@hatiolab/figure-model 0.6.7 → 0.7.1

package/docs/prototypes/payload-fit.mjs

@@ -1,58 +0,0 @@
-// Bounded geometric inspection, not a load-bearing or collision-safety certificate.
-import {compileCapabilities} from './capability-plan.mjs'
-import {ContractError} from './typed-plan.mjs'
-const fail=(code,message)=>{throw new ContractError(code,'payload',message)}
-const dot=(a,b)=>a.reduce((s,v,i)=>s+v*b[i],0)
-const mv=(r,v)=>r.map(row=>dot(row,v))
-const local=(pose,p)=>[0,1,2].map(i=>pose.r.reduce((s,row,j)=>s+row[i]*(p[j]-pose.t[j]),0))
-const world=(pose,p)=>mv(pose.r,p).map((v,i)=>v+pose.t[i])
-function clip(poly,axis,bound,sign){
- const out=[]
- for(let i=0;i<poly.length;i++){
-  const a=poly[i],b=poly[(i+1)%poly.length],da=sign*(a[axis]-bound),db=sign*(b[axis]-bound),inside=da<=0,next=db<=0
-  if(inside)out.push(a)
-  if(inside!==next){const t=da/(da-db);out.push(a.map((v,j)=>v+t*(b[j]-v)))}
- }
- return out
-}
-function overlapArea(poly,width,depth){
- for(const [axis,bound,sign] of [[0,width/2,1],[0,-width/2,-1],[1,depth/2,1],[1,-depth/2,-1]])poly=clip(poly,axis,bound,sign)
- return Math.abs(poly.reduce((sum,p,i)=>{const q=poly[(i+1)%poly.length];return sum+p[0]*q[1]-q[0]*p[1]},0))/2
-}
-export function compilePayloadInspection(model,declaration){
- const plan=compileCapabilities(model,declaration)
- return {evaluate(input,payload){
-  const keys=['bindingId','type','occupied','dimensions','center','yawDeg']
-  if(!payload||typeof payload!=='object'||Array.isArray(payload)||Object.keys(payload).length!==keys.length||keys.some(k=>!Object.hasOwn(payload,k)))fail('SCHEMA','expected bindingId,type,occupied,dimensions,center,yawDeg')
-  if(typeof payload.bindingId!=='string')fail('SCHEMA','bindingId required')
-  for(const key of ['dimensions','center'])if(!Array.isArray(payload[key])||payload[key].length!==3||payload[key].some(v=>typeof v!=='number'||!Number.isFinite(v)))fail('PAYLOAD_DOMAIN','finite 3D vectors required')
-  if(payload.dimensions.some(v=>v<=0)||!Number.isFinite(payload.yawDeg))fail('PAYLOAD_DOMAIN','positive dimensions and finite yaw required')
-  // Explicit supported numeric envelope. Never silently clamp a larger asset.
-  if([...payload.dimensions,...payload.center].some(v=>Math.abs(v)>1e6)||Math.abs(payload.yawDeg)>360)fail('PAYLOAD_LIMIT','experimental envelope: 1e6 mm and yaw ±360 degrees')
-  const evaluation=plan.evaluate(input,{[payload.bindingId]:{type:payload.type,occupied:payload.occupied}})
-  const binding=evaluation.bindings.find(b=>b.id===payload.bindingId)
-  if(!binding)fail('TARGET_ABSENT',payload.bindingId)
-  const [w,h,d]=payload.dimensions,a=payload.yawDeg*Math.PI/180,c=Math.cos(a),s=Math.sin(a)
-  const rotate=([x,y,z])=>[c*x+s*z,y,-s*x+c*z].map((v,i)=>v+payload.center[i])
-  const bottom=[[-w/2,-h/2,-d/2],[w/2,-h/2,-d/2],[w/2,-h/2,d/2],[-w/2,-h/2,d/2]].map(rotate)
-  const corners=[...bottom,...bottom.map(v=>[v[0],v[1]+h,v[2]])]
-  const distanceToleranceMm=1e-6,areaToleranceMm2=1e-6
-  let containment={status:'unverified',reason:'NO_REGION'}
-  if(binding.region){const excess=Math.max(...corners.flatMap(p=>p.map((v,i)=>Math.abs(v)-binding.region.dimensions[i]/2)));containment={status:excess<=distanceToleranceMm?'satisfied':'failed',reason:excess<=distanceToleranceMm?'BOX_CONTAINED':'OUTSIDE_REGION',excessMm:Math.max(0,excess)}}
-  const up=mv(binding.pose.r,[0,1,0]),bottomWorld=bottom.map(p=>world(binding.pose,p))
-  const contacts=binding.contacts.map(surface=>{
-   const base={geometryId:surface.geometryId,feature:surface.feature}
-   if(binding.role!=='seat'||surface.provider!=='box'||surface.face!=='top')return {...base,status:'unverified',reason:'UNSUPPORTED_CONTACT_PAIR'}
-   if(Math.abs(dot(up,surface.normal)-1)>1e-9)return {...base,status:'unverified',reason:'NONPARALLEL_FACES'}
-   const geometry=evaluation.geometry.find(g=>g.id===surface.geometryId)
-   if(!geometry)fail('TARGET_ABSENT',surface.geometryId)
-   const points=bottomWorld.map(p=>local(surface.pose,p)),dim=geometry.shape.dimensions
-   const overlap=overlapArea(points.map(p=>[p[0],p[2]]),dim.width,dim.depth)
-   const minGap=Math.min(...points.map(p=>p[1])),maxGap=Math.max(...points.map(p=>p[1]))
-   const reason=overlap<=areaToleranceMm2?'NO_POSITIVE_CONTACT_AREA':minGap < -distanceToleranceMm?'PENETRATES_SUPPORT_PLANE':maxGap>distanceToleranceMm?'ABOVE_SUPPORT':'PLANAR_CONTACT'
-   return {...base,status:reason==='PLANAR_CONTACT'?'satisfied':'failed',reason,overlapAreaMm2:overlap,minGapMm:minGap,maxGapMm:maxGap}
-  })
-  const contactStatus=!contacts.length?'unverified':contacts.some(c=>c.status==='failed')?'failed':contacts.some(c=>c.status==='unverified')?'unverified':'satisfied'
-  return {evaluation,inspection:{bindingId:binding.id,method:'box-payload/box-top-v1',distanceToleranceMm,areaToleranceMm2,containment,contact:{status:contactStatus,surfaces:contacts},collision:{status:'unverified',reason:'GLOBAL_COLLISION_NOT_CHECKED'},stability:{status:'unverified',reason:'CENTER_OF_MASS_AND_FORCES_NOT_CHECKED'},safety:{status:'unverified',reason:'NOT_CHECKED'}}}
- }}
-}

package/docs/prototypes/payload-fit.test.mjs

@@ -1,59 +0,0 @@
-import {test} from 'node:test'
-import assert from 'node:assert/strict'
-import {compilePayloadInspection} from './payload-fit.mjs'
-import {forkliftBindings,robotBinding} from './capability-samples.mjs'
-import {defaults} from './full-forklift.mjs'
-import {defaults as robotDefaults} from './full-robot.mjs'
-const payload={bindingId:'load-low',type:'PALLET',occupied:0,dimensions:[620,100,850],center:[260,50,0],yawDeg:0}
-const plan=s=>compilePayloadInspection(s.model,s.declaration)
-const near=(a,b)=>assert.ok(Math.abs(a-b)<1e-5,`${a} != ${b}`)
-test('both physical fork surfaces support the payload through size/lift/reach/yaw states',()=>{
- const p=plan(forkliftBindings());let states=0
- for(const forkLength of [425,850,1700])for(const lift of [0,1000,2000])for(const reach of [0,200,400])for(const yawDeg of [-30,0,30]){
-  const q={...payload,dimensions:[620,100,forkLength],yawDeg},r=p.evaluate({...defaults,forkLength,lift,reach},q)
-  assert.equal(r.inspection.contact.status,'satisfied');assert.equal(r.inspection.containment.status,'unverified')
-  assert.equal(r.evaluation.geometry.length,20)
-  for(const c of r.inspection.contact.surfaces){near(c.minGapMm,0);near(c.maxGapMm,0);assert.ok(c.overlapAreaMm2>0);if(!yawDeg)near(c.overlapAreaMm2,90*forkLength)}
-  states++
- }
- console.log({payloadContactStates:states})
-})
-test('floating, penetration, missing one fork and zero-area edge touch fail explicitly',()=>{
- const p=plan(forkliftBindings())
- for(const [center,reason] of [[[260,51,0],'ABOVE_SUPPORT'],[[260,49,0],'PENETRATES_SUPPORT_PLANE'],[[0,50,0],'NO_POSITIVE_CONTACT_AREA'],[[-355,50,0],'NO_POSITIVE_CONTACT_AREA']]){
-  const r=p.evaluate(defaults,{...payload,center}).inspection
-  assert.equal(r.contact.status,'failed');assert.ok(r.contact.surfaces.some(c=>c.reason===reason))
-  if(center[0]===-355)assert.equal(r.contact.surfaces[0].overlapAreaMm2,0)
- }
- // Narrow object fits between the forks: no support, even though a broad region could contain it.
- const r=p.evaluate(defaults,{...payload,dimensions:[100,100,850]}).inspection;assert.ok(r.contact.surfaces.every(c=>c.reason==='NO_POSITIVE_CONTACT_AREA'))
-})
-test('containment checks all rotated box corners and does not imply support',()=>{
- const s=forkliftBindings();for(const [id,value] of [['regionW',1200],['regionH',400],['regionD',900]])s.model.constants.push({id,value,unit:'mm'})
- s.declaration.bindings[0].region={kind:'centered-box',dimensions:['regionW','regionH','regionD']}
- const p=plan(s),ok=p.evaluate(defaults,payload).inspection;assert.equal(ok.containment.status,'satisfied')
- const outside=p.evaluate(defaults,{...payload,yawDeg:45}).inspection;assert.equal(outside.containment.status,'failed')
- const floating=p.evaluate(defaults,{...payload,center:[260,60,0]}).inspection;assert.equal(floating.containment.status,'satisfied');assert.equal(floating.contact.status,'failed')
-})
-test('contact result invariant under shared rigid rotation; not a gravity stability proof',()=>{
- const original=plan(forkliftBindings()).evaluate(defaults,payload).inspection
- for(const angle of [-65,30,90]){
-  const s=forkliftBindings();s.model.constants.push({id:'tilt',value:angle,unit:'deg'});s.model.nodes.find(n=>n.id==='mastPose').args[5]='tilt'
-  const r=plan(s).evaluate({...defaults,lift:700,reach:120},payload).inspection
-  assert.equal(r.contact.status,'satisfied');r.contact.surfaces.forEach((c,i)=>near(c.overlapAreaMm2,original.contact.surfaces[i].overlapAreaMm2));assert.equal(r.stability.status,'unverified')
- }
-})
-test('contact never certifies global collision, eligibility or safety',()=>{
- const p=plan(forkliftBindings())
- // Height 500 crosses the upper fork level. Bottom contact remains correct, not globally safe.
- const r=p.evaluate(defaults,{...payload,type:'NOT_ACCEPTED',occupied:1,dimensions:[620,500,850],center:[260,250,0]})
- assert.equal(r.inspection.contact.status,'satisfied');assert.equal(r.evaluation.bindings[0].checks.eligibility.status,'failed')
- assert.equal(r.inspection.collision.status,'unverified');assert.equal(r.inspection.safety.status,'unverified')
- const robot=plan(robotBinding()).evaluate(robotDefaults,{...payload,bindingId:'tool-grip',type:'BOX'})
- assert.equal(robot.inspection.contact.status,'unverified')
-})
-test('invalid payloads reject and subsequent evaluations recover without model mutation',()=>{
- const s=forkliftBindings(),snapshot=structuredClone(s),p=plan(s),baseline=p.evaluate(defaults,payload)
- for(const change of [{dimensions:[0,1,1]},{center:[NaN,0,0]},{yawDeg:Infinity},{dimensions:[1e7,1,1]},{extra:1}])assert.throws(()=>p.evaluate(defaults,{...payload,...change}))
- assert.deepEqual(p.evaluate(defaults,payload),baseline);assert.deepEqual(s,snapshot)
-})

package/docs/prototypes/render-dryroom.py

@@ -1,60 +0,0 @@
-"""Software orthographic rendering of the actual generated triangle meshes.
-Input: JSON from dryroom-mesh.mjs on stdin. Requires Pillow, no product changes.
-Output path must be explicitly supplied. Not a screenshot of the product renderer.
-"""
-import json,sys,math
-import numpy as np
-from PIL import Image,ImageDraw,ImageFont
-data=json.load(sys.stdin)
-im=Image.new('RGB',(1440,1000),'#101923');draw=ImageDraw.Draw(im)
-font=ImageFont.truetype('/System/Library/Fonts/Helvetica.ttc',22)
-small=ImageFont.truetype('/System/Library/Fonts/Helvetica.ttc',17)
-title=ImageFont.truetype('/System/Library/Fonts/Helvetica.ttc',29)
-draw.text((30,20),'DRY ROOM / actual seed portal mesh',font=title,fill='white')
-draw.text((30,62),'Orthographic mesh render, not the application viewport. Original asset unchanged.',font=small,fill='#a9bdcc')
-for col,panel in enumerate(data['panels']):
-    x0=25+col*720
-    draw.text((x0,108),'BEFORE  |  bottom -60 mm' if col==0 else 'AFTER  |  bottom 0 mm',font=font,fill='#ffd189' if col==0 else '#85dfc7')
-    for zoom in [False,True]:
-        y0=155 if not zoom else 715
-        w,h=675,520 if not zoom else 215
-        canvas=Image.new('RGB',(w,h),'#192733');d=ImageDraw.Draw(canvas)
-        scale=.151 if not zoom else .235
-        def project(v):
-            x,y,z=v;z-=3050
-            return (w/2+(x+.40*z)*scale, (h-50 if not zoom else h-70)-y*scale+.16*z*scale)
-        pixels=np.full((h,w,3),(25,39,51),dtype=np.uint8)
-        zbuffer=np.full((h,w),-np.inf)
-        for part in panel['parts']:
-            for tri in part['triangles']:
-                a,b,c=tri
-                u=[b[i]-a[i] for i in range(3)];v=[c[i]-a[i] for i in range(3)]
-                normal=[u[1]*v[2]-u[2]*v[1],u[2]*v[0]-u[0]*v[2],u[0]*v[1]-u[1]*v[0]]
-                norm=math.sqrt(sum(x*x for x in normal))
-                illumination=.58+.42*abs(sum(x*y for x,y in zip(normal,[.3,.4,.866]))/norm)
-                base=(51,184,176) if part['id']=='placedPortal' else (245,185,60)
-                color=tuple(int(x*illumination) for x in base)
-                poly=[project(v) for v in tri]
-                (ax,ay),(bx,by),(cx,cy)=poly
-                den=(by-cy)*(ax-cx)+(cx-bx)*(ay-cy)
-                if abs(den)<1e-9:continue
-                loX=max(0,math.floor(min(v[0] for v in poly)));hiX=min(w-1,math.ceil(max(v[0] for v in poly)))
-                loY=max(0,math.floor(min(v[1] for v in poly)));hiY=min(h-1,math.ceil(max(v[1] for v in poly)))
-                if loX>hiX or loY>hiY:continue
-                yy,xx=np.mgrid[loY:hiY+1,loX:hiX+1];xx=xx+.5;yy=yy+.5
-                wa=((by-cy)*(xx-cx)+(cx-bx)*(yy-cy))/den
-                wb=((cy-ay)*(xx-cx)+(ax-cx)*(yy-cy))/den;wc=1-wa-wb
-                depths=[v[2]-.40*v[0]+.16*v[1] for v in tri]
-                zz=wa*depths[0]+wb*depths[1]+wc*depths[2]
-                region=zbuffer[loY:hiY+1,loX:hiX+1]
-                mask=(wa>=-1e-8)&(wb>=-1e-8)&(wc>=-1e-8)&(zz>region)
-                region[mask]=zz[mask];pixels[loY:hiY+1,loX:hiX+1][mask]=color
-        canvas=Image.fromarray(pixels);d=ImageDraw.Draw(canvas)
-        # Reference line on front face plane; no opaque floor hiding the original protrusion.
-        a=project([-2000,0,3200]);b=project([2000,0,3200]);d.line([a,b],fill='#ff6b73',width=3)
-        d.text((12,h-28),'Y = 0  /  floor reference',font=small,fill='#ff9ba1')
-        if zoom:d.text((12,10),'BOTTOM DETAIL',font=small,fill='white')
-        im.paste(canvas,(x0,y0))
-    draw.text((x0,682),'Top 2900 mm / opening top 2200 mm / lamp unchanged',font=small,fill='#a9bdcc')
-draw.text((30,954),'Mesh checks: closed, oriented edges; 28 triangles per portal. Both inlet and outlet tested.',font=small,fill='#a9bdcc')
-im.save(sys.argv[1])

package/docs/prototypes/render-full-dryroom.mjs

@@ -1,86 +0,0 @@
-// Isolated browser experiment; never connects to the product server or edits assets.
-import {createServer} from 'node:http'
-import {readFile} from 'node:fs/promises'
-import {chromium} from '/Users/super/.cache/codex-runtimes/codex-primary-runtime/dependencies/node/node_modules/playwright/index.mjs'
-import {seed,defaults,evaluateFull,geometryOf,sourceGeometry} from './full-dryroom.mjs'
-import * as conveyor from './full-conveyor.mjs'
-import * as robot from './full-robot.mjs'
-import * as forklift from './full-forklift.mjs'
-import {forkliftBindings} from './capability-samples.mjs'
-import {compilePayloadInspection} from './payload-fit.mjs'
-import {compileCollisionInspection} from './payload-collision.mjs'
-const isConveyor=process.argv.includes('--conveyor')
-const isRobot=process.argv.includes('--robot')
-const isCollision=process.argv.includes('--collision')
-const isPayload=process.argv.includes('--payload')||isCollision
-const isForklift=process.argv.includes('--forklift')||isPayload
-const pack=(items)=>items.map(x=>({id:x.id,material:x.material,geometry:x.geometry.toJSON()}))
-const fromFigure=args=>pack(evaluateFull(args).map(x=>({...x,geometry:geometryOf(x)})))
-const robotPose={...robot.defaults,'base-pan':30,'shoulder-lift':-35,'elbow-flex':65,'wrist-pitch':-25,'wrist-yaw':40,'tool-roll':20,gripper:50}
-function payloadVariants(){
- const sample=forkliftBindings(),p=(isCollision?compileCollisionInspection:compilePayloadInspection)(sample.model,sample.declaration)
- const scenarios=isCollision?[['Clear placement',[260,50,75],620,100,700],['Upper forks penetrated',[260,250,75],620,500,700],['Floating',[260,200,75],620,100,700],['Curved body: unresolved',[260,343,-1485],50,50,50]]:[['Contact',[260,50,0],620],['Floating 150mm',[260,200,0],620],['Penetrates 20mm',[260,30,0],620],['Between forks: no contact',[260,50,0],100]]
- return scenarios.map(([title,center,width,height=100,depth=850])=>{
-  const q={bindingId:'load-low',type:'PALLET',occupied:0,dimensions:[width,height,depth],center,yawDeg:0},r=p.evaluate(forklift.defaults,q)
-  const b=r.evaluation.bindings[0],t=b.pose.r.map((row,j)=>b.pose.t[j]+row.reduce((v,x,i)=>v+x*center[i],0))
-  const placed={shape:{provider:'box',dimensions:{width,height,depth}},pose:{r:b.pose.r,t}}
-  return {title:title+' · contact '+r.inspection.contact.status+(isCollision?' / collision '+r.inspection.collision.status:''),parts:pack([...forklift.evaluateFull().map(x=>({...x,material:isCollision&&r.inspection.collision.pairs.some(p=>p.geometryId===x.id&&p.status==='failed')?{token:'palette.status-danger'}:x.material,geometry:forklift.geometryOf(x)})),{id:'payload',material:{token:'palette.accent'},geometry:forklift.geometryOf(placed)}])}
- })
-}
-const variants=isPayload?payloadVariants():isForklift?[
- {title:'Source seed · rest pose',parts:pack(forklift.seed.parts.map(p=>({id:p.name,material:p.material,geometry:forklift.sourceGeometry(p)})))},
- ...[
-  ['Figure · same rest pose',forklift.defaults],
-  ['Figure · lift 1000 / reach 200 / drive 37',{...forklift.defaults,lift:1000,reach:200,drive:37}],
-  ['Figure · longer forks / lift 2000 / reach 400',{forkLength:1275,lift:2000,reach:400,drive:73}]
- ].map(([title,args])=>({title,parts:pack(forklift.evaluateFull(args).map(x=>({...x,geometry:forklift.geometryOf(x)})))}))
-]:isRobot?[
- {title:'Source fixture · rest pose',parts:pack(robot.seed.parts.map(p=>({id:p.name,material:p.material??{token:'palette.neutral'},geometry:robot.sourceGeometry(p)})))},
- ...[
-  ['Figure · same rest pose',robot.defaults],
-  ['Figure · six joints + gripper',robotPose],
-  ['Figure · changed link lengths + same joints',{...robotPose,upperLength:630,foreLength:570}]
- ].map(([title,args])=>({title,parts:pack(robot.evaluateFull(args).map(x=>({...x,geometry:robot.geometryOf(x)})))}))
-]:isConveyor?[
- {title:'Source seed · overlapping end rollers',parts:pack(conveyor.sourceItems())},
- ...[
-  ['Figure · reserved end roller space',conveyor.defaults],
-  ['Figure · roller rotation 37 degrees',{...conveyor.defaults,angle:37}],
-  ['Figure · resized assembly',{length:3000,width:900,rollerHeight:700,angle:37}]
- ].map(([title,args])=>({title,parts:pack(conveyor.evaluateFull(args).map(x=>({...x,geometry:conveyor.geometryOf(x)})))}))
-]:[
-  {title:'Source seed · six parts',parts:pack(seed.parts.map(p=>({id:p.name,material:p.material,geometry:sourceGeometry(p)})))},
-  {title:'Figure · same dimensions',parts:fromFigure(defaults)},
-  {title:'Figure · portal bottom trimmed to floor',parts:fromFigure({...defaults,bottom:0})},
-  {title:'Figure · resized + lamps raised',parts:fromFigure({...defaults,width:4800,height:3600,depth:7200,bottom:0,lampLift:100})}
-]
-const html=`<!doctype html><meta charset="utf-8"><style>body{margin:0;background:#e9edf2;font:16px sans-serif;color:#17283b}main{display:grid;grid-template-columns:1fr 1fr;gap:12px;padding:12px}section{background:white;border-radius:8px;overflow:hidden}h3{margin:12px;font-size:16px}canvas{display:block;width:100%}p{margin:12px;font-size:12px}</style><main></main><script type="module">
-import * as T from '/three.module.js';
-const variants=${JSON.stringify(variants)};
-const palette={'palette.primary':'#154473','palette.accent':'#f79c40','palette.neutral':'#96989b','palette.dark':'#27292c','palette.light':'#d6d7d9','palette.surface':'#56585b','palette.status-danger':'#f61b30','palette.status-warning':'#e68d1a','palette.status-success':'#1cb648','palette.status-info':'#158bde'};
-window.results=[];window.pixels=[];
-for(const v of variants){
- const section=document.createElement('section');section.innerHTML='<h3>'+v.title+'</h3>';document.querySelector('main').append(section);
- const renderer=new T.WebGLRenderer({antialias:true,preserveDrawingBuffer:true});renderer.setSize(640,420);renderer.setClearColor('#f7f9fb');section.append(renderer.domElement);
- const scene=new T.Scene();scene.add(new T.HemisphereLight(0xffffff,0x687381,2));const light=new T.DirectionalLight(0xffffff,3);light.position.set(5000,9000,9000);scene.add(light);
- // Metal needs reflected illumination; a hemisphere light alone leaves it nearly black.
- const envCanvas=document.createElement('canvas');envCanvas.width=512;envCanvas.height=256;const ctx=envCanvas.getContext('2d');const grad=ctx.createLinearGradient(0,0,0,256);grad.addColorStop(0,'#ffffff');grad.addColorStop(.5,'#b8c4d4');grad.addColorStop(1,'#4e5c6b');ctx.fillStyle=grad;ctx.fillRect(0,0,512,256);ctx.fillStyle='#ffffff';ctx.fillRect(70,30,90,80);const envTex=new T.CanvasTexture(envCanvas);envTex.colorSpace=T.SRGBColorSpace;const pmrem=new T.PMREMGenerator(renderer);scene.environment=pmrem.fromEquirectangular(envTex).texture;
- for(const p of v.parts){const m=p.material,e=m.emissive;const color=palette[e?.on?e.token:m.token]??'#96989b';const mat=new T.MeshStandardMaterial({color,metalness:m.preset==='metal'?1:0,roughness:m.preset==='rubber'?.9:m.preset==='metal'?.3:.4,flatShading:true,transparent:!!m.transparent,emissive:e?.on?color:0,emissiveIntensity:e?.on?e.intensity:0});scene.add(new T.Mesh(new T.BufferGeometryLoader().parse(p.geometry),mat));}
- const camera=new T.PerspectiveCamera(38,640/420,1,50000);camera.position.set(...${JSON.stringify(isForklift?[5200,4200,6200]:isRobot?[2300,1900,2900]:isConveyor?[3000,2400,3300]:[10000,8000,13500])});camera.lookAt(0,${isForklift?1250:isRobot?750:isConveyor?350:1300},0);renderer.render(scene,camera);
- const gl=renderer.getContext(),px=new Uint8Array(640*420*4);gl.readPixels(0,0,640,420,gl.RGBA,gl.UNSIGNED_BYTE,px);window.pixels.push(px);
- window.results.push({title:v.title,calls:renderer.info.render.calls,triangles:renderer.info.render.triangles});
- section.insertAdjacentHTML('beforeend','<p>'+renderer.info.render.calls+' draw calls / '+renderer.info.render.triangles+' triangles · identical camera</p>');
-}
-let different=0,max=0;for(let i=0;i<pixels[0].length;i++){const d=Math.abs(pixels[0][i]-pixels[1][i]);if(d)different++;max=Math.max(max,d)}window.comparison={differentChannels:different,maxChannelDifference:max};window.ready=true;
-</script>`
-const server=createServer(async(req,res)=>{try{if(req.url==='/'){res.setHeader('Content-Type','text/html');res.end(html)}else if(['/three.module.js','/three.core.js'].includes(req.url)){res.setHeader('Content-Type','text/javascript');res.end(await readFile(new URL('../../../things-scene/node_modules/three/build'+req.url,import.meta.url)))}else{res.statusCode=404;res.end()}}catch(e){res.statusCode=500;res.end(String(e))}})
-await new Promise(r=>server.listen(0,'127.0.0.1',r));let browser
-try{
- browser=await chromium.launch({headless:true,executablePath:'/Applications/Google Chrome.app/Contents/MacOS/Google Chrome'});
- const page=await browser.newPage({viewport:{width:1328,height:990},deviceScaleFactor:1});const errors=[];page.on('pageerror',e=>errors.push(String(e)));
- await page.goto('http://127.0.0.1:'+server.address().port);await page.waitForFunction(()=>window.ready);
- const screenshot='/private/tmp/figure-full-'+(isCollision?'collision':isPayload?'payload':isForklift?'forklift':isRobot?'robot':isConveyor?'conveyor':'dryroom')+'.png';
- await page.screenshot({path:screenshot,fullPage:true});
- console.log(JSON.stringify({...await page.evaluate(()=>({results:window.results,comparison:window.comparison})),errors,screenshot},null,2));
- if(errors.length)process.exitCode=1;
-}finally{await browser?.close();server.close()}

package/docs/prototypes/repeated-binding.mjs

@@ -1,13 +0,0 @@
-import {fullModel} from './full-conveyor.mjs'
-export function repeatedBinding(){
- const model=fullModel()
- model.inputs.push({id:'selectedIndex',unit:'count',min:0,max:100,role:'design'})
- model.nodes.push(
-  {id:'selectedRoller',op:'select-item@1',args:['rollers','selectedIndex'],outputs:{placed:'selectedRoller'},params:{member:'rollerPlaced'}},
-  {id:'rollerEnd',op:'feature@1',args:['rollerShape'],outputs:{pose:'rollerEnd'},params:{frame:'rollerEndFrame',name:'end'}}
- )
- const target={placement:'selectedRoller',feature:'rollerEnd'}
- // Illustrative binding for reference testing, not an asserted industrial roller use case.
- const declaration={version:'r3-capability-3',assetFrame:'world',bindings:[{id:'selected-end',label:'선택한 롤러 끝면',role:'grip',frame:'rollerEndFrame',pose:target,contacts:[{...target}],accepts:['TEST_FIXTURE'],capacity:1}]}
- return {model,declaration}
-}

package/docs/prototypes/repeated-binding.test.mjs

@@ -1,46 +0,0 @@
-import {test} from 'node:test'
-import assert from 'node:assert/strict'
-import {repeatedBinding} from './repeated-binding.mjs'
-import {compileCapabilities} from './capability-plan.mjs'
-import {compileDocument,parseDocument,serializeDocument} from './document.mjs'
-import {defaults} from './full-conveyor.mjs'
-import Ajv from '../../../things-factory/node_modules/ajv/lib/ajv.js'
-import fs from 'node:fs'
-const near=(a,b)=>assert.ok(Math.abs(a-b)<1e-7)
-const args={...defaults,selectedIndex:13}
-test('whole conveyor: selected occurrence follows dimensions and motion without another mesh',()=>{
- const s=repeatedBinding(),p=compileCapabilities(s.model,s.declaration);let states=0
- for(const length of [2400,2550,4800])for(const width of [400,600,1200])for(const angle of [-90,0,37,90]){
-  const r=p.evaluate({...args,length,width,angle}),b=r.bindings[0],item=r.geometry.find(g=>g.id===b.targetGeometryId)
-  assert.equal(item.index,13);assert.equal(item.key,'rollerPlaced');assert.equal(b.contacts[0].geometryId,item.id)
-  assert.equal(r.geometry.length,16+1+Math.floor((length-386)/150))
-  near(b.pose.t[0],item.pose.t[0]);near(b.pose.t[1],500);near(b.pose.t[2],(width-80)/2)
-  b.contacts[0].normal.forEach((v,i)=>near(v,[0,0,1][i]));states++
- }
- console.log({repeatedBindingStates:states})
-})
-test('shrink deletes selected occurrence: fail atomically, no nearest fallback, regrow restores id',()=>{
- const s=repeatedBinding(),p=compileCapabilities(s.model,s.declaration),before=p.evaluate(args)
- assert.throws(()=>p.evaluate({...args,length:2335.999}),e=>e.code==='TARGET_ABSENT')
- const boundary=p.evaluate({...args,length:2336});assert.equal(boundary.bindings[0].targetGeometryId,before.bindings[0].targetGeometryId)
- assert.deepEqual(p.evaluate(args),before)
- const changed=p.evaluate({...args,selectedIndex:0});assert.notEqual(changed.bindings[0].targetGeometryId,before.bindings[0].targetGeometryId)
- assert.throws(()=>p.evaluate({...args,selectedIndex:100}),e=>e.code==='TARGET_ABSENT')
-})
-test('reference origin rejects foreign feature/member, animated index, wrong binding frame',()=>{
- for(const [code,edit] of [
-  ['SURFACE_OWNER',s=>s.model.nodes.find(n=>n.id==='rollerEnd').args[0]='roller-headShape'],
-  ['SURFACE_PROVENANCE',s=>s.model.nodes.find(n=>n.id==='selectedRoller').params.member='deckPlaced'],
-  ['TARGET_STATE',s=>s.model.inputs.find(i=>i.id==='selectedIndex').role='state'],
-  ['FRAME_TYPE',s=>s.declaration.bindings[0].frame='wrong']
- ]){const s=repeatedBinding();edit(s);assert.throws(()=>compileCapabilities(s.model,s.declaration),e=>e.code===code)}
-})
-test('schema/serialization/reorder preserve occurrence identity and deletion behavior',()=>{
- const s=repeatedBinding(),doc={version:'figure-prototype-1',model:s.model,capabilities:s.declaration}
- const validate=new Ajv().compile(JSON.parse(fs.readFileSync(new URL('./document.schema.json',import.meta.url))))
- assert.ok(validate(doc),JSON.stringify(validate.errors))
- const restored=parseDocument(serializeDocument(doc));restored.model.nodes.reverse()
- const a=compileDocument(doc).evaluate(args),b=compileDocument(restored).evaluate(args)
- assert.deepEqual(a.bindings,b.bindings);assert.equal(a.geometry.length,b.geometry.length)
- assert.throws(()=>compileDocument(restored).evaluate({...args,length:900}),e=>e.code==='TARGET_ABSENT')
-})

package/docs/prototypes/runtime-browser.mjs

@@ -1,76 +0,0 @@
-// Run npm run build first. Exercises emitted ESM in Chrome, not a Node polyfill.
-import {readFile} from 'node:fs/promises'
-import assert from 'node:assert/strict'
-import {sampleAsset} from './asset-samples.mjs'
-import {compileFigureGraph} from '../../src/graph.ts'
-import {compileFigureAsset} from '../../src/asset.ts'
-import {chromium} from '/Users/super/.cache/codex-runtimes/codex-primary-runtime/dependencies/node/node_modules/playwright/index.mjs'
-const url=source=>'data:text/javascript;base64,'+Buffer.from(source).toString('base64')
-const contract=url(await readFile(new URL('../../dist/contract.js',import.meta.url),'utf8'))
-const source=await readFile(new URL('../../dist/json.js',import.meta.url),'utf8')
-assert.ok(source.includes('./contract.js'))
-const entry=url(source.replace('./contract.js',contract))
-const graphSource=await readFile(new URL('../../dist/graph.js',import.meta.url),'utf8')
-const graphEntry=url(graphSource.replace('./contract.js',contract))
-const modules=new Map()
-async function moduleUrl(name){
- if(modules.has(name))return modules.get(name)
- assert.match(name,/^[a-z-]+\.js$/)
- let code=await readFile(new URL('../../dist/'+name,import.meta.url),'utf8')
- for(const match of [...code.matchAll(/from ['"]\.\/([a-z-]+\.js)['"]/g)]){
-  code=code.replace(match[0],'from '+JSON.stringify(await moduleUrl(match[1])))
- }
- const entry=url(code);modules.set(name,entry);return entry
-}
-const assetEntry=await moduleUrl('asset.js')
-const workspaceEntry=await moduleUrl('editor-workspace.js')
-const createEntry=await moduleUrl('create.js')
-const browser=await chromium.launch({headless:true,executablePath:'/Applications/Google Chrome.app/Contents/MacOS/Google Chrome'})
-try{
- const page=await browser.newPage()
- const result=await page.evaluate(async entry=>{
-  const module=await import(entry)
-  const value=module.parseFigureJson('{"name":"드라이룸 😀"}')
-  let duplicate
-  try{module.parseFigureJson('{"a":1,"\\u0061":2}')}catch(e){duplicate=e.code}
-  return {buffer:typeof globalThis.Buffer,process:typeof globalThis.process,value,bytes:module.figureUtf8ByteLength('드라이룸 😀'),duplicate}
- },entry)
- assert.deepEqual(result,{buffer:'undefined',process:'undefined',value:{name:'드라이룸 😀'},bytes:17,duplicate:'JSON_DUPLICATE_KEY'})
- console.log(JSON.stringify(result,null,2))
- for(const kind of ['dryroom','conveyor','robot','forklift']){
-  const asset=sampleAsset(kind),model=asset.document.model,inputs={...asset.designInputs,...asset.stateDefaults}
-  const expected=compileFigureGraph(model).evaluate(inputs)
-  const actual=await page.evaluate(async({entry,model,inputs})=>(await import(entry)).compileFigureGraph(model).evaluate(inputs),{entry:graphEntry,model,inputs})
-  // JSON normalizes -0 across the browser transport, not meaningful to the geometry contract.
-  assert.deepEqual(JSON.parse(JSON.stringify(actual)),JSON.parse(JSON.stringify(expected)))
-  console.log(kind+': browser/server values and geometry match; '+actual.geometry.length+' meshes')
-  const restored=await page.evaluate(async({entry,text})=>{const m=await import(entry);return m.compileFigureAsset(m.parseFigureAsset(text)).evaluate()},{entry:assetEntry,text:JSON.stringify(asset)})
-  assert.deepEqual(JSON.parse(JSON.stringify(restored)),JSON.parse(JSON.stringify(compileFigureAsset(asset).evaluate())))
-  console.log(kind+': serialized asset, materials, palette and capability bindings match')
- }
- const editing=await page.evaluate(async({entry,forklift,robot})=>{
-  const w=(await import(entry)).createFigureEditorWorkspace(),first=w.open(forklift)
-  const edit=(revision,value)=>({context:first.context,origin:'ai',expectedRevision:revision,changes:[{kind:'set-design',input:'forkLength',unit:'mm',value}]})
-  const before=w.read();w.preview(edit(0,1275));const previewUnchanged=JSON.stringify(w.read())===JSON.stringify(before)
-  w.apply(edit(0,1275));const pending=w.export({context:first.context});w.apply(edit(1,1500))
-  let staleSave;try{w.acknowledgeSaved(pending)}catch(e){staleSave=e.code}
-  w.undo({context:first.context,origin:'ui',expectedRevision:2});w.redo({context:first.context,origin:'ui',expectedRevision:3})
-  const revision=w.read().revision,snapshot=w.export({context:first.context});w.acknowledgeSaved(snapshot)
-  const next=w.open(robot);let staleEdit;try{w.apply(edit(0,1000))}catch(e){staleEdit=e.code}
-  w.open(snapshot.text);const restored=w.read().fields.find(f=>f.id==='forkLength').value
-  return {previewUnchanged,staleSave,revision,robotMeshes:next.geometry.length,staleEdit,restored,empty:w.close().geometry.length}
- },{entry:workspaceEntry,forklift:JSON.stringify(sampleAsset('forklift')),robot:JSON.stringify(sampleAsset('robot'))})
- assert.deepEqual(editing,{previewUnchanged:true,staleSave:'REVISION_CONFLICT',revision:4,robotMeshes:10,staleEdit:'CONTEXT_CONFLICT',restored:1500,empty:0})
- console.log(JSON.stringify({browserWorkspace:editing},null,2))
- const authored=await page.evaluate(async({createEntry,assetEntry,workspaceEntry})=>{
-  const c=await import(createEntry),a=await import(assetEntry),w=(await import(workspaceEntry)).createFigureEditorWorkspace()
-  const empty=c.createFigureAsset('New Figure'),emptyCount=a.compileFigureAsset(empty).evaluate().geometry.length
-  const model=c.addFigureBox(empty,{id:'gate',size:{x:800,y:2000,z:100},position:{x:0,y:1000,z:0}})
-  const opened=w.open(a.serializeFigureAsset(model))
-  w.apply({context:opened.context,origin:'ui',expectedRevision:0,changes:[{kind:'set-design',input:'gate.size.y',unit:'mm',value:1500}]})
-  const saved=w.export({context:opened.context}),restored=a.compileFigureAsset(a.parseFigureAsset(saved.text)).evaluate()
-  return {emptyCount,parts:restored.geometry.length,height:restored.geometry[0].shape.dimensions.height}
- },{createEntry,assetEntry,workspaceEntry})
- assert.deepEqual(authored,{emptyCount:0,parts:1,height:1500})
- console.log(JSON.stringify({newFigureAuthoring:authored}))
-}finally{await browser.close()}

package/docs/prototypes/samples.test.mjs

@@ -1,144 +0,0 @@
-// Read-only design probes against checked-in product samples. NOT a renderer.
-import fs from 'node:fs'
-import { createHash } from 'node:crypto'
-import assert from 'node:assert/strict'
-import { test } from 'node:test'
-import { repeatPlanOfPart } from '../../src/sizing.ts'
-
-const actualSeedURL = new URL('../../../operato-application/packages/operato-figure/server/seed/figure-samples.json', import.meta.url)
-const actualRobotURL = new URL('../../src/fixtures/robot-arm-6dof.json', import.meta.url)
-const samples = JSON.parse(fs.readFileSync(actualSeedURL))
-const robot = JSON.parse(fs.readFileSync(actualRobotURL))
-const source = type => samples.find(s => s.type === type).source
-const part = (s, name) => s.parts.find(p => p.name === name)
-const vec = v => [v.x, v.y, v.z]
-const plus = (a,b) => a.map((x,i) => x+b[i])
-const minus = (a,b) => a.map((x,i) => x-b[i])
-const near = (a,b) => assert.ok(Math.abs(a-b)<1e-8, `${a} != ${b}`)
-const same = (a,b) => a.forEach((x,i) => near(x,b[i]))
-const dot = (a,b) => a.reduce((s,x,i)=>s+x*b[i],0)
-const I = [[1,0,0],[0,1,0],[0,0,1]]
-const mv = (r,v) => r.map(row=>dot(row,v))
-const mm = (a,b) => a.map(row=>[0,1,2].map(i=>dot(row,b.map(r=>r[i]))))
-const apply = (f,p) => plus(mv(f.r,p),f.t)
-const compose = (a,b) => ({r:mm(a.r,b.r),t:apply(a,b.t)})
-function rotation(axis, degrees) {
-  const [x,y,z] = axis, c=Math.cos(degrees*Math.PI/180),s=Math.sin(degrees*Math.PI/180),k=1-c
-  near(dot(axis,axis),1)
-  return [[c+x*x*k,x*y*k-z*s,x*z*k+y*s],[y*x*k+z*s,c+y*y*k,y*z*k-x*s],[z*x*k-y*s,z*y*k+x*s,c+z*z*k]]
-}
-// One affine evaluator used for derived positions; cycles and duplicate writers rejected.
-function evaluate(defs, inputs) {
-  const values={...inputs}, active=new Set()
-  assert.ok(!Object.keys(defs).some(k=>k in inputs))
-  function visit(k) {
-    if(k in values)return values[k]
-    assert.ok(k in defs && !active.has(k), `unknown or cycle: ${k}`)
-    active.add(k)
-    const [constant,terms]=defs[k]
-    values[k]=constant+Object.entries(terms).reduce((s,[ref,c])=>s+c*visit(ref),0)
-    assert.ok(Number.isFinite(values[k]));active.delete(k);return values[k]
-  }
-  Object.keys(defs).forEach(visit);return values
-}
-
-test('record actual input provenance; seed catalogue plus separate robot fixture', () => {
-  console.log(JSON.stringify({sources:[actualSeedURL,actualRobotURL].map(url=>({path:url.pathname,sha256:createHash('sha256').update(fs.readFileSync(url)).digest('hex')})),catalogue:samples.map(s=>({type:s.type,parts:s.source.parts.length})),robotParts:robot.parts.length}))
-  for(const s of [...samples.map(s=>s.source),robot]) {
-    assert.equal(new Set(s.parts.map(p=>p.name)).size,s.parts.length)
-    for(const p of s.parts) if(p.parent)assert.ok(part(s,p.parent))
-  }
-})
-
-test('robot: relative rest frames reproduce source; all six pivots remain shared under combined poses', () => {
-  const states=[Object.fromEntries(robot.joints.map(j=>[j.name,0]))]
-  for(let n=0;n<31;n++) states.push(Object.fromEntries(robot.joints.map((j,i)=>[j.name,(j.limits?.min??-360)+((n*(i+1)%31)/30)*((j.limits?.max??360)-(j.limits?.min??-360))])))
-  let checks=0
-  for(const q of states) {
-    const frames={}
-    for(const p of robot.parts) {
-      const parent=p.parent?frames[p.parent]:{r:I,t:[0,0,0]}
-      const parentRest=p.parent?vec(part(robot,p.parent).transform.position):[0,0,0]
-      const offset=minus(vec(p.transform.position),parentRest)
-      const rest=compose(parent,{r:I,t:offset})
-      const j=robot.joints.find(j=>j.child===p.name)
-      let motion={r:I,t:[0,0,0]}
-      if(j) {
-        const pivot=minus(vec(j.origin),vec(p.transform.position))
-        const r=rotation(vec(j.axis),q[j.name])
-        motion={r,t:minus(pivot,mv(r,pivot))}
-        const child=compose(rest,motion)
-        same(apply(child,pivot),apply(parent,minus(vec(j.origin),parentRest)))
-        checks++
-      }
-      frames[p.name]=compose(rest,motion)
-      near(dot(frames[p.name].r[0],frames[p.name].r[0]),1)
-      if(q===states[0])same(frames[p.name].t,vec(p.transform.position))
-    }
-    // The gripper and external attachment seat keep their relative rigid distances.
-    const a=frames['finger-left'].t,b=frames['finger-right'].t
-    near(Math.hypot(...minus(a,b)),70)
-  }
-  console.log(JSON.stringify({robot:{poses:states.length,pivotChecks:checks,notTested:['resizing link lengths','self collision','inverse kinematics','renderer parity','gripper motion']}}))
-})
-
-test('conveyor: actual repeat rule requires changing topology, outside an affine-only DAG', () => {
-  const s=source('CONVEYOR'),roller=part(s,'roller')
-  const rows=[]
-  for(const width of [1200,2399.99,2400,2400.01,4800]) {
-    const plan=repeatPlanOfPart(roller,{x:width/s.base.x,y:1,z:1},s.base)
-    assert.equal(plan.count,Math.floor(width/roller.repeat.pitch))
-    const d=evaluate({length:[-80,{depth:1}],radius:[roller.transform.size.x/2,{}]}, {depth:600})
-    near(d.length,roller.transform.size.y);near(d.radius,48)
-    rows.push({width,count:plan.count})
-  }
-  assert.notEqual(rows[1].count,rows[2].count)
-  console.log(JSON.stringify({conveyor:rows,designGap:'stable repeated-instance IDs, disappearance/binding policy and explicit end clearance are not specified by r2'}))
-})
-
-test('forklift: simultaneous lift/reach channels reduce to shared affine state without double motion', () => {
-  const s=source('FORKLIFT'),defs={}
-  for(const p of s.parts) for(const axis of ['x','y','z']) {
-    const terms={}
-    for(const param of s.parameters) {
-      const ch=param.clip.channels.find(c=>c.target===p.name&&c.path==='translation')
-      if(!ch)continue
-      assert.equal(ch.keys.length,2);assert.equal(ch.keys[0].at,0);assert.equal(ch.keys[1].at,1)
-      assert.equal(ch.keys[0].value[axis],0);assert.equal(param.range.min,0)
-      terms[param.name]=ch.keys[1].value[axis]/param.range.max
-    }
-    defs[`${p.name}.${axis}`]=[p.transform.position[axis],terms]
-  }
-  for(const lift of [0,1000,2000])for(const reach of [0,200,400]) {
-    const v=evaluate(defs,{lift,reach})
-    near(v['carriage.y'],260+lift);near(v['carriage.z'],338+reach)
-    near(v['stage-left.y'],940+lift/2)
-    near(v['fork-high-left.y']-v['fork-low-left.y'],400)
-    near(v['fork-low-left.y']-v['carriage.y'],42-260)
-    near(v['fork-low-left.z']-v['carriage.z'],785-338)
-    near(v['body.z'],-700)
-  }
-  console.log(JSON.stringify({forklift:{combinedStates:9,designGap:'hierarchical migration must subtract inherited motion; copying both parent and child channels doubles travel'}}))
-})
-
-test('dryroom: actual U profile protrudes below floor; trim profile, not scale bounding box', () => {
-  const s=source('DRY_ROOM'),rows=[]
-  for(const name of ['portal-in','portal-out']) {
-    const p=part(s,name),y=p.transform.position.y
-    // figure-shape rotates extrusion +90 X; part -90 X cancels it.
-    assert.equal(p.transform.rotation.x,-90)
-    const original=p.shape.path.map(v=>({...v}))
-    const low=Math.min(...original.map(v=>v.y+y)),high=Math.max(...original.map(v=>v.y+y))
-    near(low,-60);near(high,2900)
-    // Only this known orthogonal U profile: moving its four lowest vertices is safe.
-    // NOT a general polygon clipping algorithm or an automatic migration.
-    const clipped=original.map(v=>({...v,y:Math.max(v.y,-y)}))
-    near(Math.min(...clipped.map(v=>v.y+y)),0)
-    near(Math.max(...clipped.map(v=>v.y+y)),high)
-    near(clipped[2].y+y,2200);near(clipped[3].x-clipped[2].x,1400)
-    assert.equal(clipped.filter((v,i)=>v.y!==original[i].y).length,4)
-    assert.deepEqual(p.shape.path,original)
-    rows.push({name,originalBottomMm:low,proposedBottomMm:0,topUnchangedMm:high,openingTopMm:2200})
-  }
-  console.log(JSON.stringify({dryroom:rows,designGap:'real profile feature coordinates are required; transform.size alone cannot express trimming'}))
-})