Publish SimCode4D DEV15 benchmark

Portable 15-case benchmark snapshot from Code2Worlds-2 ca35f25, with dataset card and case index.

README.md

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+---
+pretty_name: SimCode4D DEV15
+language:
+  - en
+tags:
+  - embodied-ai
+  - robotics
+  - mujoco
+  - benchmark
+configs:
+  - config_name: dev15
+    data_files:
+      - split: validation
+        path: data/dev15.jsonl
+---
+
+# SimCode4D: Code2Worlds-2 development benchmark
+
+SimCode4D DEV15 is the public, portable 15-case development benchmark for the
+Code2Worlds-2 paper. It covers indoor, industrial, natural outdoor, service,
+and urban environments, with three cases in each domain. The benchmark tests
+whether a generated world builds and whether its physical behavior satisfies
+the registered task, integrity, mechanics, kinematics, contact, friction, and
+safety checks.
+
+The `validation` split in the viewer is a **case index**. Each row points to
+the complete frozen specification, gold predicates, physical profile, task
+confirmation, and runtime artifacts in this repository. It is not a table of
+model outputs or experiment results.
+
+## Contents
+
+| Path | Contents |
+| --- | --- |
+| `data/dev15.jsonl` | Searchable index of all 15 development cases |
+| `benchmark/simcode4d_unified/config/` | Suite registry, seed protocol, and frozen hashes |
+| `benchmark/simcode4d_unified/cases/` | Case specifications, gold predicates, physics profiles, and task confirmations |
+| `benchmark/simcode4d_unified/artifacts/` | Frozen M1 and executable MuJoCo runtime models and overlays |
+| `benchmark/simcode4d_unified/assets/` and `vendor/` | Runtime meshes and third-party model assets |
+| `benchmark/simcode4d_unified/probes/`, `validators/`, and `tools/` | Reference probes, independent validators, and scoring tools |
+| `requirements-benchmark.txt` | Python dependencies for the public benchmark runtime |
+
+The runtime package is copied from the public
+[Code2Worlds-2 repository](https://github.com/AIGeeksGroup/Code2Worlds-2/tree/ca35f25cda19aadf1d211ae3e55e390905507f1d/benchmark/simcode4d_unified)
+at commit `ca35f25cda19aadf1d211ae3e55e390905507f1d`. Paths are preserved so
+that the original registry, hashes, and evaluator work without rewriting the
+cases. The case index is an additional convenience file.
+
+## Download and verify
+
+Use Python 3.10. From the downloaded dataset root:
+
+```bash
+hf download AIGeeksGroup/SimCode4D --repo-type dataset --local-dir SimCode4D
+cd SimCode4D
+python -m pip install -r requirements-benchmark.txt
+python benchmark/simcode4d_unified/check_public_release.py
+```
+
+The integrity check verifies the frozen references and loads all 15 compiled
+M1 worlds and runtime models with MuJoCo. The expected output has `"passed":
+true` and `"case_count": 15`.
+
+To test the submission interface without generating a new world:
+
+```bash
+python benchmark/simcode4d_unified/tools/make_reference_smoke.py \
+  --output /tmp/simcode4d-reference-package
+python benchmark/simcode4d_unified/tools/score_submission.py \
+  --submission-root /tmp/simcode4d-reference-package \
+  --output /tmp/simcode4d-reference-score \
+  --case-ids SER-03-hotel-drawer --physics-seeds 401
+```
+
+This is a reference-interface smoke test, not a generated-method score. See
+the [benchmark README](benchmark/simcode4d_unified/README.md) for the full
+matrix, method submission format, and metric definitions.
+
+## Scope and provenance
+
+The registered reference matrix contains 15 cases × 3 deterministic rebuild
+slots × 5 physics seeds = 225 executions. The three rebuild slots do not
+represent independent generated worlds; there are 75 distinct case-physics
+trials. The reference-probe results described in the benchmark README check
+benchmark self-consistency and must not be presented as a Code2Worlds-2 model
+score or as a held-out leaderboard.
+
+This portable release excludes archived Blender authoring scenes, ablation
+configurations, completed run logs, leaderboards, and demo videos. The
+original authoring sources for three indoor scenes were unavailable. Three
+cases have path-only asset portability repairs; see
+[PORTABILITY.md](benchmark/simcode4d_unified/PORTABILITY.md). The source-name
+binding metric requires authoring-source catalogs outside this compact
+release; the included runtime binding check uses compiled model interfaces.
+
+No repository-wide license was specified in the source release. Third-party
+model assets retain their license and notice files under `vendor/`; review
+those notices before reuse beyond the benchmark runtime.

benchmark/simcode4d_unified/PORTABILITY.md

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+# Public runtime portability
+
+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:
+
+| Case | Rebound paths |
+| --- | --- |
+| `IND-02-go2-living-room` | Go2 mesh paths in `artifacts/IND-02-go2-living-room/go2_robot.xml` |
+| `NAT-01-rock-kick` | Terrain/collision assets in `m1_world.xml` and Go2 meshes in `go2_runtime.xml` |
+| `NAT-02-hills-turn-stop` | Jackal meshes in `jackal_runtime.xml` and its include path in `m1_world.xml` |
+
+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.
+
+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.
+
+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.
+
+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.

benchmark/simcode4d_unified/README.md

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+# SimCode4D DEV15 public runtime
+
+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.
+
+## Contents
+
+| Path | Purpose |
+| --- | --- |
+| `config/suite.json` and `config/freeze_lock.json` | Registered case grid and frozen hashes |
+| `cases/` | Case specification, gold predicates, task confirmation, physics profile |
+| `artifacts/` | Compiled M1 worlds, executable runtime MJCF, task overlays |
+| `probes/` and `validators/` | Evaluator-owned robot policy and case-specific predicates |
+| `tools/` | Runtime, isolated episode worker, matrix runner, method scorer, physical diagnostics, result aggregation |
+| `vendor/` and `assets/nat01_meshes/` | Exact model meshes needed by the frozen runtime |
+
+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.
+
+## Verify and run
+
+From the repository root, with Python 3.10 and `requirements-benchmark.txt` installed:
+
+```bash
+python benchmark/simcode4d_unified/check_public_release.py
+
+# Small smoke run.
+python benchmark/simcode4d_unified/tools/run_matrix.py \
+  --suite benchmark/simcode4d_unified \
+  --output /tmp/simcode4d-smoke \
+  --case-ids SER-03-hotel-drawer \
+  --generation-seeds 1103 \
+  --physics-seeds 401 \
+  --skip-preflight
+
+python benchmark/simcode4d_unified/tools/aggregate_results.py \
+  --suite benchmark/simcode4d_unified \
+  --run-root /tmp/simcode4d-smoke \
+  --output /tmp/simcode4d-smoke-metrics \
+  --allow-subset
+```
+
+For the full reference matrix, omit all case and seed selectors. Use fresh output paths:
+
+```bash
+python benchmark/simcode4d_unified/tools/run_matrix.py \
+  --suite benchmark/simcode4d_unified \
+  --output /tmp/simcode4d-dev15-matrix \
+  --skip-preflight
+
+python benchmark/simcode4d_unified/tools/aggregate_results.py \
+  --suite benchmark/simcode4d_unified \
+  --run-root /tmp/simcode4d-dev15-matrix \
+  --output /tmp/simcode4d-dev15-metrics
+```
+
+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.
+
+The matrix runner starts a fresh worker process for each episode. This releases
+MuJoCo allocations between cases and keeps the registered full matrix within
+modest memory limits. If an external host terminates an episode, the run
+manifest records the error and the incomplete matrix cannot be aggregated as
+a passing result.
+
+## Test a method world package
+
+The public method scorer accepts one first-output package per selected case:
+
+```text
+SUBMISSION_ROOT/
+  SER-03-hotel-drawer/
+    runtime.xml
+    task_overlay.json
+    bindings.json
+    assets/                 # if runtime.xml references local files
+```
+
+`runtime.xml` must carry the required bodies, joints, actuators, contact
+groups, local assets, physical properties, and frozen 1 ms simulator setup.
+`task_overlay.json` uses `code2worlds2.task-dynamics.v1` with `case_id`, the
+SHA-256 of `runtime.xml` in `runtime_sha256`, all required dynamic objects in
+`dynamic_bodies`, and typed `events` (`rigid_body`, `joint`, `visual_effect`).
+`bindings.json` uses `code2worlds2.bindings.v1`, `case_id`, a `bindings` list
+of `{entity_id, model_names}`, and an optional `support_relations` list of
+`{child, parent}` using registered entity IDs. XML assets must be relative to
+the package and remain inside it.
+
+Build and overlay checks precede the frozen probe. Failed builds, overlays,
+and executions remain zero in the registered episode denominator. For every
+completed episode the same independent validators report task, mechanics,
+kinematics, contact/friction, safety, integrity, and robust task success.
+The scorer also isolates each case and episode in a fresh process to avoid
+retaining large compiled worlds in memory.
+`method_metrics.py` computes WorldBuildPass@1, TaskOverlayPass@1, pooled F1,
+and RTS. Runtime entity-binding F1 checks the compiled model interface; the
+paper's source-name binding F1 additionally needs the 12 authoring-source
+catalogs, which are outside this compact release. Initial support F1 uses
+only five annotated task-object relations; unannotated relations are not
+treated as negatives.
+
+To verify the submission API itself without preparing a new scene, create a
+self-contained package from the included SER-03 reference world:
+
+```bash
+python benchmark/simcode4d_unified/tools/make_reference_smoke.py \
+  --output /tmp/simcode4d-reference-package
+python benchmark/simcode4d_unified/tools/score_submission.py \
+  --submission-root /tmp/simcode4d-reference-package \
+  --output /tmp/simcode4d-reference-score \
+  --case-ids SER-03-hotel-drawer --physics-seeds 401
+```
+
+The resulting `method_score.json` is a reference-interface smoke test, not a
+new generated-method result. Omit case and seed selectors to evaluate all 15
+registered cases and five physics seeds of a complete submission.
+
+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.

benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/dependency_manifest.json

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+{
+  "case_id": "IND-01-vacuum-living-room",
+  "files": [
+    {
+      "bytes": 1183,
+      "path": "benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/m2_overlay.json",
+      "sha256": "36c0c7ed058d02773e33fedbce1b2029b585c486629241490c19cbdb58d28be1"
+    },
+    {
+      "bytes": 1060,
+      "path": "benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/repair_report.json",
+      "sha256": "55b37ecd32fc37b4c2066820c1502140bf7fe7bf1608388a5dcba180c686e184"
+    },
+    {
+      "bytes": 16877,
+      "path": "benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/runtime_model.xml",
+      "sha256": "c8790dc30c5fd4d82dd863f2089f218d4689b9c5ef9de5595cdd799676f1b1e6"
+    },
+    {
+      "bytes": 11652,
+      "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_enriched.xml",
+      "sha256": "fb33b21c02602f781b34fac2a1a5febd5398a007ca27cadff1938060c4e99f50"
+    },
+    {
+      "bytes": 12893,
+      "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_m2_lr_vacuum.xml",
+      "sha256": "777f861f43a468017cee694f25b1c94ac18e3e3aad4ac16135cf9e5b0c1caad3"
+    }
+  ],
+  "schema_version": "simcode4d.dev15.dependency-manifest.v1"
+}

benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/m2_overlay.json

@@ -0,0 +1,26 @@
+{
+  "case_id": "IND-01-vacuum-living-room",
+  "m1_base_sha256": "fb33b21c02602f781b34fac2a1a5febd5398a007ca27cadff1938060c4e99f50",
+  "ownership": "robot/control/constraint repair only; no goal, threshold, seed, or validator logic",
+  "repair_report": {
+    "bytes": 1060,
+    "path": "benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/repair_report.json",
+    "sha256": "55b37ecd32fc37b4c2066820c1502140bf7fe7bf1608388a5dcba180c686e184"
+  },
+  "repairs": [
+    "declared and bounded six-axis free-joint actuator interface",
+    "normalized active contact solref/solimp for the frozen 1 ms timestep"
+  ],
+  "runtime_model": {
+    "bytes": 16877,
+    "path": "benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/runtime_model.xml",
+    "sha256": "c8790dc30c5fd4d82dd863f2089f218d4689b9c5ef9de5595cdd799676f1b1e6"
+  },
+  "schema_version": "simcode4d.dev15.m2-overlay.v1",
+  "source_runtime": {
+    "bytes": 12893,
+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_m2_lr_vacuum.xml",
+    "sha256": "777f861f43a468017cee694f25b1c94ac18e3e3aad4ac16135cf9e5b0c1caad3"
+  },
+  "task_independent": true
+}

benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/repair_report.json

@@ -0,0 +1,27 @@
+{
+  "assertions": {
+    "case_specific_repairs_present": true,
+    "declared_actuators_present": true,
+    "mujoco_load": true,
+    "positive_dynamic_mass_and_inertia": true,
+    "timestep_s": 0.001
+  },
+  "case_id": "IND-01-vacuum-living-room",
+  "legacy_case_id": "indoor-1_vacuum_real",
+  "pruned_unmatched_contact_patterns": [],
+  "repairs": [
+    "declared and bounded six-axis free-joint actuator interface",
+    "normalized active contact solref/solimp for the frozen 1 ms timestep"
+  ],
+  "schema_version": "simcode4d.dev15.runtime-repair.v1",
+  "source_m1": {
+    "bytes": 11652,
+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_enriched.xml",
+    "sha256": "fb33b21c02602f781b34fac2a1a5febd5398a007ca27cadff1938060c4e99f50"
+  },
+  "source_runtime": {
+    "bytes": 12893,
+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_m2_lr_vacuum.xml",
+    "sha256": "777f861f43a468017cee694f25b1c94ac18e3e3aad4ac16135cf9e5b0c1caad3"
+  }
+}

benchmark/simcode4d_unified/artifacts/IND-01-vacuum-living-room/runtime_model.xml

@@ -0,0 +1,89 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scene_enriched">
+  <compiler angle="radian" autolimits="true" />
+  <option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
+  </visual>
+  <asset>
+    
+  </asset>
+  <worldbody>
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <geom name="floor_04" type="box" pos="6.067328 4.567328 0.134671" size="5.932672 4.432672 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" />
+    <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" />
+    <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" />
+    <geom name="wall_06" 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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <geom name="wall_12" type="box" pos="8.858983 6.494686 2.803618" 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" />
+    <geom name="wall_13" type="box" pos="10.484507 3.336327 2.803633" 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" />
+    <geom name="wall_14" type="box" pos="8.000000 11.750000 2.841525" size="2.865343 2.615343 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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+    <motor name="base_yaw_ctrl" joint="robot_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-35 35" />
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+  <keyframe>
+    <key name="m2_init" qpos="8.5 5.5 0.16 1 0 0 0" qvel="0 0 0 0 0 0" />
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benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/dependency_manifest.json

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benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/go2_robot.xml

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+<mujoco model="go2">
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+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/foot.obj" />
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+      <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" />
+      <site name="imu" pos="-0.02557 0 0.04232" />
+      <body name="FL_hip" pos="0.1934 0.0465 0">
+        <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" />
+        <joint name="FL_hip_joint" class="abduction" />
+        <geom mesh="hip_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+        <geom mesh="hip_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+        <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" />
+        <body name="FL_thigh" pos="0 0.0955 0">
+          <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" />
+          <joint name="FL_thigh_joint" class="front_hip" />
+          <geom mesh="thigh_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+          <geom mesh="thigh_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+          <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" />
+          <body name="FL_calf" pos="0 0 -0.213">
+            <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" />
+            <joint name="FL_calf_joint" class="knee" />
+            <geom mesh="calf_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+            <geom mesh="calf_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+            <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" />
+            <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" />
+            <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" />
+            <geom name="FL" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+          </body>
+        </body>
+      </body>
+      <body name="FR_hip" pos="0.1934 -0.0465 0">
+        <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" />
+        <joint name="FR_hip_joint" class="abduction" />
+        <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" />
+        <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" />
+        <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" />
+        <body name="FR_thigh" pos="0 -0.0955 0">
+          <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" />
+          <joint name="FR_thigh_joint" class="front_hip" />
+          <geom mesh="thigh_mirror_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+          <geom mesh="thigh_mirror_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+          <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" />
+          <body name="FR_calf" pos="0 0 -0.213">
+            <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" />
+            <joint name="FR_calf_joint" class="knee" />
+            <geom mesh="calf_mirror_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+            <geom mesh="calf_mirror_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+            <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" />
+            <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" />
+            <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" />
+            <geom name="FR" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+          </body>
+        </body>
+      </body>
+      <body name="RL_hip" pos="-0.1934 0.0465 0">
+        <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" />
+        <joint name="RL_hip_joint" class="abduction" />
+        <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" />
+        <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" />
+        <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" />
+        <body name="RL_thigh" pos="0 0.0955 0">
+          <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" />
+          <joint name="RL_thigh_joint" class="back_hip" />
+          <geom mesh="thigh_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+          <geom mesh="thigh_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+          <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" />
+          <body name="RL_calf" pos="0 0 -0.213">
+            <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" />
+            <joint name="RL_calf_joint" class="knee" />
+            <geom mesh="calf_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+            <geom mesh="calf_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+            <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" />
+            <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" />
+            <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" />
+            <geom name="RL" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+          </body>
+        </body>
+      </body>
+      <body name="RR_hip" pos="-0.1934 -0.0465 0">
+        <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" />
+        <joint name="RR_hip_joint" class="abduction" />
+        <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" />
+        <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" />
+        <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" />
+        <body name="RR_thigh" pos="0 -0.0955 0">
+          <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" />
+          <joint name="RR_thigh_joint" class="back_hip" />
+          <geom mesh="thigh_mirror_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+          <geom mesh="thigh_mirror_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+          <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" />
+          <body name="RR_calf" pos="0 0 -0.213">
+            <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" />
+            <joint name="RR_calf_joint" class="knee" />
+            <geom mesh="calf_mirror_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+            <geom mesh="calf_mirror_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+            <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" />
+            <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" />
+            <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" />
+            <geom name="RR" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor class="abduction" name="FL_hip" joint="FL_hip_joint" />
+    <motor class="hip" name="FL_thigh" joint="FL_thigh_joint" />
+    <motor class="knee" name="FL_calf" joint="FL_calf_joint" />
+    <motor class="abduction" name="FR_hip" joint="FR_hip_joint" />
+    <motor class="hip" name="FR_thigh" joint="FR_thigh_joint" />
+    <motor class="knee" name="FR_calf" joint="FR_calf_joint" />
+    <motor class="abduction" name="RL_hip" joint="RL_hip_joint" />
+    <motor class="hip" name="RL_thigh" joint="RL_thigh_joint" />
+    <motor class="knee" name="RL_calf" joint="RL_calf_joint" />
+    <motor class="abduction" name="RR_hip" joint="RR_hip_joint" />
+    <motor class="hip" name="RR_thigh" joint="RR_thigh_joint" />
+    <motor class="knee" name="RR_calf" joint="RR_calf_joint" />
+    <motor name="base_force_x_ctrl" joint="go2_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-170 170" />
+    <motor name="base_force_y_ctrl" joint="go2_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-170 170" />
+    <motor name="base_force_z_ctrl" joint="go2_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-150 150" />
+    <motor name="base_roll_ctrl" joint="go2_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-90 90" />
+    <motor name="base_pitch_ctrl" joint="go2_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-90 90" />
+    <motor name="base_yaw_ctrl" joint="go2_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-90 90" />
+  </actuator>
+  <keyframe>
+    <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" />
+  </keyframe>
+</mujoco>

benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/m2_overlay.json

@@ -0,0 +1,30 @@
+{
+  "case_id": "IND-02-go2-living-room",
+  "m1_base_sha256": "fb33b21c02602f781b34fac2a1a5febd5398a007ca27cadff1938060c4e99f50",
+  "ownership": "robot/control/constraint repair only; no goal, threshold, seed, or validator logic",
+  "repair_report": {
+    "bytes": 1251,
+    "path": "benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/repair_report.json",
+    "sha256": "3b7c44e9ba970ebcfe1f10b6b3ba91b15f67c4115e028e72921ca1b220f6184e"
+  },
+  "repairs": [
+    "replaced incorrect vacuum M2 with generated Go2 runtime",
+    "removed invisible non-colliding stone",
+    "made angle units explicitly radian",
+    "raised initialization 0.020 m to remove measured foot-ground overlap",
+    "declared bounded free-joint assist actuators",
+    "normalized active contact solref/solimp for the frozen 1 ms timestep"
+  ],
+  "runtime_model": {
+    "bytes": 15711,
+    "path": "benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/runtime_model.xml",
+    "sha256": "36ee97ed015bd235a151ac2045c8a4945fef2a366f1b4070775a88558eba77aa"
+  },
+  "schema_version": "simcode4d.dev15.m2-overlay.v1",
+  "source_runtime": {
+    "bytes": 13164,
+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/export_singleroom_lr_go2/module2/scene_m2.xml",
+    "sha256": "b487a5f5defe105f22545ad5fd2eb7bcc4c39c88f7f709d58d50e627a745f9c9"
+  },
+  "task_independent": true
+}

benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/repair_report.json

@@ -0,0 +1,31 @@
+{
+  "assertions": {
+    "case_specific_repairs_present": true,
+    "declared_actuators_present": true,
+    "mujoco_load": true,
+    "positive_dynamic_mass_and_inertia": true,
+    "timestep_s": 0.001
+  },
+  "case_id": "IND-02-go2-living-room",
+  "legacy_case_id": "indoor-2_go2lr_walk",
+  "pruned_unmatched_contact_patterns": [],
+  "repairs": [
+    "replaced incorrect vacuum M2 with generated Go2 runtime",
+    "removed invisible non-colliding stone",
+    "made angle units explicitly radian",
+    "raised initialization 0.020 m to remove measured foot-ground overlap",
+    "declared bounded free-joint assist actuators",
+    "normalized active contact solref/solimp for the frozen 1 ms timestep"
+  ],
+  "schema_version": "simcode4d.dev15.runtime-repair.v1",
+  "source_m1": {
+    "bytes": 11652,
+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-2_go2lr_walk/M1/module1/scene_enriched.xml",
+    "sha256": "fb33b21c02602f781b34fac2a1a5febd5398a007ca27cadff1938060c4e99f50"
+  },
+  "source_runtime": {
+    "bytes": 13076,
+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/export_singleroom_lr_go2/module2/scene_m2.xml",
+    "sha256": "c3d5b1b176f12c59a39c5c28470c0b35fb8ad9c52985c499e527e1dfd0f76933"
+  }
+}

benchmark/simcode4d_unified/artifacts/IND-02-go2-living-room/runtime_model.xml

@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scene_enriched">
+  <compiler angle="radian" autolimits="true" />
+  <option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
+  </visual>
+  <asset>
+    
+  </asset>
+  <worldbody>
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <geom name="floor_04" type="box" pos="6.067328 4.567328 0.134671" size="5.932672 4.432672 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" />
+    <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" />
+    <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" />
+    <geom name="wall_06" 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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+  <include file="go2_robot.xml" />
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+  </keyframe>
+</mujoco>

benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/dependency_manifest.json

@@ -0,0 +1,31 @@
+{
+  "case_id": "IND-03-vacuum-west",
+  "files": [
+    {
+      "bytes": 1248,
+      "path": "benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/m2_overlay.json",
+      "sha256": "79635f717a69df698dda4cdaa80e5d8301ebddfe77a01406536ed3cf8be5394f"
+    },
+    {
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+      "path": "benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/repair_report.json",
+      "sha256": "580ccbe79f7c8f3bb0d4d16a396961ec4b15d9c116bf2045bfc8af3e8950ca81"
+    },
+    {
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+      "path": "benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/runtime_model.xml",
+      "sha256": "bd9e1a5b33f53155602bcd7ebb599346970373c7f71e0a155d478b6dea779a34"
+    },
+    {
+      "bytes": 7729,
+      "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_enriched.xml",
+      "sha256": "5524156fcf2deab787b01c52e38e17f4e472fb66d8604fa4271f31e4d50cd10f"
+    },
+    {
+      "bytes": 8219,
+      "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_m2_vacuum.xml",
+      "sha256": "bebf39eeb58d170be21ec58fa7e3c81f888b3e5f96700aedfcd36cd1f7530fd8"
+    }
+  ],
+  "schema_version": "simcode4d.dev15.dependency-manifest.v1"
+}

benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/m2_overlay.json

@@ -0,0 +1,27 @@
+{
+  "case_id": "IND-03-vacuum-west",
+  "m1_base_sha256": "5524156fcf2deab787b01c52e38e17f4e472fb66d8604fa4271f31e4d50cd10f",
+  "ownership": "robot/control/constraint repair only; no goal, threshold, seed, or validator logic",
+  "repair_report": {
+    "bytes": 1242,
+    "path": "benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/repair_report.json",
+    "sha256": "580ccbe79f7c8f3bb0d4d16a396961ec4b15d9c116bf2045bfc8af3e8950ca81"
+  },
+  "repairs": [
+    "shifted initialization 0.15 m in y to preserve vacuum-radius clearance from wall_43",
+    "declared and bounded six-axis free-joint actuator interface",
+    "normalized active contact solref/solimp for the frozen 1 ms timestep"
+  ],
+  "runtime_model": {
+    "bytes": 11142,
+    "path": "benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/runtime_model.xml",
+    "sha256": "bd9e1a5b33f53155602bcd7ebb599346970373c7f71e0a155d478b6dea779a34"
+  },
+  "schema_version": "simcode4d.dev15.m2-overlay.v1",
+  "source_runtime": {
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+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_m2_vacuum.xml",
+    "sha256": "bebf39eeb58d170be21ec58fa7e3c81f888b3e5f96700aedfcd36cd1f7530fd8"
+  },
+  "task_independent": true
+}

benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/repair_report.json

@@ -0,0 +1,34 @@
+{
+  "assertions": {
+    "case_specific_repairs_present": true,
+    "declared_actuators_present": true,
+    "mujoco_load": true,
+    "positive_dynamic_mass_and_inertia": true,
+    "timestep_s": 0.001
+  },
+  "case_id": "IND-03-vacuum-west",
+  "legacy_case_id": "indoor-3_indoor2_v2",
+  "pruned_unmatched_contact_patterns": [
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+      "group": "static_obstacles",
+      "pattern": "lr_wall_*",
+      "selector": "geoms"
+    }
+  ],
+  "repairs": [
+    "shifted initialization 0.15 m in y to preserve vacuum-radius clearance from wall_43",
+    "declared and bounded six-axis free-joint actuator interface",
+    "normalized active contact solref/solimp for the frozen 1 ms timestep"
+  ],
+  "schema_version": "simcode4d.dev15.runtime-repair.v1",
+  "source_m1": {
+    "bytes": 7729,
+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_enriched.xml",
+    "sha256": "5524156fcf2deab787b01c52e38e17f4e472fb66d8604fa4271f31e4d50cd10f"
+  },
+  "source_runtime": {
+    "bytes": 8219,
+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_m2_vacuum.xml",
+    "sha256": "bebf39eeb58d170be21ec58fa7e3c81f888b3e5f96700aedfcd36cd1f7530fd8"
+  }
+}

benchmark/simcode4d_unified/artifacts/IND-03-vacuum-west/runtime_model.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scene_enriched">
+  <compiler angle="radian" autolimits="true" />
+  <option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
+  </visual>
+  <asset>
+    
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+    <motor name="base_force_x_ctrl" joint="robot_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
+    <motor name="base_force_y_ctrl" joint="robot_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
+    <motor name="base_force_z_ctrl" joint="robot_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-80 80" />
+    <motor name="base_roll_ctrl" joint="robot_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-35 35" />
+    <motor name="base_pitch_ctrl" joint="robot_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-35 35" />
+    <motor name="base_yaw_ctrl" joint="robot_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-35 35" />
+  </actuator>
+  <keyframe>
+    <key name="m2_init" qpos="5 9.15 0.16 1 0 0 0" qvel="0 0 0 0 0 0" />
+  </keyframe>
+</mujoco>

benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/dependency_manifest.json

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+  "files": [
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+      "path": "benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/m2_overlay.json",
+      "sha256": "2d34a38e8461f006abf0d172ea2b470907939a4ea576b428f2421e63a37c343f"
+    },
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+      "path": "benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/repair_report.json",
+      "sha256": "3ce59314f8a65cf6d1341aa559e8583790ad13040af4ff20693f445fc1c1667d"
+    },
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+    },
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+    },
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+      "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/rover_assets/rover_body.obj",
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+      "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/rover_assets/rover_wheel.obj",
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+  ],
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+}

benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/m2_overlay.json

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+{
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+  "m1_base_sha256": "8a527bd66ecf77612bdba141e3ab822f8ae07648bca1c5184a3236c9151bb3e3",
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+    "path": "benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/repair_report.json",
+    "sha256": "3ce59314f8a65cf6d1341aa559e8583790ad13040af4ff20693f445fc1c1667d"
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+    "aligned wheel collision cylinders with the y-axis hinges",
+    "initialized wheel tread with 1 mm clearance to avoid exact-tangent box contact degeneracy"
+  ],
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+    "path": "benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/runtime_model.xml",
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+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-1_agv_empty/rollout/scene_m2.xml",
+    "sha256": "88f3ed5c35d2bbc01af3def9ab325cc436b81331bbd3f201c863a066769869c5"
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+}

benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/repair_report.json

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+{
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+    "declared_actuators_present": true,
+    "mujoco_load": true,
+    "positive_dynamic_mass_and_inertia": true,
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+  "legacy_case_id": "industrial-1_agv_empty",
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+      "pattern": "terrain_*",
+      "selector": "geoms"
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+  ],
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+    "aligned wheel collision cylinders with the y-axis hinges",
+    "initialized wheel tread with 1 mm clearance to avoid exact-tangent box contact degeneracy"
+  ],
+  "schema_version": "simcode4d.dev15.runtime-repair.v1",
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+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-1_agv_empty/M1/module1/scene_enriched.xml",
+    "sha256": "8a527bd66ecf77612bdba141e3ab822f8ae07648bca1c5184a3236c9151bb3e3"
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+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-1_agv_empty/rollout/scene_m2.xml",
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+}

benchmark/simcode4d_unified/artifacts/INS-01-agv-aisle/runtime_model.xml

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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scene_enriched">
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+  </visual>
+  <asset>
+    <mesh name="rover_body" file="../../vendor/handover9_20260921/rover_assets/rover_body.obj" />
+    <mesh name="rover_wheel" file="../../vendor/handover9_20260921/rover_assets/rover_wheel.obj" />
+    <material name="rover_chassis" rgba="0.15 0.35 0.55 1" />
+    <material name="rover_wheel" rgba="0.12 0.12 0.12 1" />
+    <material name="rover_detail" rgba="0.80 0.60 0.10 1" />
+  </asset>
+  <worldbody>
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+    <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" />
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+    <body name="rover_base" pos="0 0 0.22">
+      <freejoint name="rover_freejoint" />
+      <inertial mass="18.0" pos="0 0 0" diaginertia="0.35 0.55 0.65" />
+      <geom class="rover_visual" mesh="rover_body" material="rover_chassis" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+      <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" />
+      <body name="rover_fl_wheel" pos=" 0.32  0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
+        <joint name="fl_wheel_joint" axis="0 1 0" />
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+        <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" />
+      </body>
+      <body name="rover_fr_wheel" pos=" 0.32 -0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
+        <joint name="fr_wheel_joint" axis="0 1 0" />
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+        <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" />
+      </body>
+      <body name="rover_rl_wheel" pos="-0.32  0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
+        <joint name="rl_wheel_joint" axis="0 1 0" />
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+        <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" />
+      </body>
+      <body name="rover_rr_wheel" pos="-0.32 -0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
+        <joint name="rr_wheel_joint" axis="0 1 0" />
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+        <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" />
+      </body>
+    </body>
+  </worldbody>
+  <keyframe>
+    <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" />
+  </keyframe>
+  <default>
+    <default class="rover_visual">
+      <geom contype="0" conaffinity="0" group="2" type="mesh" />
+    </default>
+    <default class="rover_wheel">
+      <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" />
+    </default>
+  </default>
+  <actuator>
+    <velocity name="fl_wheel" joint="fl_wheel_joint" kv="60" />
+    <velocity name="fr_wheel" joint="fr_wheel_joint" kv="60" />
+    <velocity name="rl_wheel" joint="rl_wheel_joint" kv="60" />
+    <velocity name="rr_wheel" joint="rr_wheel_joint" kv="60" />
+    <motor name="base_force_x_ctrl" joint="rover_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
+    <motor name="base_force_y_ctrl" joint="rover_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
+    <motor name="base_force_z_ctrl" joint="rover_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-180 180" />
+    <motor name="base_roll_ctrl" joint="rover_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-130 130" />
+    <motor name="base_pitch_ctrl" joint="rover_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-130 130" />
+    <motor name="base_yaw_ctrl" joint="rover_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-130 130" />
+  </actuator>
+</mujoco>

benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/dependency_manifest.json

@@ -0,0 +1,41 @@
+{
+  "case_id": "INS-02-agv-cargo",
+  "files": [
+    {
+      "bytes": 1397,
+      "path": "benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/m2_overlay.json",
+      "sha256": "9a21c04e17a6bb581ca3f2f84b517711a64c55b68b8ca784ee07756198ffa894"
+    },
+    {
+      "bytes": 1493,
+      "path": "benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/repair_report.json",
+      "sha256": "cb4c7486ff0ff74b425eb5fb7fd3409b21b30966dd5b6df0862cb217b953eb21"
+    },
+    {
+      "bytes": 17870,
+      "path": "benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/runtime_model.xml",
+      "sha256": "d2673d03c8d8425d911302ff29c07a52b6dd34715d09e946b22b15ed5d23f220"
+    },
+    {
+      "bytes": 10346,
+      "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-2_agv_cargo/M1/module1/scene_enriched.xml",
+      "sha256": "bb5c1f742d1a986c14936aa027b2e05824af0e4a43f2dd18431eab2402822126"
+    },
+    {
+      "bytes": 13271,
+      "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-2_agv_cargo/rollout/scene_m2.xml",
+      "sha256": "fe5def3884ff9e6e56570b10decc3e7e6a96d9c7066e48e78e54dbedf6777bae"
+    },
+    {
+      "bytes": 423,
+      "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/rover_assets/rover_body.obj",
+      "sha256": "8b002e7368471aa73bec2666c1c64447b0da6428738c3bdba38e9981188bdad2"
+    },
+    {
+      "bytes": 2831,
+      "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/rover_assets/rover_wheel.obj",
+      "sha256": "476216758f15309039ff1d265b9a8e4cbbdacfe46876b6ad39017aa71f9a8811"
+    }
+  ],
+  "schema_version": "simcode4d.dev15.dependency-manifest.v1"
+}

benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/m2_overlay.json

@@ -0,0 +1,31 @@
+{
+  "case_id": "INS-02-agv-cargo",
+  "m1_base_sha256": "bb5c1f742d1a986c14936aa027b2e05824af0e4a43f2dd18431eab2402822126",
+  "ownership": "robot/control/constraint repair only; no goal, threshold, seed, or validator logic",
+  "repair_report": {
+    "bytes": 1493,
+    "path": "benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/repair_report.json",
+    "sha256": "cb4c7486ff0ff74b425eb5fb7fd3409b21b30966dd5b6df0862cb217b953eb21"
+  },
+  "repairs": [
+    "added explicit 8 kg cargo body",
+    "added active cargo_weld equality",
+    "extended keyframe state",
+    "declared bounded free-joint stabilization",
+    "normalized active contact solref/solimp for the frozen 1 ms timestep",
+    "aligned wheel collision cylinders with the y-axis hinges",
+    "initialized wheel tread with 1 mm clearance to avoid exact-tangent box contact degeneracy"
+  ],
+  "runtime_model": {
+    "bytes": 17870,
+    "path": "benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/runtime_model.xml",
+    "sha256": "d2673d03c8d8425d911302ff29c07a52b6dd34715d09e946b22b15ed5d23f220"
+  },
+  "schema_version": "simcode4d.dev15.m2-overlay.v1",
+  "source_runtime": {
+    "bytes": 13271,
+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-2_agv_cargo/rollout/scene_m2.xml",
+    "sha256": "fe5def3884ff9e6e56570b10decc3e7e6a96d9c7066e48e78e54dbedf6777bae"
+  },
+  "task_independent": true
+}

benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/repair_report.json

@@ -0,0 +1,43 @@
+{
+  "assertions": {
+    "case_specific_repairs_present": true,
+    "declared_actuators_present": true,
+    "mujoco_load": true,
+    "positive_dynamic_mass_and_inertia": true,
+    "timestep_s": 0.001
+  },
+  "case_id": "INS-02-agv-cargo",
+  "legacy_case_id": "industrial-2_agv_cargo",
+  "pruned_unmatched_contact_patterns": [
+    {
+      "group": "ground",
+      "pattern": "terrain_*",
+      "selector": "geoms"
+    },
+    {
+      "group": "static_obstacles",
+      "pattern": "wall_*",
+      "selector": "geoms"
+    }
+  ],
+  "repairs": [
+    "added explicit 8 kg cargo body",
+    "added active cargo_weld equality",
+    "extended keyframe state",
+    "declared bounded free-joint stabilization",
+    "normalized active contact solref/solimp for the frozen 1 ms timestep",
+    "aligned wheel collision cylinders with the y-axis hinges",
+    "initialized wheel tread with 1 mm clearance to avoid exact-tangent box contact degeneracy"
+  ],
+  "schema_version": "simcode4d.dev15.runtime-repair.v1",
+  "source_m1": {
+    "bytes": 10346,
+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-2_agv_cargo/M1/module1/scene_enriched.xml",
+    "sha256": "bb5c1f742d1a986c14936aa027b2e05824af0e4a43f2dd18431eab2402822126"
+  },
+  "source_runtime": {
+    "bytes": 13271,
+    "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-2_agv_cargo/rollout/scene_m2.xml",
+    "sha256": "fe5def3884ff9e6e56570b10decc3e7e6a96d9c7066e48e78e54dbedf6777bae"
+  }
+}

benchmark/simcode4d_unified/artifacts/INS-02-agv-cargo/runtime_model.xml

@@ -0,0 +1,129 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scene_enriched">
+  <compiler angle="radian" autolimits="true" />
+  <option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
+  <visual>
+    <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
+  </visual>
+  <asset>
+    <mesh name="rover_body" file="../../vendor/handover9_20260921/rover_assets/rover_body.obj" />
+    <mesh name="rover_wheel" file="../../vendor/handover9_20260921/rover_assets/rover_wheel.obj" />
+    <material name="rover_chassis" rgba="0.15 0.35 0.55 1" />
+    <material name="rover_wheel" rgba="0.12 0.12 0.12 1" />
+    <material name="rover_detail" rgba="0.80 0.60 0.10 1" />
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+    <body name="rover_base" pos="0 0 0.22">
+      <freejoint name="rover_freejoint" />
+      <inertial mass="18.0" pos="0 0 0" diaginertia="0.35 0.55 0.65" />
+      <geom class="rover_visual" mesh="rover_body" material="rover_chassis" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+      <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" />
+      <body name="rover_fl_wheel" pos=" 0.32  0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
+        <joint name="fl_wheel_joint" axis="0 1 0" />
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+        <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" />
+      </body>
+      <body name="rover_fr_wheel" pos=" 0.32 -0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
+        <joint name="fr_wheel_joint" axis="0 1 0" />
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+        <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" />
+      </body>
+      <body name="rover_rl_wheel" pos="-0.32  0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
+        <joint name="rl_wheel_joint" axis="0 1 0" />
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+        <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" />
+      </body>
+      <body name="rover_rr_wheel" pos="-0.32 -0.27 -0.10">
+        <inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
+        <joint name="rr_wheel_joint" axis="0 1 0" />
+        <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
+        <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" />
+      </body>
+    </body>
+    <body name="cargo" pos="0 -2 0.501">
+      <freejoint name="cargo_freejoint" />
+      <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" />
+    </body>
+  </worldbody>
+  <keyframe>
+    <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" />
+  </keyframe>
+  <default>
+    <default class="rover_visual">
+      <geom contype="0" conaffinity="0" group="2" type="mesh" />
+    </default>
+    <default class="rover_wheel">
+      <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" />
+    </default>
+  </default>
+  <actuator>
+    <velocity name="fl_wheel" joint="fl_wheel_joint" kv="60" />
+    <velocity name="fr_wheel" joint="fr_wheel_joint" kv="60" />
+    <velocity name="rl_wheel" joint="rl_wheel_joint" kv="60" />
+    <velocity name="rr_wheel" joint="rr_wheel_joint" kv="60" />
+    <motor name="base_force_x_ctrl" joint="rover_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
+    <motor name="base_force_y_ctrl" joint="rover_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
+    <motor name="base_force_z_ctrl" joint="rover_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-180 180" />
+    <motor name="base_roll_ctrl" joint="rover_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-130 130" />
+    <motor name="base_pitch_ctrl" joint="rover_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-130 130" />
+    <motor name="base_yaw_ctrl" joint="rover_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-130 130" />
+  </actuator>
+  <equality>
+    <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" />
+  </equality>
+</mujoco>

benchmark/simcode4d_unified/artifacts/INS-03-weld/dependency_manifest.json

@@ -0,0 +1,131 @@
+{
+  "case_id": "INS-03-weld",
+  "files": [
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+      "path": "benchmark/simcode4d_unified/artifacts/INS-03-weld/m2_overlay.json",
+      "sha256": "ff96f91e01fc0f0a1125f77604b92e4d221ed6795e57ffec0353ec7e89aef0d7"
+    },
+    {
+      "bytes": 1082,
+      "path": "benchmark/simcode4d_unified/artifacts/INS-03-weld/repair_report.json",
+      "sha256": "233aafd25bd2b403c24982e881c330700e447aedbf573430fc80997a8e1ac96f"
+    },
+    {
+      "bytes": 13929,
+      "path": "benchmark/simcode4d_unified/artifacts/INS-03-weld/runtime_model.xml",
+      "sha256": "a63c226c122adf592e29ae6c8963ce07e1c9b166b4845d72d140b660017b30bf"
+    },
+    {
+      "bytes": 5660,
+      "path": "benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-3_weld/M1/module1/scene_enriched.xml",
+      "sha256": "755b4c586bc7dafac3aa334345fbe93ef44ced61f61649fa2b9225ec0567140c"
+    },
+    {
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benchmark/simcode4d_unified/artifacts/INS-03-weld/m2_overlay.json

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+                <joint name="wrist_2_joint" axis="0 0 1" class="size1" />
+                <geom mesh="wrist2_0" material="black" class="visual" />
+                <geom mesh="wrist2_1" material="urblue" class="visual" />
+                <geom mesh="wrist2_2" material="jointgray" class="visual" />
+                <geom class="collision" size="0.04 0.06" pos="0 0 0.04" />
+                <geom class="collision" pos="0 0.02 0.1" quat="1 1 0 0" size="0.04 0.04" />
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
+                  <joint name="wrist_3_joint" class="size1" />
+                  <geom material="linkgray" mesh="wrist3" class="visual" />
+                  <geom class="eef_collision" pos="0 0.08 0" quat="1 1 0 0" size="0.04 0.02" />
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
+                  <body name="weld_tool_tip" pos="0 0.1 0">
+                    <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" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <default>
+    <default class="ur5e">
+      <material specular="0.5" shininess="0.25" />
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415" />
+          <general ctrlrange="-3.1415 3.1415" />
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+      </default>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" />
+      </default>
+      <default class="collision">
+        <geom type="capsule" group="3" />
+        <default class="eef_collision">
+          <geom type="cylinder" />
+        </default>
+      </default>
+      <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4" />
+    </default>
+  </default>
+  <actuator>
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
+    <general class="size3_limited" name="elbow" joint="elbow_joint" />
+    <general class="size1" name="wrist_1" joint="wrist_1_joint" />
+    <general class="size1" name="wrist_2" joint="wrist_2_joint" />
+    <general class="size1" name="wrist_3" joint="wrist_3_joint" />
+  </actuator>
+  <keyframe>
+    <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" />
+  </keyframe>
+</mujoco>

benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/go2_runtime.xml

@@ -0,0 +1,185 @@
+<mujoco model="go2">
+  <compiler angle="radian" autolimits="true" />
+  <option cone="elliptic" impratio="100" />
+  <default>
+    <default class="go2">
+      <geom friction="0.6" margin="0.003" condim="1" solref=".002 1" solimp=".995 .9999 .0002" />
+      <joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2" />
+      <motor ctrlrange="-23.7 23.7" />
+      <default class="abduction">
+        <joint axis="1 0 0" range="-1.0472 1.0472" />
+      </default>
+      <default class="hip">
+        <default class="front_hip">
+          <joint range="-1.5708 3.4907" />
+        </default>
+        <default class="back_hip">
+          <joint range="-0.5236 4.5379" />
+        </default>
+      </default>
+      <default class="knee">
+        <joint range="-2.7227 -0.83776" />
+        <motor ctrlrange="-45.43 45.43" />
+      </default>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" />
+      </default>
+      <default class="collision">
+        <geom group="3" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+        <default class="foot">
+          <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" />
+        </default>
+      </default>
+    </default>
+  </default>
+  <asset>
+    <material name="metal" rgba=".9 .95 .95 1" />
+    <material name="black" rgba="0 0 0 1" />
+    <material name="white" rgba="1 1 1 1" />
+    <material name="gray" rgba="0.671705 0.692426 0.774270 1" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_0.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_1.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_2.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_3.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_4.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_0.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_1.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_0.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_1.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_0.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_1.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_0.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_1.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_0.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_1.obj" />
+    <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/foot.obj" />
+  </asset>
+  <worldbody>
+    <body name="base" pos="0 0 0.445" childclass="go2">
+      <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" />
+      <freejoint />
+      <geom mesh="base_0" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+      <geom mesh="base_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+      <geom mesh="base_2" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+      <geom mesh="base_3" material="white" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+      <geom mesh="base_4" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+      <geom size="0.1881 0.04675 0.057" type="box" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+      <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" />
+      <geom size="0.047" pos="0.293 0 -0.06" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+      <site name="imu" pos="-0.02557 0 0.04232" />
+      <body name="FL_hip" pos="0.1934 0.0465 0">
+        <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" />
+        <joint name="FL_hip_joint" class="abduction" />
+        <geom mesh="hip_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+        <geom mesh="hip_1" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+        <body name="FL_thigh" pos="0 0.0955 0">
+          <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" />
+          <joint name="FL_thigh_joint" class="front_hip" />
+          <geom mesh="thigh_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+          <geom mesh="thigh_1" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+          <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" />
+          <body name="FL_calf" pos="0 0 -0.213">
+            <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" />
+            <joint name="FL_calf_joint" class="knee" />
+            <geom mesh="calf_0" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <geom mesh="calf_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <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" />
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <geom name="FL" class="foot" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+          </body>
+        </body>
+      </body>
+      <body name="FR_hip" pos="0.1934 -0.0465 0">
+        <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" />
+        <joint name="FR_hip_joint" class="abduction" />
+        <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+        <body name="FR_thigh" pos="0 -0.0955 0">
+          <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" />
+          <joint name="FR_thigh_joint" class="front_hip" />
+          <geom mesh="thigh_mirror_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+          <geom mesh="thigh_mirror_1" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+          <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" />
+          <body name="FR_calf" pos="0 0 -0.213">
+            <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" />
+            <joint name="FR_calf_joint" class="knee" />
+            <geom mesh="calf_mirror_0" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <geom mesh="calf_mirror_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <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" />
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <geom name="FR" class="foot" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+          </body>
+        </body>
+      </body>
+      <body name="RL_hip" pos="-0.1934 0.0465 0">
+        <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" />
+        <joint name="RL_hip_joint" class="abduction" />
+        <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+        <body name="RL_thigh" pos="0 0.0955 0">
+          <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" />
+          <joint name="RL_thigh_joint" class="back_hip" />
+          <geom mesh="thigh_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+          <geom mesh="thigh_1" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+          <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" />
+          <body name="RL_calf" pos="0 0 -0.213">
+            <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" />
+            <joint name="RL_calf_joint" class="knee" />
+            <geom mesh="calf_0" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <geom mesh="calf_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <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" />
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <geom name="RL" class="foot" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+          </body>
+        </body>
+      </body>
+      <body name="RR_hip" pos="-0.1934 -0.0465 0">
+        <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" />
+        <joint name="RR_hip_joint" class="abduction" />
+        <geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+        <geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+        <body name="RR_thigh" pos="0 -0.0955 0">
+          <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" />
+          <joint name="RR_thigh_joint" class="back_hip" />
+          <geom mesh="thigh_mirror_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+          <geom mesh="thigh_mirror_1" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+          <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" />
+          <body name="RR_calf" pos="0 0 -0.213">
+            <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" />
+            <joint name="RR_calf_joint" class="knee" />
+            <geom mesh="calf_mirror_0" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <geom mesh="calf_mirror_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <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" />
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+            <geom name="RR" class="foot" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor class="abduction" name="FL_hip" joint="FL_hip_joint" />
+    <motor class="hip" name="FL_thigh" joint="FL_thigh_joint" />
+    <motor class="knee" name="FL_calf" joint="FL_calf_joint" />
+    <motor class="abduction" name="FR_hip" joint="FR_hip_joint" />
+    <motor class="hip" name="FR_thigh" joint="FR_thigh_joint" />
+    <motor class="knee" name="FR_calf" joint="FR_calf_joint" />
+    <motor class="abduction" name="RL_hip" joint="RL_hip_joint" />
+    <motor class="hip" name="RL_thigh" joint="RL_thigh_joint" />
+    <motor class="knee" name="RL_calf" joint="RL_calf_joint" />
+    <motor class="abduction" name="RR_hip" joint="RR_hip_joint" />
+    <motor class="hip" name="RR_thigh" joint="RR_thigh_joint" />
+    <motor class="knee" name="RR_calf" joint="RR_calf_joint" />
+  </actuator>
+  <keyframe>
+    <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" />
+  </keyframe>
+</mujoco>

benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/legacy_origin.txt

@@ -0,0 +1 @@
+export_scene1/module2/scene_m2.xml

benchmark/simcode4d_unified/artifacts/NAT-01-rock-kick/m2_overlay.json

@@ -0,0 +1,9 @@
+{
+  "allowed_dynamic_channels": [],
+  "case_id": "NAT-01-rock-kick",
+  "kind": "noop",
+  "m1_base_sha256": "5c6f63e01052d06664411d27b7e07e6be438d6677bf734c50735acfa388d63dc",
+  "note": "No source-declared time-varying M2 component is required. Static contacts and fields remain M1-owned.",
+  "schema_version": "simcode4d.rc3a-dev1.m2-overlay",
+  "task_independent": true
+}

benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/dependency_manifest.json

@@ -0,0 +1,16 @@
+{
+  "case_id": "NAT-02-hills-turn-stop",
+  "files": [
+    {
+      "bytes": 8527,
+      "path": "benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/jackal_runtime.xml",
+      "sha256": "f26db4ce7c846877b86d762dff83dbe878251ffae8d10b9c5d1e34bd126ca80f"
+    },
+    {
+      "bytes": 1506210,
+      "path": "benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/m1_world.xml",
+      "sha256": "f1d8d12dd0141c9dceb3dae3314a228355ed714fec73f8f6b24c192987446aa6"
+    }
+  ],
+  "schema_version": "simcode4d.rc3a-dev1.dependency-manifest"
+}

benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/jackal_runtime.xml

@@ -0,0 +1,85 @@
+<mujoco model="clearpath_jackal_ugv">
+  <compiler angle="degree" autolimits="true" />
+  <asset>
+    <mesh name="jackal_base" file="../../vendor/jackal_ugv/assets/jackal_base.stl" scale="4.05 4.05 4.05" />
+    <mesh name="jackal_fender" file="../../vendor/jackal_ugv/assets/jackal_fender.stl" scale="4.05 4.05 4.05" />
+    <mesh name="jackal_wheel" file="../../vendor/jackal_ugv/assets/jackal_wheel.stl" scale="4.05 4.05 4.05" />
+    <material name="jackal_black" rgba="0.10 0.11 0.10 1" />
+    <material name="jackal_yellow" rgba="0.80 0.62 0.03 1" />
+    <material name="jackal_tire" rgba="0.035 0.035 0.035 1" />
+    <material name="jackal_sensor" rgba="0.35 0.38 0.39 1" />
+  </asset>
+  <default>
+    <joint damping="0.08" armature="0.01" />
+    <geom friction="1.4 0.02 0.001" condim="4" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
+  </default>
+  <worldbody>
+    <body name="jackal_base">
+      <freejoint name="jackal_freejoint" />
+      <inertial pos="0.036 0.006 0.201" mass="446.121" fullinertia="76.2048 95.3046 108.9855 -0.1944 3.9852 -0.2187" />
+      <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" />
+      <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" />
+      <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" />
+      <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" />
+      <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" />
+      <body name="jackal_lidar_mount" pos="0.18225 0 0.87075">
+        <geom name="jackal_lidar_pedestal_visual" type="cylinder" size="0.1296 0.0729" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
+        <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" />
+      </body>
+      <body name="jackal_front_fender">
+        <geom name="jackal_front_fender_visual" type="mesh" mesh="jackal_fender" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
+      </body>
+      <body name="jackal_rear_fender" euler="0 0 180">
+        <geom name="jackal_rear_fender_visual" type="mesh" mesh="jackal_fender" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
+      </body>
+      <body name="jackal_front_left_wheel" pos="0.53055 0.76056975 0.139725">
+        <joint name="jackal_front_left_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
+        <joint name="jackal_front_left_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
+        <inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
+        <geom name="jackal_front_left_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
+        <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" />
+      </body>
+      <body name="jackal_front_right_wheel" pos="0.53055 -0.76056975 0.139725">
+        <joint name="jackal_front_right_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
+        <joint name="jackal_front_right_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
+        <inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
+        <geom name="jackal_front_right_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
+        <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" />
+      </body>
+      <body name="jackal_rear_left_wheel" pos="-0.53055 0.76056975 0.139725">
+        <joint name="jackal_rear_left_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
+        <joint name="jackal_rear_left_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
+        <inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
+        <geom name="jackal_rear_left_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
+        <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" />
+      </body>
+      <body name="jackal_rear_right_wheel" pos="-0.53055 -0.76056975 0.139725">
+        <joint name="jackal_rear_right_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
+        <joint name="jackal_rear_right_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
+        <inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
+        <geom name="jackal_rear_right_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
+        <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" />
+      </body>
+      <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" />
+      <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" />
+      <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" />
+      <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" />
+      <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" />
+      <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" />
+      <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" />
+      <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" />
+    </body>
+  </worldbody>
+  <actuator>
+    <motor name="jackal_front_left_motor" joint="jackal_front_left_joint" gear="400" ctrlrange="-1 1" />
+    <motor name="jackal_front_right_motor" joint="jackal_front_right_joint" gear="400" ctrlrange="-1 1" />
+    <motor name="jackal_rear_left_motor" joint="jackal_rear_left_joint" gear="400" ctrlrange="-1 1" />
+    <motor name="jackal_rear_right_motor" joint="jackal_rear_right_joint" gear="400" ctrlrange="-1 1" />
+    <motor name="base_force_x_ctrl" joint="jackal_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-5000 5000" />
+    <motor name="base_force_y_ctrl" joint="jackal_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-5000 5000" />
+    <motor name="base_force_z_ctrl" joint="jackal_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
+    <motor name="base_roll_ctrl" joint="jackal_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
+    <motor name="base_pitch_ctrl" joint="jackal_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
+    <motor name="base_yaw_ctrl" joint="jackal_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-650 650" />
+  </actuator>
+</mujoco>

benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/legacy_origin.txt

@@ -0,0 +1 @@
+benchmark/simcode4d_unified/source_reexports/NAT-02-hills-turn-stop-v3/module1/scene_enriched.xml

benchmark/simcode4d_unified/artifacts/NAT-02-hills-turn-stop/m2_overlay.json

@@ -0,0 +1,9 @@
+{
+  "allowed_dynamic_channels": [],
+  "case_id": "NAT-02-hills-turn-stop",
+  "kind": "noop",
+  "m1_base_sha256": "f1d8d12dd0141c9dceb3dae3314a228355ed714fec73f8f6b24c192987446aa6",
+  "note": "No source-declared time-varying M2 component is required. Static contacts and fields remain M1-owned.",
+  "schema_version": "simcode4d.rc3a-dev1.m2-overlay",
+  "task_independent": true
+}

benchmark/simcode4d_unified/artifacts/NAT-03-water-land/dependency_manifest.json

@@ -0,0 +1,11 @@
+{
+  "case_id": "NAT-03-water-land",
+  "files": [
+    {
+      "bytes": 217828,
+      "path": "benchmark/simcode4d_unified/artifacts/NAT-03-water-land/m1_world.xml",
+      "sha256": "c151b8290d11436115179aec585423b920fd465e91ec9f0ee7da1146f4ba079e"
+    }
+  ],
+  "schema_version": "simcode4d.rc3a-dev1.dependency-manifest"
+}

benchmark/simcode4d_unified/artifacts/NAT-03-water-land/legacy_origin.txt

@@ -0,0 +1 @@
+deliverables/final_real8s_physical_2026-09-01/module1/scene10_amphibious/simready_scene.xml

benchmark/simcode4d_unified/artifacts/NAT-03-water-land/m2_overlay.json

@@ -0,0 +1,9 @@
+{
+  "allowed_dynamic_channels": [],
+  "case_id": "NAT-03-water-land",
+  "kind": "noop",
+  "m1_base_sha256": "c151b8290d11436115179aec585423b920fd465e91ec9f0ee7da1146f4ba079e",
+  "note": "No source-declared time-varying M2 component is required. Static contacts and fields remain M1-owned.",
+  "schema_version": "simcode4d.rc3a-dev1.m2-overlay",
+  "task_independent": true
+}

benchmark/simcode4d_unified/artifacts/SER-01-medicine/dependency_manifest.json

@@ -0,0 +1,11 @@
+{
+  "case_id": "SER-01-medicine",
+  "files": [
+    {
+      "bytes": 8656,
+      "path": "benchmark/simcode4d_unified/artifacts/SER-01-medicine/m1_world.xml",
+      "sha256": "3b16d95758e29a6c5e8c044e975feaf505866c324774755fe714fc8cafd51733"
+    }
+  ],
+  "schema_version": "simcode4d.rc3a-dev1.dependency-manifest"
+}

benchmark/simcode4d_unified/artifacts/SER-01-medicine/legacy_origin.txt

@@ -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

@@ -0,0 +1,94 @@
+<mujoco model="scene_indoor_service_final_real8s">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" cone="elliptic" iterations="120" tolerance="1e-10" />
+  <default>
+    <geom solref=".002 1" solimp=".995 .9999 .0002" condim="4" friction=".75 .02 .002" margin="0.003" />
+  </default>
+  <asset>
+    <material name="floor_mat" rgba=".55 .57 .59 1" />
+    <material name="wall" rgba=".72 .73 .73 1" />
+    <material name="wood" rgba=".45 .24 .10 1" />
+    <material name="metal" rgba=".34 .38 .40 1" />
+    <material name="fabric" rgba=".10 .30 .42 1" />
+    <material name="package" rgba=".56 .27 .07 1" />
+    <material name="dark" rgba=".03 .04 .05 1" />
+    <material name="robot" rgba=".74 .79 .80 1" />
+    <material name="rubber" rgba=".012 .014 .016 1" />
+    <material name="service" rgba=".12 .58 .50 1" />
+    <material name="airport" rgba=".05 .35 .70 1" />
+    <material name="hotel" rgba=".62 .31 .08 1" />
+  </asset>
+  <worldbody>
+    <light directional="true" pos="-5 -6 11" dir=".3 .35 -1" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <body name="task_item" pos="-3.1 2.0 1.43">
+      <freejoint name="task_item_free" />
+      <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" />
+    </body>
+    <body name="robot" pos="-4.00000000 -3.79999995 .005">
+      <freejoint name="root_free" />
+      <inertial pos="0 0 .35" mass="58" diaginertia="12 12 6" />
+      <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" />
+      <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" />
+      <body name="wheel_left" pos="-0.39000 0 0.20000">
+        <joint name="wheel_left_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
+        <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" />
+      </body>
+      <body name="wheel_right" pos="0.39000 0 0.20000">
+        <joint name="wheel_right_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
+        <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" />
+      </body>
+      <body name="caster_front" pos="0 .31 .105">
+        <joint name="caster_front_ball" type="ball" damping=".002" />
+        <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" />
+      </body>
+      <body name="caster_rear" pos="0 -.31 .105">
+        <joint name="caster_rear_ball" type="ball" damping=".002" />
+        <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" />
+      </body>
+      <body name="lift_stage" pos="0 .82 1.01">
+        <joint name="lift_joint" type="slide" axis="0 0 1" range="-.01 0.42" damping="140" frictionloss="8" />
+        <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" />
+        <body name="grasp_frame" pos=".06 0 0">
+          <joint name="arm_joint" type="slide" axis="0 1 0" range="-.01 0.46" damping="140" frictionloss="8" />
+          <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" />
+          <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" />
+          <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" />
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <equality>
+    <weld name="task_grasp" body1="task_item" body2="grasp_frame" relpose="0 0 0 1 0 0 0" active="false" solref=".012 1" />
+  </equality>
+  <actuator>
+    <velocity name="wheel_left_ctrl" joint="wheel_left_joint" kv="18" forcelimited="true" forcerange="-180 180" />
+    <velocity name="wheel_right_ctrl" joint="wheel_right_joint" kv="18" forcelimited="true" forcerange="-180 180" />
+    <position name="lift_ctrl" joint="lift_joint" kp="6000" />
+    <position name="arm_ctrl" joint="arm_joint" kp="6000" />
+    <motor name="base_force_x_ctrl" joint="root_free" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
+    <motor name="base_force_y_ctrl" joint="root_free" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
+    <motor name="base_force_z_ctrl" joint="root_free" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
+    <motor name="base_roll_ctrl" joint="root_free" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
+    <motor name="base_pitch_ctrl" joint="root_free" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
+    <motor name="base_yaw_ctrl" joint="root_free" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-520 520" />
+  </actuator>
+  <contact>
+    <exclude name="benchmark_grasp_clearance" body1="task_item" body2="grasp_frame" />
+  </contact>
+</mujoco>

benchmark/simcode4d_unified/artifacts/SER-01-medicine/m2_overlay.json

@@ -0,0 +1,9 @@
+{
+  "allowed_dynamic_channels": [],
+  "case_id": "SER-01-medicine",
+  "kind": "noop",
+  "m1_base_sha256": "3b16d95758e29a6c5e8c044e975feaf505866c324774755fe714fc8cafd51733",
+  "note": "No source-declared time-varying M2 component is required. Static contacts and fields remain M1-owned.",
+  "schema_version": "simcode4d.rc3a-dev1.m2-overlay",
+  "task_independent": true
+}

benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/dependency_manifest.json

@@ -0,0 +1,11 @@
+{
+  "case_id": "SER-02-airport-luggage",
+  "files": [
+    {
+      "bytes": 11472,
+      "path": "benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/m1_world.xml",
+      "sha256": "489b3aed9707ed7e16ec2530668b3c93fe9d04836afb4a9c86eb83fe84342184"
+    }
+  ],
+  "schema_version": "simcode4d.rc3a-dev1.dependency-manifest"
+}

benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/legacy_origin.txt

@@ -0,0 +1 @@
+deliverables/final_real8s_physical_2026-09-01/module1/indoor2_airport/simready_scene.xml

benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/m1_world.xml

@@ -0,0 +1,111 @@
+<mujoco model="indoor2_airport_final_real8s">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" cone="elliptic" iterations="120" tolerance="1e-10" />
+  <default>
+    <geom solref=".002 1" solimp=".995 .9999 .0002" condim="4" friction=".75 .02 .002" margin="0.003" />
+  </default>
+  <asset>
+    <material name="floor_mat" rgba=".55 .57 .59 1" />
+    <material name="wall" rgba=".72 .73 .73 1" />
+    <material name="wood" rgba=".45 .24 .10 1" />
+    <material name="metal" rgba=".34 .38 .40 1" />
+    <material name="fabric" rgba=".10 .30 .42 1" />
+    <material name="package" rgba=".56 .27 .07 1" />
+    <material name="dark" rgba=".03 .04 .05 1" />
+    <material name="robot" rgba=".74 .79 .80 1" />
+    <material name="rubber" rgba=".012 .014 .016 1" />
+    <material name="service" rgba=".12 .58 .50 1" />
+    <material name="airport" rgba=".05 .35 .70 1" />
+    <material name="hotel" rgba=".62 .31 .08 1" />
+  </asset>
+  <worldbody>
+    <light directional="true" pos="-5 -6 11" dir=".3 .35 -1" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <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" />
+    <body name="brown_luggage" pos="-3.2 -1.0 .31">
+      <freejoint name="brown_luggage_free" />
+      <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" />
+    </body>
+    <body name="task_item" pos=".5 -1.2 .38">
+      <freejoint name="task_item_free" />
+      <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" />
+      <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" />
+      <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" />
+    </body>
+    <body name="robot" pos="0.50000000 -3.09999990 .005">
+      <freejoint name="root_free" />
+      <inertial pos="0 0 .35" mass="72" diaginertia="12 12 6" />
+      <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" />
+      <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" />
+      <body name="wheel_left" pos="-0.39000 0 0.18000">
+        <joint name="wheel_left_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
+        <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" />
+      </body>
+      <body name="wheel_right" pos="0.39000 0 0.18000">
+        <joint name="wheel_right_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
+        <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" />
+      </body>
+      <body name="caster_front" pos="0 .31 .105">
+        <joint name="caster_front_ball" type="ball" damping=".002" />
+        <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" />
+      </body>
+      <body name="caster_rear" pos="0 -.31 .105">
+        <joint name="caster_rear_ball" type="ball" damping=".002" />
+        <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" />
+      </body>
+      <body name="grasp_frame" pos="0 .75 .38">
+        <joint name="lift_joint" type="slide" axis="0 0 1" range="-.01 0.36" damping="140" frictionloss="8" />
+        <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" />
+        <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" />
+        <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" />
+        <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" />
+      </body>
+    </body>
+  </worldbody>
+  <equality>
+    <weld name="task_grasp" body1="task_item" body2="grasp_frame" relpose="0 0 0 1 0 0 0" active="false" solref=".080 1" />
+  </equality>
+  <actuator>
+    <velocity name="wheel_left_ctrl" joint="wheel_left_joint" kv="18" forcelimited="true" forcerange="-180 180" />
+    <velocity name="wheel_right_ctrl" joint="wheel_right_joint" kv="18" forcelimited="true" forcerange="-180 180" />
+    <position name="lift_ctrl" joint="lift_joint" kp="6000" />
+    <motor name="base_force_x_ctrl" joint="root_free" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
+    <motor name="base_force_y_ctrl" joint="root_free" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
+    <motor name="base_force_z_ctrl" joint="root_free" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
+    <motor name="base_roll_ctrl" joint="root_free" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
+    <motor name="base_pitch_ctrl" joint="root_free" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
+    <motor name="base_yaw_ctrl" joint="root_free" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-520 520" />
+  </actuator>
+  <contact>
+    <exclude name="benchmark_grasp_clearance" body1="task_item" body2="grasp_frame" />
+  </contact>
+</mujoco>

benchmark/simcode4d_unified/artifacts/SER-02-airport-luggage/m2_overlay.json

@@ -0,0 +1,9 @@
+{
+  "allowed_dynamic_channels": [],
+  "case_id": "SER-02-airport-luggage",
+  "kind": "noop",
+  "m1_base_sha256": "489b3aed9707ed7e16ec2530668b3c93fe9d04836afb4a9c86eb83fe84342184",
+  "note": "No source-declared time-varying M2 component is required. Static contacts and fields remain M1-owned.",
+  "schema_version": "simcode4d.rc3a-dev1.m2-overlay",
+  "task_independent": true
+}