Add configurable simulation catalog, CAD import, and robot workflows

.gitignore

@@ -4,6 +4,7 @@ __pycache__/
 .pytest_cache/
 .ruff_cache/
 .mypy_cache/
+.cache/
 .coverage
 htmlcov/
 build/
@@ -13,7 +14,14 @@ ros2_ws/log/
 dist/
 *.egg-info/
 outputs/
+artifacts/
+log/
 .radcounter/
 *.log
+runtime/llm/bin/*/
+runtime/llm/models/*.gguf
+runtime/llm/logs/
+!runtime/llm/bin/.gitkeep
+!runtime/llm/models/.gitkeep
 .idea/
 .vscode/

AGENTS.md

@@ -0,0 +1,19 @@
+# RadCounterSim repository instructions
+
+## Surface sources and decontamination
+
+- Before creating or modifying a surface/planar source, its visualization, or a
+  decontamination workflow, read and follow
+  `docs/decontamination-authoring-rules.md`.
+- The August 6, 2026 irregular-source and wall-decontamination videos named in
+  that document are the canonical behavior and appearance references. Do not
+  substitute a tidy framed panel, a uniformly filled rectangle, or a small set
+  of hand-arranged polygons.
+- A change to surface-source generation or decontamination behavior is incomplete
+  unless the implementation, regression tests, and
+  `docs/decontamination-authoring-rules.md` are updated together. If behavior is
+  intentionally unchanged, the rule document need not be edited, but the change
+  must retain its invariants and tests.
+- Validation must operate on the same irregular activity-bearing geometry shown
+  to the user. Never decontaminate a hidden regular proxy while displaying an
+  unrelated irregular overlay.

README.md

@@ -38,6 +38,22 @@ and shared by rendering, PhysX collision, and Embree attenuation. Proprietary
 formats can use a no-shell external converter or an importer plugin. See
 `docs/environment-import.md`; CAD tessellation uses the `cad` uv group.
 
+Complete runtime compositions are selected independently from a system catalog:
+
+```bash
+uv run radcounter-system list
+uv run radcounter-system activate --profile fukushima-packbot
+radcounter-app
+uv run radcounter-system activate --profile vertical-slice
+```
+
+The Operations window exposes the same catalog as ordinary preset,
+environment, robot, and detector selectors, so no command or file path is
+required for normal switching. The LLM instruction area remains a separate
+robot-task control. The Fukushima Daiichi profile fetches the pinned CC BY 4.0
+SolidWorks source and converts it directly to USD on Linux with Isaac Sim's
+bundled HOOPS converter; see `docs/system-profiles.md`.
+
 The experiment command writes the required manifest, resolved configuration,
 JSONL events, Parquet tables, metrics, NPZ maps, snapshots directory, and HTML
 report under `outputs/<scenario>/<timestamp>_<run_id>/`.
@@ -62,6 +78,61 @@ Isaac Sim requires the user to review and accept NVIDIA's Omniverse EULA. The
 launch script never accepts it implicitly. After acceptance, launch with
 `OMNI_KIT_ACCEPT_EULA=YES ./scripts/run_isaac.sh`.
 
+## Articulated GUI workflow
+
+The GUI workflow loads NVIDIA's Clearpath Ridgeback + Franka Panda and Nova
+Carter assets. It drives real articulation and wheel joints, solves the
+seven-axis arm with Lula IK, closes the physical gripper before attaching a
+payload constraint, and performs contact-driven decontamination. Shield
+placement/correction, contaminated-drum relocation/disposal, and obstacle
+relocation all use the same base-arm-gripper sequence; operation-time USD pose
+teleports are prohibited.
+
+```bash
+export OMNI_KIT_ACCEPT_EULA=YES RADCOUNTER_HOST_ENV_NO_ROS=1
+source scripts/host_env.sh
+uv run --project "$RADCOUNTER_ISAAC_ROOT" --locked python scripts/run_gui.py
+```
+
+Use `--headless --no-keep-open --phase-hold-s 0` for a noninteractive gate. The
+complete public audit is written to `artifacts/gui-validation/latest.json`.
+The visible GUI is capped at 60 FPS by default to avoid consuming a full GPU
+while idle. Override it with `--max-fps 30`, or use `--max-fps 0` to remove the
+cap.
+
+The viewport keeps one active robot explicit in a top status bar and provides
+one-click follow/onboard views, a 12 FPS building overview, through-wall robot
+beacons, routes, targets, measurement locations, and contact-derived
+decontamination progress. Only the main viewport is rendered; selecting an
+onboard view switches that viewport instead of rendering every robot camera.
+See `docs/robot-monitoring.md`.
+
+## Local natural-language application
+
+The interactive application accepts English instructions, maps
+them to a strict allowlist, previews physical operations, and executes them
+through the existing workflow boundary. Release builds own a bundled
+`llama.cpp` sidecar and an official Qwen3-4B GGUF model; users do not install
+Ollama, PyTorch, or a Python inference SDK.
+
+Complex instructions can sequence up to 24 logical steps, tour every feasible
+measurement station, run bounded multi-pass irregular-surface decontamination
+against public removal/remaining/coverage conditions, and place then reposition
+physical shield panels at host-derived source-line fractions. Every physical
+attempt is revalidated against the live scene and remains confirmation-gated.
+
+```bash
+./scripts/build_llama_runtime.sh
+uv run python scripts/fetch_llm_model.py
+OMNI_KIT_ACCEPT_EULA=YES ./scripts/run_app.sh
+```
+
+Isaac Sim remains a user-installed prerequisite and is never redistributed by
+the OSS package. After initial setup, `radcounter-app` or the optional desktop
+entry launches the simulator and private local model as one application. See
+`docs/natural-language-control.md` for runtime layout, safety policy, hardware
+fallbacks, and packaging details.
+
 ## Safety boundary
 
 Estimator and planner APIs accept `BeliefState` and public observations only.

THIRD_PARTY_NOTICES.md

@@ -27,5 +27,35 @@ this repository unless a file explicitly states otherwise.
 - Python packages resolved by `uv.lock`: governed by each package's metadata
   and license files.
 
+## Optional packaged local-inference components
+
+Release packages may include these independently licensed components under
+`runtime/llm`. They are not stored in this Git repository.
+
+- llama.cpp, including `llama-server`: MIT License,
+  https://github.com/ggml-org/llama.cpp
+- Qwen3-4B and its official GGUF quantization: Apache License 2.0,
+  https://huggingface.co/Qwen/Qwen3-4B-GGUF
+
+The release packaging process pins and verifies both inputs. Their copyright,
+license, and notice files must accompany redistributed binaries and models.
+
+## Optional Fukushima Daiichi CAD environment
+
+The system catalog can fetch and import the independently distributed
+`Qualot/fukushima_daiichi_solidworks` generic Fukushima Daiichi CAD model.
+Neither its SolidWorks source nor derived USD assets are stored in this Git
+repository.
+
+- Project: https://github.com/Qualot/fukushima_daiichi_solidworks
+- Pinned integration revision: `f6541deb6159c5d908a4f028d021e3d2c9f7f8e8`
+- License: Creative Commons Attribution 4.0 International (CC BY 4.0)
+- Attribution: Qualot/fukushima_daiichi_solidworks contributors
+
+The fetch and Linux conversion scripts preserve source revision, license,
+attribution, converter metadata, and SHA-256 provenance. Anyone redistributing
+a derived USD, render, or other adaptation is responsible for retaining the CC BY 4.0
+attribution and indicating modifications.
+
 Users are responsible for reviewing and accepting the terms of external
 software before installing or running it.

configs/environment-converters/solidworks_to_usd.hoops.json

@@ -0,0 +1,28 @@
+{
+  "accurateSurfaceCurvatures": true,
+  "accurateTessellation": false,
+  "compositionStyle": 0,
+  "convertCurves": false,
+  "convertHidden": false,
+  "convertMetadata": true,
+  "convertPhysicsData": false,
+  "dedup": true,
+  "dMetersPerUnit": 0.0,
+  "filterStyle": 1,
+  "globalXforms": false,
+  "iUpAxis": 0,
+  "instancing": false,
+  "instancingStyle": 0,
+  "materialType": 1,
+  "omitHiddenOnLoad": true,
+  "physicsAccuracyLevel": 0.99,
+  "physicsUseGeometryOnRiBRep": false,
+  "reportProgress": true,
+  "reportProgressFreq": 4,
+  "sOptimizeConfig": "",
+  "tessLOD": 2,
+  "upAxis": 0,
+  "useMaterials": true,
+  "useNormals": true,
+  "viewLayerName": ""
+}

configs/environments/fukushima_daiichi_solidworks.yaml

@@ -0,0 +1,39 @@
+schema_version: "1.0"
+environment:
+  environment_id: fukushima-daiichi-generic-cad
+  uri: ../../.cache/external/fukushima_daiichi_solidworks/export/Building.usdc
+  format: usd
+  coordinate_system:
+    units: auto
+    # The SolidWorks-exported USD declares Y-up; let the importer read and
+    # normalize that metadata instead of relabelling the geometry as Z-up.
+    up_axis: auto
+    forward_axis: +X
+    handedness: right
+  scale: 1.0
+  # Put the authored -18 m lower operating floor at simulator Z=0 and keep
+  # the open CAD cut face next to the catalog's robot/work-surface anchors.
+  translation_world_m: [2.2, 0.0, 18.0]
+  rotation_world_rpy_deg: [0.0, 0.0, 0.0]
+  default_material_id: steel
+  material_rules:
+    - pattern: "*Building*"
+      material_id: concrete
+    - pattern: "*Structure*"
+      material_id: steel
+    - pattern: "*PCV*"
+      material_id: steel
+    - pattern: "*RPV*"
+      material_id: steel
+    - pattern: "*Pedestal*"
+      material_id: concrete
+  collision:
+    enabled: true
+    geometry_source: auto
+    approximation: triangle_mesh
+    show_collision_geometry: false
+  max_triangles: 8000000
+  cad_mesh_size_m: 0.10
+  cache_directory: ~/.cache/radcountersim/environments
+  streaming:
+    enabled: false

configs/robots/countermeasure_robot.yaml

@@ -1,16 +1,16 @@
 robot_id: countermeasure-robot-1
-reference_model_id: mhi-meister
-manufacturer: Mitsubishi Heavy Industries
-model: MEISTeR
-geometry_fidelity: reference_procedural
-source: https://www.mhi.com/business/products-services/energy-environment/nuclear-power-generation/robot-mechatronics/meister
-controller: mhi_meister_dual_arm_crawler
-asset: assets/robots/mhi_meister.xacro
+reference_model_id: clearpath-ridgeback-franka
+manufacturer: Clearpath Robotics / Franka Robotics
+model: Ridgeback + Franka Emika Panda
+geometry_fidelity: manufacturer_asset
+source: https://docs.isaacsim.omniverse.nvidia.com/latest/assets/usd_assets_robots.html
+controller: ridgeback_franka_lula_ik
+asset: /Isaac/Robots/Clearpath/RidgebackFranka/ridgeback_franka.usd
 articulation_root: /World/CountermeasureRobot
-base_dofs: 7
-arm_dofs: 14
-gripper_dofs: 4
-end_effector_frames: [left_tool0, right_tool0]
-decon_tool_path: /World/CountermeasureRobot/right_tool0
-maximum_payload_kg_per_arm: 15.0
-capabilities: [place_shield, move_object, remove_object, cut_obstacle, core_sample, suction_decontaminate, abrasive_blast_decontaminate]
+base_dofs: 3
+arm_dofs: 7
+gripper_dofs: 2
+end_effector_frames: [right_gripper, panda_hand]
+decon_tool_path: /World/CountermeasureRobot/panda_hand/RadCounterDeconTool/ContactPad
+maximum_payload_kg_per_arm: 3.0
+capabilities: [place_shield, move_shield, move_object, remove_object, contact_decontaminate]

configs/robots/fukushima_packbot_fleet.yaml

@@ -0,0 +1,34 @@
+schema_version: 1
+robots:
+  - id: packbot
+    uri: ../../assets/robots/packbot_fukushima.urdf
+    format: urdf
+    prim_path: /World/Robots/PackBot
+    robot_type: wheeled
+    fixed_base: false
+    collision_from_visuals: false
+    collision_type: Convex Hull
+    translation_m: [2.0, -1.0, 0.0]
+    reference:
+      model_id: irobot-packbot-fukushima
+      manufacturer: iRobot
+      model: PackBot, Fukushima Daiichi deployment configuration
+      source_urls:
+        - https://www.tepco.co.jp/en/nu/fukushima-np/f1-roadmap/images/11042801a-e.pdf
+      geometry_fidelity: reference_procedural
+      dimensions_m: [0.70, 0.53, 0.18]
+      mass_kg: 35.0
+    joint_groups:
+      - name: flippers
+        joint_names: [left_flipper_joint, right_flipper_joint]
+        mode: position
+      - name: sensor_head
+        joint_names: [mast_pan_joint, camera_tilt_joint]
+        mode: position
+    base_controller:
+      type: differential
+      joint_names: [left_track_joint, right_track_joint]
+      wheel_radius_m: 0.08
+      track_width_m: 0.41
+      maximum_linear_speed_m_s: 2.58
+      maximum_angular_speed_rad_s: 2.0

configs/robots/measurement_robot.yaml

@@ -1,16 +1,16 @@
 robot_id: measurement-robot-1
-reference_model_id: irobot-packbot-fukushima
-manufacturer: iRobot
-model: PackBot, Fukushima Daiichi deployment configuration
-geometry_fidelity: reference_procedural
-source: https://www.tepco.co.jp/en/nu/fukushima-np/f1-roadmap/images/11042801a-e.pdf
-controller: packbot_differential_crawler
-asset: assets/robots/packbot_fukushima.urdf
-articulation_root: /World/MeasurementRobot/base_link
-wheel_dof_names: [left_track_joint, right_track_joint]
-flipper_dof_names: [left_flipper_joint, right_flipper_joint]
-wheel_radius_m: 0.08
-wheel_base_m: 0.41
+reference_model_id: nvidia-nova-carter
+manufacturer: NVIDIA
+model: Nova Carter
+geometry_fidelity: manufacturer_asset
+source: https://docs.isaacsim.omniverse.nvidia.com/latest/assets/usd_assets_robots.html
+controller: nova_carter_differential_wheels
+asset: /Isaac/Robots/NVIDIA/NovaCarter/nova_carter.usd
+articulation_root: /World/MeasurementRobot/chassis_link
+wheel_dof_names: [joint_wheel_left, joint_wheel_right]
+flipper_dof_names: []
+wheel_radius_m: 0.14
+wheel_base_m: 0.413
 detector_id: omni-1
-detector_path: /World/MeasurementRobot/radiation_link/Detector
-detector_extrinsic_xyz_m: [0.03, 0.16, 0.41]
+detector_path: /World/MeasurementRobot/chassis_link/Detector
+detector_extrinsic_xyz_m: [0.0, 0.0, 0.72]