fix(assets): stabilize L20 fixed-base PhysX preview

原因：保存 L20 资产、固定基座、地面光照、相邻碰撞过滤和拇指受限驱动，修正过短时间轴；USD 依赖通过 Git LFS 管理，转换元数据移除个人路径。包含 GUI 有限步数拇指回归入口与验证记录。验证：用户 Isaac Sim 6.0.1 GUI 中等价回归代码完成 3840 物理步，PASS。提交前 pxr Stage.Open/ComputeAllDependencies：10 层、0 未解析依赖、0 组合错误。 Python AST 语法、git diff --cached --check、LFS 指针哈希与 git lfs fsck 均 PASS。 pre-commit run --all-files：BLOCKED，命令未安装；仓库许可证模板也缺失。 Isaac Lab 任务发现/训练 E2E NOT_RUN：当前资产尚未接入任务，不启动额外仿真。兼容性：包版本维持 0.1.0，现有 Cartpole 配置未改变；需要 Git LFS。 armature 为未标定数值参数；mimic 耦合、其他手指大动作、reset/replay 和长时间 RTX 渲染资源耗尽仍未验收。本提交不表示训练或发布就绪。
2026-09-10 16:44:45 +08:00
parent 35621dde47
commit 071a1bdff5
14 changed files with 208 additions and 1 deletions
@@ -0,0 +1,61 @@
+"""Run inside Isaac Sim to test L20 thumb slider jumps; pauses on completion.
+
+Results: builtins._l20_drive_result. This changes the slider target temporarily.
+Requires a clean initial scene and a nonlooping timeline long enough for 16 seconds.
+"""
+import asyncio, builtins
+
+async def drive_test():
+    import asyncio, time, builtins, numpy as np, omni.usd, omni.timeline, omni.kit.app, omni.physx
+    from isaacsim.core.simulation_manager import SimulationManager
+    from pxr import Usd
+    s = omni.usd.get_context().get_stage()
+    tl = omni.timeline.get_timeline_interface()
+    joint = s.GetPrimAtPath('/tn__linkerhand_g20_lefturdf_cZ0/Physics/thumb_cmc_roll')
+    target = joint.GetAttribute('drive:angular:physics:targetPosition')
+    r = {'status': 'RUNNING', 'steps': 0, 'segments': [], 'max_speed': 0.0}
+    builtins._l20_drive_result = r
+
+    def step(dt):
+        r['steps'] += 1
+    sub = omni.physx.get_physx_interface().subscribe_physics_step_events(step)
+
+    def arr(x):
+        return x.numpy() if hasattr(x, 'numpy') else np.asarray(x)
+    try:
+        tl.play()
+        a = None
+        deadline = time.monotonic() + 60
+        for goal in [0, 30, 60, 80, 0, -20, 100, 0]:
+            with Usd.EditContext(s, s.GetRootLayer()):
+                target.Set(float(goal))
+            start = r['steps']
+            while r['steps'] - start < 480:
+                await asyncio.wait_for(omni.kit.app.get_app().next_update_async(), 10)
+                assert time.monotonic() < deadline, 'Wall timeout'
+                if r['steps'] < 4:
+                    continue
+                if a is None:
+                    a = SimulationManager.get_physics_simulation_view().create_articulation_view('/tn__linkerhand_g20_lefturdf_cZ0/Physics/fixed_base_joint')
+                    names = list(a.shared_metatype.dof_names)
+                    idx = names.index('thumb_cmc_roll')
+                q = arr(a.get_dof_positions())
+                v = arr(a.get_dof_velocities())
+                links = arr(a.get_link_transforms())
+                assert all((np.isfinite(x).all() for x in [q, v, links])), 'Nonfinite state'
+                r['max_speed'] = max(r['max_speed'], float(np.abs(v).max()))
+                assert np.abs(v).max() < 10, 'Excessive speed'
+                assert np.abs(links[..., :3]).max() < 0.5, 'Escaped link'
+                assert q[0, idx] > -0.05 and q[0, idx] < 1.45, 'Roll limit violation'
+            actual = float(np.rad2deg(q[0, idx]))
+            r['segments'].append({'target_deg': goal, 'actual_deg': actual})
+            assert abs(actual - min(80.214, max(0, goal))) < 3, 'Tracking error ' + str(actual)
+        r['status'] = 'PASS'
+    except Exception as e:
+        r['status'] = 'FAIL'
+        r['error'] = str(e)
+    finally:
+        tl.pause()
+        sub = None
+builtins._l20_drive_task = asyncio.ensure_future(drive_test())
+print('Started bounded thumb target-jump test')