Publish SimCode4D DEV15 benchmark (part 3)

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

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+benchmark/simcode4d_unified/vendor/jackal_ugv/assets/jackal_wheel.stl filter=lfs diff=lfs merge=lfs -text

benchmark/simcode4d_unified/validators/ind02_go2_living_room.py

@@ -0,0 +1,31 @@
+"""Independent validator for IND-02."""
+from common import base_result
+from dev15_common import (
+    first_axis_progress_time, first_region_time, height_span, lateral_span,
+    maximum_tilt, signed_travel, terminal_in_region, terminal_stopped,
+)
+
+
+class IndoorGo2Validator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        threshold = gold["thresholds"]
+        travel = signed_travel(frames, "base", 0)
+        lateral = lateral_span(frames, "base", 0)
+        height = height_span(frames, "base")
+        tilt = maximum_tilt(frames, "base")
+        progress_t = first_axis_progress_time(frames, "base", 0, threshold["minimum_travel_m"] * 0.5, 1.0)
+        goal_t = first_region_time(frames, "base", gold["regions"]["goal"])
+        predicates = [
+            {"id": "forward_travel", "pass": travel >= threshold["minimum_travel_m"], "value_m": travel, "mandatory": True},
+            {"id": "lateral_corridor", "pass": lateral <= threshold["maximum_lateral_span_m"], "value_m": lateral, "mandatory": True},
+            {"id": "height_stability", "pass": height <= threshold["maximum_height_span_m"], "value_m": height, "mandatory": True},
+            {"id": "tilt_limit", "pass": tilt <= threshold["maximum_tilt_rad"], "value_rad": tilt, "mandatory": True},
+            {"id": "goal_hold", "pass": terminal_in_region(frames, "base", threshold["terminal_hold_s"], gold["regions"]["goal"]), "value_s": goal_t, "mandatory": True},
+            {"id": "terminal_stop", "pass": terminal_stopped(frames, "base", threshold["terminal_hold_s"], threshold["maximum_terminal_speed_mps"]), "mandatory": True},
+            {"id": "event_order", "pass": progress_t is not None and goal_t is not None and progress_t <= goal_t, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = IndoorGo2Validator

benchmark/simcode4d_unified/validators/ind03_vacuum_west.py

@@ -0,0 +1,31 @@
+"""Independent validator for IND-03."""
+from common import base_result
+from dev15_common import (
+    first_axis_progress_time, first_region_time, lateral_span, maximum_tilt,
+    signed_travel, terminal_in_region, terminal_stopped,
+)
+
+
+class IndoorVacuumWestValidator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        threshold = gold["thresholds"]
+        travel = -signed_travel(frames, "robot", 0)
+        lateral = lateral_span(frames, "robot", 0)
+        tilt = maximum_tilt(frames, "robot")
+        progress_t = first_axis_progress_time(frames, "robot", 0, threshold["minimum_travel_m"] * 0.5, -1.0)
+        goal_t = first_region_time(frames, "robot", gold["regions"]["goal"])
+        goal_hold = terminal_in_region(frames, "robot", threshold["terminal_hold_s"], gold["regions"]["goal"])
+        stopped = terminal_stopped(frames, "robot", threshold["terminal_hold_s"], threshold["maximum_terminal_speed_mps"])
+        predicates = [
+            {"id": "westward_travel", "pass": travel >= threshold["minimum_travel_m"], "value_m": travel, "mandatory": True},
+            {"id": "lateral_corridor", "pass": lateral <= threshold["maximum_lateral_span_m"], "value_m": lateral, "mandatory": True},
+            {"id": "goal_hold", "pass": goal_hold, "value_s": goal_t, "mandatory": True},
+            {"id": "terminal_stop", "pass": stopped, "mandatory": True},
+            {"id": "tilt_limit", "pass": tilt <= threshold["maximum_tilt_rad"], "value_rad": tilt, "mandatory": True},
+            {"id": "event_order", "pass": progress_t is not None and goal_t is not None and progress_t <= goal_t, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = IndoorVacuumWestValidator

benchmark/simcode4d_unified/validators/ins01_agv_aisle.py

@@ -0,0 +1,29 @@
+"""Independent validator for INS-01."""
+from common import base_result
+from dev15_common import (
+    first_axis_progress_time, first_region_time, lateral_span, maximum_tilt,
+    signed_travel, terminal_in_region, terminal_stopped,
+)
+
+
+class AgvAisleValidator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        threshold = gold["thresholds"]
+        travel = signed_travel(frames, "rover_base", 0)
+        lateral = lateral_span(frames, "rover_base", 0)
+        tilt = maximum_tilt(frames, "rover_base")
+        progress_t = first_axis_progress_time(frames, "rover_base", 0, threshold["minimum_travel_m"] * 0.5, 1.0)
+        goal_t = first_region_time(frames, "rover_base", gold["regions"]["goal"])
+        predicates = [
+            {"id": "aisle_travel", "pass": travel >= threshold["minimum_travel_m"], "value_m": travel, "mandatory": True},
+            {"id": "lane_hold", "pass": lateral <= threshold["maximum_lateral_span_m"], "value_m": lateral, "mandatory": True},
+            {"id": "tilt_limit", "pass": tilt <= threshold["maximum_tilt_rad"], "value_rad": tilt, "mandatory": True},
+            {"id": "goal_hold", "pass": terminal_in_region(frames, "rover_base", threshold["terminal_hold_s"], gold["regions"]["goal"]), "value_s": goal_t, "mandatory": True},
+            {"id": "terminal_stop", "pass": terminal_stopped(frames, "rover_base", threshold["terminal_hold_s"], threshold["maximum_terminal_speed_mps"]), "mandatory": True},
+            {"id": "event_order", "pass": progress_t is not None and goal_t is not None and progress_t <= goal_t, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = AgvAisleValidator

benchmark/simcode4d_unified/validators/ins02_agv_cargo.py

@@ -0,0 +1,41 @@
+"""Independent validator for INS-02."""
+from common import base_result
+from dev15_common import (
+    first_axis_progress_time, first_region_time, maximum_tilt, point_distance,
+    quaternion_distance, relative_orientation_in_body_frame,
+    relative_position_in_body_frame, signed_travel, terminal_in_region, terminal_stopped,
+)
+
+
+class AgvCargoValidator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        threshold = gold["thresholds"]
+        travel = signed_travel(frames, "rover_base", 0)
+        initial_relative = relative_position_in_body_frame(frames[0], "rover_base", "cargo")
+        initial_orientation = relative_orientation_in_body_frame(frames[0], "rover_base", "cargo")
+        relative_errors = [
+            point_distance(relative_position_in_body_frame(frame, "rover_base", "cargo"), initial_relative)
+            for frame in frames
+        ]
+        retention = max(relative_errors)
+        orientation_retention = max(
+            quaternion_distance(relative_orientation_in_body_frame(frame, "rover_base", "cargo"), initial_orientation)
+            for frame in frames
+        )
+        tilt = maximum_tilt(frames, "rover_base")
+        progress_t = first_axis_progress_time(frames, "rover_base", 0, threshold["minimum_travel_m"] * 0.5, 1.0)
+        goal_t = first_region_time(frames, "cargo", gold["regions"]["cargo_goal"])
+        predicates = [
+            {"id": "cargo_transport", "pass": travel >= threshold["minimum_travel_m"], "value_m": travel, "mandatory": True},
+            {"id": "weld_retention", "pass": retention <= threshold["maximum_relative_pose_error_m"], "value_m": retention, "mandatory": True},
+            {"id": "weld_orientation_retention", "pass": orientation_retention <= threshold["maximum_relative_orientation_error_rad"], "value_rad": orientation_retention, "mandatory": True},
+            {"id": "tilt_limit", "pass": tilt <= threshold["maximum_tilt_rad"], "value_rad": tilt, "mandatory": True},
+            {"id": "cargo_goal_hold", "pass": terminal_in_region(frames, "cargo", threshold["terminal_hold_s"], gold["regions"]["cargo_goal"]), "value_s": goal_t, "mandatory": True},
+            {"id": "terminal_stop", "pass": terminal_stopped(frames, "rover_base", threshold["terminal_hold_s"], threshold["maximum_terminal_speed_mps"]), "mandatory": True},
+            {"id": "event_order", "pass": progress_t is not None and goal_t is not None and progress_t <= goal_t, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = AgvCargoValidator

benchmark/simcode4d_unified/validators/ins03_weld.py

@@ -0,0 +1,43 @@
+"""Independent validator for INS-03."""
+from common import base_result, body_speed, final_window
+from dev15_common import interpolate_points, point_distance
+
+
+class WeldSeamValidator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        threshold = gold["thresholds"]
+        reference = gold["regions"]["seam_reference"]["points_xyz_m"]
+        duration = spec["probe"]["move_duration_s"]
+        deviations = []
+        steps = []
+        previous = None
+        for frame in frames:
+            actual = frame["bodies"]["weld_tool_tip"]["position"]
+            target = interpolate_points(reference, frame["t"] / duration)
+            deviations.append(point_distance(actual, target))
+            if previous is not None:
+                steps.append(point_distance(actual, previous))
+            previous = actual
+        maximum_deviation = max(deviations)
+        endpoint_error = point_distance(
+            frames[-1]["bodies"]["weld_tool_tip"]["position"], reference[-1]
+        )
+        window = final_window(frames, threshold["terminal_hold_s"])
+        stopped = bool(window) and all(
+            body_speed(frame, "weld_tool_tip") <= threshold["maximum_terminal_speed_mps"]
+            for frame in window
+        )
+        start_ok = deviations[0] <= threshold["maximum_path_error_m"]
+        end_ok = endpoint_error <= threshold["maximum_path_error_m"]
+        predicates = [
+            {"id": "seam_tracking", "pass": maximum_deviation <= threshold["maximum_path_error_m"], "value_m": maximum_deviation, "mandatory": True},
+            {"id": "endpoint_coverage", "pass": end_ok, "value_m": endpoint_error, "mandatory": True},
+            {"id": "continuous_motion", "pass": max(steps or [0.0]) <= threshold["maximum_logged_step_m"], "value_m": max(steps or [0.0]), "mandatory": True},
+            {"id": "terminal_stop", "pass": stopped, "mandatory": True},
+            {"id": "event_order", "pass": start_ok and end_ok, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = WeldSeamValidator

benchmark/simcode4d_unified/validators/nat01_rock_kick.py

@@ -0,0 +1,29 @@
+"""Independent validator for NAT-01."""
+from __future__ import annotations
+
+from common import base_result, body_speed, final_window, first_time, planar_distance, semantic_contact_matches
+
+
+class RockKickValidator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        start = frames[0]["bodies"]["stone"]["position"]
+        end = frames[-1]["bodies"]["stone"]["position"]
+        displacement = planar_distance(start, end)
+        contact_t = next((event["t"] for event in raw["events"] if event["event"] == "semantic_contact" and event["rule"] == "go2_feet/rock"), None)
+        if contact_t is None:
+            contact_t = first_time(frames, lambda f: semantic_contact_matches(f, gold["contact_policy"], "go2_feet", "rock"))
+        move_t = first_time(frames, lambda f: planar_distance(start, f["bodies"]["stone"]["position"]) >= gold["thresholds"]["minimum_planar_displacement_m"])
+        window = final_window(frames, gold["thresholds"]["terminal_hold_s"])
+        settled = bool(window) and all(body_speed(frame, "stone") <= gold["thresholds"]["maximum_terminal_speed_mps"] for frame in window)
+        order = contact_t is not None and move_t is not None and contact_t <= move_t
+        predicates = [
+            {"id": "foot_stone_contact", "pass": contact_t is not None, "value_s": contact_t, "mandatory": True},
+            {"id": "planar_displacement", "pass": displacement >= gold["thresholds"]["minimum_planar_displacement_m"], "value_m": displacement, "mandatory": True},
+            {"id": "contact_before_motion", "pass": order, "mandatory": True},
+            {"id": "terminal_settled", "pass": settled, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = RockKickValidator

benchmark/simcode4d_unified/validators/nat02_hills_turn_stop.py

@@ -0,0 +1,35 @@
+"""Independent validator for NAT-02."""
+from __future__ import annotations
+
+import math
+
+from common import base_result, body_speed, final_window, first_time, in_aabb, roll_pitch
+
+
+class HillsTurnStopValidator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        regions = gold["regions"]
+        hill_t = first_time(frames, lambda f: in_aabb(f["bodies"]["jackal_base"]["position"], regions["hill_checkpoint"]))
+        goal_t = first_time(frames, lambda f: in_aabb(f["bodies"]["jackal_base"]["position"], regions["goal"]))
+        initial_q = frames[0]["bodies"]["jackal_base"]["quaternion"]
+        final_q = frames[-1]["bodies"]["jackal_base"]["quaternion"]
+        initial_yaw = math.atan2(2 * (initial_q[0] * initial_q[3] + initial_q[1] * initial_q[2]), 1 - 2 * (initial_q[2] ** 2 + initial_q[3] ** 2))
+        final_yaw = math.atan2(2 * (final_q[0] * final_q[3] + final_q[1] * final_q[2]), 1 - 2 * (final_q[2] ** 2 + final_q[3] ** 2))
+        yaw_change = abs(math.atan2(math.sin(final_yaw - initial_yaw), math.cos(final_yaw - initial_yaw)))
+        maximum_tilt = max(max(abs(v) for v in roll_pitch(frame["bodies"]["jackal_base"]["quaternion"])) for frame in frames)
+        window = final_window(frames, gold["thresholds"]["terminal_hold_s"])
+        stopped = bool(window) and all(body_speed(frame, "jackal_base") <= gold["thresholds"]["maximum_terminal_speed_mps"] for frame in window)
+        goal_hold = bool(window) and all(in_aabb(frame["bodies"]["jackal_base"]["position"], regions["goal"]) for frame in window)
+        predicates = [
+            {"id": "hill_checkpoint", "pass": hill_t is not None, "value_s": hill_t, "mandatory": True},
+            {"id": "left_turn", "pass": yaw_change >= gold["thresholds"]["minimum_heading_change_rad"], "value_rad": yaw_change, "mandatory": True},
+            {"id": "goal_hold", "pass": goal_hold, "value_s": goal_t, "mandatory": True},
+            {"id": "terminal_stop", "pass": stopped, "mandatory": True},
+            {"id": "tilt_limit", "pass": maximum_tilt <= gold["thresholds"]["maximum_tilt_rad"], "value_rad": maximum_tilt, "mandatory": True},
+            {"id": "event_order", "pass": hill_t is not None and goal_t is not None and hill_t <= goal_t, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = HillsTurnStopValidator

benchmark/simcode4d_unified/validators/nat03_water_land.py

@@ -0,0 +1,33 @@
+"""Independent validator for NAT-03."""
+from __future__ import annotations
+
+from common import base_result, body_speed, final_window, first_time, in_aabb, semantic_contact_matches
+
+
+class WaterLandValidator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        water_t = first_time(frames, lambda f: f["field"].get("submerged_fraction", 0.0) >= gold["thresholds"]["minimum_water_submergence"])
+        bank_t = next(
+            (event["t"] for event in raw["events"] if event["event"] == "bank_contact"), None
+        )
+        if bank_t is None:
+            bank_t = first_time(frames, lambda f: semantic_contact_matches(f, gold["contact_policy"], "rover_wheels", "shore"))
+        dry_t = first_time(frames, lambda f: f["field"].get("submerged_fraction", 1.0) <= gold["thresholds"]["maximum_terminal_submergence"])
+        window = final_window(frames, gold["thresholds"]["terminal_hold_s"])
+        goal = gold["regions"]["goal"]
+        goal_hold = bool(window) and all(in_aabb(frame["bodies"]["robot"]["position"], goal) for frame in window)
+        stopped = bool(window) and all(body_speed(frame, "robot") <= gold["thresholds"]["maximum_terminal_speed_mps"] for frame in window)
+        order = water_t is not None and bank_t is not None and dry_t is not None and water_t <= bank_t <= dry_t
+        predicates = [
+            {"id": "water_state", "pass": water_t is not None, "value_s": water_t, "mandatory": True},
+            {"id": "bank_contact", "pass": bank_t is not None, "value_s": bank_t, "mandatory": True},
+            {"id": "dry_land_state", "pass": dry_t is not None, "value_s": dry_t, "mandatory": True},
+            {"id": "event_order", "pass": order, "mandatory": True},
+            {"id": "goal_hold", "pass": goal_hold, "mandatory": True},
+            {"id": "terminal_stop", "pass": stopped, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = WaterLandValidator

benchmark/simcode4d_unified/validators/ser01_medicine.py

@@ -0,0 +1,28 @@
+"""Independent validator for SER-01."""
+from __future__ import annotations
+
+from common import base_result, body_speed, final_window, first_time, in_aabb, planar_distance
+
+
+class MedicineValidator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        start = frames[0]["bodies"]["task_item"]["position"]
+        grasp_t = next((event["t"] for event in raw["events"] if event["event"] == "grasp_activated"), None)
+        goal = gold["regions"]["goal"]
+        goal_t = first_time(frames, lambda f: in_aabb(f["bodies"]["task_item"]["position"], goal))
+        window = final_window(frames, gold["thresholds"]["terminal_hold_s"])
+        goal_hold = bool(window) and all(in_aabb(frame["bodies"]["task_item"]["position"], goal) for frame in window)
+        settled = bool(window) and all(body_speed(frame, "task_item") <= gold["thresholds"]["maximum_terminal_speed_mps"] for frame in window)
+        displacement = planar_distance(start, frames[-1]["bodies"]["task_item"]["position"])
+        predicates = [
+            {"id": "legal_grasp", "pass": grasp_t is not None, "value_s": grasp_t, "mandatory": True},
+            {"id": "transport_distance", "pass": displacement >= gold["thresholds"]["minimum_transport_m"], "value_m": displacement, "mandatory": True},
+            {"id": "goal_hold", "pass": goal_hold, "value_s": goal_t, "mandatory": True},
+            {"id": "terminal_settled", "pass": settled, "mandatory": True},
+            {"id": "grasp_before_goal", "pass": grasp_t is not None and goal_t is not None and grasp_t <= goal_t, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = MedicineValidator

benchmark/simcode4d_unified/validators/ser02_airport_luggage.py

@@ -0,0 +1,29 @@
+"""Independent validator for SER-02."""
+from __future__ import annotations
+
+from common import base_result, body_speed, final_window, first_time, in_aabb, planar_distance
+
+
+class AirportLuggageValidator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        start = frames[0]["bodies"]["task_item"]["position"]
+        grasp_t = next((event["t"] for event in raw["events"] if event["event"] == "grasp_activated"), None)
+        maximum_lift = max(frame["bodies"]["task_item"]["position"][2] - start[2] for frame in frames)
+        displacement = planar_distance(start, frames[-1]["bodies"]["task_item"]["position"])
+        goal = gold["regions"]["goal"]
+        goal_t = first_time(frames, lambda f: in_aabb(f["bodies"]["task_item"]["position"], goal))
+        window = final_window(frames, gold["thresholds"]["terminal_hold_s"])
+        goal_hold = bool(window) and all(in_aabb(frame["bodies"]["task_item"]["position"], goal) for frame in window)
+        settled = bool(window) and all(body_speed(frame, "task_item") <= gold["thresholds"]["maximum_terminal_speed_mps"] for frame in window)
+        predicates = [
+            {"id": "legal_grasp", "pass": grasp_t is not None, "value_s": grasp_t, "mandatory": True},
+            {"id": "minimum_lift", "pass": maximum_lift >= gold["thresholds"]["minimum_lift_m"], "value_m": maximum_lift, "mandatory": True},
+            {"id": "transport_distance", "pass": displacement >= gold["thresholds"]["minimum_transport_m"], "value_m": displacement, "mandatory": True},
+            {"id": "goal_hold", "pass": goal_hold, "value_s": goal_t, "mandatory": True},
+            {"id": "terminal_settled", "pass": settled, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = AirportLuggageValidator

benchmark/simcode4d_unified/validators/ser03_hotel_drawer.py

@@ -0,0 +1,32 @@
+"""Independent validator for SER-03."""
+from __future__ import annotations
+
+from common import base_result, body_speed, final_window, first_time, in_aabb
+
+
+class HotelDrawerValidator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        goal = gold["regions"]["robot_goal"]
+        arrival_t = first_time(frames, lambda f: in_aabb(f["bodies"]["robot"]["position"], goal))
+        open_t = first_time(frames, lambda f: f["joints"]["drawer_joint"]["position"] >= gold["thresholds"]["minimum_drawer_extension_m"])
+        window = final_window(frames, gold["thresholds"]["terminal_hold_s"])
+        drawer_hold = bool(window) and all(frame["joints"]["drawer_joint"]["position"] >= gold["thresholds"]["minimum_drawer_extension_m"] for frame in window)
+        parcel_supported = bool(window) and all(
+            frame["bodies"]["meal_parcel"]["position"][2] >= gold["thresholds"]["minimum_parcel_height_m"]
+            and abs(frame["bodies"]["meal_parcel"]["position"][2] - frame["bodies"]["upper_drawer"]["position"][2]) <= gold["thresholds"]["maximum_parcel_drawer_z_offset_m"]
+            for frame in window
+        )
+        stopped = bool(window) and all(body_speed(frame, "robot") <= gold["thresholds"]["maximum_terminal_speed_mps"] for frame in window)
+        predicates = [
+            {"id": "robot_goal_arrival", "pass": arrival_t is not None, "value_s": arrival_t, "mandatory": True},
+            {"id": "drawer_open", "pass": open_t is not None, "value_s": open_t, "mandatory": True},
+            {"id": "arrival_before_open", "pass": arrival_t is not None and open_t is not None and arrival_t <= open_t, "mandatory": True},
+            {"id": "drawer_terminal_hold", "pass": drawer_hold, "mandatory": True},
+            {"id": "parcel_supported", "pass": parcel_supported, "mandatory": True},
+            {"id": "terminal_stop", "pass": stopped, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = HotelDrawerValidator

benchmark/simcode4d_unified/validators/urb01_agv_city.py

@@ -0,0 +1,29 @@
+"""Independent validator for URB-01."""
+from common import base_result
+from dev15_common import (
+    first_axis_progress_time, first_region_time, lateral_span, maximum_tilt,
+    signed_travel, terminal_in_region, terminal_stopped,
+)
+
+
+class UrbanAgvValidator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        threshold = gold["thresholds"]
+        travel = signed_travel(frames, "rover_base", 0)
+        lateral = lateral_span(frames, "rover_base", 0)
+        tilt = maximum_tilt(frames, "rover_base")
+        progress_t = first_axis_progress_time(frames, "rover_base", 0, threshold["minimum_travel_m"] * 0.5, 1.0)
+        goal_t = first_region_time(frames, "rover_base", gold["regions"]["goal"])
+        predicates = [
+            {"id": "pavement_travel", "pass": travel >= threshold["minimum_travel_m"], "value_m": travel, "mandatory": True},
+            {"id": "pavement_corridor", "pass": lateral <= threshold["maximum_lateral_span_m"], "value_m": lateral, "mandatory": True},
+            {"id": "tilt_limit", "pass": tilt <= threshold["maximum_tilt_rad"], "value_rad": tilt, "mandatory": True},
+            {"id": "goal_hold", "pass": terminal_in_region(frames, "rover_base", threshold["terminal_hold_s"], gold["regions"]["goal"]), "value_s": goal_t, "mandatory": True},
+            {"id": "terminal_stop", "pass": terminal_stopped(frames, "rover_base", threshold["terminal_hold_s"], threshold["maximum_terminal_speed_mps"]), "mandatory": True},
+            {"id": "event_order", "pass": progress_t is not None and goal_t is not None and progress_t <= goal_t, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = UrbanAgvValidator

benchmark/simcode4d_unified/validators/urb02_intersection.py

@@ -0,0 +1,32 @@
+"""Independent validator for URB-02, including the previously omitted start check."""
+from common import base_result, in_aabb
+from dev15_common import (
+    first_region_time, height_span, lateral_span, maximum_tilt,
+    terminal_in_region, terminal_stopped,
+)
+
+
+class IntersectionValidator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        threshold = gold["thresholds"]
+        start_ok = in_aabb(frames[0]["bodies"]["base"]["position"], gold["regions"]["west_start"])
+        road_t = first_region_time(frames, "base", gold["regions"]["road_crossing"])
+        goal_t = first_region_time(frames, "base", gold["regions"]["east_sidewalk"])
+        lateral = lateral_span(frames, "base", 0)
+        height = height_span(frames, "base")
+        tilt = maximum_tilt(frames, "base")
+        predicates = [
+            {"id": "west_sidewalk_start", "pass": start_ok, "mandatory": True},
+            {"id": "road_crossing", "pass": road_t is not None, "value_s": road_t, "mandatory": True},
+            {"id": "east_sidewalk_hold", "pass": terminal_in_region(frames, "base", threshold["terminal_hold_s"], gold["regions"]["east_sidewalk"]), "value_s": goal_t, "mandatory": True},
+            {"id": "crosswalk_corridor", "pass": lateral <= threshold["maximum_lateral_span_m"], "value_m": lateral, "mandatory": True},
+            {"id": "height_stability", "pass": height <= threshold["maximum_height_span_m"], "value_m": height, "mandatory": True},
+            {"id": "tilt_limit", "pass": tilt <= threshold["maximum_tilt_rad"], "value_rad": tilt, "mandatory": True},
+            {"id": "terminal_stop", "pass": terminal_stopped(frames, "base", threshold["terminal_hold_s"], threshold["maximum_terminal_speed_mps"]), "mandatory": True},
+            {"id": "event_order", "pass": start_ok and road_t is not None and goal_t is not None and road_t <= goal_t, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = IntersectionValidator

benchmark/simcode4d_unified/validators/urb03_pole_blocking.py

@@ -0,0 +1,43 @@
+"""Independent validator for URB-03 using actual target-pole contact."""
+from common import base_result, semantic_contact_matches
+from dev15_common import (
+    first_axis_progress_time, lateral_span, maximum_tilt, signed_travel,
+    terminal_stopped,
+)
+
+
+class PoleBlockingValidator:
+    def validate(self, raw, spec, gold):
+        frames = raw["frames"]
+        threshold = gold["thresholds"]
+        contact_t = next(
+            (
+                float(event["t"])
+                for event in raw["events"]
+                if event["event"] == "semantic_contact"
+                and event.get("rule") == "go2_all/target_pole"
+            ),
+            None,
+        )
+        if contact_t is None:
+            for frame in frames:
+                if semantic_contact_matches(frame, gold["contact_policy"], "go2_all", "target_pole"):
+                    contact_t = frame["t"]
+        approach_t = first_axis_progress_time(frames, "base", 0, threshold["minimum_approach_m"], 1.0)
+        travel = signed_travel(frames, "base", 0)
+        max_x = max(frame["bodies"]["base"]["position"][0] for frame in frames)
+        lateral = lateral_span(frames, "base", 0)
+        tilt = maximum_tilt(frames, "base")
+        predicates = [
+            {"id": "approach_distance", "pass": travel >= threshold["minimum_approach_m"], "value_m": travel, "mandatory": True},
+            {"id": "target_pole_contact", "pass": contact_t is not None, "value_s": contact_t, "mandatory": True},
+            {"id": "no_pass_through", "pass": max_x <= threshold["maximum_base_x_m"], "value_m": max_x, "mandatory": True},
+            {"id": "sidewalk_corridor", "pass": lateral <= threshold["maximum_lateral_span_m"], "value_m": lateral, "mandatory": True},
+            {"id": "tilt_limit", "pass": tilt <= threshold["maximum_tilt_rad"], "value_rad": tilt, "mandatory": True},
+            {"id": "terminal_stop", "pass": terminal_stopped(frames, "base", threshold["terminal_hold_s"], threshold["maximum_terminal_speed_mps"]), "mandatory": True},
+            {"id": "event_order", "pass": approach_t is not None and contact_t is not None and approach_t <= contact_t, "mandatory": True},
+        ]
+        return base_result(raw, predicates)
+
+
+VALIDATOR_CLASS = PoleBlockingValidator

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/manifest.json

@@ -0,0 +1,2422 @@
+{
+  "blend": "../../../infinigen/outputs/scene_singleroom_lr/coarse/scene.blend",
+  "groups": {
+    "background_terrain": [],
+    "background_floor": [
+      {
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+      {
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+        "source_name": "bedroom_0/0.floor",
+        "mesh_rel": "floor/floor_01_bedroom_0_0_floor.obj",
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+        "mesh_rel": "floor/floor_02_dining-room_0_0_floor.obj",
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+      {
+        "name": "floor_03_kitchen_0_0_floor",
+        "source_name": "kitchen_0/0.floor",
+        "mesh_rel": "floor/floor_03_kitchen_0_0_floor.obj",
+        "world_aabb": [
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+      {
+        "name": "floor_04_living-room_0_0_floor",
+        "source_name": "living-room_0/0.floor",
+        "mesh_rel": "floor/floor_04_living-room_0_0_floor.obj",
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+}

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_enriched.xml

@@ -0,0 +1,66 @@
+<mujoco model="scene_enriched">
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+    <geom name="prop_concave_large_001_CellShelfFactory(3658341)_spawn_asset(2973726)" type="box" pos="8.028561 2.204621 0.135059" size="0.699549 0.223240 0.922099" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/M1/module1/scene_m2_lr_vacuum.xml

@@ -0,0 +1,77 @@
+<mujoco model="scene_enriched">
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+    <geom name="prop_concave_large_015_NatureShelfTrinketsFactory(8326211)_spawn_asset(5145731)" type="box" pos="11.642181 2.850970 1.479555" size="0.016264 0.061085 0.034089" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_016_SideTableFactory(1977044)_spawn_asset(8198684)" type="box" pos="7.603278 5.435551 0.146102" size="0.279684 0.279684 0.233686" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_017_SimpleBookcaseFactory(9201065)_spawn_asset(4193220)" type="box" pos="11.632156 1.829523 0.134616" size="0.157192 0.271506 0.421471" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_018_SimpleDeskFactory(4333946)_spawn_asset(6424688)" type="box" pos="4.190810 8.432079 0.134958" size="0.548730 0.363213 0.372470" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_019_SofaFactory(4061307)_spawn_asset(1597680)" type="box" pos="7.240608 3.890232 0.240755" size="0.834969 1.215595 0.511808" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_020_TVStandFactory(8574063)_spawn_asset(5206710)" type="box" pos="11.794870 6.351633 0.134654" size="0.171654 0.708832 0.258656" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="lr_wall_0" type="box" pos="6.0 9.05 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_1" type="box" pos="6.0 0.08 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_2" type="box" pos="0.08 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_3" type="box" pos="12.05 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_4" type="box" pos="3.63 5.13 1.4" size="3.5 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <body name="robot" pos="8.5 5.5 0.16">
+    <freejoint/>
+    <geom name="robot_chassis" type="cylinder" size="0.19 0.025" pos="0 0 0.025" rgba="0.09 0.10 0.12 1" friction="0.8" condim="3" density="800"/>
+    <geom name="robot_lid" type="cylinder" size="0.15 0.015" pos="0 0 0.065" rgba="0.75 0.76 0.78 1" condim="3" density="200"/>
+    <geom name="robot_bumper" type="cylinder" size="0.19 0.012" pos="0 0 0.012" rgba="0.28 0.29 0.28 1" friction="0.9" condim="3" density="200" contype="0" conaffinity="0"/>
+  </body>
+  </worldbody>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-1_vacuum_real/scene_SOURCE.txt

@@ -0,0 +1,4 @@
+Original scene.blend (BEFORE Module-1) lives at:
+../../infinigen/outputs/scene_singleroom_lr/coarse/scene.blend (467MB, Infinigen coarse)
+(Not copied here because it is large / shared; Module-1 output above is what
+SimCode4D consumes and is fully self-contained.)

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-2_go2lr_walk/M1/manifest.json

@@ -0,0 +1,2422 @@
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benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-2_go2lr_walk/M1/module1/scene_enriched.xml

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+  </worldbody>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-2_go2lr_walk/scene_SOURCE.txt

@@ -0,0 +1,4 @@
+Original scene.blend (BEFORE Module-1) lives at:
+../../infinigen/outputs/scene_singleroom_lr/coarse/scene.blend (shared with indoor-1)
+(Not copied here because it is large / shared; Module-1 output above is what
+SimCode4D consumes and is fully self-contained.)

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/manifest.json

@@ -0,0 +1,2056 @@
+{
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benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_enriched.xml

@@ -0,0 +1,49 @@
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benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/M1/module1/scene_m2_vacuum.xml

@@ -0,0 +1,56 @@
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+    <geom name="wall_59" type="box" pos="9.148413 0.912998 1.492194" size="0.057174 0.631328 0.523344" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_concave_large_000_CellShelfFactory(553940)_spawn_asset(1582230)" type="box" pos="8.781588 3.708113 0.148413" size="0.216480 0.592551 0.775801" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_001_LargeShelfFactory(7187033)_spawn_asset(5070133)" type="box" pos="8.644208 4.475750 0.148413" size="0.133380 0.175760 0.765355" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_002_LargeShelfFactory(847080)_spawn_asset(5034982)" type="box" pos="8.619232 2.865427 0.148413" size="0.158355 0.168051 0.959519" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_003_MirrorFactory(2662507)_spawn_asset(2274093)" type="box" pos="8.841587 3.786969 2.061996" size="0.007990 0.256776 0.299212" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_004_NatureShelfTrinketsFactory(321562)_spawn_asset(3131955)" type="box" pos="8.561434 2.853782 0.681814" size="0.069747 0.064521 0.061916" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_005_NatureShelfTrinketsFactory(4213378)_spawn_asset(8334249)" type="box" pos="8.548280 2.850620 1.774693" size="0.072589 0.068014 0.070088" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_006_NatureShelfTrinketsFactory(9699418)_spawn_asset(1239099)" type="box" pos="8.703764 2.832126 1.767840" size="0.050332 0.065736 0.050798" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_007_SingleCabinetFactory(224372)_spawn_asset(6792200)" type="box" pos="6.878554 4.582326 0.148413" size="0.160474 0.204718 0.741438" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+
+  <body name="robot" pos="5.0 9.0 0.16">
+    <freejoint/>
+    <geom name="robot_chassis" type="cylinder" size="0.19 0.025" pos="0 0 0.025" rgba="0.09 0.10 0.12 1" friction="0.8" condim="3" density="800"/>
+    <geom name="robot_lid" type="cylinder" size="0.15 0.015" pos="0 0 0.065" rgba="0.14 0.14 0.16 1" condim="3" density="200"/>
+    <geom name="robot_bumper" type="cylinder" size="0.19 0.012" pos="0 0 0.012" rgba="0.28 0.29 0.28 1" friction="0.9" condim="3" density="200"/>
+  </body>
+  </worldbody>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/indoor-3_indoor2_v2/scene_SOURCE.txt

@@ -0,0 +1,11 @@
+Original scene.blend (BEFORE Module-1) lives at:
+../../Code2Worlds/infinigen/outputs/scene_indoor2/fine/scene.blend
+(162 MB, Infinigen "fine" scene_indoor2 - 5 rooms: bathroom/bedroom/
+dining-room/kitchen/living-room, 60 walls. Not copied here because it is
+large; the Module-1 output above is what SimCode4D consumes and is
+self-contained.)
+
+NOTE: an earlier revision of this file pointed at workspace/indoor2.blend
+(2 MB). That is a DIFFERENT scene - it contains none of the room/object
+names in M1/manifest.json - and is not the source of this case. The
+authoritative record is M1/manifest.json -> "blend".

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-1_agv_empty/M1/module1/scene_enriched.xml

@@ -0,0 +1,189 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <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="4.000000 0.000000 -0.050000" size="17.000000 13.000000 0.050000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_00" type="box" pos="4.000000 0.000000 5.100000" size="17.000000 13.000000 0.075000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_convex_small_000_barrel_0" type="box" pos="7.600000 -2.400000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_barrel_1" type="box" pos="7.600000 -3.000000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_barrel_2" type="box" pos="8.150000 -2.700000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_beam_-2_0_0_55_-1" type="box" pos="8.850000 -2.000000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_beam_-2_0_0_55_1" type="box" pos="9.150000 -2.000000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_beam_-2_0_1_55_-1" type="box" pos="8.850000 -2.000000 1.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_beam_-2_0_1_55_1" type="box" pos="9.150000 -2.000000 1.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_beam_-2_0_2_55_-1" type="box" pos="8.850000 -2.000000 2.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_beam_-2_0_2_55_1" type="box" pos="9.150000 -2.000000 2.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_beam_-4_6_0_55_-1" type="box" pos="8.850000 -4.600000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_beam_-4_6_0_55_1" type="box" pos="9.150000 -4.600000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_beam_-4_6_1_55_-1" type="box" pos="8.850000 -4.600000 1.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_beam_-4_6_1_55_1" type="box" pos="9.150000 -4.600000 1.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_beam_-4_6_2_55_-1" type="box" pos="8.850000 -4.600000 2.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_beam_-4_6_2_55_1" type="box" pos="9.150000 -4.600000 2.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_beam_2_0_0_55_-1" type="box" pos="8.850000 2.000000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_beam_2_0_0_55_1" type="box" pos="9.150000 2.000000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_beam_2_0_1_55_-1" type="box" pos="8.850000 2.000000 1.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_beam_2_0_1_55_1" type="box" pos="9.150000 2.000000 1.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_beam_2_0_2_55_-1" type="box" pos="8.850000 2.000000 2.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_beam_2_0_2_55_1" type="box" pos="9.150000 2.000000 2.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_021_beam_4_6_0_55_-1" type="box" pos="8.850000 4.600000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_022_beam_4_6_0_55_1" type="box" pos="9.150000 4.600000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_023_beam_4_6_1_55_-1" type="box" pos="8.850000 4.600000 1.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_024_beam_4_6_1_55_1" type="box" pos="9.150000 4.600000 1.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_025_beam_4_6_2_55_-1" type="box" pos="8.850000 4.600000 2.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_026_beam_4_6_2_55_1" type="box" pos="9.150000 4.600000 2.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_027_blid_0" type="box" pos="7.600000 -2.400000 0.870000" size="0.270000 0.270000 0.020000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_028_blid_1" type="box" pos="7.600000 -3.000000 0.870000" size="0.270000 0.270000 0.020000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_029_blid_2" type="box" pos="8.150000 -2.700000 0.870000" size="0.270000 0.270000 0.020000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_030_col_1_0_-5_4" type="box" pos="1.000000 -5.400000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_031_col_1_0_5_6" type="box" pos="1.000000 5.600000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_032_col_12_5_0_0" type="box" pos="12.500000 0.000000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_033_col_7_0_5_6" type="box" pos="7.000000 5.600000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_034_cone_0" type="box" pos="3.600000 -1.900000 0.240000" size="0.100000 0.100000 0.210000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_035_cone_1" type="box" pos="6.800000 1.800000 0.240000" size="0.100000 0.100000 0.210000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_036_conebase_0" type="box" pos="3.600000 -1.900000 0.015000" size="0.140000 0.140000 0.015000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_037_conebase_1" type="box" pos="6.800000 1.800000 0.015000" size="0.140000 0.140000 0.015000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_038_dock" type="box" pos="-1.650000 2.550000 0.275000" size="0.125000 0.250000 0.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_039_dock_led" type="box" pos="-1.520000 2.550000 0.420000" size="0.015000 0.150000 0.030000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_040_fl_body" type="box" pos="6.600000 2.550000 0.420000" size="0.525000 0.375000 0.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_041_fl_cab" type="box" pos="6.450000 2.550000 0.950000" size="0.275000 0.325000 0.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_042_fl_fork_-1" type="box" pos="7.650000 2.350000 0.060000" size="0.375000 0.045000 0.017500" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_043_fl_fork_1" type="box" pos="7.650000 2.750000 0.060000" size="0.375000 0.045000 0.017500" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_044_fl_mast" type="box" pos="7.220000 2.550000 0.850000" size="0.040000 0.300000 0.850000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_045_fl_wheel_-1_-0_35" type="box" pos="6.250000 2.170000 0.155000" size="0.155000 0.050000 0.155000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_046_fl_wheel_-1_0_35" type="box" pos="6.950000 2.170000 0.155000" size="0.155000 0.050000 0.155000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_047_fl_wheel_1_-0_35" type="box" pos="6.250000 2.930000 0.155000" size="0.155000 0.050000 0.155000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_048_fl_wheel_1_0_35" type="box" pos="6.950000 2.930000 0.155000" size="0.155000 0.050000 0.155000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_049_lbeam2_-1_6_0_5" type="box" pos="-1.600000 3.850000 0.500000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_050_lbeam2_-1_6_1_4" type="box" pos="-1.600000 3.850000 1.400000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_051_lbeam2_-1_6_2_3" type="box" pos="-1.600000 3.850000 2.300000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_052_lbeam2_0_8_0_5" type="box" pos="0.800000 3.850000 0.500000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_053_lbeam2_0_8_1_4" type="box" pos="0.800000 3.850000 1.400000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_054_lbeam2_0_8_2_3" type="box" pos="0.800000 3.850000 2.300000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_055_lbeam2_3_2_0_5" type="box" pos="3.200000 3.850000 0.500000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_056_lbeam2_3_2_1_4" type="box" pos="3.200000 3.850000 1.400000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_057_lbeam2_3_2_2_3" type="box" pos="3.200000 3.850000 2.300000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_058_lbeam2_5_6_0_5" type="box" pos="5.600000 3.850000 0.500000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_059_lbeam2_5_6_1_4" type="box" pos="5.600000 3.850000 1.400000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_060_lbeam2_5_6_2_3" type="box" pos="5.600000 3.850000 2.300000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_061_lbeam2_8_0_0_5" type="box" pos="8.000000 3.850000 0.500000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_062_lbeam2_8_0_1_4" type="box" pos="8.000000 3.850000 1.400000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_063_lbeam2_8_0_2_3" type="box" pos="8.000000 3.850000 2.300000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_064_lbeam_-1_6_0_5" type="box" pos="-1.600000 3.150000 0.500000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_065_lbeam_-1_6_1_4" type="box" pos="-1.600000 3.150000 1.400000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_066_lbeam_-1_6_2_3" type="box" pos="-1.600000 3.150000 2.300000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_067_lbeam_0_8_0_5" type="box" pos="0.800000 3.150000 0.500000" size="1.050000 0.030000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_163_rbox_2_0_1_55" type="box" pos="9.000000 2.000000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_169_wcol_-8" type="box" pos="-8.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_170_wcol_14" type="box" pos="14.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <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"/>
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+  </worldbody>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-1_agv_empty/rollout/scene_m2.xml

@@ -0,0 +1,249 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <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="../../../rover_assets/rover_body.obj"/>
+    <mesh name="rover_wheel" file="../../../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>
+    <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="4.000000 0.000000 -0.050000" size="17.000000 13.000000 0.050000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_00" type="box" pos="4.000000 0.000000 5.100000" size="17.000000 13.000000 0.075000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_convex_small_000_barrel_0" type="box" pos="7.600000 -2.400000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_barrel_1" type="box" pos="7.600000 -3.000000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_barrel_2" type="box" pos="8.150000 -2.700000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_beam_-2_0_0_55_-1" type="box" pos="8.850000 -2.000000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_beam_-2_0_0_55_1" type="box" pos="9.150000 -2.000000 0.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_beam_-2_0_1_55_-1" type="box" pos="8.850000 -2.000000 1.550000" size="0.025000 0.450000 0.035000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_161_rbox_-4_6_2_55" type="box" pos="9.000000 -4.600000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_162_rbox_2_0_0_55" type="box" pos="9.000000 2.000000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_163_rbox_2_0_1_55" type="box" pos="9.000000 2.000000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_164_rbox_2_0_2_55" type="box" pos="9.000000 2.000000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_165_rbox_4_6_0_55" type="box" pos="9.000000 4.600000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_166_rbox_4_6_1_55" type="box" pos="9.000000 4.600000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_167_rbox_4_6_2_55" type="box" pos="9.000000 4.600000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_168_wcol_-2" type="box" pos="-2.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_169_wcol_-8" type="box" pos="-8.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_170_wcol_14" type="box" pos="14.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <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"/>
+    <geom name="prop_convex_small_172_wcol_9" type="box" pos="9.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  
+<!-- spawn z = terrain_z + 0.22 (wheel_radius + body_half_height) -->
+    <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"/>
+
+      <!-- visual body -->
+      <geom class="rover_visual" mesh="rover_body" material="rover_chassis"/>
+
+      <!-- collision body box -->
+      <geom type="box" size="0.40 0.25 0.10" friction="0.5 0.01 0.001"/>
+
+      <!-- wheels: x=±0.32, y=±0.27, z=-0.10 (flush with body bottom) -->
+      <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"/>
+        <geom class="rover_wheel"/>
+      </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"/>
+        <geom class="rover_wheel"/>
+      </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"/>
+        <geom class="rover_wheel"/>
+      </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"/>
+        <geom class="rover_wheel"/>
+      </body>
+    </body>
+</worldbody>
+  <keyframe><key name="m2_init" qpos="-2.000000 0.000000 0.220000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" 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"/>
+    </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"/>
+  </actuator>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-2_agv_cargo/M1/module1/scene_enriched.xml

@@ -0,0 +1,64 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <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="4.000000 0.000000 -0.050000" size="17.000000 11.000000 0.050000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_convex_small_000_c1rib_0" type="box" pos="18.200001 -3.600000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_c1rib_1" type="box" pos="18.200001 -2.800000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_c1rib_2" type="box" pos="18.200001 -2.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_c1rib_3" type="box" pos="18.200001 -1.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_c1rib_4" type="box" pos="18.200001 -0.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_c1rib_5" type="box" pos="18.200001 0.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_c1rib_6" type="box" pos="18.200001 1.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_c2rib_0" type="box" pos="18.200001 2.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_c2rib_1" type="box" pos="18.200001 3.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_c2rib_2" type="box" pos="18.200001 3.800000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_c2rib_3" type="box" pos="18.200001 4.600000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_c2rib_4" type="box" pos="18.200001 5.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_c2rib_5" type="box" pos="18.200001 6.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_c2rib_6" type="box" pos="18.200001 7.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_cont1" type="box" pos="18.200001 -1.200000 1.275000" size="1.150000 2.800000 1.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_cont2" type="box" pos="18.200001 4.600000 1.275000" size="1.150000 2.800000 1.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_dceiling" type="box" pos="4.000000 0.000000 5.100000" size="17.000000 11.000000 0.075000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_dcol_0_0_-5_0" type="box" pos="0.000000 -5.000000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_dcol_11_0_5_8" type="box" pos="11.000000 5.800000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_dcol_12_0_-5_0" type="box" pos="12.000000 -5.000000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_dcol_3_0_5_8" type="box" pos="3.000000 5.800000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_021_dcol_6_0_-5_0" type="box" pos="6.000000 -5.000000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_022_dcolstripe_0_0_-5_0" type="box" pos="0.000000 -5.000000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_023_dcolstripe_11_0_5_8" type="box" pos="11.000000 5.800000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_024_dcolstripe_12_0_-5_0" type="box" pos="12.000000 -5.000000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_025_dcolstripe_3_0_5_8" type="box" pos="3.000000 5.800000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_026_dcolstripe_6_0_-5_0" type="box" pos="6.000000 -5.000000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_027_dcone_0" type="box" pos="4.500000 1.300000 0.240000" size="0.100000 0.100000 0.210000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_028_dcone_1" type="box" pos="9.000000 0.900000 0.240000" size="0.100000 0.100000 0.210000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_029_dconebase_0" type="box" pos="4.500000 1.300000 0.015000" size="0.140000 0.140000 0.015000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_030_dconebase_1" type="box" pos="9.000000 0.900000 0.015000" size="0.140000 0.140000 0.015000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_031_dendwall" type="box" pos="21.000000 0.000000 2.400000" size="0.150000 11.000000 2.400000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_032_dwall" type="box" pos="4.000000 -5.400000 2.400000" size="18.000000 0.150000 2.400000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_033_pjack" type="box" pos="6.400000 -2.100000 0.100000" size="0.250000 0.175000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_034_pjack_handle" type="box" pos="6.150000 -2.100000 0.420000" size="0.025000 0.025000 0.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_035_twheel_0" type="box" pos="14.400000 -2.600000 0.350000" size="0.350000 0.125000 0.350000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_036_twheel_1" type="box" pos="15.400000 -2.600000 0.350000" size="0.350000 0.125000 0.350000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_037_wbox1_1" type="box" pos="5.200000 -3.300000 0.370000" size="0.400000 0.350000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_038_wbox1_3" type="box" pos="2.000000 -2.500000 0.370000" size="0.400000 0.350000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_039_wbox2_1" type="box" pos="5.240000 -3.300000 0.820000" size="0.300000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_040_wbox2_3" type="box" pos="2.040000 -2.500000 0.820000" size="0.300000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_041_wpal_0" type="box" pos="-0.300000 -3.200000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_042_wpal_1" type="box" pos="5.200000 -3.300000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_043_wpal_2" type="box" pos="10.400000 -3.200000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_044_wpal_3" type="box" pos="2.000000 -2.500000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_045_wrap_0" type="box" pos="-0.300000 -3.200000 0.645000" size="0.425000 0.375000 0.525000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_046_wrap_2" type="box" pos="10.400000 -3.200000 0.645000" size="0.425000 0.375000 0.525000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_047_wtop_0" type="box" pos="-0.300000 -3.200000 1.220000" size="0.440000 0.390000 0.030000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_048_wtop_2" type="box" pos="10.400000 -3.200000 1.220000" size="0.440000 0.390000 0.030000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-2_agv_cargo/rollout/scene_m2.xml

@@ -0,0 +1,124 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <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="../../../rover_assets/rover_body.obj"/>
+    <mesh name="rover_wheel" file="../../../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>
+    <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="4.000000 0.000000 -0.050000" size="17.000000 11.000000 0.050000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_convex_small_000_c1rib_0" type="box" pos="18.200001 -3.600000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_c1rib_1" type="box" pos="18.200001 -2.800000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_c1rib_2" type="box" pos="18.200001 -2.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_c1rib_3" type="box" pos="18.200001 -1.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_c1rib_4" type="box" pos="18.200001 -0.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_c1rib_5" type="box" pos="18.200001 0.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_c1rib_6" type="box" pos="18.200001 1.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_c2rib_0" type="box" pos="18.200001 2.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_c2rib_1" type="box" pos="18.200001 3.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_c2rib_2" type="box" pos="18.200001 3.800000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_040_wbox2_3" type="box" pos="2.040000 -2.500000 0.820000" size="0.300000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+  
+<!-- spawn z = terrain_z + 0.22 (wheel_radius + body_half_height) -->
+    <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"/>
+
+      <!-- visual body -->
+      <geom class="rover_visual" mesh="rover_body" material="rover_chassis"/>
+
+      <!-- collision body box -->
+      <geom type="box" size="0.40 0.25 0.10" friction="0.5 0.01 0.001"/>
+
+      <!-- wheels: x=±0.32, y=±0.27, z=-0.10 (flush with body bottom) -->
+      <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"/>
+        <geom class="rover_wheel"/>
+      </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"/>
+        <geom class="rover_wheel"/>
+      </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"/>
+        <geom class="rover_wheel"/>
+      </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"/>
+        <geom class="rover_wheel"/>
+      </body>
+    </body>
+</worldbody>
+  <keyframe><key name="m2_init" qpos="0.000000 -2.000000 0.220000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" 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"/>
+    </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"/>
+  </actuator>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-3_weld/M1/manifest.json

@@ -0,0 +1,1063 @@
+{
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+      {
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+        "mesh_rel": "floor/floor_02_floor_warning_zone_weld_strip_01.obj",
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+        "mesh_rel": "floor/floor_03_floor_warning_zone_weld_strip_02.obj",
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+      {
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+        "mesh_rel": "floor/floor_10_floor_welding_cable_segment_01.obj",
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+        "mesh_rel": "wall/wall_01_ceiling_light_led_01_emitter.obj",
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+        "mesh_rel": "wall/wall_02_ceiling_light_led_01_housing.obj",
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+}

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/industrial-3_weld/M1/module1/scene_enriched.xml

@@ -0,0 +1,40 @@
+<mujoco model="scene_enriched">
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+  <asset>
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+  <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="3.000000 3.000000 0.000000" size="3.000000 3.000000 0.100000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_01" type="box" pos="1.000000 5.500000 0.010000" size="0.750000 0.500000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_02" type="box" pos="3.000000 1.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_03" type="box" pos="3.000000 2.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_04" type="box" pos="3.000000 2.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_05" type="box" pos="3.000000 3.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_06" type="box" pos="3.000000 3.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_07" type="box" pos="3.000000 4.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_08" type="box" pos="3.000000 4.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_09" type="box" pos="3.000000 5.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="floor_10" type="box" pos="2.500000 3.000000 0.050000" size="0.030000 1.000000 0.030000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_00" type="box" pos="0.000000 0.000000 0.000000" size="3.000000 0.100000 2.000000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_01" type="box" pos="3.000000 3.000000 4.010000" size="0.650000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_02" type="box" pos="3.000000 3.000000 3.950000" size="0.750000 0.150000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_03" type="box" pos="1.000000 5.500000 4.010000" size="0.400000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_04" type="box" pos="1.000000 5.500000 3.950000" size="0.500000 0.150000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_05" type="box" pos="3.000000 3.000000 4.000000" size="3.000000 3.000000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_06" type="box" pos="5.500000 3.000000 3.800000" size="3.000000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_07" type="box" pos="0.000000 3.000000 2.000000" size="0.100000 3.000000 2.000000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_08" type="box" pos="6.000000 3.000000 2.000000" size="0.100000 3.000000 2.000000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_concave_large_000_control_panel" type="box" pos="1.000000 5.200000 0.700000" size="0.445343 0.445343 0.700000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_001_fume_extraction_hood" type="box" pos="3.000000 3.800000 2.900000" size="0.600000 0.600000 0.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_002_gas_cylinder_rack" type="box" pos="5.000000 5.200000 0.700000" size="0.400000 0.222500 0.725000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_003_welding_helmet" type="box" pos="1.200000 5.150000 1.575000" size="0.125000 0.212500 0.125000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_004_welding_robot_base" type="box" pos="3.000000 2.000000 0.900000" size="0.600000 0.600000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_005_welding_table" type="box" pos="2.500000 3.500000 0.800000" size="0.800000 0.500000 0.450000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/urban-1_agv_city/M1/module1/scene_enriched.xml

@@ -0,0 +1,73 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <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="terrain_00" file="../../../../tmp_agv_city_export2/background_terrain_00_collision.obj"/>
+    <mesh name="terrain_01" file="../../../../tmp_agv_city_export2/background_terrain_01_collision.obj"/>
+    <mesh name="terrain_02" file="../../../../tmp_agv_city_export2/background_terrain_02_collision.obj"/>
+    <mesh name="terrain_03" file="../../../../tmp_agv_city_export2/background_terrain_03_collision.obj"/>
+    <mesh name="terrain_04" file="../../../../tmp_agv_city_export2/background_terrain_04_collision.obj"/>
+  </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="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_03" type="mesh" mesh="terrain_03" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_04" type="mesh" mesh="terrain_04" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_000_bldg_-1_0" type="box" pos="-3.000000 -9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_bldg_-1_1" type="box" pos="4.000000 -9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_bldg_-1_2" type="box" pos="11.000000 -9.000000 7.500000" size="3.000000 2.500000 7.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_bldg_-1_3" type="box" pos="18.000000 -9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_bldg_-1_4" type="box" pos="25.000000 -9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_bldg_1_0" type="box" pos="-3.000000 9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_bldg_1_1" type="box" pos="4.000000 9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_bldg_1_2" type="box" pos="11.000000 9.000000 7.500000" size="3.000000 2.500000 7.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_bldg_1_3" type="box" pos="18.000000 9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_bldg_1_4" type="box" pos="25.000000 9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_lamp_arm_-1_-2_0" type="box" pos="-2.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_lamp_arm_-1_10_0" type="box" pos="10.000000 -4.350000 4.300000" size="0.027141 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_lamp_arm_-1_16_0" type="box" pos="16.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_lamp_arm_-1_4_0" type="box" pos="4.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_lamp_arm_1_-2_0" type="box" pos="-2.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_lamp_arm_1_10_0" type="box" pos="10.000000 4.350000 4.300000" size="0.027141 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_lamp_arm_1_16_0" type="box" pos="16.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_lamp_arm_1_4_0" type="box" pos="4.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_lamp_head_-1_-2_0" type="box" pos="-2.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_lamp_head_-1_10_0" type="box" pos="10.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_lamp_head_-1_16_0" type="box" pos="16.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_021_lamp_head_-1_4_0" type="box" pos="4.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_022_lamp_head_1_-2_0" type="box" pos="-2.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_023_lamp_head_1_10_0" type="box" pos="10.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_024_lamp_head_1_16_0" type="box" pos="16.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_025_lamp_head_1_4_0" type="box" pos="4.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_026_lamp_pole_-1_-2_0" type="box" pos="-2.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_027_lamp_pole_-1_10_0" type="box" pos="10.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_028_lamp_pole_-1_16_0" type="box" pos="16.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_029_lamp_pole_-1_4_0" type="box" pos="4.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_030_lamp_pole_1_-2_0" type="box" pos="-2.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_031_lamp_pole_1_10_0" type="box" pos="10.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_032_lamp_pole_1_16_0" type="box" pos="16.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_033_lamp_pole_1_4_0" type="box" pos="4.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_034_tree_crown_-1_-0_5" type="box" pos="-0.500000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_035_tree_crown_-1_12_0" type="box" pos="12.000000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_036_tree_crown_-1_18_0" type="box" pos="18.000000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_037_tree_crown_-1_5_5" type="box" pos="5.500000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_038_tree_crown_1_-0_5" type="box" pos="-0.500000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_039_tree_crown_1_12_0" type="box" pos="12.000000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_040_tree_crown_1_18_0" type="box" pos="18.000000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_041_tree_crown_1_5_5" type="box" pos="5.500000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_042_tree_trunk_-1_-0_5" type="box" pos="-0.500000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_043_tree_trunk_-1_12_0" type="box" pos="12.000000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_044_tree_trunk_-1_18_0" type="box" pos="18.000000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_045_tree_trunk_-1_5_5" type="box" pos="5.500000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_046_tree_trunk_1_-0_5" type="box" pos="-0.500000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_047_tree_trunk_1_12_0" type="box" pos="12.000000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_048_tree_trunk_1_18_0" type="box" pos="18.000000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_049_tree_trunk_1_5_5" type="box" pos="5.500000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/urban-1_agv_city/rollout/scene_m2.xml

@@ -0,0 +1,133 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <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="terrain_00" file="../../../tmp_agv_city_export2/background_terrain_00_collision.obj"/>
+    <mesh name="terrain_01" file="../../../tmp_agv_city_export2/background_terrain_01_collision.obj"/>
+    <mesh name="terrain_02" file="../../../tmp_agv_city_export2/background_terrain_02_collision.obj"/>
+    <mesh name="terrain_03" file="../../../tmp_agv_city_export2/background_terrain_03_collision.obj"/>
+    <mesh name="terrain_04" file="../../../tmp_agv_city_export2/background_terrain_04_collision.obj"/>
+  
+<mesh name="rover_body"  file="../../../rover_assets/rover_body.obj"/>
+    <mesh name="rover_wheel" file="../../../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>
+    <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="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_03" type="mesh" mesh="terrain_03" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_04" type="mesh" mesh="terrain_04" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_000_bldg_-1_0" type="box" pos="-3.000000 -9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_002_bldg_-1_2" type="box" pos="11.000000 -9.000000 7.500000" size="3.000000 2.500000 7.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_bldg_-1_3" type="box" pos="18.000000 -9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_bldg_-1_4" type="box" pos="25.000000 -9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_bldg_1_0" type="box" pos="-3.000000 9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_007_bldg_1_2" type="box" pos="11.000000 9.000000 7.500000" size="3.000000 2.500000 7.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_bldg_1_3" type="box" pos="18.000000 9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_bldg_1_4" type="box" pos="25.000000 9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_011_lamp_arm_-1_10_0" type="box" pos="10.000000 -4.350000 4.300000" size="0.027141 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_lamp_arm_-1_16_0" type="box" pos="16.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_lamp_arm_-1_4_0" type="box" pos="4.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_lamp_arm_1_-2_0" type="box" pos="-2.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_lamp_arm_1_10_0" type="box" pos="10.000000 4.350000 4.300000" size="0.027141 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_lamp_arm_1_16_0" type="box" pos="16.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_lamp_arm_1_4_0" type="box" pos="4.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_lamp_head_-1_-2_0" type="box" pos="-2.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_lamp_head_-1_10_0" type="box" pos="10.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_lamp_head_-1_16_0" type="box" pos="16.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_021_lamp_head_-1_4_0" type="box" pos="4.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_022_lamp_head_1_-2_0" type="box" pos="-2.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_023_lamp_head_1_10_0" type="box" pos="10.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_024_lamp_head_1_16_0" type="box" pos="16.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_025_lamp_head_1_4_0" type="box" pos="4.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_026_lamp_pole_-1_-2_0" type="box" pos="-2.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_027_lamp_pole_-1_10_0" type="box" pos="10.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_028_lamp_pole_-1_16_0" type="box" pos="16.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_029_lamp_pole_-1_4_0" type="box" pos="4.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_030_lamp_pole_1_-2_0" type="box" pos="-2.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_031_lamp_pole_1_10_0" type="box" pos="10.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_032_lamp_pole_1_16_0" type="box" pos="16.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_033_lamp_pole_1_4_0" type="box" pos="4.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_034_tree_crown_-1_-0_5" type="box" pos="-0.500000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_035_tree_crown_-1_12_0" type="box" pos="12.000000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+    <geom name="prop_convex_small_037_tree_crown_-1_5_5" type="box" pos="5.500000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_038_tree_crown_1_-0_5" type="box" pos="-0.500000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_039_tree_crown_1_12_0" type="box" pos="12.000000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_040_tree_crown_1_18_0" type="box" pos="18.000000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_041_tree_crown_1_5_5" type="box" pos="5.500000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_042_tree_trunk_-1_-0_5" type="box" pos="-0.500000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_043_tree_trunk_-1_12_0" type="box" pos="12.000000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_044_tree_trunk_-1_18_0" type="box" pos="18.000000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_045_tree_trunk_-1_5_5" type="box" pos="5.500000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_046_tree_trunk_1_-0_5" type="box" pos="-0.500000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_047_tree_trunk_1_12_0" type="box" pos="12.000000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_048_tree_trunk_1_18_0" type="box" pos="18.000000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_049_tree_trunk_1_5_5" type="box" pos="5.500000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  
+<!-- spawn z = terrain_z + 0.22 (wheel_radius + body_half_height) -->
+    <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"/>
+
+      <!-- visual body -->
+      <geom class="rover_visual" mesh="rover_body" material="rover_chassis"/>
+
+      <!-- collision body box -->
+      <geom type="box" size="0.40 0.25 0.10" friction="0.5 0.01 0.001"/>
+
+      <!-- wheels: x=±0.32, y=±0.27, z=-0.10 (flush with body bottom) -->
+      <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"/>
+        <geom class="rover_wheel"/>
+      </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"/>
+        <geom class="rover_wheel"/>
+      </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"/>
+        <geom class="rover_wheel"/>
+      </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"/>
+        <geom class="rover_wheel"/>
+      </body>
+    </body>
+</worldbody>
+  <keyframe><key name="m2_init" qpos="0.000000 0.000000 0.220000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" 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"/>
+    </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"/>
+  </actuator>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/urban-2_intersection/M1/manifest.json

@@ -0,0 +1,1904 @@
+{
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+    "prop_concave_large": [],
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+      {
+        "name": "bar_7",
+        "source_name": "bar_7",
+        "world_pos": [
+          1.2000000476837158,
+          0.0,
+          -0.004000000189989805
+        ],
+        "world_quat": [
+          1.0,
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+        "world_size": [
+          0.40000009536743164,
+          7.400000095367432,
+          0.011999999638646841
+        ]
+      },
+      {
+        "name": "bar_8",
+        "source_name": "bar_8",
+        "world_pos": [
+          1.7999999523162842,
+          0.0,
+          -0.004000000189989805
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+        "world_quat": [
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+        "world_size": [
+          0.40000009536743164,
+          7.400000095367432,
+          0.011999999638646841
+        ]
+      },
+      {
+        "name": "bar_9",
+        "source_name": "bar_9",
+        "world_pos": [
+          2.4000000953674316,
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+          -0.004000000189989805
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+        "world_quat": [
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+        "world_size": [
+          0.40000009536743164,
+          7.400000095367432,
+          0.011999999638646841
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+      },
+      {
+        "name": "lane_-2",
+        "source_name": "lane_-2",
+        "world_pos": [
+          0.0,
+          -7.0,
+          -0.004000000189989805
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+      {
+        "name": "lane_-3",
+        "source_name": "lane_-3",
+        "world_pos": [
+          0.0,
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+        "world_quat": [
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+        "world_size": [
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+          2.799999237060547,
+          0.011999999638646841
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+      },
+      {
+        "name": "lane_-4",
+        "source_name": "lane_-4",
+        "world_pos": [
+          0.0,
+          -14.0,
+          -0.004000000189989805
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+        "world_quat": [
+          1.0,
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+        "world_size": [
+          0.14000000059604645,
+          2.799999237060547,
+          0.011999999638646841
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+      },
+      {
+        "name": "lane_2",
+        "source_name": "lane_2",
+        "world_pos": [
+          0.0,
+          7.0,
+          -0.004000000189989805
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+        "world_quat": [
+          1.0,
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+        "world_size": [
+          0.14000000059604645,
+          2.799999713897705,
+          0.011999999638646841
+        ]
+      },
+      {
+        "name": "lane_3",
+        "source_name": "lane_3",
+        "world_pos": [
+          0.0,
+          10.5,
+          -0.004000000189989805
+        ],
+        "world_quat": [
+          1.0,
+          0.0,
+          0.0,
+          0.0
+        ],
+        "world_size": [
+          0.14000000059604645,
+          2.799999237060547,
+          0.011999999638646841
+        ]
+      },
+      {
+        "name": "lane_4",
+        "source_name": "lane_4",
+        "world_pos": [
+          0.0,
+          14.0,
+          -0.004000000189989805
+        ],
+        "world_quat": [
+          1.0,
+          0.0,
+          0.0,
+          0.0
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+        "world_size": [
+          0.14000000059604645,
+          2.799999237060547,
+          0.011999999638646841
+        ]
+      }
+    ],
+    "skip": [
+      {
+        "name": "ground.001",
+        "reason": "unmatched"
+      }
+    ]
+  },
+  "cameras": [],
+  "terrain": {
+    "visual_obj": "background_terrain_00_visual.obj",
+    "collision_obj": "background_terrain_00_collision.obj",
+    "world_aabb": [
+      -16.0,
+      -4.0,
+      -0.11999999731779099,
+      16.0,
+      4.0,
+      0.0
+    ]
+  },
+  "boulders": [],
+  "vegetation": [],
+  "dynamic_candidates": []
+}

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/urban-2_intersection/M1/module1/scene_enriched.xml

@@ -0,0 +1,70 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <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="terrain_00" file="../../../../tmp_intersection_export5/background_terrain_00_collision.obj"/>
+    <mesh name="terrain_01" file="../../../../tmp_intersection_export5/background_terrain_01_collision.obj"/>
+    <mesh name="terrain_02" file="../../../../tmp_intersection_export5/background_terrain_02_collision.obj"/>
+    <mesh name="terrain_03" file="../../../../tmp_intersection_export5/background_terrain_03_collision.obj"/>
+  </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="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_03" type="mesh" mesh="terrain_03" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_000_bldg_BrickBuildingFactory(500)_spawn_asset(500)" type="box" pos="13.712501 -9.000000 8.188813" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_bldg_BrickBuildingFactory(503)_spawn_asset(503)" type="box" pos="14.000000 9.000000 8.633354" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_bldg_BrickBuildingFactory(600)_spawn_asset(600)" type="box" pos="-13.712500 -7.000000 8.949287" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_bldg_BrickBuildingFactory(601)_spawn_asset(601)" type="box" pos="-13.712500 2.000000 7.232032" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_bldg_BrickBuildingFactory(602)_spawn_asset(602)" type="box" pos="-13.712500 10.000000 5.158244" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_bldg_BrickBuildingFactory(710)_spawn_asset(710)" type="box" pos="0.000000 -16.000000 8.209558" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_bldg_BuildingFactory(501)_spawn_asset(501)" type="box" pos="14.000000 -4.000000 4.664883" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_bldg_ConcreteBuildingFactory(502)_spawn_asset(502)" type="box" pos="13.712500 4.000000 8.972380" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_bldg_GlassTowerFactory(700)_spawn_asset(700)" type="box" pos="-14.000000 -11.000000 6.514639" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_lt_e-9_arm" type="box" pos="3.850000 -9.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_lt_e-9_lamp" type="box" pos="3.250000 -9.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_lt_e-9_pole" type="box" pos="4.600000 -9.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_lt_e0_arm" type="box" pos="3.850000 0.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_lt_e0_lamp" type="box" pos="3.250000 0.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_lt_e0_pole" type="box" pos="4.600000 0.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_lt_e9_arm" type="box" pos="3.850000 9.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_lt_e9_lamp" type="box" pos="3.250000 9.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_lt_e9_pole" type="box" pos="4.600000 9.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_lt_w-9_arm" type="box" pos="-5.350000 -9.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_lt_w-9_lamp" type="box" pos="-5.950000 -9.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_lt_w-9_pole" type="box" pos="-4.600000 -9.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_021_lt_w0_arm" type="box" pos="-5.350000 0.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_022_lt_w0_lamp" type="box" pos="-5.950000 0.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_023_lt_w0_pole" type="box" pos="-4.600000 0.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_024_lt_w9_arm" type="box" pos="-5.350000 9.000000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_025_lt_w9_lamp" type="box" pos="-5.950000 9.000000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_026_lt_w9_pole" type="box" pos="-4.600000 9.000000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_027_lt_x_n_arm" type="box" pos="-0.750000 4.600000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_028_lt_x_n_lamp" type="box" pos="-1.350000 4.600000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_029_lt_x_n_pole" type="box" pos="0.000000 4.600000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_030_lt_x_s_arm" type="box" pos="-0.750000 -4.600000 4.550000" size="0.650000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_031_lt_x_s_lamp" type="box" pos="-1.350000 -4.600000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_032_lt_x_s_pole" type="box" pos="0.000000 -4.600000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_033_tl_0_arm" type="box" pos="5.000000 -5.000000 4.000000" size="0.050000 0.050000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_034_tl_0_head" type="box" pos="5.000000 -5.000000 4.400000" size="0.140000 0.140000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_035_tl_0_lamp" type="box" pos="5.000000 -5.200000 4.550000" size="0.080000 0.080000 0.080000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_036_tl_0_pole" type="box" pos="5.000000 -5.000000 2.000000" size="0.060000 0.060000 2.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_037_tl_1_arm" type="box" pos="-5.000000 -5.000000 4.000000" size="0.050000 0.050000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_038_tl_1_head" type="box" pos="-5.000000 -5.000000 4.400000" size="0.140000 0.140000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_039_tl_1_lamp" type="box" pos="-5.000000 -5.200000 4.550000" size="0.080000 0.080000 0.080000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_040_tl_1_pole" type="box" pos="-5.000000 -5.000000 2.000000" size="0.060000 0.060000 2.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_041_tl_2_arm" type="box" pos="5.000000 5.000000 4.000000" size="0.050000 0.050000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_042_tl_2_head" type="box" pos="5.000000 5.000000 4.400000" size="0.140000 0.140000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_043_tl_2_lamp" type="box" pos="5.000000 4.800000 4.300000" size="0.080000 0.080000 0.080000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_044_tl_2_pole" type="box" pos="5.000000 5.000000 2.000000" size="0.060000 0.060000 2.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_045_tl_3_arm" type="box" pos="-5.000000 5.000000 4.000000" size="0.050000 0.050000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_046_tl_3_head" type="box" pos="-5.000000 5.000000 4.400000" size="0.140000 0.140000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_047_tl_3_lamp" type="box" pos="-5.000000 4.800000 4.300000" size="0.080000 0.080000 0.080000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_048_tl_3_pole" type="box" pos="-5.000000 5.000000 2.000000" size="0.060000 0.060000 2.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/urban-2_intersection/rollout/scene_m2.xml

@@ -0,0 +1,275 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <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="terrain_00" file="../../../tmp_intersection_export5/background_terrain_00_collision.obj"/>
+    <mesh name="terrain_01" file="../../../tmp_intersection_export5/background_terrain_01_collision.obj"/>
+    <mesh name="terrain_02" file="../../../tmp_intersection_export5/background_terrain_02_collision.obj"/>
+    <mesh name="terrain_03" file="../../../tmp_intersection_export5/background_terrain_03_collision.obj"/>
+  
+<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="../../../unitree_go2/assets/base_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_2.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_3.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_4.obj"/>
+    <mesh file="../../../unitree_go2/assets/hip_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/hip_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_mirror_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_mirror_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_mirror_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_mirror_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/foot.obj"/>
+</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="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_03" type="mesh" mesh="terrain_03" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_000_bldg_BrickBuildingFactory(500)_spawn_asset(500)" type="box" pos="13.712501 -9.000000 8.188813" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
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+        <default class="front_hip">
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+        <default class="back_hip">
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+      <default class="knee">
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+      <default class="visual">
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+        <default class="foot">
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+  </default>
+  <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>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/urban-3_delivery/M1/manifest.json

@@ -0,0 +1,1459 @@
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benchmark/simcode4d_unified/vendor/handover9_20260921/cases/urban-3_delivery/M1/module1/scene_enriched.xml

@@ -0,0 +1,45 @@
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+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720"/>
+  </visual>
+  <asset>
+    <mesh name="terrain_00" file="../../../../tmp_dgo2_export3/background_terrain_00_collision.obj"/>
+    <mesh name="terrain_01" file="../../../../tmp_dgo2_export3/background_terrain_01_collision.obj"/>
+    <mesh name="terrain_02" file="../../../../tmp_dgo2_export3/background_terrain_02_collision.obj"/>
+  </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="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_000_bldg_BrickBuildingFactory(600)_spawn_asset(600)" type="box" pos="-13.999999 -11.712500 8.949287" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_bldg_BrickBuildingFactory(601)_spawn_asset(601)" type="box" pos="-6.000000 -11.712500 7.232032" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_bldg_BrickBuildingFactory(602)_spawn_asset(602)" type="box" pos="2.000000 -11.712501 5.158244" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_bldg_BrickBuildingFactory(603)_spawn_asset(603)" type="box" pos="10.000000 -12.000000 5.524148" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_bldg_BuildingFactory(500)_spawn_asset(500)" type="box" pos="-16.000000 11.712500 8.188813" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_bldg_BuildingFactory(501)_spawn_asset(501)" type="box" pos="-8.000000 12.000000 4.664883" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_bldg_BuildingFactory(502)_spawn_asset(502)" type="box" pos="0.000000 11.712500 8.972380" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_bldg_BuildingFactory(503)_spawn_asset(503)" type="box" pos="8.000000 12.000000 8.633354" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_bldg_BuildingFactory(504)_spawn_asset(504)" type="box" pos="16.000000 11.712500 4.804664" size="0.150000 4.750609 4.978865" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_bldg_GlassTowerFactory(700)_spawn_asset(700)" type="box" pos="19.000000 -12.000000 6.514639" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_lt_n-12_lamp" type="box" pos="-12.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_lt_n-12_pole" type="box" pos="-12.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_lt_n-4_lamp" type="box" pos="-4.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_lt_n-4_pole" type="box" pos="-4.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_lt_n12_lamp" type="box" pos="12.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_lt_n12_pole" type="box" pos="12.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_lt_n4_lamp" type="box" pos="4.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_lt_n4_pole" type="box" pos="4.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_lt_s-12_lamp" type="box" pos="-12.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_lt_s-12_pole" type="box" pos="-12.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_lt_s-4_lamp" type="box" pos="-4.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_021_lt_s-4_pole" type="box" pos="-4.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_022_lt_s12_lamp" type="box" pos="12.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_023_lt_s12_pole" type="box" pos="12.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_024_lt_s4_lamp" type="box" pos="4.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_025_lt_s4_pole" type="box" pos="4.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  </worldbody>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/cases/urban-3_delivery/rollout/scene_m2.xml

@@ -0,0 +1,250 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <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="terrain_00" file="../../../tmp_dgo2_export3/background_terrain_00_collision.obj"/>
+    <mesh name="terrain_01" file="../../../tmp_dgo2_export3/background_terrain_01_collision.obj"/>
+    <mesh name="terrain_02" file="../../../tmp_dgo2_export3/background_terrain_02_collision.obj"/>
+  
+<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="../../../unitree_go2/assets/base_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_2.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_3.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_4.obj"/>
+    <mesh file="../../../unitree_go2/assets/hip_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/hip_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_mirror_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_mirror_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_mirror_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_mirror_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/foot.obj"/>
+</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="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_000_bldg_BrickBuildingFactory(600)_spawn_asset(600)" type="box" pos="-13.999999 -11.712500 8.949287" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_001_bldg_BrickBuildingFactory(601)_spawn_asset(601)" type="box" pos="-6.000000 -11.712500 7.232032" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_002_bldg_BrickBuildingFactory(602)_spawn_asset(602)" type="box" pos="2.000000 -11.712501 5.158244" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_003_bldg_BrickBuildingFactory(603)_spawn_asset(603)" type="box" pos="10.000000 -12.000000 5.524148" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_004_bldg_BuildingFactory(500)_spawn_asset(500)" type="box" pos="-16.000000 11.712500 8.188813" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_005_bldg_BuildingFactory(501)_spawn_asset(501)" type="box" pos="-8.000000 12.000000 4.664883" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_006_bldg_BuildingFactory(502)_spawn_asset(502)" type="box" pos="0.000000 11.712500 8.972380" size="0.150000 4.750609 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_007_bldg_BuildingFactory(503)_spawn_asset(503)" type="box" pos="8.000000 12.000000 8.633354" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_008_bldg_BuildingFactory(504)_spawn_asset(504)" type="box" pos="16.000000 11.712500 4.804664" size="0.150000 4.750609 4.978865" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_009_bldg_GlassTowerFactory(700)_spawn_asset(700)" type="box" pos="19.000000 -12.000000 6.514639" size="0.150000 4.750610 4.978866" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_010_lt_n-12_lamp" type="box" pos="-12.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_011_lt_n-12_pole" type="box" pos="-12.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_012_lt_n-4_lamp" type="box" pos="-4.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_013_lt_n-4_pole" type="box" pos="-4.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_014_lt_n12_lamp" type="box" pos="12.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_015_lt_n12_pole" type="box" pos="12.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_016_lt_n4_lamp" type="box" pos="4.000000 4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_017_lt_n4_pole" type="box" pos="4.000000 4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_018_lt_s-12_lamp" type="box" pos="-12.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_019_lt_s-12_pole" type="box" pos="-12.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_020_lt_s-4_lamp" type="box" pos="-4.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_021_lt_s-4_pole" type="box" pos="-4.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_022_lt_s12_lamp" type="box" pos="12.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_023_lt_s12_pole" type="box" pos="12.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_024_lt_s4_lamp" type="box" pos="4.000000 -4.500000 4.520000" size="0.275000 0.090000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_convex_small_025_lt_s4_pole" type="box" pos="4.000000 -4.500000 2.300000" size="0.060000 0.060000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+  <body name="stone" pos="6.0 4.5 0.0"><freejoint/><geom type="sphere" size="0.10" rgba="0 0 0 0" contype="0" conaffinity="0" density="2000"/></body>
+  
+<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"/>
+      <geom mesh="base_1" material="black" class="visual"/>
+      <geom mesh="base_2" material="black" class="visual"/>
+      <geom mesh="base_3" material="white" class="visual"/>
+      <geom mesh="base_4" material="gray" class="visual"/>
+      <geom size="0.1881 0.04675 0.057" type="box" class="collision"/>
+      <geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision"/>
+      <geom size="0.047" pos="0.293 0 -0.06" class="collision"/>
+      <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"/>
+        <geom mesh="hip_1" material="gray" class="visual"/>
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision"/>
+        <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"/>
+          <geom mesh="thigh_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <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"/>
+            <geom mesh="calf_1" material="black" class="visual"/>
+            <geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="FL" class="foot"/>
+          </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"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0"/>
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <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"/>
+          <geom mesh="thigh_mirror_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <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"/>
+            <geom mesh="calf_mirror_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="FR" class="foot"/>
+          </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"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0"/>
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <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"/>
+          <geom mesh="thigh_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <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"/>
+            <geom mesh="calf_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="RL" class="foot"/>
+          </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"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <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"/>
+          <geom mesh="thigh_mirror_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <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"/>
+            <geom mesh="calf_mirror_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="RR" class="foot"/>
+          </body>
+        </body>
+      </body>
+    </body>
+</worldbody>
+  <keyframe><key name="m2_init" qpos="6.000000 4.500000 0.000000 1.000000 0.000000 0.000000 0.000000 0.500000 4.500000 0.270000 1.000000 0.000000 0.000000 0.000000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000"/></keyframe>
+  <default>
+<default class="go2">
+      <geom friction="0.6" margin="0.001" condim="1"/>
+      <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"/>
+        <default class="foot">
+          <geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.015 1 0.022" condim="6"
+            friction="0.8 0.02 0.01"/>
+        </default>
+      </default>
+    </default>
+  </default>
+  <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>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/export_singleroom_lr_go2/module2/go2_local/go2.xml

@@ -0,0 +1,219 @@
+<mujoco model="go2">
+  <compiler angle="radian" autolimits="true"/>
+
+  <option cone="elliptic" impratio="100"/>
+
+  <default>
+    <default class="go2">
+      <geom friction="0.6" margin="0.001" condim="1"/>
+      <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"/>
+        <default class="foot">
+          <geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.015 1 0.022" condim="6"
+            friction="0.8 0.02 0.01"/>
+        </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="../../../unitree_go2/assets/base_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_2.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_3.obj"/>
+    <mesh file="../../../unitree_go2/assets/base_4.obj"/>
+    <mesh file="../../../unitree_go2/assets/hip_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/hip_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_mirror_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/thigh_mirror_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_1.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_mirror_0.obj"/>
+    <mesh file="../../../unitree_go2/assets/calf_mirror_1.obj"/>
+    <mesh file="../../../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"/>
+      <geom mesh="base_1" material="black" class="visual"/>
+      <geom mesh="base_2" material="black" class="visual"/>
+      <geom mesh="base_3" material="white" class="visual"/>
+      <geom mesh="base_4" material="gray" class="visual"/>
+      <geom size="0.1881 0.04675 0.057" type="box" class="collision"/>
+      <geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision"/>
+      <geom size="0.047" pos="0.293 0 -0.06" class="collision"/>
+      <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"/>
+        <geom mesh="hip_1" material="gray" class="visual"/>
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision"/>
+        <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"/>
+          <geom mesh="thigh_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <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"/>
+            <geom mesh="calf_1" material="black" class="visual"/>
+            <geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="FL" class="foot"/>
+          </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"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0"/>
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <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"/>
+          <geom mesh="thigh_mirror_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <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"/>
+            <geom mesh="calf_mirror_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="FR" class="foot"/>
+          </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"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0"/>
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <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"/>
+          <geom mesh="thigh_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <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"/>
+            <geom mesh="calf_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="RL" class="foot"/>
+          </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"/>
+        <geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
+        <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision"/>
+        <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"/>
+          <geom mesh="thigh_mirror_1" material="gray" class="visual"/>
+          <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box"
+            class="collision"/>
+          <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"/>
+            <geom mesh="calf_mirror_1" material="black" class="visual"/>
+            <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder"
+              class="collision"/>
+            <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"
+              class="collision"/>
+            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
+            <geom name="RR" class="foot"/>
+          </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/vendor/handover9_20260921/export_singleroom_lr_go2/module2/scene_m2.xml

@@ -0,0 +1,73 @@
+<mujoco model="scene_enriched">
+  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
+  <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"/>
+    <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"/>
+    <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"/>
+    <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"/>
+    <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"/>
+    <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"/>
+    <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"/>
+    <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"/>
+    <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"/>
+    <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"/>
+    <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"/>
+    <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"/>
+    <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"/>
+    <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"/>
+    <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"/>
+    <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"/>
+    <geom name="wall_20" type="box" pos="2.500000 12.000000 2.841525" size="2.365343 2.865343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_27" type="box" pos="6.000014 4.500028 2.841511" size="5.865357 4.365371 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_46" type="box" pos="0.200246 12.606551 1.612692" size="0.113633 1.724704 0.577052" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_47" type="box" pos="10.268782 0.221279 1.612692" size="1.032094 0.123587 0.567085" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_48" type="box" pos="11.504667 8.865343 1.612692" size="0.310587 0.048224 0.566347" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_49" type="box" pos="-0.134657 6.616748 1.612692" size="0.047080 0.554498 0.578489" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_50" type="box" pos="10.865343 12.017402 1.612692" size="0.051632 0.980857 0.580569" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_51" type="box" pos="8.657573 14.301145 1.612692" size="1.115823 0.093839 0.571772" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_52" type="box" pos="1.779625 14.865343 1.612692" size="1.255290 0.036613 0.579883" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_53" type="box" pos="0.719665 0.973875 1.612692" size="0.098047 0.347702 0.564146" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_55" type="box" pos="8.145028 -2.365343 1.612692" size="0.539432 0.038521 0.575122" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_56" type="box" pos="8.865343 -1.584380 1.612692" size="0.044263 0.675119 0.583133" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_59" type="box" pos="3.468543 -1.779490 1.612692" size="0.366064 0.095106 0.565052" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_60" type="box" pos="5.448463 -1.865343 1.612692" size="1.010812 0.045593 0.569298" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="wall_61" type="box" pos="0.634657 3.379360 1.612692" size="0.049008 0.447093 0.570971" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1"/>
+    <geom name="prop_concave_large_000_CellShelfFactory(2594816)_spawn_asset(6129099)" type="box" pos="2.207316 5.204681 0.134673" size="0.924416 0.198892 0.923665" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_001_CellShelfFactory(3658341)_spawn_asset(2973726)" type="box" pos="8.028561 2.204621 0.135059" size="0.699549 0.223240 0.922099" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_002_CellShelfFactory(919564)_spawn_asset(4008509)" type="box" pos="11.795400 3.224719 0.134657" size="0.162436 1.066539 1.065789" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_003_LargePlantContainerFactory(8956576)_spawn_asset(5265333)" type="box" pos="0.673025 8.332573 0.154657" size="0.263277 0.263277 0.732637" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_004_LargeShelfFactory(1909210)_spawn_asset(4134768)" type="box" pos="9.070370 8.660480 0.134744" size="0.785156 0.130812 1.015761" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_005_MirrorFactory(8331394)_spawn_asset(7883318)" type="box" pos="7.144657 4.277977 1.641470" size="0.008518 0.442231 0.258499" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_006_NatureShelfTrinketsFactory(1091087)_spawn_asset(7297279)" type="box" pos="9.710155 8.672622 1.594450" size="0.072735 0.059492 0.057425" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_007_NatureShelfTrinketsFactory(2360152)_spawn_asset(6010769)" type="box" pos="11.671710 3.321193 1.078800" size="0.074880 0.022258 0.040052" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_008_NatureShelfTrinketsFactory(2993447)_spawn_asset(8887566)" type="box" pos="11.594666 1.845038 0.715467" size="0.017762 0.056553 0.065661" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_009_NatureShelfTrinketsFactory(5228049)_spawn_asset(7578459)" type="box" pos="9.648227 8.685778 1.902127" size="0.057532 0.044511 0.059137" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_010_NatureShelfTrinketsFactory(7330329)_spawn_asset(5605441)" type="box" pos="11.683038 1.699951 0.715253" size="0.065448 0.057043 0.019313" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_011_NatureShelfTrinketsFactory(7597836)_spawn_asset(9528118)" type="box" pos="11.619063 3.970124 0.644887" size="0.047371 0.055515 0.040226" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_012_NatureShelfTrinketsFactory(7775217)_spawn_asset(2021457)" type="box" pos="11.735563 2.745263 1.883516" size="0.035466 0.050498 0.028979" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_013_NatureShelfTrinketsFactory(7835494)_spawn_asset(7490480)" type="box" pos="11.583894 1.996402 0.391821" size="0.069399 0.045650 0.043623" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_014_NatureShelfTrinketsFactory(8323276)_spawn_asset(9064779)" type="box" pos="11.648866 3.229121 2.331721" size="0.015791 0.065988 0.033128" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_015_NatureShelfTrinketsFactory(8326211)_spawn_asset(5145731)" type="box" pos="11.642181 2.850970 1.479555" size="0.016264 0.061085 0.034089" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_016_SideTableFactory(1977044)_spawn_asset(8198684)" type="box" pos="7.603278 5.435551 0.146102" size="0.279684 0.279684 0.233686" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_017_SimpleBookcaseFactory(9201065)_spawn_asset(4193220)" type="box" pos="11.632156 1.829523 0.134616" size="0.157192 0.271506 0.421471" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_018_SimpleDeskFactory(4333946)_spawn_asset(6424688)" type="box" pos="4.190810 8.432079 0.134958" size="0.548730 0.363213 0.372470" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_019_SofaFactory(4061307)_spawn_asset(1597680)" type="box" pos="7.240608 3.890232 0.240755" size="0.834969 1.215595 0.511808" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="prop_concave_large_020_TVStandFactory(8574063)_spawn_asset(5206710)" type="box" pos="11.794870 6.351633 0.134654" size="0.171654 0.708832 0.258656" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3"/>
+    <geom name="lr_wall_0" type="box" pos="6.0 9.05 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_1" type="box" pos="6.0 0.08 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_2" type="box" pos="0.08 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_3" type="box" pos="12.05 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <geom name="lr_wall_4" type="box" pos="3.63 5.13 1.4" size="3.5 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3"/>
+  <body name="stone" pos="5.2 5.7 0.145"><freejoint/><geom type="sphere" size="0.10" rgba="0 0 0 0" contype="0" conaffinity="0" density="2000"/></body>
+  </worldbody>
+  <include file="go2_local/go2.xml"/><keyframe><key name="m2_init" qpos="5.200000 5.700000 0.145000 1.000000 0.000000 0.000000 0.000000 2.500000 6.300000 0.415000 1.000000 0.000000 0.000000 0.000000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000 0.000000 0.900000 -1.800000" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000"/></keyframe>
+</mujoco>

benchmark/simcode4d_unified/vendor/handover9_20260921/rover_assets/rover_body.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.40000000 -0.25000000 -0.10000000
+v -0.40000000 -0.25000000 0.10000000
+v -0.40000000 0.25000000 -0.10000000
+v -0.40000000 0.25000000 0.10000000
+v 0.40000000 -0.25000000 -0.10000000
+v 0.40000000 -0.25000000 0.10000000
+v 0.40000000 0.25000000 -0.10000000
+v 0.40000000 0.25000000 0.10000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7

benchmark/simcode4d_unified/vendor/handover9_20260921/rover_assets/rover_wheel.obj

@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.03000000 -0.00000000
+v 0.12000000 0.03000000 -0.00000000
+v 0.12000000 -0.03000000 0.00000000
+v 0.00000000 -0.03000000 0.00000000
+v 0.11591110 0.03000000 0.03105829
+v 0.11591110 -0.03000000 0.03105829
+v 0.10392305 0.03000000 0.06000000
+v 0.10392305 -0.03000000 0.06000000
+v 0.08485281 0.03000000 0.08485281
+v 0.08485281 -0.03000000 0.08485281
+v 0.06000000 0.03000000 0.10392305
+v 0.06000000 -0.03000000 0.10392305
+v 0.03105829 0.03000000 0.11591110
+v 0.03105829 -0.03000000 0.11591110
+v 0.00000000 0.03000000 0.12000000
+v 0.00000000 -0.03000000 0.12000000
+v -0.03105829 0.03000000 0.11591110
+v -0.03105829 -0.03000000 0.11591110
+v -0.06000000 0.03000000 0.10392305
+v -0.06000000 -0.03000000 0.10392305
+v -0.08485281 0.03000000 0.08485281
+v -0.08485281 -0.03000000 0.08485281
+v -0.10392305 0.03000000 0.06000000
+v -0.10392305 -0.03000000 0.06000000
+v -0.11591110 0.03000000 0.03105829
+v -0.11591110 -0.03000000 0.03105829
+v -0.12000000 0.03000000 0.00000000
+v -0.12000000 -0.03000000 0.00000000
+v -0.11591110 0.03000000 -0.03105829
+v -0.11591110 -0.03000000 -0.03105829
+v -0.10392305 0.03000000 -0.06000000
+v -0.10392305 -0.03000000 -0.06000000
+v -0.08485281 0.03000000 -0.08485281
+v -0.08485281 -0.03000000 -0.08485281
+v -0.06000000 0.03000000 -0.10392305
+v -0.06000000 -0.03000000 -0.10392305
+v -0.03105829 0.03000000 -0.11591110
+v -0.03105829 -0.03000000 -0.11591110
+v -0.00000000 0.03000000 -0.12000000
+v -0.00000000 -0.03000000 -0.12000000
+v 0.03105829 0.03000000 -0.11591110
+v 0.03105829 -0.03000000 -0.11591110
+v 0.06000000 0.03000000 -0.10392305
+v 0.06000000 -0.03000000 -0.10392305
+v 0.08485281 0.03000000 -0.08485281
+v 0.08485281 -0.03000000 -0.08485281
+v 0.10392305 0.03000000 -0.06000000
+v 0.10392305 -0.03000000 -0.06000000
+v 0.11591110 0.03000000 -0.03105829
+v 0.11591110 -0.03000000 -0.03105829
+f 2 1 5
+f 2 5 3
+f 3 5 6
+f 3 6 4
+f 5 1 7
+f 5 7 6
+f 6 7 8
+f 6 8 4
+f 7 1 9
+f 7 9 8
+f 8 9 10
+f 8 10 4
+f 9 1 11
+f 9 11 10
+f 10 11 12
+f 10 12 4
+f 11 1 13
+f 11 13 12
+f 12 13 14
+f 12 14 4
+f 13 1 15
+f 13 15 14
+f 14 15 16
+f 14 16 4
+f 15 1 17
+f 15 17 16
+f 16 17 18
+f 16 18 4
+f 17 1 19
+f 17 19 18
+f 18 19 20
+f 18 20 4
+f 19 1 21
+f 19 21 20
+f 20 21 22
+f 20 22 4
+f 21 1 23
+f 21 23 22
+f 22 23 24
+f 22 24 4
+f 23 1 25
+f 23 25 24
+f 24 25 26
+f 24 26 4
+f 25 1 27
+f 25 27 26
+f 26 27 28
+f 26 28 4
+f 27 1 29
+f 27 29 28
+f 28 29 30
+f 28 30 4
+f 29 1 31
+f 29 31 30
+f 30 31 32
+f 30 32 4
+f 31 1 33
+f 31 33 32
+f 32 33 34
+f 32 34 4
+f 33 1 35
+f 33 35 34
+f 34 35 36
+f 34 36 4
+f 35 1 37
+f 35 37 36
+f 36 37 38
+f 36 38 4
+f 37 1 39
+f 37 39 38
+f 38 39 40
+f 38 40 4
+f 39 1 41
+f 39 41 40
+f 40 41 42
+f 40 42 4
+f 41 1 43
+f 41 43 42
+f 42 43 44
+f 42 44 4
+f 43 1 45
+f 43 45 44
+f 44 45 46
+f 44 46 4
+f 45 1 47
+f 45 47 46
+f 46 47 48
+f 46 48 4
+f 47 1 49
+f 47 49 48
+f 48 49 50
+f 48 50 4
+f 49 1 2
+f 49 2 50
+f 50 2 3
+f 50 3 4

benchmark/simcode4d_unified/vendor/handover9_20260921/tmp_agv_city_export2/background_terrain_00_collision.obj

@@ -0,0 +1,15 @@
+# C2W export: curb_-1.001 (8v 6f)
+v -10.000000 -4.100000 0.030000
+v -10.000000 -4.100000 0.190000
+v -10.000000 -4.000000 0.030000
+v -10.000000 -4.000000 0.190000
+v 30.000000 -4.100000 0.030000
+v 30.000000 -4.100000 0.190000
+v 30.000000 -4.000000 0.030000
+v 30.000000 -4.000000 0.190000
+f 1 2 4 3
+f 3 4 8 7
+f 7 8 6 5
+f 5 6 2 1
+f 3 7 5 1
+f 8 4 2 6

benchmark/simcode4d_unified/vendor/handover9_20260921/tmp_agv_city_export2/background_terrain_01_collision.obj

@@ -0,0 +1,15 @@
+# C2W export: curb_1.001 (8v 6f)
+v -10.000000 4.000000 0.030000
+v -10.000000 4.000000 0.190000
+v -10.000000 4.100000 0.030000
+v -10.000000 4.100000 0.190000
+v 30.000000 4.000000 0.030000
+v 30.000000 4.000000 0.190000
+v 30.000000 4.100000 0.030000
+v 30.000000 4.100000 0.190000
+f 1 2 4 3
+f 3 4 8 7
+f 7 8 6 5
+f 5 6 2 1
+f 3 7 5 1
+f 8 4 2 6