Data and code for "Verifying virtual excavators for excavation automation: a readiness gate for hydraulic–multibody–DEM co-simulation"

This record contains the logged data and the Python code behind the article "Verifying virtual excavators for excavation automation: a readiness gate for hydraulic–multibody–DEM co-simulation" (Nguyen and Ahn, submitted to Automation in Construction). The study couples a Simcenter Amesim excavator plant, an Altair MotionSolve bucket and an Altair EDEM particle bed through the Functional Mock-up Interface (FMI 2.0). Faults were injected into the data exchanged between the solvers, and a readiness gate of interface-contract, same-run pose, power, wrench and material checks was applied to 115 logged runs. Contents:- code/: Python master (FMPy) and run scripts of every cohort; the checks C0–C5; the readiness gate G0–G4 (gate_v1.py) with negative tests (gate_tests.py); the synthetic fault-injection fixture (fixture_checks.py); the scripts that generate every number, table and figure of the article; the extraction of material classes from EDEM files.- dataE/: cohorts E to E6. For each run: logged plant signals, exchanged twist and wrench, plant bucket pose (CSV); material classes and EDEM bucket transforms at the stored states (CSV); end state of the material outside the bed (NPZ); run log with software versions and FMU parameters read back after initialisation (JSON).- data/, data2/, data3/: bed sample, bucket mesh and development cohorts used to set the pose thresholds and to document the DEM domain ceiling.- ledger/: run ledger, force factor of the interface contract for each run, and the command-selection protocol written before the selection runs.- results/E/: per-run metrics, gate verdicts and selection results.- figures/: all figures of the article. All numbers, tables and figures of the article can be regenerated from these files with Python (NumPy, pandas, SciPy, matplotlib, h5py); no commercial software is needed. See README.md. The operator-cycle runs (tags OPA_, OPR_) are in a separate record because they derive from data licensed under CC BY-NC-SA 4.0; download both records into one folder to regenerate every number. Rerunning the co-simulation requires Simcenter Amesim 2026.1, Altair MotionSolve and EDEM 2026.1 and FMPy 0.3.32. The plant FMU and the EDEM deck derive from licensed vendor material and are not included. Funding: National Research Foundation of Korea (NRF-RS-2026-25619102); ANCHOR program, Ulsan ANCHOR Center (2026-ANCHOR-07-001).