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。
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import { useState } from 'react';
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import { Button, Select } from '../components/ui';
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import type { SimulationSnapshot } from '../simulation/SimulationSession';
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import type { BridgeStatus } from './ExternalControlClient';
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import { ROBOT_PROFILES } from './registry';
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export interface ExternalControlUI {
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status: BridgeStatus;
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endpoint: string;
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setEndpoint: (value: string) => void;
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token: string;
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setToken: (value: string) => void;
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observationAgeMs?: number;
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connect: () => Promise<void>;
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disconnect: (reason?: string) => void;
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authorize: () => void;
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stop: () => void;
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}
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export function ExternalControlPanel({
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snapshot,
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loading,
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bridge,
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onApplyProfile,
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}: {
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snapshot: SimulationSnapshot;
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loading: boolean;
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bridge: ExternalControlUI;
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onApplyProfile: (id?: string) => void;
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}) {
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const [profileId, setProfileId] = useState(snapshot.robot?.profileId ?? '');
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const external = snapshot.externalControl,
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ready = bridge.status.phase === 'ready';
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const owner = { manual: '手动', python: 'Python', policy: 'ONNX', external: '外部' }[
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snapshot.controlOwner ?? 'manual'
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];
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return (
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<section aria-label="开源机器人控制" className="space-y-3 text-xs">
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<label className="block">
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机器人 profile
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<Select
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aria-label="控制接口 profile"
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className="mt-1 w-full"
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value={profileId}
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disabled={loading}
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onChange={(e) => setProfileId(e.target.value)}
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>
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<option value="">不启用（普通模型）</option>
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{ROBOT_PROFILES.map((p) => (
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<option key={p.id} value={p.id}>
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{p.label}
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</option>
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))}
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</Select>
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</label>
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<Button disabled={loading} onClick={() => onApplyProfile(profileId || undefined)}>
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校验并重新编译 profile
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</Button>
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<p className="text-text-secondary">
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仅显式选择后生效；未知模型/版本拒绝接管。LeKiwi 使用简化动力学，不是实机标定。
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</p>
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<p>
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当前 profile：<strong>{snapshot.robot?.profileId ?? '未启用'}</strong>
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</p>
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{snapshot.robot && (
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<p>
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模型指纹：
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<code title={snapshot.robot.modelFingerprint}>
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{snapshot.robot.modelFingerprint.slice(0, 16)}
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</code>
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</p>
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)}
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<label className="block">
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本机桥接地址
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<input
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aria-label="本机桥接地址"
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className="field mt-1 w-full px-2 py-1"
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value={bridge.endpoint}
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disabled={bridge.status.phase !== 'disconnected'}
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onChange={(e) => bridge.setEndpoint(e.target.value)}
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/>
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</label>
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<label className="block">
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控制 token（仅当前页面内存）
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<input
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aria-label="控制 token"
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type="password"
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autoComplete="off"
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className="field mt-1 w-full px-2 py-1"
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value={bridge.token}
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disabled={bridge.status.phase !== 'disconnected'}
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onChange={(e) => bridge.setToken(e.target.value)}
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/>
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</label>
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<div className="flex flex-wrap gap-2">
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<Button
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disabled={
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loading ||
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!snapshot.robot ||
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bridge.status.phase !== 'disconnected' ||
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!bridge.token.trim()
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}
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onClick={() => void bridge.connect()}
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>
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{bridge.status.phase === 'connecting' ? '连接中…' : '连接桥接'}
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</Button>
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<Button
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disabled={bridge.status.phase === 'disconnected'}
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onClick={() => bridge.disconnect()}
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>
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断开桥接
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</Button>
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</div>
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<div className="flex flex-wrap gap-2">
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<Button
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variant="primary"
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disabled={loading || !ready || snapshot.paused || Boolean(external?.enabled)}
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onClick={bridge.authorize}
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>
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允许外部控制
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</Button>
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<Button disabled={!external?.enabled} onClick={bridge.stop}>
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停止外部控制
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</Button>
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</div>
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<p>
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连接：
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<span aria-label="桥接连接状态">
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{ready ? '已连接' : bridge.status.phase === 'connecting' ? '连接中' : '未连接'}
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</span>
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</p>
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<p>
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当前控制所有者：<strong aria-label="当前控制所有者">{owner}</strong>
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</p>
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<p aria-label="外部控制状态">
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{external?.connected
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? '外部控制者已连接'
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: external?.enabled
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? '等待 Python 控制者'
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: '未授权'}
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</p>
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<p aria-label="机器人观测状态">
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{snapshot.paused
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? '已暂停（非实时观测）'
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: bridge.observationAgeMs === undefined
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? '尚无观测'
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: `观测年龄 ${bridge.observationAgeMs.toFixed(0)} ms${bridge.observationAgeMs > 500 ? ' · 已过期' : ''}`}
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</p>
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{external && (
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<p className="technical-value">
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epoch {external.modelEpoch} · applied seq {external.lastActionSeq}
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</p>
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)}
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{(bridge.status.error || (external?.error && !external.enabled)) && (
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<p role="status" className="text-warning">
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{bridge.status.error || external?.error}
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</p>
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)}
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<p className="text-text-tertiary">
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先播放再授权。接管会停止 Python/ONNX，并锁定
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1×。暂停、重载、页面隐藏和500ms超时均撤销授权；不会自动恢复旧命令。
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</p>
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<p className="text-text-tertiary">
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物理/观测不依赖渲染帧率。外控视图上限30FPS；检测到软件渲染时关闭阴影并降至5FPS，为控制保留时间。
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</p>
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<p className="text-text-tertiary">
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V1：底盘/臂/夹爪和状态回读；不支持相机、锁步、LeRobot 数据采集或训练。
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</p>
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</section>
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);
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}
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