2 className="h-4 w-4" />}
-          title="为关节添加驱动器"
-          description="生成不限幅 motor 控制输入：hinge 为 N·m，slide 为 N。已有驱动器不重复添加。"
-        />
-        <OptionCard
-          checked={options.addSensors}
-          onChange={(addSensors) => setOptions((value) => ({ ...value, addSensors }))}
-          icon={<Camera className="h-4 w-4" />}
-          title="添加传感器"
-          description="在浮动基座添加三轴陀螺仪和三轴加速度计（6轴 IMU），并添加一台 640×480 固定摄像头。"
-        />
-        {options.addSensors && (
-          <div className="border-t border-border pt-3">
-            <div className="mb-2 text-xs font-medium text-text-primary">摄像头安装参数</div>
-            <label className="block text-xs text-text-secondary">
-              <span className="mb-1 block">固连 Body</span>
-              <Select
-                aria-label="摄像头固连 Body"
-                className="w-full"
-                value={options.cameraMountBody ?? ''}
-                onChange={(event) =>
-                  setOptions((value) => ({
-                    ...value,
-                    cameraMountBody: event.target.value || undefined,
-                  }))
-                }
-              >
-                {mountBodies.length ? (
-                  mountBodies.map((name) => (
-                    <option key={name} value={name}>
-                      {name}
-                    </option>
-                  ))
-                ) : (
-                  <option value="">自动选择头部/末端 Body</option>
-                )}
-              </Select>
-            </label>
-            <div className="mt-3 grid grid-cols-3 gap-2">
-              {(['X', 'Y', 'Z'] as const).map((axis, index) => (
-                <label key={axis} className="text-xs text-text-secondary">
-                  <span className="mb-0.5 flex items-center gap-1">
-                    <span className={`axis-badge axis-${axis.toLowerCase()}`}>{axis}</span>
-                    位置（m）
-                  </span>
-                  <input
-                    aria-label={`摄像头位置 ${axis}`}
-                    className="field technical-value h-8 w-full px-1.5 text-xs"
-                    type="number"
-                    step="0.01"
-                    value={(options.cameraPosition ?? [0.1, 0, 0.05])[index]}
-                    onChange={(event) => setPosition(index, Number(event.target.value))}
-                  />
-                </label>
-              ))}
-            </div>
-            <label className="mt-3 block text-xs text-text-secondary">
-              <span className="mb-1 block">镜头朝向（Body 局部轴）</span>
-              <Select
-                aria-label="摄像头朝向"
-                className="w-full"
-                value={options.cameraDirection ?? '+X'}
-                onChange={(event) =>
-                  setOptions((value) => ({
-                    ...value,
-                    cameraDirection: event.target.value as CameraDirection,
-                  }))
-                }
-              >
-                {(['+X', '-X', '+Y', '-Y', '+Z', '-Z'] as CameraDirection[]).map((direction) => (
-                  <option key={direction}>{direction}</option>
-                ))}
-              </Select>
-            </label>
-            <Tooltip content="位置和朝向相对于所选 Body；ROS 摄像头通常 +X 朝前、+Z 朝上">
-              <span tabIndex={0} className="mt-2 inline-block text-xs text-text-tertiary">
-                安装坐标说明
-              </span>
-            </Tooltip>
-          </div>
+        <label className="block text-sm">
+          机器人 profile（可选）
+          <Select
+            aria-label="URDF 机器人 profile"
+            value={profileId}
+            className="mt-1 w-full"
+            onChange={(e) => setProfileId(e.target.value)}
+          >
+            <option value="">不启用（通用转换）</option>
+            {ROBOT_PROFILES.map((p) => (
+              <option key={p.id} value={p.id}>
+                {p.label}
+              </option>
+            ))}
+          </Select>
+        </label>
+        {profileId && (
+          <p className="text-xs text-warning">
+            将校验固定模型版本，采用浮动基座、简化被动滚子/碰撞和九路伺服；不使用下方通用组件，不启用相机。
+          </p>
        )}
+        <fieldset
+          disabled={Boolean(profileId)}
+          className={profileId ? 'space-y-3 opacity-50' : 'space-y-3'}
+        >
+          <OptionCard
+            checked={options.addActuators}
+            onChange={(addActuators) => setOptions((value) => ({ ...value, addActuators }))}
+            icon={<Settings2 className="h-4 w-4" />}
+            title="为关节添加驱动器"
+            description="生成不限幅 motor 控制输入：hinge 为 N·m，slide 为 N。已有驱动器不重复添加。"
+          />
+          <OptionCard
+            checked={options.addSensors}
+            onChange={(addSensors) => setOptions((value) => ({ ...value, addSensors }))}
+            icon={<Camera className="h-4 w-4" />}
+            title="添加传感器"
+            description="在浮动基座添加三轴陀螺仪和三轴加速度计（6轴 IMU），并添加一台 640×480 固定摄像头。"
+          />
+          {options.addSensors && (
+            <div className="border-t border-border pt-3">
+              <div className="mb-2 text-xs font-medium text-text-primary">摄像头安装参数</div>
+              <label className="block text-xs text-text-secondary">
+                <span className="mb-1 block">固连 Body</span>
+                <Select
+                  aria-label="摄像头固连 Body"
+                  className="w-full"
+                  value={options.cameraMountBody ?? ''}
+                  onChange={(event) =>
+                    setOptions((value) => ({
+                      ...value,
+                      cameraMountBody: event.target.value || undefined,
+                    }))
+                  }
+                >
+                  {mountBodies.length ? (
+                    mountBodies.map((name) => (
+                      <option key={name} value={name}>
+                        {name}
+                      </option>
+                    ))
+                  ) : (
+                    <option value="">自动选择头部/末端 Body</option>
+                  )}
+                </Select>
+              </label>
+              <div className="mt-3 grid grid-cols-3 gap-2">
+                {(['X', 'Y', 'Z'] as const).map((axis, index) => (
+                  <label key={axis} className="text-xs text-text-secondary">
+                    <span className="mb-0.5 flex items-center gap-1">
+                      <span className={`axis-badge axis-${axis.toLowerCase()}`}>{axis}</span>
+                      位置（m）
+                    </span>
+                    <input
+                      aria-label={`摄像头位置 ${axis}`}
+                      className="field technical-value h-8 w-full px-1.5 text-xs"
+                      type="number"
+                      step="0.01"
+                      value={(options.cameraPosition ?? [0.1, 0, 0.05])[index]}
+                      onChange={(event) => setPosition(index, Number(event.target.value))}
+                    />
+                  </label>
+                ))}
+              </div>
+              <label className="mt-3 block text-xs text-text-secondary">
+                <span className="mb-1 block">镜头朝向（Body 局部轴）</span>
+                <Select
+                  aria-label="摄像头朝向"
+                  className="w-full"
+                  value={options.cameraDirection ?? '+X'}
+                  onChange={(event) =>
+                    setOptions((value) => ({
+                      ...value,
+                      cameraDirection: event.target.value as CameraDirection,
+                    }))
+                  }
+                >
+                  {(['+X', '-X', '+Y', '-Y', '+Z', '-Z'] as CameraDirection[]).map((direction) => (
+                    <option key={direction}>{direction}</option>
+                  ))}
+                </Select>
+              </label>
+              <Tooltip content="位置和朝向相对于所选 Body；ROS 摄像头通常 +X 朝前、+Z 朝上">
+                <span tabIndex={0} className="mt-2 inline-block text-xs text-text-tertiary">
+                  安装坐标说明
+                </span>
+              </Tooltip>
+            </div>
+          )}
+        </fieldset>
      </div>
      <p className="mt-4 text-xs text-text-tertiary">
        自动组件只写入浏览器内生成的 MJCF，不会修改本地 URDF 文件；使用“原生
@@ -9,11 +9,18 @@ const tools: ToolbarItem<InteractionMode>[] = [
 export function ViewerToolDock({
  mode,
  onModeChange,
+  jointDisabled = false,
 }: {
  mode: InteractionMode;
+  jointDisabled?: boolean;
  onModeChange: (mode: InteractionMode) => void;
 }) {
  return (
-    <ToolbarToggleGroup items={tools} value={mode} onChange={onModeChange} label="视口交互模式" />
+    <ToolbarToggleGroup
+      items={tools.map((tool) => ({ ...tool, disabled: tool.value === 'joint' && jointDisabled }))}
+      value={mode}
+      onChange={onModeChange}
+      label="视口交互模式"
+    />
  );
 }
@@ -1,4 +1,4 @@
-import { useState } from 'react';
+import { useState, type ReactNode } from 'react';
 import type { TrainingSceneCompiler } from '../../map/trainingMap';
 import type { PolicyDeployment } from '../../rl/deployment';
 import type { PlacedMapAsset } from '../../map/types';
@@ -37,6 +37,7 @@ export function WorkspaceToolsPanel({
  active,
  snapshot,
  loading,
+  externalControl,
  ignoreJointLimits,
  jointAdvanced,
  angleUnit,
@@ -82,6 +83,7 @@ export function WorkspaceToolsPanel({
  active: WorkspaceTool;
  snapshot?: SimulationSnapshot;
  loading: boolean;
+  externalControl?: ReactNode;
  ignoreJointLimits: boolean;
  jointAdvanced: boolean;
  angleUnit: 'rad' | 'deg';
@@ -125,10 +127,21 @@ export function WorkspaceToolsPanel({
  onDataRecordingExport: (format: 'csv' | 'json') => void;
 }) {
  const [trainingSummary, setTrainingSummary] = useState('');
+  const manualDisabled =
+    loading || Boolean(snapshot?.controlOwner && snapshot.controlOwner !== 'manual');
  const resolvedControllerStatus = controllerStatus ?? snapshot?.controller;
  const resolvedPolicyStatus = policyStatus ?? snapshot?.rlPolicy;
  const controls = snapshot ? (
    <>
+      {externalControl && (
+        <CollapsibleSection
+          title="开源项目 / 外部控制"
+          defaultOpen={Boolean(snapshot.robot)}
+          keepMounted
+        >
+          {externalControl}
+        </CollapsibleSection>
+      )}
      <CollapsibleSection
        title="执行器实时控制"
        defaultOpen={false}
@@ -143,6 +156,8 @@ export function WorkspaceToolsPanel({
            <ActuatorControl
              key={actuator.id}
              showParameterNotice={false}
+              disabled={manualDisabled}
+              parametersDisabled={Boolean(snapshot.robot)}
              actuator={actuator}
              onControl={(value) => onActuator(actuator.id, value)}
              onParameters={(parameters) => onActuatorParameters(actuator.id, parameters)}
@@ -159,10 +174,13 @@ export function WorkspaceToolsPanel({
        badge={<ConsoleSectionBadges count={snapshot.joints.length} />}
      >
        <div className="mb-4 grid grid-cols-2 gap-2">
-          <Button onClick={onResetJoints}>重置关节</Button>
+          <Button onClick={onResetJoints} disabled={manualDisabled}>
+            重置关节
+          </Button>
          <Button
            variant={ignoreJointLimits ? 'primary' : 'secondary'}
            aria-pressed={ignoreJointLimits}
+            disabled={manualDisabled}
            onClick={onToggleJointLimits}
          >
            忽略关节限位
@@ -302,13 +320,19 @@ export function WorkspaceToolsPanel({
          />
        }
      >
-        <LocalTrainingPanel
-          onStatusChange={setTrainingSummary}
-          onPolicyReady={onImportPolicy}
-          compileScene={compileTrainingScene}
-          sceneMaps={trainingSceneMaps}
-          sceneDirty={trainingSceneDirty}
-        />
+        {snapshot.robot && !snapshot.robot.capabilities.training ? (
+          <p className="text-xs text-text-secondary">
+            此机器人接口 V1 不支持训练。既有 Go2 训练任务不受影响，请使用对应模型。
+          </p>
+        ) : (
+          <LocalTrainingPanel
+            onStatusChange={setTrainingSummary}
+            onPolicyReady={onImportPolicy}
+            compileScene={compileTrainingScene}
+            sceneMaps={trainingSceneMaps}
+            sceneDirty={trainingSceneDirty}
+          />
+        )}
      </CollapsibleSection>
    </>
  ) : (