@konitif/viewer-3d 0.285.4 → 0.285.6

package/dist/renderer/ObservedSoleStabilization.js

@@ -0,0 +1,140 @@
+/** Geometric presentation anchors, not physical-contact observations. */
+export class ObservedSoleAnchors {
+    connectionId = null;
+    anchors = new Map();
+    released = new Set();
+    reset() { this.connectionId = null; this.anchors.clear(); this.released.clear(); }
+    resolve(connectionId, groups, strength) {
+        if (this.connectionId !== connectionId || !Number.isFinite(strength) || strength <= 0)
+            this.reset();
+        this.connectionId = connectionId;
+        if (!Number.isFinite(strength) || strength <= 0)
+            return [];
+        const present = new Set(groups.map(group => group.id));
+        for (const id of this.anchors.keys())
+            if (!present.has(id))
+                this.anchors.delete(id);
+        for (const id of this.released)
+            if (!present.has(id))
+                this.released.delete(id);
+        const targets = [];
+        for (const group of groups) {
+            if (!group.eligible || !group.position.every(Number.isFinite)) {
+                this.anchors.delete(group.id);
+                this.released.delete(group.id);
+                continue;
+            }
+            if (this.released.has(group.id))
+                continue;
+            const anchor = this.anchors.get(group.id) ?? [...group.position];
+            const slip = Math.hypot(anchor[0] - group.position[0], anchor[2] - group.position[2]);
+            // Do not turn intentional horizontal motion into a permanently pinned leg.
+            if (slip > .012) {
+                this.anchors.delete(group.id);
+                this.released.add(group.id);
+                continue;
+            }
+            this.anchors.set(group.id, anchor);
+            const amount = Math.min(1, strength);
+            targets.push({ id: group.id, inferred: true, target: [
+                    group.position[0] + (anchor[0] - group.position[0]) * amount,
+                    group.position[1], // height stays owned by grounding / observed articulation
+                    group.position[2] + (anchor[2] - group.position[2]) * amount
+                ] });
+        }
+        return targets;
+    }
+}
+/** Numerical IK of a rendered copy. The caller must never supply a hardware actuator. */
+export function projectBoundedSoleCorrection(input) {
+    const initial = [...input.values];
+    if (!initial.length || initial.length !== input.limits.length || !initial.every(Number.isFinite) ||
+        !input.targetPosition.every(Number.isFinite) || !input.targetOrientation.every(Number.isFinite)) {
+        throw new TypeError('Invalid sole presentation constraint');
+    }
+    const limits = input.limits.map(([low, high], index) => {
+        if (!Number.isFinite(low) || !Number.isFinite(high) || low > high)
+            throw new TypeError('Invalid joint limits');
+        return [Math.max(low, initial[index] - .04), Math.min(high, initial[index] + .04)];
+    });
+    if (limits.some(([low, high], index) => low > high || initial[index] < low || initial[index] > high)) {
+        throw new TypeError('Observed pose outside admitted joint limits');
+    }
+    const residual = (values) => {
+        const pose = input.evaluate(values);
+        if (!pose.position.every(Number.isFinite) || !pose.orientation.every(Number.isFinite))
+            throw new TypeError('Invalid evaluated pose');
+        const [x, y, z, w] = pose.orientation;
+        const [tx, ty, tz, tw] = input.targetOrientation;
+        // target^-1 * actual; angular error weighted by a 10 cm lever arm.
+        const q = [tw * x - tx * w - ty * z + tz * y, tw * y + tx * z - ty * w - tz * x,
+            tw * z - tx * y + ty * x - tz * w, tw * w + tx * x + ty * y + tz * z];
+        const sign = q[3] < 0 ? -1 : 1;
+        const supportResidual = [];
+        if (input.targetSupportMinimumY !== undefined) {
+            if (!Number.isFinite(input.targetSupportMinimumY) || !Number.isFinite(pose.supportMinimumY))
+                throw new TypeError('Invalid sole surface');
+            // A centroid constraint alone cannot guarantee contact of the visible sole.
+            supportResidual.push((pose.supportMinimumY - input.targetSupportMinimumY) * 10);
+        }
+        return [...pose.position.map((value, index) => value - input.targetPosition[index]),
+            ...q.slice(0, 3).map(value => value * sign * .2), ...supportResidual];
+    };
+    const cost = (values) => values.reduce((sum, value) => sum + value * value, 0);
+    let values = initial;
+    let error = residual(values);
+    let iterations = 0;
+    for (; iterations < 6 && cost(error) > 1e-10; iterations++) {
+        const columns = values.map((value, index) => {
+            const step = value + 1e-4 <= limits[index][1] ? 1e-4 : -1e-4;
+            const probe = [...values];
+            probe[index] = Math.max(limits[index][0], Math.min(limits[index][1], value + step));
+            const actualStep = probe[index] - value;
+            if (Math.abs(actualStep) < 1e-10)
+                return error.map(() => 0);
+            const nextError = residual(probe);
+            return error.map((entry, row) => (nextError[row] - entry) / actualStep);
+        });
+        const matrix = columns.map((left, i) => columns.map((right, j) => left.reduce((sum, value, row) => sum + value * right[row], 0) + (i === j ? 1e-6 : 0)));
+        const gradient = columns.map(column => -column.reduce((sum, value, row) => sum + value * error[row], 0));
+        const delta = solve(matrix, gradient);
+        let improved = false;
+        for (const scale of [1, .5, .25]) {
+            const next = values.map((value, index) => Math.max(limits[index][0], Math.min(limits[index][1], value + delta[index] * scale)));
+            const nextError = residual(next);
+            if (cost(nextError) < cost(error)) {
+                values = next;
+                error = nextError;
+                improved = true;
+                break;
+            }
+        }
+        if (!improved)
+            break;
+    }
+    return { values, residualMeters: Math.hypot(...error.slice(0, 3)), iterations, inferred: true, physicsAffected: false };
+}
+function solve(matrix, vector) {
+    const rows = matrix.map((row, index) => [...row, vector[index]]);
+    for (let column = 0; column < rows.length; column++) {
+        let pivot = column;
+        for (let row = column + 1; row < rows.length; row++)
+            if (Math.abs(rows[row][column]) > Math.abs(rows[pivot][column]))
+                pivot = row;
+        [rows[column], rows[pivot]] = [rows[pivot], rows[column]];
+        const divisor = rows[column][column];
+        if (!Number.isFinite(divisor) || Math.abs(divisor) < 1e-12)
+            return vector.map(() => 0);
+        for (let entry = column; entry <= rows.length; entry++)
+            rows[column][entry] /= divisor;
+        for (let row = 0; row < rows.length; row++) {
+            if (row === column)
+                continue;
+            const factor = rows[row][column];
+            for (let entry = column; entry <= rows.length; entry++)
+                rows[row][entry] -= factor * rows[column][entry];
+        }
+    }
+    return rows.map(row => row[rows.length]);
+}
+//# sourceMappingURL=ObservedSoleStabilization.js.map

package/dist/renderer/ObservedSoleStabilization.js.map

@@ -0,0 +1 @@
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package/dist/renderer/Viewer3DRenderer.d.ts

@@ -4,6 +4,7 @@ import type { BodyTransform, JointTarget, PhysicsEngineType, PhysicsRuntimeConfi
 import { type ViewerMetadata } from './ViewerMetadata.js';
 import type { ViewerHistoryPort, ViewerHistoryObservation } from './ViewerHistoryPort.js';
 import type { ViewerHistorySample } from './ViewerHistoryData.js';
+import { type Viewer3DIncarnationMaterialProjection } from './IncarnationMaterialProjection.js';
 export type ViewerRuntimeHistoryPort = ViewerHistoryPort<Omit<ViewerHistorySample<ViewerMetadata>, 'id' | 'recordedAt'> & {
     recordedAt?: number;
 }, ViewerHistoryObservation<ViewerHistorySample<ViewerMetadata>>>;
@@ -307,6 +308,8 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     private poseControlTarget;
     private observedPoseLiveControlEnabled;
     private readonly robotMaterialBaselines;
+    private readonly incarnationMaterialProjector;
+    private readonly incarnationMaterialProjections;
     private readonly observedRobotGhostMaterialBaselines;
     private readonly observedRobotGhostRenderOrderBaselines;
     private readonly observedRobotGhostShadowMaterials;
@@ -317,6 +320,11 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     private readonly observedRobotGhostBaseQuaternion;
     private readonly observedRobotGhostBaseScale;
     private observedRobotTemporalSupportAnchorState;
+    private observedSoleAnchors;
+    private observedSoleConnectionId;
+    private observedSoleStrength;
+    private observedSoleBaseline;
+    private observedSoleSurfaceVertices;
     private observedRobotGrounding;
     private observedRobotSupportInclination;
     private robotComparisonAppearance;
@@ -373,6 +381,7 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     private projectilePointerInside;
     private trajectoryAnimation;
     private trajectorySignature;
+    private trajectoryProjectionRevision;
     private trajectoryAnchors;
     private themeObserver;
     private animationLoop;
@@ -552,10 +561,13 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
         frameId: string;
         connectionId: string;
         observedAtSeconds: number | null;
+        sourceClock?: 'monotonic';
         jointValues: Readonly<Record<string, number>>;
         receivedAtMs?: number;
     }): boolean;
     resetObservedRobotGhostJointObservation(): void;
+    setObservedRobotSoleStabilizationStrength(value: number): void;
+    private restoreObservedSoleBaseline;
     getObservedRobotPresentationStatus(): ObservedRobotPresentationStatus;
     private applyObservedRobotGhostJointValues;
     private updateObservedRobotGhostPresentation;
@@ -566,6 +578,9 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
      * telemetry remain untouched and continue to be owned by their sources.
      */
     setRobotComparisonAppearance(appearance: Viewer3DRobotComparisonAppearance): void;
+    /** Tune one visual incarnation independently; source meshes and telemetry remain unchanged. */
+    setIncarnationMaterialProjection(target: 'simulated' | 'observed', projection: Viewer3DIncarnationMaterialProjection): void;
+    private applyIncarnationMaterialProjections;
     setPhysicsEngine(physicsEngine: PhysicsEngineType, physicsEnabled?: boolean): Promise<void>;
     setPhysicsEnabled(physicsEnabled: boolean): void;
     setPhysicsObservationEnabled(enabled: boolean): void;
@@ -798,6 +813,9 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     private clearObservedRobotGhost;
     private applyRobotComparisonAppearance;
     private applyObservedRobotGhostGrounding;
+    private applyObservedSoleStabilization;
+    /** Exact directional support of rigid visible meshes, with cached convex vertices. */
+    private resolvePreciseObservedSoleMinimumY;
     private resolveObservedRobotSupportContacts;
     private resolveObservedRobotSupportContactPoints;
     private selectObservedRobotSupportPoints;
@@ -1104,17 +1122,24 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     private createBalanceDebugLine;
     private createBalanceDebugMarker;
     private createBalanceDebugCenterProjectionMarker;
+    private invalidateTrajectoryPreviewProjection;
     private ensureTrajectoryGroup;
     private updateTrajectoryGroupVisibility;
     private clearTrajectoryPreview;
     private rebuildTrajectoryPreview;
+    private applyTrajectorySamplePose;
+    private applyTrajectoryTemporalSamplePose;
+    private restoreTrajectorySamplePose;
     private getTrajectorySignature;
+    private getTrajectoryPlaybackProjectionSignature;
+    private getTrajectoryTemporalProjectionSignature;
     private getTrajectoryPreviewTargets;
     private shouldRenderTrajectoryForTarget;
     private resolveJointColor;
     private createTrajectoryObject;
     private getTrajectoryTerminalDirection;
     private updateTrajectoryCurrentMarkers;
+    private getTrajectoryPointInProjectionFrame;
     private getTrajectoryPoint;
     private getHandTipTrajectoryPoint;
     private getPoseControlHandTipPoint;
@@ -1164,4 +1189,10 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     private handleControlsEnd;
     private interpolateTrack;
 }
+/** Projects a world-space trajectory sample into the robot presentation frame. */
+export declare function projectViewerTrajectoryPointToFrame(point: Readonly<{
+    x: number;
+    y: number;
+    z: number;
+}>, frame: Object3D): Vector3;
 //# sourceMappingURL=Viewer3DRenderer.d.ts.map

package/dist/renderer/Viewer3DRenderer.d.ts.map

@@ -1 +1 @@
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