Remove duplicated GitHub evaluator from dataset release
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- benchmark/simcode4d_unified/PORTABILITY.md +0 -17
- benchmark/simcode4d_unified/README.md +0 -115
- benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/dependency_manifest.json +0 -31
- benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/m2_overlay.json +0 -26
- benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/repair_report.json +0 -27
- benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/runtime_model.xml +0 -89
- benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/dependency_manifest.json +0 -36
- benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/go2_robot.xml +0 -192
- benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/m2_overlay.json +0 -30
- benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/repair_report.json +0 -31
- benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/runtime_model.xml +0 -76
- benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/dependency_manifest.json +0 -31
- benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/m2_overlay.json +0 -27
- benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/repair_report.json +0 -34
- benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/runtime_model.xml +0 -67
- benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/dependency_manifest.json +0 -41
- benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/m2_overlay.json +0 -28
- benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/repair_report.json +0 -35
- benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/runtime_model.xml +0 -247
- benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/dependency_manifest.json +0 -41
- benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/m2_overlay.json +0 -31
- benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/repair_report.json +0 -43
- benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/runtime_model.xml +0 -129
- benchmark/simcode4d_unified/artifacts/INS-03-weld/dependency_manifest.json +0 -131
- benchmark/simcode4d_unified/artifacts/INS-03-weld/m2_overlay.json +0 -28
- benchmark/simcode4d_unified/artifacts/INS-03-weld/repair_report.json +0 -29
- benchmark/simcode4d_unified/artifacts/INS-03-weld/runtime_model.xml +0 -164
- benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/dependency_manifest.json +0 -0
- benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/go2_runtime.xml +0 -185
- benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/legacy_origin.txt +0 -1
- benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/m1_world.xml +0 -0
- benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/m2_overlay.json +0 -9
- benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/dependency_manifest.json +0 -16
- benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/jackal_runtime.xml +0 -85
- benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/legacy_origin.txt +0 -1
- benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/m1_world.xml +0 -0
- benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/m2_overlay.json +0 -9
- benchmark/simcode4d_unified/artifacts/NAT-03-water-land/dependency_manifest.json +0 -11
- benchmark/simcode4d_unified/artifacts/NAT-03-water-land/legacy_origin.txt +0 -1
- benchmark/simcode4d_unified/artifacts/NAT-03-water-land/m1_world.xml +0 -0
- benchmark/simcode4d_unified/artifacts/NAT-03-water-land/m2_overlay.json +0 -9
- benchmark/simcode4d_unified/artifacts/SER-01-medicine/dependency_manifest.json +0 -11
- benchmark/simcode4d_unified/artifacts/SER-01-medicine/legacy_origin.txt +0 -1
- benchmark/simcode4d_unified/artifacts/SER-01-medicine/m1_world.xml +0 -94
- benchmark/simcode4d_unified/artifacts/SER-01-medicine/m2_overlay.json +0 -9
- benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/dependency_manifest.json +0 -11
- benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/legacy_origin.txt +0 -1
- benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/m1_world.xml +0 -111
- benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/m2_overlay.json +0 -9
- benchmark/simcode4d_unified/artifacts/SER-03-hotel-drawer/dependency_manifest.json +0 -11
benchmark/simcode4d_unified/PORTABILITY.md
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# Public runtime portability
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The DEV15 runtime package was built on an internal server. Three frozen cases contained XML paths that resolved to that server, so a fresh GitHub clone could not load every model. This code release changes **asset paths only** for:
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| Case | Rebound paths |
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| --- | --- |
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| `IND-02-go2-living-room` | Go2 mesh paths in `artifacts/IND-02-go2-living-room/go2_robot.xml` |
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| `NAT-01-rock-kick` | Terrain/collision assets in `m1_world.xml` and Go2 meshes in `go2_runtime.xml` |
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| `NAT-02-hills-turn-stop` | Jackal meshes in `jackal_runtime.xml` and its include path in `m1_world.xml` |
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The Go2 and UR5e meshes already used by the suite remain in `vendor/handover9_20260921/`, with their license notices. The Jackal meshes required to load NAT-02 are included at `vendor/jackal_ugv/` with the Clearpath notice. The indoor Go2 historical source runtime was also made relative and points to the same shared Go2 meshes.
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NAT-01's mesh export is stored under `assets/nat01_meshes/`. It was previously published as a top-level `export_scene1/` directory, but it is a benchmark runtime asset set, not a standalone editable Blender scene. Its historical manifest contains references to authoring files that are absent from the compact release. The runtime XML and dependency manifest now point to the relocated meshes.
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The affected dependency manifests, M1 overlay hashes, case specifications, gold bindings, physics profiles, suite registry, and freeze lock were recalculated for the public tree. This **changes the file SHA-256 values** from the paper's internal archive without changing the registered physics parameters, task predicates, probes, or validators. The exact internal archive can be identified from the source handover; this repository is the portable publication package.
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Twelve Blender authoring scenes are intentionally absent. Their historical source pointers remain in the case specifications and manifests; the executable MJCF and local runtime assets for all 15 cases are present. Use `check_public_release.py` to validate this publication package before running the matrix.
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benchmark/simcode4d_unified/README.md
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# SimCode4D DEV15 public runtime
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This directory is the frozen 15-case development suite described in Sec. 4 of the Code2Worlds-2 manuscript. It includes three cases in each of five domains: indoor, industrial, natural outdoor, service, and urban. The implemented families are seven navigation, six dynamic-interaction, and two pick/transport cases.
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## Contents
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| Path | Purpose |
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| --- | --- |
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| `config/suite.json` and `config/freeze_lock.json` | Registered case grid and frozen hashes |
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| `cases/` | Case specification, gold predicates, task confirmation, physics profile |
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| `artifacts/` | Compiled M1 worlds, executable runtime MJCF, task overlays |
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| `probes/` and `validators/` | Evaluator-owned robot policy and case-specific predicates |
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| `tools/` | Runtime, isolated episode worker, matrix runner, method scorer, physical diagnostics, result aggregation |
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| `vendor/` and `assets/nat01_meshes/` | Exact model meshes needed by the frozen runtime |
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The 12 archived Blender authoring scenes are omitted from this GitHub code release. Three indoor authoring scenes were not archived in the original benchmark. All 15 compiled M1 worlds and task runtimes are included. Three cases required [path-only portability repairs](PORTABILITY.md), so their published hashes differ from the original server archive. The original `tools/validate_suite.py` checks source archives in addition to executable contracts, so it cannot pass on this compact release. Run the public integrity check below, then use `--skip-preflight` with the unchanged matrix runner. This still checks hashes for the registered toolchain, selected cases, models, and overlays during execution.
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## Verify and run
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From the repository root, with Python 3.10 and `requirements-benchmark.txt` installed:
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```bash
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python benchmark/simcode4d_unified/check_public_release.py
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# Small smoke run.
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python benchmark/simcode4d_unified/tools/run_matrix.py \
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--suite benchmark/simcode4d_unified \
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--output /tmp/simcode4d-smoke \
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--case-ids SER-03-hotel-drawer \
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--generation-seeds 1103 \
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--physics-seeds 401 \
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--skip-preflight
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python benchmark/simcode4d_unified/tools/aggregate_results.py \
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--suite benchmark/simcode4d_unified \
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--run-root /tmp/simcode4d-smoke \
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--output /tmp/simcode4d-smoke-metrics \
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--allow-subset
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```
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For the full reference matrix, omit all case and seed selectors. Use fresh output paths:
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```bash
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python benchmark/simcode4d_unified/tools/run_matrix.py \
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--suite benchmark/simcode4d_unified \
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--output /tmp/simcode4d-dev15-matrix \
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--skip-preflight
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python benchmark/simcode4d_unified/tools/aggregate_results.py \
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--suite benchmark/simcode4d_unified \
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--run-root /tmp/simcode4d-dev15-matrix \
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--output /tmp/simcode4d-dev15-metrics
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```
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The full run is 15 cases × 3 deterministic generation/rebuild slots × 5 physics seeds = 225 reference executions. The metrics in the paper establish reference-package self-consistency. They are not a score for a generated method. Keep a method's submitted world and task overlay separate from the evaluator-owned probes and validators.
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The matrix runner starts a fresh worker process for each episode. This releases
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MuJoCo allocations between cases and keeps the registered full matrix within
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modest memory limits. If an external host terminates an episode, the run
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manifest records the error and the incomplete matrix cannot be aggregated as
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a passing result.
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## Test a method world package
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The public method scorer accepts one first-output package per selected case:
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```text
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SUBMISSION_ROOT/
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SER-03-hotel-drawer/
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runtime.xml
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task_overlay.json
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bindings.json
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assets/ # if runtime.xml references local files
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```
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`runtime.xml` must carry the required bodies, joints, actuators, contact
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groups, local assets, physical properties, and frozen 1 ms simulator setup.
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`task_overlay.json` uses `code2worlds2.task-dynamics.v1` with `case_id`, the
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SHA-256 of `runtime.xml` in `runtime_sha256`, all required dynamic objects in
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`dynamic_bodies`, and typed `events` (`rigid_body`, `joint`, `visual_effect`).
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`bindings.json` uses `code2worlds2.bindings.v1`, `case_id`, a `bindings` list
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of `{entity_id, model_names}`, and an optional `support_relations` list of
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`{child, parent}` using registered entity IDs. XML assets must be relative to
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the package and remain inside it.
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Build and overlay checks precede the frozen probe. Failed builds, overlays,
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and executions remain zero in the registered episode denominator. For every
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completed episode the same independent validators report task, mechanics,
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kinematics, contact/friction, safety, integrity, and robust task success.
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The scorer also isolates each case and episode in a fresh process to avoid
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retaining large compiled worlds in memory.
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`method_metrics.py` computes WorldBuildPass@1, TaskOverlayPass@1, pooled F1,
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and RTS. Runtime entity-binding F1 checks the compiled model interface; the
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paper's source-name binding F1 additionally needs the 12 authoring-source
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catalogs, which are outside this compact release. Initial support F1 uses
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only five annotated task-object relations; unannotated relations are not
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treated as negatives.
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To verify the submission API itself without preparing a new scene, create a
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self-contained package from the included SER-03 reference world:
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```bash
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python benchmark/simcode4d_unified/tools/make_reference_smoke.py \
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--output /tmp/simcode4d-reference-package
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python benchmark/simcode4d_unified/tools/score_submission.py \
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--submission-root /tmp/simcode4d-reference-package \
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--output /tmp/simcode4d-reference-score \
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--case-ids SER-03-hotel-drawer --physics-seeds 401
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```
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The resulting `method_score.json` is a reference-interface smoke test, not a
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new generated-method result. Omit case and seed selectors to evaluate all 15
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registered cases and five physics seeds of a complete submission.
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This code release does not include ablation configurations, completed run logs, leaderboards, or demo videos. The case specifications for IND-02, NAT-01, and NAT-02 were rebound to relative asset paths; their physical parameters, probes, and validators were not changed. Provenance paths in a few source manifests refer to their historical authoring machines and are not used for runtime loading.
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benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/dependency_manifest.json
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{
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"case_id": "IND-01-vacuum-living-room",
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"files": [
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{
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"bytes": 1183,
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"path": "benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/m2_overlay.json",
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"sha256": "36c0c7ed058d02773e33fedbce1b2029b585c486629241490c19cbdb58d28be1"
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},
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{
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"bytes": 1060,
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"path": "benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/repair_report.json",
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"sha256": "55b37ecd32fc37b4c2066820c1502140bf7fe7bf1608388a5dcba180c686e184"
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},
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"bytes": 16877,
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"path": "benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/runtime_model.xml",
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"sha256": "c8790dc30c5fd4d82dd863f2089f218d4689b9c5ef9de5595cdd799676f1b1e6"
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},
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{
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"bytes": 11652,
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"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_enriched.xml",
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"sha256": "fb33b21c02602f781b34fac2a1a5febd5398a007ca27cadff1938060c4e99f50"
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},
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{
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"bytes": 12893,
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"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_m2_lr_vacuum.xml",
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"sha256": "777f861f43a468017cee694f25b1c94ac18e3e3aad4ac16135cf9e5b0c1caad3"
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}
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],
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"schema_version": "simcode4d.dev15.dependency-manifest.v1"
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}
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benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/m2_overlay.json
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{
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"case_id": "IND-01-vacuum-living-room",
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"m1_base_sha256": "fb33b21c02602f781b34fac2a1a5febd5398a007ca27cadff1938060c4e99f50",
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"ownership": "robot/control/constraint repair only; no goal, threshold, seed, or validator logic",
|
| 5 |
-
"repair_report": {
|
| 6 |
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|
| 7 |
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"path": "benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/repair_report.json",
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| 8 |
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"sha256": "55b37ecd32fc37b4c2066820c1502140bf7fe7bf1608388a5dcba180c686e184"
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| 9 |
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},
|
| 10 |
-
"repairs": [
|
| 11 |
-
"declared and bounded six-axis free-joint actuator interface",
|
| 12 |
-
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|
| 13 |
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|
| 14 |
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|
| 15 |
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"bytes": 16877,
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| 16 |
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"path": "benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/runtime_model.xml",
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| 17 |
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"sha256": "c8790dc30c5fd4d82dd863f2089f218d4689b9c5ef9de5595cdd799676f1b1e6"
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| 18 |
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},
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| 19 |
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"schema_version": "simcode4d.dev15.m2-overlay.v1",
|
| 20 |
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"source_runtime": {
|
| 21 |
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"bytes": 12893,
|
| 22 |
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"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_m2_lr_vacuum.xml",
|
| 23 |
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"sha256": "777f861f43a468017cee694f25b1c94ac18e3e3aad4ac16135cf9e5b0c1caad3"
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| 24 |
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| 25 |
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"task_independent": true
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| 26 |
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benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/repair_report.json
DELETED
|
@@ -1,27 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"assertions": {
|
| 3 |
-
"case_specific_repairs_present": true,
|
| 4 |
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"declared_actuators_present": true,
|
| 5 |
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|
| 6 |
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|
| 7 |
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"timestep_s": 0.001
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| 8 |
-
},
|
| 9 |
-
"case_id": "IND-01-vacuum-living-room",
|
| 10 |
-
"legacy_case_id": "indoor-1_vacuum_real",
|
| 11 |
-
"pruned_unmatched_contact_patterns": [],
|
| 12 |
-
"repairs": [
|
| 13 |
-
"declared and bounded six-axis free-joint actuator interface",
|
| 14 |
-
"normalized active contact solref/solimp for the frozen 1 ms timestep"
|
| 15 |
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],
|
| 16 |
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"schema_version": "simcode4d.dev15.runtime-repair.v1",
|
| 17 |
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"source_m1": {
|
| 18 |
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"bytes": 11652,
|
| 19 |
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"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_enriched.xml",
|
| 20 |
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"sha256": "fb33b21c02602f781b34fac2a1a5febd5398a007ca27cadff1938060c4e99f50"
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| 21 |
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},
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| 22 |
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"source_runtime": {
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| 23 |
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"bytes": 12893,
|
| 24 |
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"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_m2_lr_vacuum.xml",
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| 25 |
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"sha256": "777f861f43a468017cee694f25b1c94ac18e3e3aad4ac16135cf9e5b0c1caad3"
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| 26 |
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| 27 |
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benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/runtime_model.xml
DELETED
|
@@ -1,89 +0,0 @@
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|
| 1 |
-
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|
| 2 |
-
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 8 |
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| 9 |
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<asset>
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| 10 |
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| 11 |
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| 12 |
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| 58 |
-
<geom name="prop_concave_large_013_NatureShelfTrinketsFactory(7835494)_spawn_asset(7490480)" type="box" pos="11.583894 1.996402 0.391821" size="0.069399 0.045650 0.043623" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 59 |
-
<geom name="prop_concave_large_014_NatureShelfTrinketsFactory(8323276)_spawn_asset(9064779)" type="box" pos="11.648866 3.229121 2.331721" size="0.015791 0.065988 0.033128" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 60 |
-
<geom name="prop_concave_large_015_NatureShelfTrinketsFactory(8326211)_spawn_asset(5145731)" type="box" pos="11.642181 2.850970 1.479555" size="0.016264 0.061085 0.034089" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 61 |
-
<geom name="prop_concave_large_016_SideTableFactory(1977044)_spawn_asset(8198684)" type="box" pos="7.603278 5.435551 0.146102" size="0.279684 0.279684 0.233686" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 62 |
-
<geom name="prop_concave_large_017_SimpleBookcaseFactory(9201065)_spawn_asset(4193220)" type="box" pos="11.632156 1.829523 0.134616" size="0.157192 0.271506 0.421471" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 63 |
-
<geom name="prop_concave_large_018_SimpleDeskFactory(4333946)_spawn_asset(6424688)" type="box" pos="4.190810 8.432079 0.134958" size="0.548730 0.363213 0.372470" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 64 |
-
<geom name="prop_concave_large_019_SofaFactory(4061307)_spawn_asset(1597680)" type="box" pos="7.240608 3.890232 0.240755" size="0.834969 1.215595 0.511808" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 65 |
-
<geom name="prop_concave_large_020_TVStandFactory(8574063)_spawn_asset(5206710)" type="box" pos="11.794870 6.351633 0.134654" size="0.171654 0.708832 0.258656" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 66 |
-
<geom name="lr_wall_0" type="box" pos="6.0 9.05 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 67 |
-
<geom name="lr_wall_1" type="box" pos="6.0 0.08 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 68 |
-
<geom name="lr_wall_2" type="box" pos="0.08 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 69 |
-
<geom name="lr_wall_3" type="box" pos="12.05 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 70 |
-
<geom name="lr_wall_4" type="box" pos="3.63 5.13 1.4" size="3.5 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 71 |
-
<body name="robot" pos="8.5 5.5 0.16">
|
| 72 |
-
<freejoint name="robot_freejoint" />
|
| 73 |
-
<geom name="robot_chassis" type="cylinder" size="0.19 0.025" pos="0 0 0.025" rgba="0.09 0.10 0.12 1" friction="0.8" condim="3" density="800" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 74 |
-
<geom name="robot_lid" type="cylinder" size="0.15 0.015" pos="0 0 0.065" rgba="0.75 0.76 0.78 1" condim="3" density="200" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 75 |
-
<geom name="robot_bumper" type="cylinder" size="0.19 0.012" pos="0 0 0.012" rgba="0.28 0.29 0.28 1" friction="0.9" condim="3" density="200" contype="0" conaffinity="0" />
|
| 76 |
-
</body>
|
| 77 |
-
</worldbody>
|
| 78 |
-
<actuator>
|
| 79 |
-
<motor name="base_force_x_ctrl" joint="robot_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
|
| 80 |
-
<motor name="base_force_y_ctrl" joint="robot_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
|
| 81 |
-
<motor name="base_force_z_ctrl" joint="robot_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-80 80" />
|
| 82 |
-
<motor name="base_roll_ctrl" joint="robot_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-35 35" />
|
| 83 |
-
<motor name="base_pitch_ctrl" joint="robot_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-35 35" />
|
| 84 |
-
<motor name="base_yaw_ctrl" joint="robot_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-35 35" />
|
| 85 |
-
</actuator>
|
| 86 |
-
<keyframe>
|
| 87 |
-
<key name="m2_init" qpos="8.5 5.5 0.16 1 0 0 0" qvel="0 0 0 0 0 0" />
|
| 88 |
-
</keyframe>
|
| 89 |
-
</mujoco>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/dependency_manifest.json
DELETED
|
@@ -1,36 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"case_id": "IND-02-go2-living-room",
|
| 3 |
-
"files": [
|
| 4 |
-
{
|
| 5 |
-
"bytes": 15995,
|
| 6 |
-
"path": "benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/go2_robot.xml",
|
| 7 |
-
"sha256": "0449a6fb64ba52b97b135c09e80761adb065e49389c6d94ee439cf8434f138bb"
|
| 8 |
-
},
|
| 9 |
-
{
|
| 10 |
-
"bytes": 1370,
|
| 11 |
-
"path": "benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/m2_overlay.json",
|
| 12 |
-
"sha256": "fc6bb858bdc459a28a28e8789cd1aa9d03c4ecdec4599274568665bba92a2dd5"
|
| 13 |
-
},
|
| 14 |
-
{
|
| 15 |
-
"bytes": 1251,
|
| 16 |
-
"path": "benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/repair_report.json",
|
| 17 |
-
"sha256": "41ff881faa89d81ea0b6eb9bf1d0337b1bcd7599479271c2ca7b27d20da7e159"
|
| 18 |
-
},
|
| 19 |
-
{
|
| 20 |
-
"bytes": 15711,
|
| 21 |
-
"path": "benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/runtime_model.xml",
|
| 22 |
-
"sha256": "36ee97ed015bd235a151ac2045c8a4945fef2a366f1b4070775a88558eba77aa"
|
| 23 |
-
},
|
| 24 |
-
{
|
| 25 |
-
"bytes": 11652,
|
| 26 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-2_go2lr_walk/M1/module1/scene_enriched.xml",
|
| 27 |
-
"sha256": "fb33b21c02602f781b34fac2a1a5febd5398a007ca27cadff1938060c4e99f50"
|
| 28 |
-
},
|
| 29 |
-
{
|
| 30 |
-
"bytes": 13076,
|
| 31 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/export_singleroom_lr_go2/module2/scene_m2.xml",
|
| 32 |
-
"sha256": "c3d5b1b176f12c59a39c5c28470c0b35fb8ad9c52985c499e527e1dfd0f76933"
|
| 33 |
-
}
|
| 34 |
-
],
|
| 35 |
-
"schema_version": "simcode4d.dev15.dependency-manifest.v1"
|
| 36 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/go2_robot.xml
DELETED
|
@@ -1,192 +0,0 @@
|
|
| 1 |
-
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
-
<mujoco model="go2">
|
| 3 |
-
<compiler angle="radian" autolimits="true" />
|
| 4 |
-
<option cone="elliptic" impratio="100" timestep="0.001" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" />
|
| 5 |
-
<default>
|
| 6 |
-
<default class="go2">
|
| 7 |
-
<geom friction="0.6" margin="0.001" condim="1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 8 |
-
<joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2" />
|
| 9 |
-
<motor ctrlrange="-23.7 23.7" />
|
| 10 |
-
<default class="abduction">
|
| 11 |
-
<joint axis="1 0 0" range="-1.0472 1.0472" />
|
| 12 |
-
</default>
|
| 13 |
-
<default class="hip">
|
| 14 |
-
<default class="front_hip">
|
| 15 |
-
<joint range="-1.5708 3.4907" />
|
| 16 |
-
</default>
|
| 17 |
-
<default class="back_hip">
|
| 18 |
-
<joint range="-0.5236 4.5379" />
|
| 19 |
-
</default>
|
| 20 |
-
</default>
|
| 21 |
-
<default class="knee">
|
| 22 |
-
<joint range="-2.7227 -0.83776" />
|
| 23 |
-
<motor ctrlrange="-45.43 45.43" />
|
| 24 |
-
</default>
|
| 25 |
-
<default class="visual">
|
| 26 |
-
<geom type="mesh" contype="0" conaffinity="0" group="2" />
|
| 27 |
-
</default>
|
| 28 |
-
<default class="collision">
|
| 29 |
-
<geom group="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 30 |
-
<default class="foot">
|
| 31 |
-
<geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.99 0.999 0.001 0.5 2" condim="6" friction="0.8 0.02 0.01" solref="0.002 1" />
|
| 32 |
-
</default>
|
| 33 |
-
</default>
|
| 34 |
-
</default>
|
| 35 |
-
</default>
|
| 36 |
-
<asset>
|
| 37 |
-
<material name="metal" rgba=".9 .95 .95 1" />
|
| 38 |
-
<material name="black" rgba="0 0 0 1" />
|
| 39 |
-
<material name="white" rgba="1 1 1 1" />
|
| 40 |
-
<material name="gray" rgba="0.671705 0.692426 0.774270 1" />
|
| 41 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_0.obj" />
|
| 42 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_1.obj" />
|
| 43 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_2.obj" />
|
| 44 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_3.obj" />
|
| 45 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_4.obj" />
|
| 46 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_0.obj" />
|
| 47 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_1.obj" />
|
| 48 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_0.obj" />
|
| 49 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_1.obj" />
|
| 50 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_0.obj" />
|
| 51 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_1.obj" />
|
| 52 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_0.obj" />
|
| 53 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_1.obj" />
|
| 54 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_0.obj" />
|
| 55 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_1.obj" />
|
| 56 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/foot.obj" />
|
| 57 |
-
</asset>
|
| 58 |
-
<worldbody>
|
| 59 |
-
<body name="base" pos="0 0 0.445" childclass="go2">
|
| 60 |
-
<inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719" mass="6.921" diaginertia="0.107027 0.0980771 0.0244531" />
|
| 61 |
-
<freejoint name="go2_freejoint" />
|
| 62 |
-
<geom mesh="base_0" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 63 |
-
<geom mesh="base_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 64 |
-
<geom mesh="base_2" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 65 |
-
<geom mesh="base_3" material="white" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 66 |
-
<geom mesh="base_4" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 67 |
-
<geom size="0.1881 0.04675 0.057" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 68 |
-
<geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 69 |
-
<geom size="0.047" pos="0.293 0 -0.06" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 70 |
-
<site name="imu" pos="-0.02557 0 0.04232" />
|
| 71 |
-
<body name="FL_hip" pos="0.1934 0.0465 0">
|
| 72 |
-
<inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 73 |
-
<joint name="FL_hip_joint" class="abduction" />
|
| 74 |
-
<geom mesh="hip_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 75 |
-
<geom mesh="hip_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 76 |
-
<geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 77 |
-
<body name="FL_thigh" pos="0 0.0955 0">
|
| 78 |
-
<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 79 |
-
<joint name="FL_thigh_joint" class="front_hip" />
|
| 80 |
-
<geom mesh="thigh_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 81 |
-
<geom mesh="thigh_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 82 |
-
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 83 |
-
<body name="FL_calf" pos="0 0 -0.213">
|
| 84 |
-
<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 85 |
-
<joint name="FL_calf_joint" class="knee" />
|
| 86 |
-
<geom mesh="calf_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 87 |
-
<geom mesh="calf_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 88 |
-
<geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 89 |
-
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 90 |
-
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 91 |
-
<geom name="FL" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 92 |
-
</body>
|
| 93 |
-
</body>
|
| 94 |
-
</body>
|
| 95 |
-
<body name="FR_hip" pos="0.1934 -0.0465 0">
|
| 96 |
-
<inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 97 |
-
<joint name="FR_hip_joint" class="abduction" />
|
| 98 |
-
<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 99 |
-
<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 100 |
-
<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 101 |
-
<body name="FR_thigh" pos="0 -0.0955 0">
|
| 102 |
-
<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 103 |
-
<joint name="FR_thigh_joint" class="front_hip" />
|
| 104 |
-
<geom mesh="thigh_mirror_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 105 |
-
<geom mesh="thigh_mirror_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 106 |
-
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 107 |
-
<body name="FR_calf" pos="0 0 -0.213">
|
| 108 |
-
<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 109 |
-
<joint name="FR_calf_joint" class="knee" />
|
| 110 |
-
<geom mesh="calf_mirror_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 111 |
-
<geom mesh="calf_mirror_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 112 |
-
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 113 |
-
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 114 |
-
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 115 |
-
<geom name="FR" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 116 |
-
</body>
|
| 117 |
-
</body>
|
| 118 |
-
</body>
|
| 119 |
-
<body name="RL_hip" pos="-0.1934 0.0465 0">
|
| 120 |
-
<inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 121 |
-
<joint name="RL_hip_joint" class="abduction" />
|
| 122 |
-
<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 123 |
-
<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 124 |
-
<geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 125 |
-
<body name="RL_thigh" pos="0 0.0955 0">
|
| 126 |
-
<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 127 |
-
<joint name="RL_thigh_joint" class="back_hip" />
|
| 128 |
-
<geom mesh="thigh_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 129 |
-
<geom mesh="thigh_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 130 |
-
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 131 |
-
<body name="RL_calf" pos="0 0 -0.213">
|
| 132 |
-
<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 133 |
-
<joint name="RL_calf_joint" class="knee" />
|
| 134 |
-
<geom mesh="calf_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 135 |
-
<geom mesh="calf_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 136 |
-
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 137 |
-
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 138 |
-
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 139 |
-
<geom name="RL" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 140 |
-
</body>
|
| 141 |
-
</body>
|
| 142 |
-
</body>
|
| 143 |
-
<body name="RR_hip" pos="-0.1934 -0.0465 0">
|
| 144 |
-
<inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 145 |
-
<joint name="RR_hip_joint" class="abduction" />
|
| 146 |
-
<geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 147 |
-
<geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 148 |
-
<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 149 |
-
<body name="RR_thigh" pos="0 -0.0955 0">
|
| 150 |
-
<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 151 |
-
<joint name="RR_thigh_joint" class="back_hip" />
|
| 152 |
-
<geom mesh="thigh_mirror_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 153 |
-
<geom mesh="thigh_mirror_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 154 |
-
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 155 |
-
<body name="RR_calf" pos="0 0 -0.213">
|
| 156 |
-
<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 157 |
-
<joint name="RR_calf_joint" class="knee" />
|
| 158 |
-
<geom mesh="calf_mirror_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 159 |
-
<geom mesh="calf_mirror_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 160 |
-
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 161 |
-
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 162 |
-
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 163 |
-
<geom name="RR" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 164 |
-
</body>
|
| 165 |
-
</body>
|
| 166 |
-
</body>
|
| 167 |
-
</body>
|
| 168 |
-
</worldbody>
|
| 169 |
-
<actuator>
|
| 170 |
-
<motor class="abduction" name="FL_hip" joint="FL_hip_joint" />
|
| 171 |
-
<motor class="hip" name="FL_thigh" joint="FL_thigh_joint" />
|
| 172 |
-
<motor class="knee" name="FL_calf" joint="FL_calf_joint" />
|
| 173 |
-
<motor class="abduction" name="FR_hip" joint="FR_hip_joint" />
|
| 174 |
-
<motor class="hip" name="FR_thigh" joint="FR_thigh_joint" />
|
| 175 |
-
<motor class="knee" name="FR_calf" joint="FR_calf_joint" />
|
| 176 |
-
<motor class="abduction" name="RL_hip" joint="RL_hip_joint" />
|
| 177 |
-
<motor class="hip" name="RL_thigh" joint="RL_thigh_joint" />
|
| 178 |
-
<motor class="knee" name="RL_calf" joint="RL_calf_joint" />
|
| 179 |
-
<motor class="abduction" name="RR_hip" joint="RR_hip_joint" />
|
| 180 |
-
<motor class="hip" name="RR_thigh" joint="RR_thigh_joint" />
|
| 181 |
-
<motor class="knee" name="RR_calf" joint="RR_calf_joint" />
|
| 182 |
-
<motor name="base_force_x_ctrl" joint="go2_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-170 170" />
|
| 183 |
-
<motor name="base_force_y_ctrl" joint="go2_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-170 170" />
|
| 184 |
-
<motor name="base_force_z_ctrl" joint="go2_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-150 150" />
|
| 185 |
-
<motor name="base_roll_ctrl" joint="go2_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-90 90" />
|
| 186 |
-
<motor name="base_pitch_ctrl" joint="go2_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-90 90" />
|
| 187 |
-
<motor name="base_yaw_ctrl" joint="go2_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-90 90" />
|
| 188 |
-
</actuator>
|
| 189 |
-
<keyframe>
|
| 190 |
-
<key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" />
|
| 191 |
-
</keyframe>
|
| 192 |
-
</mujoco>
|
|
|
|
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|
benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/m2_overlay.json
DELETED
|
@@ -1,30 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"case_id": "IND-02-go2-living-room",
|
| 3 |
-
"m1_base_sha256": "fb33b21c02602f781b34fac2a1a5febd5398a007ca27cadff1938060c4e99f50",
|
| 4 |
-
"ownership": "robot/control/constraint repair only; no goal, threshold, seed, or validator logic",
|
| 5 |
-
"repair_report": {
|
| 6 |
-
"bytes": 1251,
|
| 7 |
-
"path": "benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/repair_report.json",
|
| 8 |
-
"sha256": "3b7c44e9ba970ebcfe1f10b6b3ba91b15f67c4115e028e72921ca1b220f6184e"
|
| 9 |
-
},
|
| 10 |
-
"repairs": [
|
| 11 |
-
"replaced incorrect vacuum M2 with generated Go2 runtime",
|
| 12 |
-
"removed invisible non-colliding stone",
|
| 13 |
-
"made angle units explicitly radian",
|
| 14 |
-
"raised initialization 0.020 m to remove measured foot-ground overlap",
|
| 15 |
-
"declared bounded free-joint assist actuators",
|
| 16 |
-
"normalized active contact solref/solimp for the frozen 1 ms timestep"
|
| 17 |
-
],
|
| 18 |
-
"runtime_model": {
|
| 19 |
-
"bytes": 15711,
|
| 20 |
-
"path": "benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/runtime_model.xml",
|
| 21 |
-
"sha256": "36ee97ed015bd235a151ac2045c8a4945fef2a366f1b4070775a88558eba77aa"
|
| 22 |
-
},
|
| 23 |
-
"schema_version": "simcode4d.dev15.m2-overlay.v1",
|
| 24 |
-
"source_runtime": {
|
| 25 |
-
"bytes": 13164,
|
| 26 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/export_singleroom_lr_go2/module2/scene_m2.xml",
|
| 27 |
-
"sha256": "b487a5f5defe105f22545ad5fd2eb7bcc4c39c88f7f709d58d50e627a745f9c9"
|
| 28 |
-
},
|
| 29 |
-
"task_independent": true
|
| 30 |
-
}
|
|
|
|
|
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benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/repair_report.json
DELETED
|
@@ -1,31 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"assertions": {
|
| 3 |
-
"case_specific_repairs_present": true,
|
| 4 |
-
"declared_actuators_present": true,
|
| 5 |
-
"mujoco_load": true,
|
| 6 |
-
"positive_dynamic_mass_and_inertia": true,
|
| 7 |
-
"timestep_s": 0.001
|
| 8 |
-
},
|
| 9 |
-
"case_id": "IND-02-go2-living-room",
|
| 10 |
-
"legacy_case_id": "indoor-2_go2lr_walk",
|
| 11 |
-
"pruned_unmatched_contact_patterns": [],
|
| 12 |
-
"repairs": [
|
| 13 |
-
"replaced incorrect vacuum M2 with generated Go2 runtime",
|
| 14 |
-
"removed invisible non-colliding stone",
|
| 15 |
-
"made angle units explicitly radian",
|
| 16 |
-
"raised initialization 0.020 m to remove measured foot-ground overlap",
|
| 17 |
-
"declared bounded free-joint assist actuators",
|
| 18 |
-
"normalized active contact solref/solimp for the frozen 1 ms timestep"
|
| 19 |
-
],
|
| 20 |
-
"schema_version": "simcode4d.dev15.runtime-repair.v1",
|
| 21 |
-
"source_m1": {
|
| 22 |
-
"bytes": 11652,
|
| 23 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-2_go2lr_walk/M1/module1/scene_enriched.xml",
|
| 24 |
-
"sha256": "fb33b21c02602f781b34fac2a1a5febd5398a007ca27cadff1938060c4e99f50"
|
| 25 |
-
},
|
| 26 |
-
"source_runtime": {
|
| 27 |
-
"bytes": 13076,
|
| 28 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/export_singleroom_lr_go2/module2/scene_m2.xml",
|
| 29 |
-
"sha256": "c3d5b1b176f12c59a39c5c28470c0b35fb8ad9c52985c499e527e1dfd0f76933"
|
| 30 |
-
}
|
| 31 |
-
}
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benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/runtime_model.xml
DELETED
|
@@ -1,76 +0,0 @@
|
|
| 1 |
-
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
-
<mujoco model="scene_enriched">
|
| 3 |
-
<compiler angle="radian" autolimits="true" />
|
| 4 |
-
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
|
| 5 |
-
<visual>
|
| 6 |
-
<headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
|
| 7 |
-
<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
|
| 8 |
-
</visual>
|
| 9 |
-
<asset>
|
| 10 |
-
|
| 11 |
-
</asset>
|
| 12 |
-
<worldbody>
|
| 13 |
-
<light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
|
| 14 |
-
<geom name="floor_00" type="box" pos="8.067328 -0.250000 0.134657" size="0.932672 2.115343 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 15 |
-
<geom name="floor_01" type="box" pos="3.750000 1.567329 0.128334" size="3.115343 3.432671 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 16 |
-
<geom name="floor_02" type="box" pos="7.932672 11.682672 0.134657" size="2.932672 2.682672 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 17 |
-
<geom name="floor_03" type="box" pos="2.567328 12.000000 0.134657" size="2.432672 2.865343 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 18 |
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|
| 19 |
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<geom name="wall_00" type="box" pos="8.000000 -0.250000 2.841525" size="0.865343 2.115343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 20 |
-
<geom name="wall_03" type="box" pos="3.750000 1.500000 2.847848" size="3.115343 3.365343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 21 |
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|
| 22 |
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<geom name="wall_07" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 23 |
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<geom name="wall_08" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 24 |
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<geom name="wall_09" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 25 |
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<geom name="wall_10" type="box" pos="1.508270 7.784414 2.803499" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 26 |
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<geom name="wall_11" type="box" pos="7.864501 7.822870 2.803533" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 27 |
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| 28 |
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|
| 63 |
-
<geom name="prop_concave_large_018_SimpleDeskFactory(4333946)_spawn_asset(6424688)" type="box" pos="4.190810 8.432079 0.134958" size="0.548730 0.363213 0.372470" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 64 |
-
<geom name="prop_concave_large_019_SofaFactory(4061307)_spawn_asset(1597680)" type="box" pos="7.240608 3.890232 0.240755" size="0.834969 1.215595 0.511808" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 65 |
-
<geom name="prop_concave_large_020_TVStandFactory(8574063)_spawn_asset(5206710)" type="box" pos="11.794870 6.351633 0.134654" size="0.171654 0.708832 0.258656" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 66 |
-
<geom name="lr_wall_0" type="box" pos="6.0 9.05 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 67 |
-
<geom name="lr_wall_1" type="box" pos="6.0 0.08 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 68 |
-
<geom name="lr_wall_2" type="box" pos="0.08 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 69 |
-
<geom name="lr_wall_3" type="box" pos="12.05 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 70 |
-
<geom name="lr_wall_4" type="box" pos="3.63 5.13 1.4" size="3.5 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 71 |
-
</worldbody>
|
| 72 |
-
<include file="go2_robot.xml" />
|
| 73 |
-
<keyframe>
|
| 74 |
-
<key name="m2_init" qpos="2.5 6.3 0.435 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" />
|
| 75 |
-
</keyframe>
|
| 76 |
-
</mujoco>
|
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benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/dependency_manifest.json
DELETED
|
@@ -1,31 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"case_id": "IND-03-vacuum-west",
|
| 3 |
-
"files": [
|
| 4 |
-
{
|
| 5 |
-
"bytes": 1248,
|
| 6 |
-
"path": "benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/m2_overlay.json",
|
| 7 |
-
"sha256": "79635f717a69df698dda4cdaa80e5d8301ebddfe77a01406536ed3cf8be5394f"
|
| 8 |
-
},
|
| 9 |
-
{
|
| 10 |
-
"bytes": 1242,
|
| 11 |
-
"path": "benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/repair_report.json",
|
| 12 |
-
"sha256": "580ccbe79f7c8f3bb0d4d16a396961ec4b15d9c116bf2045bfc8af3e8950ca81"
|
| 13 |
-
},
|
| 14 |
-
{
|
| 15 |
-
"bytes": 11142,
|
| 16 |
-
"path": "benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/runtime_model.xml",
|
| 17 |
-
"sha256": "bd9e1a5b33f53155602bcd7ebb599346970373c7f71e0a155d478b6dea779a34"
|
| 18 |
-
},
|
| 19 |
-
{
|
| 20 |
-
"bytes": 7729,
|
| 21 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_enriched.xml",
|
| 22 |
-
"sha256": "5524156fcf2deab787b01c52e38e17f4e472fb66d8604fa4271f31e4d50cd10f"
|
| 23 |
-
},
|
| 24 |
-
{
|
| 25 |
-
"bytes": 8219,
|
| 26 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_m2_vacuum.xml",
|
| 27 |
-
"sha256": "bebf39eeb58d170be21ec58fa7e3c81f888b3e5f96700aedfcd36cd1f7530fd8"
|
| 28 |
-
}
|
| 29 |
-
],
|
| 30 |
-
"schema_version": "simcode4d.dev15.dependency-manifest.v1"
|
| 31 |
-
}
|
|
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|
benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/m2_overlay.json
DELETED
|
@@ -1,27 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"case_id": "IND-03-vacuum-west",
|
| 3 |
-
"m1_base_sha256": "5524156fcf2deab787b01c52e38e17f4e472fb66d8604fa4271f31e4d50cd10f",
|
| 4 |
-
"ownership": "robot/control/constraint repair only; no goal, threshold, seed, or validator logic",
|
| 5 |
-
"repair_report": {
|
| 6 |
-
"bytes": 1242,
|
| 7 |
-
"path": "benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/repair_report.json",
|
| 8 |
-
"sha256": "580ccbe79f7c8f3bb0d4d16a396961ec4b15d9c116bf2045bfc8af3e8950ca81"
|
| 9 |
-
},
|
| 10 |
-
"repairs": [
|
| 11 |
-
"shifted initialization 0.15 m in y to preserve vacuum-radius clearance from wall_43",
|
| 12 |
-
"declared and bounded six-axis free-joint actuator interface",
|
| 13 |
-
"normalized active contact solref/solimp for the frozen 1 ms timestep"
|
| 14 |
-
],
|
| 15 |
-
"runtime_model": {
|
| 16 |
-
"bytes": 11142,
|
| 17 |
-
"path": "benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/runtime_model.xml",
|
| 18 |
-
"sha256": "bd9e1a5b33f53155602bcd7ebb599346970373c7f71e0a155d478b6dea779a34"
|
| 19 |
-
},
|
| 20 |
-
"schema_version": "simcode4d.dev15.m2-overlay.v1",
|
| 21 |
-
"source_runtime": {
|
| 22 |
-
"bytes": 8219,
|
| 23 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_m2_vacuum.xml",
|
| 24 |
-
"sha256": "bebf39eeb58d170be21ec58fa7e3c81f888b3e5f96700aedfcd36cd1f7530fd8"
|
| 25 |
-
},
|
| 26 |
-
"task_independent": true
|
| 27 |
-
}
|
|
|
|
|
|
|
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|
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|
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|
|
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|
benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/repair_report.json
DELETED
|
@@ -1,34 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"assertions": {
|
| 3 |
-
"case_specific_repairs_present": true,
|
| 4 |
-
"declared_actuators_present": true,
|
| 5 |
-
"mujoco_load": true,
|
| 6 |
-
"positive_dynamic_mass_and_inertia": true,
|
| 7 |
-
"timestep_s": 0.001
|
| 8 |
-
},
|
| 9 |
-
"case_id": "IND-03-vacuum-west",
|
| 10 |
-
"legacy_case_id": "indoor-3_indoor2_v2",
|
| 11 |
-
"pruned_unmatched_contact_patterns": [
|
| 12 |
-
{
|
| 13 |
-
"group": "static_obstacles",
|
| 14 |
-
"pattern": "lr_wall_*",
|
| 15 |
-
"selector": "geoms"
|
| 16 |
-
}
|
| 17 |
-
],
|
| 18 |
-
"repairs": [
|
| 19 |
-
"shifted initialization 0.15 m in y to preserve vacuum-radius clearance from wall_43",
|
| 20 |
-
"declared and bounded six-axis free-joint actuator interface",
|
| 21 |
-
"normalized active contact solref/solimp for the frozen 1 ms timestep"
|
| 22 |
-
],
|
| 23 |
-
"schema_version": "simcode4d.dev15.runtime-repair.v1",
|
| 24 |
-
"source_m1": {
|
| 25 |
-
"bytes": 7729,
|
| 26 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_enriched.xml",
|
| 27 |
-
"sha256": "5524156fcf2deab787b01c52e38e17f4e472fb66d8604fa4271f31e4d50cd10f"
|
| 28 |
-
},
|
| 29 |
-
"source_runtime": {
|
| 30 |
-
"bytes": 8219,
|
| 31 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_m2_vacuum.xml",
|
| 32 |
-
"sha256": "bebf39eeb58d170be21ec58fa7e3c81f888b3e5f96700aedfcd36cd1f7530fd8"
|
| 33 |
-
}
|
| 34 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/runtime_model.xml
DELETED
|
@@ -1,67 +0,0 @@
|
|
| 1 |
-
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
-
<mujoco model="scene_enriched">
|
| 3 |
-
<compiler angle="radian" autolimits="true" />
|
| 4 |
-
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
|
| 5 |
-
<visual>
|
| 6 |
-
<headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
|
| 7 |
-
<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
|
| 8 |
-
</visual>
|
| 9 |
-
<asset>
|
| 10 |
-
|
| 11 |
-
</asset>
|
| 12 |
-
<worldbody>
|
| 13 |
-
<light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
|
| 14 |
-
<geom name="floor_00" type="box" pos="7.750000 3.574207 0.148413" size="1.101587 1.425793 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 15 |
-
<geom name="floor_01" type="box" pos="12.250000 2.824207 0.140551" size="3.101587 3.175793 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 16 |
-
<geom name="floor_02" type="box" pos="9.500000 11.000000 0.148402" size="2.000000 2.351587 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 17 |
-
<geom name="floor_03" type="box" pos="4.324207 11.000000 0.148402" size="3.175793 2.351587 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 18 |
-
<geom name="floor_04" type="box" pos="9.324207 9.175794 0.145185" size="5.675793 4.175794 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 19 |
-
<geom name="wall_00" type="box" pos="7.750000 3.500000 2.776957" size="1.101587 1.351587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 20 |
-
<geom name="wall_03" type="box" pos="12.250000 2.750000 2.784819" size="3.101587 3.101587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 21 |
-
<geom name="wall_06" type="box" pos="0.000000 0.000000 -0.039925" size="0.160864 0.160864 0.039925" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 22 |
-
<geom name="wall_07" type="box" pos="0.000000 0.000000 -0.039925" size="0.160864 0.160864 0.039925" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 23 |
-
<geom name="wall_08" type="box" pos="6.954263 4.282712 2.737032" size="0.160864 0.160864 0.039925" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 24 |
-
<geom name="wall_09" type="box" pos="7.915145 2.747007 2.737032" size="0.160864 0.160864 0.039925" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 25 |
-
<geom name="wall_10" type="box" pos="9.500000 11.000000 2.776968" size="1.851587 2.351587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 26 |
-
<geom name="wall_16" type="box" pos="4.250000 11.000000 2.776968" size="3.101587 2.351587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 27 |
-
<geom name="wall_20" type="box" pos="9.250000 9.250000 2.780185" size="5.601587 4.101587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 28 |
-
<geom name="wall_43" type="box" pos="2.189788 8.714774 1.492194" size="0.994565 0.116563 0.529545" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 29 |
-
<geom name="wall_44" type="box" pos="4.346774 13.351587 1.492194" size="0.558063 0.051717 0.527254" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 30 |
-
<geom name="wall_45" type="box" pos="3.648413 12.730551 1.492194" size="0.052367 0.497273 0.520375" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 31 |
-
<geom name="wall_46" type="box" pos="2.162191 11.291154 1.492194" size="0.507483 0.099226 0.532248" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 32 |
-
<geom name="wall_47" type="box" pos="1.148413 10.002422 1.492194" size="0.057953 1.277529 0.532302" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 33 |
-
<geom name="wall_48" type="box" pos="13.535239 13.351587 1.492194" size="0.791399 0.058238 0.524367" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 34 |
-
<geom name="wall_49" type="box" pos="3.351587 7.978843 1.492194" size="0.048630 0.321001 0.517296" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 35 |
-
<geom name="wall_50" type="box" pos="9.564028 13.351587 1.492194" size="0.991946 0.050452 0.534947" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 36 |
-
<geom name="wall_51" type="box" pos="8.179374 2.148413 1.492194" size="0.534065 0.038233 0.528951" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 37 |
-
<geom name="wall_52" type="box" pos="6.710470 3.282030 1.492194" size="0.092335 0.606077 0.528420" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 38 |
-
<geom name="wall_53" type="box" pos="10.313417 -0.351587 1.492194" size="0.799551 0.045037 0.521486" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 39 |
-
<geom name="wall_58" type="box" pos="15.351587 4.338172 1.492194" size="0.038160 1.137850 0.528902" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 40 |
-
<geom name="wall_59" type="box" pos="9.148413 0.912998 1.492194" size="0.057174 0.631328 0.523344" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 41 |
-
<geom name="prop_concave_large_000_CellShelfFactory(553940)_spawn_asset(1582230)" type="box" pos="8.781588 3.708113 0.148413" size="0.216480 0.592551 0.775801" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 42 |
-
<geom name="prop_concave_large_001_LargeShelfFactory(7187033)_spawn_asset(5070133)" type="box" pos="8.644208 4.475750 0.148413" size="0.133380 0.175760 0.765355" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 43 |
-
<geom name="prop_concave_large_002_LargeShelfFactory(847080)_spawn_asset(5034982)" type="box" pos="8.619232 2.865427 0.148413" size="0.158355 0.168051 0.959519" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 44 |
-
<geom name="prop_concave_large_003_MirrorFactory(2662507)_spawn_asset(2274093)" type="box" pos="8.841587 3.786969 2.061996" size="0.007990 0.256776 0.299212" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 45 |
-
<geom name="prop_concave_large_004_NatureShelfTrinketsFactory(321562)_spawn_asset(3131955)" type="box" pos="8.561434 2.853782 0.681814" size="0.069747 0.064521 0.061916" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 46 |
-
<geom name="prop_concave_large_005_NatureShelfTrinketsFactory(4213378)_spawn_asset(8334249)" type="box" pos="8.548280 2.850620 1.774693" size="0.072589 0.068014 0.070088" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 47 |
-
<geom name="prop_concave_large_006_NatureShelfTrinketsFactory(9699418)_spawn_asset(1239099)" type="box" pos="8.703764 2.832126 1.767840" size="0.050332 0.065736 0.050798" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 48 |
-
<geom name="prop_concave_large_007_SingleCabinetFactory(224372)_spawn_asset(6792200)" type="box" pos="6.878554 4.582326 0.148413" size="0.160474 0.204718 0.741438" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 49 |
-
<body name="robot" pos="5.0 9.0 0.16">
|
| 50 |
-
<freejoint name="robot_freejoint" />
|
| 51 |
-
<geom name="robot_chassis" type="cylinder" size="0.19 0.025" pos="0 0 0.025" rgba="0.09 0.10 0.12 1" friction="0.8" condim="3" density="800" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 52 |
-
<geom name="robot_lid" type="cylinder" size="0.15 0.015" pos="0 0 0.065" rgba="0.14 0.14 0.16 1" condim="3" density="200" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 53 |
-
<geom name="robot_bumper" type="cylinder" size="0.19 0.012" pos="0 0 0.012" rgba="0.28 0.29 0.28 1" friction="0.9" condim="3" density="200" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 54 |
-
</body>
|
| 55 |
-
</worldbody>
|
| 56 |
-
<actuator>
|
| 57 |
-
<motor name="base_force_x_ctrl" joint="robot_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
|
| 58 |
-
<motor name="base_force_y_ctrl" joint="robot_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
|
| 59 |
-
<motor name="base_force_z_ctrl" joint="robot_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-80 80" />
|
| 60 |
-
<motor name="base_roll_ctrl" joint="robot_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-35 35" />
|
| 61 |
-
<motor name="base_pitch_ctrl" joint="robot_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-35 35" />
|
| 62 |
-
<motor name="base_yaw_ctrl" joint="robot_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-35 35" />
|
| 63 |
-
</actuator>
|
| 64 |
-
<keyframe>
|
| 65 |
-
<key name="m2_init" qpos="5 9.15 0.16 1 0 0 0" qvel="0 0 0 0 0 0" />
|
| 66 |
-
</keyframe>
|
| 67 |
-
</mujoco>
|
|
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|
benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/dependency_manifest.json
DELETED
|
@@ -1,41 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"case_id": "INS-01-agv-aisle",
|
| 3 |
-
"files": [
|
| 4 |
-
{
|
| 5 |
-
"bytes": 1330,
|
| 6 |
-
"path": "benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/m2_overlay.json",
|
| 7 |
-
"sha256": "2d34a38e8461f006abf0d172ea2b470907939a4ea576b428f2421e63a37c343f"
|
| 8 |
-
},
|
| 9 |
-
{
|
| 10 |
-
"bytes": 1325,
|
| 11 |
-
"path": "benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/repair_report.json",
|
| 12 |
-
"sha256": "3ce59314f8a65cf6d1341aa559e8583790ad13040af4ff20693f445fc1c1667d"
|
| 13 |
-
},
|
| 14 |
-
{
|
| 15 |
-
"bytes": 48857,
|
| 16 |
-
"path": "benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/runtime_model.xml",
|
| 17 |
-
"sha256": "c9c9774d85b62ef97bc00ea9094bdce4a451de30b38f56864fd6b5aa9229444a"
|
| 18 |
-
},
|
| 19 |
-
{
|
| 20 |
-
"bytes": 35526,
|
| 21 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-1_agv_empty/M1/module1/scene_enriched.xml",
|
| 22 |
-
"sha256": "8a527bd66ecf77612bdba141e3ab822f8ae07648bca1c5184a3236c9151bb3e3"
|
| 23 |
-
},
|
| 24 |
-
{
|
| 25 |
-
"bytes": 38451,
|
| 26 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-1_agv_empty/rollout/scene_m2.xml",
|
| 27 |
-
"sha256": "88f3ed5c35d2bbc01af3def9ab325cc436b81331bbd3f201c863a066769869c5"
|
| 28 |
-
},
|
| 29 |
-
{
|
| 30 |
-
"bytes": 423,
|
| 31 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/rover_assets/rover_body.obj",
|
| 32 |
-
"sha256": "8b002e7368471aa73bec2666c1c64447b0da6428738c3bdba38e9981188bdad2"
|
| 33 |
-
},
|
| 34 |
-
{
|
| 35 |
-
"bytes": 2831,
|
| 36 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/rover_assets/rover_wheel.obj",
|
| 37 |
-
"sha256": "476216758f15309039ff1d265b9a8e4cbbdacfe46876b6ad39017aa71f9a8811"
|
| 38 |
-
}
|
| 39 |
-
],
|
| 40 |
-
"schema_version": "simcode4d.dev15.dependency-manifest.v1"
|
| 41 |
-
}
|
|
|
|
|
|
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|
benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/m2_overlay.json
DELETED
|
@@ -1,28 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"case_id": "INS-01-agv-aisle",
|
| 3 |
-
"m1_base_sha256": "8a527bd66ecf77612bdba141e3ab822f8ae07648bca1c5184a3236c9151bb3e3",
|
| 4 |
-
"ownership": "robot/control/constraint repair only; no goal, threshold, seed, or validator logic",
|
| 5 |
-
"repair_report": {
|
| 6 |
-
"bytes": 1325,
|
| 7 |
-
"path": "benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/repair_report.json",
|
| 8 |
-
"sha256": "3ce59314f8a65cf6d1341aa559e8583790ad13040af4ff20693f445fc1c1667d"
|
| 9 |
-
},
|
| 10 |
-
"repairs": [
|
| 11 |
-
"declared bounded free-joint stabilization while preserving wheel velocity actuators",
|
| 12 |
-
"normalized active contact solref/solimp for the frozen 1 ms timestep",
|
| 13 |
-
"aligned wheel collision cylinders with the y-axis hinges",
|
| 14 |
-
"initialized wheel tread with 1 mm clearance to avoid exact-tangent box contact degeneracy"
|
| 15 |
-
],
|
| 16 |
-
"runtime_model": {
|
| 17 |
-
"bytes": 48857,
|
| 18 |
-
"path": "benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/runtime_model.xml",
|
| 19 |
-
"sha256": "c9c9774d85b62ef97bc00ea9094bdce4a451de30b38f56864fd6b5aa9229444a"
|
| 20 |
-
},
|
| 21 |
-
"schema_version": "simcode4d.dev15.m2-overlay.v1",
|
| 22 |
-
"source_runtime": {
|
| 23 |
-
"bytes": 38451,
|
| 24 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-1_agv_empty/rollout/scene_m2.xml",
|
| 25 |
-
"sha256": "88f3ed5c35d2bbc01af3def9ab325cc436b81331bbd3f201c863a066769869c5"
|
| 26 |
-
},
|
| 27 |
-
"task_independent": true
|
| 28 |
-
}
|
|
|
|
|
|
|
|
|
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|
benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/repair_report.json
DELETED
|
@@ -1,35 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"assertions": {
|
| 3 |
-
"case_specific_repairs_present": true,
|
| 4 |
-
"declared_actuators_present": true,
|
| 5 |
-
"mujoco_load": true,
|
| 6 |
-
"positive_dynamic_mass_and_inertia": true,
|
| 7 |
-
"timestep_s": 0.001
|
| 8 |
-
},
|
| 9 |
-
"case_id": "INS-01-agv-aisle",
|
| 10 |
-
"legacy_case_id": "industrial-1_agv_empty",
|
| 11 |
-
"pruned_unmatched_contact_patterns": [
|
| 12 |
-
{
|
| 13 |
-
"group": "ground",
|
| 14 |
-
"pattern": "terrain_*",
|
| 15 |
-
"selector": "geoms"
|
| 16 |
-
}
|
| 17 |
-
],
|
| 18 |
-
"repairs": [
|
| 19 |
-
"declared bounded free-joint stabilization while preserving wheel velocity actuators",
|
| 20 |
-
"normalized active contact solref/solimp for the frozen 1 ms timestep",
|
| 21 |
-
"aligned wheel collision cylinders with the y-axis hinges",
|
| 22 |
-
"initialized wheel tread with 1 mm clearance to avoid exact-tangent box contact degeneracy"
|
| 23 |
-
],
|
| 24 |
-
"schema_version": "simcode4d.dev15.runtime-repair.v1",
|
| 25 |
-
"source_m1": {
|
| 26 |
-
"bytes": 35526,
|
| 27 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-1_agv_empty/M1/module1/scene_enriched.xml",
|
| 28 |
-
"sha256": "8a527bd66ecf77612bdba141e3ab822f8ae07648bca1c5184a3236c9151bb3e3"
|
| 29 |
-
},
|
| 30 |
-
"source_runtime": {
|
| 31 |
-
"bytes": 38451,
|
| 32 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-1_agv_empty/rollout/scene_m2.xml",
|
| 33 |
-
"sha256": "88f3ed5c35d2bbc01af3def9ab325cc436b81331bbd3f201c863a066769869c5"
|
| 34 |
-
}
|
| 35 |
-
}
|
|
|
|
|
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|
benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/runtime_model.xml
DELETED
|
@@ -1,247 +0,0 @@
|
|
| 1 |
-
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
-
<mujoco model="scene_enriched">
|
| 3 |
-
<compiler angle="radian" autolimits="true" />
|
| 4 |
-
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
|
| 5 |
-
<visual>
|
| 6 |
-
<headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
|
| 7 |
-
<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
|
| 8 |
-
</visual>
|
| 9 |
-
<asset>
|
| 10 |
-
<mesh name="rover_body" file="../../vendor/handover9_20260921/rover_assets/rover_body.obj" />
|
| 11 |
-
<mesh name="rover_wheel" file="../../vendor/handover9_20260921/rover_assets/rover_wheel.obj" />
|
| 12 |
-
<material name="rover_chassis" rgba="0.15 0.35 0.55 1" />
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| 13 |
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<material name="rover_wheel" rgba="0.12 0.12 0.12 1" />
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| 14 |
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<material name="rover_detail" rgba="0.80 0.60 0.10 1" />
|
| 15 |
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</asset>
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| 16 |
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<worldbody>
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| 17 |
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<light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
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| 18 |
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<geom name="floor_00" type="box" pos="4.000000 0.000000 -0.050000" size="17.000000 13.000000 0.050000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 19 |
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<geom name="wall_00" type="box" pos="4.000000 0.000000 5.100000" size="17.000000 13.000000 0.075000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 20 |
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<geom name="prop_convex_small_000_barrel_0" type="box" pos="7.600000 -2.400000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 21 |
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<geom name="prop_convex_small_001_barrel_1" type="box" pos="7.600000 -3.000000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 22 |
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<geom name="prop_convex_small_002_barrel_2" type="box" pos="8.150000 -2.700000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 23 |
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| 29 |
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<geom name="prop_convex_small_009_beam_-4_6_0_55_-1" type="box" pos="8.850000 -4.600000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 30 |
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<geom name="prop_convex_small_010_beam_-4_6_0_55_1" type="box" pos="9.150000 -4.600000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 31 |
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<geom name="prop_convex_small_011_beam_-4_6_1_55_-1" type="box" pos="8.850000 -4.600000 1.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 32 |
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<geom name="prop_convex_small_012_beam_-4_6_1_55_1" type="box" pos="9.150000 -4.600000 1.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 33 |
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<geom name="prop_convex_small_014_beam_-4_6_2_55_1" type="box" pos="9.150000 -4.600000 2.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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<geom name="prop_convex_small_036_conebase_0" type="box" pos="3.600000 -1.900000 0.015000" size="0.140000 0.140000 0.015000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 57 |
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| 58 |
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<geom name="prop_convex_small_038_dock" type="box" pos="-1.650000 2.550000 0.275000" size="0.125000 0.250000 0.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 59 |
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| 60 |
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<geom name="prop_convex_small_040_fl_body" type="box" pos="6.600000 2.550000 0.420000" size="0.525000 0.375000 0.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 138 |
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| 140 |
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| 142 |
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| 143 |
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| 144 |
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| 146 |
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| 147 |
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| 148 |
-
<geom name="prop_convex_small_128_lpost_8_0_1_1" type="box" pos="9.050000 3.850000 1.300000" size="0.040000 0.150000 1.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 149 |
-
<geom name="prop_convex_small_129_palbox2_2_2" type="box" pos="2.250000 -3.060000 0.840000" size="0.210000 0.210000 0.170000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 150 |
-
<geom name="prop_convex_small_130_palbox2_5_2" type="box" pos="5.250000 -2.860000 0.840000" size="0.210000 0.210000 0.170000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 151 |
-
<geom name="prop_convex_small_131_palbox_2_2" type="box" pos="2.200000 -3.100000 0.395000" size="0.300000 0.300000 0.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 152 |
-
<geom name="prop_convex_small_132_palbox_5_2" type="box" pos="5.200000 -2.900000 0.395000" size="0.300000 0.300000 0.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 153 |
-
<geom name="prop_convex_small_133_pallet_2_2" type="box" pos="2.200000 -3.100000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 154 |
-
<geom name="prop_convex_small_134_pallet_5_2" type="box" pos="5.200000 -2.900000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 155 |
-
<geom name="prop_convex_small_135_pk_body" type="box" pos="-0.900000 2.550000 0.290000" size="0.460000 0.290000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 156 |
-
<geom name="prop_convex_small_136_pk_deck" type="box" pos="-0.900000 2.550000 0.392500" size="0.430000 0.260000 0.012500" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 157 |
-
<geom name="prop_convex_small_137_pk_skirt" type="box" pos="-0.900000 2.550000 0.160000" size="0.470000 0.300000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 158 |
-
<geom name="prop_convex_small_138_pk_wheel_-1_-1" type="box" pos="-1.200000 2.310000 0.096000" size="0.100000 0.035000 0.100000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 159 |
-
<geom name="prop_convex_small_139_pk_wheel_-1_1" type="box" pos="-1.200000 2.790000 0.096000" size="0.100000 0.035000 0.100000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 160 |
-
<geom name="prop_convex_small_140_pk_wheel_1_-1" type="box" pos="-0.600000 2.310000 0.096000" size="0.100000 0.035000 0.100000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 161 |
-
<geom name="prop_convex_small_141_pk_wheel_1_1" type="box" pos="-0.600000 2.790000 0.096000" size="0.100000 0.035000 0.100000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 162 |
-
<geom name="prop_convex_small_142_post_-2_0_-1" type="box" pos="9.000000 -2.450000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 163 |
-
<geom name="prop_convex_small_143_post_-2_0_1" type="box" pos="9.000000 -1.550000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 164 |
-
<geom name="prop_convex_small_144_post_-4_6_-1" type="box" pos="9.000000 -5.050000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 165 |
-
<geom name="prop_convex_small_145_post_-4_6_1" type="box" pos="9.000000 -4.150000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 166 |
-
<geom name="prop_convex_small_146_post_2_0_-1" type="box" pos="9.000000 1.550000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 167 |
-
<geom name="prop_convex_small_147_post_2_0_1" type="box" pos="9.000000 2.450000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 168 |
-
<geom name="prop_convex_small_148_post_4_6_-1" type="box" pos="9.000000 4.150000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 169 |
-
<geom name="prop_convex_small_149_post_4_6_1" type="box" pos="9.000000 5.050000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 170 |
-
<geom name="prop_convex_small_150_qbox1_0" type="box" pos="10.600000 -2.300000 0.370000" size="0.330000 0.300000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 171 |
-
<geom name="prop_convex_small_151_qbox1_1" type="box" pos="12.400000 -3.000000 0.370000" size="0.330000 0.300000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 172 |
-
<geom name="prop_convex_small_152_qbox2_0" type="box" pos="10.630000 -2.330000 0.800000" size="0.250000 0.225000 0.180000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 173 |
-
<geom name="prop_convex_small_153_qbox2_1" type="box" pos="12.430000 -3.030000 0.800000" size="0.250000 0.225000 0.180000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 174 |
-
<geom name="prop_convex_small_154_qpal_0" type="box" pos="10.600000 -2.300000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 175 |
-
<geom name="prop_convex_small_155_qpal_1" type="box" pos="12.400000 -3.000000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 176 |
-
<geom name="prop_convex_small_156_rbox_-2_0_0_55" type="box" pos="9.000000 -2.000000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 177 |
-
<geom name="prop_convex_small_157_rbox_-2_0_1_55" type="box" pos="9.000000 -2.000000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 178 |
-
<geom name="prop_convex_small_158_rbox_-2_0_2_55" type="box" pos="9.000000 -2.000000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 179 |
-
<geom name="prop_convex_small_159_rbox_-4_6_0_55" type="box" pos="9.000000 -4.600000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 180 |
-
<geom name="prop_convex_small_160_rbox_-4_6_1_55" type="box" pos="9.000000 -4.600000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 181 |
-
<geom name="prop_convex_small_161_rbox_-4_6_2_55" type="box" pos="9.000000 -4.600000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 182 |
-
<geom name="prop_convex_small_162_rbox_2_0_0_55" type="box" pos="9.000000 2.000000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 183 |
-
<geom name="prop_convex_small_163_rbox_2_0_1_55" type="box" pos="9.000000 2.000000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 184 |
-
<geom name="prop_convex_small_164_rbox_2_0_2_55" type="box" pos="9.000000 2.000000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 185 |
-
<geom name="prop_convex_small_165_rbox_4_6_0_55" type="box" pos="9.000000 4.600000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 186 |
-
<geom name="prop_convex_small_166_rbox_4_6_1_55" type="box" pos="9.000000 4.600000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 187 |
-
<geom name="prop_convex_small_167_rbox_4_6_2_55" type="box" pos="9.000000 4.600000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 188 |
-
<geom name="prop_convex_small_168_wcol_-2" type="box" pos="-2.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 189 |
-
<geom name="prop_convex_small_169_wcol_-8" type="box" pos="-8.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 190 |
-
<geom name="prop_convex_small_170_wcol_14" type="box" pos="14.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 191 |
-
<geom name="prop_convex_small_171_wcol_3" type="box" pos="3.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 192 |
-
<geom name="prop_convex_small_172_wcol_9" type="box" pos="9.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 193 |
-
<body name="rover_base" pos="0 0 0.22">
|
| 194 |
-
<freejoint name="rover_freejoint" />
|
| 195 |
-
<inertial mass="18.0" pos="0 0 0" diaginertia="0.35 0.55 0.65" />
|
| 196 |
-
<geom class="rover_visual" mesh="rover_body" material="rover_chassis" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 197 |
-
<geom type="box" size="0.40 0.25 0.10" friction="0.5 0.01 0.001" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 198 |
-
<body name="rover_fl_wheel" pos=" 0.32 0.27 -0.10">
|
| 199 |
-
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 200 |
-
<joint name="fl_wheel_joint" axis="0 1 0" />
|
| 201 |
-
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 202 |
-
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_fl_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 203 |
-
</body>
|
| 204 |
-
<body name="rover_fr_wheel" pos=" 0.32 -0.27 -0.10">
|
| 205 |
-
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 206 |
-
<joint name="fr_wheel_joint" axis="0 1 0" />
|
| 207 |
-
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 208 |
-
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_fr_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 209 |
-
</body>
|
| 210 |
-
<body name="rover_rl_wheel" pos="-0.32 0.27 -0.10">
|
| 211 |
-
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 212 |
-
<joint name="rl_wheel_joint" axis="0 1 0" />
|
| 213 |
-
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 214 |
-
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_rl_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 215 |
-
</body>
|
| 216 |
-
<body name="rover_rr_wheel" pos="-0.32 -0.27 -0.10">
|
| 217 |
-
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 218 |
-
<joint name="rr_wheel_joint" axis="0 1 0" />
|
| 219 |
-
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 220 |
-
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_rr_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 221 |
-
</body>
|
| 222 |
-
</body>
|
| 223 |
-
</worldbody>
|
| 224 |
-
<keyframe>
|
| 225 |
-
<key name="m2_init" qpos="-2 0 0.221 1 0 0 0 0 0 0 0" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" />
|
| 226 |
-
</keyframe>
|
| 227 |
-
<default>
|
| 228 |
-
<default class="rover_visual">
|
| 229 |
-
<geom contype="0" conaffinity="0" group="2" type="mesh" />
|
| 230 |
-
</default>
|
| 231 |
-
<default class="rover_wheel">
|
| 232 |
-
<geom friction="1.4 0.02 0.01" condim="3" type="cylinder" size="0.12 0.03" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 233 |
-
</default>
|
| 234 |
-
</default>
|
| 235 |
-
<actuator>
|
| 236 |
-
<velocity name="fl_wheel" joint="fl_wheel_joint" kv="60" />
|
| 237 |
-
<velocity name="fr_wheel" joint="fr_wheel_joint" kv="60" />
|
| 238 |
-
<velocity name="rl_wheel" joint="rl_wheel_joint" kv="60" />
|
| 239 |
-
<velocity name="rr_wheel" joint="rr_wheel_joint" kv="60" />
|
| 240 |
-
<motor name="base_force_x_ctrl" joint="rover_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
|
| 241 |
-
<motor name="base_force_y_ctrl" joint="rover_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
|
| 242 |
-
<motor name="base_force_z_ctrl" joint="rover_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-180 180" />
|
| 243 |
-
<motor name="base_roll_ctrl" joint="rover_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-130 130" />
|
| 244 |
-
<motor name="base_pitch_ctrl" joint="rover_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-130 130" />
|
| 245 |
-
<motor name="base_yaw_ctrl" joint="rover_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-130 130" />
|
| 246 |
-
</actuator>
|
| 247 |
-
</mujoco>
|
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|
benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/dependency_manifest.json
DELETED
|
@@ -1,41 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"case_id": "INS-02-agv-cargo",
|
| 3 |
-
"files": [
|
| 4 |
-
{
|
| 5 |
-
"bytes": 1397,
|
| 6 |
-
"path": "benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/m2_overlay.json",
|
| 7 |
-
"sha256": "9a21c04e17a6bb581ca3f2f84b517711a64c55b68b8ca784ee07756198ffa894"
|
| 8 |
-
},
|
| 9 |
-
{
|
| 10 |
-
"bytes": 1493,
|
| 11 |
-
"path": "benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/repair_report.json",
|
| 12 |
-
"sha256": "cb4c7486ff0ff74b425eb5fb7fd3409b21b30966dd5b6df0862cb217b953eb21"
|
| 13 |
-
},
|
| 14 |
-
{
|
| 15 |
-
"bytes": 17870,
|
| 16 |
-
"path": "benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/runtime_model.xml",
|
| 17 |
-
"sha256": "d2673d03c8d8425d911302ff29c07a52b6dd34715d09e946b22b15ed5d23f220"
|
| 18 |
-
},
|
| 19 |
-
{
|
| 20 |
-
"bytes": 10346,
|
| 21 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-2_agv_cargo/M1/module1/scene_enriched.xml",
|
| 22 |
-
"sha256": "bb5c1f742d1a986c14936aa027b2e05824af0e4a43f2dd18431eab2402822126"
|
| 23 |
-
},
|
| 24 |
-
{
|
| 25 |
-
"bytes": 13271,
|
| 26 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-2_agv_cargo/rollout/scene_m2.xml",
|
| 27 |
-
"sha256": "fe5def3884ff9e6e56570b10decc3e7e6a96d9c7066e48e78e54dbedf6777bae"
|
| 28 |
-
},
|
| 29 |
-
{
|
| 30 |
-
"bytes": 423,
|
| 31 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/rover_assets/rover_body.obj",
|
| 32 |
-
"sha256": "8b002e7368471aa73bec2666c1c64447b0da6428738c3bdba38e9981188bdad2"
|
| 33 |
-
},
|
| 34 |
-
{
|
| 35 |
-
"bytes": 2831,
|
| 36 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/rover_assets/rover_wheel.obj",
|
| 37 |
-
"sha256": "476216758f15309039ff1d265b9a8e4cbbdacfe46876b6ad39017aa71f9a8811"
|
| 38 |
-
}
|
| 39 |
-
],
|
| 40 |
-
"schema_version": "simcode4d.dev15.dependency-manifest.v1"
|
| 41 |
-
}
|
|
|
|
|
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|
benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/m2_overlay.json
DELETED
|
@@ -1,31 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"case_id": "INS-02-agv-cargo",
|
| 3 |
-
"m1_base_sha256": "bb5c1f742d1a986c14936aa027b2e05824af0e4a43f2dd18431eab2402822126",
|
| 4 |
-
"ownership": "robot/control/constraint repair only; no goal, threshold, seed, or validator logic",
|
| 5 |
-
"repair_report": {
|
| 6 |
-
"bytes": 1493,
|
| 7 |
-
"path": "benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/repair_report.json",
|
| 8 |
-
"sha256": "cb4c7486ff0ff74b425eb5fb7fd3409b21b30966dd5b6df0862cb217b953eb21"
|
| 9 |
-
},
|
| 10 |
-
"repairs": [
|
| 11 |
-
"added explicit 8 kg cargo body",
|
| 12 |
-
"added active cargo_weld equality",
|
| 13 |
-
"extended keyframe state",
|
| 14 |
-
"declared bounded free-joint stabilization",
|
| 15 |
-
"normalized active contact solref/solimp for the frozen 1 ms timestep",
|
| 16 |
-
"aligned wheel collision cylinders with the y-axis hinges",
|
| 17 |
-
"initialized wheel tread with 1 mm clearance to avoid exact-tangent box contact degeneracy"
|
| 18 |
-
],
|
| 19 |
-
"runtime_model": {
|
| 20 |
-
"bytes": 17870,
|
| 21 |
-
"path": "benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/runtime_model.xml",
|
| 22 |
-
"sha256": "d2673d03c8d8425d911302ff29c07a52b6dd34715d09e946b22b15ed5d23f220"
|
| 23 |
-
},
|
| 24 |
-
"schema_version": "simcode4d.dev15.m2-overlay.v1",
|
| 25 |
-
"source_runtime": {
|
| 26 |
-
"bytes": 13271,
|
| 27 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-2_agv_cargo/rollout/scene_m2.xml",
|
| 28 |
-
"sha256": "fe5def3884ff9e6e56570b10decc3e7e6a96d9c7066e48e78e54dbedf6777bae"
|
| 29 |
-
},
|
| 30 |
-
"task_independent": true
|
| 31 |
-
}
|
|
|
|
|
|
|
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|
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|
|
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|
benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/repair_report.json
DELETED
|
@@ -1,43 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"assertions": {
|
| 3 |
-
"case_specific_repairs_present": true,
|
| 4 |
-
"declared_actuators_present": true,
|
| 5 |
-
"mujoco_load": true,
|
| 6 |
-
"positive_dynamic_mass_and_inertia": true,
|
| 7 |
-
"timestep_s": 0.001
|
| 8 |
-
},
|
| 9 |
-
"case_id": "INS-02-agv-cargo",
|
| 10 |
-
"legacy_case_id": "industrial-2_agv_cargo",
|
| 11 |
-
"pruned_unmatched_contact_patterns": [
|
| 12 |
-
{
|
| 13 |
-
"group": "ground",
|
| 14 |
-
"pattern": "terrain_*",
|
| 15 |
-
"selector": "geoms"
|
| 16 |
-
},
|
| 17 |
-
{
|
| 18 |
-
"group": "static_obstacles",
|
| 19 |
-
"pattern": "wall_*",
|
| 20 |
-
"selector": "geoms"
|
| 21 |
-
}
|
| 22 |
-
],
|
| 23 |
-
"repairs": [
|
| 24 |
-
"added explicit 8 kg cargo body",
|
| 25 |
-
"added active cargo_weld equality",
|
| 26 |
-
"extended keyframe state",
|
| 27 |
-
"declared bounded free-joint stabilization",
|
| 28 |
-
"normalized active contact solref/solimp for the frozen 1 ms timestep",
|
| 29 |
-
"aligned wheel collision cylinders with the y-axis hinges",
|
| 30 |
-
"initialized wheel tread with 1 mm clearance to avoid exact-tangent box contact degeneracy"
|
| 31 |
-
],
|
| 32 |
-
"schema_version": "simcode4d.dev15.runtime-repair.v1",
|
| 33 |
-
"source_m1": {
|
| 34 |
-
"bytes": 10346,
|
| 35 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-2_agv_cargo/M1/module1/scene_enriched.xml",
|
| 36 |
-
"sha256": "bb5c1f742d1a986c14936aa027b2e05824af0e4a43f2dd18431eab2402822126"
|
| 37 |
-
},
|
| 38 |
-
"source_runtime": {
|
| 39 |
-
"bytes": 13271,
|
| 40 |
-
"path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-2_agv_cargo/rollout/scene_m2.xml",
|
| 41 |
-
"sha256": "fe5def3884ff9e6e56570b10decc3e7e6a96d9c7066e48e78e54dbedf6777bae"
|
| 42 |
-
}
|
| 43 |
-
}
|
|
|
|
|
|
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|
benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/runtime_model.xml
DELETED
|
@@ -1,129 +0,0 @@
|
|
| 1 |
-
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
-
<mujoco model="scene_enriched">
|
| 3 |
-
<compiler angle="radian" autolimits="true" />
|
| 4 |
-
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
|
| 5 |
-
<visual>
|
| 6 |
-
<headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
|
| 7 |
-
<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
|
| 8 |
-
</visual>
|
| 9 |
-
<asset>
|
| 10 |
-
<mesh name="rover_body" file="../../vendor/handover9_20260921/rover_assets/rover_body.obj" />
|
| 11 |
-
<mesh name="rover_wheel" file="../../vendor/handover9_20260921/rover_assets/rover_wheel.obj" />
|
| 12 |
-
<material name="rover_chassis" rgba="0.15 0.35 0.55 1" />
|
| 13 |
-
<material name="rover_wheel" rgba="0.12 0.12 0.12 1" />
|
| 14 |
-
<material name="rover_detail" rgba="0.80 0.60 0.10 1" />
|
| 15 |
-
</asset>
|
| 16 |
-
<worldbody>
|
| 17 |
-
<light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
|
| 18 |
-
<geom name="floor_00" type="box" pos="4.000000 0.000000 -0.050000" size="17.000000 11.000000 0.050000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 19 |
-
<geom name="prop_convex_small_000_c1rib_0" type="box" pos="18.200001 -3.600000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 20 |
-
<geom name="prop_convex_small_001_c1rib_1" type="box" pos="18.200001 -2.800000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 21 |
-
<geom name="prop_convex_small_002_c1rib_2" type="box" pos="18.200001 -2.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 22 |
-
<geom name="prop_convex_small_003_c1rib_3" type="box" pos="18.200001 -1.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 23 |
-
<geom name="prop_convex_small_004_c1rib_4" type="box" pos="18.200001 -0.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 24 |
-
<geom name="prop_convex_small_005_c1rib_5" type="box" pos="18.200001 0.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 25 |
-
<geom name="prop_convex_small_006_c1rib_6" type="box" pos="18.200001 1.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 26 |
-
<geom name="prop_convex_small_007_c2rib_0" type="box" pos="18.200001 2.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 27 |
-
<geom name="prop_convex_small_008_c2rib_1" type="box" pos="18.200001 3.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 28 |
-
<geom name="prop_convex_small_009_c2rib_2" type="box" pos="18.200001 3.800000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 29 |
-
<geom name="prop_convex_small_010_c2rib_3" type="box" pos="18.200001 4.600000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 30 |
-
<geom name="prop_convex_small_011_c2rib_4" type="box" pos="18.200001 5.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 31 |
-
<geom name="prop_convex_small_012_c2rib_5" type="box" pos="18.200001 6.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 32 |
-
<geom name="prop_convex_small_013_c2rib_6" type="box" pos="18.200001 7.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 33 |
-
<geom name="prop_convex_small_014_cont1" type="box" pos="18.200001 -1.200000 1.275000" size="1.150000 2.800000 1.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 34 |
-
<geom name="prop_convex_small_015_cont2" type="box" pos="18.200001 4.600000 1.275000" size="1.150000 2.800000 1.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 35 |
-
<geom name="prop_convex_small_016_dceiling" type="box" pos="4.000000 0.000000 5.100000" size="17.000000 11.000000 0.075000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 36 |
-
<geom name="prop_convex_small_017_dcol_0_0_-5_0" type="box" pos="0.000000 -5.000000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 37 |
-
<geom name="prop_convex_small_018_dcol_11_0_5_8" type="box" pos="11.000000 5.800000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 38 |
-
<geom name="prop_convex_small_019_dcol_12_0_-5_0" type="box" pos="12.000000 -5.000000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 39 |
-
<geom name="prop_convex_small_020_dcol_3_0_5_8" type="box" pos="3.000000 5.800000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 40 |
-
<geom name="prop_convex_small_021_dcol_6_0_-5_0" type="box" pos="6.000000 -5.000000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 41 |
-
<geom name="prop_convex_small_022_dcolstripe_0_0_-5_0" type="box" pos="0.000000 -5.000000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 42 |
-
<geom name="prop_convex_small_023_dcolstripe_11_0_5_8" type="box" pos="11.000000 5.800000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 43 |
-
<geom name="prop_convex_small_024_dcolstripe_12_0_-5_0" type="box" pos="12.000000 -5.000000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 44 |
-
<geom name="prop_convex_small_025_dcolstripe_3_0_5_8" type="box" pos="3.000000 5.800000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 45 |
-
<geom name="prop_convex_small_026_dcolstripe_6_0_-5_0" type="box" pos="6.000000 -5.000000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 46 |
-
<geom name="prop_convex_small_027_dcone_0" type="box" pos="4.500000 1.300000 0.240000" size="0.100000 0.100000 0.210000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 47 |
-
<geom name="prop_convex_small_028_dcone_1" type="box" pos="9.000000 0.900000 0.240000" size="0.100000 0.100000 0.210000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 48 |
-
<geom name="prop_convex_small_029_dconebase_0" type="box" pos="4.500000 1.300000 0.015000" size="0.140000 0.140000 0.015000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 49 |
-
<geom name="prop_convex_small_030_dconebase_1" type="box" pos="9.000000 0.900000 0.015000" size="0.140000 0.140000 0.015000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 50 |
-
<geom name="prop_convex_small_031_dendwall" type="box" pos="21.000000 0.000000 2.400000" size="0.150000 11.000000 2.400000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 51 |
-
<geom name="prop_convex_small_032_dwall" type="box" pos="4.000000 -5.400000 2.400000" size="18.000000 0.150000 2.400000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 52 |
-
<geom name="prop_convex_small_033_pjack" type="box" pos="6.400000 -2.100000 0.100000" size="0.250000 0.175000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 53 |
-
<geom name="prop_convex_small_034_pjack_handle" type="box" pos="6.150000 -2.100000 0.420000" size="0.025000 0.025000 0.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 54 |
-
<geom name="prop_convex_small_035_twheel_0" type="box" pos="14.400000 -2.600000 0.350000" size="0.350000 0.125000 0.350000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 55 |
-
<geom name="prop_convex_small_036_twheel_1" type="box" pos="15.400000 -2.600000 0.350000" size="0.350000 0.125000 0.350000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 56 |
-
<geom name="prop_convex_small_037_wbox1_1" type="box" pos="5.200000 -3.300000 0.370000" size="0.400000 0.350000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 57 |
-
<geom name="prop_convex_small_038_wbox1_3" type="box" pos="2.000000 -2.500000 0.370000" size="0.400000 0.350000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 58 |
-
<geom name="prop_convex_small_039_wbox2_1" type="box" pos="5.240000 -3.300000 0.820000" size="0.300000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 59 |
-
<geom name="prop_convex_small_040_wbox2_3" type="box" pos="2.040000 -2.500000 0.820000" size="0.300000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 60 |
-
<geom name="prop_convex_small_041_wpal_0" type="box" pos="-0.300000 -3.200000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 61 |
-
<geom name="prop_convex_small_042_wpal_1" type="box" pos="5.200000 -3.300000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 62 |
-
<geom name="prop_convex_small_043_wpal_2" type="box" pos="10.400000 -3.200000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 63 |
-
<geom name="prop_convex_small_044_wpal_3" type="box" pos="2.000000 -2.500000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 64 |
-
<geom name="prop_convex_small_045_wrap_0" type="box" pos="-0.300000 -3.200000 0.645000" size="0.425000 0.375000 0.525000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 65 |
-
<geom name="prop_convex_small_046_wrap_2" type="box" pos="10.400000 -3.200000 0.645000" size="0.425000 0.375000 0.525000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 66 |
-
<geom name="prop_convex_small_047_wtop_0" type="box" pos="-0.300000 -3.200000 1.220000" size="0.440000 0.390000 0.030000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 67 |
-
<geom name="prop_convex_small_048_wtop_2" type="box" pos="10.400000 -3.200000 1.220000" size="0.440000 0.390000 0.030000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 68 |
-
<body name="rover_base" pos="0 0 0.22">
|
| 69 |
-
<freejoint name="rover_freejoint" />
|
| 70 |
-
<inertial mass="18.0" pos="0 0 0" diaginertia="0.35 0.55 0.65" />
|
| 71 |
-
<geom class="rover_visual" mesh="rover_body" material="rover_chassis" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 72 |
-
<geom type="box" size="0.40 0.25 0.10" friction="0.5 0.01 0.001" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 73 |
-
<body name="rover_fl_wheel" pos=" 0.32 0.27 -0.10">
|
| 74 |
-
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 75 |
-
<joint name="fl_wheel_joint" axis="0 1 0" />
|
| 76 |
-
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 77 |
-
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_fl_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 78 |
-
</body>
|
| 79 |
-
<body name="rover_fr_wheel" pos=" 0.32 -0.27 -0.10">
|
| 80 |
-
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 81 |
-
<joint name="fr_wheel_joint" axis="0 1 0" />
|
| 82 |
-
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 83 |
-
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_fr_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 84 |
-
</body>
|
| 85 |
-
<body name="rover_rl_wheel" pos="-0.32 0.27 -0.10">
|
| 86 |
-
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 87 |
-
<joint name="rl_wheel_joint" axis="0 1 0" />
|
| 88 |
-
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 89 |
-
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_rl_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 90 |
-
</body>
|
| 91 |
-
<body name="rover_rr_wheel" pos="-0.32 -0.27 -0.10">
|
| 92 |
-
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 93 |
-
<joint name="rr_wheel_joint" axis="0 1 0" />
|
| 94 |
-
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 95 |
-
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_rr_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 96 |
-
</body>
|
| 97 |
-
</body>
|
| 98 |
-
<body name="cargo" pos="0 -2 0.501">
|
| 99 |
-
<freejoint name="cargo_freejoint" />
|
| 100 |
-
<geom name="cargo_box" type="box" size="0.28 0.22 0.16" mass="8" friction="0.8 0.02 0.005" condim="6" rgba="0.55 0.30 0.12 1" />
|
| 101 |
-
</body>
|
| 102 |
-
</worldbody>
|
| 103 |
-
<keyframe>
|
| 104 |
-
<key name="m2_init" qpos="0 -2 0.221 1 0 0 0 0 0 0 0 0 -2 0.501 1 0 0 0" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0 0 0 0 0 0" />
|
| 105 |
-
</keyframe>
|
| 106 |
-
<default>
|
| 107 |
-
<default class="rover_visual">
|
| 108 |
-
<geom contype="0" conaffinity="0" group="2" type="mesh" />
|
| 109 |
-
</default>
|
| 110 |
-
<default class="rover_wheel">
|
| 111 |
-
<geom friction="1.4 0.02 0.01" condim="3" type="cylinder" size="0.12 0.03" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 112 |
-
</default>
|
| 113 |
-
</default>
|
| 114 |
-
<actuator>
|
| 115 |
-
<velocity name="fl_wheel" joint="fl_wheel_joint" kv="60" />
|
| 116 |
-
<velocity name="fr_wheel" joint="fr_wheel_joint" kv="60" />
|
| 117 |
-
<velocity name="rl_wheel" joint="rl_wheel_joint" kv="60" />
|
| 118 |
-
<velocity name="rr_wheel" joint="rr_wheel_joint" kv="60" />
|
| 119 |
-
<motor name="base_force_x_ctrl" joint="rover_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
|
| 120 |
-
<motor name="base_force_y_ctrl" joint="rover_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
|
| 121 |
-
<motor name="base_force_z_ctrl" joint="rover_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-180 180" />
|
| 122 |
-
<motor name="base_roll_ctrl" joint="rover_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-130 130" />
|
| 123 |
-
<motor name="base_pitch_ctrl" joint="rover_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-130 130" />
|
| 124 |
-
<motor name="base_yaw_ctrl" joint="rover_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-130 130" />
|
| 125 |
-
</actuator>
|
| 126 |
-
<equality>
|
| 127 |
-
<weld name="cargo_weld" body1="rover_base" body2="cargo" relpose="0 0 0.28 1 0 0 0" active="true" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 128 |
-
</equality>
|
| 129 |
-
</mujoco>
|
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benchmark/simcode4d_unified/artifacts/INS-03-weld/dependency_manifest.json
DELETED
|
@@ -1,131 +0,0 @@
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| 1 |
-
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| 2 |
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benchmark/simcode4d_unified/artifacts/INS-03-weld/m2_overlay.json
DELETED
|
@@ -1,28 +0,0 @@
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|
| 1 |
-
{
|
| 2 |
-
"case_id": "INS-03-weld",
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"m1_base_sha256": "755b4c586bc7dafac3aa334345fbe93ef44ced61f61649fa2b9225ec0567140c",
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"repairs": [
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| 12 |
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| 13 |
-
"bound 150 source joint targets",
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benchmark/simcode4d_unified/artifacts/INS-03-weld/repair_report.json
DELETED
|
@@ -1,29 +0,0 @@
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| 1 |
-
{
|
| 2 |
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"assertions": {
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| 3 |
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"legacy_case_id": "industrial-3_weld",
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"pruned_unmatched_contact_patterns": [],
|
| 12 |
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"repairs": [
|
| 13 |
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"constructed missing combined M1+UR5e M2",
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| 14 |
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"added fixed robot mount and collision-capable tool tip",
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| 15 |
-
"bound 150 source joint targets",
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"generated frozen kinematic seam reference"
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benchmark/simcode4d_unified/artifacts/INS-03-weld/runtime_model.xml
DELETED
|
@@ -1,164 +0,0 @@
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|
| 1 |
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| 4 |
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| 12 |
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<material class="ur5e" name="linkgray" rgba="0.82 0.82 0.82 1" />
|
| 13 |
-
<material class="ur5e" name="urblue" rgba="0.49 0.678 0.8 1" />
|
| 14 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/base_0.obj" />
|
| 15 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/base_1.obj" />
|
| 16 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/shoulder_0.obj" />
|
| 17 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/shoulder_1.obj" />
|
| 18 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/shoulder_2.obj" />
|
| 19 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/upperarm_0.obj" />
|
| 20 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/upperarm_1.obj" />
|
| 21 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/upperarm_2.obj" />
|
| 22 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/upperarm_3.obj" />
|
| 23 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/forearm_0.obj" />
|
| 24 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/forearm_1.obj" />
|
| 25 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/forearm_2.obj" />
|
| 26 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/forearm_3.obj" />
|
| 27 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist1_0.obj" />
|
| 28 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist1_1.obj" />
|
| 29 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist1_2.obj" />
|
| 30 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist2_0.obj" />
|
| 31 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist2_1.obj" />
|
| 32 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist2_2.obj" />
|
| 33 |
-
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist3.obj" />
|
| 34 |
-
</asset>
|
| 35 |
-
<worldbody>
|
| 36 |
-
<light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
|
| 37 |
-
<geom name="floor_00" type="box" pos="3.000000 3.000000 0.000000" size="3.000000 3.000000 0.100000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 38 |
-
<geom name="floor_01" type="box" pos="1.000000 5.500000 0.010000" size="0.750000 0.500000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 39 |
-
<geom name="floor_02" type="box" pos="3.000000 1.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 40 |
-
<geom name="floor_03" type="box" pos="3.000000 2.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 41 |
-
<geom name="floor_04" type="box" pos="3.000000 2.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 42 |
-
<geom name="floor_05" type="box" pos="3.000000 3.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 43 |
-
<geom name="floor_06" type="box" pos="3.000000 3.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 44 |
-
<geom name="floor_07" type="box" pos="3.000000 4.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 45 |
-
<geom name="floor_08" type="box" pos="3.000000 4.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 46 |
-
<geom name="floor_09" type="box" pos="3.000000 5.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 47 |
-
<geom name="floor_10" type="box" pos="2.500000 3.000000 0.050000" size="0.030000 1.000000 0.030000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 48 |
-
<geom name="wall_00" type="box" pos="0.000000 0.000000 0.000000" size="3.000000 0.100000 2.000000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 49 |
-
<geom name="wall_01" type="box" pos="3.000000 3.000000 4.010000" size="0.650000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 50 |
-
<geom name="wall_02" type="box" pos="3.000000 3.000000 3.950000" size="0.750000 0.150000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 51 |
-
<geom name="wall_03" type="box" pos="1.000000 5.500000 4.010000" size="0.400000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 52 |
-
<geom name="wall_04" type="box" pos="1.000000 5.500000 3.950000" size="0.500000 0.150000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 53 |
-
<geom name="wall_05" type="box" pos="3.000000 3.000000 4.000000" size="3.000000 3.000000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 54 |
-
<geom name="wall_06" type="box" pos="5.500000 3.000000 3.800000" size="3.000000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 55 |
-
<geom name="wall_07" type="box" pos="0.000000 3.000000 2.000000" size="0.100000 3.000000 2.000000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 56 |
-
<geom name="wall_08" type="box" pos="6.000000 3.000000 2.000000" size="0.100000 3.000000 2.000000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 57 |
-
<geom name="prop_concave_large_000_control_panel" type="box" pos="1.000000 5.200000 0.700000" size="0.445343 0.445343 0.700000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" />
|
| 58 |
-
<geom name="prop_concave_large_001_fume_extraction_hood" type="box" pos="3.000000 3.800000 2.900000" size="0.600000 0.600000 0.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" />
|
| 59 |
-
<geom name="prop_concave_large_002_gas_cylinder_rack" type="box" pos="5.000000 5.200000 0.700000" size="0.400000 0.222500 0.725000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" />
|
| 60 |
-
<geom name="prop_concave_large_003_welding_helmet" type="box" pos="1.200000 5.150000 1.575000" size="0.125000 0.212500 0.125000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" />
|
| 61 |
-
<geom name="prop_concave_large_004_welding_robot_base" type="box" pos="3.000000 2.000000 0.900000" size="0.600000 0.600000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" />
|
| 62 |
-
<geom name="prop_concave_large_005_welding_table" type="box" pos="2.500000 3.500000 0.800000" size="0.800000 0.500000 0.450000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" />
|
| 63 |
-
<body name="ur5e_mount" pos="3.6 3.65 0.445">
|
| 64 |
-
<geom name="ur5e_mount_geom" type="box" size="0.18 0.18 0.445" rgba="0.20 0.22 0.25 1" friction="0.8 0.02 0.005" condim="6" />
|
| 65 |
-
</body>
|
| 66 |
-
<body name="ur5e_base" quat="1 0 0 0" childclass="ur5e" pos="3.6 3.65 0.89">
|
| 67 |
-
<inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
|
| 68 |
-
<geom mesh="base_0" material="black" class="visual" />
|
| 69 |
-
<geom mesh="base_1" material="jointgray" class="visual" />
|
| 70 |
-
<body name="shoulder_link" pos="0 0 0.163">
|
| 71 |
-
<inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
|
| 72 |
-
<joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
|
| 73 |
-
<geom mesh="shoulder_0" material="urblue" class="visual" />
|
| 74 |
-
<geom mesh="shoulder_1" material="black" class="visual" />
|
| 75 |
-
<geom mesh="shoulder_2" material="jointgray" class="visual" />
|
| 76 |
-
<geom class="collision" size="0.06 0.06" pos="0 0 -0.04" />
|
| 77 |
-
<body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
|
| 78 |
-
<inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
|
| 79 |
-
<joint name="shoulder_lift_joint" class="size3" />
|
| 80 |
-
<geom mesh="upperarm_0" material="linkgray" class="visual" />
|
| 81 |
-
<geom mesh="upperarm_1" material="black" class="visual" />
|
| 82 |
-
<geom mesh="upperarm_2" material="jointgray" class="visual" />
|
| 83 |
-
<geom mesh="upperarm_3" material="urblue" class="visual" />
|
| 84 |
-
<geom class="collision" pos="0 -0.04 0" quat="1 1 0 0" size="0.06 0.06" />
|
| 85 |
-
<geom class="collision" size="0.05 0.2" pos="0 0 0.2" />
|
| 86 |
-
<body name="forearm_link" pos="0 -0.131 0.425">
|
| 87 |
-
<inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
|
| 88 |
-
<joint name="elbow_joint" class="size3_limited" />
|
| 89 |
-
<geom mesh="forearm_0" material="urblue" class="visual" />
|
| 90 |
-
<geom mesh="forearm_1" material="linkgray" class="visual" />
|
| 91 |
-
<geom mesh="forearm_2" material="black" class="visual" />
|
| 92 |
-
<geom mesh="forearm_3" material="jointgray" class="visual" />
|
| 93 |
-
<geom class="collision" pos="0 0.08 0" quat="1 1 0 0" size="0.055 0.06" />
|
| 94 |
-
<geom class="collision" size="0.038 0.19" pos="0 0 0.2" />
|
| 95 |
-
<body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
|
| 96 |
-
<inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
|
| 97 |
-
<joint name="wrist_1_joint" class="size1" />
|
| 98 |
-
<geom mesh="wrist1_0" material="black" class="visual" />
|
| 99 |
-
<geom mesh="wrist1_1" material="urblue" class="visual" />
|
| 100 |
-
<geom mesh="wrist1_2" material="jointgray" class="visual" />
|
| 101 |
-
<geom class="collision" pos="0 0.05 0" quat="1 1 0 0" size="0.04 0.07" />
|
| 102 |
-
<body name="wrist_2_link" pos="0 0.127 0">
|
| 103 |
-
<inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
|
| 104 |
-
<joint name="wrist_2_joint" axis="0 0 1" class="size1" />
|
| 105 |
-
<geom mesh="wrist2_0" material="black" class="visual" />
|
| 106 |
-
<geom mesh="wrist2_1" material="urblue" class="visual" />
|
| 107 |
-
<geom mesh="wrist2_2" material="jointgray" class="visual" />
|
| 108 |
-
<geom class="collision" size="0.04 0.06" pos="0 0 0.04" />
|
| 109 |
-
<geom class="collision" pos="0 0.02 0.1" quat="1 1 0 0" size="0.04 0.04" />
|
| 110 |
-
<body name="wrist_3_link" pos="0 0 0.1">
|
| 111 |
-
<inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
|
| 112 |
-
<joint name="wrist_3_joint" class="size1" />
|
| 113 |
-
<geom material="linkgray" mesh="wrist3" class="visual" />
|
| 114 |
-
<geom class="eef_collision" pos="0 0.08 0" quat="1 1 0 0" size="0.04 0.02" />
|
| 115 |
-
<site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
|
| 116 |
-
<body name="weld_tool_tip" pos="0 0.1 0">
|
| 117 |
-
<geom name="weld_tool_tip_geom" type="sphere" size="0.004" mass="0.02" friction="0.6 0.01 0.002" condim="6" rgba="1 0.35 0.05 1" />
|
| 118 |
-
</body>
|
| 119 |
-
</body>
|
| 120 |
-
</body>
|
| 121 |
-
</body>
|
| 122 |
-
</body>
|
| 123 |
-
</body>
|
| 124 |
-
</body>
|
| 125 |
-
</body>
|
| 126 |
-
</worldbody>
|
| 127 |
-
<default>
|
| 128 |
-
<default class="ur5e">
|
| 129 |
-
<material specular="0.5" shininess="0.25" />
|
| 130 |
-
<joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
|
| 131 |
-
<general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
|
| 132 |
-
<default class="size3">
|
| 133 |
-
<default class="size3_limited">
|
| 134 |
-
<joint range="-3.1415 3.1415" />
|
| 135 |
-
<general ctrlrange="-3.1415 3.1415" />
|
| 136 |
-
</default>
|
| 137 |
-
</default>
|
| 138 |
-
<default class="size1">
|
| 139 |
-
<general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
|
| 140 |
-
</default>
|
| 141 |
-
<default class="visual">
|
| 142 |
-
<geom type="mesh" contype="0" conaffinity="0" group="2" />
|
| 143 |
-
</default>
|
| 144 |
-
<default class="collision">
|
| 145 |
-
<geom type="capsule" group="3" />
|
| 146 |
-
<default class="eef_collision">
|
| 147 |
-
<geom type="cylinder" />
|
| 148 |
-
</default>
|
| 149 |
-
</default>
|
| 150 |
-
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4" />
|
| 151 |
-
</default>
|
| 152 |
-
</default>
|
| 153 |
-
<actuator>
|
| 154 |
-
<general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
|
| 155 |
-
<general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
|
| 156 |
-
<general class="size3_limited" name="elbow" joint="elbow_joint" />
|
| 157 |
-
<general class="size1" name="wrist_1" joint="wrist_1_joint" />
|
| 158 |
-
<general class="size1" name="wrist_2" joint="wrist_2_joint" />
|
| 159 |
-
<general class="size1" name="wrist_3" joint="wrist_3_joint" />
|
| 160 |
-
</actuator>
|
| 161 |
-
<keyframe>
|
| 162 |
-
<key name="m2_init" qpos="0 -1.45 1.75 -1.85 -1.57 0" qvel="0 0 0 0 0 0" ctrl="0 -1.45 1.75 -1.85 -1.57 0" />
|
| 163 |
-
</keyframe>
|
| 164 |
-
</mujoco>
|
|
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benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/dependency_manifest.json
DELETED
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The diff for this file is too large to render.
See raw diff
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benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/go2_runtime.xml
DELETED
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@@ -1,185 +0,0 @@
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| 1 |
-
<mujoco model="go2">
|
| 2 |
-
<compiler angle="radian" autolimits="true" />
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| 3 |
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<option cone="elliptic" impratio="100" />
|
| 4 |
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<default>
|
| 5 |
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<default class="go2">
|
| 6 |
-
<geom friction="0.6" margin="0.003" condim="1" solref=".002 1" solimp=".995 .9999 .0002" />
|
| 7 |
-
<joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2" />
|
| 8 |
-
<motor ctrlrange="-23.7 23.7" />
|
| 9 |
-
<default class="abduction">
|
| 10 |
-
<joint axis="1 0 0" range="-1.0472 1.0472" />
|
| 11 |
-
</default>
|
| 12 |
-
<default class="hip">
|
| 13 |
-
<default class="front_hip">
|
| 14 |
-
<joint range="-1.5708 3.4907" />
|
| 15 |
-
</default>
|
| 16 |
-
<default class="back_hip">
|
| 17 |
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<joint range="-0.5236 4.5379" />
|
| 18 |
-
</default>
|
| 19 |
-
</default>
|
| 20 |
-
<default class="knee">
|
| 21 |
-
<joint range="-2.7227 -0.83776" />
|
| 22 |
-
<motor ctrlrange="-45.43 45.43" />
|
| 23 |
-
</default>
|
| 24 |
-
<default class="visual">
|
| 25 |
-
<geom type="mesh" contype="0" conaffinity="0" group="2" />
|
| 26 |
-
</default>
|
| 27 |
-
<default class="collision">
|
| 28 |
-
<geom group="3" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 29 |
-
<default class="foot">
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| 30 |
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<geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp=".995 .9999 .0002" condim="6" friction="0.8 0.02 0.01" solref=".002 1" margin="0.003" />
|
| 31 |
-
</default>
|
| 32 |
-
</default>
|
| 33 |
-
</default>
|
| 34 |
-
</default>
|
| 35 |
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<asset>
|
| 36 |
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<material name="metal" rgba=".9 .95 .95 1" />
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| 37 |
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<material name="black" rgba="0 0 0 1" />
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| 38 |
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<material name="white" rgba="1 1 1 1" />
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| 39 |
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<material name="gray" rgba="0.671705 0.692426 0.774270 1" />
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| 40 |
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<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_0.obj" />
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| 41 |
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<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_1.obj" />
|
| 42 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_2.obj" />
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| 43 |
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<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_3.obj" />
|
| 44 |
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<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_4.obj" />
|
| 45 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_0.obj" />
|
| 46 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_1.obj" />
|
| 47 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_0.obj" />
|
| 48 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_1.obj" />
|
| 49 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_0.obj" />
|
| 50 |
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<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_1.obj" />
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| 51 |
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<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_0.obj" />
|
| 52 |
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<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_1.obj" />
|
| 53 |
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<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_0.obj" />
|
| 54 |
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<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_1.obj" />
|
| 55 |
-
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/foot.obj" />
|
| 56 |
-
</asset>
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| 57 |
-
<worldbody>
|
| 58 |
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<body name="base" pos="0 0 0.445" childclass="go2">
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| 59 |
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<inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719" mass="6.921" diaginertia="0.107027 0.0980771 0.0244531" />
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| 60 |
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<freejoint />
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| 61 |
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<geom mesh="base_0" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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| 62 |
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<geom mesh="base_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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| 63 |
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<geom mesh="base_2" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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| 64 |
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| 65 |
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| 66 |
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<geom size="0.1881 0.04675 0.057" type="box" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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| 67 |
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<geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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| 68 |
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<geom size="0.047" pos="0.293 0 -0.06" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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| 69 |
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<site name="imu" pos="-0.02557 0 0.04232" />
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| 70 |
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<body name="FL_hip" pos="0.1934 0.0465 0">
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| 71 |
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|
| 72 |
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<joint name="FL_hip_joint" class="abduction" />
|
| 73 |
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<geom mesh="hip_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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| 74 |
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| 75 |
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| 76 |
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<body name="FL_thigh" pos="0 0.0955 0">
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| 77 |
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| 78 |
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<joint name="FL_thigh_joint" class="front_hip" />
|
| 79 |
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<geom mesh="thigh_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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| 80 |
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| 81 |
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| 82 |
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<body name="FL_calf" pos="0 0 -0.213">
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| 83 |
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|
| 84 |
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<joint name="FL_calf_joint" class="knee" />
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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<joint name="FR_hip_joint" class="abduction" />
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| 97 |
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| 98 |
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| 100 |
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| 102 |
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<joint name="FR_thigh_joint" class="front_hip" />
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| 103 |
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| 108 |
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<joint name="FR_calf_joint" class="knee" />
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| 109 |
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| 110 |
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| 111 |
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| 126 |
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| 130 |
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| 132 |
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<joint name="RL_calf_joint" class="knee" />
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| 136 |
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| 137 |
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| 138 |
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|
| 139 |
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</body>
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| 140 |
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| 141 |
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|
| 144 |
-
<joint name="RR_hip_joint" class="abduction" />
|
| 145 |
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| 146 |
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| 147 |
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| 148 |
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|
| 149 |
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|
| 150 |
-
<joint name="RR_thigh_joint" class="back_hip" />
|
| 151 |
-
<geom mesh="thigh_mirror_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 152 |
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| 153 |
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<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 154 |
-
<body name="RR_calf" pos="0 0 -0.213">
|
| 155 |
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<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 156 |
-
<joint name="RR_calf_joint" class="knee" />
|
| 157 |
-
<geom mesh="calf_mirror_0" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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| 158 |
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| 159 |
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|
| 160 |
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<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 161 |
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<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 162 |
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|
| 163 |
-
</body>
|
| 164 |
-
</body>
|
| 165 |
-
</body>
|
| 166 |
-
</body>
|
| 167 |
-
</worldbody>
|
| 168 |
-
<actuator>
|
| 169 |
-
<motor class="abduction" name="FL_hip" joint="FL_hip_joint" />
|
| 170 |
-
<motor class="hip" name="FL_thigh" joint="FL_thigh_joint" />
|
| 171 |
-
<motor class="knee" name="FL_calf" joint="FL_calf_joint" />
|
| 172 |
-
<motor class="abduction" name="FR_hip" joint="FR_hip_joint" />
|
| 173 |
-
<motor class="hip" name="FR_thigh" joint="FR_thigh_joint" />
|
| 174 |
-
<motor class="knee" name="FR_calf" joint="FR_calf_joint" />
|
| 175 |
-
<motor class="abduction" name="RL_hip" joint="RL_hip_joint" />
|
| 176 |
-
<motor class="hip" name="RL_thigh" joint="RL_thigh_joint" />
|
| 177 |
-
<motor class="knee" name="RL_calf" joint="RL_calf_joint" />
|
| 178 |
-
<motor class="abduction" name="RR_hip" joint="RR_hip_joint" />
|
| 179 |
-
<motor class="hip" name="RR_thigh" joint="RR_thigh_joint" />
|
| 180 |
-
<motor class="knee" name="RR_calf" joint="RR_calf_joint" />
|
| 181 |
-
</actuator>
|
| 182 |
-
<keyframe>
|
| 183 |
-
<key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" />
|
| 184 |
-
</keyframe>
|
| 185 |
-
</mujoco>
|
|
|
|
|
|
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benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/legacy_origin.txt
DELETED
|
@@ -1 +0,0 @@
|
|
| 1 |
-
export_scene1/module2/scene_m2.xml
|
|
|
|
|
|
benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/m1_world.xml
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/m2_overlay.json
DELETED
|
@@ -1,9 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"allowed_dynamic_channels": [],
|
| 3 |
-
"case_id": "NAT-01-rock-kick",
|
| 4 |
-
"kind": "noop",
|
| 5 |
-
"m1_base_sha256": "5c6f63e01052d06664411d27b7e07e6be438d6677bf734c50735acfa388d63dc",
|
| 6 |
-
"note": "No source-declared time-varying M2 component is required. Static contacts and fields remain M1-owned.",
|
| 7 |
-
"schema_version": "simcode4d.rc3a-dev1.m2-overlay",
|
| 8 |
-
"task_independent": true
|
| 9 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/dependency_manifest.json
DELETED
|
@@ -1,16 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"case_id": "NAT-02-hills-turn-stop",
|
| 3 |
-
"files": [
|
| 4 |
-
{
|
| 5 |
-
"bytes": 8527,
|
| 6 |
-
"path": "benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/jackal_runtime.xml",
|
| 7 |
-
"sha256": "f26db4ce7c846877b86d762dff83dbe878251ffae8d10b9c5d1e34bd126ca80f"
|
| 8 |
-
},
|
| 9 |
-
{
|
| 10 |
-
"bytes": 1506210,
|
| 11 |
-
"path": "benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/m1_world.xml",
|
| 12 |
-
"sha256": "f1d8d12dd0141c9dceb3dae3314a228355ed714fec73f8f6b24c192987446aa6"
|
| 13 |
-
}
|
| 14 |
-
],
|
| 15 |
-
"schema_version": "simcode4d.rc3a-dev1.dependency-manifest"
|
| 16 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/jackal_runtime.xml
DELETED
|
@@ -1,85 +0,0 @@
|
|
| 1 |
-
<mujoco model="clearpath_jackal_ugv">
|
| 2 |
-
<compiler angle="degree" autolimits="true" />
|
| 3 |
-
<asset>
|
| 4 |
-
<mesh name="jackal_base" file="../../vendor/jackal_ugv/assets/jackal_base.stl" scale="4.05 4.05 4.05" />
|
| 5 |
-
<mesh name="jackal_fender" file="../../vendor/jackal_ugv/assets/jackal_fender.stl" scale="4.05 4.05 4.05" />
|
| 6 |
-
<mesh name="jackal_wheel" file="../../vendor/jackal_ugv/assets/jackal_wheel.stl" scale="4.05 4.05 4.05" />
|
| 7 |
-
<material name="jackal_black" rgba="0.10 0.11 0.10 1" />
|
| 8 |
-
<material name="jackal_yellow" rgba="0.80 0.62 0.03 1" />
|
| 9 |
-
<material name="jackal_tire" rgba="0.035 0.035 0.035 1" />
|
| 10 |
-
<material name="jackal_sensor" rgba="0.35 0.38 0.39 1" />
|
| 11 |
-
</asset>
|
| 12 |
-
<default>
|
| 13 |
-
<joint damping="0.08" armature="0.01" />
|
| 14 |
-
<geom friction="1.4 0.02 0.001" condim="4" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
|
| 15 |
-
</default>
|
| 16 |
-
<worldbody>
|
| 17 |
-
<body name="jackal_base">
|
| 18 |
-
<freejoint name="jackal_freejoint" />
|
| 19 |
-
<inertial pos="0.036 0.006 0.201" mass="446.121" fullinertia="76.2048 95.3046 108.9855 -0.1944 3.9852 -0.2187" />
|
| 20 |
-
<geom name="jackal_body_visual" type="mesh" mesh="jackal_base" pos="0 0 -0.265275" quat="0.5 0.5 0.5 0.5" material="jackal_black" group="2" contype="0" conaffinity="0" />
|
| 21 |
-
<geom name="jackal_chassis_collision" type="box" pos="0 0 0.3726" size="0.8505 0.62775 0.3726" group="3" rgba="0 0 0 0" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
|
| 22 |
-
<geom name="jackal_left_guard_visual" type="box" pos="0 0.83025 0.4779" size="0.91125 0.0729 0.162" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
|
| 23 |
-
<geom name="jackal_right_guard_visual" type="box" pos="0 -0.83025 0.4779" size="0.91125 0.0729 0.162" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
|
| 24 |
-
<geom name="jackal_front_bumper_visual" type="box" pos="0.95175 0 0.30375" size="0.10125 0.70875 0.14175" material="jackal_black" group="2" contype="0" conaffinity="0" />
|
| 25 |
-
<body name="jackal_lidar_mount" pos="0.18225 0 0.87075">
|
| 26 |
-
<geom name="jackal_lidar_pedestal_visual" type="cylinder" size="0.1296 0.0729" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
|
| 27 |
-
<geom name="jackal_lidar_visual" type="cylinder" pos="0 0 0.1053" size="0.1944 0.0486" material="jackal_black" group="2" contype="0" conaffinity="0" />
|
| 28 |
-
</body>
|
| 29 |
-
<body name="jackal_front_fender">
|
| 30 |
-
<geom name="jackal_front_fender_visual" type="mesh" mesh="jackal_fender" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
|
| 31 |
-
</body>
|
| 32 |
-
<body name="jackal_rear_fender" euler="0 0 180">
|
| 33 |
-
<geom name="jackal_rear_fender_visual" type="mesh" mesh="jackal_fender" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
|
| 34 |
-
</body>
|
| 35 |
-
<body name="jackal_front_left_wheel" pos="0.53055 0.76056975 0.139725">
|
| 36 |
-
<joint name="jackal_front_left_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
|
| 37 |
-
<joint name="jackal_front_left_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
|
| 38 |
-
<inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
|
| 39 |
-
<geom name="jackal_front_left_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
|
| 40 |
-
<geom name="jackal_front_left_collision" type="sphere" size=".3969" group="3" rgba="0 0 0 0" friction=".8 .02 .001" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
|
| 41 |
-
</body>
|
| 42 |
-
<body name="jackal_front_right_wheel" pos="0.53055 -0.76056975 0.139725">
|
| 43 |
-
<joint name="jackal_front_right_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
|
| 44 |
-
<joint name="jackal_front_right_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
|
| 45 |
-
<inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
|
| 46 |
-
<geom name="jackal_front_right_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
|
| 47 |
-
<geom name="jackal_front_right_collision" type="sphere" size=".3969" group="3" rgba="0 0 0 0" friction=".8 .02 .001" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
|
| 48 |
-
</body>
|
| 49 |
-
<body name="jackal_rear_left_wheel" pos="-0.53055 0.76056975 0.139725">
|
| 50 |
-
<joint name="jackal_rear_left_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
|
| 51 |
-
<joint name="jackal_rear_left_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
|
| 52 |
-
<inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
|
| 53 |
-
<geom name="jackal_rear_left_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
|
| 54 |
-
<geom name="jackal_rear_left_collision" type="sphere" size=".3969" group="3" rgba="0 0 0 0" friction=".8 .02 .001" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
|
| 55 |
-
</body>
|
| 56 |
-
<body name="jackal_rear_right_wheel" pos="-0.53055 -0.76056975 0.139725">
|
| 57 |
-
<joint name="jackal_rear_right_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
|
| 58 |
-
<joint name="jackal_rear_right_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
|
| 59 |
-
<inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
|
| 60 |
-
<geom name="jackal_rear_right_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
|
| 61 |
-
<geom name="jackal_rear_right_collision" type="sphere" size=".3969" group="3" rgba="0 0 0 0" friction=".8 .02 .001" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
|
| 62 |
-
</body>
|
| 63 |
-
<geom name="jackal_front_left_rim_visual" type="cylinder" pos="0.53055 0.84757 0.139725" size="0.210 0.024" euler="90 0 0" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
|
| 64 |
-
<geom name="jackal_front_right_rim_visual" type="cylinder" pos="0.53055 -0.84757 0.139725" size="0.210 0.024" euler="90 0 0" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
|
| 65 |
-
<geom name="jackal_rear_left_rim_visual" type="cylinder" pos="-0.53055 0.84757 0.139725" size="0.210 0.024" euler="90 0 0" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
|
| 66 |
-
<geom name="jackal_rear_right_rim_visual" type="cylinder" pos="-0.53055 -0.84757 0.139725" size="0.210 0.024" euler="90 0 0" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
|
| 67 |
-
<geom name="jackal_left_led_visual" type="box" pos="1.0125 0.405 0.450" size="0.030 0.090 0.055" rgba="1 0.82 0.32 1" group="2" contype="0" conaffinity="0" />
|
| 68 |
-
<geom name="jackal_right_led_visual" type="box" pos="1.0125 -0.405 0.450" size="0.030 0.090 0.055" rgba="1 0.82 0.32 1" group="2" contype="0" conaffinity="0" />
|
| 69 |
-
<geom name="jackal_left_roof_rail_visual" type="box" pos="0 0.465 0.810" size="0.465 0.030 0.030" material="jackal_black" group="2" contype="0" conaffinity="0" />
|
| 70 |
-
<geom name="jackal_right_roof_rail_visual" type="box" pos="0 -0.465 0.810" size="0.465 0.030 0.030" material="jackal_black" group="2" contype="0" conaffinity="0" />
|
| 71 |
-
</body>
|
| 72 |
-
</worldbody>
|
| 73 |
-
<actuator>
|
| 74 |
-
<motor name="jackal_front_left_motor" joint="jackal_front_left_joint" gear="400" ctrlrange="-1 1" />
|
| 75 |
-
<motor name="jackal_front_right_motor" joint="jackal_front_right_joint" gear="400" ctrlrange="-1 1" />
|
| 76 |
-
<motor name="jackal_rear_left_motor" joint="jackal_rear_left_joint" gear="400" ctrlrange="-1 1" />
|
| 77 |
-
<motor name="jackal_rear_right_motor" joint="jackal_rear_right_joint" gear="400" ctrlrange="-1 1" />
|
| 78 |
-
<motor name="base_force_x_ctrl" joint="jackal_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-5000 5000" />
|
| 79 |
-
<motor name="base_force_y_ctrl" joint="jackal_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-5000 5000" />
|
| 80 |
-
<motor name="base_force_z_ctrl" joint="jackal_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 81 |
-
<motor name="base_roll_ctrl" joint="jackal_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 82 |
-
<motor name="base_pitch_ctrl" joint="jackal_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 83 |
-
<motor name="base_yaw_ctrl" joint="jackal_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-650 650" />
|
| 84 |
-
</actuator>
|
| 85 |
-
</mujoco>
|
|
|
|
|
|
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benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/legacy_origin.txt
DELETED
|
@@ -1 +0,0 @@
|
|
| 1 |
-
benchmark/simcode4d_unified/source_reexports/NAT-02-hills-turn-stop-v3/module1/scene_enriched.xml
|
|
|
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|
benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/m1_world.xml
DELETED
|
The diff for this file is too large to render.
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|
|
benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/m2_overlay.json
DELETED
|
@@ -1,9 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"allowed_dynamic_channels": [],
|
| 3 |
-
"case_id": "NAT-02-hills-turn-stop",
|
| 4 |
-
"kind": "noop",
|
| 5 |
-
"m1_base_sha256": "f1d8d12dd0141c9dceb3dae3314a228355ed714fec73f8f6b24c192987446aa6",
|
| 6 |
-
"note": "No source-declared time-varying M2 component is required. Static contacts and fields remain M1-owned.",
|
| 7 |
-
"schema_version": "simcode4d.rc3a-dev1.m2-overlay",
|
| 8 |
-
"task_independent": true
|
| 9 |
-
}
|
|
|
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benchmark/simcode4d_unified/artifacts/NAT-03-water-land/dependency_manifest.json
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"case_id": "NAT-03-water-land",
|
| 3 |
-
"files": [
|
| 4 |
-
{
|
| 5 |
-
"bytes": 217828,
|
| 6 |
-
"path": "benchmark/simcode4d_unified/artifacts/NAT-03-water-land/m1_world.xml",
|
| 7 |
-
"sha256": "c151b8290d11436115179aec585423b920fd465e91ec9f0ee7da1146f4ba079e"
|
| 8 |
-
}
|
| 9 |
-
],
|
| 10 |
-
"schema_version": "simcode4d.rc3a-dev1.dependency-manifest"
|
| 11 |
-
}
|
|
|
|
|
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benchmark/simcode4d_unified/artifacts/NAT-03-water-land/legacy_origin.txt
DELETED
|
@@ -1 +0,0 @@
|
|
| 1 |
-
deliverables/final_real8s_physical_2026-09-01/module1/scene10_amphibious/simready_scene.xml
|
|
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|
|
|
benchmark/simcode4d_unified/artifacts/NAT-03-water-land/m1_world.xml
DELETED
|
The diff for this file is too large to render.
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|
|
|
benchmark/simcode4d_unified/artifacts/NAT-03-water-land/m2_overlay.json
DELETED
|
@@ -1,9 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"allowed_dynamic_channels": [],
|
| 3 |
-
"case_id": "NAT-03-water-land",
|
| 4 |
-
"kind": "noop",
|
| 5 |
-
"m1_base_sha256": "c151b8290d11436115179aec585423b920fd465e91ec9f0ee7da1146f4ba079e",
|
| 6 |
-
"note": "No source-declared time-varying M2 component is required. Static contacts and fields remain M1-owned.",
|
| 7 |
-
"schema_version": "simcode4d.rc3a-dev1.m2-overlay",
|
| 8 |
-
"task_independent": true
|
| 9 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
benchmark/simcode4d_unified/artifacts/SER-01-medicine/dependency_manifest.json
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"case_id": "SER-01-medicine",
|
| 3 |
-
"files": [
|
| 4 |
-
{
|
| 5 |
-
"bytes": 8656,
|
| 6 |
-
"path": "benchmark/simcode4d_unified/artifacts/SER-01-medicine/m1_world.xml",
|
| 7 |
-
"sha256": "3b16d95758e29a6c5e8c044e975feaf505866c324774755fe714fc8cafd51733"
|
| 8 |
-
}
|
| 9 |
-
],
|
| 10 |
-
"schema_version": "simcode4d.rc3a-dev1.dependency-manifest"
|
| 11 |
-
}
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
benchmark/simcode4d_unified/artifacts/SER-01-medicine/legacy_origin.txt
DELETED
|
@@ -1 +0,0 @@
|
|
| 1 |
-
deliverables/final_real8s_physical_2026-09-01/module1/scene_indoor_service/simready_scene.xml
|
|
|
|
|
|
benchmark/simcode4d_unified/artifacts/SER-01-medicine/m1_world.xml
DELETED
|
@@ -1,94 +0,0 @@
|
|
| 1 |
-
<mujoco model="scene_indoor_service_final_real8s">
|
| 2 |
-
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 3 |
-
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" cone="elliptic" iterations="120" tolerance="1e-10" />
|
| 4 |
-
<default>
|
| 5 |
-
<geom solref=".002 1" solimp=".995 .9999 .0002" condim="4" friction=".75 .02 .002" margin="0.003" />
|
| 6 |
-
</default>
|
| 7 |
-
<asset>
|
| 8 |
-
<material name="floor_mat" rgba=".55 .57 .59 1" />
|
| 9 |
-
<material name="wall" rgba=".72 .73 .73 1" />
|
| 10 |
-
<material name="wood" rgba=".45 .24 .10 1" />
|
| 11 |
-
<material name="metal" rgba=".34 .38 .40 1" />
|
| 12 |
-
<material name="fabric" rgba=".10 .30 .42 1" />
|
| 13 |
-
<material name="package" rgba=".56 .27 .07 1" />
|
| 14 |
-
<material name="dark" rgba=".03 .04 .05 1" />
|
| 15 |
-
<material name="robot" rgba=".74 .79 .80 1" />
|
| 16 |
-
<material name="rubber" rgba=".012 .014 .016 1" />
|
| 17 |
-
<material name="service" rgba=".12 .58 .50 1" />
|
| 18 |
-
<material name="airport" rgba=".05 .35 .70 1" />
|
| 19 |
-
<material name="hotel" rgba=".62 .31 .08 1" />
|
| 20 |
-
</asset>
|
| 21 |
-
<worldbody>
|
| 22 |
-
<light directional="true" pos="-5 -6 11" dir=".3 .35 -1" />
|
| 23 |
-
<geom name="floor" type="box" pos="0 0 -.05" size="7.0 7.0 .05" material="floor_mat" friction="1.35 .025 .003" condim="6" priority="2" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 24 |
-
<geom name="wall_back" type="box" pos="0 7.0 2.7" size="7.0 .08 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 25 |
-
<geom name="wall_left" type="box" pos="-7.0 0 2.7" size=".08 7.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 26 |
-
<geom name="wall_right" type="box" pos="7.0 0 2.7" size=".08 7.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 27 |
-
<geom name="surface_service_entry_mat" type="box" pos="-3.48 -3.16 .0025" size="1.42 .58 .0025" material="service" friction="1.08 .035 .004" condim="6" priority="3" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 28 |
-
<geom name="surface_service_tile_joint_a" type="capsule" fromto="-3.72 -1.94 .006 -2.30 -1.94 .006" size=".006" material="metal" friction=".82 .020 .002" condim="6" priority="4" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 29 |
-
<geom name="surface_service_tile_joint_b" type="capsule" fromto="-3.62 -.46 .005 -2.38 -.46 .005" size=".005" material="metal" friction=".86 .020 .002" condim="6" priority="4" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 30 |
-
<geom name="counter_left" type="box" pos="-3.1 2.8 .62" size="2.2 .65 .62" material="wood" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 31 |
-
<geom name="counter_right" type="box" pos="3.1 2.8 .62" size="2.2 .65 .62" material="wood" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 32 |
-
<geom name="counter_top_left" type="box" pos="-3.1 2.65 1.30" size="2.25 .78 .06" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 33 |
-
<geom name="counter_top_right" type="box" pos="3.1 2.65 1.30" size="2.25 .78 .06" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 34 |
-
<geom name="left_bench" type="box" pos="-4.8 -1.1 .48" size="1.15 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 35 |
-
<geom name="left_bench_back" type="box" pos="-4.8 -.68 .92" size="1.15 .10 .48" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 36 |
-
<geom name="queue_post_a" type="cylinder" pos="-2.2 -2.8 .55" size=".09 .55" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 37 |
-
<geom name="queue_post_b" type="cylinder" pos="-2.2 0 .55" size=".09 .55" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 38 |
-
<geom name="queue_rail" type="box" pos="-2.2 -1.4 1.0" size=".035 1.4 .035" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 39 |
-
<body name="task_item" pos="-3.1 2.0 1.43">
|
| 40 |
-
<freejoint name="task_item_free" />
|
| 41 |
-
<geom name="medicine_pouch" type="box" size=".13 .09 .055" mass=".45" material="package" friction=".72 .025 .003" condim="6" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 42 |
-
</body>
|
| 43 |
-
<body name="robot" pos="-4.00000000 -3.79999995 .005">
|
| 44 |
-
<freejoint name="root_free" />
|
| 45 |
-
<inertial pos="0 0 .35" mass="58" diaginertia="12 12 6" />
|
| 46 |
-
<geom name="robot_base_collision" type="cylinder" pos="0 0 .22" size="0.42 .14" material="dark" friction=".55 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 47 |
-
<geom name="robot_body_collision" type="box" pos="0 0 0.68000" size="0.32760 0.26880 0.35000" material="robot" friction=".48 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 48 |
-
<body name="wheel_left" pos="-0.39000 0 0.20000">
|
| 49 |
-
<joint name="wheel_left_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
|
| 50 |
-
<geom name="wheel_left_geom" type="cylinder" size="0.20000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 51 |
-
</body>
|
| 52 |
-
<body name="wheel_right" pos="0.39000 0 0.20000">
|
| 53 |
-
<joint name="wheel_right_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
|
| 54 |
-
<geom name="wheel_right_geom" type="cylinder" size="0.20000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 55 |
-
</body>
|
| 56 |
-
<body name="caster_front" pos="0 .31 .105">
|
| 57 |
-
<joint name="caster_front_ball" type="ball" damping=".002" />
|
| 58 |
-
<geom name="caster_front_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 59 |
-
</body>
|
| 60 |
-
<body name="caster_rear" pos="0 -.31 .105">
|
| 61 |
-
<joint name="caster_rear_ball" type="ball" damping=".002" />
|
| 62 |
-
<geom name="caster_rear_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 63 |
-
</body>
|
| 64 |
-
<body name="lift_stage" pos="0 .82 1.01">
|
| 65 |
-
<joint name="lift_joint" type="slide" axis="0 0 1" range="-.01 0.42" damping="140" frictionloss="8" />
|
| 66 |
-
<geom name="lift_carriage_collision" type="box" pos=".22 -.90 .01" size=".13 .12 .16" mass="5" material="service" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 67 |
-
<body name="grasp_frame" pos=".06 0 0">
|
| 68 |
-
<joint name="arm_joint" type="slide" axis="0 1 0" range="-.01 0.46" damping="140" frictionloss="8" />
|
| 69 |
-
<geom name="gripper_palm_collision" type="box" pos="0 -.10 0" size=".12 .04 .07" mass="2.0" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 70 |
-
<geom name="gripper_finger_l" type="box" pos="-.18 0 0" size=".020 .13 .035" mass=".25" material="metal" friction=".85 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 71 |
-
<geom name="gripper_finger_r" type="box" pos=".18 0 0" size=".020 .13 .035" mass=".25" material="metal" friction=".85 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 72 |
-
</body>
|
| 73 |
-
</body>
|
| 74 |
-
</body>
|
| 75 |
-
</worldbody>
|
| 76 |
-
<equality>
|
| 77 |
-
<weld name="task_grasp" body1="task_item" body2="grasp_frame" relpose="0 0 0 1 0 0 0" active="false" solref=".012 1" />
|
| 78 |
-
</equality>
|
| 79 |
-
<actuator>
|
| 80 |
-
<velocity name="wheel_left_ctrl" joint="wheel_left_joint" kv="18" forcelimited="true" forcerange="-180 180" />
|
| 81 |
-
<velocity name="wheel_right_ctrl" joint="wheel_right_joint" kv="18" forcelimited="true" forcerange="-180 180" />
|
| 82 |
-
<position name="lift_ctrl" joint="lift_joint" kp="6000" />
|
| 83 |
-
<position name="arm_ctrl" joint="arm_joint" kp="6000" />
|
| 84 |
-
<motor name="base_force_x_ctrl" joint="root_free" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
|
| 85 |
-
<motor name="base_force_y_ctrl" joint="root_free" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
|
| 86 |
-
<motor name="base_force_z_ctrl" joint="root_free" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 87 |
-
<motor name="base_roll_ctrl" joint="root_free" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 88 |
-
<motor name="base_pitch_ctrl" joint="root_free" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 89 |
-
<motor name="base_yaw_ctrl" joint="root_free" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-520 520" />
|
| 90 |
-
</actuator>
|
| 91 |
-
<contact>
|
| 92 |
-
<exclude name="benchmark_grasp_clearance" body1="task_item" body2="grasp_frame" />
|
| 93 |
-
</contact>
|
| 94 |
-
</mujoco>
|
|
|
|
|
|
|
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|
benchmark/simcode4d_unified/artifacts/SER-01-medicine/m2_overlay.json
DELETED
|
@@ -1,9 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"allowed_dynamic_channels": [],
|
| 3 |
-
"case_id": "SER-01-medicine",
|
| 4 |
-
"kind": "noop",
|
| 5 |
-
"m1_base_sha256": "3b16d95758e29a6c5e8c044e975feaf505866c324774755fe714fc8cafd51733",
|
| 6 |
-
"note": "No source-declared time-varying M2 component is required. Static contacts and fields remain M1-owned.",
|
| 7 |
-
"schema_version": "simcode4d.rc3a-dev1.m2-overlay",
|
| 8 |
-
"task_independent": true
|
| 9 |
-
}
|
|
|
|
|
|
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|
benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/dependency_manifest.json
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"case_id": "SER-02-airport-luggage",
|
| 3 |
-
"files": [
|
| 4 |
-
{
|
| 5 |
-
"bytes": 11472,
|
| 6 |
-
"path": "benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/m1_world.xml",
|
| 7 |
-
"sha256": "489b3aed9707ed7e16ec2530668b3c93fe9d04836afb4a9c86eb83fe84342184"
|
| 8 |
-
}
|
| 9 |
-
],
|
| 10 |
-
"schema_version": "simcode4d.rc3a-dev1.dependency-manifest"
|
| 11 |
-
}
|
|
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|
benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/legacy_origin.txt
DELETED
|
@@ -1 +0,0 @@
|
|
| 1 |
-
deliverables/final_real8s_physical_2026-09-01/module1/indoor2_airport/simready_scene.xml
|
|
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|
|
benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/m1_world.xml
DELETED
|
@@ -1,111 +0,0 @@
|
|
| 1 |
-
<mujoco model="indoor2_airport_final_real8s">
|
| 2 |
-
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 3 |
-
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" cone="elliptic" iterations="120" tolerance="1e-10" />
|
| 4 |
-
<default>
|
| 5 |
-
<geom solref=".002 1" solimp=".995 .9999 .0002" condim="4" friction=".75 .02 .002" margin="0.003" />
|
| 6 |
-
</default>
|
| 7 |
-
<asset>
|
| 8 |
-
<material name="floor_mat" rgba=".55 .57 .59 1" />
|
| 9 |
-
<material name="wall" rgba=".72 .73 .73 1" />
|
| 10 |
-
<material name="wood" rgba=".45 .24 .10 1" />
|
| 11 |
-
<material name="metal" rgba=".34 .38 .40 1" />
|
| 12 |
-
<material name="fabric" rgba=".10 .30 .42 1" />
|
| 13 |
-
<material name="package" rgba=".56 .27 .07 1" />
|
| 14 |
-
<material name="dark" rgba=".03 .04 .05 1" />
|
| 15 |
-
<material name="robot" rgba=".74 .79 .80 1" />
|
| 16 |
-
<material name="rubber" rgba=".012 .014 .016 1" />
|
| 17 |
-
<material name="service" rgba=".12 .58 .50 1" />
|
| 18 |
-
<material name="airport" rgba=".05 .35 .70 1" />
|
| 19 |
-
<material name="hotel" rgba=".62 .31 .08 1" />
|
| 20 |
-
</asset>
|
| 21 |
-
<worldbody>
|
| 22 |
-
<light directional="true" pos="-5 -6 11" dir=".3 .35 -1" />
|
| 23 |
-
<geom name="floor" type="box" pos="0 0 -.05" size="8.0 8.0 .05" material="floor_mat" friction="1.35 .025 .003" condim="6" priority="2" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 24 |
-
<geom name="wall_back" type="box" pos="0 8.0 2.7" size="8.0 .08 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 25 |
-
<geom name="wall_left" type="box" pos="-8.0 0 2.7" size=".08 8.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 26 |
-
<geom name="wall_right" type="box" pos="8.0 0 2.7" size=".08 8.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 27 |
-
<geom name="surface_airport_carpet" type="box" pos="4.86 .72 .0025" size="1.34 1.78 .0025" material="fabric" friction="1.52 .040 .004" condim="6" priority="3" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 28 |
-
<geom name="surface_airport_tile_joint_a" type="capsule" fromto="-.28 -2.56 .0055 1.30 -2.56 .0055" size=".0055" material="metal" friction=".80 .020 .002" condim="6" priority="4" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 29 |
-
<geom name="surface_airport_tile_joint_b" type="capsule" fromto="2.66 -3.18 .006 2.66 -1.92 .006" size=".006" material="metal" friction=".84 .020 .002" condim="6" priority="4" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 30 |
-
<geom name="seat_0_0" type="box" pos="-5.200 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 31 |
-
<geom name="seat_back_0_0" type="box" pos="-5.200 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 32 |
-
<geom name="seat_0_1" type="box" pos="-3.700 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 33 |
-
<geom name="seat_back_0_1" type="box" pos="-3.700 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 34 |
-
<geom name="seat_0_2" type="box" pos="-2.200 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 35 |
-
<geom name="seat_back_0_2" type="box" pos="-2.200 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 36 |
-
<geom name="seat_0_3" type="box" pos="-0.700 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 37 |
-
<geom name="seat_back_0_3" type="box" pos="-0.700 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 38 |
-
<geom name="seat_0_4" type="box" pos="0.800 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 39 |
-
<geom name="seat_back_0_4" type="box" pos="0.800 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 40 |
-
<geom name="seat_0_5" type="box" pos="2.300 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 41 |
-
<geom name="seat_back_0_5" type="box" pos="2.300 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 42 |
-
<geom name="seat_1_0" type="box" pos="-5.200 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 43 |
-
<geom name="seat_back_1_0" type="box" pos="-5.200 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 44 |
-
<geom name="seat_1_1" type="box" pos="-3.700 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 45 |
-
<geom name="seat_back_1_1" type="box" pos="-3.700 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 46 |
-
<geom name="seat_1_2" type="box" pos="-2.200 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 47 |
-
<geom name="seat_back_1_2" type="box" pos="-2.200 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 48 |
-
<geom name="seat_1_3" type="box" pos="-0.700 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 49 |
-
<geom name="seat_back_1_3" type="box" pos="-0.700 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 50 |
-
<geom name="seat_1_4" type="box" pos="0.800 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 51 |
-
<geom name="seat_back_1_4" type="box" pos="0.800 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 52 |
-
<geom name="gate_desk" type="box" pos="4.8 4.8 .65" size="2 .70 .65" material="wood" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 53 |
-
<geom name="fids" type="box" pos="-6.2 5.2 1.75" size=".65 .28 1.75" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 54 |
-
<body name="brown_luggage" pos="-3.2 -1.0 .31">
|
| 55 |
-
<freejoint name="brown_luggage_free" />
|
| 56 |
-
<geom name="brown_luggage_geom" type="box" size=".27 .20 .27" mass="7" material="package" friction=".65 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 57 |
-
</body>
|
| 58 |
-
<body name="task_item" pos=".5 -1.2 .38">
|
| 59 |
-
<freejoint name="task_item_free" />
|
| 60 |
-
<geom name="luggage_shell" type="box" pos="0 0 .01" size=".34 .22 .30" mass="11.0" material="airport" friction=".72 .025 .003" condim="6" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 61 |
-
<geom name="luggage_wheel_l" type="sphere" pos="-.20 0 -.31" size=".055" mass=".25" material="rubber" friction="1.05 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 62 |
-
<geom name="luggage_wheel_r" type="sphere" pos=".20 0 -.31" size=".055" mass=".25" material="rubber" friction="1.05 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 63 |
-
</body>
|
| 64 |
-
<body name="robot" pos="0.50000000 -3.09999990 .005">
|
| 65 |
-
<freejoint name="root_free" />
|
| 66 |
-
<inertial pos="0 0 .35" mass="72" diaginertia="12 12 6" />
|
| 67 |
-
<geom name="robot_base_collision" type="cylinder" pos="0 0 .22" size="0.5 .14" material="dark" friction=".55 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 68 |
-
<geom name="robot_body_collision" type="box" pos="0 0 0.68000" size="0.39000 0.32000 0.35000" material="robot" friction=".48 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 69 |
-
<body name="wheel_left" pos="-0.39000 0 0.18000">
|
| 70 |
-
<joint name="wheel_left_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
|
| 71 |
-
<geom name="wheel_left_geom" type="cylinder" size="0.18000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 72 |
-
</body>
|
| 73 |
-
<body name="wheel_right" pos="0.39000 0 0.18000">
|
| 74 |
-
<joint name="wheel_right_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
|
| 75 |
-
<geom name="wheel_right_geom" type="cylinder" size="0.18000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 76 |
-
</body>
|
| 77 |
-
<body name="caster_front" pos="0 .31 .105">
|
| 78 |
-
<joint name="caster_front_ball" type="ball" damping=".002" />
|
| 79 |
-
<geom name="caster_front_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 80 |
-
</body>
|
| 81 |
-
<body name="caster_rear" pos="0 -.31 .105">
|
| 82 |
-
<joint name="caster_rear_ball" type="ball" damping=".002" />
|
| 83 |
-
<geom name="caster_rear_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 84 |
-
</body>
|
| 85 |
-
<body name="grasp_frame" pos="0 .75 .38">
|
| 86 |
-
<joint name="lift_joint" type="slide" axis="0 0 1" range="-.01 0.36" damping="140" frictionloss="8" />
|
| 87 |
-
<geom name="lift_fork_l" type="box" pos="-.31 0 -.34" size=".04 .42 .02" mass="3.5" material="metal" friction=".82 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 88 |
-
<geom name="lift_fork_r" type="box" pos=".31 0 -.34" size=".04 .42 .02" mass="3.5" material="metal" friction=".82 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 89 |
-
<geom name="clamp_l" type="box" pos="-.38 0 0" size=".035 .20 .25" mass=".5" material="rubber" friction="1.15 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 90 |
-
<geom name="clamp_r" type="box" pos=".38 0 0" size=".035 .20 .25" mass=".5" material="rubber" friction="1.15 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 91 |
-
</body>
|
| 92 |
-
</body>
|
| 93 |
-
</worldbody>
|
| 94 |
-
<equality>
|
| 95 |
-
<weld name="task_grasp" body1="task_item" body2="grasp_frame" relpose="0 0 0 1 0 0 0" active="false" solref=".080 1" />
|
| 96 |
-
</equality>
|
| 97 |
-
<actuator>
|
| 98 |
-
<velocity name="wheel_left_ctrl" joint="wheel_left_joint" kv="18" forcelimited="true" forcerange="-180 180" />
|
| 99 |
-
<velocity name="wheel_right_ctrl" joint="wheel_right_joint" kv="18" forcelimited="true" forcerange="-180 180" />
|
| 100 |
-
<position name="lift_ctrl" joint="lift_joint" kp="6000" />
|
| 101 |
-
<motor name="base_force_x_ctrl" joint="root_free" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
|
| 102 |
-
<motor name="base_force_y_ctrl" joint="root_free" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
|
| 103 |
-
<motor name="base_force_z_ctrl" joint="root_free" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 104 |
-
<motor name="base_roll_ctrl" joint="root_free" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 105 |
-
<motor name="base_pitch_ctrl" joint="root_free" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 106 |
-
<motor name="base_yaw_ctrl" joint="root_free" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-520 520" />
|
| 107 |
-
</actuator>
|
| 108 |
-
<contact>
|
| 109 |
-
<exclude name="benchmark_grasp_clearance" body1="task_item" body2="grasp_frame" />
|
| 110 |
-
</contact>
|
| 111 |
-
</mujoco>
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|
benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/m2_overlay.json
DELETED
|
@@ -1,9 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"allowed_dynamic_channels": [],
|
| 3 |
-
"case_id": "SER-02-airport-luggage",
|
| 4 |
-
"kind": "noop",
|
| 5 |
-
"m1_base_sha256": "489b3aed9707ed7e16ec2530668b3c93fe9d04836afb4a9c86eb83fe84342184",
|
| 6 |
-
"note": "No source-declared time-varying M2 component is required. Static contacts and fields remain M1-owned.",
|
| 7 |
-
"schema_version": "simcode4d.rc3a-dev1.m2-overlay",
|
| 8 |
-
"task_independent": true
|
| 9 |
-
}
|
|
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|
benchmark/simcode4d_unified/artifacts/SER-03-hotel-drawer/dependency_manifest.json
DELETED
|
@@ -1,11 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"case_id": "SER-03-hotel-drawer",
|
| 3 |
-
"files": [
|
| 4 |
-
{
|
| 5 |
-
"bytes": 7659,
|
| 6 |
-
"path": "benchmark/simcode4d_unified/artifacts/SER-03-hotel-drawer/m1_world.xml",
|
| 7 |
-
"sha256": "72b72ef3deeb3664e7c08293340e8b05f9ad7f64a13acd27c2c6bdbb4e18d954"
|
| 8 |
-
}
|
| 9 |
-
],
|
| 10 |
-
"schema_version": "simcode4d.rc3a-dev1.dependency-manifest"
|
| 11 |
-
}
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