forgecad 0.10.0 → 0.10.1

package/examples/robotics/simready-diff-drive-rover.forge.js

@@ -0,0 +1,141 @@
+const aluminum = Sim.material("6061 aluminum", {
+  densityKgM3: 2700,
+  staticFriction: 0.45,
+  dynamicFriction: 0.35,
+  restitution: 0.05,
+});
+
+const rubber = Sim.material("rubber tire", {
+  densityKgM3: 1100,
+  staticFriction: 0.9,
+  dynamicFriction: 0.75,
+  restitution: 0.12,
+});
+
+const darkPolymer = Sim.material("filled nylon", {
+  densityKgM3: 1250,
+  staticFriction: 0.42,
+  dynamicFriction: 0.32,
+  restitution: 0.04,
+});
+
+function wheel(axisY) {
+  const tireCore = cylinder(26, 34, undefined, 64).color("#171a1d").material({ roughness: 0.9 });
+  const treadBlocks = circularPattern(box(9, 5, 30).translate(0, 35, 0), 18).color("#24282c").material({ roughness: 0.95 });
+  const outerHub = cylinder(30, 14, undefined, 48).color("#a9b5bc").material({ metalness: 0.35, roughness: 0.42 });
+  const hubCap = cylinder(34, 7, undefined, 32).color("#3e4a52").material({ metalness: 0.25, roughness: 0.5 });
+
+  return group(
+    { name: "Tire", shape: tireCore },
+    { name: "Tread", shape: treadBlocks },
+    { name: "Hub", shape: outerHub },
+    { name: "Cap", shape: hubCap },
+  )
+    .rotateX(90)
+    .withConnectors({
+      bore: connector({ origin: [0, 0, 0], axis: [0, axisY, 0], up: [0, 0, 1], kind: "revolute" }),
+      tread: connector({ origin: [0, 0, -36], axis: [0, 0, -1], up: [1, 0, 0] }),
+    });
+}
+
+const chassis = group(
+  { name: "Lower Pan", shape: box(228, 118, 26).translate(0, 0, 22).color("#46545d").material({ metalness: 0.18, roughness: 0.48 }) },
+  { name: "Upper Deck", shape: box(164, 88, 16).translate(8, 0, 46).color("#62727b").material({ metalness: 0.22, roughness: 0.44 }) },
+  { name: "Front Bumper", shape: box(18, 124, 20).translate(122, 0, 26).color("#262d33").material({ roughness: 0.72 }) },
+  { name: "Rear Bumper", shape: box(14, 116, 16).translate(-122, 0, 24).color("#2d353b").material({ roughness: 0.7 }) },
+  { name: "Left Rocker Guard", shape: box(194, 9, 16).translate(0, 68, 24).color("#252c31").material({ roughness: 0.72 }) },
+  { name: "Right Rocker Guard", shape: box(194, 9, 16).translate(0, -68, 24).color("#252c31").material({ roughness: 0.72 }) },
+  { name: "Sensor Mast", shape: cylinder(34, 5, undefined, 24).translate(58, 0, 72).color("#1c242b").material({ roughness: 0.58 }) },
+  { name: "Lidar", shape: cylinder(16, 22, undefined, 48).translate(58, 0, 98).color("#c7d0d6").material({ metalness: 0.1, roughness: 0.35 }) },
+  { name: "Camera Bar", shape: box(8, 52, 12).translate(129, 0, 44).color("#161b20").material({ roughness: 0.6 }) },
+)
+  .withConnectors({
+    left_front_axle: connector({ origin: [72, 82, 30], axis: [0, 1, 0], up: [0, 0, 1], kind: "revolute" }),
+    left_rear_axle: connector({ origin: [-72, 82, 30], axis: [0, 1, 0], up: [0, 0, 1], kind: "revolute" }),
+    right_front_axle: connector({ origin: [72, -82, 30], axis: [0, -1, 0], up: [0, 0, 1], kind: "revolute" }),
+    right_rear_axle: connector({ origin: [-72, -82, 30], axis: [0, -1, 0], up: [0, 0, 1], kind: "revolute" }),
+  });
+
+const leftWheel = wheel(-1);
+const rightWheel = wheel(1);
+
+const rover = assembly("SimReady Diff Drive Rover")
+  .addPart("Chassis", chassis, {
+    sim: Sim.body({
+      massKg: 4.2,
+      material: aluminum,
+      collider: Sim.collider.convexHull(),
+    }),
+  })
+  .addPart("Left Front Wheel", leftWheel, {
+    sim: Sim.body({
+      massKg: 0.32,
+      material: rubber,
+      collider: Sim.collider.convexHull(),
+      contacts: { tread: Sim.contact.wheelSurface("tread") },
+    }),
+  })
+  .addPart("Left Rear Wheel", leftWheel, {
+    sim: Sim.body({
+      massKg: 0.32,
+      material: rubber,
+      collider: Sim.collider.convexHull(),
+      contacts: { tread: Sim.contact.wheelSurface("tread") },
+    }),
+  })
+  .addPart("Right Front Wheel", rightWheel, {
+    sim: Sim.body({
+      massKg: 0.32,
+      material: rubber,
+      collider: Sim.collider.convexHull(),
+      contacts: { tread: Sim.contact.wheelSurface("tread") },
+    }),
+  })
+  .addPart("Right Rear Wheel", rightWheel, {
+    sim: Sim.body({
+      massKg: 0.32,
+      material: rubber,
+      collider: Sim.collider.convexHull(),
+      contacts: { tread: Sim.contact.wheelSurface("tread") },
+    }),
+  })
+  .connect("Chassis.left_front_axle", "Left Front Wheel.bore", {
+    as: "leftFrontWheel",
+    type: "revolute",
+    drive: Sim.drive.velocity({ maxTorqueNm: 1.8, maxSpeedRpm: 220, damping: 0.02, friction: 0.01 }),
+  })
+  .connect("Chassis.left_rear_axle", "Left Rear Wheel.bore", {
+    as: "leftRearWheel",
+    type: "revolute",
+    drive: Sim.drive.velocity({ maxTorqueNm: 1.8, maxSpeedRpm: 220, damping: 0.02, friction: 0.01 }),
+  })
+  .connect("Chassis.right_front_axle", "Right Front Wheel.bore", {
+    as: "rightFrontWheel",
+    type: "revolute",
+    drive: Sim.drive.velocity({ maxTorqueNm: 1.8, maxSpeedRpm: 220, damping: 0.02, friction: 0.01 }),
+  })
+  .connect("Chassis.right_rear_axle", "Right Rear Wheel.bore", {
+    as: "rightRearWheel",
+    type: "revolute",
+    drive: Sim.drive.velocity({ maxTorqueNm: 1.8, maxSpeedRpm: 220, damping: 0.02, friction: 0.01 }),
+  })
+  .withSimulation({
+    rootPart: "Chassis",
+    profile: Sim.profile.robotBodyRunnable(),
+    controllers: [
+      Sim.controller.diffDrive({
+        leftJoints: ["leftFrontWheel", "leftRearWheel"],
+        rightJoints: ["rightFrontWheel", "rightRearWheel"],
+        wheelRadiusMm: 34,
+        wheelSeparationMm: 164,
+      }),
+    ],
+  });
+
+verify.that("rover has five physical bodies", () => rover.describe().parts.length === 5);
+verify.that("rover has four driven wheel joints", () => rover.describe().joints.length === 4);
+verify.that("rover keeps wheel contact metadata on every wheel", () => {
+  return rover.describe().parts.filter((part) => part.sim?.contacts?.tread).length === 4;
+});
+
+return rover;

package/examples/robotics/simready-parallel-gripper.forge.js

@@ -0,0 +1,102 @@
+const aluminum = Sim.material("anodized aluminum", {
+  densityKgM3: 2700,
+  staticFriction: 0.44,
+  dynamicFriction: 0.32,
+  restitution: 0.04,
+});
+
+const urethane = Sim.material("urethane pad", {
+  densityKgM3: 1250,
+  staticFriction: 0.95,
+  dynamicFriction: 0.8,
+  restitution: 0.08,
+});
+
+const palm = group(
+  { name: "Palm Body", shape: box(36, 72, 24).translate(-28, 0, 8).color("#596872").material({ metalness: 0.2, roughness: 0.42 }) },
+  { name: "Top Cover", shape: box(44, 64, 5).translate(-28, 0, 23).color("#75858e").material({ metalness: 0.18, roughness: 0.38 }) },
+  { name: "Front Slide Rail", shape: cylinder(74, 3.2, undefined, 24).pointAlong([0, 1, 0]).translate(0, 0, 13).color("#c2c9cc").material({ metalness: 0.55, roughness: 0.32 }) },
+  { name: "Rear Slide Rail", shape: cylinder(74, 3.2, undefined, 24).pointAlong([0, 1, 0]).translate(-38, 0, 13).color("#c2c9cc").material({ metalness: 0.55, roughness: 0.32 }) },
+  { name: "Lead Screw", shape: cylinder(80, 2.2, undefined, 20).pointAlong([0, 1, 0]).translate(-19, 0, 5).color("#2f363b").material({ metalness: 0.4, roughness: 0.38 }) },
+  { name: "Motor Cap", shape: cylinder(16, 11, undefined, 36).pointAlong([0, 1, 0]).translate(-28, -46, 8).color("#222a2f").material({ roughness: 0.56 }) },
+)
+  .withConnectors({
+    left_slide: connector({ origin: [0, 27, 13], axis: [0, 1, 0], up: [0, 0, 1], kind: "prismatic", min: 0, max: 18 }),
+    right_slide: connector({ origin: [0, -27, 13], axis: [0, -1, 0], up: [0, 0, 1], kind: "prismatic", min: 0, max: 18 }),
+  });
+
+function finger(axisY, color) {
+  const carriage = box(28, 15, 16).translate(-14, 0, 0).color("#39464e").material({ metalness: 0.12, roughness: 0.48 });
+  const upperFinger = box(78, 8, 9).translate(38, 0, 5).color(color).material({ metalness: 0.08, roughness: 0.44 });
+  const lowerFinger = box(62, 7, 8).translate(48, 0, -13).color(color).material({ metalness: 0.08, roughness: 0.48 });
+  const frontBridge = box(9, 8, 24).translate(76, 0, -4).color(color).material({ metalness: 0.08, roughness: 0.46 });
+  const pad = box(30, 3, 16).translate(60, -axisY * 6, -8).color("#20252a").material({ roughness: 0.9 });
+  const padRibA = box(26, 1, 2).translate(60, -axisY * 8, -13).color("#121619").material({ roughness: 0.95 });
+  const padRibB = box(26, 1, 2).translate(60, -axisY * 8, -8).color("#121619").material({ roughness: 0.95 });
+  const padRibC = box(26, 1, 2).translate(60, -axisY * 8, -3).color("#121619").material({ roughness: 0.95 });
+
+  return group(
+    { name: "Carriage", shape: carriage },
+    { name: "Upper Finger", shape: upperFinger },
+    { name: "Lower Finger", shape: lowerFinger },
+    { name: "Front Bridge", shape: frontBridge },
+    { name: "Pad", shape: pad },
+    { name: "Pad Rib A", shape: padRibA },
+    { name: "Pad Rib B", shape: padRibB },
+    { name: "Pad Rib C", shape: padRibC },
+  ).withConnectors({
+    slide: connector({ origin: [0, 0, 0], axis: [0, -axisY, 0], up: [0, 0, 1], kind: "prismatic", min: 0, max: 18 }),
+    pad: connector({ origin: [60, -axisY * 8, -8], axis: [0, -axisY, 0], up: [0, 0, 1] }),
+  });
+}
+
+const gripper = assembly("SimReady Parallel Gripper")
+  .addPart("Palm", palm, {
+    sim: Sim.body({
+      massKg: 0.42,
+      material: aluminum,
+      collider: Sim.collider.boundingBox(),
+    }),
+  })
+  .addPart("Left Finger", finger(1, "#d66b4f"), {
+    sim: Sim.body({
+      massKg: 0.11,
+      material: urethane,
+      collider: Sim.collider.convexHull(),
+      contacts: { pad: Sim.contact.gripperSurface("pad") },
+    }),
+  })
+  .addPart("Right Finger", finger(-1, "#d66b4f"), {
+    sim: Sim.body({
+      massKg: 0.11,
+      material: urethane,
+      collider: Sim.collider.convexHull(),
+      contacts: { pad: Sim.contact.gripperSurface("pad") },
+    }),
+  })
+  .connect("Palm.left_slide", "Left Finger.slide", {
+    as: "leftFingerOpen",
+    type: "prismatic",
+    min: 0,
+    max: 18,
+    drive: Sim.drive.passive({ damping: 0.04, friction: 0.02 }),
+  })
+  .connect("Palm.right_slide", "Right Finger.slide", {
+    as: "rightFingerOpen",
+    type: "prismatic",
+    min: 0,
+    max: 18,
+    drive: Sim.drive.passive({ damping: 0.04, friction: 0.02 }),
+  })
+  .withSimulation({
+    rootPart: "Palm",
+    profile: Sim.profile.robotBodyRunnable(),
+  });
+
+verify.that("gripper exposes grasp surfaces", () => {
+  const parts = gripper.describe().parts;
+  return parts.filter((part) => part.sim?.contacts?.pad).length === 2;
+});
+verify.that("gripper has a compact three-body simulation contract", () => gripper.describe().parts.length === 3);
+
+return gripper;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "forgecad",
-  "version": "0.10.0",
+  "version": "0.10.1",
   "description": "Code-first parametric CAD for JavaScript/TypeScript, in the browser and CLI.",
   "license": "SEE LICENSE IN LICENSE",
   "homepage": "https://forgecad.io",