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"""Build immutable repaired runtime artifacts without modifying legacy evidence."""
from __future__ import annotations
import argparse
import hashlib
import json
from pathlib import Path
import shutil
import xml.etree.ElementTree as ET
CASES = {
"NAT-01-rock-kick": "benchmark/simcode4d_unified/assets/nat01_meshes/module2/scene_m2.xml",
"NAT-02-hills-turn-stop": "benchmark/simcode4d_unified/source_reexports/NAT-02-hills-turn-stop-v3/module1/scene_enriched.xml",
"NAT-03-water-land": "deliverables/final_real8s_physical_2026-09-01/module1/scene10_amphibious/simready_scene.xml",
"SER-01-medicine": "deliverables/final_real8s_physical_2026-09-01/module1/scene_indoor_service/simready_scene.xml",
"SER-02-airport-luggage": "deliverables/final_real8s_physical_2026-09-01/module1/indoor2_airport/simready_scene.xml",
"SER-03-hotel-drawer": "deliverables/final_real8s_physical_2026-09-01/module1/indoor3_hotel/simready_scene.xml",
}
NAT01_SETTLED_QPOS = (26.9793591, -15.0211407, 1.10181477, 0.90872691, 0.265148019, -0.298678111, -0.121257233, 26.6556659, -15.1999169, 1.32588315, 0.999490352, -0.000366512125, -0.0319181941, 0.000360344278, 0.00292017051, 0.860353211, -1.8890557, -0.0035973969, 0.861092078, -1.88977172, 0.00386155084, 0.867468593, -1.93454207, -0.00328878759, 0.866961307, -1.93342274)
def sha256_file(path: Path) -> str:
digest = hashlib.sha256()
with path.open("rb") as handle:
for block in iter(lambda: handle.read(1024 * 1024), b""):
digest.update(block)
return digest.hexdigest()
def harden_contacts(root: ET.Element) -> None:
for default in root.findall("./default"):
geom = default.find("geom")
if geom is not None:
geom.set("solref", ".002 1")
geom.set("solimp", ".995 .9999 .0002")
geom.set("margin", ".003")
for geom in root.findall(".//geom"):
if geom.get("contype") == "0" and geom.get("conaffinity") == "0":
continue
geom.set("solref", ".002 1")
geom.set("solimp", ".995 .9999 .0002")
margin = max(float(geom.get("margin", "0")), 0.003)
geom.set("margin", f"{margin:.6g}")
def stabilize_hfield_contacts(root: ET.Element) -> None:
for default in root.findall("./default"):
geom = default.find("geom")
if geom is not None:
geom.set("solref", ".0025 1")
geom.set("solimp", ".95 .99 .001")
geom.set("margin", ".003")
for geom in root.findall(".//geom"):
if geom.get("contype") == "0" and geom.get("conaffinity") == "0":
continue
geom.set("solref", ".0025 1")
geom.set("solimp", ".95 .99 .001")
geom.set("margin", ".003")
def add_contact_exclusion(root: ET.Element, body1: str, body2: str) -> None:
contact = root.find("./contact")
if contact is None:
contact = ET.SubElement(root, "contact")
for exclude in contact.findall("exclude"):
if {exclude.get("body1"), exclude.get("body2")} == {body1, body2}:
return
ET.SubElement(contact, "exclude", {"name": "benchmark_grasp_clearance", "body1": body1, "body2": body2})
def add_base_actuators(root: ET.Element, free_joint: str, force_limit: float, yaw_limit: float) -> None:
actuator = root.find("./actuator")
if actuator is None:
actuator = ET.SubElement(root, "actuator")
existing = {child.get("name") for child in actuator}
channels = (
("base_force_x_ctrl", "1 0 0 0 0 0", force_limit),
("base_force_y_ctrl", "0 1 0 0 0 0", force_limit),
("base_force_z_ctrl", "0 0 1 0 0 0", 5500.0),
("base_roll_ctrl", "0 0 0 1 0 0", 5500.0),
("base_pitch_ctrl", "0 0 0 0 1 0", 5500.0),
("base_yaw_ctrl", "0 0 0 0 0 1", yaw_limit),
)
for name, gear, limit in channels:
if name in existing:
continue
ET.SubElement(actuator, "motor", {"name": name, "joint": free_joint, "gear": gear,
"ctrllimited": "true", "ctrlrange": f"{-limit:g} {limit:g}"})
def add_joint_limit_buffer(root: ET.Element, joint_names: tuple[str, ...]) -> None:
for name in joint_names:
joint = root.find(f".//joint[@name='{name}']")
if joint is None or not joint.get("range"):
continue
lower, upper = (float(value) for value in joint.get("range").split())
if abs(lower) <= 1e-12:
joint.set("range", f"-.01 {upper:g}")
def patch_nat01(root: ET.Element, destination_dir: Path) -> None:
key = root.find("./keyframe/key[@name='m2_init']")
if key is None:
raise RuntimeError("NAT-01 m2_init key is missing")
source_values = key.get("qpos", "").split()
if len(source_values) != len(NAT01_SETTLED_QPOS):
raise RuntimeError("NAT-01 qpos layout changed; settled keyframe must be regenerated")
key.set("qpos", " ".join(f"{value:.9g}" for value in NAT01_SETTLED_QPOS))
include = root.find("./include")
if include is not None:
source = Path(include.get("file", "")).resolve()
robot_tree = ET.parse(source)
harden_contacts(robot_tree.getroot())
runtime_include = destination_dir / "go2_runtime.xml"
ET.indent(robot_tree, space=" ")
robot_tree.write(runtime_include, encoding="unicode")
include.set("file", str(runtime_include.resolve()))
def patch_nat02(root: ET.Element, workspace: Path, destination_dir: Path) -> None:
stabilize_hfield_contacts(root)
source = (workspace / "jackal_ugv/jackal.xml").resolve()
jackal_tree = ET.parse(source)
jackal_root = jackal_tree.getroot()
compiler = jackal_root.find("./compiler")
if compiler is not None:
compiler.attrib.pop("meshdir", None)
for joint in jackal_root.findall(".//joint"):
name = joint.get("name", "")
if name.startswith("jackal_") and name.endswith("_joint"):
joint.set("damping", "2")
joint.set("armature", ".08")
wheel_suspensions = {
"jackal_front_left_wheel": "jackal_front_left_suspension",
"jackal_front_right_wheel": "jackal_front_right_suspension",
"jackal_rear_left_wheel": "jackal_rear_left_suspension",
"jackal_rear_right_wheel": "jackal_rear_right_suspension",
}
for body in jackal_root.findall(".//body"):
suspension_name = wheel_suspensions.get(body.get("name", ""))
if suspension_name:
suspension = ET.Element(
"joint",
{"name": suspension_name, "type": "slide", "axis": "0 0 1",
"limited": "true", "range": "-.08 .18", "stiffness": "30000",
"damping": "2000", "springref": "0"},
)
body.insert(0, suspension)
wheel_collisions = {
"jackal_front_left_collision", "jackal_front_right_collision",
"jackal_rear_left_collision", "jackal_rear_right_collision",
}
for geom in jackal_root.findall(".//geom"):
if geom.get("name") in wheel_collisions:
geom.set("type", "sphere")
geom.set("size", ".3969")
geom.set("friction", ".8 .02 .001")
geom.attrib.pop("euler", None)
geom.attrib.pop("quat", None)
for mesh in jackal_root.findall("./asset/mesh"):
raw = mesh.get("file")
if not raw:
continue
candidate = Path(raw)
if not candidate.is_absolute():
candidate = source.parent / "assets" / candidate
mesh.set("file", str(candidate.resolve()))
harden_contacts(jackal_root)
stabilize_hfield_contacts(jackal_root)
add_base_actuators(jackal_root, "jackal_freejoint", 5000.0, 650.0)
runtime_include = destination_dir / "jackal_runtime.xml"
ET.indent(jackal_tree, space=" ")
jackal_tree.write(runtime_include, encoding="unicode")
if not any(Path(item.get("file", "")).name == runtime_include.name for item in root.findall("./include")):
ET.SubElement(root, "include", {"file": str(runtime_include.resolve())})
def patch_nat03(root: ET.Element) -> None:
shore = root.find("./worldbody/geom[@name='shore_hfield']")
if shore is not None:
shore.set("margin", "0")
for suffix in ("fl", "fr", "rl", "rr"):
body = root.find(f".//body[@name='wheel_{suffix}']")
if body is None:
raise RuntimeError(f"NAT-03 wheel_{suffix} body is missing")
suspension = ET.Element(
"joint",
{"name": f"wheel_{suffix}_suspension", "type": "slide", "axis": "0 0 1",
"limited": "true", "range": "-.06 .12", "stiffness": "8000",
"damping": "700", "springref": "0"},
)
body.insert(0, suspension)
wheel = body.find(f"./geom[@name='wheel_{suffix}_geom']")
if wheel is None:
raise RuntimeError(f"NAT-03 wheel_{suffix} collision geom is missing")
visual_attributes = dict(wheel.attrib)
visual_attributes.update({"name": f"wheel_{suffix}_visual", "mass": "0",
"contype": "0", "conaffinity": "0"})
body.append(ET.Element("geom", visual_attributes))
wheel.set("type", "sphere")
wheel.set("size", ".27")
wheel.set("group", "3")
wheel.set("rgba", "0 0 0 0")
wheel.set("margin", "0")
wheel.attrib.pop("quat", None)
actuator = root.find("./actuator")
if actuator is None:
actuator = ET.SubElement(root, "actuator")
existing = {child.get("name") for child in actuator}
additions = (
("propeller_x_ctrl", "shore_x", "-2800 2800"),
("heave_ctrl", "shore_z", "-1300 1300"),
("pitch_ctrl", "shore_pitch", "-900 900"),
)
for name, joint, force_range in additions:
if name in existing:
continue
ET.SubElement(
actuator,
"motor",
{
"name": name,
"joint": joint,
"gear": "1",
"forcelimited": "true",
"forcerange": force_range,
"ctrllimited": "true",
"ctrlrange": force_range,
},
)
def patch_medicine(root: ET.Element) -> None:
for joint_name, actuator_name in (("lift_joint", "lift_ctrl"), ("arm_joint", "arm_ctrl")):
joint = root.find(f".//joint[@name='{joint_name}']")
actuator = root.find(f"./actuator/position[@name='{actuator_name}']")
if joint is None or actuator is None:
raise RuntimeError("SER-01 axis or actuator is missing: " + joint_name)
joint.set("damping", "140")
actuator.set("kp", "6000")
def patch_airport(root: ET.Element) -> None:
joint = root.find(".//joint[@name='lift_joint']")
actuator = root.find("./actuator/position[@name='lift_ctrl']")
if joint is None or actuator is None:
raise RuntimeError("SER-02 lift axis or actuator is missing")
joint.set("damping", "140")
actuator.set("kp", "6000")
def patch_hotel(root: ET.Element) -> None:
equality = root.find("./equality/joint[@name='drawer_lock']")
if equality is not None:
equality.set("active", "false")
joint = root.find(".//joint[@name='drawer_joint']")
if joint is not None:
joint.set("damping", "120")
joint.set("frictionloss", "8")
joint.set("stiffness", "0")
joint.set("springref", "0")
joint.set("range", "0 .31")
actuator = root.find("./actuator/position[@name='drawer_ctrl']")
if actuator is not None:
actuator.set("kp", "3000")
def build(workspace: Path, output_root: Path) -> None:
for case_id, relative_source in CASES.items():
source = workspace / relative_source
destination_dir = output_root / case_id
destination_dir.mkdir(parents=True, exist_ok=True)
destination = destination_dir / "m1_world.xml"
tree = ET.parse(source)
root = tree.getroot()
for include in root.findall(".//include"):
include_path = Path(include.get("file", ""))
if not include_path.is_absolute():
include.set("file", str((source.parent / include_path).resolve()))
option = root.find("./option")
if option is None:
option = ET.SubElement(root, "option")
option.set("timestep", "0.001")
option.set("iterations", "120")
option.set("tolerance", "1e-10")
harden_contacts(root)
if case_id == "NAT-01-rock-kick":
patch_nat01(root, destination_dir)
elif case_id == "NAT-02-hills-turn-stop":
patch_nat02(root, workspace, destination_dir)
elif case_id == "NAT-03-water-land":
patch_nat03(root)
elif case_id == "SER-01-medicine":
patch_medicine(root)
elif case_id == "SER-02-airport-luggage":
patch_airport(root)
elif case_id == "SER-03-hotel-drawer":
patch_hotel(root)
if case_id.startswith("SER-"):
add_joint_limit_buffer(root, ("lift_joint", "arm_joint", "drawer_joint"))
add_base_actuators(root, "root_free", 900.0, 520.0)
if case_id in {"SER-01-medicine", "SER-02-airport-luggage"}:
add_contact_exclusion(root, "task_item", "grasp_frame")
ET.indent(tree, space=" ")
tree.write(destination, encoding="unicode")
overlay = {
"schema_version": "simcode4d.rc3a-dev1.m2-overlay",
"case_id": case_id,
"m1_base_sha256": sha256_file(destination),
"task_independent": True,
"kind": "noop",
"allowed_dynamic_channels": [],
"note": "No source-declared time-varying M2 component is required. Static contacts and fields remain M1-owned.",
}
with (destination_dir / "m2_overlay.json").open("w", encoding="utf-8") as handle:
json.dump(overlay, handle, indent=2, sort_keys=True)
with (destination_dir / "legacy_origin.txt").open("w", encoding="utf-8") as handle:
handle.write(relative_source + "\n")
def main() -> None:
parser = argparse.ArgumentParser()
parser.add_argument("--workspace", type=Path, required=True)
parser.add_argument("--out", type=Path, required=True)
args = parser.parse_args()
build(args.workspace.resolve(), args.out.resolve())
if __name__ == "__main__":
main()
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