| |
| """Generate and hash the six RC3A development case specs and gold files.""" |
| from __future__ import annotations |
|
|
| import argparse |
| import hashlib |
| import json |
| from pathlib import Path |
| import xml.etree.ElementTree as ET |
|
|
| import mujoco |
|
|
| from dev6_contracts import write_case_contracts |
|
|
|
|
| GENERATION_SEEDS = [1103, 2207, 3301] |
| PHYSICS_SEEDS = [401, 409, 419, 421, 431] |
| COMMON_BASIS = [ |
| "source Blender animation and source object hierarchy", |
| "retained legacy rollout used only to recover intent, not to tune post-freeze scores", |
| "task_semantics_confirmation_2026-09-08.csv development draft", |
| ] |
|
|
| CONTACT_GROUPS = { |
| "NAT-01-rock-kick": {"go2_feet": {"geoms": ["FL", "FR", "RL", "RR"]}, "rock": {"bodies": ["stone"]}, "canyon_terrain": {"geoms": ["terrain_*"]}, "go2_base": {"bodies": ["base"]}}, |
| "NAT-02-hills-turn-stop": {"jackal_wheels": {"geoms": ["jackal_front_left_collision", "jackal_front_right_collision", "jackal_rear_left_collision", "jackal_rear_right_collision"]}, "hill_terrain": {"geoms": ["terrain_hfield"]}, "jackal_chassis": {"geoms": ["jackal_chassis_collision"]}, "route_obstacles": {"geoms": ["prop_concave_large_*"]}}, |
| "NAT-03-water-land": {"rover_wheels": {"geoms": ["wheel_*_geom"]}, "shore": {"geoms": ["shore_hfield"]}, "rover_hull": {"geoms": ["rov_hull", "rov_pontoon_*"]}}, |
| "SER-01-medicine": {"gripper": {"geoms": ["gripper_*"]}, "medicine_pouch": {"bodies": ["task_item"]}, "robot_wheels": {"geoms": ["wheel_*_geom", "caster_*_geom"]}, "floor": {"geoms": ["floor"]}, "robot_body": {"geoms": ["robot_base_collision", "robot_body_collision"]}, "counter": {"geoms": ["counter_*"]}}, |
| "SER-02-airport-luggage": {"luggage_lift": {"geoms": ["lift_fork_*", "clamp_*"]}, "blue_luggage": {"bodies": ["task_item"]}, "robot_wheels": {"geoms": ["wheel_*_geom", "caster_*_geom"]}, "floor": {"geoms": ["floor"]}, "robot_body": {"geoms": ["robot_base_collision", "robot_body_collision"]}, "seats": {"geoms": ["seat_*"]}, "floor_after_lift": {"geoms": ["floor"], "active_when": {"joint": "lift_joint", "minimum_position": 0.20}}}, |
| "SER-03-hotel-drawer": {"meal_parcel": {"bodies": ["meal_parcel"]}, "payload_drawer": {"bodies": ["upper_drawer"]}, "robot_wheels": {"geoms": ["wheel_*_geom", "caster_*_geom"]}, "floor": {"geoms": ["floor"]}, "robot_body": {"geoms": ["robot_base_collision", "robot_body_collision"]}, "room_door": {"geoms": ["room_door_1208"]}}, |
| } |
|
|
|
|
| def digest(path: Path) -> str: |
| value = hashlib.sha256() |
| with path.open("rb") as handle: |
| for block in iter(lambda: handle.read(1024 * 1024), b""): |
| value.update(block) |
| return value.hexdigest() |
|
|
|
|
| def file_ref(workspace: Path, path: Path) -> dict: |
| resolved = path.resolve() |
| relative = resolved.relative_to(workspace.resolve()) |
| return {"path": relative.as_posix(), "sha256": digest(resolved), "bytes": resolved.stat().st_size} |
|
|
|
|
| def write_json(path: Path, payload: dict) -> 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 xml_closure(workspace: Path, root_xml: Path) -> list[dict]: |
| found: dict[Path, dict] = {} |
|
|
| def visit(xml_path: Path) -> None: |
| xml_path = xml_path.resolve() |
| if xml_path in found: |
| return |
| found[xml_path] = file_ref(workspace, xml_path) |
| tree = ET.parse(xml_path) |
| for element in tree.getroot().iter(): |
| raw = element.get("file") |
| if not raw: |
| continue |
| candidate = Path(raw) |
| if not candidate.is_absolute(): |
| candidate = xml_path.parent / candidate |
| candidate = candidate.resolve() |
| found[candidate] = file_ref(workspace, candidate) |
| if element.tag == "include": |
| visit(candidate) |
|
|
| visit(root_xml) |
| return [found[key] for key in sorted(found, key=lambda path: str(path))] |
|
|
|
|
| def source_trajectory(workspace: Path, scene_id: str) -> tuple[list[list[float]], list[float]]: |
| path = workspace / "benchmark/simcode4d_unified/source_reexports" / scene_id / "source_motion.json" |
| samples = json.loads(path.read_text(encoding="utf-8"))["samples"] |
| positions = [[float(item["root"]["pos"][0]), float(item["root"]["pos"][1])] for item in samples] |
| yaws = [float(item["root"]["yaw_rad"]) for item in samples] |
| return positions, yaws |
|
|
|
|
| def service_executable_trajectory(workspace: Path) -> tuple[list[list[float]], list[float]]: |
| path = workspace / "deliverables/final_real8s_physical_2026-09-01/module1/scene_indoor_service/physics_adjusted_action.json" |
| samples = json.loads(path.read_text(encoding="utf-8"))["samples"] |
| count = len(samples) |
| knots = ( |
| (0, -4.00, -3.80, -0.35), |
| (18, -3.35, -3.55, -1.20), |
| (34, -3.10, -3.40, -1.5707963267948966), |
| (50, -3.10, -3.40, 0.0), |
| (65, -3.10, -2.25, 0.0), |
| (110, -3.10, 0.72, 0.0), |
| (140, -3.10, 0.72, 0.0), |
| (195, -3.10, -3.35, 0.0), |
| (217, -4.80, -3.35, 1.5707963267948966), |
| (239, -4.80, -2.25, 0.0), |
| ) |
| positions = [[0.0, 0.0] for _ in range(count)] |
| yaws = [0.0 for _ in range(count)] |
| for left, right in zip(knots, knots[1:]): |
| start_index, start_x, start_y, start_yaw = left |
| end_index, end_x, end_y, end_yaw = right |
| for index in range(start_index, end_index + 1): |
| u = (index - start_index) / max(end_index - start_index, 1) |
| s = u * u * u * (u * (u * 6.0 - 15.0) + 10.0) |
| positions[index] = [start_x + s * (end_x - start_x), start_y + s * (end_y - start_y)] |
| yaws[index] = start_yaw + s * (end_yaw - start_yaw) |
| return positions, yaws |
|
|
|
|
| def nat02_path(workspace: Path) -> list[list[float]]: |
| path = workspace / "export_scene3/module2/.ipynb_checkpoints/rollout_log_blender-checkpoint.json" |
| frames = json.loads(path.read_text(encoding="utf-8"))["frames"] |
| raw = [frame["go2_base_pos"][:2] for frame in frames] |
| first = raw[0] |
| scaled = [[first[0] + 0.45 * (item[0] - first[0]), first[1] + 0.45 * (item[1] - first[1])] for item in raw] |
| return [[float(value) for value in item] for item in scaled] |
|
|
|
|
| def perturbations(target_body: str | None, robot_body: str, friction_body: str | None = None) -> dict: |
| nominal = {} |
| seed_409 = {"body_xy_offset_m": {robot_body: [0.01, -0.01]}, "body_yaw_offset_rad": {robot_body: 0.015}} |
| seed_419 = {"body_xy_offset_m": {robot_body: [-0.012, 0.008]}, "body_yaw_offset_rad": {robot_body: -0.02}} |
| seed_421 = {"body_xy_offset_m": {robot_body: [0.0, 0.015]}} |
| seed_431 = {"body_xy_offset_m": {robot_body: [0.008, 0.012]}, "body_yaw_offset_rad": {robot_body: 0.012}} |
| if target_body: |
| seed_409["body_mass_scale"] = {target_body: 0.95} |
| seed_419["body_mass_scale"] = {target_body: 1.05} |
| seed_421["body_mass_scale"] = {target_body: 0.90} |
| seed_431["body_mass_scale"] = {target_body: 1.10} |
| if friction_body: |
| seed_409["body_geom_friction_scale"] = {friction_body: 0.95} |
| seed_419["body_geom_friction_scale"] = {friction_body: 1.05} |
| seed_421["body_geom_friction_scale"] = {friction_body: 1.08} |
| seed_431["body_geom_friction_scale"] = {friction_body: 0.92} |
| return {"401": nominal, "409": seed_409, "419": seed_419, "421": seed_421, "431": seed_431} |
|
|
|
|
| def integrity_rules(allow_grasp: bool, allow_field: bool) -> dict: |
| return { |
| "forbid_probe_model_handle": True, |
| "forbid_qpos_qvel_write": True, |
| "forbid_runtime_model_mutation": True, |
| "allow_benchmark_grasp_api": allow_grasp, |
| "allow_static_field_adapter": allow_field, |
| } |
|
|
|
|
| def base_actuator_limits(force_limit: float, yaw_limit: float) -> dict: |
| return { |
| "base_force_x_ctrl": [-force_limit, force_limit], |
| "base_force_y_ctrl": [-force_limit, force_limit], |
| "base_force_z_ctrl": [-5500.0, 5500.0], |
| "base_roll_ctrl": [-5500.0, 5500.0], |
| "base_pitch_ctrl": [-5500.0, 5500.0], |
| "base_yaw_ctrl": [-yaw_limit, yaw_limit], |
| } |
|
|
|
|
| def base_review(note: str) -> dict: |
| return { |
| "status": "development_frozen", |
| "formal_annotator_count": 0, |
| "adjudicated": False, |
| "thresholds_frozen_before_reference_runs": True, |
| "official_use": False, |
| "note": note, |
| } |
|
|
|
|
| def case_payloads(workspace: Path) -> list[dict]: |
| service_path, service_yaw = service_executable_trajectory(workspace) |
| airport_path, airport_yaw = source_trajectory(workspace, "indoor2_airport") |
| hotel_path, hotel_yaw = source_trajectory(workspace, "indoor3_hotel") |
| hills_path = nat02_path(workspace) |
| return [ |
| { |
| "id": "NAT-01-rock-kick", "world": "nat01-canyon", "domain": "natural_outdoor", |
| "family": "dynamic_interaction", "subtype": "contact_dynamic", |
| "prompt": "Use the Go2 feet to make the source-bound rock move physically in the uneven canyon, then let it settle.", |
| "source": "scene_1.blend", "manifest": "benchmark/simcode4d_unified/assets/nat01_meshes/manifest.json", "lineage": "verified", |
| "probe": "probes/nat01_rock_kick.py", "validator": "validators/nat01_rock_kick.py", |
| "entities": [ |
| {"entity_id": "go2", "role": "robot", "mobility": "articulated", "model_binding": "base", "required": True}, |
| {"entity_id": "rock", "role": "target_object", "mobility": "free", "model_binding": "stone", "required": True, |
| "assembly_members": ["stone_col_*"]}, |
| {"entity_id": "canyon_terrain", "role": "support", "mobility": "fixed", "model_binding": "terrain_*", "required": True}, |
| ], |
| "bodies": ["base", "stone"], |
| "joints": [prefix + suffix + "_joint" for prefix in ("FL", "FR", "RL", "RR") for suffix in ("_hip", "_thigh", "_calf")], |
| "limits": {name: ([-23.7, 23.7] if "calf" not in name else [-45.43, 45.43]) for name in |
| ["FL_hip", "FL_thigh", "FL_calf", "FR_hip", "FR_thigh", "FR_calf", |
| "RL_hip", "RL_thigh", "RL_calf", "RR_hip", "RR_thigh", "RR_calf"]}, |
| "waypoints": [], |
| "initialization": {"keyframe": "m2_init"}, |
| "regions": {"goal": {"type": "relative_displacement", "minimum_planar_displacement_m": 0.03}}, |
| "thresholds": {"illegal_penetration_m": 0.001, "terminal_hold_s": 0.5, |
| "minimum_planar_displacement_m": 0.03, "maximum_terminal_speed_mps": 0.05}, |
| "dag": {"nodes": ["foot_rock_contact", "rock_displaced", "rock_settled"], |
| "edges": [["foot_rock_contact", "rock_displaced"], ["rock_displaced", "rock_settled"]]}, |
| "contacts": {"allowed": [["go2_feet", "rock"], ["rock", "canyon_terrain"], ["go2_feet", "canyon_terrain"]], |
| "forbidden": [["go2_base", "rock"]], "penetration_exemptions": []}, |
| "perturbations": perturbations("stone", "base", "stone"), |
| "integrity": integrity_rules(False, False), |
| "review_note": "The rock is explicitly bound to the 0.07-scale source boulder named in dynamics_program.json.", |
| }, |
| { |
| "id": "NAT-02-hills-turn-stop", "world": "nat02-hills", "domain": "natural_outdoor", |
| "family": "obstacle_navigation", "subtype": None, |
| "prompt": "Drive the Jackal across the authored hills, complete the authored left turn, enter the goal region, and remain stopped for 0.5 seconds.", |
| "source": "scene_3.blend", "manifest": "benchmark/simcode4d_unified/source_reexports/NAT-02-hills-turn-stop-v3/manifest.json", "lineage": "verified", |
| "probe": "probes/nat02_hills_turn_stop.py", "validator": "validators/nat02_hills_turn_stop.py", |
| "entities": [ |
| {"entity_id": "jackal", "role": "robot", "mobility": "articulated", "model_binding": "jackal_base", "required": True}, |
| {"entity_id": "hill_terrain", "role": "support", "mobility": "fixed", "model_binding": "terrain_hfield", "required": True}, |
| {"entity_id": "route_obstacles", "role": "obstacle", "mobility": "fixed", "model_binding": "prop_*", "required": True}, |
| ], |
| "bodies": ["jackal_base"], |
| "joints": ["jackal_front_left_joint", "jackal_front_right_joint", "jackal_rear_left_joint", "jackal_rear_right_joint"], |
| "limits": { |
| **{name: [-1.0, 1.0] for name in |
| ["jackal_front_left_motor", "jackal_front_right_motor", "jackal_rear_left_motor", "jackal_rear_right_motor"]}, |
| **base_actuator_limits(5000.0, 650.0), |
| }, |
| "waypoints": hills_path, |
| "initialization": {"hfield_vehicle": { |
| "body": "jackal_base", "xy": [hills_path[0][0], hills_path[0][1]], "yaw_rad": -3.141592653589793, |
| "wheel_xy_m": [[0.53055, 0.76056975], [0.53055, -0.76056975], [-0.53055, 0.76056975], [-0.53055, -0.76056975]], |
| "wheel_bodies": ["jackal_front_left_wheel", "jackal_front_right_wheel", |
| "jackal_rear_left_wheel", "jackal_rear_right_wheel"], |
| "wheel_radius_m": 0.3969, "wheel_center_z_m": 0.139725, |
| "hfield_geom": "terrain_hfield", "clearance_m": 0.010 |
| }}, |
| "regions": { |
| "hill_checkpoint": {"type": "aabb", "min_xyz_m": [-7.0, -4.2, -2.0], "max_xyz_m": [-5.2, -2.2, 8.0]}, |
| "goal": {"type": "aabb", "min_xyz_m": [hills_path[-1][0] - 0.9, hills_path[-1][1] - 0.9, -2.0], |
| "max_xyz_m": [hills_path[-1][0] + 0.9, hills_path[-1][1] + 0.9, 8.0]} |
| }, |
| "thresholds": {"illegal_penetration_m": 0.001, "terminal_hold_s": 0.5, |
| "minimum_heading_change_rad": 0.60, "maximum_terminal_speed_mps": 0.10, |
| "maximum_tilt_rad": 0.70}, |
| "dag": {"nodes": ["hill_checkpoint", "left_turn", "goal_entry", "stop"], |
| "edges": [["hill_checkpoint", "left_turn"], ["left_turn", "goal_entry"], ["goal_entry", "stop"]]}, |
| "contacts": {"allowed": [["jackal_wheels", "hill_terrain"]], |
| "forbidden": [["jackal_chassis", "route_obstacles"]], "penetration_exemptions": []}, |
| "perturbations": perturbations(None, "jackal_base", "jackal_base"), |
| "integrity": integrity_rules(False, False), |
| "review_note": "Left turn is mandatory because it is explicit in both the prompt and retained program.", |
| }, |
| { |
| "id": "NAT-03-water-land", "world": "nat03-amphibious", "domain": "natural_outdoor", |
| "family": "dynamic_interaction", "subtype": "cross_medium", |
| "prompt": "Move the amphibious rover from the declared static water field, contact the bank, reach dry land, and stop in the land goal.", |
| "source": "deliverables/final_scene_revision_i04_2026-08-16/blends/scene10_amphibious_final_i04.blend", |
| "manifest": "benchmark/simcode4d_unified/source_reexports/scene10_amphibious/physical_manifest.json", |
| "lineage": "verified", "probe": "probes/nat03_water_land.py", "validator": "validators/nat03_water_land.py", |
| "entities": [ |
| {"entity_id": "amphibious_rover", "role": "robot", "mobility": "articulated", "model_binding": "robot", "required": True}, |
| {"entity_id": "shore", "role": "support", "mobility": "fixed", "model_binding": "shore_hfield", "required": True}, |
| {"entity_id": "water_field", "role": "other", "mobility": "field", "model_binding": "static_fluid:water", "required": True}, |
| {"entity_id": "water_surface", "role": "other", "mobility": "visual_only", "model_binding": "water_surface_visual", "required": False}, |
| ], |
| "bodies": ["robot"], "joints": ["shore_x", "shore_z", "shore_pitch"] + |
| [kind + "_" + wheel + "_joint" for wheel in ("fl", "fr", "rl", "rr") for kind in ("steer", "wheel")], |
| "limits": { |
| "propeller_x_ctrl": [-2800.0, 2800.0], "heave_ctrl": [-1300.0, 1300.0], "pitch_ctrl": [-900.0, 900.0], |
| **{("steer_" + wheel + "_ctrl"): [-1.35, 1.35] for wheel in ("fl", "fr", "rl", "rr")}, |
| **{("wheel_" + wheel + "_ctrl"): [-12.0, 12.0] for wheel in ("fl", "fr", "rl", "rr")} |
| }, |
| "waypoints": [], "initialization": {"joint_positions": { |
| "shore_x": -5.4, "shore_z": -0.1848446578, "shore_pitch": -0.0088379382 |
| }}, |
| "regions": {"goal": {"type": "aabb", "min_xyz_m": [3.25, -1.0, 0.55], "max_xyz_m": [4.05, 1.0, 1.55]}}, |
| "thresholds": {"illegal_penetration_m": 0.001, "terminal_hold_s": 0.5, |
| "minimum_water_submergence": 0.50, "maximum_terminal_submergence": 0.05, |
| "maximum_terminal_speed_mps": 0.10}, |
| "dag": {"nodes": ["water_state", "bank_contact", "dry_land_state", "goal_stop"], |
| "edges": [["water_state", "bank_contact"], ["bank_contact", "dry_land_state"], ["dry_land_state", "goal_stop"]]}, |
| "contacts": {"allowed": [["rover_wheels", "shore"]], "forbidden": [["rover_hull", "shore"]], "penetration_exemptions": []}, |
| "perturbations": perturbations(None, "robot", "robot"), |
| "integrity": integrity_rules(False, True), |
| "static_field": {"type": "static_fluid", "body": "robot", "surface_z_m": 0.0, |
| "immersion_span_m": 0.84, "density_kg_m3": 1000.0, |
| "displaced_volume_m3": 0.094, "drag_x": 88.0, "drag_z": 115.0, "pitch_drag": 145.0}, |
| "review_note": "Water surface is visual-only; buoyancy comes from the M1-owned static fluid descriptor.", |
| }, |
| { |
| "id": "SER-01-medicine", "world": "ser01-clinic", "domain": "service", |
| "family": "pick_and_place", "subtype": None, |
| "prompt": "Approach, legally grasp, and deliver the medicine pouch to the authored delivery region while retaining a stable grasp.", |
| "source": "deliverables/final_scene_revision_i04_2026-08-16/blends/scene_indoor_service_final_i04.blend", |
| "manifest": "benchmark/simcode4d_unified/source_reexports/scene_indoor_service/physical_manifest.json", |
| "lineage": "verified", "probe": "probes/ser01_medicine.py", "validator": "validators/ser01_medicine.py", |
| "entities": [ |
| {"entity_id": "service_robot", "role": "robot", "mobility": "articulated", "model_binding": "robot", "required": True}, |
| {"entity_id": "medicine_pouch", "role": "target_object", "mobility": "free", "model_binding": "task_item", "required": True, |
| "assembly_members": ["ServiceTaskItem_MedicinePouch", "ServiceTaskItem_MedicinePouch_Label"]}, |
| {"entity_id": "source_counter", "role": "support", "mobility": "fixed", "model_binding": "counter_top_left", "required": True}, |
| ], |
| "bodies": ["robot", "task_item", "grasp_frame"], "joints": ["wheel_left_joint", "wheel_right_joint", "lift_joint", "arm_joint"], |
| "limits": {"wheel_left_ctrl": [-18.0, 18.0], "wheel_right_ctrl": [-18.0, 18.0], |
| "lift_ctrl": [0.0, 0.42], "arm_ctrl": [0.0, 0.46], |
| **base_actuator_limits(900.0, 520.0), |
| }, |
| "reference_yaw": service_yaw, |
| "waypoints": service_path, "grasp_api": {"equality": "task_grasp", "body_a": "task_item", |
| "body_b": "grasp_frame", "maximum_distance_m": 0.16, |
| "contact_required": False}, |
| "initialization": {"free_body_poses": { |
| "robot": {"quaternion_wxyz": [0.9847265389, 0.0, 0.0, -0.1741081342]} |
| }}, |
| "regions": {"goal": {"type": "aabb", "min_xyz_m": [-5.15, -1.32, 1.15], "max_xyz_m": [-4.45, -0.62, 1.75]}}, |
| "thresholds": {"illegal_penetration_m": 0.001, "terminal_hold_s": 0.5, |
| "minimum_transport_m": 2.5, "maximum_terminal_speed_mps": 0.10}, |
| "dag": {"nodes": ["approach", "grasp", "transport", "goal_hold"], |
| "edges": [["approach", "grasp"], ["grasp", "transport"], ["transport", "goal_hold"]]}, |
| "contacts": {"allowed": [["gripper", "medicine_pouch"], ["robot_wheels", "floor"]], |
| "forbidden": [["robot_body", "counter"], ["medicine_pouch", "floor"]], "penetration_exemptions": []}, |
| "perturbations": perturbations("task_item", "robot", "robot"), |
| "integrity": integrity_rules(True, False), |
| "review_note": "The source animation retains the pouch at the grasp anchor; release is therefore not required in this development case.", |
| }, |
| { |
| "id": "SER-02-airport-luggage", "world": "ser02-airport", "domain": "service", |
| "family": "pick_and_place", "subtype": None, |
| "prompt": "Approach the blue luggage assembly, legally grasp and lift it, then deliver it to the authored airport goal while retaining a stable grasp.", |
| "source": "deliverables/final_scene_revision_i04_2026-08-16/blends/indoor2_airport_final_i04.blend", |
| "manifest": "benchmark/simcode4d_unified/source_reexports/indoor2_airport/physical_manifest.json", |
| "lineage": "verified", "probe": "probes/ser02_airport_luggage.py", "validator": "validators/ser02_airport_luggage.py", |
| "entities": [ |
| {"entity_id": "airport_robot", "role": "robot", "mobility": "articulated", "model_binding": "robot", "required": True}, |
| {"entity_id": "blue_luggage", "role": "target_object", "mobility": "free", "model_binding": "task_item", "required": True, |
| "assembly_members": ["LuggageFactory_blue_root/**"]}, |
| {"entity_id": "airport_floor", "role": "support", "mobility": "fixed", "model_binding": "floor", "required": True}, |
| ], |
| "bodies": ["robot", "task_item", "grasp_frame"], "joints": ["wheel_left_joint", "wheel_right_joint", "lift_joint"], |
| "limits": {"wheel_left_ctrl": [-20.0, 20.0], "wheel_right_ctrl": [-20.0, 20.0], |
| "lift_ctrl": [0.0, 0.36], |
| **base_actuator_limits(900.0, 520.0), |
| }, |
| "reference_yaw": airport_yaw, |
| "waypoints": airport_path, "grasp_api": {"equality": "task_grasp", "body_a": "task_item", |
| "body_b": "grasp_frame", "maximum_distance_m": 0.06, |
| "contact_required": False}, |
| "initialization": {}, |
| "regions": {"goal": {"type": "aabb", "min_xyz_m": [4.35, 3.10, 0.40], "max_xyz_m": [5.25, 4.00, 1.10]}}, |
| "thresholds": {"illegal_penetration_m": 0.001, "terminal_hold_s": 0.5, |
| "minimum_lift_m": 0.25, "minimum_transport_m": 5.0, |
| "maximum_terminal_speed_mps": 0.10}, |
| "dag": {"nodes": ["approach", "grasp", "lift", "transport", "goal_hold"], |
| "edges": [["approach", "grasp"], ["grasp", "lift"], ["lift", "transport"], ["transport", "goal_hold"]]}, |
| "contacts": {"allowed": [["luggage_lift", "blue_luggage"], ["robot_wheels", "floor"]], |
| "forbidden": [["robot_body", "seats"], ["blue_luggage", "floor_after_lift"]], "penetration_exemptions": []}, |
| "perturbations": perturbations("task_item", "robot", "robot"), |
| "integrity": integrity_rules(True, False), |
| "review_note": "The entire blue Empty-root assembly is one dynamic target. Source animation retains it; release is not required.", |
| }, |
| { |
| "id": "SER-03-hotel-drawer", "world": "ser03-hotel", "domain": "service", |
| "family": "dynamic_interaction", "subtype": "articulated", |
| "prompt": "Navigate the hotel robot to the terminal region, stop, open its payload drawer, and keep the meal parcel supported for 0.5 seconds.", |
| "source": "deliverables/final_scene_revision_i04_2026-08-16/blends/indoor3_hotel_final_i04.blend", |
| "manifest": "benchmark/simcode4d_unified/source_reexports/indoor3_hotel/physical_manifest.json", |
| "lineage": "verified", "probe": "probes/ser03_hotel_drawer.py", "validator": "validators/ser03_hotel_drawer.py", |
| "entities": [ |
| {"entity_id": "hotel_robot", "role": "robot", "mobility": "articulated", "model_binding": "robot", "required": True}, |
| {"entity_id": "payload_drawer", "role": "articulated_object", "mobility": "articulated", "model_binding": "upper_drawer", "required": True}, |
| {"entity_id": "meal_parcel", "role": "target_object", "mobility": "free", "model_binding": "meal_parcel", "required": True}, |
| {"entity_id": "hotel_floor", "role": "support", "mobility": "fixed", "model_binding": "floor", "required": True}, |
| ], |
| "bodies": ["robot", "upper_drawer", "meal_parcel"], "joints": ["wheel_left_joint", "wheel_right_joint", "drawer_joint"], |
| "limits": {"wheel_left_ctrl": [-20.0, 20.0], "wheel_right_ctrl": [-20.0, 20.0], |
| "drawer_ctrl": [0.0, 0.30], |
| **base_actuator_limits(900.0, 520.0), |
| }, |
| "reference_yaw": hotel_yaw, |
| "waypoints": hotel_path, |
| "initialization": {}, |
| "regions": {"robot_goal": {"type": "aabb", "min_xyz_m": [5.15, 4.10, -0.1], "max_xyz_m": [6.15, 5.10, 1.0]}}, |
| "thresholds": {"illegal_penetration_m": 0.001, "terminal_hold_s": 0.5, |
| "minimum_drawer_extension_m": 0.27, "minimum_parcel_height_m": 0.85, |
| "maximum_parcel_drawer_z_offset_m": 0.20, "maximum_terminal_speed_mps": 0.10}, |
| "dag": {"nodes": ["robot_goal_arrival", "drawer_open", "parcel_supported"], |
| "edges": [["robot_goal_arrival", "drawer_open"], ["drawer_open", "parcel_supported"]]}, |
| "contacts": {"allowed": [["meal_parcel", "payload_drawer"], ["robot_wheels", "floor"]], |
| "forbidden": [["robot_body", "room_door"], ["meal_parcel", "floor"]], "penetration_exemptions": []}, |
| "perturbations": perturbations("meal_parcel", "robot", "robot"), |
| "integrity": integrity_rules(False, False), |
| "review_note": "This is the robot's own payload drawer; opening uses its declared actuator, not a remote equality unlock.", |
| }, |
| ] |
|
|
|
|
| def build(workspace: Path, suite: Path) -> None: |
| cases = case_payloads(workspace) |
| registry_cases = [] |
| semantic_entries = [] |
| for item in cases: |
| case_id = item["id"] |
| contact_policy = {**item["contacts"], "groups": CONTACT_GROUPS[case_id]} |
| artifact_dir = suite / "artifacts" / case_id |
| model_path = artifact_dir / "m1_world.xml" |
| overlay_path = artifact_dir / "m2_overlay.json" |
| closure_path = artifact_dir / "dependency_manifest.json" |
| closure = { |
| "schema_version": "simcode4d.rc3a-dev1.dependency-manifest", |
| "case_id": case_id, |
| "files": xml_closure(workspace, model_path), |
| } |
| write_json(closure_path, closure) |
| probe_path = suite / item["probe"] |
| validator_path = suite / item["validator"] |
| spec = { |
| "schema_version": "simcode4d.rc3a-dev1.case-spec", |
| "case_id": case_id, |
| "world_id": item["world"], |
| "domain": item["domain"], |
| "split": "development", |
| "task_family": item["family"], |
| "dynamic_subtype": item["subtype"], |
| "prompt": item["prompt"], |
| "source": file_ref(workspace, workspace / item["source"]), |
| "source_manifest": file_ref(workspace, workspace / item["manifest"]), |
| "source_lineage_status": item["lineage"], |
| "artifacts": { |
| "m1_base": file_ref(workspace, model_path), |
| "m2_overlay": file_ref(workspace, overlay_path), |
| "runtime_model": file_ref(workspace, model_path), |
| "dependency_manifest": file_ref(workspace, closure_path), |
| }, |
| "entities": item["entities"], |
| "observation": {"bodies": item["bodies"], "joints": item["joints"]}, |
| "probe": { |
| "owner": "benchmark", "path": item["probe"], "sha256": digest(probe_path), |
| "support_modules": [ |
| {"path": "probes/probe_api.py", "sha256": digest(suite / "probes/probe_api.py")}, |
| {"path": "probes/base_control.py", "sha256": digest(suite / "probes/base_control.py")}, |
| ], |
| "episode_duration_s": 8.0, "log_hz": 30, |
| "actuator_limits": item["limits"], "waypoints_xy": item["waypoints"], |
| **({"reference_yaw_rad": item["reference_yaw"]} if "reference_yaw" in item else {}), |
| **({"grasp_api": item["grasp_api"]} if "grasp_api" in item else {}), |
| }, |
| "validator": { |
| "owner": "benchmark", "path": item["validator"], "sha256": digest(validator_path), |
| "support_modules": [{"path": "validators/common.py", "sha256": digest(suite / "validators/common.py")}], |
| }, |
| "simulator": {"name": "mujoco", "version": mujoco.__version__, "timestep_s": 0.001}, |
| **({"static_field": item["static_field"]} if "static_field" in item else {}), |
| "ownership": { |
| "m1": "immutable geometry, physical properties, canonical initial state, and static fields", |
| "m2": "task-independent source dynamics overlay bound to the M1 hash; NoOp in Dev6", |
| "benchmark_overlay": "robot actuator probe, perturbation, grasp API, validator, and records", |
| }, |
| "semantic_review": { |
| "status": "development_frozen", "formal_double_annotation": False, |
| "frozen_before_runs": True, "basis": COMMON_BASIS, "official_admission": False, |
| }, |
| } |
| spec_path = suite / "cases" / case_id / "case_spec.json" |
| write_json(spec_path, spec) |
| gold = { |
| "schema_version": "simcode4d.rc3a-dev1.case-gold", |
| "case_id": case_id, |
| "case_spec_sha256": digest(spec_path), |
| "gold_visibility": "development_private_placeholder", |
| "initialization": item["initialization"], |
| "regions": item["regions"], |
| "thresholds": item["thresholds"], |
| "event_dag": item["dag"], |
| "contact_policy": contact_policy, |
| "perturbations": item["perturbations"], |
| "integrity_rules": item["integrity"], |
| "review": base_review(item["review_note"]), |
| } |
| gold_path = suite / "cases" / case_id / "case_gold.json" |
| write_json(gold_path, gold) |
| task_confirm_path, physics_profile_path = write_case_contracts( |
| workspace, suite, spec_path, gold_path |
| ) |
| registry_cases.append({ |
| "case_id": case_id, |
| "case_spec": file_ref(workspace, spec_path), |
| "case_gold": file_ref(workspace, gold_path), |
| "task_confirm": file_ref(workspace, task_confirm_path), |
| "physics_profile": file_ref(workspace, physics_profile_path), |
| "world_id": item["world"], |
| "task_family": item["family"], |
| }) |
| semantic_entries.append({ |
| "case_id": case_id, |
| "prompt": item["prompt"], |
| "task_family": item["family"], |
| "dynamic_subtype": item["subtype"], |
| "regions": item["regions"], |
| "thresholds": item["thresholds"], |
| "event_dag": item["dag"], |
| "contact_policy": contact_policy, |
| }) |
|
|
| semantic_path = suite / "config" / "semantic_freeze_v1.json" |
| semantic_payload = { |
| "schema_version": "simcode4d.rc3a-dev1.semantic-freeze", |
| "status": "development_frozen_before_reference_runs", |
| "cases": semantic_entries, |
| } |
| write_json(semantic_path, semantic_payload) |
| suite_payload = { |
| "schema_version": "simcode4d.rc3a-dev1.suite", |
| "suite_id": "SimCode4D-Dev6-RC3A", |
| "status": "development_only_not_official_core15", |
| "generation_seeds": GENERATION_SEEDS, |
| "physics_seeds": PHYSICS_SEEDS, |
| "nominal_physics_seed": 401, |
| "semantic_freeze": file_ref(workspace, semantic_path), |
| "contract_schemas": { |
| "task_confirm": file_ref(workspace, suite / "schemas/task_confirm.schema.json"), |
| "physics_profile": file_ref(workspace, suite / "schemas/physics_profile.schema.json"), |
| }, |
| "cases": registry_cases, |
| "replication_note": "Three rows are deterministic rebuild/replay slots unless a generating method consumes the generation seed; identical hashes are disclosed and are not independent generation replicates.", |
| } |
| suite_path = suite / "config" / "suite.json" |
| write_json(suite_path, suite_payload) |
|
|
| lock_files = [ |
| semantic_path, |
| suite_path, |
| suite / "schemas/task_confirm.schema.json", |
| suite / "schemas/physics_profile.schema.json", |
| ] |
| for entry in registry_cases: |
| lock_files.append(workspace / entry["case_spec"]["path"]) |
| lock_files.append(workspace / entry["case_gold"]["path"]) |
| lock_files.append(workspace / entry["task_confirm"]["path"]) |
| lock_files.append(workspace / entry["physics_profile"]["path"]) |
| lock = { |
| "schema_version": "simcode4d.rc3a-dev1.freeze-lock", |
| "suite_id": suite_payload["suite_id"], |
| "files": [file_ref(workspace, path) for path in sorted(lock_files)], |
| } |
| write_json(suite / "config" / "freeze_lock.json", lock) |
|
|
|
|
| def main() -> None: |
| parser = argparse.ArgumentParser() |
| parser.add_argument("--workspace", type=Path, required=True) |
| parser.add_argument("--suite", type=Path, required=True) |
| args = parser.parse_args() |
| build(args.workspace.resolve(), args.suite.resolve()) |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
