chore(release): v0.1.1 USD文件初步校验
原因：记录 L20 USD 初步校验、严格浮动覆盖层、受限动力学回放及 HDF5 交付契约，包版本更新为 0.1.1。 验证：68 项 CPU/USD 回归测试通过，Ruff/format 与暂存 diff 检查通过；已核验单环境 small 2x480、合成 HDF5 2x960 步明确 PASS。独立暂存审查未发现问题。完整 pre-commit 因模块缺失未执行，干净环境安装未验证。 兼容性：Cartpole 及任务 ID 不变，原始 USD/URDF 未改；旧 prepared 覆盖层需重新生成。仅合成轨迹初步校验，不代表真实专家回放、训练或硬件验收。
This commit is contained in:
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"authored_drive_properties_usd_units": {
|
||||
"drive:angular:physics:damping": 0.01745329238474369,
|
||||
"drive:angular:physics:maxForce": 100.0,
|
||||
"drive:angular:physics:stiffness": 1.7453292608261108,
|
||||
"drive:angular:physics:type": "force",
|
||||
"physxJoint:maxJointVelocity": 57.295780181884766
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "thumb_cmc_pitch",
|
||||
"path": "/tn__linkerhand_g20_lefturdf_cZ0/Physics/thumb_cmc_pitch",
|
||||
"body0": "/tn__linkerhand_g20_lefturdf_cZ0/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2",
|
||||
"body1": "/tn__linkerhand_g20_lefturdf_cZ0/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals",
|
||||
"axis": "Y",
|
||||
"lower_rad": 0.0,
|
||||
"upper_rad": 0.8400000231209613,
|
||||
"authored_drive_properties_usd_units": {
|
||||
"drive:angular:physics:damping": 0.0003490658418741077,
|
||||
"drive:angular:physics:maxForce": 1.0,
|
||||
"drive:angular:physics:stiffness": 0.01745329238474369,
|
||||
"drive:angular:physics:type": "force",
|
||||
"physxJoint:armature": 9.999999747378752e-05,
|
||||
"physxJoint:maxJointVelocity": 57.295780181884766
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "thumb_cmc_roll",
|
||||
"path": "/tn__linkerhand_g20_lefturdf_cZ0/Physics/thumb_cmc_roll",
|
||||
"body0": "/tn__linkerhand_g20_lefturdf_cZ0/Geometry/hand_base_link",
|
||||
"body1": "/tn__linkerhand_g20_lefturdf_cZ0/Geometry/hand_base_link/thumb_metacarpals_base1",
|
||||
"axis": "X",
|
||||
"lower_rad": 0.0,
|
||||
"upper_rad": 1.3999999497628992,
|
||||
"authored_drive_properties_usd_units": {
|
||||
"drive:angular:physics:damping": 0.0003490658418741077,
|
||||
"drive:angular:physics:maxForce": 1.0,
|
||||
"drive:angular:physics:stiffness": 0.01745329238474369,
|
||||
"drive:angular:physics:targetPosition": 0.0,
|
||||
"drive:angular:physics:type": "force",
|
||||
"physxJoint:armature": 9.999999747378752e-05,
|
||||
"physxJoint:maxJointVelocity": 57.295780181884766
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "thumb_cmc_yaw",
|
||||
"path": "/tn__linkerhand_g20_lefturdf_cZ0/Physics/thumb_cmc_yaw",
|
||||
"body0": "/tn__linkerhand_g20_lefturdf_cZ0/Geometry/hand_base_link/thumb_metacarpals_base1",
|
||||
"body1": "/tn__linkerhand_g20_lefturdf_cZ0/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2",
|
||||
"axis": "Z",
|
||||
"lower_rad": 0.0,
|
||||
"upper_rad": 1.570000041628963,
|
||||
"authored_drive_properties_usd_units": {
|
||||
"drive:angular:physics:damping": 0.0003490658418741077,
|
||||
"drive:angular:physics:maxForce": 1.0,
|
||||
"drive:angular:physics:stiffness": 0.01745329238474369,
|
||||
"drive:angular:physics:type": "force",
|
||||
"physxJoint:armature": 9.999999747378752e-05,
|
||||
"physxJoint:maxJointVelocity": 57.295780181884766
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "thumb_ip",
|
||||
"path": "/tn__linkerhand_g20_lefturdf_cZ0/Physics/thumb_ip",
|
||||
"body0": "/tn__linkerhand_g20_lefturdf_cZ0/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals/thumb_proximal",
|
||||
"body1": "/tn__linkerhand_g20_lefturdf_cZ0/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals/thumb_proximal/thumb_distal",
|
||||
"axis": "Y",
|
||||
"lower_rad": 0.0,
|
||||
"upper_rad": 1.2899999451499395,
|
||||
"authored_drive_properties_usd_units": {
|
||||
"drive:angular:physics:damping": 0.0003490658418741077,
|
||||
"drive:angular:physics:maxForce": 1.0,
|
||||
"drive:angular:physics:stiffness": 0.01745329238474369,
|
||||
"drive:angular:physics:type": "force",
|
||||
"physxJoint:armature": 9.999999747378752e-05,
|
||||
"physxJoint:maxJointVelocity": 57.295780181884766
|
||||
}
|
||||
},
|
||||
{
|
||||
"name": "thumb_mcp",
|
||||
"path": "/tn__linkerhand_g20_lefturdf_cZ0/Physics/thumb_mcp",
|
||||
"body0": "/tn__linkerhand_g20_lefturdf_cZ0/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals",
|
||||
"body1": "/tn__linkerhand_g20_lefturdf_cZ0/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals/thumb_proximal",
|
||||
"axis": "Y",
|
||||
"lower_rad": 0.0,
|
||||
"upper_rad": 1.2599999681024148,
|
||||
"authored_drive_properties_usd_units": {
|
||||
"drive:angular:physics:damping": 0.0003490658418741077,
|
||||
"drive:angular:physics:maxForce": 1.0,
|
||||
"drive:angular:physics:stiffness": 0.01745329238474369,
|
||||
"drive:angular:physics:type": "force",
|
||||
"physxJoint:armature": 9.999999747378752e-05,
|
||||
"physxJoint:maxJointVelocity": 57.295780181884766
|
||||
}
|
||||
}
|
||||
],
|
||||
"source_urdf": {
|
||||
"status": "STRUCTURAL_MATCH_ONLY",
|
||||
"file_name": "linkerhand_g20_left.urdf",
|
||||
"sha256": "b8ef22e436ab311fb61f87091b72ae717821092471d628d0ea9475b5088daa5d",
|
||||
"mimic": [
|
||||
{
|
||||
"joint": "index_dip",
|
||||
"reference": "index_pip",
|
||||
"multiplier": 0.89,
|
||||
"offset_rad": 0.0
|
||||
},
|
||||
{
|
||||
"joint": "middle_dip",
|
||||
"reference": "middle_pip",
|
||||
"multiplier": 0.89,
|
||||
"offset_rad": 0.0
|
||||
},
|
||||
{
|
||||
"joint": "pinky_dip",
|
||||
"reference": "pinky_pip",
|
||||
"multiplier": 0.89,
|
||||
"offset_rad": 0.0
|
||||
},
|
||||
{
|
||||
"joint": "ring_dip",
|
||||
"reference": "ring_pip",
|
||||
"multiplier": 0.89,
|
||||
"offset_rad": 0.0
|
||||
},
|
||||
{
|
||||
"joint": "thumb_ip",
|
||||
"reference": "thumb_mcp",
|
||||
"multiplier": 1.02,
|
||||
"offset_rad": 0.0
|
||||
}
|
||||
]
|
||||
},
|
||||
"coupling_evidence": [
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/thumb_ip.newton:mimicCoef1",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/thumb_ip.newton:mimicJoint",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/thumb_ip: SdfTokenListOp(Explicit Items: [PhysxJointAPI, NewtonMimicAPI, PhysicsDriveAPI:angular, PhysicsJointStateAPI:angular, IsaacJointAPI])",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/index_dip.newton:mimicCoef1",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/index_dip.newton:mimicJoint",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/index_dip: SdfTokenListOp(Explicit Items: [PhysxJointAPI, NewtonMimicAPI, PhysicsDriveAPI:angular, PhysicsJointStateAPI:angular, IsaacJointAPI])",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/middle_dip.newton:mimicCoef1",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/middle_dip.newton:mimicJoint",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/middle_dip: SdfTokenListOp(Explicit Items: [PhysxJointAPI, NewtonMimicAPI, PhysicsDriveAPI:angular, PhysicsJointStateAPI:angular, IsaacJointAPI])",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/ring_dip.newton:mimicCoef1",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/ring_dip.newton:mimicJoint",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/ring_dip: SdfTokenListOp(Explicit Items: [PhysxJointAPI, NewtonMimicAPI, PhysicsDriveAPI:angular, PhysicsJointStateAPI:angular, IsaacJointAPI])",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/pinky_dip.newton:mimicCoef1",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/pinky_dip.newton:mimicJoint",
|
||||
"/tn__linkerhand_g20_lefturdf_cZ0/Physics/pinky_dip: SdfTokenListOp(Explicit Items: [PhysxJointAPI, NewtonMimicAPI, PhysicsDriveAPI:angular, PhysicsJointStateAPI:angular, IsaacJointAPI])"
|
||||
],
|
||||
"physx_coupling_evidence": [],
|
||||
"coupling_status": "MIMIC_SCHEMA_PRESENT_RUNTIME_UNVERIFIED",
|
||||
"dynamic_replay_ready": false,
|
||||
"blockers": [
|
||||
"Runtime mimic response is unverified; original follower drives need suppression for diagnostics.",
|
||||
"No calibrated wrist support controller or whole-hand dynamic replay validation."
|
||||
]
|
||||
}
|
||||
Reference in New Issue
Block a user