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。

web_platform/src/robot/RobotRuntime.test.ts

@@ -0,0 +1,118 @@
+import fixture from '../../../contracts/fixtures/single-joint.json';
+import { RobotRuntime } from './RobotRuntime';
+import type { RobotAdapter } from './types';
+import { validateDescriptor, validateValues } from './validation';
+
+function setup() {
+  const descriptor = validateDescriptor(fixture.descriptor);
+  let clock = 0,
+    paused = false,
+    measured = 0.12;
+  const adapter: RobotAdapter = {
+    describe: () => descriptor,
+    readObservation: () => ({ 'slider.position': measured }),
+    validateAction: (v) => validateValues(v, descriptor.actionChannels, true),
+    applyAction: vi.fn((v) => validateValues(v, descriptor.actionChannels, true)),
+    safeStop: vi.fn(),
+    reset: () => {
+      measured = 0;
+    },
+    dispose: vi.fn(),
+  };
+  const fault = vi.fn(() => {
+    paused = true;
+  });
+  const runtime = new RobotRuntime(
+    adapter,
+    'sim-test',
+    () => paused,
+    fault,
+    () => clock,
+  );
+  runtime.authorize();
+  const identity = runtime.claim('lease-test');
+  const action = (seq = 1) => ({ ...fixture.validAction, ...identity, actionSeq: seq });
+  return {
+    runtime,
+    adapter,
+    fault,
+    action,
+    tick: (ms: number) => {
+      clock += ms;
+    },
+    pause: () => {
+      paused = true;
+    },
+  };
+}
+describe('RobotRuntime bounded mailbox', () => {
+  it('applies only at a step, confirms after the step, observations are not targets', async () => {
+    const s = setup();
+    let confirmed = false;
+    const ack = s.runtime.enqueue(s.action()).then((r) => {
+      confirmed = true;
+      return r;
+    });
+    expect(s.adapter.applyAction).not.toHaveBeenCalled();
+    expect(s.runtime.beforeStep()).toBe(true);
+    expect(s.adapter.applyAction).toHaveBeenCalledOnce();
+    expect(confirmed).toBe(false);
+    s.runtime.afterStep(0.002);
+    expect((await ack).values['slider.position']).toBe(0.3);
+    expect(s.runtime.latest()?.values['slider.position']).toBe(0.12);
+    expect(s.runtime.latest()?.appliedActionSeq).toBe(1);
+  });
+  it('only newest pending target survives and old sequences cannot replay', async () => {
+    const s = setup();
+    const old = s.runtime.enqueue(s.action()).catch((e) => e.code);
+    const next = s.runtime.enqueue(s.action(2));
+    expect(await old).toBe('SUPERSEDED');
+    await expect(s.runtime.enqueue(s.action())).rejects.toMatchObject({ code: 'STALE' });
+    s.runtime.beforeStep();
+    s.runtime.afterStep(0.002);
+    expect((await next).actionSeq).toBe(2);
+  });
+  it('wall clock watchdog cancels stale actions before the first resumed step', async () => {
+    const s = setup();
+    const ack = s.runtime.enqueue(s.action()).catch((e) => e.code);
+    s.tick(501);
+    expect(s.runtime.beforeStep()).toBe(false);
+    expect(await ack).toBe('DISCONNECTED');
+    expect(s.adapter.applyAction).not.toHaveBeenCalled();
+    expect(s.fault).toHaveBeenCalledOnce();
+    expect(s.runtime.status().enabled).toBe(false);
+    await expect(s.runtime.enqueue(s.action(2))).rejects.toMatchObject({ code: 'UNAUTHORIZED' });
+  });
+  it('a socket event delivered after freeze cannot renew an expired lease', async () => {
+    const s = setup();
+    s.runtime.capture(0);
+    s.tick(501);
+    expect(s.runtime.status().observationAgeMs).toBe(501);
+    await expect(s.runtime.enqueue(s.action())).rejects.toMatchObject({ code: 'TIMEOUT' });
+    expect(s.adapter.applyAction).not.toHaveBeenCalled();
+    expect(s.fault).toHaveBeenCalledOnce();
+    expect(s.runtime.status().enabled).toBe(false);
+  });
+  it('reset/dispose reject outstanding requests and invalidate epoch', async () => {
+    const s = setup();
+    const pending = s.runtime.enqueue(s.action()).catch((e) => e.code);
+    s.runtime.reset();
+    expect(await pending).toBe('DISCONNECTED');
+    expect(s.runtime.status().modelEpoch).toBe(1);
+    s.runtime.authorize();
+    s.runtime.claim('new-lease');
+    await expect(s.runtime.enqueue(s.action(2))).rejects.toMatchObject({ code: 'STALE' });
+    s.runtime.dispose();
+    s.runtime.dispose();
+    expect(s.adapter.dispose).toHaveBeenCalledOnce();
+  });
+  it('paused/multiple owners denied and nonowner revocation does not write', async () => {
+    const s = setup();
+    expect(() => s.runtime.claim('other')).toThrow(/已有/);
+    s.pause();
+    await expect(s.runtime.enqueue(s.action())).rejects.toMatchObject({ code: 'PAUSED' });
+    vi.mocked(s.adapter.safeStop).mockClear();
+    s.runtime.revoke('not owner', false);
+    expect(s.adapter.safeStop).not.toHaveBeenCalled();
+  });
+});