@konitif/viewer-3d 0.285.5 → 0.285.6

package/README.md

@@ -44,6 +44,13 @@ const scene = createViewer3DSceneSnapshot({
 Import `@konitif/viewer-3d/renderer` only when a Three.js renderer and its
 explicit providers are required.
 
+The renderer's `setIncarnationMaterialProjection(target, projection)` tunes
+standard/physical materials independently for `simulated` or `observed` visual
+incarnations. Scales are applied from the captured material baseline, so repeated
+updates do not accumulate. The observed clone never changes the source mesh.
+Color/opacity remain owned by comparison appearance. These are visual settings,
+not robot commands, measured material properties or evidence of emitted light.
+
 ## Public entry points
 
 | Entry | Purpose |
@@ -65,6 +72,39 @@ import { resolveViewerOrientationGizmoTransform } from '@konitif/viewer-3d/orien
 const transform = resolveViewerOrientationGizmoTransform({ x: 0, y: 0, z: 0, w: 1 });
 ```
 
+## Observed pose playback
+
+The observed robot's interpolated presentation uses a bounded buffer with a
+450 ms visual delay. It interpolates only between admitted poses;
+it never changes telemetry, predicts a future motion or drives the robot.
+On buffer underrun it holds the last known pose rather than inventing motion.
+Hosts may explicitly declare `sourceClock: 'monotonic'` when admitting a pose.
+The buffer then preserves source intervals through receipt bursts, mapping
+elapsed source time to the first receipt without comparing clock epochs.
+Without that guarantee it uses receipt intervals. Session changes, invalid
+samples and timeline gaps over 500 ms reset its history.
+The raw presentation mode remains immediate. This delay does not apply to LED
+observations or other sensor readings.
+
+Hosts may author independent `supportDefinition.soleStabilizationChains` and
+set `setObservedRobotSoleStabilizationStrength(0..1)` (default: disabled).
+This is an inferred geometric presentation constraint, not measured contact
+or simulated friction. It corrects only rendered articulated joints, within
+authored limits and 0.04 radians of each admitted pose. A lifted sole or more
+than 12 mm horizontal drift releases its anchor; session changes, disabling,
+raw playback and timeline gaps discard anchors. Source observations and
+hardware commands are never modified.
+Eligible soles are constrained to a common lowest visible surface before root
+grounding. Cached convex vertices give exact directional support of rigid
+foot meshes, rather than the empty corners of a rotated bounding box.
+Lifted or released feet are not pulled back into the contact plane.
+
+Buffered poses use shape-preserving Hermite interpolation between already
+admitted neighbors, with continuous velocity at interior sample boundaries.
+The curve stays inside each segment's angular endpoints and stops at missing
+data; its provenance includes the neighboring observations used for tangents.
+This does not add visual delay or extrapolate a future pose.
+
 ## Reference
 
 See [`reference/`](reference/) for the machine-readable capability catalog and

package/dist/renderer/IncarnationMaterialProjection.d.ts

@@ -0,0 +1,16 @@
+import { type Material } from 'three';
+/** Visual-only projection; never a device command or a measured physical property. */
+export interface Viewer3DIncarnationMaterialProjection {
+    enabled: boolean;
+    environmentIntensity: number;
+    roughnessScale: number;
+    metalnessScale: number;
+    clearcoatScale: number;
+}
+export declare function normalizeIncarnationMaterialProjection(value: Viewer3DIncarnationMaterialProjection): Viewer3DIncarnationMaterialProjection;
+/** Baselines follow material lifetime and are never multiplied cumulatively. */
+export declare class IncarnationMaterialProjector {
+    private readonly baselines;
+    apply(materials: Iterable<Material>, projection: Viewer3DIncarnationMaterialProjection): void;
+}
+//# sourceMappingURL=IncarnationMaterialProjection.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"IncarnationMaterialProjection.d.ts","sourceRoot":"","sources":["../../src/renderer/IncarnationMaterialProjection.ts"],"names":[],"mappings":"AAAA,OAAO,EAA8C,KAAK,QAAQ,EAAgB,MAAM,OAAO,CAAC;AAEhG,sFAAsF;AACtF,MAAM,WAAW,qCAAqC;IACpD,OAAO,EAAE,OAAO,CAAC;IACjB,oBAAoB,EAAE,MAAM,CAAC;IAC7B,cAAc,EAAE,MAAM,CAAC;IACvB,cAAc,EAAE,MAAM,CAAC;IACvB,cAAc,EAAE,MAAM,CAAC;CACxB;AAaD,wBAAgB,sCAAsC,CAAC,KAAK,EAAE,qCAAqC,GAAG,qCAAqC,CAM1I;AAED,gFAAgF;AAChF,qBAAa,4BAA4B;IACvC,OAAO,CAAC,QAAQ,CAAC,SAAS,CAAiD;IAE3E,KAAK,CAAC,SAAS,EAAE,QAAQ,CAAC,QAAQ,CAAC,EAAE,UAAU,EAAE,qCAAqC,GAAG,IAAI;CA6B9F"}

package/dist/renderer/IncarnationMaterialProjection.js

@@ -0,0 +1,45 @@
+import { MeshPhysicalMaterial, MeshStandardMaterial } from 'three';
+export function normalizeIncarnationMaterialProjection(value) {
+    for (const key of ['environmentIntensity', 'roughnessScale', 'metalnessScale', 'clearcoatScale']) {
+        if (!Number.isFinite(value[key]) || value[key] < 0)
+            throw new Error(`Invalid material projection ${key}`);
+    }
+    if (typeof value.enabled !== 'boolean')
+        throw new Error('Invalid material projection enabled');
+    return { ...value };
+}
+/** Baselines follow material lifetime and are never multiplied cumulatively. */
+export class IncarnationMaterialProjector {
+    baselines = new WeakMap();
+    apply(materials, projection) {
+        const value = normalizeIncarnationMaterialProjection(projection);
+        for (const material of materials) {
+            if (!(material instanceof MeshStandardMaterial))
+                continue;
+            let baseline = this.baselines.get(material);
+            if (!baseline) {
+                baseline = {
+                    envMap: material.envMap, environmentIntensity: material.envMapIntensity,
+                    roughness: material.roughness, metalness: material.metalness,
+                    clearcoat: material instanceof MeshPhysicalMaterial ? material.clearcoat : null,
+                    iridescence: material instanceof MeshPhysicalMaterial ? material.iridescence : null,
+                    sheen: material instanceof MeshPhysicalMaterial ? material.sheen : null,
+                    transmission: material instanceof MeshPhysicalMaterial ? material.transmission : null
+                };
+                this.baselines.set(material, baseline);
+            }
+            material.envMap = value.enabled ? baseline.envMap : null;
+            material.envMapIntensity = value.enabled ? baseline.environmentIntensity * value.environmentIntensity : 0;
+            material.roughness = value.enabled ? Math.min(1, baseline.roughness * value.roughnessScale) : 1;
+            material.metalness = value.enabled ? Math.min(1, baseline.metalness * value.metalnessScale) : 0;
+            if (material instanceof MeshPhysicalMaterial) {
+                material.clearcoat = value.enabled ? Math.min(1, baseline.clearcoat * value.clearcoatScale) : 0;
+                material.iridescence = value.enabled ? baseline.iridescence : 0;
+                material.sheen = value.enabled ? baseline.sheen : 0;
+                material.transmission = value.enabled ? baseline.transmission : 0;
+            }
+            material.needsUpdate = true;
+        }
+    }
+}
+//# sourceMappingURL=IncarnationMaterialProjection.js.map

package/dist/renderer/IncarnationMaterialProjection.js.map

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

@@ -4,6 +4,8 @@ export interface ObservedRobotPresentationSample {
     sampleId: string;
     connectionId: string;
     sourceObservedAtSeconds: number | null;
+    /** Explicit host guarantee: source timestamps are monotonic within this connection. */
+    sourceClock?: 'monotonic';
     receivedAtMs: number;
     jointValues: Readonly<Record<string, number>>;
 }
@@ -11,6 +13,7 @@ export interface ObservedRobotPresentationConfig {
     minimumTransitionMs: number;
     maximumTransitionMs: number;
     maximumSampleGapMs: number;
+    presentationDelayMs: number;
 }
 export interface ObservedRobotPresentationFrame {
     mode: ObservedRobotPresentationMode;
@@ -42,10 +45,12 @@ export interface ObservedRobotPresentationStatus {
  * telemetry samples. Source observations remain immutable and never inherit
  * values produced by this presentation buffer.
  *
- * The transition clock is the local receipt clock. The upstream
- * sourceObservedAtSeconds value is retained as provenance, but it is not used
- * for interpolation because its clock domain is not part of the observation
- * contract yet.
+ * Buffered playback trails the local receipt clock so both interpolation
+ * endpoints are already admitted observations, not predicted destinations.
+ * Without an explicit source-clock guarantee, timing uses local receipts.
+ * A declared monotonic source clock is mapped relatively onto the first local
+ * receipt, preserving sensor spacing through transport bursts. Clock epochs
+ * are never compared, and session changes discard the mapping.
  */
 export declare class ObservedRobotPresentationBuffer {
     private readonly config;
@@ -55,6 +60,10 @@ export declare class ObservedRobotPresentationBuffer {
     private transitionSourceSampleIds;
     private transitionStartedAtMs;
     private transitionDurationMs;
+    private receiptCadenceMs;
+    private bufferedSamples;
+    private previousBufferedSample;
+    private sourceClockAnchor;
     private pendingFallbackReason;
     private status;
     constructor(config?: Partial<ObservedRobotPresentationConfig>);
@@ -66,6 +75,8 @@ export declare class ObservedRobotPresentationBuffer {
     ingest(sample: ObservedRobotPresentationSample): boolean;
     project(renderedAtMs: number): ObservedRobotPresentationFrame | null;
     isActive(renderedAtMs: number): boolean;
+    private projectBuffered;
     private acceptFirstSample;
+    private resolvePresentationTime;
 }
 //# sourceMappingURL=ObservedRobotPresentationBuffer.d.ts.map

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

@@ -1 +1 @@
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+{"version":3,"file":"ObservedRobotPresentationBuffer.d.ts","sourceRoot":"","sources":["../../src/renderer/ObservedRobotPresentationBuffer.ts"],"names":[],"mappings":"AAEA,MAAM,MAAM,6BAA6B,GAAG,KAAK,GAAG,cAAc,CAAC;AAEnE,MAAM,MAAM,uCAAuC,GAC/C,MAAM,GACN,sBAAsB,GACtB,gBAAgB,GAChB,YAAY,GACZ,eAAe,CAAC;AAEpB,MAAM,WAAW,+BAA+B;IAC9C,QAAQ,EAAE,MAAM,CAAC;IACjB,YAAY,EAAE,MAAM,CAAC;IACrB,uBAAuB,EAAE,MAAM,GAAG,IAAI,CAAC;IACvC,uFAAuF;IACvF,WAAW,CAAC,EAAE,WAAW,CAAC;IAC1B,YAAY,EAAE,MAAM,CAAC;IACrB,WAAW,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;CAC/C;AAED,MAAM,WAAW,+BAA+B;IAC9C,mBAAmB,EAAE,MAAM,CAAC;IAC5B,mBAAmB,EAAE,MAAM,CAAC;IAC5B,kBAAkB,EAAE,MAAM,CAAC;IAC3B,mBAAmB,EAAE,MAAM,CAAC;CAC7B;AAED,MAAM,WAAW,8BAA8B;IAC7C,IAAI,EAAE,6BAA6B,CAAC;IACpC,KAAK,EAAE,KAAK,GAAG,cAAc,GAAG,UAAU,CAAC;IAC3C,cAAc,EAAE,uCAAuC,CAAC;IACxD,UAAU,EAAE,cAAc,GAAG,uBAAuB,CAAC;IACrD,eAAe,EAAE,SAAS,MAAM,EAAE,CAAC;IACnC,YAAY,EAAE,MAAM,CAAC;IACrB,uBAAuB,EAAE,MAAM,GAAG,IAAI,CAAC;IACvC,YAAY,EAAE,MAAM,CAAC;IACrB,kBAAkB,EAAE,MAAM,CAAC;IAC3B,kBAAkB,EAAE,MAAM,CAAC;IAC3B,oBAAoB,EAAE,MAAM,CAAC;IAC7B,MAAM,EAAE,OAAO,CAAC;IAChB,WAAW,EAAE,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;CAC/C;AAED,MAAM,WAAW,+BAA+B;IAC9C,IAAI,EAAE,6BAA6B,CAAC;IACpC,KAAK,EAAE,8BAA8B,CAAC,OAAO,CAAC,GAAG,OAAO,CAAC;IACzD,cAAc,EAAE,uCAAuC,CAAC;IACxD,UAAU,EAAE,8BAA8B,CAAC,YAAY,CAAC,GAAG,IAAI,CAAC;IAChE,eAAe,EAAE,SAAS,MAAM,EAAE,CAAC;IACnC,kBAAkB,EAAE,MAAM,CAAC;IAC3B,oBAAoB,EAAE,MAAM,CAAC;IAC7B,MAAM,EAAE,OAAO,CAAC;CACjB;AAoBD;;;;;;;;;;;GAWG;AACH,qBAAa,+BAA+B;IAC1C,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAkC;IACzD,OAAO,CAAC,IAAI,CAAiD;IAC7D,OAAO,CAAC,YAAY,CAAgD;IACpE,OAAO,CAAC,qBAAqB,CAAwC;IACrE,OAAO,CAAC,yBAAyB,CAAyB;IAC1D,OAAO,CAAC,qBAAqB,CAAK;IAClC,OAAO,CAAC,oBAAoB,CAAK;IACjC,OAAO,CAAC,gBAAgB,CAAgB;IACxC,OAAO,CAAC,eAAe,CAA0E;IACjG,OAAO,CAAC,sBAAsB,CAAiF;IAC/G,OAAO,CAAC,iBAAiB,CAA6D;IACtF,OAAO,CAAC,qBAAqB,CAAmE;IAChG,OAAO,CAAC,MAAM,CAAiD;gBAEnD,MAAM,GAAE,OAAO,CAAC,+BAA+B,CAAM;IAsBjE,OAAO,CAAC,IAAI,EAAE,6BAA6B,GAAG,IAAI;IAMlD,OAAO,IAAI,6BAA6B;IAIxC,SAAS,IAAI,+BAA+B;IAI5C,SAAS,IAAI,+BAA+B;IAI5C,KAAK,CAAC,MAAM,GAAE,uCAAyD,GAAG,IAAI;IAkB9E,MAAM,CAAC,MAAM,EAAE,+BAA+B,GAAG,OAAO;IAgGxD,OAAO,CAAC,YAAY,EAAE,MAAM,GAAG,8BAA8B,GAAG,IAAI;IAuEpE,QAAQ,CAAC,YAAY,EAAE,MAAM,GAAG,OAAO;IAevC,OAAO,CAAC,eAAe;IA0CvB,OAAO,CAAC,iBAAiB;IAkBzB,OAAO,CAAC,uBAAuB;CAKhC"}

package/dist/renderer/ObservedRobotPresentationBuffer.js

@@ -1,8 +1,9 @@
 import { interpolateJointAngle } from './TemporalProjectionModel.js';
 const DEFAULT_CONFIG = {
     minimumTransitionMs: 16,
-    maximumTransitionMs: 120,
-    maximumSampleGapMs: 250
+    maximumTransitionMs: 200,
+    maximumSampleGapMs: 500,
+    presentationDelayMs: 450
 };
 const EMPTY_STATUS = {
     mode: 'interpolated',
@@ -19,10 +20,12 @@ const EMPTY_STATUS = {
  * telemetry samples. Source observations remain immutable and never inherit
  * values produced by this presentation buffer.
  *
- * The transition clock is the local receipt clock. The upstream
- * sourceObservedAtSeconds value is retained as provenance, but it is not used
- * for interpolation because its clock domain is not part of the observation
- * contract yet.
+ * Buffered playback trails the local receipt clock so both interpolation
+ * endpoints are already admitted observations, not predicted destinations.
+ * Without an explicit source-clock guarantee, timing uses local receipts.
+ * A declared monotonic source clock is mapped relatively onto the first local
+ * receipt, preserving sensor spacing through transport bursts. Clock epochs
+ * are never compared, and session changes discard the mapping.
  */
 export class ObservedRobotPresentationBuffer {
     config;
@@ -32,6 +35,10 @@ export class ObservedRobotPresentationBuffer {
     transitionSourceSampleIds = [];
     transitionStartedAtMs = 0;
     transitionDurationMs = 0;
+    receiptCadenceMs = [];
+    bufferedSamples = [];
+    previousBufferedSample = null;
+    sourceClockAnchor = null;
     pendingFallbackReason = 'insufficient_samples';
     status = EMPTY_STATUS;
     constructor(config = {}) {
@@ -40,6 +47,9 @@ export class ObservedRobotPresentationBuffer {
         this.config = {
             minimumTransitionMs,
             maximumTransitionMs,
+            presentationDelayMs: typeof config.presentationDelayMs === 'number' && Number.isFinite(config.presentationDelayMs)
+                ? clamp(config.presentationDelayMs, 0, 500)
+                : DEFAULT_CONFIG.presentationDelayMs,
             maximumSampleGapMs: Math.max(maximumTransitionMs, finitePositive(config.maximumSampleGapMs, DEFAULT_CONFIG.maximumSampleGapMs))
         };
     }
@@ -64,6 +74,10 @@ export class ObservedRobotPresentationBuffer {
         this.transitionSourceSampleIds = [];
         this.transitionStartedAtMs = 0;
         this.transitionDurationMs = 0;
+        this.receiptCadenceMs = [];
+        this.bufferedSamples = [];
+        this.previousBufferedSample = null;
+        this.sourceClockAnchor = null;
         this.pendingFallbackReason = reason;
         this.status = {
             ...EMPTY_STATUS,
@@ -97,10 +111,34 @@ export class ObservedRobotPresentationBuffer {
             this.acceptFirstSample(normalized, 'invalid_sample');
             return true;
         }
-        if (sampleGapMs > this.config.maximumSampleGapMs) {
+        const sourceTimed = previous.sourceClock === 'monotonic' && normalized.sourceClock === 'monotonic' &&
+            previous.sourceObservedAtSeconds !== null && normalized.sourceObservedAtSeconds !== null;
+        const sourceGapMs = sourceTimed
+            ? (normalized.sourceObservedAtSeconds - previous.sourceObservedAtSeconds) * 1000 : sampleGapMs;
+        if (sourceTimed && sourceGapMs <= 0) {
+            this.reset('invalid_sample');
+            this.acceptFirstSample(normalized, 'invalid_sample');
+            return true;
+        }
+        if (previous.sourceClock !== normalized.sourceClock || sourceGapMs > this.config.maximumSampleGapMs) {
             this.acceptFirstSample(normalized, 'sample_gap');
             return true;
         }
+        if (this.mode === 'interpolated' && this.config.presentationDelayMs > 0) {
+            const presentationAtMs = this.resolvePresentationTime(normalized);
+            // Undeclared receipt-clock bursts cannot provide distinct timing.
+            // Source-clock bursts retain every distinct admitted pose.
+            if (this.bufferedSamples.at(-1)?.presentationAtMs === presentationAtMs)
+                this.bufferedSamples.pop();
+            this.bufferedSamples.push({ ...normalized, presentationAtMs });
+            if (this.bufferedSamples.length > 64) {
+                this.previousBufferedSample = this.bufferedSamples[this.bufferedSamples.length - 65];
+            }
+            this.bufferedSamples = this.bufferedSamples.slice(-64);
+            this.latestSample = normalized;
+            this.pendingFallbackReason = 'none';
+            return true;
+        }
         const currentFrame = this.project(normalized.receivedAtMs);
         this.transitionStartValues = Object.fromEntries(Object.entries(normalized.jointValues).map(([jointName, nextValue]) => [
             jointName,
@@ -109,7 +147,19 @@ export class ObservedRobotPresentationBuffer {
         this.transitionSourceSampleIds = uniqueTail([...(currentFrame?.sourceSampleIds ?? [previous.sampleId]), normalized.sampleId], 3);
         this.latestSample = normalized;
         this.transitionStartedAtMs = normalized.receivedAtMs;
-        this.transitionDurationMs = clamp(sampleGapMs, this.config.minimumTransitionMs, this.config.maximumTransitionMs);
+        // A transport burst is not a new sensor cadence: keep the recent cadence
+        // instead of turning several queued observations into near-instant jumps.
+        if (sampleGapMs >= this.config.minimumTransitionMs) {
+            this.receiptCadenceMs = [...this.receiptCadenceMs, sampleGapMs].slice(-5);
+        }
+        const sortedCadence = [...this.receiptCadenceMs].sort((left, right) => left - right);
+        const middle = Math.floor(sortedCadence.length / 2);
+        const cadenceMs = sortedCadence.length === 0
+            ? sampleGapMs
+            : sortedCadence.length % 2 === 1
+                ? sortedCadence[middle]
+                : (sortedCadence[middle - 1] + sortedCadence[middle]) / 2;
+        this.transitionDurationMs = clamp(cadenceMs, this.config.minimumTransitionMs, this.config.maximumTransitionMs);
         this.pendingFallbackReason = 'none';
         return true;
     }
@@ -123,6 +173,9 @@ export class ObservedRobotPresentationBuffer {
             };
             return null;
         }
+        if (this.mode === 'interpolated' && this.config.presentationDelayMs > 0) {
+            return this.projectBuffered(renderedAtMs);
+        }
         if (this.mode === 'raw' || this.transitionDurationMs <= 0) {
             const fallbackReason = this.mode === 'raw' ? 'none' : this.pendingFallbackReason;
             const frame = {
@@ -167,25 +220,78 @@ export class ObservedRobotPresentationBuffer {
         return frame;
     }
     isActive(renderedAtMs) {
+        if (this.mode === 'interpolated' && this.config.presentationDelayMs > 0) {
+            return Boolean(this.latestSample && this.bufferedSamples.length > 1 &&
+                Number.isFinite(renderedAtMs) &&
+                renderedAtMs - this.config.presentationDelayMs < this.bufferedSamples.at(-1).presentationAtMs);
+        }
         return Boolean(this.mode === 'interpolated' &&
             this.latestSample &&
             this.transitionDurationMs > 0 &&
             Number.isFinite(renderedAtMs) &&
             renderedAtMs < this.transitionStartedAtMs + this.transitionDurationMs);
     }
+    projectBuffered(renderedAtMs) {
+        const latest = this.latestSample;
+        const targetMs = renderedAtMs - this.config.presentationDelayMs;
+        while (this.bufferedSamples.length > 2 && this.bufferedSamples[1].presentationAtMs <= targetMs) {
+            this.previousBufferedSample = this.bufferedSamples.shift();
+        }
+        const left = this.bufferedSamples[0];
+        const right = this.bufferedSamples[1];
+        const latestTime = this.bufferedSamples.at(-1).presentationAtMs;
+        const hasSegment = Boolean(right && targetMs >= left.presentationAtMs && targetMs <= right.presentationAtMs);
+        const endpoint = targetMs < left.presentationAtMs ? left : latest;
+        const durationMs = hasSegment ? right.presentationAtMs - left.presentationAtMs : 0;
+        const alpha = hasSegment ? clamp((targetMs - left.presentationAtMs) / durationMs, 0, 1) : 1;
+        const active = this.isActive(renderedAtMs);
+        const previous = this.previousBufferedSample;
+        const following = this.bufferedSamples[2];
+        const frame = {
+            mode: this.mode,
+            state: hasSegment ? 'interpolated' : 'fallback',
+            fallbackReason: hasSegment ? 'none' : targetMs > latestTime ? 'sample_gap'
+                : this.pendingFallbackReason === 'none' ? 'insufficient_samples' : this.pendingFallbackReason,
+            provenance: hasSegment ? 'observed-interpolated' : 'observed-raw',
+            sourceSampleIds: hasSegment ? [previous, left, right, following].filter((sample) => Boolean(sample)).map(sample => sample.sampleId) : [endpoint.sampleId],
+            connectionId: latest.connectionId,
+            sourceObservedAtSeconds: hasSegment ? right.sourceObservedAtSeconds : endpoint.sourceObservedAtSeconds,
+            renderedAtMs,
+            latestReceivedAtMs: latest.receivedAtMs,
+            interpolationAlpha: alpha,
+            transitionDurationMs: durationMs,
+            active,
+            jointValues: hasSegment ? Object.fromEntries(Object.entries(right.jointValues).map(([name, value]) => [
+                name, interpolateBufferedJoint(left.jointValues[name] ?? value, value, alpha, durationMs, previous?.jointValues[name], previous ? left.presentationAtMs - previous.presentationAtMs : null, following?.jointValues[name], following ? following.presentationAtMs - right.presentationAtMs : null)
+            ])) : { ...endpoint.jointValues }
+        };
+        this.status = createStatus(frame);
+        return frame;
+    }
     acceptFirstSample(sample, fallbackReason) {
         this.latestSample = sample;
         this.transitionStartValues = { ...sample.jointValues };
         this.transitionSourceSampleIds = [sample.sampleId];
         this.transitionStartedAtMs = sample.receivedAtMs;
         this.transitionDurationMs = 0;
+        this.receiptCadenceMs = [];
+        this.sourceClockAnchor = sample.sourceClock === 'monotonic' && sample.sourceObservedAtSeconds !== null
+            ? { sourceSeconds: sample.sourceObservedAtSeconds, receiptMs: sample.receivedAtMs } : null;
+        this.bufferedSamples = [{ ...sample, presentationAtMs: sample.receivedAtMs }];
+        this.previousBufferedSample = null;
         this.pendingFallbackReason =
             fallbackReason === 'none' ? 'insufficient_samples' : fallbackReason;
     }
+    resolvePresentationTime(sample) {
+        return this.sourceClockAnchor && sample.sourceClock === 'monotonic' && sample.sourceObservedAtSeconds !== null
+            ? this.sourceClockAnchor.receiptMs + (sample.sourceObservedAtSeconds - this.sourceClockAnchor.sourceSeconds) * 1000
+            : sample.receivedAtMs;
+    }
 }
 function normalizeSample(sample) {
     if (!sample.sampleId ||
         !sample.connectionId ||
+        (sample.sourceClock === 'monotonic' && sample.sourceObservedAtSeconds === null) ||
         !Number.isFinite(sample.receivedAtMs) ||
         (sample.sourceObservedAtSeconds !== null && !Number.isFinite(sample.sourceObservedAtSeconds))) {
         return null;
@@ -223,4 +329,26 @@ function finitePositive(value, fallback) {
 function clamp(value, minimum, maximum) {
     return Math.min(maximum, Math.max(minimum, value));
 }
+/** Shape-preserving Hermite interpolation using only admitted neighboring poses. */
+function interpolateBufferedJoint(left, right, alpha, duration, previous, previousDuration, following, followingDuration) {
+    const delta = interpolateJointAngle(left, right, 1) - left;
+    const secant = delta / duration;
+    const tangent = (a, b, ha, hb) => {
+        if (a * b <= 0)
+            return 0;
+        const w1 = 2 * hb + ha;
+        const w2 = hb + 2 * ha;
+        return (w1 + w2) / (w1 / a + w2 / b);
+    };
+    const start = previous !== undefined && previousDuration !== null && previousDuration > 0
+        ? tangent((interpolateJointAngle(previous, left, 1) - previous) / previousDuration, secant, previousDuration, duration)
+        : secant;
+    const end = following !== undefined && followingDuration !== null && followingDuration > 0
+        ? tangent(secant, (interpolateJointAngle(right, following, 1) - right) / followingDuration, duration, followingDuration)
+        : secant;
+    const t2 = alpha * alpha;
+    const t3 = t2 * alpha;
+    const offset = (-2 * t3 + 3 * t2) * delta + (t3 - 2 * t2 + alpha) * duration * start + (t3 - t2) * duration * end;
+    return left + clamp(offset, Math.min(0, delta), Math.max(0, delta));
+}
 //# sourceMappingURL=ObservedRobotPresentationBuffer.js.map

package/dist/renderer/ObservedRobotPresentationBuffer.js.map

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package/dist/renderer/ObservedSoleStabilization.d.ts

@@ -0,0 +1,41 @@
+type Point = readonly [number, number, number];
+type Rotation = readonly [number, number, number, number];
+/** Geometric presentation anchors, not physical-contact observations. */
+export declare class ObservedSoleAnchors {
+    private connectionId;
+    private anchors;
+    private released;
+    reset(): void;
+    resolve(connectionId: string, groups: readonly {
+        id: string;
+        position: Point;
+        eligible: boolean;
+    }[], strength: number): {
+        id: string;
+        target: Point;
+        inferred: true;
+    }[];
+}
+export interface SolePose {
+    position: Point;
+    orientation: Rotation;
+    supportMinimumY?: number;
+}
+/** Numerical IK of a rendered copy. The caller must never supply a hardware actuator. */
+export declare function projectBoundedSoleCorrection(input: {
+    values: readonly number[];
+    limits: readonly (readonly [number, number])[];
+    targetPosition: Point;
+    targetOrientation: Rotation;
+    /** Optional lowest rendered sole point, in the same world frame as position. */
+    targetSupportMinimumY?: number;
+    evaluate(values: readonly number[]): SolePose;
+}): {
+    values: number[];
+    residualMeters: number;
+    iterations: number;
+    inferred: true;
+    physicsAffected: false;
+};
+export {};
+//# sourceMappingURL=ObservedSoleStabilization.d.ts.map

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

@@ -0,0 +1 @@
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