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"""Build auditable task and physics contracts for the frozen Dev15 cases."""
from __future__ import annotations
import argparse
import fnmatch
import hashlib
import json
from pathlib import Path
from typing import Any
import mujoco
import numpy as np
import yaml
ROBOT_NAMES = {
"NAT-01-rock-kick": "Unitree Go2 quadruped",
"NAT-02-hills-turn-stop": "Clearpath Jackal UGV",
"NAT-03-water-land": "four-wheel amphibious rover",
"IND-01-vacuum-living-room": "mobile vacuum",
"IND-02-go2-living-room": "Unitree Go2 quadruped",
"IND-03-vacuum-west": "mobile vacuum",
"INS-01-agv-aisle": "four-wheel AGV",
"INS-02-agv-cargo": "four-wheel AGV with welded cargo",
"INS-03-weld": "UR5e welding arm",
"SER-01-medicine": "differential-drive service robot with lift and arm",
"SER-02-airport-luggage": "differential-drive airport luggage robot with lift",
"SER-03-hotel-drawer": "differential-drive hotel service robot with payload drawer",
"URB-01-agv-city": "four-wheel AGV",
"URB-02-intersection": "Unitree Go2 quadruped",
"URB-03-pole-blocking": "Unitree Go2 quadruped",
}
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 file_ref(workspace: Path, path: Path) -> dict[str, Any]:
resolved = path.resolve()
return {
"path": resolved.relative_to(workspace.resolve()).as_posix(),
"sha256": sha256_file(resolved),
"bytes": resolved.stat().st_size,
}
def load_json(path: Path) -> dict[str, Any]:
with path.open("r", encoding="utf-8") as handle:
return json.load(handle)
def write_json(path: Path, payload: dict[str, Any]) -> None:
path.parent.mkdir(parents=True, exist_ok=True)
with path.open("w", encoding="utf-8") as handle:
json.dump(payload, handle, indent=2, sort_keys=True)
handle.write("\n")
def write_yaml(path: Path, payload: dict[str, Any]) -> None:
path.parent.mkdir(parents=True, exist_ok=True)
with path.open("w", encoding="utf-8") as handle:
yaml.safe_dump(
payload,
handle,
allow_unicode=True,
default_flow_style=False,
sort_keys=False,
width=120,
)
def _number(value: Any) -> float:
value = float(value)
if abs(value) < 5e-15:
return 0.0
return float(f"{value:.12g}")
def _vector(values: Any) -> list[float]:
return [_number(value) for value in np.asarray(values).reshape(-1)]
def _name(model: mujoco.MjModel, object_type: mujoco.mjtObj, index: int, prefix: str) -> str:
return mujoco.mj_id2name(model, object_type, index) or f"__unnamed_{prefix}_{index}"
def _enum_name(enum_type: Any, value: Any) -> str:
return enum_type(int(value)).name
def _joint_widths(joint_type: int) -> tuple[int, int]:
if joint_type == mujoco.mjtJoint.mjJNT_FREE:
return 7, 6
if joint_type == mujoco.mjtJoint.mjJNT_BALL:
return 4, 3
return 1, 1
def build_task_confirm(spec: dict[str, Any], gold: dict[str, Any]) -> dict[str, Any]:
case_id = spec["case_id"]
robot_entity = next(entity for entity in spec["entities"] if entity["role"] == "robot")
return {
"schema_version": "simcode4d.dev15.task-confirm.v1",
"case_id": case_id,
"world_id": spec["world_id"],
"canonical_source": {
**spec["source"],
"lineage_status": spec["source_lineage_status"],
},
"robot": {
"name": ROBOT_NAMES[case_id],
"entity_id": robot_entity["entity_id"],
"model_binding": robot_entity["model_binding"],
"mobility": robot_entity["mobility"],
},
"task": spec["prompt"],
"task_family": spec["task_family"],
"dynamic_subtype": spec["dynamic_subtype"],
"start_state": gold["initialization"],
"goal": gold["regions"],
"required_event_order": gold["event_dag"],
"allowed_contacts": gold["contact_policy"]["allowed"],
"forbidden_contacts": gold["contact_policy"]["forbidden"],
"contact_group_bindings": gold["contact_policy"]["groups"],
"timeout_s": spec["probe"]["episode_duration_s"],
"success_tolerance": gold["thresholds"],
"review": {
"status": "benchmark_authored_development_frozen",
"basis": spec["semantic_review"]["basis"],
"frozen_before_reference_runs": gold["review"]["thresholds_frozen_before_reference_runs"],
"formal_annotator_count": gold["review"]["formal_annotator_count"],
"official_core15_use": False,
"note": gold["review"].get("note", ""),
},
}
def _model_options(model: mujoco.MjModel) -> dict[str, Any]:
option = model.opt
optional_scalars = (
"ls_iterations", "noslip_iterations", "ccd_iterations", "ls_tolerance",
"noslip_tolerance", "ccd_tolerance", "apirate", "density", "viscosity",
"o_margin",
)
result: dict[str, Any] = {
"timestep_s": _number(option.timestep),
"gravity_mps2": _vector(option.gravity),
"wind_mps": _vector(option.wind),
"magnetic_tesla": _vector(option.magnetic),
"integrator": _enum_name(mujoco.mjtIntegrator, option.integrator),
"solver": _enum_name(mujoco.mjtSolver, option.solver),
"friction_cone": _enum_name(mujoco.mjtCone, option.cone),
"jacobian": _enum_name(mujoco.mjtJacobian, option.jacobian),
"iterations": int(option.iterations),
"tolerance": _number(option.tolerance),
"impratio": _number(option.impratio),
}
for name in optional_scalars:
if hasattr(option, name):
value = getattr(option, name)
result[name] = int(value) if "iterations" in name else _number(value)
return result
def _body_records(model: mujoco.MjModel) -> list[dict[str, Any]]:
records = []
for body_id in range(model.nbody):
parent_id = int(model.body_parentid[body_id])
mass = _number(model.body_mass[body_id])
inertia = _vector(model.body_inertia[body_id])
records.append({
"id": body_id,
"name": _name(model, mujoco.mjtObj.mjOBJ_BODY, body_id, "body"),
"parent": None if body_id == 0 else _name(model, mujoco.mjtObj.mjOBJ_BODY, parent_id, "body"),
"mass_kg": mass,
"diagonal_inertia_kg_m2": inertia,
"inertial_position_m": _vector(model.body_ipos[body_id]),
"inertial_quaternion_wxyz": _vector(model.body_iquat[body_id]),
"joint_count": int(model.body_jntnum[body_id]),
"mocap_id": int(model.body_mocapid[body_id]),
"dynamic": bool(mass > 0.0 or int(model.body_jntnum[body_id]) > 0),
})
return records
def _joint_records(model: mujoco.MjModel) -> list[dict[str, Any]]:
records = []
for joint_id in range(model.njnt):
joint_type = int(model.jnt_type[joint_id])
qpos_width, dof_width = _joint_widths(joint_type)
qpos_address = int(model.jnt_qposadr[joint_id])
dof_address = int(model.jnt_dofadr[joint_id])
records.append({
"id": joint_id,
"name": _name(model, mujoco.mjtObj.mjOBJ_JOINT, joint_id, "joint"),
"body": _name(model, mujoco.mjtObj.mjOBJ_BODY, int(model.jnt_bodyid[joint_id]), "body"),
"type": _enum_name(mujoco.mjtJoint, joint_type),
"qpos_address": qpos_address,
"qpos_width": qpos_width,
"dof_address": dof_address,
"dof_width": dof_width,
"axis": _vector(model.jnt_axis[joint_id]),
"position_m": _vector(model.jnt_pos[joint_id]),
"limited": bool(model.jnt_limited[joint_id]),
"range": _vector(model.jnt_range[joint_id]),
"margin": _number(model.jnt_margin[joint_id]),
"stiffness": _number(model.jnt_stiffness[joint_id]),
"damping": _vector(model.dof_damping[dof_address:dof_address + dof_width]),
"armature": _vector(model.dof_armature[dof_address:dof_address + dof_width]),
"frictionloss": _vector(model.dof_frictionloss[dof_address:dof_address + dof_width]),
})
return records
def _actuator_records(model: mujoco.MjModel) -> list[dict[str, Any]]:
records = []
for actuator_id in range(model.nu):
transmission_type = int(model.actuator_trntype[actuator_id])
target_id = int(model.actuator_trnid[actuator_id, 0])
target_name = None
if transmission_type in (mujoco.mjtTrn.mjTRN_JOINT, mujoco.mjtTrn.mjTRN_JOINTINPARENT) and target_id >= 0:
target_name = _name(model, mujoco.mjtObj.mjOBJ_JOINT, target_id, "joint")
records.append({
"id": actuator_id,
"name": _name(model, mujoco.mjtObj.mjOBJ_ACTUATOR, actuator_id, "actuator"),
"transmission_type": _enum_name(mujoco.mjtTrn, transmission_type),
"transmission_ids": [int(value) for value in model.actuator_trnid[actuator_id]],
"transmission_target": target_name,
"dynamics_type": _enum_name(mujoco.mjtDyn, model.actuator_dyntype[actuator_id]),
"gain_type": _enum_name(mujoco.mjtGain, model.actuator_gaintype[actuator_id]),
"bias_type": _enum_name(mujoco.mjtBias, model.actuator_biastype[actuator_id]),
"gear": _vector(model.actuator_gear[actuator_id]),
"control_limited": bool(model.actuator_ctrllimited[actuator_id]),
"control_range": _vector(model.actuator_ctrlrange[actuator_id]),
"force_limited": bool(model.actuator_forcelimited[actuator_id]),
"force_range_N_or_Nm": _vector(model.actuator_forcerange[actuator_id]),
"length_range": _vector(model.actuator_lengthrange[actuator_id]),
"gain_parameters": _vector(model.actuator_gainprm[actuator_id]),
"bias_parameters": _vector(model.actuator_biasprm[actuator_id]),
"dynamics_parameters": _vector(model.actuator_dynprm[actuator_id]),
})
return records
def _collision_records(model: mujoco.MjModel) -> tuple[list[dict[str, Any]], list[dict[str, Any]]]:
class_ids: dict[tuple[Any, ...], str] = {}
classes: list[dict[str, Any]] = []
geoms: list[dict[str, Any]] = []
for geom_id in range(model.ngeom):
contype = int(model.geom_contype[geom_id])
conaffinity = int(model.geom_conaffinity[geom_id])
if contype == 0 and conaffinity == 0:
continue
values = (
tuple(_vector(model.geom_friction[geom_id])),
int(model.geom_condim[geom_id]),
int(model.geom_priority[geom_id]),
tuple(_vector(model.geom_solref[geom_id])),
tuple(_vector(model.geom_solimp[geom_id])),
_number(model.geom_margin[geom_id]),
_number(model.geom_gap[geom_id]),
contype,
conaffinity,
)
if values not in class_ids:
class_id = f"contact_material_{len(class_ids) + 1:03d}"
class_ids[values] = class_id
classes.append({
"id": class_id,
"friction": {
"sliding": values[0][0],
"torsional": values[0][1],
"rolling": values[0][2],
},
"contact_dimension": values[1],
"priority": values[2],
"solver_reference": list(values[3]),
"solver_impedance": list(values[4]),
"margin_m": values[5],
"gap_m": values[6],
"contact_type_mask": values[7],
"contact_affinity_mask": values[8],
})
body_id = int(model.geom_bodyid[geom_id])
record = {
"id": geom_id,
"name": _name(model, mujoco.mjtObj.mjOBJ_GEOM, geom_id, "geom"),
"body": _name(model, mujoco.mjtObj.mjOBJ_BODY, body_id, "body"),
"type": _enum_name(mujoco.mjtGeom, model.geom_type[geom_id]),
"size": _vector(model.geom_size[geom_id]),
"position_m": _vector(model.geom_pos[geom_id]),
"quaternion_wxyz": _vector(model.geom_quat[geom_id]),
"contact_material": class_ids[values],
"group": int(model.geom_group[geom_id]),
}
if hasattr(model, "geom_mass"):
record["mass_kg"] = _number(model.geom_mass[geom_id])
if hasattr(model, "geom_density"):
record["density_kg_m3"] = _number(model.geom_density[geom_id])
geoms.append(record)
return classes, geoms
def _resolved_groups(model: mujoco.MjModel, contact_policy: dict[str, Any]) -> dict[str, Any]:
geom_names = [_name(model, mujoco.mjtObj.mjOBJ_GEOM, index, "geom") for index in range(model.ngeom)]
body_names = [_name(model, mujoco.mjtObj.mjOBJ_BODY, index, "body") for index in range(model.nbody)]
resolved = {}
for label, binding in contact_policy["groups"].items():
resolved[label] = {
"geoms": sorted({name for pattern in binding.get("geoms", []) for name in geom_names if fnmatch.fnmatchcase(name, pattern)}),
"bodies": sorted({name for pattern in binding.get("bodies", []) for name in body_names if fnmatch.fnmatchcase(name, pattern)}),
**({"active_when": binding["active_when"]} if "active_when" in binding else {}),
}
return resolved
def _equality_records(model: mujoco.MjModel) -> list[dict[str, Any]]:
records = []
for equality_id in range(model.neq):
records.append({
"id": equality_id,
"name": _name(model, mujoco.mjtObj.mjOBJ_EQUALITY, equality_id, "equality"),
"type": _enum_name(mujoco.mjtEq, model.eq_type[equality_id]),
"object_ids": [int(model.eq_obj1id[equality_id]), int(model.eq_obj2id[equality_id])],
"active_at_reset": bool(model.eq_active0[equality_id]),
"solver_reference": _vector(model.eq_solref[equality_id]),
"solver_impedance": _vector(model.eq_solimp[equality_id]),
})
return records
def build_physics_profile(
workspace: Path,
spec_path: Path,
gold_path: Path,
) -> dict[str, Any]:
spec = load_json(spec_path)
gold = load_json(gold_path)
model_path = workspace / spec["artifacts"]["runtime_model"]["path"]
model = mujoco.MjModel.from_xml_path(str(model_path.resolve()))
material_classes, collision_geoms = _collision_records(model)
timestep = float(model.opt.timestep)
body_records = _body_records(model)
nonphysical_dynamic_bodies = [
item["name"] for item in body_records
if item["dynamic"] and (
item["mass_kg"] <= 0.0
or any(value <= 0.0 for value in item["diagonal_inertia_kg_m2"])
)
]
return {
"schema_version": "simcode4d.dev15.physics-profile.v1",
"case_id": spec["case_id"],
"world_id": spec["world_id"],
"runtime_model": file_ref(workspace, model_path),
"case_spec_sha256": sha256_file(spec_path),
"case_gold_sha256": sha256_file(gold_path),
"provenance": {
"parameter_status": "exact_from_frozen_runtime_model",
"semantic_contact_status": "exact_from_frozen_case_gold",
"estimated_parameter_count": 0,
"note": "This profile indexes the frozen Dev15 runtime; unavailable pre-export authoring values are explicitly identified by provenance records.",
},
"simulator": {
"name": "mujoco",
"runtime_version": mujoco.__version__,
"model_name": mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_MODEL, 0) or "unnamed_model",
"dimensions": {
"nq": model.nq,
"nv": model.nv,
"nu": model.nu,
"nbody": model.nbody,
"njoint": model.njnt,
"ngeom": model.ngeom,
"nequality": model.neq,
},
"options": _model_options(model),
},
"control_loop": {
"physics_hz": _number(1.0 / timestep),
"benchmark_probe_command_hz": _number(1.0 / timestep),
"record_hz": spec["probe"]["log_hz"],
"command_interface": "declared MuJoCo actuators only; probe has no qpos/qvel/model write access",
"actuator_limits": spec["probe"]["actuator_limits"],
},
"bodies": body_records,
"joints": _joint_records(model),
"actuators": _actuator_records(model),
"equalities": _equality_records(model),
"contact_material_classes": material_classes,
"collision_geoms": collision_geoms,
"semantic_contact_policy": gold["contact_policy"],
"resolved_contact_groups": _resolved_groups(model, gold["contact_policy"]),
"static_field": spec.get("static_field"),
"physics_seed_perturbations": gold["perturbations"],
"success_and_safety_thresholds": gold["thresholds"],
"diagnostic_contract": {
"mechanics": {
"channels": [
"finite generalized state", "positive body mass and principal inertia",
"normal and tangential contact force", "penetration depth",
"generalized force-balance residual", "constraint-force solver residual (diagnostic)",
"kinetic and potential energy",
],
"nonphysical_dynamic_bodies": nonphysical_dynamic_bodies,
"force_balance_relative_tolerance": 1e-5,
},
"kinematics": {
"channels": [
"body pose and twist", "quaternion norm", "joint position and velocity",
"finite-difference acceleration and jerk", "joint-limit dwell",
],
"quaternion_norm_tolerance": 1e-6,
"joint_limit_tolerance": 1e-4,
"violation_minimum_dwell_s": 0.01,
},
"friction": {
"channels": [
"sliding/torsional/rolling coefficients", "tangential contact force",
"Coulomb-cone utilization", "contact-point tangential slip speed",
],
"cone_utilization_warning": 1.05,
"cone_utilization_failure": 1.25,
"failure_minimum_dwell_s": 0.01,
"slip_speed_reporting_threshold_mps": 0.02,
"slip_is_diagnostic_not_global_failure": True,
},
},
}
def write_case_contracts(
workspace: Path,
suite: Path,
spec_path: Path,
gold_path: Path,
) -> tuple[Path, Path]:
spec = load_json(spec_path)
gold = load_json(gold_path)
case_dir = suite / "cases" / spec["case_id"]
task_path = case_dir / "task_confirm.yaml"
physics_path = case_dir / "physics_profile.json"
write_yaml(task_path, build_task_confirm(spec, gold))
write_json(physics_path, build_physics_profile(workspace, spec_path, gold_path))
return task_path, physics_path
def main() -> int:
parser = argparse.ArgumentParser()
parser.add_argument("--workspace", type=Path, required=True)
parser.add_argument("--suite", type=Path, required=True)
parser.add_argument("--case-ids", nargs="*")
args = parser.parse_args()
workspace = args.workspace.resolve()
suite = args.suite.resolve()
registry = load_json(suite / "config/suite.json")
selected = set(args.case_ids or [item["case_id"] for item in registry["cases"]])
for item in registry["cases"]:
if item["case_id"] not in selected:
continue
spec_path = workspace / item["case_spec"]["path"]
gold_path = workspace / item["case_gold"]["path"]
write_case_contracts(workspace, suite, spec_path, gold_path)
return 0
if __name__ == "__main__":
raise SystemExit(main())
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