@operato/scene-manufacturing 10.0.0-beta.2 → 10.0.0-beta.24

package/dist/robot-arm-3d.js.map

@@ -0,0 +1 @@
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * Robot arm 3D — articulated chain renderer.\n *\n * Build pipeline:\n *   1. Resolve chain (state.chain | preset | default 6-axis-industrial).\n *   2. Resolve style (state.style preset, with per-property overrides).\n *   3. Resolve joint values (state.joints array OR object map; missing\n *      entries default to 0 and clamp to chain[i].range).\n *   4. If state.target is present, run CCDIK to solve joint values\n *      reaching that target; commit the solved values back via the\n *      smoothing controller (next tick converges to them).\n *   5. Forward-kinematics walk → emit one Object3D per joint frame,\n *      each carrying its joint housing mesh + the link mesh extending\n *      along local +Z to the next frame.\n *   6. Add gripper at the end-effector frame.\n *   7. Optional reach sphere (wireframe).\n *\n * Joint frames are real Object3D children, so the rotation set via\n * `frame.rotation.<axis> = jointValue` on each frame produces the right\n * world-space pose without explicit matrix math at render time. CCDIK\n * runs in matrix math (separate from this scene-graph walk) when needed.\n */\n\nimport * as THREE from 'three'\nimport {\n  RealObjectGroup,\n  resolveMaterial3d,\n  applyMaterial3dProps,\n  type Component,\n  type Material3D\n} from '@hatiolab/things-scene'\nimport {\n  STYLES,\n  CHAIN_PRESETS,\n  DEFAULT_GRIPPER,\n  type RobotArmStyle,\n  type StyleName,\n  type ChainPresetName,\n  type GripperConfig,\n  type LinkShape,\n  type JointHousing\n} from './robot-arm-styles.js'\nimport {\n  forwardKinematics,\n  solveCCDIK,\n  maxReach,\n  isSixAxisZYYZYZ,\n  resolveBaseYaw,\n  analyticalIk6Axis,\n  type ChainElement,\n  type JointAxis\n} from './robot-arm-ik.js'\n\nconst _AXIS_VEC: Record<JointAxis, THREE.Vector3> = {\n  x: new THREE.Vector3(1, 0, 0),\n  y: new THREE.Vector3(0, 1, 0),\n  z: new THREE.Vector3(0, 0, 1)\n}\n\nconst DEG2RAD = Math.PI / 180\nconst RAD2DEG = 180 / Math.PI\n\n/**\n * Length (chain-local units) of the virtual end-extension used to bias\n * CCDIK toward \"gripper pointing world-down\". Longer = stronger orientation\n * bias but reduces effective reach; shorter = closer to position-only.\n * 30 is a moderate default that handles typical pick-and-place poses\n * without sacrificing reach for normal-sized arms.\n */\nconst DESCENT_BIAS = 30\n\n/** Raycast no-op — assigned to non-interactive helper meshes (e.g. the\n *  reach-sphere visualization) so clicks pass through to the real body. */\nconst NO_RAYCAST: THREE.Object3D['raycast'] = () => {}\n\nexport class RobotArm3D extends RealObjectGroup {\n  private _smoothing?: { current: number[]; target: number[]; speed: number }\n  private _animFrame?: number\n  private _isAnimating = false\n  private _chain: ChainElement[] = []\n  private _jointFrames: THREE.Object3D[] = []\n\n  build() {\n    super.build()\n\n    const state = this.component.state as any\n    // Geometry mapping (per user contract):\n    //   width × height = robot footprint (the base pedestal occupies this)\n    //   depth          = robot height (= max reach when fully extended up)\n    //\n    // The chain preset's lengths are treated as PROPORTIONS — we scale them\n    // so the sum matches `effectiveDepth` (with a small base-height\n    // reservation). User can still override by passing absolute lengths via\n    // `state.chain[i].length`; the same scale is applied so `depth` stays\n    // the source of truth for overall robot height.\n    const baseHeight = this._baseHeight(state)\n    const targetReach = Math.max(this.effectiveDepth - baseHeight, 1)\n    const chain = this._resolveChain(state, targetReach)\n    const style = this._resolveStyle(state)\n    let joints = this._resolveJoints(chain, state)\n\n    // If a target is set, solve IK and use the solved joint values as the\n    // smoothing-controller's new target. CCDIK works in radians; convert\n    // both the input joints and the output back to user-facing units\n    // (degrees for revolute) before storing.\n    //\n    // CRITICAL: IK starts from smoothing.current (the visual joint pose\n    // mid-transit) when present, NOT from state-derived joints. CCDIK is\n    // path-dependent — different start poses converge to different valid\n    // solutions reaching the same TCP. If a rebuild happens DURING transit\n    // (e.g. `set('gripper', state:1)` closing the gripper after pick),\n    // re-solving from state joints (typically 0,0,0...) would produce a\n    // *different* solution than the path the arm was already on, snapping\n    // smoothing.target onto a new joint configuration. The arm — and any\n    // carried box — would then race toward that alternate solution,\n    // sometimes hitting `allReached` almost instantly (if the alternate\n    // happens to be close to current), which fires `tcp-reached`\n    // prematurely and makes pickAndPlace reparent the carrier to the\n    // place holder long before the arm has actually traveled there.\n    const target = state.target\n    if (target && Number.isFinite(target.x) && Number.isFinite(target.y) && Number.isFinite(target.z)) {\n      const targetVec = new THREE.Vector3(target.x, target.y, target.z)\n      const targetYaw = Number.isFinite(target.yaw) ? (target.yaw as number) : undefined\n      const ikStart = this._smoothing?.current?.slice() ?? joints\n      const radJoints = this._toRadians(chain, ikStart)\n      const ikValues = this._solveIkDescent(chain, radJoints, targetVec, targetYaw)\n      const solvedUser = this._fromRadians(chain, ikValues)\n      this._smoothing = {\n        current: ikStart.slice(),\n        target: solvedUser.slice(),\n        speed: this._jointSpeed(state)\n      }\n      // visible position = current (interpolated by tick)\n      joints = ikStart.slice()\n    } else if (this._smoothing) {\n      // no target — freeze where we are, NOT animate toward stale state\n      // joints (which may be 0,0,0... and unrelated to the visual pose).\n      this._smoothing.target = this._smoothing.current.slice()\n    }\n\n    this._chain = chain\n    this._buildArm(chain, style, joints, baseHeight)\n    this._buildGripper(chain, style, state)\n    this._buildReachSphere(chain, state, baseHeight)\n    this._buildBase(state, style, baseHeight)\n\n    // Animation lifecycle (smooths joint values toward solved target).\n    this._stopAnimation()\n    if (this._smoothing) {\n      this._startAnimation()\n    }\n\n    // Re-mount any Carriable child whose object3d was orphaned by the\n    // build's `clear()`. Without this, ANY structural change while a\n    // carrier is held (most commonly the gripper-close `set('gripper',\n    // {state:1})` inside pickAndPlace) tears down `_endFrame` along with\n    // the carrier mounted onto it — the box vanishes mid-flight.\n    //\n    // The component-side child list survives a 3D rebuild (only the\n    // scene-graph was reset), so we walk it and re-execute the holder's\n    // attach-point policy. Uses `add()` (not `attach()`) because the\n    // orphaned object3d's matrixWorld is stale; we want the explicit\n    // localPosition/localRotation, not whatever world pose was last\n    // computed on the old gripper frame.\n    this._remountCarriers()\n  }\n\n  private _remountCarriers() {\n    const holder = this.component as any\n    if (typeof holder.attachPointFor !== 'function') return\n    const children: Component[] =\n      holder.components ?? holder.children ?? []\n    for (const child of children) {\n      if (!(child as any)?.isCarriable) continue\n      const obj3d = (child as any)._realObject?.object3d\n      if (!obj3d) continue\n      const point = holder.attachPointFor(child)\n      if (!point?.attach) continue\n      point.attach.add(obj3d)\n      const lp = point.localPosition ?? { x: 0, y: 0, z: 0 }\n      obj3d.position.set(lp.x, lp.y, lp.z)\n      if (point.localRotation) {\n        obj3d.rotation.set(point.localRotation.x, point.localRotation.y, point.localRotation.z)\n      } else {\n        obj3d.quaternion.identity()\n      }\n    }\n  }\n\n  /**\n   * IK with a \"point gripper downward\" bias.\n   *\n   * CCDIK is position-only — it solves for joint values that put the\n   * end-effector at the target, without constraining the gripper's\n   * orientation. With no orientation constraint, valid solutions\n   * include twisted poses (gripper sideways / upside-down) — typical\n   * pick-and-place tasks then look broken: the box gets gripped at a\n   * wrong angle, or after release the carrier \"launches\" off because\n   * the gripper was facing some weird direction at the moment of\n   * release. The arm can also visibly \"lock\" near joint limits trying\n   * to satisfy a position-only target through a contorted path.\n   *\n   * Trick — augment the chain with a virtual rigid extension along the\n   * last frame's +Z, length L. When CCDIK puts this extended end at\n   * `target + L * (-Ẑ_chainLocal)` (i.e. the original target shifted\n   * downward by L in chain-local), the only way the chain can satisfy\n   * both placements simultaneously is by orienting the last frame's +Z\n   * to point in the chain-local -Z direction = world -Y direction =\n   * gripper pointing straight DOWN. Best-effort even when CCDIK can't\n   * fully converge — the solver pushes the chain in the right\n   * orientation, which matches what a real pick-and-place arm does.\n   */\n  \n  private _gripperTcpZ(style: RobotArmStyle, state: any): number {\n    const cfg: GripperConfig = {\n      ...DEFAULT_GRIPPER,\n      ...((state.gripper as GripperConfig) ?? {}),\n      ...(state.gripperType ? { type: state.gripperType } : {})\n    }\n    if (cfg.type === 'none') return 0\n    const linkRadius = style.linkRadius\n    switch (cfg.type) {\n      case 'parallel': {\n        const stroke = cfg.stroke ?? linkRadius * 1.8\n        const fingerWidth = cfg.fingerWidth ?? linkRadius * 0.45\n        const fingerLength = stroke * 1.2\n        return fingerWidth * 1.8 + fingerLength\n      }\n      case 'three-finger': {\n        const stroke = cfg.stroke ?? linkRadius * 1.5\n        const fingerWidth = cfg.fingerWidth ?? linkRadius * 0.4\n        const fingerLength = stroke * 1.2\n        return fingerWidth * 1.5 + fingerLength\n      }\n      case 'suction': {\n        const diameter = cfg.diameter ?? linkRadius * 2.4\n        return diameter * 0.9\n      }\n      case 'magnetic': {\n        const diameter = cfg.diameter ?? linkRadius * 2.6\n        return diameter * 0.25\n      }\n    }\n    return 0\n  }\n\n  private _solveIkDescent(\n    chain: ChainElement[],\n    radJoints: number[],\n    targetVec: THREE.Vector3,\n    targetYaw?: number\n  ): number[] {\n    const state = this.component.state as any\n    const style = this._resolveStyle(state)\n    const tcpZ = this._gripperTcpZ(style, state)\n\n    const augChain = chain.map((c, i) =>\n      i === chain.length - 1 ? { ...c, length: c.length + tcpZ } : c\n    )\n\n    // Fast path: analytical IK for the standard 6-axis Z-Y-Y-Z-Y-Z chain\n    // (industrial + cobot presets). CCDIK is greedy and produces twisted\n    // poses; analytical IK is closed-form, deterministic, and gives the\n    // natural \"elbow up, gripper straight down\" pose every time.\n    //\n    // The implementation lives in `./robot-arm-ik.js` so the unit tests\n    // exercise THE SAME code that runs at scene-time. (An earlier version\n    // of this file kept a private duplicate, which silently drifted from\n    // the tested implementation — easy to introduce subtle bugs that\n    // tests miss.)\n    if (isSixAxisZYYZYZ(augChain)) {\n      const analytical = analyticalIk6Axis(augChain, targetVec, radJoints, targetYaw)\n      if (analytical) return analytical\n    }\n\n    const radChain = augChain.map((c, i) => {\n      const isLast = i === chain.length - 1\n      const radRanges =\n        c.type === 'revolute'\n          ? ([c.range[0] * DEG2RAD, c.range[1] * DEG2RAD] as [number, number])\n          : c.range\n      return {\n        ...c,\n        length: isLast ? c.length + DESCENT_BIAS : c.length,\n        range: radRanges\n      }\n    })\n    // Shift target downward (chain-local -Z = world -Y) by the bias length.\n    const augTarget = new THREE.Vector3(targetVec.x, targetVec.y, targetVec.z - DESCENT_BIAS)\n\n    // ── Lock joint 0 (base yaw) at the right value, run CCDIK on the rest ──\n    //\n    // CCDIK has two compounding weaknesses with joint 0 (base yaw, axis\n    // = chain-local Z):\n    //\n    //   (a) Singularity when chain is straight along Z: v1 = tip - origin\n    //       is parallel to the joint axis, projects to zero length on the\n    //       perpendicular plane, and CCDIK SKIPs the joint entirely.\n    //\n    //   (b) Even with the chain bent, CCDIK walking end→base may settle\n    //       on a contorted solution where downstream joints (typically\n    //       the wrist) compensate for an under-rotated joint 0 — the arm\n    //       \"self-pierces\" reaching backwards over its own base instead\n    //       of cleanly rotating to face the target.\n    //\n    // Fix: split into two phases.\n    //   1. Compute the base yaw analytically: `atan2(target.y, target.x)`\n    //      — the unique angle that points the chain's pitch plane through\n    //      the target.\n    //   2. Run CCDIK on the SUB-chain (joints 1..N-1) with a baseMatrix\n    //      that already includes joint 0's rotation + the first link\n    //      translation. Joint 0 is fixed — CCDIK can't unwind it.\n    //\n    // Result: base yaw is always correctly oriented, and the remaining\n    // joints handle pitch + wrist + descent bias on top of that.\n    const seedJoint0 =\n      chain.length > 0 && chain[0].type === 'revolute' && chain[0].axis === 'z'\n        ? resolveBaseYaw(targetVec, radChain[0].range, radJoints[0] ?? 0)\n        : null\n\n    if (seedJoint0 === null) {\n      // Chain doesn't have a Z-axis joint at index 0 (e.g. SCARA, prismatic\n      // first joint) — fall back to plain CCDIK on the full chain. The\n      // singularity above doesn't apply when joint 0 isn't around Z.\n      return solveCCDIK(radChain, radJoints, augTarget, undefined, {\n        maxIterations: 40,\n        damping: 0.5\n      }).values\n    }\n\n    // Build base matrix: rotate around Z by seedJoint0, then translate\n    // along Z by chain[0].length (joint 0's link). This places the\n    // sub-chain's origin at frame 1.\n    const baseMatrix = new THREE.Matrix4()\n      .makeRotationZ(seedJoint0)\n      .multiply(new THREE.Matrix4().makeTranslation(0, 0, radChain[0].length))\n\n    const subChain = radChain.slice(1)\n    const subSeed = radJoints.slice(1)\n    const result = solveCCDIK(subChain, subSeed, augTarget, baseMatrix, {\n      maxIterations: 40,\n      damping: 0.5\n    })\n    return [seedJoint0, ...result.values]\n  }\n\n  // NOTE: `analyticalIk6Axis` and `resolveBaseYaw` previously lived as\n  // private duplicates here. They've been hoisted to `./robot-arm-ik.ts`\n  // so the unit tests in `test/ik-unit.test.mjs` exercise the same\n  // implementation that runs at scene-time. Don't reintroduce private\n  // copies — drift between \"tested\" and \"shipping\" code was a real\n  // source of bugs in this file's history.\n\n  // ─── Resolution helpers ──────────────────────────────────────────────\n\n  private _resolveChain(state: any, targetReach: number): ChainElement[] {\n    let raw: ChainElement[]\n    if (Array.isArray(state.chain) && state.chain.length > 0) {\n      raw = state.chain\n    } else {\n      const presetName = (state.chainPreset ?? '6-axis-industrial') as ChainPresetName\n      raw = CHAIN_PRESETS[presetName] ?? CHAIN_PRESETS['6-axis-industrial']\n    }\n    // Scale every link.length proportionally so the chain's total reach\n    // matches the requested depth. Preserves preset proportions (a SCARA\n    // stays SCARA-shaped at any depth). Prismatic ranges scale too —\n    // their travel distance is in the same length units.\n    const nominal = raw.reduce((s, c) => s + (c.length || 0), 0)\n    if (nominal <= 0) return raw\n    const scale = targetReach / nominal\n    return raw.map(c => ({\n      ...c,\n      length: c.length * scale,\n      range: c.type === 'prismatic' ? ([c.range[0] * scale, c.range[1] * scale] as [number, number]) : c.range\n    }))\n  }\n\n  /**\n   * Base pedestal height — small reservation at the bottom of `depth` so\n   * the chain doesn't start at z=0 (which would clip into the floor).\n   * About 12% of depth, clamped to a sane range.\n   */\n  private _baseHeight(state: any): number {\n    const depth = this.effectiveDepth\n    return Math.max(2, Math.min(depth * 0.12, 30))\n  }\n\n  /**\n   * Color resolution priority (high → low):\n   *   1. `state.fillStyle`  → main link color (overrides style preset)\n   *   2. `state.color`      → legacy / explicit hex int\n   *   3. style preset color\n   * Same for accent: state.strokeStyle → state.accentColor → preset accent.\n   * This way the user can keep a SCARA's box-link shape but recolor it via\n   * the standard fillStyle property without dropping into custom presets.\n   */\n  private _resolveStyle(state: any): RobotArmStyle {\n    const baseStyle = STYLES[(state.style ?? 'industrial') as StyleName] ?? STYLES.industrial\n    return {\n      linkShape: (state.linkShape as LinkShape) ?? baseStyle.linkShape,\n      jointHousing: (state.jointHousing as JointHousing) ?? baseStyle.jointHousing,\n      color: pickColorish(state.fillStyle, state.color, baseStyle.color),\n      accentColor: pickColorish(state.strokeStyle, state.accentColor, baseStyle.accentColor),\n      linkRadius:\n        typeof state.linkRadius === 'number' && Number.isFinite(state.linkRadius) && state.linkRadius > 0\n          ? state.linkRadius\n          : baseStyle.linkRadius\n    }\n  }\n\n  /**\n   * Resolution priority for each joint i:\n   *   1. state.jointN (e.g. state.joint0, state.joint1, ...)  — written\n   *      by the property panel's per-joint number inputs (one row per\n   *      joint, range-clamped slider).\n   *   2. state.joints[i]  — array form, useful for programmatic batch set.\n   *   3. state.joints[i]  — object form ({0: v, 1: v, ...}).\n   *   4. 0  — fallback.\n   * Final value is range-clamped against the joint's own limits.\n   */\n  private _resolveJoints(chain: ChainElement[], state: any): number[] {\n    const out: number[] = []\n    const src = state.joints\n    for (let i = 0; i < chain.length; i++) {\n      let v: number | undefined\n      const flatKey = state[`joint${i}`]\n      if (Number.isFinite(flatKey)) {\n        v = flatKey\n      } else if (Array.isArray(src) && Number.isFinite(src[i])) {\n        v = src[i]\n      } else if (src && typeof src === 'object' && Number.isFinite(src[i] ?? src[String(i)])) {\n        v = Number(src[i] ?? src[String(i)])\n      } else {\n        v = 0\n      }\n      if (!Number.isFinite(v)) v = 0\n      v = Math.max(chain[i].range[0], Math.min(chain[i].range[1], v as number))\n      out.push(v)\n    }\n    return out\n  }\n\n  private _jointSpeed(state: any): number {\n    // Degrees per second the joint can travel during smoothing.\n    // Length-unit prismatic joints reuse this value as units/sec —\n    // typical smoothing speed scales similarly for both axis types.\n    //\n    // Default 45 deg/s — chosen to feel like a real industrial arm\n    // executing a careful pick-and-place rather than a fly-by. Higher\n    // speeds (90+) read as \"rushed / unsafe\" in a 3D scene where the\n    // viewer expects measured motion. User can override via\n    // `state.jointSpeed`.\n    const v = Number(state.jointSpeed ?? 45)\n    return Number.isFinite(v) && v > 0 ? v : 45\n  }\n\n  /** Convert revolute joint values from degrees → radians. Prismatic\n   *  values pass through untouched. */\n  private _toRadians(chain: ChainElement[], joints: number[]): number[] {\n    return joints.map((v, i) => (chain[i].type === 'revolute' ? v * DEG2RAD : v))\n  }\n\n  /** Inverse of `_toRadians` — radians → degrees for revolute. */\n  private _fromRadians(chain: ChainElement[], joints: number[]): number[] {\n    return joints.map((v, i) => (chain[i].type === 'revolute' ? v * RAD2DEG : v))\n  }\n\n  // ─── Geometry builders ───────────────────────────────────────────────\n\n  /**\n   * Build the chain as a tree of nested Object3Ds. Each link extends\n   * along its parent's +Z by `length` — applying the joint rotation BEFORE\n   * the translation. This way `rotateAround joint axis = rotate the\n   * downstream subtree`, which matches real arm kinematics.\n   */\n  private _buildArm(chain: ChainElement[], style: RobotArmStyle, joints: number[], baseHeight: number) {\n    const state = this.component.state as any\n    const resolved = resolveMaterial3d(state.material3d as Material3D | undefined)\n    const alpha = clamp(numOr(state.alpha, 1), 0, 1)\n\n    const linkMat = new THREE.MeshStandardMaterial({\n      color: style.color,\n      metalness: 0.45,\n      roughness: 0.45,\n      transparent: alpha < 1,\n      opacity: alpha\n    })\n    applyMaterial3dProps(linkMat, resolved)\n    const housingMat = new THREE.MeshStandardMaterial({\n      color: style.accentColor,\n      metalness: 0.55,\n      roughness: 0.4,\n      transparent: alpha < 1,\n      opacity: alpha\n    })\n    applyMaterial3dProps(housingMat, resolved)\n\n    // Three.js convention is +Y up — but our forward kinematics + CCDIK\n    // module is +Z up (matches IK math conventions). Wrap the whole arm\n    // in a group rotated -90° around X so chain-local +Z maps to world +Y.\n    // Lift by baseHeight so the chain origin sits ON TOP of the pedestal.\n    const armRoot = new THREE.Group()\n    armRoot.rotation.x = -Math.PI / 2\n    armRoot.position.y = -this.effectiveDepth / 2 + baseHeight\n    this.object3d.add(armRoot)\n    // Cache for worldToChainLocal — IK targets must be in this frame.\n    this._armRoot = armRoot\n\n    this._jointFrames = []\n    let currentParent: THREE.Object3D = armRoot\n\n    for (let i = 0; i < chain.length; i++) {\n      const link = chain[i]\n      // Joint frame — sits at the start of link i, rotates by jointValue.\n      const frame = new THREE.Object3D()\n      currentParent.add(frame)\n      this._jointFrames.push(frame)\n      this._applyJointValue(frame, link, joints[i])\n\n      // Joint housing at the joint origin (frame's local origin).\n      const housing = this._buildJointHousing(style.jointHousing, style.linkRadius, housingMat)\n      if (housing) frame.add(housing)\n\n      // Link mesh extends along local +Z by link.length. We mount it as a\n      // child of the frame so it inherits the joint rotation. The link\n      // itself sits with its base at z=0 and grows toward +Z.\n      const linkMesh = this._buildLinkMesh(style.linkShape, style.linkRadius, link.length, linkMat)\n      if (linkMesh) frame.add(linkMesh)\n\n      // The next frame's parent is a translation forward by link.length.\n      const next = new THREE.Object3D()\n      next.position.set(0, 0, link.length)\n      frame.add(next)\n      currentParent = next\n    }\n\n    // Save the end-effector parent so the gripper builder can mount onto it.\n    // Also exposed via `getGripperFrame()` so CarrierHolder.attachPointFor\n    // can return it — making any Carriable child mount onto the moving\n    // gripper TCP and follow IK automatically.\n    ;(this as any)._endFrame = currentParent\n  }\n\n  /**\n   * Frame at the gripper TCP (Tool Center Point) — the working point of\n   * the gripper, NOT the wrist. For jaw grippers this is the mid-point\n   * between finger tips; for suction/magnetic it's the contact face.\n   * Carriers held by the arm parent here so they sit at the gripping\n   * interface, not buried inside the gripper meshes.\n   *\n   * Falls back to `_endFrame` (wrist) until `_buildGripper` has run.\n   */\n  getGripperFrame(): THREE.Object3D | undefined {\n    return this._tcpFrame ?? ((this as any)._endFrame as THREE.Object3D | undefined)\n  }\n\n  /**\n   * Convert a world-space point to the IK module's chain-local frame.\n   *\n   * Why this matters: CCDIK + forwardKinematics operate in `armRoot`'s\n   * local space (base joint at origin, +Z up — the IK math convention).\n   * `state.target` is interpreted in *that* frame. If a caller hands in\n   * a world position from another component (a parcel sitting somewhere\n   * in the scene), it must be projected through `armRoot`'s inverse\n   * world matrix first, otherwise the arm reaches toward \"as if the\n   * world coords were base-relative\" — a totally wrong direction once\n   * the robot itself isn't at the world origin.\n   *\n   * Returns the same `{x, y, z}` shape `state.target` accepts, which is\n   * already in chain-local space (no further conversion needed by\n   * pickAndPlace).\n   */\n  worldToChainLocal(worldX: number, worldY: number, worldZ: number): { x: number; y: number; z: number } {\n    if (!this._armRoot) return { x: 0, y: 0, z: 0 }\n    this._armRoot.updateWorldMatrix(true, false)\n    const v = new THREE.Vector3(worldX, worldY, worldZ)\n    v.applyMatrix4(new THREE.Matrix4().copy(this._armRoot.matrixWorld).invert())\n    return { x: v.x, y: v.y, z: v.z }\n  }\n\n  private _armRoot?: THREE.Object3D\n\n  /**\n   * Apply a joint value to its scene-graph frame. `value` is in *user\n   * units* (degrees for revolute, scene units for prismatic) — convert\n   * to radians at the math boundary.\n   */\n  private _applyJointValue(frame: THREE.Object3D, link: ChainElement, value: number) {\n    if (link.type === 'revolute') {\n      const ax = _AXIS_VEC[link.axis]\n      frame.quaternion.setFromAxisAngle(ax, value * DEG2RAD)\n    } else {\n      frame.position.copy(_AXIS_VEC[link.axis]).multiplyScalar(value)\n    }\n  }\n\n  /** Cheap path: just refresh joint orientations without rebuilding the\n   *  geometry tree. Used when only joint values changed. */\n  private _refreshJointPoses(joints: number[]) {\n    for (let i = 0; i < this._chain.length; i++) {\n      const frame = this._jointFrames[i]\n      if (frame) this._applyJointValue(frame, this._chain[i], joints[i])\n    }\n  }\n\n  private _buildJointHousing(kind: JointHousing, r: number, mat: THREE.Material): THREE.Mesh | null {\n    const radius = r * 1.15\n    switch (kind) {\n      case 'disk': {\n        const geo = new THREE.CylinderGeometry(radius, radius, r * 0.7, 24)\n        // disk axis = local Y by default; we want it perpendicular to the\n        // link's growth direction. Leaving it on local Y reads as a \"wrist\n        // band\" between two link segments — which is what cobot disks do.\n        return new THREE.Mesh(geo, mat)\n      }\n      case 'sphere': {\n        const geo = new THREE.SphereGeometry(radius, 16, 12)\n        return new THREE.Mesh(geo, mat)\n      }\n      case 'knuckle': {\n        // Asymmetric box — wider in two axes, narrow in third. Reads as\n        // industrial cast joint.\n        const geo = new THREE.BoxGeometry(radius * 2.1, radius * 1.4, radius * 1.8)\n        return new THREE.Mesh(geo, mat)\n      }\n      case 'none':\n      default:\n        return null\n    }\n  }\n\n  private _buildLinkMesh(\n    shape: LinkShape,\n    radius: number,\n    length: number,\n    mat: THREE.Material\n  ): THREE.Mesh | null {\n    if (length <= 0.5) return null\n    let geo: THREE.BufferGeometry\n    switch (shape) {\n      case 'cylinder':\n        geo = new THREE.CylinderGeometry(radius, radius, length, 16)\n        break\n      case 'tapered':\n        geo = new THREE.CylinderGeometry(radius * 0.7, radius, length, 16)\n        break\n      case 'tube':\n        geo = new THREE.CylinderGeometry(radius * 0.5, radius * 0.5, length, 12)\n        break\n      case 'box':\n        geo = new THREE.BoxGeometry(radius * 1.6, radius * 1.6, length)\n        break\n      case 'gltf':\n        // Placeholder — full GLTF link replacement is a v2 feature.\n        // Fall back to cylinder so the chain doesn't break visually.\n        geo = new THREE.CylinderGeometry(radius, radius, length, 16)\n        break\n      default:\n        geo = new THREE.CylinderGeometry(radius, radius, length, 16)\n    }\n    // Three.js cylinder/box default axis = local +Y. Rotate to grow along\n    // local +Z (the chain-forward direction) and shift so the BASE sits at\n    // z=0 (rather than centered).\n    if (shape !== 'box') {\n      geo.rotateX(Math.PI / 2)\n    }\n    geo.translate(0, 0, length / 2)\n    const mesh = new THREE.Mesh(geo, mat)\n    mesh.castShadow = true\n    return mesh\n  }\n\n  // ─── Gripper ──────────────────────────────────────────────────────────\n\n  /**\n   * Build the gripper meshes onto `_endFrame` and place a TCP frame at\n   * the gripper's working point (between the finger tips for jaw types,\n   * at the cup/disk distal face for surface types). Carriers held by the\n   * arm mount onto this TCP frame, NOT onto `_endFrame` — `_endFrame` is\n   * the wrist (chain end-of-link) and the gripper extends from it in +Z,\n   * so a carrier at `_endFrame` origin would visually overlap the gripper\n   * meshes (the fingers/cup would pierce through the box).\n   */\n  private _buildGripper(chain: ChainElement[], style: RobotArmStyle, state: any) {\n    const endFrame = (this as any)._endFrame as THREE.Object3D | undefined\n    if (!endFrame) return\n\n    // TCP frame — added unconditionally (even for gripper.type='none' or\n    // missing gripper) so carrier mount logic always has a stable target.\n    // Default at wrist (z=0); per-type builders override below.\n    const tcp = new THREE.Object3D()\n    endFrame.add(tcp)\n    this._tcpFrame = tcp\n\n    const cfg: GripperConfig = {\n      ...DEFAULT_GRIPPER,\n      ...((state.gripper as GripperConfig) ?? {}),\n      // gripperType nature property is a shortcut for {gripper: {type}} —\n      // expose it so the property panel's <select> works without nested object editing.\n      ...(state.gripperType ? { type: state.gripperType } : {})\n    }\n    if (cfg.type === 'none') return\n\n    const color = pickColorish(cfg.color, style.accentColor)\n    const resolved = resolveMaterial3d(state.material3d as Material3D | undefined)\n    const alpha = clamp(numOr(state.alpha, 1), 0, 1)\n    const mat = new THREE.MeshStandardMaterial({\n      color,\n      metalness: 0.55,\n      roughness: 0.4,\n      transparent: alpha < 1,\n      opacity: alpha\n    })\n    applyMaterial3dProps(mat, resolved)\n\n    let tcpZ = 0\n    switch (cfg.type) {\n      case 'parallel':\n        tcpZ = this._buildParallelGripper(endFrame, cfg, mat, style.linkRadius)\n        break\n      case 'three-finger':\n        tcpZ = this._buildThreeFingerGripper(endFrame, cfg, mat, style.linkRadius)\n        break\n      case 'suction':\n        tcpZ = this._buildSuctionGripper(endFrame, cfg, mat, style.linkRadius)\n        break\n      case 'magnetic':\n        tcpZ = this._buildMagneticGripper(endFrame, cfg, mat, style.linkRadius)\n        break\n    }\n    tcp.position.z = tcpZ\n  }\n\n  private _tcpFrame?: THREE.Object3D\n\n  /**\n   * Each gripper sub-builder returns its TCP z-offset (in `_endFrame`'s\n   * local coordinates) — the point in space where a held carrier's grip\n   * face should land. The caller positions `_tcpFrame` at that z so\n   * carriers attach there directly.\n   */\n  private _buildParallelGripper(\n    parent: THREE.Object3D,\n    cfg: GripperConfig,\n    mat: THREE.Material,\n    linkRadius: number\n  ): number {\n    // Default sizes scale with linkRadius so the gripper looks proportional\n    // to the arm. A heavy industrial 6-axis (linkRadius ~10) gets a chunky\n    // gripper; a slim cobot wrist (linkRadius ~3) gets a small one. User\n    // can still override via cfg.stroke / cfg.fingerWidth.\n    const stroke = cfg.stroke ?? linkRadius * 1.8\n    const fingerWidth = cfg.fingerWidth ?? linkRadius * 0.45\n    const fingerLength = stroke * 1.2\n    const closure = THREE.MathUtils.clamp(cfg.state ?? 0, 0, 1) // 0 = open, 1 = closed\n    // Wrist plate\n    const plate = new THREE.Mesh(\n      new THREE.BoxGeometry(stroke * 1.6, fingerWidth * 1.2, fingerWidth * 1.8),\n      mat\n    )\n    plate.position.set(0, 0, fingerWidth * 0.9)\n    parent.add(plate)\n    // Two fingers, opening width = stroke when state=0, fingerWidth when state=1\n    const halfOpen = (stroke / 2) * (1 - closure) + (fingerWidth / 2) * closure\n    for (const sign of [-1, 1]) {\n      const finger = new THREE.Mesh(\n        new THREE.BoxGeometry(fingerWidth, fingerWidth, fingerLength),\n        mat\n      )\n      finger.position.set(sign * halfOpen, 0, fingerWidth * 1.8 + fingerLength / 2)\n      parent.add(finger)\n    }\n    // TCP = finger-tip plane (carrier's top face docks against it).\n    return fingerWidth * 1.8 + fingerLength\n  }\n\n  private _buildThreeFingerGripper(\n    parent: THREE.Object3D,\n    cfg: GripperConfig,\n    mat: THREE.Material,\n    linkRadius: number\n  ): number {\n    const stroke = cfg.stroke ?? linkRadius * 1.5\n    const fingerWidth = cfg.fingerWidth ?? linkRadius * 0.4\n    const fingerLength = stroke * 1.2\n    const closure = THREE.MathUtils.clamp(cfg.state ?? 0, 0, 1)\n    const radius = (stroke / 2) * (1 - closure) + (fingerWidth / 2) * closure\n    // Wrist hub\n    const hub = new THREE.Mesh(\n      new THREE.CylinderGeometry(stroke * 0.55, stroke * 0.55, fingerWidth * 1.5, 16),\n      mat\n    )\n    hub.rotation.x = Math.PI / 2\n    hub.position.set(0, 0, fingerWidth * 0.75)\n    parent.add(hub)\n    // Three fingers around the axis\n    for (let i = 0; i < 3; i++) {\n      const angle = (i / 3) * Math.PI * 2\n      const finger = new THREE.Mesh(\n        new THREE.BoxGeometry(fingerWidth, fingerWidth, fingerLength),\n        mat\n      )\n      finger.position.set(Math.cos(angle) * radius, Math.sin(angle) * radius, fingerWidth * 1.5 + fingerLength / 2)\n      parent.add(finger)\n    }\n    return fingerWidth * 1.5 + fingerLength\n  }\n\n  private _buildSuctionGripper(\n    parent: THREE.Object3D,\n    cfg: GripperConfig,\n    mat: THREE.Material,\n    linkRadius: number\n  ): number {\n    const diameter = cfg.diameter ?? linkRadius * 2.4\n    // Mounting stem\n    const stem = new THREE.Mesh(\n      new THREE.CylinderGeometry(diameter * 0.25, diameter * 0.25, diameter * 0.5, 12),\n      mat\n    )\n    stem.rotation.x = Math.PI / 2\n    stem.position.set(0, 0, diameter * 0.25)\n    parent.add(stem)\n    // Suction cup (cone, narrow end at the stem)\n    const cup = new THREE.Mesh(\n      new THREE.CylinderGeometry(diameter / 2, diameter * 0.3, diameter * 0.4, 24, 1, true),\n      mat\n    )\n    cup.rotation.x = Math.PI / 2\n    cup.position.set(0, 0, diameter * 0.5 + diameter * 0.2)\n    parent.add(cup)\n    // TCP = cup distal face (suction surface contacts the carrier here).\n    return diameter * 0.9\n  }\n\n  private _buildMagneticGripper(\n    parent: THREE.Object3D,\n    cfg: GripperConfig,\n    mat: THREE.Material,\n    linkRadius: number\n  ): number {\n    const diameter = cfg.diameter ?? linkRadius * 2.6\n    // Disk magnet at the end\n    const disk = new THREE.Mesh(\n      new THREE.CylinderGeometry(diameter / 2, diameter / 2, diameter * 0.25, 24),\n      mat\n    )\n    disk.rotation.x = Math.PI / 2\n    disk.position.set(0, 0, diameter * 0.125)\n    parent.add(disk)\n    // TCP = disk distal face (magnet contacts the carrier here).\n    return diameter * 0.25\n  }\n\n  // ─── Reach sphere visualization ──────────────────────────────────────\n\n  private _buildReachSphere(chain: ChainElement[], state: any, baseHeight: number) {\n    if (!state.showReachSphere) return\n    const reach = maxReach(chain)\n    if (reach <= 0) return\n    const geo = new THREE.SphereGeometry(reach, 24, 16)\n    const wire = new THREE.WireframeGeometry(geo)\n    const mat = new THREE.LineBasicMaterial({\n      color: 0x44aacc,\n      transparent: true,\n      opacity: 0.18\n    })\n    const wireMesh = new THREE.LineSegments(wire, mat)\n    // Center on the base joint (top of pedestal), in world-space y.\n    wireMesh.position.y = -this.effectiveDepth / 2 + baseHeight\n    // Visualization-only — must not catch raycasts. The reach sphere\n    // surrounds the arm in 3D and would intercept clicks meant for the\n    // actual robot body. NO_RAYCAST keeps it visible but click-through.\n    wireMesh.raycast = NO_RAYCAST\n    this.object3d.add(wireMesh)\n    geo.dispose()\n  }\n\n  // ─── Base / pedestal ─────────────────────────────────────────────────\n\n  /**\n   * Pedestal — sized from `state.width × state.height` (the 2D footprint).\n   * Cylindrical base whose radius fills ~90% of the smaller footprint\n   * dimension; a flared bottom (1.2× radius) gives the visual weight of\n   * a real industrial robot anchor.\n   */\n  private _buildBase(state: any, style: RobotArmStyle, baseHeight: number) {\n    const w = Math.max(Math.abs(numOr(state.width, 100)), 1)\n    const h2d = Math.max(Math.abs(numOr(state.height, 100)), 1)\n    const r = (Math.min(w, h2d) / 2) * 0.9\n    const resolved = resolveMaterial3d(state.material3d as Material3D | undefined)\n    const alpha = clamp(numOr(state.alpha, 1), 0, 1)\n    const mat = new THREE.MeshStandardMaterial({\n      color: style.accentColor,\n      metalness: 0.6,\n      roughness: 0.4,\n      transparent: alpha < 1,\n      opacity: alpha\n    })\n    applyMaterial3dProps(mat, resolved)\n    const base = new THREE.Mesh(new THREE.CylinderGeometry(r, r * 1.2, baseHeight, 24), mat)\n    base.position.set(0, -this.effectiveDepth / 2 + baseHeight / 2, 0)\n    base.castShadow = resolved.castShadow\n    base.receiveShadow = resolved.receiveShadow\n    this.object3d.add(base)\n  }\n\n  // ─── Animation: smooth joint values toward solved target ─────────────\n\n  private _startAnimation() {\n    this._isAnimating = true\n    let lastTime = performance.now()\n    const tick = () => {\n      if (!this._isAnimating || !this._smoothing) return\n      const now = performance.now()\n      const dt = Math.min((now - lastTime) / 1000, 0.1) // clamp for stability\n      lastTime = now\n      const { current, target, speed } = this._smoothing\n      const maxStep = speed * dt\n      let allReached = true\n      for (let i = 0; i < current.length; i++) {\n        const diff = (target[i] ?? 0) - current[i]\n        if (Math.abs(diff) > 1e-4) allReached = false\n        const step = Math.sign(diff) * Math.min(Math.abs(diff), maxStep)\n        current[i] += step\n        // apply to live frame\n        const frame = this._jointFrames[i]\n        const link = this._chain[i]\n        if (frame && link) this._applyJointValue(frame, link, current[i])\n      }\n      this.component.invalidate?.()\n      if (allReached) {\n        this._stopAnimation()\n        // Notify external code (pickAndPlace, custom scripts) that the\n        // gripper has reached its target. Component.trigger fires the\n        // standard things-scene event bus so consumers can subscribe via\n        // `component.on('tcp-reached', handler)`.\n        ;(this.component as any).trigger?.('tcp-reached', { component: this.component })\n        return\n      }\n      this._animFrame = requestAnimationFrame(tick)\n    }\n    this._animFrame = requestAnimationFrame(tick)\n  }\n\n  private _stopAnimation() {\n    this._isAnimating = false\n    if (this._animFrame !== undefined) {\n      cancelAnimationFrame(this._animFrame)\n      this._animFrame = undefined\n    }\n  }\n\n  /**\n   * Re-run IK toward a new target without rebuilding the scene graph.\n   *\n   * Mirrors the IK block of `build()` but operates on the *existing*\n   * joint frames and meshes. Critically does NOT call `update()` /\n   * `clear()` — those tear down `this.object3d`'s children, which would\n   * also detach the gripper frame and any Carriable currently mounted\n   * onto it. A pickAndPlace operation would lose its held carrier the\n   * instant the place target is committed.\n   *\n   * Falls back to a full `update()` only when the cached chain hasn't\n   * been built yet (build pre-condition).\n   */\n  private _retargetIk() {\n    if (this._chain.length === 0 || this._jointFrames.length !== this._chain.length) {\n      this.update()\n      return\n    }\n\n    const state = this.component.state as any\n    const chain = this._chain\n    const target = state.target\n    const speed = this._jointSpeed(state)\n\n    // Starting pose for IK = where smoothing currently is (mid-flight)\n    // or the resolved joint values from state. Using mid-flight values\n    // makes consecutive `pnp` calls chain smoothly without snap-back.\n    const previous = this._smoothing?.current?.slice() ?? this._resolveJoints(chain, state)\n\n    if (target && Number.isFinite(target.x) && Number.isFinite(target.y) && Number.isFinite(target.z)) {\n      const targetVec = new THREE.Vector3(target.x, target.y, target.z)\n      const targetYaw = Number.isFinite(target.yaw) ? (target.yaw as number) : undefined\n      const radJoints = this._toRadians(chain, previous)\n      const ikValues = this._solveIkDescent(chain, radJoints, targetVec, targetYaw)\n      const solvedUser = this._fromRadians(chain, ikValues)\n      this._smoothing = {\n        current: previous,\n        target: solvedUser.slice(),\n        speed\n      }\n      // Snap visible pose to the smoothing's \"current\" (= previous IK\n      // position). Without this, if external code mutated joint frames\n      // between ticks, the first tick would jump.\n      this._refreshJointPoses(previous)\n      this._stopAnimation()\n      this._startAnimation()\n    } else {\n      // Target cleared — stop animating, freeze where we are.\n      if (this._smoothing) {\n        this._smoothing.target = this._smoothing.current.slice()\n        this._smoothing.speed = speed\n      }\n      this._stopAnimation()\n    }\n  }\n\n  updateDimension() {}\n\n  onchange(after: Record<string, unknown>, before: Record<string, unknown>) {\n    // Structural changes — full rebuild.\n    if (\n      'style' in after ||\n      'chainPreset' in after ||\n      'chain' in after ||\n      'linkShape' in after ||\n      'jointHousing' in after ||\n      'linkRadius' in after ||\n      'color' in after ||\n      'accentColor' in after ||\n      'fillStyle' in after ||\n      'strokeStyle' in after ||\n      'alpha' in after ||\n      'material3d' in after ||\n      'gripper' in after ||\n      'gripperType' in after ||\n      'showReachSphere' in after ||\n      'width' in after ||\n      'height' in after ||\n      'depth' in after\n    ) {\n      this.update()\n      return\n    }\n    // Target change → re-run IK + restart smoothing on the EXISTING\n    // scene graph. Critically NOT a full rebuild — `update()` calls\n    // `clear()` which detaches every child of `this.object3d`, including\n    // any Carriable currently mounted on the gripper frame. A pickAndPlace\n    // call would invisibly drop the held carrier the moment we set the\n    // place target, leaving no mesh between pick and place.\n    if ('target' in after || 'jointSpeed' in after) {\n      this._retargetIk()\n      return\n    }\n    // Joint value change (state.joint0, state.joint1, ... or state.joints\n    // batch) — fast path: just refresh joint poses on the existing scene\n    // graph. NO mesh rebuild. This is what makes property-panel slider\n    // edits feel live. The match must be done explicitly because dynamic\n    // joint property names (joint0, joint1, ...) aren't in any static list.\n    const hasJoint = 'joints' in after || Object.keys(after).some(k => /^joint\\d+$/.test(k))\n    if (hasJoint) {\n      const state = this.component.state as any\n      // chain might be empty if build hasn't run yet (e.g. component just\n      // attached). Defer to a full update in that case.\n      if (this._chain.length === 0 || this._jointFrames.length !== this._chain.length) {\n        this.update()\n        return\n      }\n      const joints = this._resolveJoints(this._chain, state)\n      this._refreshJointPoses(joints)\n      // smoothing's \"current\" should track the user's manual edits so the\n      // next IK target solves from where the user left things.\n      if (this._smoothing) this._smoothing.current = joints.slice()\n      return\n    }\n    super.onchange(after, before)\n  }\n\n  dispose() {\n    this._stopAnimation()\n    super.dispose()\n  }\n\n  updateAlpha() {}\n}\n\n/** Returns `v` if a finite number, otherwise `dflt`. */\nfunction numOr(v: unknown, dflt: number): number {\n  return typeof v === 'number' && Number.isFinite(v) ? v : dflt\n}\n\nfunction clamp(v: number, lo: number, hi: number) {\n  return Math.max(lo, Math.min(hi, v))\n}\n\n/**\n * Pick the first valid color in priority order. Accepts both color strings\n * (CSS / hex) and hex int numbers — both are valid `THREE.ColorRepresentation`.\n * Treats 'transparent' / empty strings as \"skip me\".\n */\n/** Returns a number-or-string color (StyleColor). Both flavors are valid\n *  THREE.ColorRepresentation, so they pass through to MeshStandardMaterial\n *  without conversion. */\nfunction pickColorish(...candidates: unknown[]): number | string {\n  for (const c of candidates) {\n    if (typeof c === 'string' && c && c !== 'transparent') return c\n    if (typeof c === 'number' && Number.isFinite(c)) return c\n  }\n  return 0x888888\n}\n"]}

package/dist/robot-arm-ik.d.ts

@@ -0,0 +1,115 @@
+import * as THREE from 'three';
+export type JointAxis = 'x' | 'y' | 'z';
+export interface ChainElement {
+    /** 'revolute' (rotates) or 'prismatic' (slides). PoC supports revolute. */
+    type: 'revolute' | 'prismatic';
+    /** axis of rotation/sliding in the joint's local frame */
+    axis: JointAxis;
+    /** length of the link that follows this joint, along local +Z */
+    length: number;
+    /** [min, max] joint value, in radians for revolute / units for prismatic */
+    range: [number, number];
+}
+/**
+ * Forward kinematics: given joint values, compute every joint's world
+ * position + orientation. Index 0 = base, index N = end-effector frame
+ * (where the gripper is mounted).
+ *
+ * Convention: each joint's local frame starts coincident with its parent's
+ * end frame; the joint applies its rotation/translation, then the link
+ * extends along local +Z by `length`.
+ */
+export declare function forwardKinematics(chain: ChainElement[], jointValues: number[], baseMatrix?: THREE.Matrix4): {
+    positions: THREE.Vector3[];
+    quaternions: THREE.Quaternion[];
+};
+export interface SolveOptions {
+    maxIterations?: number;
+    threshold?: number;
+    /** how aggressively each iteration nudges (0..1). 0.5 = damped, less jitter. */
+    damping?: number;
+}
+/**
+ * Solve IK for `targetWorld` and return new joint values. Does not mutate
+ * the input array.
+ *
+ * Returns `{ values, reached }`. `reached` is true if the end-effector
+ * came within `threshold` of the target — false if the target is outside
+ * reachable workspace or the solver gave up.
+ */
+export declare function solveCCDIK(chain: ChainElement[], jointValues: number[], targetWorld: THREE.Vector3, baseMatrix?: THREE.Matrix4, options?: SolveOptions): {
+    values: number[];
+    reached: boolean;
+};
+/**
+ * Cheap reachability estimate — sum of all link lengths. Doesn't account
+ * for joint-range restrictions, so a bit optimistic; good enough for
+ * "show me a workspace sphere" visualization.
+ */
+export declare function maxReach(chain: ChainElement[]): number;
+/**
+ * True if `chain` has the canonical 6-axis Z-Y-Y-Z-Y-Z structure.
+ * Industrial / cobot presets match. This unlocks closed-form analytical
+ * IK; other chain shapes fall back to CCDIK.
+ */
+export declare function isSixAxisZYYZYZ(chain: ChainElement[]): boolean;
+/**
+ * Pick the base-yaw angle that points the chain toward the target's
+ * XY direction. Returns null if the target is on the Z axis (no XY
+ * direction defined). Unwraps to the multiple-of-2π closest to
+ * `currentYaw` (then clamps to range), so a small physical motion in
+ * world space doesn't produce a giant joint swing across ±π.
+ *
+ * `range` and `currentYaw` are in RADIANS.
+ */
+export declare function resolveBaseYaw(target: {
+    x: number;
+    y: number;
+}, range: [number, number], currentYaw: number): number | null;
+/**
+ * Closed-form analytical IK for the canonical 6-axis Z-Y-Y-Z-Y-Z chain.
+ *
+ * Inputs and outputs are in RADIANS. Chain ranges are in DEGREES (the
+ * editor's user-facing convention) — converted internally. Returns null
+ * if the target is unreachable; caller should fall back to CCDIK.
+ *
+ * Strategy:
+ *   1. Joint 0 = base yaw to face target's XY direction.
+ *   2. Try strict descent (gripper straight down, α = π).
+ *   3. If wrist would be beyond reach, relax α to the value closest to
+ *      π that puts the wrist on the reach boundary.
+ *   4. 2-link IK (cosine law) on upper + lower for shoulder/elbow.
+ *   5. Wrist pitch ψ4 = α - ψ1 - ψ2 to realize the chosen α.
+ *   6. Joints 3, 5 (Z-axis wrist roll / tool roll) = 0.
+ *
+ * Joint values are clamped to chain ranges; if a clamp activates the
+ * gripper won't be perfectly oriented, but the rest of the pose is
+ * still natural — and the visual TCP will then deviate from the
+ * commanded target by the clamp residual.
+ */
+export declare function analyticalIk6Axis(chain: ChainElement[], target: {
+    x: number;
+    y: number;
+    z: number;
+}, currentJointsRad: number[], 
+/**
+ * Optional carrier/place-holder yaw (radians, around world +Y) at the
+ * target. When provided, joint 5 (tool roll) is set so the gripper's
+ * "side" axes align with the carrier's — preventing a visible rotation
+ * snap when the carrier reparents to the gripper at pick / off the
+ * gripper at place.
+ *
+ * Derivation: with cumulative pitch ψ1+ψ2+ψ4 = π, the end-frame's
+ * world axes are determined by joint 0 (j0) and joint 5 (θ5):
+ *   end_X = (-cos(j0 - θ5), 0, sin(j0 - θ5))
+ * Carriable's localRotation x:-π/2 makes carrier_world = TCP_world ∘ R_x(-π/2);
+ * for carrier_world to land at the carrier's pre-reparent yaw γ, we
+ * need TCP_world = R_y(γ) ∘ R_x(π/2), which gives:
+ *   end_X = (cos γ, 0, -sin γ)
+ * Solving end_X equation vs. this target: j0 - θ5 = π + γ
+ *   → θ5 = j0 - π - γ
+ * Wrapped to [-π, π] then clamped to chain[5].range.
+ *
+ * If omitted, joint 5 stays at 0 (no yaw alignment).
+ */
+targetYaw?: number): number[] | null;

package/dist/robot-arm-ik.js

@@ -0,0 +1,313 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * CCDIK (Cyclic Coordinate Descent Inverse Kinematics) for an arbitrary
+ * articulated chain.
+ *
+ * Why CCDIK over analytical IK or Jacobian methods:
+ *   - Generalizes to arbitrary chain length / axis combinations without
+ *     re-deriving closed-form solutions per geometry.
+ *   - Trivial to implement in ~120 lines, no matrix inversion.
+ *   - Visually pleasing convergence (each iteration nudges the closest
+ *     joint to the end-effector toward the target — naturally produces
+ *     "elbow leads, wrist follows" motion that mimics real arms).
+ *   - Adequate for animation use; not a replacement for high-precision
+ *     analytical IK in a real motion-planning context.
+ *
+ * Algorithm (one iteration):
+ *   For each joint i from end → base:
+ *     1. tip   = world position of end-effector under current joint angles
+ *     2. pivot = world position of joint i
+ *     3. v1    = (tip - pivot)                — current direction
+ *        v2    = (target - pivot)             — desired direction
+ *     4. project v1 and v2 onto the plane normal to joint i's axis
+ *     5. θ = signed angle between projections (around the axis)
+ *     6. jointValues[i] += θ, clamp to range
+ *   Repeat until tip-target distance < threshold or maxIterations reached.
+ *
+ * The chain is fixed (no link insertion/removal during a solve), and the
+ * solver mutates a copy of jointValues — caller decides whether to commit.
+ */
+import * as THREE from 'three';
+const _AXES = {
+    x: new THREE.Vector3(1, 0, 0),
+    y: new THREE.Vector3(0, 1, 0),
+    z: new THREE.Vector3(0, 0, 1)
+};
+/**
+ * Forward kinematics: given joint values, compute every joint's world
+ * position + orientation. Index 0 = base, index N = end-effector frame
+ * (where the gripper is mounted).
+ *
+ * Convention: each joint's local frame starts coincident with its parent's
+ * end frame; the joint applies its rotation/translation, then the link
+ * extends along local +Z by `length`.
+ */
+export function forwardKinematics(chain, jointValues, baseMatrix = new THREE.Matrix4()) {
+    const positions = [];
+    const quaternions = [];
+    const m = baseMatrix.clone();
+    const tmpQ = new THREE.Quaternion();
+    const tmpT = new THREE.Vector3();
+    const linkOffset = new THREE.Vector3();
+    // Joint 0 sits at the base.
+    positions.push(new THREE.Vector3().setFromMatrixPosition(m));
+    quaternions.push(new THREE.Quaternion().setFromRotationMatrix(m));
+    for (let i = 0; i < chain.length; i++) {
+        const link = chain[i];
+        const value = jointValues[i] ?? 0;
+        if (link.type === 'revolute') {
+            tmpQ.setFromAxisAngle(_AXES[link.axis], value);
+            const rotM = new THREE.Matrix4().makeRotationFromQuaternion(tmpQ);
+            m.multiply(rotM);
+        }
+        else {
+            // prismatic: slide along axis by `value` (PoC support — most common
+            // in real manipulators is revolute, but keeping the door open).
+            linkOffset.copy(_AXES[link.axis]).multiplyScalar(value);
+            m.multiply(new THREE.Matrix4().makeTranslation(linkOffset.x, linkOffset.y, linkOffset.z));
+        }
+        // Then translate along +Z by link.length to reach the next joint frame.
+        m.multiply(new THREE.Matrix4().makeTranslation(0, 0, link.length));
+        tmpT.setFromMatrixPosition(m);
+        positions.push(tmpT.clone());
+        quaternions.push(new THREE.Quaternion().setFromRotationMatrix(m));
+    }
+    return { positions, quaternions };
+}
+/**
+ * Solve IK for `targetWorld` and return new joint values. Does not mutate
+ * the input array.
+ *
+ * Returns `{ values, reached }`. `reached` is true if the end-effector
+ * came within `threshold` of the target — false if the target is outside
+ * reachable workspace or the solver gave up.
+ */
+export function solveCCDIK(chain, jointValues, targetWorld, baseMatrix = new THREE.Matrix4(), options = {}) {
+    const maxIterations = options.maxIterations ?? 12;
+    const threshold = options.threshold ?? 0.5;
+    const damping = options.damping ?? 0.7;
+    const values = jointValues.slice();
+    // Pre-allocate scratch vectors to avoid per-iteration GC churn.
+    const v1 = new THREE.Vector3();
+    const v2 = new THREE.Vector3();
+    const axisWorld = new THREE.Vector3();
+    const cross = new THREE.Vector3();
+    for (let iter = 0; iter < maxIterations; iter++) {
+        const fk = forwardKinematics(chain, values, baseMatrix);
+        const tip = fk.positions[fk.positions.length - 1];
+        // Early out: already close enough.
+        if (tip.distanceTo(targetWorld) < threshold) {
+            return { values, reached: true };
+        }
+        // Walk joints from the one nearest the tip toward the base.
+        for (let i = chain.length - 1; i >= 0; i--) {
+            if (chain[i].type !== 'revolute')
+                continue;
+            // Joint i's pivot = positions[i] (frame BEFORE applying joint i).
+            // After applying joint i and link i, we get positions[i+1].
+            const pivot = fk.positions[i];
+            const tipNow = forwardKinematics(chain, values, baseMatrix).positions[chain.length];
+            v1.subVectors(tipNow, pivot);
+            v2.subVectors(targetWorld, pivot);
+            if (v1.lengthSq() < 1e-6 || v2.lengthSq() < 1e-6)
+                continue;
+            // Joint axis in world space at this joint frame.
+            axisWorld.copy(_AXES[chain[i].axis]).applyQuaternion(fk.quaternions[i]);
+            axisWorld.normalize();
+            // Project v1, v2 onto the plane perpendicular to the axis.
+            const v1p = v1.clone().projectOnPlane(axisWorld);
+            const v2p = v2.clone().projectOnPlane(axisWorld);
+            if (v1p.lengthSq() < 1e-6 || v2p.lengthSq() < 1e-6)
+                continue;
+            v1p.normalize();
+            v2p.normalize();
+            // Signed angle around `axisWorld` from v1p to v2p.
+            let angle = Math.acos(THREE.MathUtils.clamp(v1p.dot(v2p), -1, 1));
+            cross.crossVectors(v1p, v2p);
+            if (cross.dot(axisWorld) < 0)
+                angle = -angle;
+            angle *= damping;
+            values[i] = clamp(values[i] + angle, chain[i].range[0], chain[i].range[1]);
+        }
+    }
+    // Final check after exhausting iterations.
+    const finalTip = forwardKinematics(chain, values, baseMatrix).positions[chain.length];
+    return { values, reached: finalTip.distanceTo(targetWorld) < threshold };
+}
+/**
+ * Cheap reachability estimate — sum of all link lengths. Doesn't account
+ * for joint-range restrictions, so a bit optimistic; good enough for
+ * "show me a workspace sphere" visualization.
+ */
+export function maxReach(chain) {
+    return chain.reduce((sum, c) => sum + (c.length || 0), 0);
+}
+/**
+ * True if `chain` has the canonical 6-axis Z-Y-Y-Z-Y-Z structure.
+ * Industrial / cobot presets match. This unlocks closed-form analytical
+ * IK; other chain shapes fall back to CCDIK.
+ */
+export function isSixAxisZYYZYZ(chain) {
+    if (chain.length !== 6)
+        return false;
+    const expected = ['z', 'y', 'y', 'z', 'y', 'z'];
+    for (let i = 0; i < 6; i++) {
+        if (chain[i].type !== 'revolute')
+            return false;
+        if (chain[i].axis !== expected[i])
+            return false;
+    }
+    return true;
+}
+/**
+ * Pick the base-yaw angle that points the chain toward the target's
+ * XY direction. Returns null if the target is on the Z axis (no XY
+ * direction defined). Unwraps to the multiple-of-2π closest to
+ * `currentYaw` (then clamps to range), so a small physical motion in
+ * world space doesn't produce a giant joint swing across ±π.
+ *
+ * `range` and `currentYaw` are in RADIANS.
+ */
+export function resolveBaseYaw(target, range, currentYaw) {
+    const xy = Math.hypot(target.x, target.y);
+    if (xy < 1e-3)
+        return null;
+    const a = Math.atan2(target.y, target.x);
+    const TAU = Math.PI * 2;
+    let best = a;
+    let bestDist = Math.abs(a - currentYaw);
+    for (const k of [-2, -1, 1, 2]) {
+        const candidate = a + k * TAU;
+        const d = Math.abs(candidate - currentYaw);
+        if (d < bestDist) {
+            best = candidate;
+            bestDist = d;
+        }
+    }
+    return clamp(best, range[0], range[1]);
+}
+/**
+ * Closed-form analytical IK for the canonical 6-axis Z-Y-Y-Z-Y-Z chain.
+ *
+ * Inputs and outputs are in RADIANS. Chain ranges are in DEGREES (the
+ * editor's user-facing convention) — converted internally. Returns null
+ * if the target is unreachable; caller should fall back to CCDIK.
+ *
+ * Strategy:
+ *   1. Joint 0 = base yaw to face target's XY direction.
+ *   2. Try strict descent (gripper straight down, α = π).
+ *   3. If wrist would be beyond reach, relax α to the value closest to
+ *      π that puts the wrist on the reach boundary.
+ *   4. 2-link IK (cosine law) on upper + lower for shoulder/elbow.
+ *   5. Wrist pitch ψ4 = α - ψ1 - ψ2 to realize the chosen α.
+ *   6. Joints 3, 5 (Z-axis wrist roll / tool roll) = 0.
+ *
+ * Joint values are clamped to chain ranges; if a clamp activates the
+ * gripper won't be perfectly oriented, but the rest of the pose is
+ * still natural — and the visual TCP will then deviate from the
+ * commanded target by the clamp residual.
+ */
+export function analyticalIk6Axis(chain, target, currentJointsRad, 
+/**
+ * Optional carrier/place-holder yaw (radians, around world +Y) at the
+ * target. When provided, joint 5 (tool roll) is set so the gripper's
+ * "side" axes align with the carrier's — preventing a visible rotation
+ * snap when the carrier reparents to the gripper at pick / off the
+ * gripper at place.
+ *
+ * Derivation: with cumulative pitch ψ1+ψ2+ψ4 = π, the end-frame's
+ * world axes are determined by joint 0 (j0) and joint 5 (θ5):
+ *   end_X = (-cos(j0 - θ5), 0, sin(j0 - θ5))
+ * Carriable's localRotation x:-π/2 makes carrier_world = TCP_world ∘ R_x(-π/2);
+ * for carrier_world to land at the carrier's pre-reparent yaw γ, we
+ * need TCP_world = R_y(γ) ∘ R_x(π/2), which gives:
+ *   end_X = (cos γ, 0, -sin γ)
+ * Solving end_X equation vs. this target: j0 - θ5 = π + γ
+ *   → θ5 = j0 - π - γ
+ * Wrapped to [-π, π] then clamped to chain[5].range.
+ *
+ * If omitted, joint 5 stays at 0 (no yaw alignment).
+ */
+targetYaw) {
+    if (!isSixAxisZYYZYZ(chain))
+        return null;
+    const DEG2RAD = Math.PI / 180;
+    const L0 = chain[0].length;
+    const upper = chain[1].length;
+    const lower = chain[2].length + chain[3].length;
+    const wristTail = chain[4].length + chain[5].length;
+    const reach = upper + lower;
+    const j0Range = [chain[0].range[0] * DEG2RAD, chain[0].range[1] * DEG2RAD];
+    const j0 = resolveBaseYaw(target, j0Range, currentJointsRad[0] ?? 0);
+    if (j0 === null)
+        return null;
+    const T_H = Math.hypot(target.x, target.y);
+    const T_V = target.z;
+    const tcpRelH = T_H;
+    const tcpRelV = T_V - L0;
+    const p2 = tcpRelH * tcpRelH + tcpRelV * tcpRelV;
+    const p = Math.sqrt(p2);
+    // Try strict descent (α = π) first.
+    let alpha = Math.PI;
+    let wRelH = T_H;
+    let wRelV = (T_V + wristTail) - L0;
+    let d2 = wRelH * wRelH + wRelV * wRelV;
+    if (d2 > reach * reach + 1) {
+        // Relax: find α on reach boundary, closest to π.
+        const rhs = (p2 + wristTail * wristTail - reach * reach) / (2 * wristTail);
+        if (Math.abs(rhs) > p + 1e-3)
+            return null;
+        const beta = Math.atan2(tcpRelH, tcpRelV);
+        const offset = Math.acos(clamp(rhs / p, -1, 1));
+        const alphaA = beta + offset;
+        const alphaB = beta - offset;
+        const wrap = (a) => {
+            let x = a;
+            while (x > Math.PI)
+                x -= 2 * Math.PI;
+            while (x < -Math.PI)
+                x += 2 * Math.PI;
+            return x;
+        };
+        const distA = Math.abs(wrap(alphaA - Math.PI));
+        const distB = Math.abs(wrap(alphaB - Math.PI));
+        alpha = distA <= distB ? alphaA : alphaB;
+        wRelH = T_H - wristTail * Math.sin(alpha);
+        wRelV = T_V - wristTail * Math.cos(alpha) - L0;
+        d2 = wRelH * wRelH + wRelV * wRelV;
+        if (d2 > reach * reach + 1)
+            return null;
+    }
+    let cosPsi2 = (d2 - upper * upper - lower * lower) / (2 * upper * lower);
+    cosPsi2 = clamp(cosPsi2, -1, 1);
+    const psi2 = Math.acos(cosPsi2);
+    const psi1 = Math.atan2(wRelH, wRelV) -
+        Math.atan2(lower * Math.sin(psi2), upper + lower * Math.cos(psi2));
+    const psi4 = alpha - psi1 - psi2;
+    const radRanges = chain.map(c => [c.range[0] * DEG2RAD, c.range[1] * DEG2RAD]);
+    // Joint 5 (tool roll) — align gripper's "side" with the carrier's
+    // current world yaw, so reparenting at pick / release at place doesn't
+    // visibly snap the carrier's orientation.
+    let psi5 = 0;
+    if (typeof targetYaw === 'number' && Number.isFinite(targetYaw)) {
+        let v = j0 - Math.PI - targetYaw;
+        while (v > Math.PI)
+            v -= 2 * Math.PI;
+        while (v < -Math.PI)
+            v += 2 * Math.PI;
+        psi5 = v;
+    }
+    return [
+        clamp(j0, radRanges[0][0], radRanges[0][1]),
+        clamp(psi1, radRanges[1][0], radRanges[1][1]),
+        clamp(psi2, radRanges[2][0], radRanges[2][1]),
+        0,
+        clamp(psi4, radRanges[4][0], radRanges[4][1]),
+        clamp(psi5, radRanges[5][0], radRanges[5][1])
+    ];
+}
+function clamp(v, lo, hi) {
+    return Math.max(lo, Math.min(hi, v));
+}
+//# sourceMappingURL=robot-arm-ik.js.map