| |
| """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() |
|
|
