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