| """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"], |
| } |
|
|
