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feat(tracking): v0.1.2 双手轨迹回放与 GUI 预览

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支持 L20 右手模型身份与严格浮动控制覆盖层，新增完整轨迹受限回放、时间拉伸及可选 GUI 显示。

验证：88 项 CPU/USD 回归、Ruff、格式与独立暂存审查通过。历史 80 倍降速回放完成 2x32000 步；整合后 GUI E2E 和完整 pre-commit 未执行，相关边界见 L20_TRACKING.md。

右手 USD、示教数据、媒体和日志未纳入提交；资产存储及许可仍待确认。保留原控制与安全阈值。
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cen617-code
2026-09-14 13:57:57 +08:00
parent 057f4c2cf6
commit 8e7ab5fc76
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assets/robots/dex_hand/linkerhand_g20_right/README.md
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# L20 右手：转换资产与受限跟踪验证
## 状态与入口
用户提供的 `linker-bot/Linkerbot_URDF/L20/RIGHT/linkerhand_g20_right.urdf` 已使用指定
`IsaacLab/scripts/tools/convert_urdf.py` 实际转换。保留源文件与生成命名：URDF 内部 robot 名为
`linkerhand_L25NS_right.urdf`，导入器生成入口为
[`linkerhand_g20_right/linkerhand_g20_right.usda`](linkerhand_g20_right/linkerhand_g20_right.usda)。
用户明确该 RIGHT 目录为本次 L20 右手输入；不由上述名称推断驱动类型或电机数。
- 原始转换结果保持不变，依赖包完整、引用相对路径，可整体移动；不是左手 USD 镜像副本。
- [`tracking.usda`](tracking.usda) 是单独生成的**实验控制覆盖层**，需搭配跟踪控制器，不能直接 Play 当作悬浮手。
- [`tracking_manifest.json`](tracking_manifest.json) 记录原始转换资产身份、关节、限位、质量/惯量、联动与依赖。
`dynamic_replay_ready=false` 保留；实验入口检查实际覆盖层和运行时响应，不靠 ready 标记授权。
- [`source_provenance.json`](source_provenance.json) 记录原始 URDF/JSON/STL 的相对路径、字节数、SHA256、轴向与转换设置。
原始文件保留在用户外部源目录，不复制18MiB STL，也未读取 JSON 作为控制协议。
- **发布 BLOCKED**：`payloads/geometries.usd` 为 **4,329,903 bytes**，超过普通 Git 单文件2000KB门槛。
生成USD仅获准放入本地工作区，不纳入v0.1.2提交（仅收录本说明及两个JSON清单）；后续须确认 Gitea LFS 或获批的版本化外部存储，不能直接提交普通 Git。
现有`.gitignore`全局忽略`*.usd`/`*.usda`，且`.gitattributes`已有全局LFS规则；本次均未修改。
资产目前是本地忽略文件，不会随普通代码提交自动分发；已有LFS属性不等于本轮确认远端存储/发布许可。
源资产再分发许可尚未确认；用户授权本地仿真不等于授予再分发许可。
## 转换及核验
实际转换设置预先确定：`--headless --fix-base --joint-stiffness 3 --joint-damping 0.1 --joint-target-type position`，
不 merge joints，输出参数为**目录**。这些是未经硬件标定的仿真设置；不是从源硬件推断的增益。
转换输出先置于临时目录，核验后仅复制生成的 USD 目录；带个人源路径的 `config.yaml`、`.asset_hash` 和日志留在临时目录。
复现示例（环境变量由调用方指定，不写入 USD 引用）：
```bash
# LINKERBOT_URDF 指向同版本源包；OUTPUT 必须是新的输出目录，避免覆盖已验证资产。
SOURCE_RIGHT="$LINKERBOT_URDF/L20/RIGHT"
timeout 300s ~/isaacsim/python.sh ~/IsaacLab/scripts/tools/convert_urdf.py \
"$SOURCE_RIGHT/linkerhand_g20_right.urdf" "$OUTPUT" --headless --fix-base \
--joint-stiffness 3 --joint-damping 0.1 --joint-target-type position
```
实际原始 URDF SHA256：`aa198155651eb7e815f1c27bc8bd9c902e969e81c1165aed756779db378e715d`。
转换源依赖包 SHA256：`d38dc5e4d473119b237b86bdd36087788f726abd9f486b1678f4e719d5513098`。
控制覆盖层完整包 SHA256：`3e2071a60496b23bed252f4e2fc6e1d4540eecc8098578506419b5eb594f7da0`。
导入器文档字符串带临时生成路径，不是外部资源引用；所有实际解析依赖均在本目录内。
实际检查结果：22个刚体、21个 revolute 状态关节、16个模型独立目标、5组被动联动。
名字排序与当前左手相同，但**几何/惯量/轴方向/限位不宣称相同**：
- 右拇指 `thumb_ip=1.03*thumb_mcp`（左手1.02）；其他四指 `dip=.89*pip`，全部 offset=0。
- 右 `thumb_cmc_pitch/roll/mcp` 上限 `.83/1.39/1.25 rad`，四指 pip上限 `1.75 rad`；其余精确值见清单。
- 原URDF `thumb_cmc_yaw` 轴为负Z；USD规范轴Z配合 `localRot1` 后为负Z。
全部21条变换后的轴与源URDF核对通过；不能只看USD的轴字母判断正负。
- 源 `root_joint` 是叶 fixed joint，body0为非刚体且世界变换为单位阵的 default Xform，body1为根link。
ArticulationRoot 在 `Geometry` 容器，不是左手旧固定关节位置。
- 覆盖层只禁用/停用该叶锚点、迁移根API及去掉五个 follower angular drives。
右源有 `NewtonArticulationRootAPI`；安装 schema 明确继承 `PhysicsArticulationRootAPI`，因此一起迁移到根link，
不能留在旧Geometry制造第二个有效根。原本存在的 Physics/Physx/Newton 根API迁移，保留旧/新位置已解析属性，
包括 `newton:selfCollisionEnabled=false`。左手没有的Newton根API不添加。
- 门禁要求精确静态端点、单位世界变换、无时间采样/重置绕过、精确根容器；其他prim状态、API、属性、关系和变换保持。
注册schema回归证明迁移后只有一个**有效**Physics根。Newton后端没有运行；仅验证 PhysX。
## 真实运行证据（2026-09-11）
Isaac Sim6.0.1、PhysX110.1.13、RTX5080，seed42、单环境、240Hz，无物体/桌面/训练。
完整预算4次 Kit 启动，每次外部timeout300s：转换、右small、右HDF5、左small回归；均退出0。
回放三次各有明确 PASS JSON、两轮完整步数、reset/位置及速度重复性、有限值/限位/被动非零运动检查。
三次均报告浮动根、21个活动状态关节、1个有效根、旧锚点inactive；没有重复/嵌套根或CreateJoint警告。
| 用例 | 每轮步数 × 轮数 | 最大腕位置误差 m | 最大腕姿态误差 rad | 最大关节误差 rad | 最大联动残差 rad |
| --- | --- | --- | --- | --- | --- |
| 右small（2mmX、.01rad yaw、2s） | 480×2 | .000366063 | .002292019 | .009957471 | .000525197 |
| 右range_4s HDF5（10mmX、.1rad yaw、4s） | 960×2 | .001207785 | .010241941 | .018221961 | .000575949 |
| 左small回归 | 480×2 | .000492342 | .003755143 | .008628675 | .000221643 |
右range RMS同序：`.000761782 / .007442808 / .013643790 / .000266136`。
关节/联动列先取每帧各关节最大绝对误差再汇总。两轮汇总相同，但不保证跨运行GPU位级确定性。
左回归与之前左small指标完全相同；左右为不同模型，不能把表中数值解释为同一控制性能 benchmark。
原有控制参数与阈值不变：腕P/D100/10、姿态P/D.2/.02、wrench20N/1Nm；master驱动3/.1，effort.2Nm、velocity.5rad/s。
合成轨迹使用实际右手限位与1.03联动，源参考有限且全有效；所有关节有零位及正向空间，无需负向替代/裁剪。
每步仍只发受限wrench及独立目标，不逐步teleport；只有reset写状态。
实际运行命令（仓库根目录）：
```bash
export PYTHONPATH="$PWD/source/dex_workbench${PYTHONPATH:+:$PYTHONPATH}"
RIGHT=assets/robots/dex_hand/linkerhand_g20_right
timeout 300s ~/isaacsim/python.sh scripts/tracking/track_l20.py "$RIGHT/tracking.usda" \
--manifest "$RIGHT/tracking_manifest.json" --execute-experimental --headless --steps 480
~/isaacsim/python.sh -m dex_workbench_tracking.cli synthetic --manifest "$RIGHT/tracking_manifest.json" \
--profile range_4s --output "$EVIDENCE/range.hdf5"
timeout 300s ~/isaacsim/python.sh scripts/tracking/track_l20.py "$RIGHT/tracking.usda" \
--manifest "$RIGHT/tracking_manifest.json" --execute-experimental --headless --steps 960 \
--hdf5 "$EVIDENCE/range.hdf5" --episode demo_000000
```
`EVIDENCE` 由调用方指定为仓库外持久目录。生成HDF5拒绝覆盖；重跑请选择新路径。
仅在用户Kit会话已释放、预算另获授权后执行。
上述9月11日历史运行使用临时证据目录 `l20-right`：`{convert,small,hdf5,left}.log` 和 `*-result.txt`；源/轴核验、CPU回归、插件准备、
日志解析及前后GPU检查在同目录。每次运行前后未发现残留Kit；并不证明所有资源完全恢复。
75项CPU/USD测试通过，含右资产重定位、左右身份错配（即使伪造hash/root）、端点/容器篡改、
注册schema下Newton根继承与时间采样检查。完整pre-commit工具缺失，不能宣称全量发布门禁通过。
## 兼容性与剩余边界
- HDF5仍为`l20_tracking_v1`，新增显式`hand_side=right`，且必须配套右清单。旧无side左清单兼容；
右清单不得省略side或借用左URDF身份。旧版本读取器只认left，读右数据须升级本次代码。
- prepared schema context新增Newton根schema，**此前生成的覆盖层需要重新生成**，不能编辑ready字段绕过。
生成时重复传入 `--schema-plugin-path`，分别指向安装的PhysX和Newton `plugInfo.json`，见根目录L20文档。
- 原始USD/URDF、左侧资产、Cartpole、任务ID及用户Data目录均未修改；v0.1.2仅版本化相关代码与文本元数据。
干净克隆缺少本地右USD依赖，右资产CPU测试/回放仍BLOCKED，不将缺资产跳过当成通过。
- 仍有TGS外力迭代、16/21 actuator（有意被动）、protobuf重复注册、visualizer/MaterialX/usdrt警告，未压制或调参消除。
- 上述9月11日证据仅两个简单合成轨迹。9月14日另一次80倍慢放专家参考的完整回放及GUI展示边界
见根目录 [`L20_TRACKING.md`](../../../../L20_TRACKING.md) 第5–6节；不证明专家原速、接触/自碰撞任务、
多环境、学习策略、Newton后端或硬件。增益待校准，无SysID/Sim2Real有效性声明。
assets/robots/dex_hand/linkerhand_g20_right/source_provenance.json
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{
"source_origin": "user-provided linker-bot/Linkerbot_URDF/L20/RIGHT",
"source_robot_name": "linkerhand_L25NS_right.urdf",
"license_status": "NOT_CONFIRMED; user-authorized local simulation, no redistribution grant inferred",
"source_files": [
{
"path": "g20_right_G20.json",
"bytes": 111584,
"sha256": "314865d5bc359996bb182942fefc597f989ebfa6c9b3c97a9086acf38b0712ee"
},
{
"path": "linkerhand_g20_right.urdf",
"bytes": 28687,
"sha256": "aa198155651eb7e815f1c27bc8bd9c902e969e81c1165aed756779db378e715d"
},
{
"path": "meshes/hand_base_link.STL",
"bytes": 3433184,
"sha256": "79e36d4c7e9282c79601976d41144557d1928810202589e31bed335f3d308cd1"
},
{
"path": "meshes/index_distal.STL",
"bytes": 984884,
"sha256": "324aa4b852e0c469bfc0c0bb9b19e0ccffc7dcb401d6a678481340588465fa26"
},
{
"path": "meshes/index_metacarpals.STL",
"bytes": 151784,
"sha256": "106ad58d52420c3216ccb87865f55062d4b4b558078dda95210a085a9bbe277c"
},
{
"path": "meshes/index_middle.STL",
"bytes": 805584,
"sha256": "27f9ccd91c5bdb1f6a1c42aeee4ab79e7e0aaf1e124a36999c75715b70d0aee6"
},
{
"path": "meshes/index_proximal.STL",
"bytes": 883184,
"sha256": "d4f85e69dd94d56bdc4646c945ca8a237c652fd5dffba86c7b9ce1d8067ae8e1"
},
{
"path": "meshes/middle_distal.STL",
"bytes": 984884,
"sha256": "688be3d9dd7fda49a8f9dbba824fedef5cf427c94e2e9e1ea96834eafbf6945a"
},
{
"path": "meshes/middle_metacarpals.STL",
"bytes": 151784,
"sha256": "65bc65257a01e0ccd284dfdf3b2a66f2a865bf80faeb4da746cd1fd05114fe40"
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"path": "meshes/middle_middle.STL",
"bytes": 805584,
"sha256": "600b8e7486abc8a2707a5ecc66d4b5bea1dc0895c7173e911ba994f5cac30c10"
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"bytes": 883184,
"sha256": "edd3af02319cd4a3b4e07a6f5d33d501887d5ab78625489254f289785b6f57e1"
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{
"path": "meshes/pinky_distal.STL",
"bytes": 984884,
"sha256": "3b22871d948ef80447f93866af3643ffa87cb22c1c172750fca9357f3aaa46de"
},
{
"path": "meshes/pinky_metacarpals.STL",
"bytes": 151784,
"sha256": "b63d10a0e18af0169c75b85eb740c1f25123f6c4c5be0c5368afc65e8c73771f"
},
{
"path": "meshes/pinky_middle.STL",
"bytes": 805584,
"sha256": "c6696bfcd2dbef8f248f86a6f45a90d5ba7b40e11cdb13a86b96347240a7b751"
},
{
"path": "meshes/pinky_proximal.STL",
"bytes": 883184,
"sha256": "311ce029c4972530d3b234307f4ea6ca1789577c2786d56f969a5dfac2ef6a57"
},
{
"path": "meshes/ring_distal.STL",
"bytes": 984884,
"sha256": "fca7bf31fa3f377110d31f7623e27f8c7845faedbdca7c09f98c94a28867bd69"
},
{
"path": "meshes/ring_metacarpals.STL",
"bytes": 151784,
"sha256": "11797279afee7f856e472755d3a96593baea659d2ec0014edb02006ae48b5d71"
},
{
"path": "meshes/ring_middle.STL",
"bytes": 805584,
"sha256": "2b3a0815e8daf95e76c9f54f84c13709a3951aa44ec6bb863facf60ba32c3c16"
},
{
"path": "meshes/ring_proximal.STL",
"bytes": 883184,
"sha256": "168df91e5a5643a899556f96ca3f3b7fe8a3349436be42dfb5632c0d524f9a47"
},
{
"path": "meshes/thumb_distal.STL",
"bytes": 1108484,
"sha256": "026dd2fac43c4461c5a90561ef29039f4a08802c0e47e5c422ecac2f34babe1e"
},
{
"path": "meshes/thumb_metacarpals.STL",
"bytes": 1158784,
"sha256": "0a82998ece3c784bba7861b850d00ed483d93434f94f72c6298fea0917e328ca"
},
{
"path": "meshes/thumb_metacarpals_base1.STL",
"bytes": 852984,
"sha256": "8416e5f826f12c4597754fbe3052983635345a76e3d98a4cdbc38ed363a9da78"
},
{
"path": "meshes/thumb_metacarpals_base2.STL",
"bytes": 227884,
"sha256": "a5679a28a612ab6aa62a4f7fa1c67be42f807bba7c2ca00ba062ca2e4ef0070d"
},
{
"path": "meshes/thumb_proximal.STL",
"bytes": 716984,
"sha256": "4cd7d6a283d2e5c3f6dfbd88aa1e18f9f481375d1e6b47f2c373a285184b123d"
}
],
"urdf_axes_xyz": {
"thumb_cmc_roll": [
1.0,
0.0,
0.0
],
"thumb_cmc_yaw": [
0.0,
0.0,
-1.0
],
"thumb_cmc_pitch": [
0.0,
1.0,
0.0
],
"thumb_mcp": [
0.0,
1.0,
0.0
],
"thumb_ip": [
0.0,
1.0,
0.0
],
"index_mcp_roll": [
1.0,
0.0,
0.0
],
"index_mcp_pitch": [
0.0,
1.0,
0.0
],
"index_pip": [
0.0,
1.0,
0.0
],
"index_dip": [
0.0,
1.0,
0.0
],
"middle_mcp_roll": [
1.0,
0.0,
0.0
],
"middle_mcp_pitch": [
0.0,
1.0,
0.0
],
"middle_pip": [
0.0,
1.0,
0.0
],
"middle_dip": [
0.0,
1.0,
0.0
],
"ring_mcp_roll": [
1.0,
0.0,
0.0
],
"ring_mcp_pitch": [
0.0,
1.0,
0.0
],
"ring_pip": [
0.0,
1.0,
0.0
],
"ring_dip": [
0.0,
1.0,
0.0
],
"pinky_mcp_roll": [
1.0,
0.0,
0.0
],
"pinky_mcp_pitch": [
0.0,
1.0,
0.0
],
"pinky_pip": [
0.0,
1.0,
0.0
],
"pinky_dip": [
0.0,
1.0,
0.0
]
},
"converter": "IsaacLab/scripts/tools/convert_urdf.py",
"converter_sha256": "55882895652f83b19b05b6fb38fc441ac60900ef6a1261d1dbabeabcbc189e65",
"converter_options": {
"headless": true,
"fix_base": true,
"merge_joints": false,
"joint_stiffness": 3.0,
"joint_damping": 0.1,
"joint_target_type": "position"
},
"generated_geometry_bytes": 4329903,
"publication_status": "BLOCKED: >2000KB geometry requires confirmed LFS or approved versioned external storage and redistribution licensing; generated USDs not staged or bundled"
}
assets/robots/dex_hand/linkerhand_g20_right/tracking_manifest.json
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{
"hand_side": "right",
"manifest_version": "l20_asset_manifest_v1",
"asset_sha256": "d38dc5e4d473119b237b86bdd36087788f726abd9f486b1678f4e719d5513098",
"entry_file": "linkerhand_g20_right.usda",
"dependencies": [
{
"path": "linkerhand_g20_right.usda",
"sha256": "dc8e7e4883b761df19853bf53381b5749146cbe597d1289fae1545664c4e70f4"
},
{
"path": "payloads/Physics/mujoco.usda",
"sha256": "4384c714631d20a731a92a99270e47ce9f355429594168db81509afe4e1d0ca5"
},
{
"path": "payloads/Physics/physics.usda",
"sha256": "c18dea5558b0161bb46b3e724271714d3ec1cc4af830f96335dcc27956ce0071"
},
{
"path": "payloads/Physics/physx.usda",
"sha256": "c6a2ffc8bf93985a3798677d4b7efd11cbed55b430859bdce861d2f5d7ca9024"
},
{
"path": "payloads/base.usda",
"sha256": "b8f90dc5bf297c15a0b28bca946aabd1561e96e502512431c8f269732c4adc06"
},
{
"path": "payloads/geometries.usd",
"sha256": "625aa0357691d74c0a420d76a6d177c1fed4fe76e6c22b237080d05285c45d1c"
},
{
"path": "payloads/instances.usda",
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"path": "/tn__linkerhand_L25NS_righturdf_td0/Physics/pinky_dip",
"body0": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle",
"body1": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle/pinky_distal",
"axis": "Y",
"lower_rad": 0.0,
"upper_rad": 1.5499999681585768,
"authored_drive_properties_usd_units": {
"drive:angular:physics:damping": 0.001745329238474369,
"drive:angular:physics:maxForce": 1.0,
"drive:angular:physics:stiffness": 0.05235987901687622,
"drive:angular:physics:type": "force",
"physxJoint:maxJointVelocity": 5729.578125
}
},
{
"name": "pinky_mcp_pitch",
"path": "/tn__linkerhand_L25NS_righturdf_td0/Physics/pinky_mcp_pitch",
"body0": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/pinky_metacarpals",
"body1": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal",
"axis": "Y",
"lower_rad": 0.0,
"upper_rad": 1.219999954319697,
"authored_drive_properties_usd_units": {
"drive:angular:physics:damping": 0.001745329238474369,
"drive:angular:physics:maxForce": 1.0,
"drive:angular:physics:stiffness": 0.05235987901687622,
"drive:angular:physics:type": "force",
"physxJoint:maxJointVelocity": 5729.578125
}
},
{
"name": "pinky_mcp_roll",
"path": "/tn__linkerhand_L25NS_righturdf_td0/Physics/pinky_mcp_roll",
"body0": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link",
"body1": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/pinky_metacarpals",
"axis": "X",
"lower_rad": -0.22999999602684235,
"upper_rad": 0.22999999602684235,
"authored_drive_properties_usd_units": {
"drive:angular:physics:damping": 0.001745329238474369,
"drive:angular:physics:maxForce": 1.0,
"drive:angular:physics:stiffness": 0.05235987901687622,
"drive:angular:physics:type": "force",
"physxJoint:maxJointVelocity": 5729.578125
}
},
{
"name": "pinky_pip",
"path": "/tn__linkerhand_L25NS_righturdf_td0/Physics/pinky_pip",
"body0": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal",
"body1": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle",
"axis": "Y",
"lower_rad": 0.0,
"upper_rad": 1.7500000370721651,
"authored_drive_properties_usd_units": {
"drive:angular:physics:damping": 0.001745329238474369,
"drive:angular:physics:maxForce": 1.0,
"drive:angular:physics:stiffness": 0.05235987901687622,
"drive:angular:physics:type": "force",
"physxJoint:maxJointVelocity": 5729.578125
}
},
{
"name": "ring_dip",
"path": "/tn__linkerhand_L25NS_righturdf_td0/Physics/ring_dip",
"body0": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle",
"body1": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle/ring_distal",
"axis": "Y",
"lower_rad": 0.0,
"upper_rad": 1.5499999681585768,
"authored_drive_properties_usd_units": {
"drive:angular:physics:damping": 0.001745329238474369,
"drive:angular:physics:maxForce": 1.0,
"drive:angular:physics:stiffness": 0.05235987901687622,
"drive:angular:physics:type": "force",
"physxJoint:maxJointVelocity": 5729.578125
}
},
{
"name": "ring_mcp_pitch",
"path": "/tn__linkerhand_L25NS_righturdf_td0/Physics/ring_mcp_pitch",
"body0": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/ring_metacarpals",
"body1": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/ring_metacarpals/ring_proximal",
"axis": "Y",
"lower_rad": 0.0,
"upper_rad": 1.219999954319697,
"authored_drive_properties_usd_units": {
"drive:angular:physics:damping": 0.001745329238474369,
"drive:angular:physics:maxForce": 1.0,
"drive:angular:physics:stiffness": 0.05235987901687622,
"drive:angular:physics:type": "force",
"physxJoint:maxJointVelocity": 5729.578125
}
},
{
"name": "ring_mcp_roll",
"path": "/tn__linkerhand_L25NS_righturdf_td0/Physics/ring_mcp_roll",
"body0": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link",
"body1": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/ring_metacarpals",
"axis": "X",
"lower_rad": -0.22999999602684235,
"upper_rad": 0.22999999602684235,
"authored_drive_properties_usd_units": {
"drive:angular:physics:damping": 0.001745329238474369,
"drive:angular:physics:maxForce": 1.0,
"drive:angular:physics:stiffness": 0.05235987901687622,
"drive:angular:physics:type": "force",
"physxJoint:maxJointVelocity": 5729.578125
}
},
{
"name": "ring_pip",
"path": "/tn__linkerhand_L25NS_righturdf_td0/Physics/ring_pip",
"body0": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/ring_metacarpals/ring_proximal",
"body1": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle",
"axis": "Y",
"lower_rad": 0.0,
"upper_rad": 1.7500000370721651,
"authored_drive_properties_usd_units": {
"drive:angular:physics:damping": 0.001745329238474369,
"drive:angular:physics:maxForce": 1.0,
"drive:angular:physics:stiffness": 0.05235987901687622,
"drive:angular:physics:type": "force",
"physxJoint:maxJointVelocity": 5729.578125
}
},
{
"name": "thumb_cmc_pitch",
"path": "/tn__linkerhand_L25NS_righturdf_td0/Physics/thumb_cmc_pitch",
"body0": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2",
"body1": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals",
"axis": "Y",
"lower_rad": 0.0,
"upper_rad": 0.8299999863857683,
"authored_drive_properties_usd_units": {
"drive:angular:physics:damping": 0.001745329238474369,
"drive:angular:physics:maxForce": 1.0,
"drive:angular:physics:stiffness": 0.05235987901687622,
"drive:angular:physics:type": "force",
"physxJoint:maxJointVelocity": 5729.578125
}
},
{
"name": "thumb_cmc_roll",
"path": "/tn__linkerhand_L25NS_righturdf_td0/Physics/thumb_cmc_roll",
"body0": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link",
"body1": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/thumb_metacarpals_base1",
"axis": "X",
"lower_rad": 0.0,
"upper_rad": 1.3900000461857607,
"authored_drive_properties_usd_units": {
"drive:angular:physics:damping": 0.001745329238474369,
"drive:angular:physics:maxForce": 1.0,
"drive:angular:physics:stiffness": 0.05235987901687622,
"drive:angular:physics:type": "force",
"physxJoint:maxJointVelocity": 5729.578125
}
},
{
"name": "thumb_cmc_yaw",
"path": "/tn__linkerhand_L25NS_righturdf_td0/Physics/thumb_cmc_yaw",
"body0": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/thumb_metacarpals_base1",
"body1": "/tn__linkerhand_L25NS_righturdf_td0/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": 0.001745329238474369,
"drive:angular:physics:maxForce": 1.0,
"drive:angular:physics:stiffness": 0.05235987901687622,
"drive:angular:physics:type": "force",
"physxJoint:maxJointVelocity": 5729.578125
}
},
{
"name": "thumb_ip",
"path": "/tn__linkerhand_L25NS_righturdf_td0/Physics/thumb_ip",
"body0": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals/thumb_proximal",
"body1": "/tn__linkerhand_L25NS_righturdf_td0/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": 0.001745329238474369,
"drive:angular:physics:maxForce": 1.0,
"drive:angular:physics:stiffness": 0.05235987901687622,
"drive:angular:physics:type": "force",
"physxJoint:maxJointVelocity": 5729.578125
}
},
{
"name": "thumb_mcp",
"path": "/tn__linkerhand_L25NS_righturdf_td0/Physics/thumb_mcp",
"body0": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals",
"body1": "/tn__linkerhand_L25NS_righturdf_td0/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals/thumb_proximal",
"axis": "Y",
"lower_rad": 0.0,
"upper_rad": 1.2500000645252762,
"authored_drive_properties_usd_units": {
"drive:angular:physics:damping": 0.001745329238474369,
"drive:angular:physics:maxForce": 1.0,
"drive:angular:physics:stiffness": 0.05235987901687622,
"drive:angular:physics:type": "force",
"physxJoint:maxJointVelocity": 5729.578125
}
}
],
"source_urdf": {
"status": "STRUCTURAL_MATCH_ONLY",
"file_name": "linkerhand_g20_right.urdf",
"sha256": "aa198155651eb7e815f1c27bc8bd9c902e969e81c1165aed756779db378e715d",
"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": 1.03,
"offset_rad": 0.0
}
]
},
"coupling_evidence": [
"/tn__linkerhand_L25NS_righturdf_td0/Physics/thumb_ip.newton:mimicCoef1",
"/tn__linkerhand_L25NS_righturdf_td0/Physics/thumb_ip.newton:mimicJoint",
"/tn__linkerhand_L25NS_righturdf_td0/Physics/thumb_ip: SdfTokenListOp(Explicit Items: [PhysxJointAPI, NewtonMimicAPI, PhysicsDriveAPI:angular, PhysicsJointStateAPI:angular, IsaacJointAPI])",
"/tn__linkerhand_L25NS_righturdf_td0/Physics/index_dip.newton:mimicCoef1",
"/tn__linkerhand_L25NS_righturdf_td0/Physics/index_dip.newton:mimicJoint",
"/tn__linkerhand_L25NS_righturdf_td0/Physics/index_dip: SdfTokenListOp(Explicit Items: [PhysxJointAPI, NewtonMimicAPI, PhysicsDriveAPI:angular, PhysicsJointStateAPI:angular, IsaacJointAPI])",
"/tn__linkerhand_L25NS_righturdf_td0/Physics/middle_dip.newton:mimicCoef1",
"/tn__linkerhand_L25NS_righturdf_td0/Physics/middle_dip.newton:mimicJoint",
"/tn__linkerhand_L25NS_righturdf_td0/Physics/middle_dip: SdfTokenListOp(Explicit Items: [PhysxJointAPI, NewtonMimicAPI, PhysicsDriveAPI:angular, PhysicsJointStateAPI:angular, IsaacJointAPI])",
"/tn__linkerhand_L25NS_righturdf_td0/Physics/ring_dip.newton:mimicCoef1",
"/tn__linkerhand_L25NS_righturdf_td0/Physics/ring_dip.newton:mimicJoint",
"/tn__linkerhand_L25NS_righturdf_td0/Physics/ring_dip: SdfTokenListOp(Explicit Items: [PhysxJointAPI, NewtonMimicAPI, PhysicsDriveAPI:angular, PhysicsJointStateAPI:angular, IsaacJointAPI])",
"/tn__linkerhand_L25NS_righturdf_td0/Physics/pinky_dip.newton:mimicCoef1",
"/tn__linkerhand_L25NS_righturdf_td0/Physics/pinky_dip.newton:mimicJoint",
"/tn__linkerhand_L25NS_righturdf_td0/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."
]
}