[carlvon17]

What's shipping (main..dev, 3 commits)

• 9dd9b09 feat: keyboard magnitude axes and waypoint constant-axis support
• 2a3986d feat: restricted YAML parser accepts JSON-root documents (synced mirror with BotLab)
• eecead7 docs: project setup guide (docs/project-setup.md), README scaffold refresh, wheel doc manifest

Notes

• SDK mirror (src/botlab/sdk/) is byte-identical with BotLab truth source src/domain/python/botlab/ — only _runtime differs (native runner owned by this repo, never mirrored). No pending sync from BotLab dev.
• README now documents the config/ file-split layout, PolicyController(robot, target=) signature, and legacy root-level *.preset.yaml read-compatibility.
• refactor: untangle modules, split runtime god-files, mirror explicit plan contract #4 (refactor/elegance) intentionally left open and independent; it will need a rebase onto the new main after this merges.

Testing

• ruff check . — All checks passed (exit 0)
• .venv/bin/python -m pytest tests -x -q --ignore=tests/e2e — exit 0 (one pre-existing overflow RuntimeWarning in test_processors_math)
• tests/e2e not run locally (needs browser runtime); CI covers it
• Wheel docs requirement (hatch_build._REQUIRED_DOCS) satisfied — all five docs including project-setup.md are committed

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[enkeebotpr]

代码审核

发现 3 个需要核查的问题，按影响从重到轻列出。

1. 【中风险】负轴索引被静默当作负索引，绑定到错误轴

位置：src/botlab/_runtime/_observations.py:1662–1671

• 触发：commandBindings 写出负数或浮点轴，例如 -1 或 1.7；_magnitude_binding_index 只校验 index >= dim，随后用 int(key) 直接截断/保留符号。
• 影响：-1 通过校验后被当作 Python 负索引命中最后一维，1.7 静默变成 1，幅值轴被错误绑定，配置错误没有在编译期报错。
• **建议：**对数值 key 同时校验 0 <= index < dim 且要求整数（或显式拒绝 float/负数），并补一个负索引与浮点 key 的失败用例。

2. 【中风险】缺 cmdMin/cmdMax 时按幅值键会直接抛异常

位置：src/botlab/_runtime/_observations.py:1689–1707

• **触发：**项目声明了 magnitude 幅值轴但 plan 未带 cmdMin/cmdMax（或长度不足），_magnitude_axis_flags 只校验 dim，_apply_magnitude_axes 里 minimum[index] 取到 None。
• **影响：**一旦按下 increase/decrease 键，运行期抛 TypeError/IndexError，而不是给出可读的声明错误；未按键时不复现，问题延后暴露。
• **建议：**在读取 flags 时一并校验 cmdMin/cmdMax 为等长数值序列并报带节点名的错误；需人工确认 plan 是否在所有幅值轴场景都输出该 bounds 向量。

3. 【低风险】同时含幅值轴与巡航轴时，巡航按键被静默忽略

位置：src/botlab/_runtime/_observations.py:1733–1741

• **触发：**项目既有 magnitude 轴又有普通巡航轴，然后按下巡航轴按键；只要 any(flags) 成立就跳过中性输入护栏。
• **影响：**本应因“巡航轴按键推进无本地实现”而显式失败的场景改为静默不生效，用户看到按键无效且无提示。
• **建议：**把护栏拆成只针对未实现推进的巡航轴检查，例如对非幅值且被绑定的轴按键时报错，而不是整体跳过。

仅检查代码安全和技术缺陷；业务判断由负责人负责。本次未运行测试。

审核范围与依据

• 审核提交：eecead7b05793f729939766d1b7eee65d52751d0
• 配置版本：v1
• 团队规则：enkeebot-dev · 2304177fb38a
• 已加载：SKILL.md、references/projects/botlab-python.md、references/environment.md、references/architecture.md
• 部分规则仅加载了摘录，未加载的部分未作核对。
• 根据提供的文本差异审核，未读取完整仓库。