| """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 |
|
|
