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。
2026-09-11 15:12:39 +08:00
parent 071a1bdff5
commit 057f4c2cf6
20 changed files with 4086 additions and 3 deletions
@@ -0,0 +1,91 @@
+"""Isaac Lab scene-loading diagnostic ONLY: no physics steps, actuators, or replay.
+
+Run headless with an external timeout. This legacy topology diagnostic deliberately
+performs no dynamic experiment (see track_l20.py for the experimental path). Create a disposable
+floating overlay first; this script never edits/saves USD layers or existing scenes.
+"""
+
+import argparse
+import json
+import random
+import traceback
+from pathlib import Path
+
+
+def main():
+    from isaaclab.app import AppLauncher
+
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("asset", type=Path, help="Diagnostic floating overlay, not the fixed preview")
+    AppLauncher.add_app_launcher_args(parser)
+    parser.set_defaults(headless=True)
+    args = parser.parse_args()
+    asset = args.asset.resolve(strict=True)
+
+    # USD inspection imports pxr: defer it until Kit has initialized its libraries.
+    launcher = AppLauncher(args)
+    app = launcher.app
+    exit_code = 0
+    try:
+        import numpy as np
+        import torch
+        from dex_workbench_tracking.asset import inspect
+
+        manifest = inspect(asset)
+        if manifest["world_fixed_joints"] or manifest["articulation_roots"] != [manifest["root_body_path"]]:
+            parser.error("Expected a floating diagnostic overlay; use dex_workbench_tracking.asset first")
+
+        from pxr import UsdGeom, UsdPhysics
+
+        import isaaclab.sim as sim_utils
+
+        random.seed(42)
+        np.random.seed(42)
+        torch.manual_seed(42)
+        sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=1 / 240, device=args.device))
+        spawn = sim_utils.UsdFileCfg(usd_path=str(asset))
+        spawn.func("/World/Hand", spawn)
+        stage = sim.stage
+        roots, joint_names = [], []
+        for prim in stage.Traverse():
+            if not str(prim.GetPath()).startswith("/World/Hand/"):
+                continue
+            if prim.HasAPI(UsdPhysics.ArticulationRootAPI):
+                roots.append(str(prim.GetPath()))
+            if prim.IsA(UsdPhysics.RevoluteJoint):
+                joint_names.append(prim.GetName())
+            if prim.HasAPI(UsdPhysics.RigidBodyAPI):
+                matrix = UsdGeom.XformCache().GetLocalToWorldTransform(prim)
+                if not np.isfinite(np.asarray(matrix)).all():
+                    raise AssertionError(f"Nonfinite initial body transform: {prim.GetPath()}")
+        expected = "/World/Hand" + manifest["root_body_path"][len(manifest["default_prim"]) :]
+        assert roots == [expected], (roots, expected)
+        assert sorted(joint_names) == [joint["name"] for joint in manifest["joints"]]
+        assert not stage.GetCompositionErrors(), stage.GetCompositionErrors()
+        print(
+            json.dumps(
+                {
+                    "status": "PASS",
+                    "check": "Isaac_Lab_scene_loading_only",
+                    "seed": 42,
+                    "num_envs": 1,
+                    "physics_steps": 0,
+                    "root": expected,
+                    "joints": len(joint_names),
+                    "dynamic_replay": "BLOCKED",
+                    "reset_and_tracking_metrics": "NOT_RUN",
+                }
+            ),
+            flush=True,
+        )
+    except BaseException:
+        exit_code = 1
+        traceback.print_exc()
+        raise
+    finally:
+        # No SimulationContext.reset()/step(): even passive dynamics are unvalidated.
+        app.close(exit_code=exit_code)
+
+
+if __name__ == "__main__":
+    main()