Datasets:

AndyZ2001
/

mingru-mojoco-runs

"""One agent contract per track and engine: what the agent is given, what it never sees, what it hands back, under which
budget, image and engine, and the exact words it is told (the files under prompts/).
A contract has a name and no version. Its identity is the sha256 of its content: this record, every prompt file it
renders and every file it stages into the container (self-check, checker tools). Any change to any of them is a new
hash, recorded in each run's run.json. docs/generation.md has the table.
"""
from functools import cache
import hashlib
import json
from pathlib import Path
import re
import subprocess

from ..common.io import BENCHMARK

HERE = Path(__file__).resolve().parent
PROMPTS, RUNTIME = HERE / "prompts", HERE / "runtime"
EVALUATION = HERE.parent / "evaluation"  # simready.evaluation; its checker files are staged into the container as they are

ENGINES = {"mujoco": "MuJoCo", "isaac": "Isaac Sim"}
ENGINE_VERSIONS = {"mujoco": "4.0.0", "isaac": "6.2.0"}
# Generation images (runtime/Dockerfile, runtime/Dockerfile.isaac): the engine plus headless Blender, pinned by version and sha256
# (runtime/install_blender.sh), the pinned OpenCode CLI and, for MuJoCo, the packages of runtime/requirements-tools.txt.
IMAGES = {"mujoco": "simready-generation:latest", "isaac": "simready-isaac-generation:latest"}
BLENDER_VERSION = "5.2.3"

# The only hosts a generation container reaches, through the egress proxy: the CLIs' model API and login, and OpenCode's two
# web-search services (Claude's and Codex's web search runs on the provider's side). Found by logging every tunnel of a Claude,
# a Codex and an OpenCode session, web search included. Left out: telemetry, Codex's content hosts and the npm registry
# OpenCode tries to install a plugin package from (it runs without it).
OPENCODE_HOSTS = ("opencode.ai", "mcp.exa.ai", "search.parallel.ai")
EGRESS_HOSTS = ("api.anthropic.com", "platform.claude.com", "chatgpt.com", "auth.openai.com") + OPENCODE_HOSTS

# Claude Code is mounted from the host. Codex and OpenCode are installed in both images,
# pinned by version and sha256 (runtime/install_codex.sh and runtime/install_opencode.sh).
CLIS = {
    "claude": {"name": "Claude Code", "binary": "host ~/.local/bin/claude, mounted read-only",
               "login": "<config dir>/.credentials.json (default ~/.claude; --claude-config-dir)",
               "tools": "every tool but WebFetch (--disallowedTools WebFetch); WebSearch runs on Anthropic's side",
               "hosts": ["api.anthropic.com", "platform.claude.com"]},
    "codex": {"name": "Codex CLI", "version": "0.167.0", "binary": "/opt/codex/bin/codex in both generation images",
              "binary_sha256": "cdcb45aaa01d0f14e298985e09465aebccd47f64ecd298aea44814af7b62bbda", "login": "~/.codex/auth.json",
              "tools": 'every tool, web_search="live", browser features off', "hosts": ["chatgpt.com", "auth.openai.com"]},
    "opencode": {"name": "OpenCode", "version": "1.19.5", "binary": "/opt/opencode/bin/opencode in both generation images",
                 "binary_sha256": "7df4e4136301f16589b0f30bf91a61380fca5f8ef22dd36570f5ebe1d4ec802c",
                 "login": "host OpenCode V2 auth export/import API, or legacy ~/.local/share/opencode/auth.json", "billing": "subscription (OpenCode Go)",
                 "tools": "every tool but webfetch (denied by its permission config, so not offered); websearch on (Exa or Parallel)",
                 "hosts": list(OPENCODE_HOSTS)},
}
# Whether an OpenCode model's read tool passes images to it, measured with a probe PNG (described correctly by both).
# A model not listed is recorded as not measured (None); the prompt is the same either way.
OPENCODE_IMAGE_INPUT = {"opencode-go/kimi-k3.1-pro": True, "opencode-go/deepseek-v4.1-flash": True}
ISOLATION = {"container": "Docker: read-only input (and tools), writable output and scratch, temporary credentials; no repository, "
                          "benchmark ground truth or evaluator files",
             "network": "an internal network whose only exit is an HTTPS CONNECT proxy (runtime/egress_proxy.py)", "egress_hosts": list(EGRESS_HOSTS)}
BUDGET = {"told": "the first of the session's cumulative budgets, in wall-clock seconds from container start",
          "resume": "each later budget resumes the same conversation for the rest of its time; each budget is its own run",
          "enforcement": "the runner kills the container at the deadline; the output as it stands is the result"}

PROTOCOL = "the frozen protocol of the track and engine (data/benchmark/frozen/<track>/<engine>.json)"
SCENE_INPUTS = ["video.mp4", "scale_anchor.json", "anchor_reference.png", "anchor_marked.png", "prompt.txt", "generation_spec.json", "self_check.py"]
DEMO_WITHHELD = ["groundtruth/: the wrist video and its calibration, the stereo videos, the robot log (trajectory.h5), the end-state label, "
                 "the measured ground truth", "camera serials and provenance/", PROTOCOL, "other runs"]
DEMO_OUTPUTS = {"mujoco": ["scene.xml (bodies moved, target, table; only target when the table is the target)", "assets/", "objects.json", "README.md"],
                "isaac": ["scene.usda (/World/moved, /World/target, /World/table)", "objects.json", "README.md"]}
DEMO_TOOLS = {"mujoco": {"check_package.py": "demos/check_mujoco.py", "mjcf_facts.py": "demos/mjcf_facts.py", "rules.py": "demos/rules.py"},
              "isaac": {"check_package.py": "demos/check_isaac.py", "usd_facts.py": "demos/usd_facts.py", "rules.py": "demos/rules.py"}}
RIGID_OUTPUTS = {"mujoco": ["scene.xml (body object with a freejoint, ground plane)", "assets/", "objects.json", "README.md"],
                 "isaac": ["scene.usda (object, PhysX scene, box ground)", "objects.json", "README.md"]}
DEFORMABLE_OUTPUTS = {"mujoco": ["scene.xml (one flexcomp, dof full)", "assets/ (only if the flexcomp reads a mesh)", "README.md"],
                      "isaac": ["scene.usda (/World/Object/Material)", "meta.json"]}
DEFORMABLE_TOOLS = {"mujoco": {"check_package.py": "engines/mujoco/deformable_admission.py"},
                    "isaac": {"check_package.py": "engines/isaac/container/deformable_check.py",
                              "deformable_inspect.py": "engines/isaac/container/deformable_inspect.py"}}
SCENE_OUTPUTS = {"mujoco": ["scene.xml", "assets/", "objects.json", "README.md", "refinement_log.json", "previews/"],
                 "isaac": ["scene.usda", "build_scene.py", "objects.json", "render_preview.py", "preview.mp4", "interaction.mp4", "README.md", "refinement_log.json"]}
SCENE_CHECK = {"mujoco": "python /work/input/self_check.py /work/output",
               "isaac": "/isaac-sim/python.sh /work/input/self_check.py --scene /work/output --out /tmp/self_check"}
REFINEMENT = {"minimum_completed_rounds": 3, "minimum_reference_views": 6, "minimum_inspected_video_frames": 12, "final_validation_seconds": 90}


def _contracts():
    found = {}
    for engine in ENGINES:
        found[f"scenes-{engine}"] = {
            "track": "scenes", "engine": engine, "inputs": SCENE_INPUTS + (["sdk_smoke.py"] if engine == "isaac" else []),
            "withheld": ["groundtruth/ (objects, cameras, task catalogs, object dynamics, interaction test) and its source tag",
                         "provenance/ (source annotation, anchor selection)", PROTOCOL, "other runs"],
            "outputs": SCENE_OUTPUTS[engine], "self_check": SCENE_CHECK[engine], "refinement": REFINEMENT,
            "prompt": ["scenes/about_" + engine + ".md", "scenes/task.md", "scenes/self_check.md", "scenes/output_" + engine + ".md"],
            "runtime_note": "scenes/runtime_mujoco.md" if engine == "mujoco" else None,
            # The Isaac room self-check is the evaluator's passive-physics stage (it checks the stated requirements only).
            "files": {"input/self_check.py": "runtime/self_check_mujoco.py" if engine == "mujoco" else "evaluation:engines/isaac/container/isaac_physics.py",
                      **({"input/sdk_smoke.py": "runtime/isaac_smoke.py"} if engine == "isaac" else {})}}
        found[f"objects-rigid-{engine}"] = {
            "track": "objects", "material": "rigid", "engine": engine, "inputs": ["object.json (name, category)", "photos/"],
            "withheld": ["groundtruth/ (size, mass, description, the reference scan)", "provenance/", PROTOCOL, "other reconstructions"],
            "outputs": RIGID_OUTPUTS[engine], "self_check": None, "refinement": None, "prompt": [f"objects_rigid/{engine}.md"], "files": {}}
        found[f"objects-deformable-{engine}"] = {
            "track": "objects", "material": "deformable", "engine": engine, "inputs": ["case.txt", "object_facts.json", "media_manifest.json", "media/"],
            "withheld": ["groundtruth/ (reference size and shape)", "provenance/", PROTOCOL + " (probe, workcell, fixtures, limits)", "other reconstructions"],
            "outputs": DEFORMABLE_OUTPUTS[engine], "refinement": None, "prompt": [f"objects_deformable/{engine}.md"], "words": "objects_deformable/words.json",
            "self_check": ("python /work/tools/check_package.py /work/output <2d|3d>" if engine == "mujoco" else
                           "/isaac-sim/python.sh /work/tools/check_package.py"),
            "files": {f"tools/{k}": "evaluation:" + v for k, v in DEFORMABLE_TOOLS[engine].items()}}
        found[f"demos-{engine}"] = {
            "track": "demos", "engine": engine, "inputs": ["instruction.txt", "ext1.mp4", "ext2.mp4", "timestamps.json",
                                                           "cameras.json (both exterior poses and intrinsics)"],
            "withheld": DEMO_WITHHELD, "outputs": DEMO_OUTPUTS[engine], "refinement": None, "prompt": ["demos/task.md"],
            "parts": {"format": f"demos/format_{engine}.md"},
            "self_check": "python /work/tools/check_package.py" if engine == "mujoco" else "/isaac-sim/python.sh /work/tools/check_package.py",
            "files": {f"tools/{k}": "evaluation:" + v for k, v in DEMO_TOOLS[engine].items()}}
    for name, entry in found.items():
        entry.update(name=name, engine_version=ENGINE_VERSIONS[entry["engine"]], image=IMAGES[entry["engine"]], blender_version=BLENDER_VERSION,
                     budget=BUDGET, isolation=ISOLATION, protocol=f"data/benchmark/frozen/{entry['track']}/{entry['engine']}.json")
    return found


CONTRACTS = _contracts()


def contract_name(track, engine, material=None):
    name = f"{track}-{material}-{engine}" if track == "objects" else f"{track}-{engine}"
    if name not in CONTRACTS:
        raise KeyError(f"No contract for {track} {material or ''} {engine}")
    return name


def source(reference):
    """The file a contract's `files` entry names: runtime/... in this package, evaluation:... in simready.evaluation."""
    return EVALUATION / reference.removeprefix("evaluation:") if reference.startswith("evaluation:") else HERE / reference


def missing_files(name):
    return [ref for ref in CONTRACTS[name]["files"].values() if not source(ref).is_file()]


def prompt_files(name):
    entry = CONTRACTS[name]
    return sorted({*entry["prompt"], *entry.get("parts", {}).values(), *filter(None, [entry.get("runtime_note"), entry.get("words")]),
                   "resume.md", "image_tools.json"})


@cache
def _digest(name, stamp):
    h = hashlib.sha256(json.dumps(CONTRACTS[name], sort_keys=True).encode())
    for rel in prompt_files(name):
        h.update(f"\0prompts/{rel}\0".encode() + (PROMPTS / rel).read_bytes())
    for target, ref in sorted(CONTRACTS[name]["files"].items()):
        path = source(ref)
        h.update(f"\0{target}\0".encode() + (path.read_bytes() if path.is_file() else b"<missing>"))
    return h.hexdigest()


def sha256(name):
    """The contract's identity: its record, its prompt files and its staged files."""
    files = [PROMPTS / rel for rel in prompt_files(name)] + [source(ref) for ref in CONTRACTS[name]["files"].values()]
    return _digest(name, tuple(p.stat().st_mtime_ns if p.is_file() else 0 for p in files))


def record(name):
    """What run.json records about the contract a run was generated under."""
    entry = CONTRACTS[name]
    protocol = BENCHMARK / "frozen" / entry["track"] / f"{entry['engine']}.json"
    keep = ("track", "material", "engine", "engine_version", "image", "blender_version", "inputs", "withheld", "outputs", "self_check",
            "budget", "refinement", "isolation")
    return {"name": name, "sha256": sha256(name), **{k: entry[k] for k in keep if k in entry},
            "protocol": {"file": entry["protocol"], "sha256": _file_sha(protocol) if protocol.is_file() else None}}


def _file_sha(path):
    return hashlib.sha256(Path(path).read_bytes()).hexdigest()


# ---------------------------------------------------------------- the words

PLACEHOLDER = re.compile(r"\{\{([a-z_]+)\}\}")


def fill(text, values):
    """Replace every {{name}}; a name with no value is an error, so no placeholder reaches an agent."""
    def one(match):
        if match.group(1) not in values:
            raise KeyError(f"prompt placeholder {{{{{match.group(1)}}}}} has no value")
        return str(values[match.group(1)])
    return PLACEHOLDER.sub(one, text)


def read_prompt(rel):
    return (PROMPTS / rel).read_text()


def tool_wording(text, cli):
    """The prompts name Claude's image tool ("the Read tool"); Codex has none of that name, and OpenCode's is `read`."""
    for old, new in json.loads(read_prompt("image_tools.json")).get(cli, []):
        text = text.replace(old, new)
    return text


def render(contract, cli="claude", **values):
    """Exactly what the agent is told under a contract: (prompt.txt text, submitted text)."""
    entry = CONTRACTS[contract]
    if entry.get("words"):
        values = {**json.loads(read_prompt(entry["words"]))[values.pop("dimension")], **values}
    parts = {key: fill(read_prompt(rel), values) for key, rel in entry.get("parts", {}).items()}
    text = tool_wording("".join(fill(read_prompt(rel), {**values, **parts}) for rel in entry["prompt"]), cli)
    note = read_prompt(entry["runtime_note"]) if entry.get("runtime_note") else ""
    return text, text + note


def resume_text(done_seconds, left_seconds):
    left = round(left_seconds)
    return fill(read_prompt("resume.md"), {"done": round(done_seconds / 60), "left": round(left / 60), "seconds": f"{left:,}"})


def cli_version(cli):
    """The installed version of a host-mounted CLI, or the pinned one."""
    if "version" in CLIS[cli]:
        return CLIS[cli]["version"]
    binary = str(Path.home() / ".local/bin/claude")
    try:
        return subprocess.run([binary, "--version"], capture_output=True, text=True, timeout=30).stdout.strip() or None
    except (OSError, TypeError, subprocess.SubprocessError):
        return None


def cli_record(cli, model, config_dir=None):
    """What run.json records about the agent CLI: name, version, binary, tools, hosts, the login folder and, for OpenCode,
    whether the model was measured to see images through its read tool (None: not measured)."""
    entry = {"cli": cli, **CLIS[cli], "version": cli_version(cli), "model": model}
    if cli == "claude":
        entry["config_dir"] = str(config_dir) if config_dir else "~/.claude"
    if cli == "opencode":
        entry["image_input"] = OPENCODE_IMAGE_INPUT.get(model)
    return entry

	"""One agent contract per track and engine: what the agent is given, what it never sees, what it hands back, under which
	budget, image and engine, and the exact words it is told (the files under prompts/).

	A contract has a name and no version. Its identity is the sha256 of its content: this record, every prompt file it
	renders and every file it stages into the container (self-check, checker tools). Any change to any of them is a new
	hash, recorded in each run's run.json. docs/generation.md has the table.
	"""
	from functools import cache
	import hashlib
	import json
	from pathlib import Path
	import re
	import subprocess

	from ..common.io import BENCHMARK

	HERE = Path(__file__).resolve().parent
	PROMPTS, RUNTIME = HERE / "prompts", HERE / "runtime"
	EVALUATION = HERE.parent / "evaluation" # simready.evaluation; its checker files are staged into the container as they are

	ENGINES = {"mujoco": "MuJoCo", "isaac": "Isaac Sim"}
	ENGINE_VERSIONS = {"mujoco": "4.0.0", "isaac": "6.2.0"}
	# Generation images (runtime/Dockerfile, runtime/Dockerfile.isaac): the engine plus headless Blender, pinned by version and sha256
	# (runtime/install_blender.sh), the pinned OpenCode CLI and, for MuJoCo, the packages of runtime/requirements-tools.txt.
	IMAGES = {"mujoco": "simready-generation:latest", "isaac": "simready-isaac-generation:latest"}
	BLENDER_VERSION = "5.2.3"

	# The only hosts a generation container reaches, through the egress proxy: the CLIs' model API and login, and OpenCode's two
	# web-search services (Claude's and Codex's web search runs on the provider's side). Found by logging every tunnel of a Claude,
	# a Codex and an OpenCode session, web search included. Left out: telemetry, Codex's content hosts and the npm registry
	# OpenCode tries to install a plugin package from (it runs without it).
	OPENCODE_HOSTS = ("opencode.ai", "mcp.exa.ai", "search.parallel.ai")
	EGRESS_HOSTS = ("api.anthropic.com", "platform.claude.com", "chatgpt.com", "auth.openai.com") + OPENCODE_HOSTS

	# Claude Code is mounted from the host. Codex and OpenCode are installed in both images,
	# pinned by version and sha256 (runtime/install_codex.sh and runtime/install_opencode.sh).
	CLIS = {
	"claude": {"name": "Claude Code", "binary": "host ~/.local/bin/claude, mounted read-only",
	"login": "<config dir>/.credentials.json (default ~/.claude; --claude-config-dir)",
	"tools": "every tool but WebFetch (--disallowedTools WebFetch); WebSearch runs on Anthropic's side",
	"hosts": ["api.anthropic.com", "platform.claude.com"]},
	"codex": {"name": "Codex CLI", "version": "0.167.0", "binary": "/opt/codex/bin/codex in both generation images",
	"binary_sha256": "cdcb45aaa01d0f14e298985e09465aebccd47f64ecd298aea44814af7b62bbda", "login": "~/.codex/auth.json",
	"tools": 'every tool, web_search="live", browser features off', "hosts": ["chatgpt.com", "auth.openai.com"]},
	"opencode": {"name": "OpenCode", "version": "1.19.5", "binary": "/opt/opencode/bin/opencode in both generation images",
	"binary_sha256": "7df4e4136301f16589b0f30bf91a61380fca5f8ef22dd36570f5ebe1d4ec802c",
	"login": "host OpenCode V2 auth export/import API, or legacy ~/.local/share/opencode/auth.json", "billing": "subscription (OpenCode Go)",
	"tools": "every tool but webfetch (denied by its permission config, so not offered); websearch on (Exa or Parallel)",
	"hosts": list(OPENCODE_HOSTS)},
	}
	# Whether an OpenCode model's read tool passes images to it, measured with a probe PNG (described correctly by both).
	# A model not listed is recorded as not measured (None); the prompt is the same either way.
	OPENCODE_IMAGE_INPUT = {"opencode-go/kimi-k3.1-pro": True, "opencode-go/deepseek-v4.1-flash": True}
	ISOLATION = {"container": "Docker: read-only input (and tools), writable output and scratch, temporary credentials; no repository, "
	"benchmark ground truth or evaluator files",
	"network": "an internal network whose only exit is an HTTPS CONNECT proxy (runtime/egress_proxy.py)", "egress_hosts": list(EGRESS_HOSTS)}
	BUDGET = {"told": "the first of the session's cumulative budgets, in wall-clock seconds from container start",
	"resume": "each later budget resumes the same conversation for the rest of its time; each budget is its own run",
	"enforcement": "the runner kills the container at the deadline; the output as it stands is the result"}

	PROTOCOL = "the frozen protocol of the track and engine (data/benchmark/frozen/<track>/<engine>.json)"
	SCENE_INPUTS = ["video.mp4", "scale_anchor.json", "anchor_reference.png", "anchor_marked.png", "prompt.txt", "generation_spec.json", "self_check.py"]
	DEMO_WITHHELD = ["groundtruth/: the wrist video and its calibration, the stereo videos, the robot log (trajectory.h5), the end-state label, "
	"the measured ground truth", "camera serials and provenance/", PROTOCOL, "other runs"]
	DEMO_OUTPUTS = {"mujoco": ["scene.xml (bodies moved, target, table; only target when the table is the target)", "assets/", "objects.json", "README.md"],
	"isaac": ["scene.usda (/World/moved, /World/target, /World/table)", "objects.json", "README.md"]}
	DEMO_TOOLS = {"mujoco": {"check_package.py": "demos/check_mujoco.py", "mjcf_facts.py": "demos/mjcf_facts.py", "rules.py": "demos/rules.py"},
	"isaac": {"check_package.py": "demos/check_isaac.py", "usd_facts.py": "demos/usd_facts.py", "rules.py": "demos/rules.py"}}
	RIGID_OUTPUTS = {"mujoco": ["scene.xml (body object with a freejoint, ground plane)", "assets/", "objects.json", "README.md"],
	"isaac": ["scene.usda (object, PhysX scene, box ground)", "objects.json", "README.md"]}
	DEFORMABLE_OUTPUTS = {"mujoco": ["scene.xml (one flexcomp, dof full)", "assets/ (only if the flexcomp reads a mesh)", "README.md"],
	"isaac": ["scene.usda (/World/Object/Material)", "meta.json"]}
	DEFORMABLE_TOOLS = {"mujoco": {"check_package.py": "engines/mujoco/deformable_admission.py"},
	"isaac": {"check_package.py": "engines/isaac/container/deformable_check.py",
	"deformable_inspect.py": "engines/isaac/container/deformable_inspect.py"}}
	SCENE_OUTPUTS = {"mujoco": ["scene.xml", "assets/", "objects.json", "README.md", "refinement_log.json", "previews/"],
	"isaac": ["scene.usda", "build_scene.py", "objects.json", "render_preview.py", "preview.mp4", "interaction.mp4", "README.md", "refinement_log.json"]}
	SCENE_CHECK = {"mujoco": "python /work/input/self_check.py /work/output",
	"isaac": "/isaac-sim/python.sh /work/input/self_check.py --scene /work/output --out /tmp/self_check"}
	REFINEMENT = {"minimum_completed_rounds": 3, "minimum_reference_views": 6, "minimum_inspected_video_frames": 12, "final_validation_seconds": 90}


	def _contracts():
	found = {}
	for engine in ENGINES:
	found[f"scenes-{engine}"] = {
	"track": "scenes", "engine": engine, "inputs": SCENE_INPUTS + (["sdk_smoke.py"] if engine == "isaac" else []),
	"withheld": ["groundtruth/ (objects, cameras, task catalogs, object dynamics, interaction test) and its source tag",
	"provenance/ (source annotation, anchor selection)", PROTOCOL, "other runs"],
	"outputs": SCENE_OUTPUTS[engine], "self_check": SCENE_CHECK[engine], "refinement": REFINEMENT,
	"prompt": ["scenes/about_" + engine + ".md", "scenes/task.md", "scenes/self_check.md", "scenes/output_" + engine + ".md"],
	"runtime_note": "scenes/runtime_mujoco.md" if engine == "mujoco" else None,
	# The Isaac room self-check is the evaluator's passive-physics stage (it checks the stated requirements only).
	"files": {"input/self_check.py": "runtime/self_check_mujoco.py" if engine == "mujoco" else "evaluation:engines/isaac/container/isaac_physics.py",
	**({"input/sdk_smoke.py": "runtime/isaac_smoke.py"} if engine == "isaac" else {})}}
	found[f"objects-rigid-{engine}"] = {
	"track": "objects", "material": "rigid", "engine": engine, "inputs": ["object.json (name, category)", "photos/"],
	"withheld": ["groundtruth/ (size, mass, description, the reference scan)", "provenance/", PROTOCOL, "other reconstructions"],
	"outputs": RIGID_OUTPUTS[engine], "self_check": None, "refinement": None, "prompt": [f"objects_rigid/{engine}.md"], "files": {}}
	found[f"objects-deformable-{engine}"] = {
	"track": "objects", "material": "deformable", "engine": engine, "inputs": ["case.txt", "object_facts.json", "media_manifest.json", "media/"],
	"withheld": ["groundtruth/ (reference size and shape)", "provenance/", PROTOCOL + " (probe, workcell, fixtures, limits)", "other reconstructions"],
	"outputs": DEFORMABLE_OUTPUTS[engine], "refinement": None, "prompt": [f"objects_deformable/{engine}.md"], "words": "objects_deformable/words.json",
	"self_check": ("python /work/tools/check_package.py /work/output <2d\|3d>" if engine == "mujoco" else
	"/isaac-sim/python.sh /work/tools/check_package.py"),
	"files": {f"tools/{k}": "evaluation:" + v for k, v in DEFORMABLE_TOOLS[engine].items()}}
	found[f"demos-{engine}"] = {
	"track": "demos", "engine": engine, "inputs": ["instruction.txt", "ext1.mp4", "ext2.mp4", "timestamps.json",
	"cameras.json (both exterior poses and intrinsics)"],
	"withheld": DEMO_WITHHELD, "outputs": DEMO_OUTPUTS[engine], "refinement": None, "prompt": ["demos/task.md"],
	"parts": {"format": f"demos/format_{engine}.md"},
	"self_check": "python /work/tools/check_package.py" if engine == "mujoco" else "/isaac-sim/python.sh /work/tools/check_package.py",
	"files": {f"tools/{k}": "evaluation:" + v for k, v in DEMO_TOOLS[engine].items()}}
	for name, entry in found.items():
	entry.update(name=name, engine_version=ENGINE_VERSIONS[entry["engine"]], image=IMAGES[entry["engine"]], blender_version=BLENDER_VERSION,
	budget=BUDGET, isolation=ISOLATION, protocol=f"data/benchmark/frozen/{entry['track']}/{entry['engine']}.json")
	return found


	CONTRACTS = _contracts()


	def contract_name(track, engine, material=None):
	name = f"{track}-{material}-{engine}" if track == "objects" else f"{track}-{engine}"
	if name not in CONTRACTS:
	raise KeyError(f"No contract for {track} {material or ''} {engine}")
	return name


	def source(reference):
	"""The file a contract's `files` entry names: runtime/... in this package, evaluation:... in simready.evaluation."""
	return EVALUATION / reference.removeprefix("evaluation:") if reference.startswith("evaluation:") else HERE / reference


	def missing_files(name):
	return [ref for ref in CONTRACTS[name]["files"].values() if not source(ref).is_file()]


	def prompt_files(name):
	entry = CONTRACTS[name]
	return sorted({entry["prompt"], entry.get("parts", {}).values(), *filter(None, [entry.get("runtime_note"), entry.get("words")]),
	"resume.md", "image_tools.json"})


	@cache
	def _digest(name, stamp):
	h = hashlib.sha256(json.dumps(CONTRACTS[name], sort_keys=True).encode())
	for rel in prompt_files(name):
	h.update(f"\0prompts/{rel}\0".encode() + (PROMPTS / rel).read_bytes())
	for target, ref in sorted(CONTRACTS[name]["files"].items()):
	path = source(ref)
	h.update(f"\0{target}\0".encode() + (path.read_bytes() if path.is_file() else b"<missing>"))
	return h.hexdigest()


	def sha256(name):
	"""The contract's identity: its record, its prompt files and its staged files."""
	files = [PROMPTS / rel for rel in prompt_files(name)] + [source(ref) for ref in CONTRACTS[name]["files"].values()]
	return _digest(name, tuple(p.stat().st_mtime_ns if p.is_file() else 0 for p in files))


	def record(name):
	"""What run.json records about the contract a run was generated under."""
	entry = CONTRACTS[name]
	protocol = BENCHMARK / "frozen" / entry["track"] / f"{entry['engine']}.json"
	keep = ("track", "material", "engine", "engine_version", "image", "blender_version", "inputs", "withheld", "outputs", "self_check",
	"budget", "refinement", "isolation")
	return {"name": name, "sha256": sha256(name), **{k: entry[k] for k in keep if k in entry},
	"protocol": {"file": entry["protocol"], "sha256": _file_sha(protocol) if protocol.is_file() else None}}


	def _file_sha(path):
	return hashlib.sha256(Path(path).read_bytes()).hexdigest()


	# ---------------------------------------------------------------- the words

	PLACEHOLDER = re.compile(r"\{\{([a-z_]+)\}\}")


	def fill(text, values):
	"""Replace every {{name}}; a name with no value is an error, so no placeholder reaches an agent."""
	def one(match):
	if match.group(1) not in values:
	raise KeyError(f"prompt placeholder {{{{{match.group(1)}}}}} has no value")
	return str(values[match.group(1)])
	return PLACEHOLDER.sub(one, text)


	def read_prompt(rel):
	return (PROMPTS / rel).read_text()


	def tool_wording(text, cli):
	"""The prompts name Claude's image tool ("the Read tool"); Codex has none of that name, and OpenCode's is `read`."""
	for old, new in json.loads(read_prompt("image_tools.json")).get(cli, []):
	text = text.replace(old, new)
	return text


	def render(contract, cli="claude", **values):
	"""Exactly what the agent is told under a contract: (prompt.txt text, submitted text)."""
	entry = CONTRACTS[contract]
	if entry.get("words"):
	values = {json.loads(read_prompt(entry["words"]))[values.pop("dimension")], values}
	parts = {key: fill(read_prompt(rel), values) for key, rel in entry.get("parts", {}).items()}
	text = tool_wording("".join(fill(read_prompt(rel), {values, parts}) for rel in entry["prompt"]), cli)
	note = read_prompt(entry["runtime_note"]) if entry.get("runtime_note") else ""
	return text, text + note


	def resume_text(done_seconds, left_seconds):
	left = round(left_seconds)
	return fill(read_prompt("resume.md"), {"done": round(done_seconds / 60), "left": round(left / 60), "seconds": f"{left:,}"})


	def cli_version(cli):
	"""The installed version of a host-mounted CLI, or the pinned one."""
	if "version" in CLIS[cli]:
	return CLIS[cli]["version"]
	binary = str(Path.home() / ".local/bin/claude")
	try:
	return subprocess.run([binary, "--version"], capture_output=True, text=True, timeout=30).stdout.strip() or None
	except (OSError, TypeError, subprocess.SubprocessError):
	return None


	def cli_record(cli, model, config_dir=None):
	"""What run.json records about the agent CLI: name, version, binary, tools, hosts, the login folder and, for OpenCode,
	whether the model was measured to see images through its read tool (None: not measured)."""
	entry = {"cli": cli, **CLIS[cli], "version": cli_version(cli), "model": model}
	if cli == "claude":
	entry["config_dir"] = str(config_dir) if config_dir else "~/.claude"
	if cli == "opencode":
	entry["image_input"] = OPENCODE_IMAGE_INPUT.get(model)
	return entry