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91093de | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 | """Shared read-only helpers for independent case validators."""
from __future__ import annotations
import fnmatch
import math
def planar_distance(a, b):
return math.hypot(a[0] - b[0], a[1] - b[1])
def norm(values):
return math.sqrt(sum(value * value for value in values))
def in_aabb(position, region):
return all(lo <= value <= hi for value, lo, hi in zip(position, region["min_xyz_m"], region["max_xyz_m"]))
def final_window(frames, hold_s):
if not frames:
return []
start = frames[-1]["t"] - hold_s
return [frame for frame in frames if frame["t"] >= start]
def body_speed(frame, body_name):
return norm(frame["bodies"][body_name]["linear_velocity"])
def first_time(frames, predicate):
for frame in frames:
if predicate(frame):
return frame["t"]
return None
def _contact_endpoint_matches(contact, endpoint, binding):
geom_name = contact["geom" + str(endpoint)]
body_name = contact["body" + str(endpoint)]
return (
any(fnmatch.fnmatchcase(geom_name, pattern) for pattern in binding.get("geoms", []))
or any(fnmatch.fnmatchcase(body_name, pattern) for pattern in binding.get("bodies", []))
)
def semantic_contact_matches(frame, policy, left, right):
groups = policy["groups"]
left_binding = groups[left]
right_binding = groups[right]
for contact in frame["contacts"]:
if contact["normal_force_N"] <= 0.0 and contact["distance_m"] >= 0.0:
continue
direct = _contact_endpoint_matches(contact, 1, left_binding) and _contact_endpoint_matches(contact, 2, right_binding)
reverse = _contact_endpoint_matches(contact, 2, left_binding) and _contact_endpoint_matches(contact, 1, right_binding)
if direct or reverse:
return True
return False
def roll_pitch(quaternion):
w, x, y, z = quaternion
roll = math.atan2(2 * (w * x + y * z), 1 - 2 * (x * x + y * y))
pitch = math.asin(max(-1.0, min(1.0, 2 * (w * y - z * x))))
return roll, pitch
FORCE_BALANCE_RELATIVE_TOLERANCE = 1e-5
QUATERNION_NORM_TOLERANCE = 1e-6
def base_result(raw, predicates):
initial = raw["initial_admissibility"]
safety = raw["safety"]
integrity_audit = raw["integrity_audit"]
integrity = bool(
raw["finite_execution"]
and raw["model_mutation_guard_pass"]
and not integrity_audit["integrity_violation"]
)
task_pass = all(item["pass"] for item in predicates if item.get("mandatory", True))
summary = raw["summary"]
diagnostic_values = [
summary.get("generalized_force_residual_relative_max", math.inf),
summary.get("constraint_force_residual_relative_max", math.inf),
summary.get("maximum_quaternion_norm_error", math.inf),
summary.get("maximum_linear_acceleration_mps2", math.inf),
summary.get("maximum_angular_acceleration_radps2", math.inf),
summary.get("maximum_linear_jerk_mps3", math.inf),
summary.get("maximum_angular_jerk_radps3", math.inf),
summary.get("total_energy_range_J", math.inf),
]
diagnostics_finite = all(math.isfinite(value) for value in diagnostic_values)
mechanics_pass = bool(
diagnostics_finite
and diagnostic_values[0] <= FORCE_BALANCE_RELATIVE_TOLERANCE
)
kinematics_pass = bool(
diagnostics_finite
and diagnostic_values[2] <= QUATERNION_NORM_TOLERANCE
)
friction_pass = not safety.get("friction_cone_failure_episode", False)
physical = bool(
initial["penetration_pass_1mm"]
and summary["maximum_penetration_m"] <= 0.001
and not safety["forbidden_contact_episode"]
and not safety["joint_limit_violation_episode"]
and mechanics_pass
and kinematics_pass
and friction_pass
)
return {
"schema_version": "simcode4d.dev15.validation.v1",
"case_id": raw["case_id"],
"generation_seed": raw["generation_seed"],
"physics_seed": raw["physics_seed"],
"status": "pass" if task_pass and physical and integrity else "fail",
"atomic_predicates": predicates,
"task_predicates_pass": task_pass,
"physical_admissibility_pass": physical,
"integrity_pass": integrity,
"safety_pass": physical,
"forbidden_contact_episode": safety["forbidden_contact_episode"],
"forbidden_contact_time_ratio": safety["forbidden_contact_time_ratio"],
"joint_limit_violation_episode": safety["joint_limit_violation_episode"],
"joint_limit_violation_time_ratio": safety["joint_limit_violation_time_ratio"],
"friction_cone_failure_episode": safety.get("friction_cone_failure_episode", False),
"friction_cone_failure_time_ratio": safety.get("friction_cone_failure_time_ratio", 0.0),
"friction_utilization_p95": safety.get("friction_utilization_p95", 0.0),
"friction_utilization_max": safety.get("friction_utilization_max", 0.0),
"tangential_slip_speed_p95_mps": safety.get("tangential_slip_speed_p95_mps", 0.0),
"tangential_slip_speed_max_mps": safety.get("tangential_slip_speed_max_mps", 0.0),
"friction_contact_sample_count": summary.get("friction_contact_sample_count", 0),
"slip_reporting_sample_count": summary.get("slip_reporting_sample_count", 0),
"dynamic_penetration_p95_m": safety["dynamic_penetration_p95_m"],
"mechanics_consistency_pass": mechanics_pass,
"kinematics_consistency_pass": kinematics_pass,
"diagnostics_finite": diagnostics_finite,
"force_balance_relative_tolerance": FORCE_BALANCE_RELATIVE_TOLERANCE,
"quaternion_norm_tolerance": QUATERNION_NORM_TOLERANCE,
"generalized_force_residual_relative_max": summary.get("generalized_force_residual_relative_max", math.inf),
"constraint_force_residual_relative_max": summary.get("constraint_force_residual_relative_max", math.inf),
"forward_inverse_residual_relative_max": summary.get("generalized_force_residual_relative_max", math.inf),
"maximum_quaternion_norm_error": summary.get("maximum_quaternion_norm_error", math.inf),
"maximum_joint_speed": summary.get("maximum_joint_speed", math.inf),
"maximum_linear_acceleration_mps2": summary.get("maximum_linear_acceleration_mps2", math.inf),
"maximum_angular_acceleration_radps2": summary.get("maximum_angular_acceleration_radps2", math.inf),
"maximum_linear_jerk_mps3": summary.get("maximum_linear_jerk_mps3", math.inf),
"maximum_angular_jerk_radps3": summary.get("maximum_angular_jerk_radps3", math.inf),
"total_energy_range_J": summary.get("total_energy_range_J", math.inf),
"kinetic_energy_max_J": summary.get("kinetic_energy_max_J", math.inf),
"action_bound_violation": integrity_audit["action_bound_violation"],
"undeclared_equality_activation": integrity_audit["undeclared_equality_activation"],
"dev_reference_success": bool(task_pass and physical and integrity),
"maximum_penetration_m": raw["summary"]["maximum_penetration_m"],
}
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