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222325b | 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 | """Independent validator for URB-03 using actual target-pole contact."""
from common import base_result, semantic_contact_matches
from dev15_common import (
first_axis_progress_time, lateral_span, maximum_tilt, signed_travel,
terminal_stopped,
)
class PoleBlockingValidator:
def validate(self, raw, spec, gold):
frames = raw["frames"]
threshold = gold["thresholds"]
contact_t = next(
(
float(event["t"])
for event in raw["events"]
if event["event"] == "semantic_contact"
and event.get("rule") == "go2_all/target_pole"
),
None,
)
if contact_t is None:
for frame in frames:
if semantic_contact_matches(frame, gold["contact_policy"], "go2_all", "target_pole"):
contact_t = frame["t"]
approach_t = first_axis_progress_time(frames, "base", 0, threshold["minimum_approach_m"], 1.0)
travel = signed_travel(frames, "base", 0)
max_x = max(frame["bodies"]["base"]["position"][0] for frame in frames)
lateral = lateral_span(frames, "base", 0)
tilt = maximum_tilt(frames, "base")
predicates = [
{"id": "approach_distance", "pass": travel >= threshold["minimum_approach_m"], "value_m": travel, "mandatory": True},
{"id": "target_pole_contact", "pass": contact_t is not None, "value_s": contact_t, "mandatory": True},
{"id": "no_pass_through", "pass": max_x <= threshold["maximum_base_x_m"], "value_m": max_x, "mandatory": True},
{"id": "sidewalk_corridor", "pass": lateral <= threshold["maximum_lateral_span_m"], "value_m": lateral, "mandatory": True},
{"id": "tilt_limit", "pass": tilt <= threshold["maximum_tilt_rad"], "value_rad": tilt, "mandatory": True},
{"id": "terminal_stop", "pass": terminal_stopped(frames, "base", threshold["terminal_hold_s"], threshold["maximum_terminal_speed_mps"]), "mandatory": True},
{"id": "event_order", "pass": approach_t is not None and contact_t is not None and approach_t <= contact_t, "mandatory": True},
]
return base_result(raw, predicates)
VALIDATOR_CLASS = PoleBlockingValidator
|